adhoc

completed
2026-09-18T02:20:53.523314+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (78 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
100.5 s
total steps
158
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

put the black brick into the pot of water

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the black brick into the pot of water
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the black brick into the pot of water
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe black brick is to the right of the pot. I’m moving the right gripper above the brick with the jaws open, keeping the left arm parked.
move_to
right_x0.3700right_y0.1200right_z0.1500right_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, 0.794, 0.6041, -0.3794, -0.02, -0.0261, 0.9996, -0.0219, 0.7933, 0.6029, -0.3775, -0.0147, -0.0196, 0.9975] state[eef_state]: left_x=0.2949 left_y=0.0013 left_z=0.1801 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2949 right_y=-0.0003 right_z=0.1802 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9975 state[joint_eff]: [-0.4444, -1.4974, 10.1402, 1.7949, -0.0366, 0.1148, -0.0611, -0.4855, -1.4291, 10.1402, 1.9121, -0.0952, 0.0659, -0.2662] 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":0.37,"right_y":0.12,"right_z":0.15,"right_gripper":1,"left_x":0.295,"left_y":0,"left_z":0.18},"note":"The black brick is to the right of the pot. I’m moving the right gripper above the brick with the jaws open, keeping the left arm parked."})
tool
executing move_to over 11 steps (1.1s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
agent noteThe brick is visible just right of the jaw centerline and still ahead of the fingertips. I’m advancing slightly and lowering toward its middle so the jaws can close across its narrow width.
move_to
right_x0.3900right_y0.1100right_z0.0600
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0265, 0.7986, 0.6033, -0.3897, -0.0231, -0.0265, 0.9995, 0.4755, 1.3148, 0.7155, -0.1093, 0.363, 0.2325, 0.9975] state[eef_state]: left_x=0.2937 left_y=-0.0001 left_z=0.1764 left_yaw=-0.0041 left_pitch=-0.0156 left_roll=0.0017 left_gripper=0.9995 right_x=0.3542 right_y=0.1159 right_z=0.1258 right_yaw=0.0446 right_pitch=-0.087 right_roll=-0.0415 right_gripper=0.9975 state[joint_eff]: [-0.5265, -1.3333, 7.0769, 1.8437, -0.0757, -0.0708, -0.0171, 0.1983, -5.3128, 9.3744, 1.8242, 0.3443, 0.1734, -0.2711] camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.11,"right_z":0.06},"note":"The brick is visible just right of the jaw centerline and still ahead of the fingertips. I’m advancing slightly and lowering toward its middle so the jaws can close across its narrow width."})
tool
executing move_to over 5 steps (0.5s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteThe brick is aligned between the open jaws, but its center is still ahead of the grasp point. I’m moving a few centimeters forward and down to grip its sides rather than its near end.
move_to
right_x0.4250right_y0.1100right_z0.0150
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8028, 0.6029, -0.3897, -0.0231, -0.0265, 0.9995, 0.4023, 1.5818, 0.6498, 0.1516, 0.3149, 0.1894, 0.9974] state[eef_state]: left_x=0.2939 left_y=-0.0 left_z=0.1751 left_yaw=-0.0037 left_pitch=-0.0202 left_roll=0.0018 left_gripper=0.9995 right_x=0.3756 right_y=0.1042 right_z=0.0478 right_yaw=0.0303 right_pitch=-0.1672 right_roll=-0.0729 right_gripper=0.9974 state[joint_eff]: [-0.1162, -1.6068, 7.241, 1.7021, -0.0513, -0.0757, -0.0122, -0.7043, -7.241, 5.6274, 1.8828, 0.1148, -0.1001, -0.0269] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.425,"right_y":0.11,"right_z":0.015},"note":"The brick is aligned between the open jaws, but its center is still ahead of the grasp point. I’m moving a few centimeters forward and down to grip its sides rather than its near end."})
tool
executing move_to over 4 steps (0.4s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe jaws are now down alongside the brick and centered across its width. I’m closing the gripper, then I’ll lift slightly to check that the brick is securely held.
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, 0.8062, 0.6029, -0.3897, -0.0231, -0.0265, 0.9995, 0.3592, 1.8267, 0.7555, 0.2459, 0.2962, 0.1566, 0.997] state[eef_state]: left_x=0.2941 left_y=-0.0 left_z=0.1741 left_yaw=-0.0037 left_pitch=-0.0236 left_roll=0.0019 left_gripper=0.9995 right_x=0.4092 right_y=0.1024 right_z=0.0056 right_yaw=0.0175 right_pitch=-0.2158 right_roll=-0.1004 right_gripper=0.997 state[joint_eff]: [-0.212, -1.5658, 7.0496, 1.7021, -0.0513, -0.0464, -0.0073, 0.0342, -8.4444, 6.8171, 1.8926, -0.022, -0.0513, -0.0513] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The jaws are now down alongside the brick and centered across its width. I’m closing the gripper, then I’ll lift slightly to check that the brick is securely held."})
tool
executing move_to over 10 steps (1.0s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteThe gripper stopped well short of empty closure, indicating that it has the brick between its jaws. I’m lifting a short distance to verify the brick moves with the gripper.
move_to
right_z0.0850
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8062, 0.6029, -0.3897, -0.0231, -0.0265, 0.9995, 0.3576, 1.8488, 0.767, 0.2665, 0.2756, 0.1539, 0.7464] state[eef_state]: left_x=0.2941 left_y=-0.0 left_z=0.1741 left_yaw=-0.0037 left_pitch=-0.0236 left_roll=0.0019 left_gripper=0.9995 right_x=0.4138 right_y=0.1072 right_z=0.0031 right_yaw=0.0353 right_pitch=-0.2114 right_roll=-0.0844 right_gripper=0.7464 state[joint_eff]: [-0.1573, -1.2923, 7.159, 1.6972, -0.0904, -0.0611, -0.0122, -0.0342, -8.1573, 6.8444, 1.6581, 0.1343, -0.0073, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.085},"note":"The gripper stopped well short of empty closure, indicating that it has the brick between its jaws. I’m lifting a short distance to verify the brick moves with the gripper."})
tool
executing move_to over 6 steps (0.6s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteThe brick remains between the jaws, but the arm lifted less than commanded and tilted under the load. I’m drawing it slightly closer while raising it further to clear the pot’s rim.
move_to
right_x0.3900right_z0.1700right_pitch0.1000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8062, 0.6029, -0.3897, -0.0227, -0.0265, 0.9995, 0.3576, 1.6939, 0.8528, -0.1101, 0.2523, 0.1532, 0.7464] state[eef_state]: left_x=0.2941 left_y=-0.0001 left_z=0.1741 left_yaw=-0.004 left_pitch=-0.0236 left_roll=0.0016 left_gripper=0.9995 right_x=0.3894 right_y=0.1022 right_z=0.0352 right_yaw=0.0432 right_pitch=-0.3461 right_roll=-0.1114 right_gripper=0.7464 state[joint_eff]: [-0.1709, -0.9778, 7.2547, 1.746, -0.0611, -0.0269, -0.0122, -0.1162, -11.3026, 10.1538, 2.1368, 0.3394, -0.0073, 1.033] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_z":0.17,"right_pitch":0.1},"note":"The brick remains between the jaws, but the arm lifted less than commanded and tilted under the load. I’m drawing it slightly closer while raising it further to clear the pot’s rim."})
tool
executing move_to over 15 steps (1.5s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteThe brick has risen off the table, but the loaded gripper is still below safe rim clearance. I’m raising it closer to the arm before moving sideways toward the pot.
move_to
right_x0.3400right_z0.2600right_pitch0.2500
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8101, 0.6029, -0.3916, -0.0227, -0.0265, 0.9995, 0.416, 1.4101, 0.7044, -0.1032, 0.3202, 0.0986, 0.7512] state[eef_state]: left_x=0.2941 left_y=-0.0001 left_z=0.1727 left_yaw=-0.004 left_pitch=-0.0293 left_roll=0.0018 left_gripper=0.9995 right_x=0.357 right_y=0.1009 right_z=0.0875 right_yaw=0.0871 right_pitch=-0.1987 right_roll=-0.1541 right_gripper=0.7512 state[joint_eff]: [-0.1299, -1.388, 7.0496, 1.6972, -0.0366, -0.0464, -0.0122, -0.4855, -6.3111, 9.3333, 3.177, 0.6569, -0.0171, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.34,"right_z":0.26,"right_pitch":0.25},"note":"The brick has risen off the table, but the loaded gripper is still below safe rim clearance. I’m raising it closer to the arm before moving sideways toward the pot."})
tool
executing move_to over 15 steps (1.5s)
step 66
top_cam
camera top_cam step 66
left_cam
camera left_cam step 66
right_cam
camera right_cam step 66
assistant
agent noteThe brick is now lifted clear of the tabletop. I’m carrying it toward the pot at a higher clearance, aiming to center the brick—not just the fingertips—over the opening.
move_to
right_x0.3500right_y0.3400right_z0.2900right_pitch0.2500
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8116, 0.6029, -0.4049, -0.0231, -0.0265, 0.9995, 0.511, 1.055, 0.7124, -0.2367, 0.4419, 0.0154, 0.7548] state[eef_state]: left_x=0.2923 left_y=0.0 left_z=0.1696 left_yaw=-0.0037 left_pitch=-0.0442 left_roll=0.0023 left_gripper=0.9995 right_x=0.3258 right_y=0.1001 right_z=0.1903 right_yaw=0.1328 right_pitch=0.035 right_roll=-0.2144 right_gripper=0.7548 state[joint_eff]: [-0.1709, -1.4564, 7.0359, 1.8339, -0.0806, -0.0562, -0.0122, 0.3487, -5.3675, 12.9026, 2.7961, 0.6032, -0.0757, 0.8571] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.34,"right_z":0.29,"right_pitch":0.25},"note":"The brick is now lifted clear of the tabletop. I’m carrying it toward the pot at a higher clearance, aiming to center the brick—not just the fingertips—over the opening."})
tool
executing move_to over 20 steps (2.0s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteFrom the wrist view, the pot opening is still ahead and left of the carried brick. I’m shifting the load that way while maintaining clearance above the rim.
move_to
right_x0.4050right_y0.3900right_z0.2700right_pitch0.2500
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8158, 0.6029, -0.4084, -0.0227, -0.0265, 0.9995, 1.058, 1.7649, 1.5131, -0.4152, 0.9077, 0.2447, 0.7561] state[eef_state]: left_x=0.2921 left_y=-0.0 left_z=0.1677 left_yaw=-0.004 left_pitch=-0.0518 left_roll=0.0023 left_gripper=0.9995 right_x=0.3457 right_y=0.3376 right_z=0.2576 right_yaw=0.2037 right_pitch=0.1533 right_roll=-0.2812 right_gripper=0.7561 state[joint_eff]: [-0.0479, -1.6752, 7.0085, 1.7021, -0.0415, -0.0757, -0.0122, 0.4855, -9.8393, 10.0581, 1.8974, 0.9744, 0.149, 0.6716] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.405,"right_y":0.39,"right_z":0.27,"right_pitch":0.25},"note":"From the wrist view, the pot opening is still ahead and left of the carried brick. I’m shifting the load that way while maintaining clearance above the rim."})
tool
executing move_to over 5 steps (0.5s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteThe brick is near the pot’s near-right edge, and the arm is falling short of the sideways target. I’m using a more forward-tilted pose and a modest descent to bring the brick over the opening without releasing it at the rim.
