adhoc

completed
2026-09-18T02:26:09.367885+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (77 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
168 s
total steps
251
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

put the black brick into the pot of water

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the black brick into the pot of water
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the black brick into the pot of water
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe black brick is to the right of the pot. I’m bringing the right gripper above it with the jaws open, while keeping the left arm parked.
move_to
right_x0.4000right_y0.1400right_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, 0.7948, 0.6041, -0.3809, -0.02, -0.0414, 0.9996, -0.0219, 0.7933, 0.6022, -0.3767, -0.0143, -0.02, 0.9967] state[eef_state]: left_x=0.2947 left_y=0.0013 left_z=0.1796 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2949 right_y=-0.0004 right_z=0.18 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9967 state[joint_eff]: [-0.6769, -1.5932, 10.0855, 1.7656, -0.0562, 0.2711, -0.0611, -0.2256, -1.4838, 10.2085, 1.8779, -0.1294, 0.0464, -0.3541] 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":0.4,"right_y":0.14,"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 bringing the right gripper above it with the jaws open, while keeping the left arm parked."})
tool
executing move_to over 12 steps (1.2s)
step 12
top_cam
camera top_cam step 12
left_cam
camera left_cam step 12
right_cam
camera right_cam step 12
assistant
agent noteThe brick is visible just beyond the fingertips and slightly right of the jaw column. I’m advancing a little, lowering toward it, and turning the jaws to grasp across its narrower dimension.
move_to
right_x0.4250right_y0.1250right_z0.0650right_yaw0.6000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0254, 0.8013, 0.6075, -0.3904, -0.0227, -0.0494, 0.9995, 0.4919, 1.4639, 0.8333, -0.0738, 0.3786, 0.2443, 0.9968] state[eef_state]: left_x=0.2943 left_y=0.0001 left_z=0.1774 left_yaw=0.0009 left_pitch=-0.0125 left_roll=-0.005 left_gripper=0.9995 right_x=0.385 right_y=0.1363 right_z=0.127 right_yaw=0.0422 right_pitch=-0.0786 right_roll=-0.039 right_gripper=0.9968 state[joint_eff]: [-0.4718, -1.1009, 6.9402, 1.8291, -0.0464, -0.022, -0.0171, 0.2803, -6.9812, 9.0735, 1.8437, 0.2711, 0.1148, -0.3492] camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.425,"right_y":0.125,"right_z":0.065,"right_yaw":0.6},"note":"The brick is visible just beyond the fingertips and slightly right of the jaw column. I’m advancing a little, lowering toward it, and turning the jaws to grasp across its narrower dimension."})
tool
executing move_to over 4 steps (0.4s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteThe brick is aligned with the jaw column, but the gripper is still short of its center and the last move tracked slightly to the right. I’m correcting inward and forward while lowering to grasp height.
move_to
right_x0.4400right_y0.1500right_z0.0200right_yaw0.6000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0254, 0.804, 0.6037, -0.3954, -0.0227, -0.0498, 0.9995, 0.1658, 1.6928, 0.7734, 0.149, -0.1085, -0.1551, 0.9965] state[eef_state]: left_x=0.2933 left_y=0.0002 left_z=0.1739 left_yaw=0.0011 left_pitch=-0.024 left_roll=-0.005 left_gripper=0.9995 right_x=0.4152 right_y=0.0925 right_z=0.0446 right_yaw=0.3431 right_pitch=-0.1974 right_roll=-0.028 right_gripper=0.9965 state[joint_eff]: [-0.212, -1.3333, 7.3231, 1.8437, -0.0611, -0.0464, -0.0122, 0.759, -9.1556, 8.6359, 1.9023, -0.315, -0.0122, -0.0415] 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":0.44,"right_y":0.15,"right_z":0.02,"right_yaw":0.6},"note":"The brick is aligned with the jaw column, but the gripper is still short of its center and the last move tracked slightly to the right. I’m correcting inward and forward while lowering to grasp height."})
tool
executing move_to over 5 steps (0.5s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe brick is now to the right of the rotated jaw column, and the arm stopped short of the requested reach. I’m shifting along that direction and adding a modest forward tilt to improve access.
move_to
right_x0.4550right_y0.1050right_z0.0180right_yaw0.6000right_pitch0.2500
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0254, 0.8043, 0.6037, -0.4023, -0.0227, -0.0498, 0.9995, 0.1467, 1.7374, 0.7803, 0.2005, -0.3229, -0.3187, 0.9965] state[eef_state]: left_x=0.2924 left_y=0.0002 left_z=0.1724 left_yaw=0.0011 left_pitch=-0.0312 left_roll=-0.0048 left_gripper=0.9995 right_x=0.4135 right_y=0.1214 right_z=0.0436 right_yaw=0.5921 right_pitch=-0.1413 right_roll=-0.0121 right_gripper=0.9965 state[joint_eff]: [-0.1573, -1.1556, 7.2684, 1.79, -0.0611, -0.0806, -0.0122, -0.0889, -9.3607, 7.5145, 1.7607, -0.2955, -0.0855, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.455,"right_y":0.105,"right_z":0.018,"right_yaw":0.6,"right_pitch":0.25},"note":"The brick is now to the right of the rotated jaw column, and the arm stopped short of the requested reach. I’m shifting along that direction and adding a modest forward tilt to improve access."})
tool
executing move_to over 14 steps (1.4s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteThe gripper has reached the low target, with the brick between the jaw sides. I’m closing to secure it before a short test lift.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0254, 0.8062, 0.6037, -0.408, -0.0227, -0.0498, 0.9995, 0.0315, 2.1044, 0.6842, 1.042, -0.5148, -0.2535, 0.996] state[eef_state]: left_x=0.2917 left_y=0.0002 left_z=0.1707 left_yaw=0.0011 left_pitch=-0.0388 left_roll=-0.0046 left_gripper=0.9995 right_x=0.4555 right_y=0.1049 right_z=0.0236 right_yaw=0.6107 right_pitch=0.2397 right_roll=-0.0494 right_gripper=0.996 state[joint_eff]: [-0.335, -1.4291, 7.0222, 1.7216, -0.0269, -0.022, -0.0122, -0.5265, -7.4735, 4.2598, 1.199, -0.1978, 0.315, -0.0659] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The gripper has reached the low target, with the brick between the jaw sides. I’m closing to secure it before a short test lift."})
tool
executing move_to over 10 steps (1.0s)
step 45
top_cam
camera top_cam step 45
left_cam
camera left_cam step 45
right_cam
camera right_cam step 45
assistant
agent noteThe closed gripper reads empty; it caught the space just behind the brick. I’m reopening and advancing about 2–3 cm toward the brick’s center for one corrected attempt.
move_to
right_gripper1.0000right_x0.4800right_y0.1200right_z0.0100right_pitch0.2500
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0254, 0.8062, 0.6037, -0.408, -0.0227, -0.0498, 0.9995, 0.0307, 2.1151, 0.6842, 1.0756, -0.5266, -0.2581, 0.0099] state[eef_state]: left_x=0.2917 left_y=0.0002 left_z=0.1707 left_yaw=0.0011 left_pitch=-0.0388 left_roll=-0.0046 left_gripper=0.9995 right_x=0.4563 right_y=0.1064 right_z=0.0263 right_yaw=0.6259 right_pitch=0.2609 right_roll=-0.0633 right_gripper=0.0099 state[joint_eff]: [-0.0068, -1.306, 7.0769, 1.6874, -0.0806, -0.0757, -0.0122, -0.0889, -10.0444, 3.7402, 1.4139, 0.0024, 0.0073, 0.7888] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.48,"right_y":0.12,"right_z":0.01,"right_pitch":0.25},"note":"The closed gripper reads empty; it caught the space just behind the brick. I’m reopening and advancing about 2–3 cm toward the brick’s center for one corrected attempt."})
tool
executing move_to over 10 steps (1.0s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent noteThe brick now extends into the opening between the fingertips. I’m closing again and will check the jaw spacing to distinguish a real grasp from an empty close.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0254, 0.8082, 0.6037, -0.408, -0.0227, -0.0498, 0.9995, 0.0666, 2.1902, 0.7876, 1.1, -0.5133, -0.2611, 0.9957] state[eef_state]: left_x=0.2918 left_y=0.0002 left_z=0.1702 left_yaw=0.0011 left_pitch=-0.0408 left_roll=-0.0045 left_gripper=0.9995 right_x=0.4803 right_y=0.1225 right_z=0.0289 right_yaw=0.6603 right_pitch=0.302 right_roll=-0.1007 right_gripper=0.9957 state[joint_eff]: [-0.1436, -1.4701, 7.0085, 1.7021, -0.0366, -0.022, -0.0122, 0.0342, -7.5145, 4.7658, 1.4628, 0.1148, 0.1099, -0.1392] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The brick now extends into the opening between the fingertips. I’m closing again and will check the jaw spacing to distinguish a real grasp from an empty close."})
tool
executing move_to over 10 steps (1.0s)
step 65
top_cam
camera top_cam step 65
left_cam
camera left_cam step 65
right_cam
camera right_cam step 65
assistant
agent noteThe second close is also empty, and the readback stayed above the intended grasp height. I’m lifting clear to reassess the brick’s position rather than repeating the same approach.