move_to
right_x0.4250right_y0.4000right_z0.2000right_pitch0.5000right_roll0.2000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8177, 0.6029, -0.408, -0.0227, -0.0265, 0.9995, 1.034, 1.8961, 1.5692, -0.4171, 0.8631, 0.1898, 0.7569] state[eef_state]: left_x=0.2922 left_y=-0.0 left_z=0.1673 left_yaw=-0.004 left_pitch=-0.0534 left_roll=0.0023 left_gripper=0.9995 right_x=0.3638 right_y=0.3558 right_z=0.2152 right_yaw=0.246 right_pitch=0.07 right_roll=-0.3676 right_gripper=0.7569 state[joint_eff]: [-0.0889, -1.0188, 6.9949, 1.7265, -0.0904, -0.0708, -0.0122, 0.2393, -13.012, 10.4274, 2.0879, 0.7643, -0.0513, 0.3736] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.425,"right_y":0.4,"right_z":0.20,"right_pitch":0.5,"right_roll":0.2},"note":"The brick is near the pot’s near-right edge, and the arm is falling short of the sideways target. I’m using a more forward-tilted pose and a modest descent to bring the brick over the opening without releasing it at the rim."})
tool
executing move_to over 15 steps (1.5s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteThe brick is now positioned over the pot opening, with its far end inside the rim. I’m lowering it gently before opening the jaws to avoid a high drop into the water.
move_to
right_x0.4350right_z0.1300right_pitch0.5000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8211, 0.6029, -0.4152, -0.0231, -0.0265, 0.9995, 0.9245, 2.0521, 1.2495, 0.5041, 0.5621, 0.1879, 0.7584] state[eef_state]: left_x=0.2913 left_y=0.0001 left_z=0.1649 left_yaw=-0.0037 left_pitch=-0.064 left_roll=0.0028 left_gripper=0.9995 right_x=0.413 right_y=0.3971 right_z=0.1471 right_yaw=0.3264 right_pitch=0.3161 right_roll=0.0348 right_gripper=0.7584 state[joint_eff]: [-0.0342, -1.6752, 7.2274, 1.79, -0.0562, -0.0269, -0.0122, -0.9641, -11.6034, 7.9658, 2.84, 0.2418, 0.1441, 0.5934] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.435,"right_z":0.13,"right_pitch":0.5},"note":"The brick is now positioned over the pot opening, with its far end inside the rim. I’m lowering it gently before opening the jaws to avoid a high drop into the water."})
tool
executing move_to over 7 steps (0.7s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteThe brick is held low within the pot’s opening. I’m opening the jaws to let it settle into the pot.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.823, 0.6029, -0.4156, -0.0227, -0.0265, 0.9995, 0.9161, 2.1117, 1.2095, 0.5808, 0.5411, 0.1307, 0.7604] state[eef_state]: left_x=0.2914 left_y=-0.0 left_z=0.1643 left_yaw=-0.004 left_pitch=-0.0663 left_roll=0.0026 left_gripper=0.9995 right_x=0.4135 right_y=0.3952 right_z=0.1135 right_yaw=0.3725 right_pitch=0.2932 right_roll=-0.0304 right_gripper=0.7604 state[joint_eff]: [-0.212, -1.388, 6.9949, 1.7314, -0.022, -0.0562, -0.0122, -0.1846, -12.4376, 7.1316, 2.464, 0.2271, 0.1148, 0.569] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The brick is held low within the pot’s opening. I’m opening the jaws to let it settle into the pot."})
tool
executing move_to over 3 steps (0.3s)
step 116
top_cam
camera top_cam step 116
left_cam
camera left_cam step 116
right_cam
camera right_cam step 116
assistant
agent noteThe released brick is visible resting inside the pot. I’m lifting the open gripper clear of the rim before withdrawing.
move_to
right_x0.3900right_y0.3600right_z0.2600right_pitch0.3500
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.823, 0.6029, -0.4156, -0.0227, -0.0265, 0.9995, 0.9157, 2.1117, 1.2095, 0.6128, 0.5419, 0.1345, 0.9964] state[eef_state]: left_x=0.2914 left_y=-0.0 left_z=0.1643 left_yaw=-0.004 left_pitch=-0.0663 left_roll=0.0026 left_gripper=0.9995 right_x=0.415 right_y=0.3966 right_z=0.1203 right_yaw=0.364 right_pitch=0.3208 right_roll=-0.0093 right_gripper=0.9964 state[joint_eff]: [-0.1573, -1.4154, 6.9812, 1.6825, -0.0513, -0.0464, -0.0122, -0.335, -12.5744, 7.1179, 2.1123, 0.2808, -0.0122, -0.1538] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.36,"right_z":0.26,"right_pitch":0.35},"note":"The released brick is visible resting inside the pot. I’m lifting the open gripper clear of the rim before withdrawing."})
tool
executing move_to over 10 steps (1.0s)
step 126
top_cam
camera top_cam step 126
left_cam
camera left_cam step 126
right_cam
camera right_cam step 126
assistant
agent noteThe brick stayed in the pot as the gripper lifted away. I’m returning the right arm to its parked position so the final placement is unobstructed.
move_to
right_x0.2950right_y0.0000right_z0.2000right_pitch0.0000right_roll0.0000right_yaw0.0000left_x0.2950left_y0.0000left_z0.1800
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8268, 0.6029, -0.4152, -0.0223, -0.0265, 0.9995, 0.9142, 1.7863, 1.2186, 0.2455, 0.5365, 0.1116, 0.9967] state[eef_state]: left_x=0.2916 left_y=-0.0001 left_z=0.1634 left_yaw=-0.0043 left_pitch=-0.0698 left_roll=0.0024 left_gripper=0.9995 right_x=0.3898 right_y=0.3637 right_z=0.2187 right_yaw=0.3853 right_pitch=0.2913 right_roll=-0.0487 right_gripper=0.9967 state[joint_eff]: [-0.1162, -1.6752, 6.9812, 1.7265, -0.0171, -0.0366, -0.0122, -0.4308, -12.4513, 10.8239, 2.083, 0.1245, 0.0464, 0.022] camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.295,"right_y":0,"right_z":0.2,"right_pitch":0,"right_roll":0,"right_yaw":0,"left_x":0.295,"left_y":0,"left_z":0.18},"note":"The brick stayed in the pot as the gripper lifted away. I’m returning the right arm to its parked position so the final placement is unobstructed."})
tool
executing move_to over 31 steps (3.1s)
step 157
top_cam
camera top_cam step 157
left_cam
camera left_cam step 157
right_cam
camera right_cam step 157
assistant
agent notePlaced the black brick into the pot and withdrew the gripper. The final view confirms the brick is inside the pot.
done
hindsightThe brick was successfully grasped near right_x=0.414, right_y=0.107, right_z=0.003, with a settled gripper opening of 0.75. Under this load the arm sagged substantially (up to about 7 cm), so verify actual clearance before transport. A forward-pitched pose allowed the right arm to reach the pot at right_x≈0.414, right_y≈0.396; release at actual z≈0.114 left the brick inside.
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8455, 0.6304, -0.4683, -0.0227, -0.0265, 0.9995, 0.0029, 0.8127, 0.6765, -0.4309, 0.0422, 0.0071, 0.9967] state[eef_state]: left_x=0.2885 left_y=0.0001 left_z=0.1603 left_yaw=-0.0039 left_pitch=-0.114 left_roll=0.0037 left_gripper=0.9995 right_x=0.2975 right_y=-0.003 right_z=0.1976 right_yaw=-0.0375 right_pitch=0.0012 right_roll=-0.008 right_gripper=0.9967 state[joint_eff]: [-0.0752, -1.4017, 10.7009, 1.6386, -0.0269, -0.0073, -0.0073, -0.0889, -1.853, 7.6103, 1.7363, -0.0562, 0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 157): [image omitted: streamed camera frame] camera 'left_cam' (step 157): [image omitted: streamed camera frame] camera 'right_cam' (step 157): [image omitted: streamed camera frame]
assistant
done({"summary":"Placed the black brick into the pot and withdrew the gripper. The final view confirms the brick is inside the pot.","hindsight":"The brick was successfully grasped near right_x=0.414, right_y=0.107, right_z=0.003, with a settled gripper opening of 0.75. Under this load the arm sagged substantially (up to about 7 cm), so verify actual clearance before transport. A forward-pitched pose allowed the right arm to reach the pot at right_x≈0.414, right_y≈0.396; release at actual z≈0.114 left the brick inside."})
tool
done: Placed the black brick into the pot and withdrew the gripper. The final view confirms the brick is inside the pot.