move_to
right_x0.4300right_y0.0700right_z0.1500right_gripper1.0000right_pitch0.0000right_yaw0.6000left_x0.2950left_y0.0000left_z0.1800
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0254, 0.8082, 0.6037, -0.408, -0.0227, -0.0498, 0.9995, 0.0685, 2.1899, 0.7891, 1.1099, -0.5255, -0.2619, 0.0089] state[eef_state]: left_x=0.2918 left_y=0.0002 left_z=0.1702 left_yaw=0.0011 left_pitch=-0.0408 left_roll=-0.0045 left_gripper=0.9995 right_x=0.4801 right_y=0.1253 right_z=0.032 right_yaw=0.6755 right_pitch=0.3137 right_roll=-0.1054 right_gripper=0.0089 state[joint_eff]: [-0.0479, -1.1419, 7.0085, 1.7118, -0.0269, -0.0659, -0.0122, -0.4308, -9.9624, 3.7402, 1.6532, -0.0269, -0.0269, 0.696] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.07,"right_z":0.15,"right_gripper":1,"right_pitch":0,"right_yaw":0.6,"left_x":0.295,"left_y":0,"left_z":0.18},"note":"The second close is also empty, and the readback stayed above the intended grasp height. I’m lifting clear to reassess the brick’s position rather than repeating the same approach."})
tool
executing move_to over 11 steps (1.1s)
step 76
top_cam
camera top_cam step 76
left_cam
camera left_cam step 76
right_cam
camera right_cam step 76
assistant
agent noteWith the arm clear, the brick’s center is farther forward and inward than the earlier grasp points. I’m approaching that revised center with more forward tilt to reach it at table level.
move_to
right_x0.5050right_y0.1600right_z0.0050right_pitch0.5000right_yaw0.6000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0254, 0.8288, 0.6117, -0.4389, -0.0231, -0.0513, 0.9995, -0.0227, 1.5612, 0.8829, 0.0799, -0.4778, -0.4473, 0.9956] state[eef_state]: left_x=0.2895 left_y=0.0003 left_z=0.1621 left_yaw=0.0023 left_pitch=-0.0842 left_roll=-0.0044 left_gripper=0.9995 right_x=0.4354 right_y=0.075 right_z=0.1413 right_yaw=0.6133 right_pitch=0.0393 right_roll=-0.115 right_gripper=0.9956 state[joint_eff]: [-0.2803, -1.1829, 10.4274, 1.6923, -0.0611, -0.0464, -0.0073, -0.5949, -8.2256, 9.0051, 1.6435, -0.0611, 0.0757, -0.1197] camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.505,"right_y":0.16,"right_z":0.005,"right_pitch":0.5,"right_yaw":0.6},"note":"With the arm clear, the brick’s center is farther forward and inward than the earlier grasp points. I’m approaching that revised center with more forward tilt to reach it at table level."})
tool
executing move_to over 16 steps (1.6s)
step 92
top_cam
camera top_cam step 92
left_cam
camera left_cam step 92
right_cam
camera right_cam step 92
assistant
agent noteThe revised approach places the fingertips over the brick, though the tilted tool stops above the requested height. I’m closing here to test whether the jaws now straddle the brick.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0254, 0.8333, 0.6102, -0.4419, -0.0227, -0.0525, 0.9995, 0.1799, 2.4485, 0.9279, 1.5566, -0.3836, -0.1669, 0.9958] state[eef_state]: left_x=0.289 left_y=0.0003 left_z=0.1596 left_yaw=0.0026 left_pitch=-0.0934 left_roll=-0.0052 left_gripper=0.9995 right_x=0.5084 right_y=0.1633 right_z=0.0477 right_yaw=0.679 right_pitch=0.5909 right_roll=-0.2078 right_gripper=0.9958 state[joint_eff]: [-0.0615, -1.7846, 7.1043, 1.6532, -0.022, -0.0269, -0.0073, 0.335, -7.4598, 2.0444, 0.315, 0.1392, 0.1783, 0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 92): [image omitted: streamed camera frame] camera 'left_cam' (step 92): [image omitted: streamed camera frame] camera 'right_cam' (step 92): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The revised approach places the fingertips over the brick, though the tilted tool stops above the requested height. I’m closing here to test whether the jaws now straddle the brick."})
tool
executing move_to over 10 steps (1.0s)
step 102
top_cam
camera top_cam step 102
left_cam
camera left_cam step 102
right_cam
camera right_cam step 102
assistant
agent noteThat close was empty as well; the forward tilt kept the grasp point too high. I’m straightening the tool and reducing reach slightly so the fingertips can descend beside the brick.
move_to
right_x0.4900right_y0.1600right_z-0.0100right_pitch0.0000right_yaw0.6000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0254, 0.8341, 0.6094, -0.4461, -0.0227, -0.0525, 0.9995, 0.1814, 2.4573, 0.9356, 1.5829, -0.3832, -0.1669, 0.0103] state[eef_state]: left_x=0.2883 left_y=0.0003 left_z=0.1583 left_yaw=0.0026 left_pitch=-0.0991 left_roll=-0.0051 left_gripper=0.9995 right_x=0.509 right_y=0.1642 right_z=0.0518 right_yaw=0.6885 right_pitch=0.6129 right_roll=-0.2225 right_gripper=0.0103 state[joint_eff]: [-0.3214, -1.5111, 7.0359, 1.6581, -0.0513, -0.0415, -0.0122, -0.2667, -11.8359, 2.865, 1.5165, -0.0611, -0.0513, 0.6667] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.49,"right_y":0.16,"right_z":-0.01,"right_pitch":0,"right_yaw":0.6,"right_gripper":1},"note":"That close was empty as well; the forward tilt kept the grasp point too high. I’m straightening the tool and reducing reach slightly so the fingertips can descend beside the brick."})
tool
executing move_to over 21 steps (2.1s)
step 123
top_cam
camera top_cam step 123
left_cam
camera left_cam step 123
right_cam
camera right_cam step 123
assistant
agent noteStraightening lowered the grasp point to about 1.4 cm, and the brick is visibly between the jaws at the bottom of the wrist view. I’m closing at this lower height.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0254, 0.8345, 0.6094, -0.4526, -0.0227, -0.0525, 0.9995, 0.247, 2.1746, 0.934, 0.7998, -0.2157, -0.3969, 0.9962] state[eef_state]: left_x=0.2873 left_y=0.0003 left_z=0.1569 left_yaw=0.0027 left_pitch=-0.106 left_roll=-0.0049 left_gripper=0.9995 right_x=0.4997 right_y=0.1687 right_z=0.0137 right_yaw=0.6426 right_pitch=0.1167 right_roll=-0.2612 right_gripper=0.9962 state[joint_eff]: [-0.0752, -1.4701, 6.9812, 1.6923, -0.0708, -0.0708, -0.0073, 0.1026, -10.8513, 5.2855, 0.9646, 0.1148, 0.2027, -0.2808] camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"Straightening lowered the grasp point to about 1.4 cm, and the brick is visibly between the jaws at the bottom of the wrist view. I’m closing at this lower height."})
tool
executing move_to over 10 steps (1.0s)
step 133
top_cam
camera top_cam step 133
left_cam
camera left_cam step 133
right_cam
camera right_cam step 133
assistant
agent noteThe jaws are still closing empty, so the brick is offset from the actual closing point rather than securely between them. I’m moving aside and resetting the tool orientation to obtain an unobstructed comparison.
move_to
right_x0.4700right_y0.0500right_z0.1100right_gripper1.0000right_pitch0.0000right_yaw0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0254, 0.8391, 0.6094, -0.4603, -0.0227, -0.0525, 0.9995, 0.2485, 2.1666, 0.9348, 0.8227, -0.2268, -0.411, 0.0093] state[eef_state]: left_x=0.2863 left_y=0.0003 left_z=0.1542 left_yaw=0.0027 left_pitch=-0.1182 left_roll=-0.0045 left_gripper=0.9995 right_x=0.5017 right_y=0.172 right_z=0.0233 right_yaw=0.6626 right_pitch=0.1455 right_roll=-0.2824 right_gripper=0.0093 state[joint_eff]: [-0.294, -1.8256, 7.0632, 1.6923, -0.0611, -0.0317, -0.0122, -0.3214, -10.0034, 4.6564, 1.6142, 0.0757, 0.1636, 0.735] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.47,"right_y":0.05,"right_z":0.11,"right_gripper":1,"right_pitch":0,"right_yaw":0,"right_roll":0},"note":"The jaws are still closing empty, so the brick is offset from the actual closing point rather than securely between them. I’m moving aside and resetting the tool orientation to obtain an unobstructed comparison."})
tool
executing move_to over 11 steps (1.1s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent noteThe clear wrist view shows the brick closer to the right arm than my last estimate. I’m shifting only about 4 cm inward and descending with a nearly vertical tool, avoiding the previous overcorrection.
move_to
right_x0.4750right_y0.1050right_z0.0050right_yaw0.4000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0254, 0.8436, 0.6094, -0.4606, -0.0227, -0.0525, 0.9995, 0.1532, 1.7214, 0.86, 0.2714, 0.0784, -0.004, 0.9956] state[eef_state]: left_x=0.2864 left_y=0.0003 left_z=0.1529 left_yaw=0.0027 left_pitch=-0.1231 left_roll=-0.0044 left_gripper=0.9995 right_x=0.4655 right_y=0.0615 right_z=0.0894 right_yaw=0.0883 right_pitch=-0.0208 right_roll=-0.0377 right_gripper=0.9956 state[joint_eff]: [-0.212, -1.8667, 7.3094, 1.6386, -0.0415, -0.0415, -0.0122, -0.4718, -9.5658, 9.6205, 1.8828, 0.1392, 0.1734, -0.2173] camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.475,"right_y":0.105,"right_z":0.005,"right_yaw":0.4,"right_pitch":0,"right_roll":0},"note":"The clear wrist view shows the brick closer to the right arm than my last estimate. I’m shifting only about 4 cm inward and descending with a nearly vertical tool, avoiding the previous overcorrection."})
tool
executing move_to over 6 steps (0.6s)
step 150
top_cam
camera top_cam step 150
left_cam
camera left_cam step 150
right_cam
camera right_cam step 150
assistant
agent noteThe gripper is now at table level, with the brick centered on the jaw column and extending into the fingertip area. I’m closing at this corrected position.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0254, 0.8455, 0.6094, -0.4675, -0.0227, -0.0525, 0.9995, 0.1303, 2.0102, 0.8173, 0.5625, -0.1467, -0.1307, 0.9959] state[eef_state]: left_x=0.2854 left_y=0.0004 left_z=0.1511 left_yaw=0.0028 left_pitch=-0.1319 left_roll=-0.0042 left_gripper=0.9995 right_x=0.4685 right_y=0.091 right_z=0.0012 right_yaw=0.3234 right_pitch=-0.0549 right_roll=-0.0107 right_gripper=0.9959 state[joint_eff]: [-0.0479, -1.6205, 6.9265, 1.6825, -0.022, -0.0171, -0.0122, -0.0752, -8.1846, 6.2017, 1.3846, -0.3883, 0.0708, 0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 150): [image omitted: streamed camera frame] camera 'left_cam' (step 150): [image omitted: streamed camera frame] camera 'right_cam' (step 150): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The gripper is now at table level, with the brick centered on the jaw column and extending into the fingertip area. I’m closing at this corrected position."})
tool
executing move_to over 10 steps (1.0s)
step 160
top_cam
camera top_cam step 160
left_cam
camera left_cam step 160
right_cam
camera right_cam step 160
assistant
agent noteThe jaws stopped at about 7 cm apart, unlike the earlier empty closes. I’m lifting a few centimeters to confirm that the brick moves with the gripper.
move_to
right_z0.0650
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0254, 0.8455, 0.6094, -0.4679, -0.0227, -0.0525, 0.9995, 0.1295, 2.0262, 0.8181, 0.5838, -0.1623, -0.1463, 0.7471] state[eef_state]: left_x=0.2854 left_y=0.0004 left_z=0.1511 left_yaw=0.0028 left_pitch=-0.1323 left_roll=-0.0041 left_gripper=0.9995 right_x=0.4694 right_y=0.0935 right_z=-0.0014 right_yaw=0.3441 right_pitch=-0.0472 right_roll=-0.0157 right_gripper=0.7471 state[joint_eff]: [-0.0615, -1.4427, 7.159, 1.6239, -0.0708, -0.0659, -0.0073, -0.1162, -10.6188, 4.6291, 1.4481, 0.0611, 0.149, 1.0281] camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.065},"note":"The jaws stopped at about 7 cm apart, unlike the earlier empty closes. I’m lifting a few centimeters to confirm that the brick moves with the gripper."})
tool
executing move_to over 5 steps (0.5s)
step 165
top_cam
camera top_cam step 165
left_cam
camera left_cam step 165
right_cam
camera right_cam step 165
assistant
agent noteThe jaw spacing is holding, but the loaded arm rose less than requested. I’m bringing the load slightly closer to the base while lifting higher to establish safe carrying clearance.
move_to
right_x0.4200right_y0.1000right_z0.1600right_pitch0.1500left_x0.2950left_y0.0000left_z0.2000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0254, 0.8494, 0.6094, -0.4679, -0.0227, -0.0525, 0.9995, 0.1295, 1.8866, 0.8341, 0.2981, -0.1619, -0.1509, 0.7471] state[eef_state]: left_x=0.2855 left_y=0.0004 left_z=0.15 left_yaw=0.0028 left_pitch=-0.1361 left_roll=-0.004 left_gripper=0.9995 right_x=0.4457 right_y=0.0904 right_z=0.0126 right_yaw=0.3494 right_pitch=-0.1744 right_roll=0.0087 right_gripper=0.7471 state[joint_eff]: [-0.1846, -1.7983, 6.9675, 1.6288, 0.0073, -0.0171, -0.0122, -0.0889, -13.1077, 9.6479, 2.4542, -0.105, -0.0024, 1.033] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 165): [image omitted: streamed camera frame] camera 'left_cam' (step 165): [image omitted: streamed camera frame] camera 'right_cam' (step 165): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.42,"right_y":0.1,"right_z":0.16,"right_pitch":0.15,"left_x":0.295,"left_y":0,"left_z":0.2},"note":"The jaw spacing is holding, but the loaded arm rose less than requested. I’m bringing the load slightly closer to the base while lifting higher to establish safe carrying clearance."})
tool
executing move_to over 11 steps (1.1s)
step 176
top_cam
camera top_cam step 176
left_cam
camera left_cam step 176
right_cam
camera right_cam step 176
assistant
agent noteThe arm is still staying low despite the lift command, so I cannot yet confirm a free lift. I’m making one closer-in lifting motion to reduce leverage; if it remains blocked, I’ll release rather than pull harder.