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 · 7.089 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, 0.794, 0.6041, -0.3794, -0.02, -0.0261, 0.9996, -0.0219, 0.7933, 0.6029, -0.3775, -0.0147, -0.0196, 0.9975]\nstate[eef_state]: left_x=0.2949 left_y=0.0013 left_z=0.1801 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2949 right_y=-0.0003 right_z=0.1802 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9975\nstate[joint_eff]: [-0.4444, -1.4974, 10.1402, 1.7949, -0.0366, 0.1148, -0.0611, -0.4855, -1.4291, 10.1402, 1.9121, -0.0952, 0.0659, -0.2662]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2545bdbed128dc1f4cf25fbafa3d48405781373579c5f12561ef90f8d4b7afa1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec2b25a20f10aefa727ab905c8090906caae028257b09114a5f59b6237715692",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ac29890968db103c6e9ae65583f6e0943c58c0afc885aa7c0d5d40380479a0e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 2545bdbed128
wire blob ec2b25a20f10
wire blob 7ac29890968d
call 1 attempt 0 · /responses · status 200 · 4.708 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqrKAZbTOgy1GzEX_dgG0oE6cUVD8mCwxYUfsGsFvTrLwqQR8IZPBE7iL2R0MinScxuAkElyoC0-ThqfoeeY6eSDdWW-Hvs7Uo75Bua-p0Fir89l4LUo0btPk6Y7P7YvE5Tzfz-jqLjXEA7mwlqD63Iq0gf82ACO2MQHgNXAq-VEWUgHk-b8ll0YZ1CjwItVdxmRQPRBhkXp8_ymF6kbtL_vliWEfxnOTGpJdJcCuZFtqoc0AGkNlYBSK3DXgF1vS5mYzY_pA8946NO2FDcsJOvbngNcIQYa7HPLpsvw6K0WqKdC_F9fPxU1JBUyyYJiAPnMBptJY-C-JBVw2VM_fH_QN2K56z8DLwk7L_qcuavRFrHenJGw-jY9IsxHyTU2s14SFUvjFRdQ8sS62qm3GnZrfcGeOjb6OsX2dunqbwfzBnpknQ-ukkmlFWiVI4OQzLyUxT70r0i_3rfp3WHS737SReXXy0l4TvWGp5xcO-003RE5t5p-Rt0FLrd3GyCAFDg-cohLVpv6r1_3dY8wa4Hlc3ivkNGtYZ7zZ796hZQwxtLDPalPnInGUHkjUCTEWhpjVmLkOzn9coz-sTaOcFg9q5-bFvXjPyWVBj-UmzksDp7brZ-Trg8pzzS8OU_xkXRSJU__FaKjbZgN3ivrOq5OOifQQhyD1k8Uxvx-IA2vVeaHOS7GwwOzZ8K2BHbWWoixc7e3B-fJMwEsMLG4UM9bWpkUPfhYpK2KSl9atd9RQ08GbRqaFxrx5rvTYdFt5PTKERd1ocXX_PtXrWA1uDxl4L4ZE-ITuCP5s-wylow87m3QauaJ-d0nxjq-ZSJeJLKhbbGevrIt0ZQmuEQk0yACsE-OmMRmOp6KmL1lgdFpHECV0fkG0Ts0nCanxZo59jqtywQGd-vJ7os_Gau9g_UuU_Q4xVZOwevdKXsbUqzlmDiEgfkxdqTmkjmK2dNLuFXhzri_y9Y6RBZVP-5Q4oXsHCFAXPzfUMAkVwkmZv8yW1VpT7D79jFeUMdvPKOIUM8_TPecm9fVdfeyOix6E1myAgZ5RLJkah9aFcyjgLmlzydZEkZwgyL9kkU9hZeQ6EfFy6Wrnq2Smg7-Mx_4AcdDncF08GoH52mfuddFUTM2FccAuQJ4FH-iM5Mu0uatgBx9y-8LO3cJneRrxkMQebAoXr41dJiPOJr6z_0mfMckoFCTP3d23whFZ8saeY6XwnVxLjTcup-oCXNv80079XLAQydplyXBfcGdJxFyH7EMkCF23EJStz4lQC2Syrc9lg6nHs82Fw1ggxMS-0Z9kbG1hr7gbciGep17fu5G4RaikxolNkdODhDY5cWyokbpdGpnW3feut0hDe5yW8YWEeeXyu9M3TSorQOAMQZxjs3_s6w-vosu711AMUSTWHgiqk88VStZRf-7yOS3bLPv224xEWKLuQL4HNPMYTBDAFXL-GdbXj95zem9t4EG5RB2v4d0xo",
  "id": "rs_0c6da9a8034c33ae016aaca014749c87d090dd28704dfb3013",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.12,\"right_z\":0.15,\"right_gripper\":1,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18},\"note\":\"The black brick is to the right of the pot. I’m moving the right gripper above the brick with the jaws open, keeping the left arm parked.\"}",
  "call_id": "call_qNibREYeL2GuV81ArhIXp05D",
  "id": "fc_0c6da9a8034c33ae016aaca01763a487d081ccfb4cbb9c375f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qNibREYeL2GuV81ArhIXp05D",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0265, 0.7986, 0.6033, -0.3897, -0.0231, -0.0265, 0.9995, 0.4755, 1.3148, 0.7155, -0.1093, 0.363, 0.2325, 0.9975]\nstate[eef_state]: left_x=0.2937 left_y=-0.0001 left_z=0.1764 left_yaw=-0.0041 left_pitch=-0.0156 left_roll=0.0017 left_gripper=0.9995 right_x=0.3542 right_y=0.1159 right_z=0.1258 right_yaw=0.0446 right_pitch=-0.087 right_roll=-0.0415 right_gripper=0.9975\nstate[joint_eff]: [-0.5265, -1.3333, 7.0769, 1.8437, -0.0757, -0.0708, -0.0171, 0.1983, -5.3128, 9.3744, 1.8242, 0.3443, 0.1734, -0.2711]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adf5ee993b933b5348659f576e597f8476da800bdf11853beb64741733feeb87",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc10b94acd484219f9b62e71af144d865e83bd36bb5aff0e23a93a1e2866e46a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb572dea2767a9062537d84fd446f1418fb80ff815437b0e0734f23201600c43",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob adf5ee993b93
wire blob dc10b94acd48
wire blob cb572dea2767
call 2 attempt 0 · /responses · status 200 · 4.093 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, 0.794, 0.6041, -0.3794, -0.02, -0.0261, 0.9996, -0.0219, 0.7933, 0.6029, -0.3775, -0.0147, -0.0196, 0.9975]\nstate[eef_state]: left_x=0.2949 left_y=0.0013 left_z=0.1801 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2949 right_y=-0.0003 right_z=0.1802 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9975\nstate[joint_eff]: [-0.4444, -1.4974, 10.1402, 1.7949, -0.0366, 0.1148, -0.0611, -0.4855, -1.4291, 10.1402, 1.9121, -0.0952, 0.0659, -0.2662]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKAfvPsEZt4mLldTqxF8YxdVcovT904LaNtXw7SekS6Y3A_GvUMaGVik_4fNsJ5DR4RIM3m_QqDvEfFQ_38zNMcwjp29FQTMbEAziPdYGlMV3fsIUOCmvmH9E2eZxyFwzrVLy04ZOAPoTAGlISulV8sjr5B2SrmM5z6U_dLajFcAdaaobXTdGMO-VGPaxsFL_Ek9kJCE9CXjFLJyf-EF6_LQpM2GJcV98hrxRj4VIeVotU6rOvEU79kwM5hbdLCrOrktEFSRgLg97GrG8Cdb_g_TjNfVV4IcEMFTFnjyJKQ5s_xUtcm7pi0_WOX9DVRaJNWI8vhvaHa9vrMfuuW_5e9_6Vb2zw0sAe0Ig_YqBYLSWgwzud1BUWh2ruJ12SMTM9QUQBP1ISxZbb7fs0jBYSnDr6Gh0_coVl-lUTFXhvDMH5Rs7-E2N1NwriJm05efNhcz-bsoyRc1JDrUZbdwOTwQuD9SEbZlF5dKLYPPJ_eldb3SE4eDYsjPGBr_WR9C9q68uyBHC55wpSPxRROvNH56r5shlMCaAvpvdfgysi3rpprPNvxlUMbdtp8ytYo8yLRFvZwGhagVXZeWliTDzbul5Hqe9wCEZVl6QamvlCa8ZOZHFZheYX-E81t949QtZ99bXHwkMSPdFIJEl3nLuWtF0hG1tIxc2RbCp3w9LHkJRIqn5QCzjV0XVsAbYP_hONTFUmAOoxAd3Ud-PHZOxkv9VpfqAvsq7NQqI9j0Ryzn0fIynCWJtJFMlHo1IsODPv0wSVje1Vq8NV6vg4WO-QKwxgzRfp7ZBkfyeTixox2THMQUkl7XWazBLO2INYLiT7dsC8NDkaPmeQCIgCe9z2SYpZclyHm3-Ekfstr-ULhQGo6udu2DghUU_ZfmlQSaA971LbomEafWwJmc3P7qnTXX3qfG_JSyFLY9MgnF-LaQAcIjiw003GiWYJOMbrmMIAIJM-SuK_EOgiSY8CThEXpi3SXujkqSZYhrh34LvEj72ENVCwLmuvaElkivHlFHUmwSU_0w8yuLbuQe5NDXJv2M9XEghX_ATGH3BjFkiDACqsd9OqbjXlj7FaFAe_l_v0ousaDmabiit_6vgSN9BGP9aA5X2yUTAT6-r4p0l72fZu_JYzmCg4xoUEVXe4UFI_OLIcgz5gDyTqRNMXi7zHilOsl3ZxXlIW--i3F-m6EKKUNqJCP0uL5X1jgfh0e02oI6wKMAcEgtXezStpL5ovPzXmC5e8Xcx1KMaw2iXTeVEGgMWjR5WXL-24ZtWivfKflFIlW7sySSLs6bM_V3JSeZrcIC1JlURs6RbBZfhA6ZrYJ4PKmPiYqDOS3ZaYq2vDcN3l5mon8gr9BEygS_vk9RmvmtSqjc2AHYfYEp69bayX7o3i0u3u69Oz8HQFNguD0IQMZjXlBEHbPwdupq40b0Qte37yYpwivGvZsRoel9PrK9wXqjdHSLd8-2pdmZbiQytmjtAmDXQvL53P2GwkgI-g==",
  "id": "rs_0c6da9a8034c33ae016aaca01b7e9887d098da975ceecc52cd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.11,\"right_z\":0.06},\"note\":\"The brick is visible just right of the jaw centerline and still ahead of the fingertips. I’m advancing slightly and lowering toward its middle so the jaws can close across its narrow width.\"}",
  "call_id": "call_SSeWyXGI1gIEfaJrhBtLvzMn",
  "id": "fc_0c6da9a8034c33ae016aaca01dbaf087d0b81eff9b8045e419",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SSeWyXGI1gIEfaJrhBtLvzMn",
  "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, 0.8028, 0.6029, -0.3897, -0.0231, -0.0265, 0.9995, 0.4023, 1.5818, 0.6498, 0.1516, 0.3149, 0.1894, 0.9974]\nstate[eef_state]: left_x=0.2939 left_y=-0.0 left_z=0.1751 left_yaw=-0.0037 left_pitch=-0.0202 left_roll=0.0018 left_gripper=0.9995 right_x=0.3756 right_y=0.1042 right_z=0.0478 right_yaw=0.0303 right_pitch=-0.1672 right_roll=-0.0729 right_gripper=0.9974\nstate[joint_eff]: [-0.1162, -1.6068, 7.241, 1.7021, -0.0513, -0.0757, -0.0122, -0.7043, -7.241, 5.6274, 1.8828, 0.1148, -0.1001, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b6110a928fbb199bd221f05d4fe97c728909064a8b5743c3c546035062edeff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f6b56685d743b76457030d4fde9df68a003871405d1e9dc0fd6c6dbaa2db7c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e05b7ee47274d60fbbe0ff9ae67c0141df632fdf148aec80cd9c0e987c3b0be",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 2b6110a928fb