move_to
right_x0.3600right_y0.1000right_z0.2300right_pitch0.0000right_yaw0.3500
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0254, 0.9123, 0.7868, -0.6197, -0.0227, -0.0528, 0.9995, 0.1299, 1.8362, 0.7887, 0.2596, -0.1627, -0.1505, 0.7513] state[eef_state]: left_x=0.2905 left_y=0.0002 left_z=0.1825 left_yaw=0.0031 left_pitch=-0.1735 left_roll=-0.0033 left_gripper=0.9995 right_x=0.4283 right_y=0.0884 right_z=0.0114 right_yaw=0.3517 right_pitch=-0.207 right_roll=0.017 right_gripper=0.7513 state[joint_eff]: [-0.294, -1.5658, 10.0581, 1.536, -0.0611, -0.0415, -0.0073, 0.1436, -11.6581, 5.8051, 1.9414, -0.188, 0.0611, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.36,"right_y":0.1,"right_z":0.23,"right_pitch":0,"right_yaw":0.35},"note":"The arm is still staying low despite the lift command, so I cannot yet confirm a free lift. I’m making one closer-in lifting motion to reduce leverage; if it remains blocked, I’ll release rather than pull harder."})
tool
executing move_to over 15 steps (1.5s)
step 191
top_cam
camera top_cam step 191
left_cam
camera left_cam step 191
right_cam
camera right_cam step 191
assistant
agent noteThe brick has now lifted off the table and remains held. I’m carrying it inward toward the pot at a higher clearance, keeping it away from the parked left arm.
move_to
right_x0.4000right_y0.3200right_z0.2900right_pitch0.0000right_yaw0.3500
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0254, 0.918, 0.7872, -0.6243, -0.0227, -0.0528, 0.9995, 0.1959, 1.2057, 0.8818, -0.4042, -0.1356, -0.0971, 0.7534] state[eef_state]: left_x=0.2902 left_y=0.0002 left_z=0.1803 left_yaw=0.0032 left_pitch=-0.1834 left_roll=-0.003 left_gripper=0.9995 right_x=0.3479 right_y=0.097 right_z=0.1746 right_yaw=0.3633 right_pitch=-0.1522 right_roll=0.0264 right_gripper=0.7534 state[joint_eff]: [-0.0889, -2.2632, 6.8991, 1.619, -0.0513, -0.0415, -0.0122, 0.1846, -6.8308, 12.3009, 2.3516, -0.0171, 0.1978, 1.033] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.32,"right_z":0.29,"right_pitch":0,"right_yaw":0.35},"note":"The brick has now lifted off the table and remains held. I’m carrying it inward toward the pot at a higher clearance, keeping it away from the parked left arm."})
tool
executing move_to over 19 steps (1.9s)
step 210
top_cam
camera top_cam step 210
left_cam
camera left_cam step 210
right_cam
camera right_cam step 210
assistant
agent noteThe brick is above the pot’s right side but not yet centered over the opening. I’m moving farther inward and slightly forward while maintaining rim clearance.
move_to
right_x0.4550right_y0.4000right_z0.2700right_yaw0.3500
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0254, 0.9195, 0.7868, -0.6254, -0.0227, -0.0528, 0.9995, 0.7818, 1.7672, 1.6512, -0.6586, 0.3035, 0.2291, 0.7534] state[eef_state]: left_x=0.2901 left_y=0.0002 left_z=0.1795 left_yaw=0.0032 left_pitch=-0.1864 left_roll=-0.0029 left_gripper=0.9995 right_x=0.3841 right_y=0.3121 right_z=0.2354 right_yaw=0.3982 right_pitch=-0.1636 right_roll=-0.0328 right_gripper=0.7534 state[joint_eff]: [-0.1573, -1.9761, 6.8444, 1.5409, -0.0757, -0.0659, -0.0122, 0.2393, -10.7145, 11.4803, 2.2686, 0.3248, 0.2125, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.455,"right_y":0.4,"right_z":0.27,"right_yaw":0.35},"note":"The brick is above the pot’s right side but not yet centered over the opening. I’m moving farther inward and slightly forward while maintaining rim clearance."})
tool
executing move_to over 8 steps (0.8s)
step 218
top_cam
camera top_cam step 218
left_cam
camera left_cam step 218
right_cam
camera right_cam step 218
assistant
agent noteThe brick is now over the pot opening. I’m lowering it carefully, with a small reduction in reach to help the loaded arm track the descent.
move_to
right_x0.4350right_y0.4000right_z0.1150right_pitch0.0000right_yaw0.3500
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0254, 0.923, 0.7868, -0.6254, -0.0227, -0.0525, 0.9995, 0.8204, 2.5099, 2.738, -1.1919, 0.326, 0.2657, 0.7576] state[eef_state]: left_x=0.2903 left_y=0.0002 left_z=0.1786 left_yaw=0.003 left_pitch=-0.1899 left_roll=-0.0025 left_gripper=0.9995 right_x=0.4435 right_y=0.398 right_z=0.1869 right_yaw=0.3787 right_pitch=-0.3287 right_roll=-0.1012 right_gripper=0.7576 state[joint_eff]: [-0.1573, -1.6479, 6.8308, 1.5751, -0.0708, -0.0317, -0.0122, -0.1299, -14.8308, 8.0205, 0.9792, 0.4567, 0.1099, 0.7937] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 218): [image omitted: streamed camera frame] camera 'left_cam' (step 218): [image omitted: streamed camera frame] camera 'right_cam' (step 218): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.435,"right_y":0.4,"right_z":0.115,"right_pitch":0,"right_yaw":0.35},"note":"The brick is now over the pot opening. I’m lowering it carefully, with a small reduction in reach to help the loaded arm track the descent."})
tool
executing move_to over 11 steps (1.1s)
step 229
top_cam
camera top_cam step 229
left_cam
camera left_cam step 229
right_cam
camera right_cam step 229
assistant
agent noteThe brick is positioned within the pot opening, and the descent has stopped short. I’m opening the jaws here so it can settle into the pot without pressing on the rim.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0254, 0.923, 0.7868, -0.6254, -0.0227, -0.0528, 0.9995, 0.833, 2.714, 3.1062, -1.4338, 0.3256, 0.2543, 0.7606] state[eef_state]: left_x=0.2903 left_y=0.0002 left_z=0.1786 left_yaw=0.0032 left_pitch=-0.1898 left_roll=-0.0028 left_gripper=0.9995 right_x=0.4317 right_y=0.3962 right_z=0.1657 right_yaw=0.3853 right_pitch=-0.3999 right_roll=-0.1441 right_gripper=0.7606 state[joint_eff]: [-0.1162, -1.9761, 6.9128, 1.5311, -0.0855, -0.0806, -0.0122, -0.2803, -17.3744, 7.6786, 1.7705, 0.4371, 0.0415, 0.5739] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 229): [image omitted: streamed camera frame] camera 'left_cam' (step 229): [image omitted: streamed camera frame] camera 'right_cam' (step 229): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The brick is positioned within the pot opening, and the descent has stopped short. I’m opening the jaws here so it can settle into the pot without pressing on the rim."})
tool
executing move_to over 3 steps (0.3s)
step 232
top_cam
camera top_cam step 232
left_cam
camera left_cam step 232
right_cam
camera right_cam step 232
assistant
agent noteThe brick has dropped into the pot and is no longer held. I’m lifting and withdrawing the gripper to verify the final placement unobstructed.
move_to
right_x0.3400right_y0.2000right_z0.2700right_pitch0.0000right_yaw0.0000left_x0.2950left_y0.0000left_z0.2000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0254, 0.923, 0.7868, -0.625, -0.0227, -0.0525, 0.9995, 0.844, 2.7201, 3.1115, -1.3655, 0.3645, 0.2352, 0.9956] state[eef_state]: left_x=0.2903 left_y=0.0002 left_z=0.1787 left_yaw=0.003 left_pitch=-0.1895 left_roll=-0.0025 left_gripper=0.9995 right_x=0.4408 right_y=0.4064 right_z=0.1746 right_yaw=0.3864 right_pitch=-0.3264 right_roll=-0.1564 right_gripper=0.9956 state[joint_eff]: [-0.1846, -1.9761, 6.9265, 1.5507, -0.0366, -0.0464, -0.0122, 1.388, -12.0547, 8.1573, 1.4969, 0.4274, 0.1001, -0.0464] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.34,"right_y":0.2,"right_z":0.27,"right_pitch":0,"right_yaw":0,"left_x":0.295,"left_y":0,"left_z":0.2},"note":"The brick has dropped into the pot and is no longer held. I’m lifting and withdrawing the gripper to verify the final placement unobstructed."})
tool
executing move_to over 18 steps (1.8s)
step 250
top_cam
camera top_cam step 250
left_cam
camera left_cam step 250
right_cam
camera right_cam step 250
assistant
agent notePlaced the black brick into the pot and verified it remained inside after releasing and withdrawing the gripper.
done
hindsightThe successful grasp was near right_x=0.469, right_y=0.094, right_z=0 with yaw≈0.34 and a nearly vertical tool; farther-forward/inward approaches missed. The brick held at a gripper reading of about 0.75. Under this load the arm sagged substantially and lifted successfully only after retracting toward x=0.36. Placement over the pot was reachable at right_x≈0.43, right_y=0.40, with release at actual z≈0.17.
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0254, 0.9558, 0.8452, -0.696, -0.0227, -0.0528, 0.9995, 0.8719, 2.1162, 2.6587, -1.486, 0.7063, 0.4404, 0.9959] state[eef_state]: left_x=0.2887 left_y=0.0003 left_z=0.1823 left_yaw=0.0035 left_pitch=-0.2348 left_roll=-0.0015 left_gripper=0.9995 right_x=0.3783 right_y=0.2775 right_z=0.3501 right_yaw=0.0581 right_pitch=-0.1134 right_roll=-0.2195 right_gripper=0.9959 state[joint_eff]: [-0.3897, -1.5932, 10.3453, 1.5653, -0.0513, -0.0464, -0.0122, -2.7692, -14.1744, 7.3504, 2.1807, 0.6276, 0.0562, 0.022] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 250): [image omitted: streamed camera frame] camera 'left_cam' (step 250): [image omitted: streamed camera frame] camera 'right_cam' (step 250): [image omitted: streamed camera frame]
assistant
done({"summary":"Placed the black brick into the pot and verified it remained inside after releasing and withdrawing the gripper.","hindsight":"The successful grasp was near right_x=0.469, right_y=0.094, right_z=0 with yaw≈0.34 and a nearly vertical tool; farther-forward/inward approaches missed. The brick held at a gripper reading of about 0.75. Under this load the arm sagged substantially and lifted successfully only after retracting toward x=0.36. Placement over the pot was reachable at right_x≈0.43, right_y=0.40, with release at actual z≈0.17."})
tool
done: Placed the black brick into the pot and verified it remained inside after releasing and withdrawing the gripper.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "What you observe right now in the observation (images, if any, and state), and why you chose this motion. The user reads these notes live and in the saved transcript to follow what you see and what you decide. Write for them, in one or two plain sentences.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 5.591 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
  "role": "system"
}
{
  "content": "Goal: put the black brick into the pot of water",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.7948, 0.6041, -0.3809, -0.02, -0.0414, 0.9996, -0.0219, 0.7933, 0.6022, -0.3767, -0.0143, -0.02, 0.9967]\nstate[eef_state]: left_x=0.2947 left_y=0.0013 left_z=0.1796 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2949 right_y=-0.0004 right_z=0.18 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9967\nstate[joint_eff]: [-0.6769, -1.5932, 10.0855, 1.7656, -0.0562, 0.2711, -0.0611, -0.2256, -1.4838, 10.2085, 1.8779, -0.1294, 0.0464, -0.3541]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:986013bbe1fe0ebf7fbedadc18328da9201e55d8ff578ed12ce3f702381e7ca5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b825412e87054e7ffae8ebfdc15f5b4fefe658329f534976132f5e98ff09cdb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38fcdfa6507bb58fde185703e46de2458d3817cc5da47847560883a352e9c779",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 986013bbe1fe
wire blob 6b825412e870
wire blob 38fcdfa6507b