wire blob 9f6b56685d74
wire blob 5e05b7ee4727
call 3 attempt 0 · /responses · status 200 · 2.794 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]: [-0.0265, 0.7986, 0.6033, -0.3897, -0.0231, -0.0265, 0.9995, 0.4755, 1.3148, 0.7155, -0.1093, 0.363, 0.2325, 0.9975]\nstate[eef_state]: left_x=0.2937 left_y=-0.0001 left_z=0.1764 left_yaw=-0.0041 left_pitch=-0.0156 left_roll=0.0017 left_gripper=0.9995 right_x=0.3542 right_y=0.1159 right_z=0.1258 right_yaw=0.0446 right_pitch=-0.087 right_roll=-0.0415 right_gripper=0.9975\nstate[joint_eff]: [-0.5265, -1.3333, 7.0769, 1.8437, -0.0757, -0.0708, -0.0171, 0.1983, -5.3128, 9.3744, 1.8242, 0.3443, 0.1734, -0.2711]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKAjz-9q_jjUjmj88VmNB5gIqDLdkatwEV9RTqylBqjT6MlrOsVtT1U9_KnT0w8NKMwGMwkxEEG2Qz4qNgec31qptbE_Nq13TMmUhIGTZkDcvDn5RYmzEcQ-XqdI9LRTE2t_Zcs__PMO4MSbYruWiaKxw_wZe-ykFekNbpeXWeKSxB32eCrrvsdIjPtsa2uRz-EFWG9BPdkXJc0rOvDC_qia5HyCjWrAS0FsrbJJ4xaG5Jd2NcTFn0i7WZbhs8BGzWowQNxk0ejG3JV_ee-eoaDdDKFgYLRFOtprqBhdNd_7nWkwy68pcAFgLEjYId4wioLDwB8dlxlL8M0rMwAMvCjOPARhIqj6XAd_2oVujCLvQnCEi6Pb0bKeVUtNL73XNciMD72_3H7_LgOQXnPTUZ1lLFesZirsyS9O6F5S3kTa77tXLhHK-HUMXKNugiO37eYXS27tn_4rBE8iNmid7tXGcz2ObiK2WquIUuRBBXQBANrtXvLLSc2WSB2bMokABfGQKvZPrqaU5ZEFhaY_TAWVDPY4-65LbTOWzza-JgjVH7zXyrRdsqh5CJWGB5HZdRIOemYGHtjU12-ke9HmkGputOLH4tu_IQixTMaJjBwEKh9I8RhjAVeKx1wRfgcKXEHck_met1fr9PPRlmAlUVztjpzUQsvsx7Zzwh76rUrdvU9U0jMjiLXCj4V_9xk6hv4ilG4kVnlzL9cf68U91iufofX_3LedQWUtCw-xZSwG3Sb5yhgYnluDulEg1JnW4n4ZExkAbtcgT_z-fMwMy0BRi5a8sFhZXTh3Ii-x4eIskn3Ye5SX3TFAYLVJrGlzJaV4H2HyFEMQ8GKT95h4vepjFQfZTHx_XILmkOIymt_ekPSdHmBq5NCaK8jY-1FLKAxVBBPDA5Azt3GjPjmq_D_Wql8gZKtVS0limgcB7jggoi7qCxj0ZuIyew19M3d7zFHyLJ6y26J8o0V0N1E27yJnwjj84kKQCAfxTf0PoS-e7GE8C1uEJ7gHS-FNPwtc2IHAkFNGRk4-01F_Khkuev_pdAT-IiZtxmPT5Ga9mORxhzY-KIqBLVbMhf2ff0ugwe9K3rQ8rZ6DYca4kXc2YXpu4p0ImHLpXl5GwgBwk7-ve4sdtwTR86uFoEI9elfpIZRWvxSDHiJLkPtlvQC58Hsi0UIFITIzFKSS32ex9yCn3vrqBxlP7TUSks1SQKpBd14gy_LL90EsmIx3dgOms2CFZjfaOhobbkKfQ_ZnoiYJk1q3aXUeFgbtBkKK5BkpsyxY4o8GQiUUeD2QO5DK03WX60oIQIxYEZbyRnWflALNrRz0AlH9J8sXjM73IzKrjb8WwBJxDjwF0eeLB9Fh6oOVbm0JkHxIDO08wndSOTVX6F_rVWqtefj4HpEdVhsT006RRPUv-KThdwilkL8pzMVXww==",
  "id": "rs_0c6da9a8034c33ae016aaca020cd5487d08c00a5e9dacf4d9b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.11,\"right_z\":0.015},\"note\":\"The brick is aligned between the open jaws, but its center is still ahead of the grasp point. I’m moving a few centimeters forward and down to grip its sides rather than its near end.\"}",
  "call_id": "call_pRvDdomCZueLNEIYKqjm8WOX",
  "id": "fc_0c6da9a8034c33ae016aaca021e15087d0a53eaab3351d0a45",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pRvDdomCZueLNEIYKqjm8WOX",
  "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, 0.8062, 0.6029, -0.3897, -0.0231, -0.0265, 0.9995, 0.3592, 1.8267, 0.7555, 0.2459, 0.2962, 0.1566, 0.997]\nstate[eef_state]: left_x=0.2941 left_y=-0.0 left_z=0.1741 left_yaw=-0.0037 left_pitch=-0.0236 left_roll=0.0019 left_gripper=0.9995 right_x=0.4092 right_y=0.1024 right_z=0.0056 right_yaw=0.0175 right_pitch=-0.2158 right_roll=-0.1004 right_gripper=0.997\nstate[joint_eff]: [-0.212, -1.5658, 7.0496, 1.7021, -0.0513, -0.0464, -0.0073, 0.0342, -8.4444, 6.8171, 1.8926, -0.022, -0.0513, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24887ee2923329fbc7a674972802d62135f04a88890aaa51dffa774a741859a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc9f6ebd8db3fac7e6543143b2372f273c60964a1005c04bc07faed126dc7d9b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c373ea59b588a8ccb9871d23bf4d850de766352cc0f4bac462cbb10a426586b8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 24887ee29233
wire blob cc9f6ebd8db3
wire blob c373ea59b588
call 4 attempt 0 · /responses · status 200 · 3.775 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]: [-0.0261, 0.8028, 0.6029, -0.3897, -0.0231, -0.0265, 0.9995, 0.4023, 1.5818, 0.6498, 0.1516, 0.3149, 0.1894, 0.9974]\nstate[eef_state]: left_x=0.2939 left_y=-0.0 left_z=0.1751 left_yaw=-0.0037 left_pitch=-0.0202 left_roll=0.0018 left_gripper=0.9995 right_x=0.3756 right_y=0.1042 right_z=0.0478 right_yaw=0.0303 right_pitch=-0.1672 right_roll=-0.0729 right_gripper=0.9974\nstate[joint_eff]: [-0.1162, -1.6068, 7.241, 1.7021, -0.0513, -0.0757, -0.0122, -0.7043, -7.241, 5.6274, 1.8828, 0.1148, -0.1001, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The jaws are now down alongside the brick and centered across its width. I’m closing the gripper, then I’ll lift slightly to check that the brick is securely held.\"}",
  "call_id": "call_zAaH4SPTqs54wmAndvYWIxOe",
  "id": "fc_0c6da9a8034c33ae016aaca0254de487d0b8ddfd4d774743c9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zAaH4SPTqs54wmAndvYWIxOe",
  "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, 0.8062, 0.6029, -0.3897, -0.0231, -0.0265, 0.9995, 0.3576, 1.8488, 0.767, 0.2665, 0.2756, 0.1539, 0.7464]\nstate[eef_state]: left_x=0.2941 left_y=-0.0 left_z=0.1741 left_yaw=-0.0037 left_pitch=-0.0236 left_roll=0.0019 left_gripper=0.9995 right_x=0.4138 right_y=0.1072 right_z=0.0031 right_yaw=0.0353 right_pitch=-0.2114 right_roll=-0.0844 right_gripper=0.7464\nstate[joint_eff]: [-0.1573, -1.2923, 7.159, 1.6972, -0.0904, -0.0611, -0.0122, -0.0342, -8.1573, 6.8444, 1.6581, 0.1343, -0.0073, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6f72d14626cc8c749dc0b9ea8dedee8da572ce4da576b474277dd412d8128ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db9bb6d196679684491ed1749701186eb8845e9f67359bdf5827dd5e5945e34c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f429d2a3f035f8c86fd33ae638b53d00ef417de127ba80bc3037c620f2727332",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob b6f72d14626c
wire blob db9bb6d19667
wire blob f429d2a3f035
call 5 attempt 0 · /responses · status 200 · 4.447 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]: [-0.0261, 0.8062, 0.6029, -0.3897, -0.0231, -0.0265, 0.9995, 0.3592, 1.8267, 0.7555, 0.2459, 0.2962, 0.1566, 0.997]\nstate[eef_state]: left_x=0.2941 left_y=-0.0 left_z=0.1741 left_yaw=-0.0037 left_pitch=-0.0236 left_roll=0.0019 left_gripper=0.9995 right_x=0.4092 right_y=0.1024 right_z=0.0056 right_yaw=0.0175 right_pitch=-0.2158 right_roll=-0.1004 right_gripper=0.997\nstate[joint_eff]: [-0.212, -1.5658, 7.0496, 1.7021, -0.0513, -0.0464, -0.0073, 0.0342, -8.4444, 6.8171, 1.8926, -0.022, -0.0513, -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": "gAAAAABqrKArYAhpcBfBKvg6zznCDXSxwphnuXU4F-6mts2l1V1G34BhZ65VPPP2VWElnZgdVg1JIfnieTPgTLo383CrxEt1umg49JC8cVFb-z7jkb9fqqPhy0f9tTiWLvrBByDvwKF1kB4a6CIWbms1rqnv_VFw-3OcAoZRWuMkrS_oR3HuPZI7jiFuorr9li4N_o1t6OaxPPKkryfom_yH-ucKouWckcHKNZW6-CyuBicpSi7t6ZDKY9rAG329LBxXRWJsJnTGzgxHVBHtUo8eT2SAYAsSJxrWUsOCLpSX1Px1SIzynCHlmV4QolFGM1PKCuxlhrgi8YlaUU0sr9E1tWa8VSLjCIG6Zxsr8D7iTRUXBItKxIwWUmqmmmywI9lKGfVzM-1-Jm9r5xRGQQaJtFjwZNzUJ2EG4bZSsyQxXLLBPdhshtYxcyCXzeOpvyshyrvmd9FIHosBDFBY-nuWyk88aoS-BEjDrHpAEZGOSTqfsBSwmddikCevMwbTMVfvsa0ReoyKk_PXz0vTpfKlUXYUr9EjLjSM8UwsoxRkt_2FUPJt6AmbBnxChzkfSQQ1mLOFdHeOZXXjDz7I8aSep9Ivl8eYnVBOwV_H_tXEIvtxPMxnnXZ5IRO8QXI1yl-60fBxihQMNISTRSV4wpe37_5OB52EgKasqPeps7iltw8hvlB9H-0OI0fnJ__H-54xY8dDGO8Zw4GuSLTGvHINK_Cq4WLxEgukyOrioOWKzkDgY3V2mW3Azk6pOv5_rVVHUVDBwx072E_l3_8E7W5O8z5ctgOGbK_HBbzAIX5H1m52YmUc-EkQAyFbZUtIKhcoCOY8x7nRRFzUf0bg_5c6q5OJmw12XCp1cXEuga7XBatmWYeNGze8ZNbv0K1YOh36KqOWl6ez0cbKe9h987TzDPH-ZF35eKH9re1PryV14SXDmqHh7xIRLsQ9EuFduVgNDrwOPq9eq_bMIQ9msf2vAXmLjdnZeFN4JuMyhQ8sJlf3ruNCf85-IixgBiyIrz07nVgj3xTO9kJ0bWQXUst8X-x0nziMhlvMzEYHVGiY7EXQfcIj0NKftjVF_zckvR9_Td19CGNWwAquM6MVg_l-gn8KF3tF9GtWemdmmA04sd1mu4ccbIYJvKlnHyAtHxvPmQKRI0PMrJTl-vSGsIQ0TIc-AjD26qJwdqTFkMBRbCXCs7JulYT8BCOv-znN3h7LKzgGnl3wIa_g5qZMvCIOG2xx5pAJBj5wEOw6q36dzN2RmwbwEWc=",