call 1 attempt 0 · /responses · status 200 · 6.037 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqrKFTqSO1F1C6Cw6f95QvehYMU5HhQcPgmioUQ_xNFAQf_9DdFSSTp2sjs50nU2MPqPQtpauf2fipYJdeWqZYTRkzz1v7WcDuxy1F21Kk6UgL8wohB4suzeo3VtAcsKPeYwS8LueZBCbr5tMUjj2pB3gk_BVuKs62whTWk-o7hv0ZggYVZHYEZcO9Q8BxAEkmOJ7aeXdIdIUrMbwtk4gdgcU3Lu6t5lfqinGGbGU6bo5cMuQ8yTcYv_FxiReXAUZUtgy3wJ3BkQLNDQEhgHh0oira-xRU0_rY0zvhzfbvEiwOrp94yRIKoC0Fb08az-jxCJLEkfER4G15Xm94kWzKgM7YQ9lOI-dWeRTCMz646y3jf1S5-Kdv66um4qXFEJp6R8Y8ucLP0dxh5efYfcsxqfz-oB4HIeA0ion6l9Leg-0ILh6bqQehVoBpjxKfc6aJXgYbNQzPj-M7IZp7_yyC-wAkVrnB5MFTbOeu7eDLrKthq1W_ZJp0AZBhlPK6x93B3ugPkhPLSGSJnPWB2-fafsJFaajkfH7HL58yBj86EIGnkChUSPXD5A-_u6Pa2DuhTPmf6Zo3bnSWkSmFplveyYg2RzETY3kVutj-Cjh8ECfqGv-NtmKiW1h2spDi5RjlKiVZR6Wxpc-wjLs4NIiBJG-49hufnOmXiQ6NQL-doARKayGXIaQ2ieVcyVXNjiwlLk7hibMF57pTopU9ihTZKx5nsWd-LIIylec9F5xtV15u60b3sdp9iOSaNJ5lyCC0ctp_J990UGZMERAZs17PggN6EHpCNpOQnIt_1qLUQGdNw2Uj2neB8JzZJBEKueUXhEm7mAJuDK9IMgogGku015umfKkufQkWhZtDvz-DNcbplP2_5FrtoNAOI8VU9cB_Zzivcyhfvd9U6W6yXpVi8TWvgRkLbyJcPan_O2CAe88HbvYjx9cUoV0T3vbY_B3NFLaW-_jyKvUdFvLtkqVGCavv_L9sY3fuJ-e23uamm7d__OH8DewAEh-Bd1LCpEcFETcc03g3CQNIAgpZtSsTjWs4DmyQ6e05JpQFzm447AOQrm5MMqqXhGlU03Nve1hyCEjAp3FOB9L_xIIuZ9h97i1qtUKnEwRDRB-SOaQTzpBfKB18fjFc60KxeUfciB9dhgsWdCSo-6PqVEC8BlkGobogrOFCfqfvWprsE13OK09bQD0PvywI_7RmHWEvKlWDbG3Y6wJlSirRp5cGYuK8Q0huMc-Z9uA9vLFT3Hc8_SmMKIcEfsLBPPkCW_wfJOPV7PSQZvhFYzUCT_QnG15hbxJ8WE5CoyQ66ClLJgBKQfwVXzMtddSbcPrVecLkIR3hobpiy0NPwh29nDt9-mRFGT_5nPkJUMegk475DPT1YaLyvpn_r2ZhuLTOFYf3MFd7X8T-SftLHy4UgA6ODdmcyUrjM9d1l5u9iJRr0hbbE_fh44svniExuC0PnIH5cSzKESIyhjfAgjBIZeqGQ5TAh_vwBTrGmLtThhhJlj4J3ss7nyQ=",
  "id": "rs_06d28e28c1227dfa016aaca14fd23887d0b3575daa78d74ff0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.14,\"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 bringing the right gripper above it with the jaws open, while keeping the left arm parked.\"}",
  "call_id": "call_slviZSpgeUNw8o0wyxRROqXx",
  "id": "fc_06d28e28c1227dfa016aaca151f2cc87d093c19342db28ae41",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_slviZSpgeUNw8o0wyxRROqXx",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0254, 0.8013, 0.6075, -0.3904, -0.0227, -0.0494, 0.9995, 0.4919, 1.4639, 0.8333, -0.0738, 0.3786, 0.2443, 0.9968]\nstate[eef_state]: left_x=0.2943 left_y=0.0001 left_z=0.1774 left_yaw=0.0009 left_pitch=-0.0125 left_roll=-0.005 left_gripper=0.9995 right_x=0.385 right_y=0.1363 right_z=0.127 right_yaw=0.0422 right_pitch=-0.0786 right_roll=-0.039 right_gripper=0.9968\nstate[joint_eff]: [-0.4718, -1.1009, 6.9402, 1.8291, -0.0464, -0.022, -0.0171, 0.2803, -6.9812, 9.0735, 1.8437, 0.2711, 0.1148, -0.3492]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:735e509a6396f639c10d918c086bee0fc7949f864bc895529cf722872f6a67a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56bfa3e13ff2b4f20742952ae2a8fd199dd472706f54ee55473327d2b93f059f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0c3a7ae03fa4cb6b415b9199ce5341eae96a1bf3183d94cb3baaef24d39e1a6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 735e509a6396
wire blob 56bfa3e13ff2
[blob elided: media budget]
call 2 attempt 0 · /responses · status 200 · 6.445 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 2 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.7948, 0.6041, -0.3809, -0.02, -0.0414, 0.9996, -0.0219, 0.7933, 0.6022, -0.3767, -0.0143, -0.02, 0.9967]\nstate[eef_state]: left_x=0.2947 left_y=0.0013 left_z=0.1796 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2949 right_y=-0.0004 right_z=0.18 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9967\nstate[joint_eff]: [-0.6769, -1.5932, 10.0855, 1.7656, -0.0562, 0.2711, -0.0611, -0.2256, -1.4838, 10.2085, 1.8779, -0.1294, 0.0464, -0.3541]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKFaNtGHPgRZTUU2ZIsiWH1OZJD3Or89MmE9tCAnRcztIWYr8qRgBaTaSo1_mmPXjX48JyJdTTIRZXagskPmcaqHMqPC-YBsoIkSTVo8Tl6f5JmZYqGv-2NtvFEC-rb7kz_mIe0zh_uP5u8r2XY-zg5lPhaMcaZ4zPFj7_fxUtb9I9sgWTbUcP3EQqPENxQibFM-Z10OBTIOsHC0-4F56keR3VSG1uio_gDDA9uXCbYADJzmM1Yhnu7RWhDC2rSuMQ1Zrcw7H1jZWZ3og8XY9s9wE9lwaIgXqm1Uz6QZGxsPABj_Fd1NXoOoEMi8UJY1Dy3iF4uV-DN8ljviVqe4L4Khzj_IML4agcxmCvOyaxIfta_ilEuHRMS-we7S3_hzQkRFLtzhXqDVsZOUBXHACnfSf9lnG3nbdDBS3HdItH2VoCoRZMIyEM_ou2ZiX8sTfPZoI1Nvg5ZJzcsFUzwl7Ana8lePoV53tUvYoo_MNfZe8iwN9PGvIw6R16yOTFg3J297xilCQ3cf1k0RfDtmPhol6KmRB4JONRx8KAyzYjzZDdzOIFn-0RcoTJCblroBw06ZYWmIjk-1K3nL3zzNnxTSAHDM-f2GiP5rwls0r75JtsOw9w6CSd4vKhxOhn2PDT4HIO9_dQBNksVIcC1Z6d4KotmyclJOKHURs2eke5iNkdUR1L0SIzaR96FP18YtxkX6q0OuEf1dHD60AHO9U63_6wXIYNcjOiWckskacKyxVveSmV-I-dBzp6fpprGQtQAJo59jBhbisD-CWG-xyqN9dF7oONPktP60sN76GfosJSi1SzyznQ_LdVM2Op1PDvO2H8PEMUBa0N1IH2y5tJgxxzcxslislewLXrFSFmSG9EAFMMpkuPfSdRZVJ_OQvXwJEo2NWAJCESB-_gLu_T5WQXlVUQEiRXtX58z3nFVFfiA91eRV6GPhprha_X_ytlwwXFonRpRjasIiThiFS6jvqzBk33o8K95illX0M8MRJhEm9PUK_Uq20RWubtkFmn7DwqeWI-ghp6Wyc1EMfZuuh7njSUQVIde0OsTVTcxJn_WZ83iyEyEbxrksb9UzJ_gvko891g6IfAmpuzlwCVjEfSmuy_haT7y2yMtdy_i5nyW7787y6cB0y-yGul_J7MKFtOnvCA3ZSzHtPmyJDfxaYCJynVud565xVe-W8WplhkA5l5UFqztJiMAZyDiLDiR7hK1k4wHrwdwcwuADKkmnUaFkn4lCZTT2EoF4SrG3fqmVMMf8UGRWKTp4_YO7Y6DRBpZ4Q573MOA-wgAs2A16kocyrxUDmUnv37-nZyUAZYNvsxZyOAk3lF1ucUPT0-ZsmdcF0KiXF9-8khDx1WisTB7sb96KZMMQ3X3UOYsMz9w8pldj11hVCN6YO4mYbtidmcJLZjrmxPJRvgfcLwTrz_HwXsj9JmPnWsbkS7vkcLRKkssz2PrRcpMySTjBoRLkrIMpJr6VL1xltNhLRXo0_3CjAW7Ado9xWf4KXNhzjDQVQdRyXP4ZvuqcE7Bi3685YYU3gYBSEORnB9cHDNNd-tOPn7KEJ_C_3JZEkEnaJcAWEuLpd0rdmYZR0TbQz6BEkY1tbt3niGvHjiWJJYoS1DeiockBKAMf88x8DL4IwWo07pUqdAPcnLA51h7OgA0kxm-Pq0OCGyN4FkuNef-07Slnt2riKP29mq7_FFY-S1-eYtrqPTy0IFP3vN2GDBWPwZxxYdw4jxZmblPSQfwEs-b3HVkNlgoRBVVbnOgLWtn6rW-TSBgV-C3xYyomN9YK",
  "id": "rs_06d28e28c1227dfa016aaca156162887d099845dfaeb5480f1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.125,\"right_z\":0.065,\"right_yaw\":0.6},\"note\":\"The brick is visible just beyond the fingertips and slightly right of the jaw column. I’m advancing a little, lowering toward it, and turning the jaws to grasp across its narrower dimension.\"}",