  "id": "rs_0c6da9a8034c33ae016aaca02940d487d0a17795f98aee7bb2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.085},\"note\":\"The gripper stopped well short of empty closure, indicating that it has the brick between its jaws. I’m lifting a short distance to verify the brick moves with the gripper.\"}",
  "call_id": "call_ho0BwgFAbBBzMUh5Fp2thCQC",
  "id": "fc_0c6da9a8034c33ae016aaca029a11487d0b1e102774933e5d7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ho0BwgFAbBBzMUh5Fp2thCQC",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8062, 0.6029, -0.3897, -0.0227, -0.0265, 0.9995, 0.3576, 1.6939, 0.8528, -0.1101, 0.2523, 0.1532, 0.7464]\nstate[eef_state]: left_x=0.2941 left_y=-0.0001 left_z=0.1741 left_yaw=-0.004 left_pitch=-0.0236 left_roll=0.0016 left_gripper=0.9995 right_x=0.3894 right_y=0.1022 right_z=0.0352 right_yaw=0.0432 right_pitch=-0.3461 right_roll=-0.1114 right_gripper=0.7464\nstate[joint_eff]: [-0.1709, -0.9778, 7.2547, 1.746, -0.0611, -0.0269, -0.0122, -0.1162, -11.3026, 10.1538, 2.1368, 0.3394, -0.0073, 1.033]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6e0c287940d4f52f0f63ee8c7c1a2d2b3dc5b9f0ac270dfe61023973388c15c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fe4ec2264f6aed41ce98646992454ab877bcd1507b3a55d40cda8d0389e25eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9250e1ff538a32df9adf528d5eddc864f3720733acf41dd8928efaaa9a32c62c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob c6e0c287940d
wire blob 6fe4ec2264f6
wire blob 9250e1ff538a
call 6 attempt 0 · /responses · status 200 · 3.267 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 17 changed as sent

message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8062, 0.6029, -0.3897, -0.0231, -0.0265, 0.9995, 0.3576, 1.8488, 0.767, 0.2665, 0.2756, 0.1539, 0.7464]\nstate[eef_state]: left_x=0.2941 left_y=-0.0 left_z=0.1741 left_yaw=-0.0037 left_pitch=-0.0236 left_roll=0.0019 left_gripper=0.9995 right_x=0.4138 right_y=0.1072 right_z=0.0031 right_yaw=0.0353 right_pitch=-0.2114 right_roll=-0.0844 right_gripper=0.7464\nstate[joint_eff]: [-0.1573, -1.2923, 7.159, 1.6972, -0.0904, -0.0611, -0.0122, -0.0342, -8.1573, 6.8444, 1.6581, 0.1343, -0.0073, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKAwF0Q4ZBt1ElKshEJ6jo8D_u-qJbaTbXbrpFtwBrXiBz91pgDQ4ZSMjA1vOtmltdWgTpV03u8fp6jDcUE2ALyoG_HUWLs27xwvLCd3BnryaDbiDUfWzyZBS80MCB4EekGSLNmXyBMtd8qXScV8lU46BBtWeyXCiWjoNdAMEbVa-biRbYBfsSBKCQ6GiaGJbNhnU9faDgeIcDjwSjo-4RDDt-OeyxUwpS4g2HhYmhX_jr8IDy5HU2lYPtb1NCipvT1Z3J9fjBOkbCzJ8h10oDxxJvZuNiZuYcm_mR23Hu-_FElzAfdAgx5LWEC3SGDS8CvGN_YuWFL22ggFqk5zStjaunw2V9mvh_xDzL3ft0e2z9Yt3ZnDuNGLck5fiFx4S7jwaYpoGmhP9xTaBSxuDaRQ75zplRtw-zpWFFwbhgaes7Sp8QD6mQa9AHvYeUZWPS0Pe2D8b3tBQAnRWdVjQp17NUC9H5rU6tYn0cpUDvHQgUrChq6jIs-8CXmnmT1QNaqB2-7t7jtO3CeY8hYonaN7EWvo9eiCDp99vos9lmyhwQJGo1wMI2xf1dhidCiP-QgK8GjiyeVteVexcvZjx3AXT0ViRcXSyrud_VEE3_QfYvnlStPZLjz8-3AGvj_HWDBFzXwEtg2CLtZyc6AR8mk5kuLQpIArSNcDRuRWTPdiq2j_XceqlbX59zDtfLh5qm58or4qoDvu-wlmgNjOrp1t-9zov9tVLOS8jIm9AvAD-BiieEgjO1kUKY50NODQJ-Fw2aytfvwIPmP4oXbXvuHqVYneznCk9A8Bi-XU31spB2JouFXtRRn0S4-vLP5qTCai0ndz3CSsgSxdG5AzmUFtylUrLXeaZIqRPm5u7Aw_h3pUQX_Y6IT1KUKXjRv74cDnSOSLMQypmJbz-VDDt4X5TwybHc2Rt_Zo2ajpi5goU8TxOQPIeYv3yjrUARmd6tbECrCTFVndtYaFlHSCsl88i-X5MlYl12GcsRtuH4cmAT0gtuRQ0wrcTMabavNwksr_G6IFhTMuQ9DppmkfuuwNkAyS0torlEQfGTP0M8PHuVx8LsqR3J0vi3xz5IzqgCuJOZWYlIB62ksv6nTbSjAEy1ZRv1ARaZQo5gZmH-XNwgmLvONvsjd2w00h5uOSnSR555JF1Uhb2Ktgsbr9nA7N_5C_WGYQR1GYHJyKq2kExCF1-WdgtbwBLN7f1vrEHE4rHD2LfCHhzON7FZXHjmK1F8QCesa5L6oldgmlpgazop-L1moXcywOad1AUXEJ4C-5Ze6QZnBC68UJGINK8CWOVA==",
  "id": "rs_0c6da9a8034c33ae016aaca02e259087d0a895ffa15ba79a95",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_z\":0.17,\"right_pitch\":0.1},\"note\":\"The brick remains between the jaws, but the arm lifted less than commanded and tilted under the load. I’m drawing it slightly closer while raising it further to clear the pot’s rim.\"}",
  "call_id": "call_EVYaLikenBbpq4CFj7D55Wrl",
  "id": "fc_0c6da9a8034c33ae016aaca02f1d6487d09c34a0965c9a2948",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EVYaLikenBbpq4CFj7D55Wrl",
  "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, 0.8101, 0.6029, -0.3916, -0.0227, -0.0265, 0.9995, 0.416, 1.4101, 0.7044, -0.1032, 0.3202, 0.0986, 0.7512]\nstate[eef_state]: left_x=0.2941 left_y=-0.0001 left_z=0.1727 left_yaw=-0.004 left_pitch=-0.0293 left_roll=0.0018 left_gripper=0.9995 right_x=0.357 right_y=0.1009 right_z=0.0875 right_yaw=0.0871 right_pitch=-0.1987 right_roll=-0.1541 right_gripper=0.7512\nstate[joint_eff]: [-0.1299, -1.388, 7.0496, 1.6972, -0.0366, -0.0464, -0.0122, -0.4855, -6.3111, 9.3333, 3.177, 0.6569, -0.0171, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4df8305e49428472ca46738996734d78f07b63f40d1ed43524d8139e1d7fd85",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:040df27dbe97d898646add7cc8abb85dd2031a5e45e3c4bffe62ec7eb63b8084",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aeae36648b09deab4a62ae37647962a8e4359ee4fc2a4efbfecbede905f80acb",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob c4df8305e494
wire blob 040df27dbe97
wire blob aeae36648b09
call 7 attempt 0 · /responses · status 200 · 7.057 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 21 changed as sent

message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8062, 0.6029, -0.3897, -0.0227, -0.0265, 0.9995, 0.3576, 1.6939, 0.8528, -0.1101, 0.2523, 0.1532, 0.7464]\nstate[eef_state]: left_x=0.2941 left_y=-0.0001 left_z=0.1741 left_yaw=-0.004 left_pitch=-0.0236 left_roll=0.0016 left_gripper=0.9995 right_x=0.3894 right_y=0.1022 right_z=0.0352 right_yaw=0.0432 right_pitch=-0.3461 right_roll=-0.1114 right_gripper=0.7464\nstate[joint_eff]: [-0.1709, -0.9778, 7.2547, 1.746, -0.0611, -0.0269, -0.0122, -0.1162, -11.3026, 10.1538, 2.1368, 0.3394, -0.0073, 1.033]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKA1KvqQcCIkNW9EEg8d5CtKIbT0dJ60usAukVpCH8Rt1_4zW9h42317B5m1dIVjfZTJlG7NHveWqFbUJdaT1fF00xRKe7QMLBj4Qn3qryvcw0n8zCbCGJBQpue8YtEv_aS7rplVp3aoZub--ltvhiA7ojkP_FP1hGvK8tiyUJzhR9iJJzUJPTEcQ98Fo3jxrxhxH92ewzSGEz2Un37pmifZrcffVxOnJbN4dTJRrtWwwmGDq1456HQ-NZgi832GBVGSDPliuWZn0sKJhl6q2pFdBd-0k_fGk-pIVu1sMFK8GnNdZogdmLHRGyqUtgAQ9gVDgV9TIS5wX2M3ziRiODYwPEjsj4lIhToKmZS1l1pnUQTpU-nlimWki0PtVM_M7tVUnKvRt-u6QbZArK0dLBHhseMwMNnc7lXuGa6lhxL-4bCJn7UvDlDHQvzEgrbBPN0n9zdEeuVfyav5jHDDdgZB_qKvVDekD1e5FdLerR8hO1xAofuArAoOljpC34KD6leTcVV31H3n3CbAivGMY_0O9WKSjyjf0zGlhUhzd8AuRaXHswNlVwkv8cKpCdO8TA_iAaQxPKeINlNm-p9JfRJ5cqkRa7Io7WsDjPwa5uqc3dwnIrtuUXbCiiDY9BUoTUZ6KMU-9fLubZwbzXV7udgRhk2QG2GkTVZH1wD8SWMDElgS_TIyzAc6qKhcSZxjxfOIzAC3xqm-SZVjcimgdWTxHv-q25yb_jojxIHBA5x3ENbmFO0i1nMe6f4GsxaZ5n-1-4JR_hDj2-yrfspbVBt-tPYG_c90Eou7BMUq3I_vJMe5H047Zbz7k0_c0hGjF29USfLfvZIig8zkvKIwDAGUQbPOnkedSiEetBMWUNNJag511cuUfBIrOcS4LaWRL759ZjeGyEFFQnLr5ljJKSAPk7wORxKbHwumCMfaUHk7w1ijfcnduam-yd1DnRSQkjRfN0Iu6gDNK0jztvtoUVHHID8M05QcL-leI-eCfQ7CzdMxajx2K04Lib6Y4yXzEhN-wXqC5qDIxki_5BFVgfoi5NQGmhWskUuPEoeyg2CHcHt1qhweIfXmof6PyQ_T68fMrCUKCIQj7rrgtUDTpKppKvpyBoEZ1gjUTpRcB_WbguRcprx-6OuEEZhXKcniydjgMfqOdj4WWm_amCL3lamfC8Ag2cm3WU9CYd72XrG20ANhRn2xX01nERfRnaGByajlUSeTpE4frxXCWXnPtnCbXrMRvPTMS6HmP9M-ObnHT-LBwEoRpoEEKO6YycGgRUH3ZdVmMyZFke7QVqBJpbvaDg==",
  "id": "rs_0c6da9a8034c33ae016aaca032e6c087d09dad10defe60e2e5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_z\":0.26,\"right_pitch\":0.25},\"note\":\"The brick has risen off the table, but the loaded gripper is still below safe rim clearance. I’m raising it closer to the arm before moving sideways toward the pot.\"}",
  "call_id": "call_QQ0AGCPKpOUGfvB7ztB1od3r",
  "id": "fc_0c6da9a8034c33ae016aaca03399c487d0aa9ab12a0437bacc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QQ0AGCPKpOUGfvB7ztB1od3r",
  "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, 0.8116, 0.6029, -0.4049, -0.0231, -0.0265, 0.9995, 0.511, 1.055, 0.7124, -0.2367, 0.4419, 0.0154, 0.7548]\nstate[eef_state]: left_x=0.2923 left_y=0.0 left_z=0.1696 left_yaw=-0.0037 left_pitch=-0.0442 left_roll=0.0023 left_gripper=0.9995 right_x=0.3258 right_y=0.1001 right_z=0.1903 right_yaw=0.1328 right_pitch=0.035 right_roll=-0.2144 right_gripper=0.7548\nstate[joint_eff]: [-0.1709, -1.4564, 7.0359, 1.8339, -0.0806, -0.0562, -0.0122, 0.3487, -5.3675, 12.9026, 2.7961, 0.6032, -0.0757, 0.8571]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6ba36242b4bb5fe4dd174b4b79f5b4c2bb8df1a95dc4b833005036b934fb1fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f778ed44d75ea7d047b5d69118bc1f43ebfe9bbd2a94124164c93d959b568e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d61d680bfdb6f56e85b7009cea198b0b4bd6d0bf281c42ebae72b4235164b549",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob a6ba36242b4b
wire blob 0f778ed44d75
wire blob d61d680bfdb6
call 8 attempt 0 · /responses · status 200 · 8.224 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8101, 0.6029, -0.3916, -0.0227, -0.0265, 0.9995, 0.416, 1.4101, 0.7044, -0.1032, 0.3202, 0.0986, 0.7512]\nstate[eef_state]: left_x=0.2941 left_y=-0.0001 left_z=0.1727 left_yaw=-0.004 left_pitch=-0.0293 left_roll=0.0018 left_gripper=0.9995 right_x=0.357 right_y=0.1009 right_z=0.0875 right_yaw=0.0871 right_pitch=-0.1987 right_roll=-0.1541 right_gripper=0.7512\nstate[joint_eff]: [-0.1299, -1.388, 7.0496, 1.6972, -0.0366, -0.0464, -0.0122, -0.4855, -6.3111, 9.3333, 3.177, 0.6569, -0.0171, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKA9bmaN8Tct7CawZ3oG_uA28nCKQQsuR-EzrlFcsBdQwMYaKdbOUR4OjA4j3FTka3nRE1sViojUe8n-VDfxsC56G5DSiaTAy6HAJYDUpd3GR2v68V_28mQxqC8_I8y1l-Q4PLPoraU33itxIXTkoW4JQSwcd1KaJIlqJahKf6z3kM2tp3-q5RBH2ksnocWvjzJ6bAmCq3s40vNkk3LXshMa1EmdfO5zscalzy0a6UXaKe86m-4V7aNSmpw7W1BSU6XuGSmN0jbAaqTGjROiBf09CA9SCA_IJbPoKnda6bKBVf7KhV5Dr9dtEkHoHZX9I4ytQEnGzwbZKbP3re4vnfCDcDq8sssl9oVevFTRU6vzabm5CNmR13QeZAhhOyqzqbgmGobEWzFTmDD2L3mBd_EXpTICoVeycZYdfdi0m5OBWNlkovhFh0pgsHpVpLdrtTvPg_KrU5XZ1WfFdn1b_40XOu3RdOpTwzdMb8oHUbcuIarEX_4L6Mi_YxNuGfDi9mqNiMNeiDq5SJZk3H6YGo0duoTg26EdJvRyYLj4q40X2faWjvCT0Bmq7DRQDpoHA6A2UjYR8RzU7_yr_GNUgc6FLXMSlhelNGGkLDXlPt3fkFKScXjvvAkgTzfuEvBWcuuH_9etRSOimUlYfow6NiTpo2YOtkpLpP-GDoqw2VaJeCXzqDJpEK-btJSPKx-J_r8aebVqSzO8ZreU_BTJcXf_cut3sLnhKYG3-DJsLmWi50O70171439tqLab43rAoPeL0VHYJd5T92FOgkNIDDR9Q33OGcSL-d2sRPrx6NdYnOIex562zwkVIIcIxwI7RY8Qos3sOPuO4aSm-oW82s35Ww--xQvGpXLdOl-3vY9QjjfitL9PFSIrFpwHYuE0ic_PulsjWgg6gVCjKVwzjFmE0n0pqdeV1F3DfPp0yIbNQPk4stXFSlF1NCT-Lz9TNk6YaqO7C2SPkMbo-JIYrZtE9TjUs2A5ZvT0SpvYMHSK4d0PoDiPCla24yhob1TYweQuQDO8HZdSZiQzf1zL-tn1UiJOI8K5CSED3XDiI2KQgjLObuNufHIDd1qXB4pqdWkGfPXlwjWpARo1wzHOxUkHkCjXcDfzHkTdTTQaG9IAvtJ_pLPE0HFiAu2QnuZU5tV2ClwikihNJwOhKaNAUgZJvO7HHDqnEMsAbX_cSxza-3zWp_p42OsQsB-lC-xm8A07q1FdfoC06AnB3kO_8UUsK0Yid9WG7Qr5B7fpmKoVkl5LVYoyh1_kX-LswwMrxPr1RMK0s2uFcVE6GRjn77Em9VOCXPX1N8P4cYbMKefeeNJ6L7bTfJf7_mEbeGkeWLa5NJ55b1XKigv5chuG22zla4Vfr_mEVobyahbn-IY9tylXNt-QA-j4NMMCRAf7R_CRYWLG5PlgiSlx7xkf17ljEgWaJEOmrxohgvEux8H7WjDtXzPYX5HPB5cbKzVJavwkjxslEn3nv1eANjhwKJic5SBgG2jGKzcpV46YyavFWIxaI93uGerDSVUFpS770JMP6r6YwUl8wn1MXKSb_pg-YGAs9xOCs2APU6Z0HoR615cHJ0vjbrG6Nv2PzRdpVSIU2wv7gLDGV2TTSRfwcLQEGrRnZwk5JxGjZIh9_ntPwz__DI1_3CI69kcgWhWevSvio2XLZWhwYQ8o9hKDsQgPlLeV7zmQeunvF4WUQ3LisvtBCHYscU96hrr-I89KISCX9lgz3R9SwzKl37Xp1iUI8uGpCYr-Rnjc8rNkND0LKQQ=",
  "id": "rs_0c6da9a8034c33ae016aaca0386d1487d0956c6202e6e3a1d3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.34,\"right_z\":0.29,\"right_pitch\":0.25},\"note\":\"The brick is now lifted clear of the tabletop. I’m carrying it toward the pot at a higher clearance, aiming to center the brick—not just the fingertips—over the opening.\"}",
  "call_id": "call_zOUXiAgDVu9rcXdXKpuSKLdd",
  "id": "fc_0c6da9a8034c33ae016aaca03bf3f487d09ffc39df4fd08f67",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zOUXiAgDVu9rcXdXKpuSKLdd",
  "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]: [-0.0261, 0.8158, 0.6029, -0.4084, -0.0227, -0.0265, 0.9995, 1.058, 1.7649, 1.5131, -0.4152, 0.9077, 0.2447, 0.7561]\nstate[eef_state]: left_x=0.2921 left_y=-0.0 left_z=0.1677 left_yaw=-0.004 left_pitch=-0.0518 left_roll=0.0023 left_gripper=0.9995 right_x=0.3457 right_y=0.3376 right_z=0.2576 right_yaw=0.2037 right_pitch=0.1533 right_roll=-0.2812 right_gripper=0.7561\nstate[joint_eff]: [-0.0479, -1.6752, 7.0085, 1.7021, -0.0415, -0.0757, -0.0122, 0.4855, -9.8393, 10.0581, 1.8974, 0.9744, 0.149, 0.6716]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8944cfe8c4981b0b074a1662d00330c27989d48836bbb1f192aca7350fd40e1a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64614b1d9b6b5fc7db9c4d5ca77f4c84aee518775143721eaacf01e7b58393d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea7d77f918ce6b50ece35a9bdd8343f2b015da3b49aafade630fe673d2fabec1",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 8944cfe8c498
wire blob 64614b1d9b6b
wire blob ea7d77f918ce
call 9 attempt 0 · /responses · status 200 · 4.658 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 29 changed as sent

message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8116, 0.6029, -0.4049, -0.0231, -0.0265, 0.9995, 0.511, 1.055, 0.7124, -0.2367, 0.4419, 0.0154, 0.7548]\nstate[eef_state]: left_x=0.2923 left_y=0.0 left_z=0.1696 left_yaw=-0.0037 left_pitch=-0.0442 left_roll=0.0023 left_gripper=0.9995 right_x=0.3258 right_y=0.1001 right_z=0.1903 right_yaw=0.1328 right_pitch=0.035 right_roll=-0.2144 right_gripper=0.7548\nstate[joint_eff]: [-0.1709, -1.4564, 7.0359, 1.8339, -0.0806, -0.0562, -0.0122, 0.3487, -5.3675, 12.9026, 2.7961, 0.6032, -0.0757, 0.8571]\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": "gAAAAABqrKBHvOzbNtXtHMPlbUj17qPUAPFUBG3E91v1zTJQvlf0rEP6kjUvDvZyAuk1bNgnL_h4nZMHnm0Ks3J9fl3iL17I-XhJWjMnDuEkiAEVtg46ErKh2XyONm1tCQ67M2Muf0O61QpbqDXLwUU-yZg2pIi--XMFvbwtXxJKXGMD0mOnQKF_GN0InRIYMnQPZwDzyzV0a7GmcxDrFLzgFaYIHBG4WUlX_PPvDpL8Tm4JY72PWkiW9U8vSGIlZ1FU0IRtSwkdecFsxbmEh7_6EqXi8g9xx6as7MTeeMfu51rRsREFdq0Y80AeAZDMUaLxHzN9wCPzdDG1vQvwO4lI2bOUlppNgcCfdG1TipGbVn-3-x6kW4zVO_G_UEe-gV_YC2rDNW1tk0MpQF80YfStFoQvhcCU9QJ0_CGT0D1ib_SFLR3-TbY4xMW4W9O4cpVDCeGWS6MSn5XVn1M85RYIuJnagcX8SV9SGizCeN_5fPaJUoL7xVXJHIoOQxZSUR8O2WkChowSPP3D3qlV-teP9mJ_BpTE8nKo2o8iG_itqwpI7MejRz1cZeVG6s9Ue0BoUMkN6nAhAsw_OlE7RGs7Sunxbaw7aOP5EskgaH5gyBHTDU2pO3OSeKj13EJZniaPZVxpU2bsEEqbD-kclvIQwzelI8QKcpr5Y0CdZJjFPUPM6R0-x2pF_3vtvAzYrU8McOgUbDUJtR1r4YhJFDn3VDfeBTyJiZJUlsHDuyvaLTfsG-VlCfN9DRBAQnlROf_6ZOlz5eejFL7twgjnt6l4wH1xgUUu6QH9cXeP7yy0IGujStGWzDuNcSt7It4L_grlFks2Lqnk0CCy6qV13U2GKrmvQG_v2T89BjK545t7J-D8qfgJoobTLJj4-pTVA_d-doPAVLx7-dk6pF-fcSxonEGsI7HgD5O174KYdBkNHSc1TNGEbHNQqhbTUW486lwS8ETLl2GVRB0dCn7VFbByk2TD4BXouvE_KPfSipMOTl-yBpI6S-Os5PNXghoO6w5qJHR-ETRM5fVEOEkH7HyPAi5WTE2VIGXu6ZNvJpHbkq5JG877IAGB-6E2C8PR13-vUbZnSrXSg9kfjPbYpuZmRp_uWUSkc4RPmiNGKsppfOXOOKmk_n7pRZidJOKq5O28v2mwMI9nvHFO4yOUg4fyFniUYQDfXKPkjvel6JkGe6oMLO0Wy52JIgZ8VV3jfXgrLGdDoMK4m3N8g04gcyMojYuxmfejZPvyVDrEMpLM-ggL4wGnzVPLJSg1O0Txcg6ebE95EIDzBrEh31VY-zC--mO1Js1yfatp1ofj9xBPkgkmL3pnu-Gu1yn-iaDmLenAxBxd_gc51eyCUfMRR57WNOCLynLFCx9lLgsyM5eU4_DzEXmk68-jlZ7lZcCU79TF3p7TWT3Hr1qUpt3ioEeyjfFhPDoyGAhx8M2xsfBRo1ycmXqQNXTdo6BW-nmOGuxfAZUmX_m_qPmb1se8OQV4iAjLTAIyxyDSvcF4loQ5DYIAg7-Mj_iQgk-GJwUAFvSbsfziH5jZZowSFvVAj-TYpBw6qwv1gGQbX55zrYoGaBw1BCSULtOXT8O8HGqxQ_11JFx8cnf5Lq6DN6GqnttYj1fkh32z7XPTd4Nh0J73mCv68ad5_qy4boKiLciFmXBGmXF4St7vDanbztOp-n3zW79j5e0lcDQ3Qfc34Qmfp891F8Vpyc__pPJS_WeOKsI5SW89psu8ECz3dH1Pa0BVQoqp0qWSpvrka4S7q13EKq4Eme0XS5v6PaJ-VPjuCBiNUQ8bTNhl0kHK4rX11q0zCQO3vMV13Ihuw3qhSsDx-W5SkzW9ZZpZZPOCyxJCTCo_5u7a3exFp0B3qMnV0O7sYSCZObdLhs3edascvLda6LOIz4camW1cnr9-W3pCwgG2_U_ATFaD445Qca7lMnG7mchPgtu10w==",