  "call_id": "call_orWePMawecQsCY7vqF2uHcdP",
  "id": "fc_06d28e28c1227dfa016aaca159612887d092801c0a09dbe8e1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_orWePMawecQsCY7vqF2uHcdP",
  "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]: [-0.0254, 0.804, 0.6037, -0.3954, -0.0227, -0.0498, 0.9995, 0.1658, 1.6928, 0.7734, 0.149, -0.1085, -0.1551, 0.9965]\nstate[eef_state]: left_x=0.2933 left_y=0.0002 left_z=0.1739 left_yaw=0.0011 left_pitch=-0.024 left_roll=-0.005 left_gripper=0.9995 right_x=0.4152 right_y=0.0925 right_z=0.0446 right_yaw=0.3431 right_pitch=-0.1974 right_roll=-0.028 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -1.3333, 7.3231, 1.8437, -0.0611, -0.0464, -0.0122, 0.759, -9.1556, 8.6359, 1.9023, -0.315, -0.0122, -0.0415]\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,$blob:621c22d3a1b6a0487abc3c5536ce1ff82cc4937ed0440a6636b55e1d8c1e2e33",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a044afcf45a0590ca8d62dc788868580dd357b4b2e3e55897ba19c807025457",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14760b2ebc9d51480703ecf5ee4e682e7d748f0d2e50da871a762f56980c9bc6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 8.414 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]: [-0.0254, 0.8013, 0.6075, -0.3904, -0.0227, -0.0494, 0.9995, 0.4919, 1.4639, 0.8333, -0.0738, 0.3786, 0.2443, 0.9968]\nstate[eef_state]: left_x=0.2943 left_y=0.0001 left_z=0.1774 left_yaw=0.0009 left_pitch=-0.0125 left_roll=-0.005 left_gripper=0.9995 right_x=0.385 right_y=0.1363 right_z=0.127 right_yaw=0.0422 right_pitch=-0.0786 right_roll=-0.039 right_gripper=0.9968\nstate[joint_eff]: [-0.4718, -1.1009, 6.9402, 1.8291, -0.0464, -0.022, -0.0171, 0.2803, -6.9812, 9.0735, 1.8437, 0.2711, 0.1148, -0.3492]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKFhx8eBpU0vSs_VtGGRzAeMYwxZTtcklhFS0nFqJnT82SP_UaTlyl1Y6Zaw5wlwVeIp1bK7r_35vCxoW0qm6WwlBXdnFxEBNEIJkswY3eoe2ducfatEtew8mmeqD9abHoCrBhe-uQ5JBfw02Pq9-cIxYTQonZ1CpFD37eVpaYbYFLIDfuTmB4NeD6_grt1ab50ilTpq-EF-rU_blCNa4-7_3oFTRBIrv3H9Nv1zlZ4lanp5KnApMkUkZkIyESUCeDkSZdvbDQRvKlxSLw6xIvizZZLJcnmgNm7Z3_rQjW0Wod1YvyKqH7BVr15-4zkA5_O4DA05-qf1DmL2J-PRQN-nu35R_9Y_G07t17aqKeeIQ53vrCpildl18E2IYZpjX0lV5mPnmnqoq7zmc9dXBtZPb2ywpeNo8944jQ1ptc4MsXPI-qRfjoG14PDLrGgK1g3Oz-PVIqeVite-0EA8U_nZwqIi1pxId6azAZRG2Jm_HbSWO7S-IgfbJARjT8mEnfNHe4oUsZ9sEa1xcDGIkTQsYoJvwaDiD9WfVOBhl9LVzFnzs55b6GaGKHKbs7q57dq7nEVevjs3KSVitlxN2rvLnM4sQZGvRjYBO-yhsr-ZElXtqXpZ0KwZS0iEbEsWkAU4bxSXSok1H1P5IuafB5YLmlQN97gZClkjKAM2HHCYtlPkaC1-Q4VjdspLte6_8uwrGQ5pwTNPzl3Zzl4A15wM62HpN29BjGodIBj2utb3j8j-Av23C9QeAGlqOt_kOAdgSQu1RCzXO4bZuO5SzU1MfnZzMm_vtmnO9kSgKanm4AaxlWBq_DdPjt9kmGbFxaUNSIb6ilsXI45fJlZOl_by6E4VxVaumZELIqzWf7FjDGXEZG_sOOV_ICZCpetnpcG75IgGXOeJFCois9SeIQYkrI7RUVJ0lR5oYqOBJqI49LGDnPfvFBIshs1apqXLg_4yc-1lVlhk-13483wg3VfduDTgafmvizF6CAUTaO3ExrAFfOXm3buythixhQNfHksEBBP1DT5P8qB2RtAskmNTwhWtNRD-mHRaxxpTzgbEuwCCi6eVubvomwwhCp0GYbgIZRNTkdyd1LiAYzq2xOolgBWPykXDcN9OGjfmNsHTFmtwbyejKdYGCPr1d10iGv8kv_cy_IASmI-JP84f6ZogzBlvr4OX2EVTbliW_9dv66bfHZRSaF-cmdViWFeqInYX6EJlOK4cH0nU1db42Tj44QXPGFqtEIFvRUlZiDHNfO76TX4P1eojxIBA-kFddJWIZ8bjBI_aoRowuGUZ-I_n8uz9Xm920YAs29AEcgoZHk2jlqvUmiJ8awgdj7vgvkgzZIs_-IpHsyk66Cj570nSaA56PZ_ojU09813ynxGZG0nmQlh8C2KqzIRGjqVCnM8r4gG8WnuOBQ5tXX_g2Ou4A8aRlYOzR9rAYzR99ueC-MVsszVbe1Fk7Jg02ckqzbmavZDvpVFp9WYU2H7_r10wxbyFSknpX_SVnqWPVAiNFRl8_-XAi4S3me8KtiYe07q55ct1f7R6_pTDVJ_tEQPicFYjFZZu2KO73aD55e2dPuKcpwhuR1uXqLAtQnzwtX1wjxDAc08hdaN6mwJ9xRR69oDZK1GyME8r_juyCCEi-jrHRt34wEK52bZfxcoPxVU-llRl8BQp3Hz_hIb2BzSU1Q==",
  "id": "rs_06d28e28c1227dfa016aaca15c8d1c87d09caa2a6deec5b7dd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.15,\"right_z\":0.02,\"right_yaw\":0.6},\"note\":\"The brick is aligned with the jaw column, but the gripper is still short of its center and the last move tracked slightly to the right. I’m correcting inward and forward while lowering to grasp height.\"}",
  "call_id": "call_ZD6xUYRRYKJ5GQPPlExA57OW",
  "id": "fc_06d28e28c1227dfa016aaca15fc02887d094fdfb20e766dc99",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZD6xUYRRYKJ5GQPPlExA57OW",
  "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]: [-0.0254, 0.8043, 0.6037, -0.4023, -0.0227, -0.0498, 0.9995, 0.1467, 1.7374, 0.7803, 0.2005, -0.3229, -0.3187, 0.9965]\nstate[eef_state]: left_x=0.2924 left_y=0.0002 left_z=0.1724 left_yaw=0.0011 left_pitch=-0.0312 left_roll=-0.0048 left_gripper=0.9995 right_x=0.4135 right_y=0.1214 right_z=0.0436 right_yaw=0.5921 right_pitch=-0.1413 right_roll=-0.0121 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -1.1556, 7.2684, 1.79, -0.0611, -0.0806, -0.0122, -0.0889, -9.3607, 7.5145, 1.7607, -0.2955, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10c29834aad8dd575c9dd51dc48853eaa2e9b81bf11d5a9280e1c54b29df6df7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d6094eaa7f19475589ea85449cee79dcbdd6706865da0beabc461d9961a35aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fa197de84386cb360992e56d92daf4d745984619575f1499ad98414dabd4be3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 4.317 