  "id": "rs_0c6da9a8034c33ae016aaca040d2f087d0b5d3b57338969e96",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.39,\"right_z\":0.27,\"right_pitch\":0.25},\"note\":\"From the wrist view, the pot opening is still ahead and left of the carried brick. I’m shifting the load that way while maintaining clearance above the rim.\"}",
  "call_id": "call_KhM42xGVv2Sng45Los7DVt91",
  "id": "fc_0c6da9a8034c33ae016aaca045d40c87d09364cef8b5a9e482",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KhM42xGVv2Sng45Los7DVt91",
  "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, 0.8177, 0.6029, -0.408, -0.0227, -0.0265, 0.9995, 1.034, 1.8961, 1.5692, -0.4171, 0.8631, 0.1898, 0.7569]\nstate[eef_state]: left_x=0.2922 left_y=-0.0 left_z=0.1673 left_yaw=-0.004 left_pitch=-0.0534 left_roll=0.0023 left_gripper=0.9995 right_x=0.3638 right_y=0.3558 right_z=0.2152 right_yaw=0.246 right_pitch=0.07 right_roll=-0.3676 right_gripper=0.7569\nstate[joint_eff]: [-0.0889, -1.0188, 6.9949, 1.7265, -0.0904, -0.0708, -0.0122, 0.2393, -13.012, 10.4274, 2.0879, 0.7643, -0.0513, 0.3736]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7de8f11256c71150188ed6efd7136c32b73e5bff1e8cd2adad7320dbd9afbeb3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0016629bf2b99ab398f3456732b5a44aa5c15d557e30e678a73738550fd9ad10",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a51135e2db42a1d06a162e21738663f9f12b122ae5a58582717cf2e0dc17ec27",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 7de8f11256c7
wire blob 0016629bf2b9
wire blob a51135e2db42
call 10 attempt 0 · /responses · status 200 · 7.636 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 33 changed as sent

message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8158, 0.6029, -0.4084, -0.0227, -0.0265, 0.9995, 1.058, 1.7649, 1.5131, -0.4152, 0.9077, 0.2447, 0.7561]\nstate[eef_state]: left_x=0.2921 left_y=-0.0 left_z=0.1677 left_yaw=-0.004 left_pitch=-0.0518 left_roll=0.0023 left_gripper=0.9995 right_x=0.3457 right_y=0.3376 right_z=0.2576 right_yaw=0.2037 right_pitch=0.1533 right_roll=-0.2812 right_gripper=0.7561\nstate[joint_eff]: [-0.0479, -1.6752, 7.0085, 1.7021, -0.0415, -0.0757, -0.0122, 0.4855, -9.8393, 10.0581, 1.8974, 0.9744, 0.149, 0.6716]\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": "gAAAAABqrKBMfMW2AtV19u1jF4dQ94NjSaHQffoTy8S5kajVNQArPhz5DeHp3QShZ9eWqy1tk0OX5OP3Ayoq2KVRn1sOwO6BBkb7LLvEsVERsoAzJGCboYRFpbvYWx2fcRY2AbtlAM8kabc-IF9fa6d4Q1zpaWHjYxtvbCz86e1-G27yAePwAcuab9M5ZSlv9Onkzh0Ry9Kt4FTWek0GO0Ejw_hk1JlMshiJnA_k3YD4GK8KggyUQbql7XXL2ACIWdGPBM3AtuGXXM4xz0t3J9DXnXl_NIh7Ilm-Iy_KZSub8lVduAK8upGWzcV7lpcQJ704mDuWKIguMUJSj5O1lZH3cetctT7ALAZIejjovzik4Cv64Sx_t7fqcFQmTR_6c1-q_ZUm8OBfM9HVhfK8OZLL4uBlITigcTBFp1P02Tipxdq6_a-x9uMSvUc5CqGgj6Yz0DNQcF8LJs01Fr0tQyqqcEPThr12LaiPcsUARSpqtm71yuTFeAwLOxrL2dX9n-I2lS_qSdgaTsrG1fT1C_GOlMgIDMG9U7BhglsKauLSXqyu1nr4X0j-cfyH65sgSyE2W_eNAb1Fi086u2HVt1feDQRxWGAoFb9LhgFkRJqKLeLy-WKSF9xV-6IdLhB43DEKoXqzOnK22u1nvKwlyy3c0MnIyHaOmo8S-uGAG-bs9v6D6ajCarwPLTGIrYox0ipj-UplV9VcWeaITrN06-VyjtEKYm23cXDJXrplQv_1pdecVem5xDS1LOo95Hsej9KZhewX5klLoMy4FvB6QeY8b5GX_s4kdWl82ACRB8An-2-T94x8ZQL2fGzL4N_WAEXzop1N4J5fFxGcVRNV5E1r7jRMJi_jwdNUPItNLLJSePngbrE2oorAupxLCxfUZtajkFtHGDdkqEEj7oa4WbzFloH5SKpHcM5dBIL-71qZjxPH4TCQErRmVSwficksQyA2W6nAY2fBhvTweexT67Fa8i3mDmInzDw3UFUVXip-YbnE4hpBx6UI5ELvEFOq3skQKGp8sksFmybNMrkchqsSDpyTpGblMAJhZJZM6JNKxP_Tyc-iTpKfY2MIEfGwOuRE_ynZBRhzwAAa_EHqjzEZs2ykrEHi1OjAhk937ROjoIQhkpkKTAO6wzI20wZ8paEmFhWdRmDv5PQstBLGwXOPCFDKvJ5pfQ6pIBqG1UHR577DCn3EMgElvARVPx7OV4duG4rRWSpxbi7DNztKGn0i4Qc28pSTR5-uErc2FsKZMMHwa1l-i6SUR8gPipoQSmOVvzIP6KGgHr35VsofQxyeyM2msRcZxJSJgpYGXuZq2GuMy05HgVoFHl0McLh9ExzFcZCtBIaVIeeoH3Q25l_wCv409N8vNw==",
  "id": "rs_0c6da9a8034c33ae016aaca049b01087d089018d73b7e6ac7d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.4,\"right_z\":0.20,\"right_pitch\":0.5,\"right_roll\":0.2},\"note\":\"The brick is near the pot’s near-right edge, and the arm is falling short of the sideways target. I’m using a more forward-tilted pose and a modest descent to bring the brick over the opening without releasing it at the rim.\"}",
  "call_id": "call_XRPRByfTiQj41ePCSVy3tzLA",
  "id": "fc_0c6da9a8034c33ae016aaca04aeab487d0932bf66c52b4c0b9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XRPRByfTiQj41ePCSVy3tzLA",
  "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, 0.8211, 0.6029, -0.4152, -0.0231, -0.0265, 0.9995, 0.9245, 2.0521, 1.2495, 0.5041, 0.5621, 0.1879, 0.7584]\nstate[eef_state]: left_x=0.2913 left_y=0.0001 left_z=0.1649 left_yaw=-0.0037 left_pitch=-0.064 left_roll=0.0028 left_gripper=0.9995 right_x=0.413 right_y=0.3971 right_z=0.1471 right_yaw=0.3264 right_pitch=0.3161 right_roll=0.0348 right_gripper=0.7584\nstate[joint_eff]: [-0.0342, -1.6752, 7.2274, 1.79, -0.0562, -0.0269, -0.0122, -0.9641, -11.6034, 7.9658, 2.84, 0.2418, 0.1441, 0.5934]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28ccc108e004fdca2fd1b95d43da560326f1ac2d49b825d02acbf19570f44466",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5554a0037576272ea97cd433cbb29e0a8f5c8e84c501d414c8635ec66d652b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08003769a78c1a72a6f573e4880fedb4fa1d81f6617358ab4ba17c5e6ed14eea",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 28ccc108e004
wire blob d5554a003757
wire blob 08003769a78c
call 11 attempt 0 · /responses · status 200 · 5.49 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8177, 0.6029, -0.408, -0.0227, -0.0265, 0.9995, 1.034, 1.8961, 1.5692, -0.4171, 0.8631, 0.1898, 0.7569]\nstate[eef_state]: left_x=0.2922 left_y=-0.0 left_z=0.1673 left_yaw=-0.004 left_pitch=-0.0534 left_roll=0.0023 left_gripper=0.9995 right_x=0.3638 right_y=0.3558 right_z=0.2152 right_yaw=0.246 right_pitch=0.07 right_roll=-0.3676 right_gripper=0.7569\nstate[joint_eff]: [-0.0889, -1.0188, 6.9949, 1.7265, -0.0904, -0.0708, -0.0122, 0.2393, -13.012, 10.4274, 2.0879, 0.7643, -0.0513, 0.3736]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKBVNlMX0dGcIWQttGYPruLAeXy418WEcl3IwDCWdfiNbm1t5_11VnEdH5HgnuzHlP7WgAF1_2ziCVdlWChYm8mHLKEBJqEGdDKgWKa-DqLxCY7isde_QVt4FKbzOuItzsfA-ECSKglXjAR0V_h_qFrGrsQap8QYs29fOzN7ddia_NA_JQg6-Z0Yr-g1afWLIb2p3bGhJcCNUGP1Mo3NOcqh0JmCEMwRT6tY9XmIpLJaIQVKHjDI4iEu0IVtjUFKLHXi1nXI_eajSbfhPZpX_luoC61tD6K0XRZu1dfG29Dz1IRAyjiu10YV0HjHZhkiqcf60MCHfl5g8Z1OeeBE2ewhQRCuzPYX4iD6uCNM2zspo_VgW6AiUoJFZXeULmIAccTjc_yvNYZAL2T0VJR1TUbqMXj5Rcy8lyYGjLqp4AOBouZKl1FQVk3m5F0BDrOdWaYXexAooSBVW8CRr_1k42IFwO-iO6I5AetMIY0hoRtGi8gjnAK2Tt1rg8oh-aZcvclL_ax05DyL-k6mvk1uSR3_Pf3saqJx98cBk3BT_hX479X2LyFHU0rdHkABN2Tf9m2y5s-T0sPjXouT_lp-a_4D2t_JalQ8zIk5PpFJBGvd01lkA_5qzdsltoPVPSsYi5Nc0btLK8bpq64oqey2MXpMzJQnAxAfCBmNOH1WS1cHh5lscz4o6YQ_PU8wjodA3UgZL8YB6w7r5CxZT_d78NCgL3AJcGoh9Ikgj5l1Nyux3HtDcmmcjoHaV0asKBRtWDjGti0CnQ4LUL6A4cWx2c_fX3iNMmcph8xOOO5fhv5cEDIe8CoDLc4JvcNupHNDzpC4ykg2ehhZYT5fOPoH1MNwtJdwI4jOVces-tuo0suwTM_Hm0zwrJK0f9fZlEP7idxk9Drli-_fbBoEJlSyFbaIQ7Acxv4xNu8aoHLY2Yqg9vXN60w84y-e1UktTLTwTxVaDanhzXKTjNCvD202YWCU-BYQr23y2hGdtkyjgHaOf3St62gwaYozQuvzFpEVc_9oYNkRcJGJUsWLj_38gGR7aE3xhdIWhzVA4t5rXB03_c5xyGMBhCq37ilS2PYBTYfsGbihkRGw9tHxK42UlUfFy1zJfDiUlbOSIVdlaAceAuwKZ8-uLzMUfd1LFOS9bnDa-P_mpLF55c66ZDcnQlaSfwououO_Vpy85yFfhz2MzdT_QWDmfKtgw21YgthsslaOiiLdcdt84uUBULc72V0alUE4vpywfs62Zk3KzGIG6W5-RHUlHbQOatp1SBYVeyJDRFRL-_mQyG-thXfNbSPY3uSeYDs_NIaiS7zxNB5dWxaTulAFZGGLnB_6lyem-JYrxe5fX14lB8J3iQuwjIEhSbQ0iq0IrA119XJ7LG0nsARfKgjEXk2ez4tyee0R1Ceh4g4bUnD3GVeYB8qXwKRdNqZNLJ7-KeuYnkTFGf-bz4Q_ann5qmctwzOgciwRkZOG",
  "id": "rs_0c6da9a8034c33ae016aaca05336d487d084bf6f3da25e88b8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_z\":0.13,\"right_pitch\":0.5},\"note\":\"The brick is now positioned over the pot opening, with its far end inside the rim. I’m lowering it gently before opening the jaws to avoid a high drop into the water.\"}",
  "call_id": "call_ePDXjOqDJp2oyCgLVtyWNHYk",
  "id": "fc_0c6da9a8034c33ae016aaca054788087d0b02c5e653bac2f22",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ePDXjOqDJp2oyCgLVtyWNHYk",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.823, 0.6029, -0.4156, -0.0227, -0.0265, 0.9995, 0.9161, 2.1117, 1.2095, 0.5808, 0.5411, 0.1307, 0.7604]\nstate[eef_state]: left_x=0.2914 left_y=-0.0 left_z=0.1643 left_yaw=-0.004 left_pitch=-0.0663 left_roll=0.0026 left_gripper=0.9995 right_x=0.4135 right_y=0.3952 right_z=0.1135 right_yaw=0.3725 right_pitch=0.2932 right_roll=-0.0304 right_gripper=0.7604\nstate[joint_eff]: [-0.212, -1.388, 6.9949, 1.7314, -0.022, -0.0562, -0.0122, -0.1846, -12.4376, 7.1316, 2.464, 0.2271, 0.1148, 0.569]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b54161964e2e3b0d16b558663e1a514a531a107825e418f108f32bc705c54dbe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d367e4e00bdea9ff5deaf0c2894e21583f3cf3a0612105b6652499da3a380c67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c77ee6b7a6e19a76b9222bc87b9d6620c912774dc4644a5a10395c2fce0c497",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 3.943 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 41 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8211, 0.6029, -0.4152, -0.0231, -0.0265, 0.9995, 0.9245, 2.0521, 1.2495, 0.5041, 0.5621, 0.1879, 0.7584]\nstate[eef_state]: left_x=0.2913 left_y=0.0001 left_z=0.1649 left_yaw=-0.0037 left_pitch=-0.064 left_roll=0.0028 left_gripper=0.9995 right_x=0.413 right_y=0.3971 right_z=0.1471 right_yaw=0.3264 right_pitch=0.3161 right_roll=0.0348 right_gripper=0.7584\nstate[joint_eff]: [-0.0342, -1.6752, 7.2274, 1.79, -0.0562, -0.0269, -0.0122, -0.9641, -11.6034, 7.9658, 2.84, 0.2418, 0.1441, 0.5934]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The brick is held low within the pot’s opening. I’m opening the jaws to let it settle into the pot.\"}",
  "call_id": "call_IAGh6lbWN6tVBj5d2GzhnqqM",
  "id": "fc_0c6da9a8034c33ae016aaca05aba6887d089eca7c3dfad281a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IAGh6lbWN6tVBj5d2GzhnqqM",
  "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, 0.823, 0.6029, -0.4156, -0.0227, -0.0265, 0.9995, 0.9157, 2.1117, 1.2095, 0.6128, 0.5419, 0.1345, 0.9964]\nstate[eef_state]: left_x=0.2914 left_y=-0.0 left_z=0.1643 left_yaw=-0.004 left_pitch=-0.0663 left_roll=0.0026 left_gripper=0.9995 right_x=0.415 right_y=0.3966 right_z=0.1203 right_yaw=0.364 right_pitch=0.3208 right_roll=-0.0093 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -1.4154, 6.9812, 1.6825, -0.0513, -0.0464, -0.0122, -0.335, -12.5744, 7.1179, 2.1123, 0.2808, -0.0122, -0.1538]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b96846b85db1520e49eddd5ff15b47fe02554ff722a51a8457f9a5cf6006ee0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:821fc7f935d9c330a116cd320168a5a0ebe9a7d2444c542056f43232067edcd9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c469910cf280ed46a66960dbe794c71af822c5122cf35a341c5c9d35d5f49225",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 4.022 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 45 changed as sent

message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.823, 0.6029, -0.4156, -0.0227, -0.0265, 0.9995, 0.9161, 2.1117, 1.2095, 0.5808, 0.5411, 0.1307, 0.7604]\nstate[eef_state]: left_x=0.2914 left_y=-0.0 left_z=0.1643 left_yaw=-0.004 left_pitch=-0.0663 left_roll=0.0026 left_gripper=0.9995 right_x=0.4135 right_y=0.3952 right_z=0.1135 right_yaw=0.3725 right_pitch=0.2932 right_roll=-0.0304 right_gripper=0.7604\nstate[joint_eff]: [-0.212, -1.388, 6.9949, 1.7314, -0.022, -0.0562, -0.0122, -0.1846, -12.4376, 7.1316, 2.464, 0.2271, 0.1148, 0.569]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.36,\"right_z\":0.26,\"right_pitch\":0.35},\"note\":\"The released brick is visible resting inside the pot. I’m lifting the open gripper clear of the rim before withdrawing.\"}",
  "call_id": "call_mYZMfBHe1hViIPHTF1dACqfc",
  "id": "fc_0c6da9a8034c33ae016aaca05dffec87d0995cf20a37aa0ed4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mYZMfBHe1hViIPHTF1dACqfc",
  "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, 0.8268, 0.6029, -0.4152, -0.0223, -0.0265, 0.9995, 0.9142, 1.7863, 1.2186, 0.2455, 0.5365, 0.1116, 0.9967]\nstate[eef_state]: left_x=0.2916 left_y=-0.0001 left_z=0.1634 left_yaw=-0.0043 left_pitch=-0.0698 left_roll=0.0024 left_gripper=0.9995 right_x=0.3898 right_y=0.3637 right_z=0.2187 right_yaw=0.3853 right_pitch=0.2913 right_roll=-0.0487 right_gripper=0.9967\nstate[joint_eff]: [-0.1162, -1.6752, 6.9812, 1.7265, -0.0171, -0.0366, -0.0122, -0.4308, -12.4513, 10.8239, 2.083, 0.1245, 0.0464, 0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b6ec36eacbc0d2827064bce752770b6c94661da6afb06d01f31800beaf7137e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fee5ad1c38abb3dc28e6ea0beec3cc8e1dffa64fe87211f6de5b2ffe1316e5d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf61738a81fe4915e2c35fbc964c546d5143a0e13f730ec29baafb31935c96f4",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 6.854 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 48 changed as sent

message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.823, 0.6029, -0.4156, -0.0227, -0.0265, 0.9995, 0.9157, 2.1117, 1.2095, 0.6128, 0.5419, 0.1345, 0.9964]\nstate[eef_state]: left_x=0.2914 left_y=-0.0 left_z=0.1643 left_yaw=-0.004 left_pitch=-0.0663 left_roll=0.0026 left_gripper=0.9995 right_x=0.415 right_y=0.3966 right_z=0.1203 right_yaw=0.364 right_pitch=0.3208 right_roll=-0.0093 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -1.4154, 6.9812, 1.6825, -0.0513, -0.0464, -0.0122, -0.335, -12.5744, 7.1179, 2.1123, 0.2808, -0.0122, -0.1538]\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\":0.295,\"right_y\":0,\"right_z\":0.2,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18},\"note\":\"The brick stayed in the pot as the gripper lifted away. I’m returning the right arm to its parked position so the final placement is unobstructed.\"}",
  "call_id": "call_kh7TcGyEPT6EP1NOsVvx6iUU",
  "id": "fc_0c6da9a8034c33ae016aaca062fab087d08cbb0190ce8b6eeb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kh7TcGyEPT6EP1NOsVvx6iUU",
  "output": "executing move_to over 31 steps (3.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8455, 0.6304, -0.4683, -0.0227, -0.0265, 0.9995, 0.0029, 0.8127, 0.6765, -0.4309, 0.0422, 0.0071, 0.9967]\nstate[eef_state]: left_x=0.2885 left_y=0.0001 left_z=0.1603 left_yaw=-0.0039 left_pitch=-0.114 left_roll=0.0037 left_gripper=0.9995 right_x=0.2975 right_y=-0.003 right_z=0.1976 right_yaw=-0.0375 right_pitch=0.0012 right_roll=-0.008 right_gripper=0.9967\nstate[joint_eff]: [-0.0752, -1.4017, 10.7009, 1.6386, -0.0269, -0.0073, -0.0073, -0.0889, -1.853, 7.6103, 1.7363, -0.0562, 0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:191573341e0328001111af4e99a31a5f61194c3d73df871c3979e15f75fce779",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eadb1278e3db8c72c4528b728f86e1146e50ee2303ae5eb64a743ddd252bbfd3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f546e5da7607e40af1a2275690376fe19e1ea13cd0c52e492d7cc5664c2c94f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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