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]: [-0.0254, 0.804, 0.6037, -0.3954, -0.0227, -0.0498, 0.9995, 0.1658, 1.6928, 0.7734, 0.149, -0.1085, -0.1551, 0.9965]\nstate[eef_state]: left_x=0.2933 left_y=0.0002 left_z=0.1739 left_yaw=0.0011 left_pitch=-0.024 left_roll=-0.005 left_gripper=0.9995 right_x=0.4152 right_y=0.0925 right_z=0.0446 right_yaw=0.3431 right_pitch=-0.1974 right_roll=-0.028 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -1.3333, 7.3231, 1.8437, -0.0611, -0.0464, -0.0122, 0.759, -9.1556, 8.6359, 1.9023, -0.315, -0.0122, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKFqATJbGulha14ikxHZq4yrOyb6jgzm2eyXCOgS3owBLbGR937FIi_HO7kWhwNeQHXX_XoUbA8kqrq8kTaAGfvieiMTer9jhwLLXRXBNGQDakmPfbg0MlUY8oaAEHwr1GClzxKgQmCXoZFJ3v5INXftCdeKXKM3pwcbAOCE-tbcU-qIm7XUULCXWd2_rlbaQitYouw2ww3TZA0QtWiTs8zVyE6s1qAykoKDogBuo2kXXu6LsO6V9yqrUd_rRbgPdpfHk9xGfZJte9twOi5ouS4pyH21co8d1F0TKJOb7-tqycaflD7IUtc9QSw0b8wHXL6gMgfA0QUe3qW1ZsSRg3qXZZYEWxaqlgZYpqn8Nd0qcICnkkbDpWIG6XjQaIv_O0GDWeyV8X66KEF4_GHIpnCcwI49_NqAAXI685Iw1wd5x4tf68nyJ7wqsuqsIDIYJb8kU5s7Cr9VZlZ9tveznKoMQkj4BZl4fjICFmHvjBdgpsd-CMuqCfFWLHkZE6WUpIbvohopmFmQV2WYB0DcwG0-wVdpuBeE0u1_KCSk6BIxn9qHZ0UIjpQfGomaCb3yHY5xar-q4N_qTDPO2h6XXScrbyVR5ic_rIYCCRTZ5FKs6az_lb3iZsPM0ktqxbc0ZmUH_qYflUStgE934GAgt9ct6J-gNG97RB1X-Sr3gjxXx2U1RrqZsnUJyfru9TIpayeE1WeLRKSaALDohYSViY9NTjXhgmud5auxMPQQc9npRnWXqmzj1QMl2uOA2AuLe6PIxSQBXPiSvyO64t-JhDhBkYetS8re_si3F1A7aM1bTJ4l9gOPKUu6M7ltjcWSDriMA4NzH20brdtvRSplIftErR2UV3LStyE4qPHIntd4R_RKeRQ7oIIwY0oFAupyVZ6z2S6TbSMkEOuCr3Jr23sx5GsI0EgJM9TFwEjxjq9UKOfCrplCA2cejnrI1A0H9txGxVOhhO1eA1YzfXOfdPSAUPgeXdDH2g3OczGJb9EnOJf5_6kim1SzJLb91XXm_duXKZ4GVlej52oGs6l1lRX4daa4PMiF6M2gorrEKVFufmIXDBTeciessYLviDPjQgJvscFLoq68DS5BL-d1sMQN9oT-RFG-5j9HgeglHmS_jUQJtF9A5ayuaTWGQnYAinqsDozY0uTYmCKxMqCjfpzlSL30g5WykIRUhtAY0e7h2ocP2Hd2j9MZx8HcCnGfnMk2onW3uneD5DsDZhYqQ90RGbbFefG4vQyDv2k-cuj50GoVNiEK420IrdvqjzCr1o4xbKIOT9LuMtiPQLvMOqCuMyKcw7nbymGGjbdOjALLLd0cwkJq3T1AeTIhZsAcgDX8QfxwOam8F-bp8jG25q80mXpoVydOozI2-Vo0Dz2K4Q6srLrGbUNuR0qHITBE8kATYLZO25HuTDajdLH-YZaaGbL8TyYJwCj-lSaIonYiup33GkTq3TE8WnRGQvknjk6-32wmMnxuA7eyVXA6BH7bzv3h1x1w35MeLq7DnkCQ0knz212Rhof5WFym0JSkOWPVp7mTJfKjAZVt9UaytE97s9Wb5A88S6tTqYGVuiaAFf3K3sZZMvEF5okVsXFZunpfUm07BFR0iXnisrbWIIu_CxcAOKCniag569E_CpNnGbKeMyg4kx0DUWePmsCV1-aaKExeMfhrciTGn9dJYv-2V_I5yLmafhS6yFW7jozMhHdaDBi0APbkACtXty7Kt3RjvDnFmf_1Mfk0li835jmcTxFZ5Hrb0esHeidBSX8IcPZdJlpNqprkqoGYnBJLYpvomxxjL2-zb8MXV-0KcBUVv1TIcC6gOkLzyWFaqFGrDCbriSnG8X5H_9CiYDFtyiC9GrfhvTIbPcYP_e7rx5rVVitHUa0dV4PsdQAkEocInEBswOg5cyl5aZp9Gs-ta4lRxwmpaawPEHlvsZFSGQP1D0I9o60j8_46zP_E7OQDjYE6YwSE43o70rawB7y2PS8FURo5GQx_iO4xpjJMRpTL9A==",
  "id": "rs_06d28e28c1227dfa016aaca1638d6087d0be0defaebc39fe25",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.455,\"right_y\":0.105,\"right_z\":0.018,\"right_yaw\":0.6,\"right_pitch\":0.25},\"note\":\"The brick is now to the right of the rotated jaw column, and the arm stopped short of the requested reach. I’m shifting along that direction and adding a modest forward tilt to improve access.\"}",
  "call_id": "call_bam5NjLrOwS5MuQtsP1g3sP7",
  "id": "fc_06d28e28c1227dfa016aaca168cb8887d087bd2a151c612016",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bam5NjLrOwS5MuQtsP1g3sP7",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0254, 0.8062, 0.6037, -0.408, -0.0227, -0.0498, 0.9995, 0.0315, 2.1044, 0.6842, 1.042, -0.5148, -0.2535, 0.996]\nstate[eef_state]: left_x=0.2917 left_y=0.0002 left_z=0.1707 left_yaw=0.0011 left_pitch=-0.0388 left_roll=-0.0046 left_gripper=0.9995 right_x=0.4555 right_y=0.1049 right_z=0.0236 right_yaw=0.6107 right_pitch=0.2397 right_roll=-0.0494 right_gripper=0.996\nstate[joint_eff]: [-0.335, -1.4291, 7.0222, 1.7216, -0.0269, -0.022, -0.0122, -0.5265, -7.4735, 4.2598, 1.199, -0.1978, 0.315, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c49ade237d5817dc8f17146142fee0328fab9b81824776cd1b7425c7921b4cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b313d3e6d65d669b5fb65c520ce998a69e5fa917c74a70f895d3a036874fa80f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:057a80f13195f514b059538c2babd19f59c617853d03273e2506805b4ddc8966",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 5.933 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]: [-0.0254, 0.8043, 0.6037, -0.4023, -0.0227, -0.0498, 0.9995, 0.1467, 1.7374, 0.7803, 0.2005, -0.3229, -0.3187, 0.9965]\nstate[eef_state]: left_x=0.2924 left_y=0.0002 left_z=0.1724 left_yaw=0.0011 left_pitch=-0.0312 left_roll=-0.0048 left_gripper=0.9995 right_x=0.4135 right_y=0.1214 right_z=0.0436 right_yaw=0.5921 right_pitch=-0.1413 right_roll=-0.0121 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -1.1556, 7.2684, 1.79, -0.0611, -0.0806, -0.0122, -0.0889, -9.3607, 7.5145, 1.7607, -0.2955, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKFwQ5gn-FCV6IZoY1HSgtHR4IEwNCqdZmYAW6TqRUF_zRysya8eMy0eWIFh4MVi05nq1XGUTUDpgEmVyTMW5JS5wchdQFJusPK-Mea3grBOLc5EoEvQnXyXZobFfHXUAyzwX2PBEP_glpCr6IjQ6hboGI0zzX7bkJhiI2p2HY1WAFyu5Hkt43SN055Hc3M_TyxU9rIdM8rEft-OQWYq64vqiJpV5CnyDmL2Tdh17HeHEijzfGDj9zr-so78phq6C3-IafP8uOHGjvVlm7EKLSOKPsTUQZFq80KTOZ4c2WQokf2CsRf629o5s5pDBjKTZUaEvJlBqs8Vf3TsEFF_1P90eEzXngiipk1Fgsgz-nr_dLxwKFj0mExA_ME5L8OeURpnV59DNqp3a-7SmUc8uOGKTV0zfCZCqZ8aFiXVtrG3Kbg5Lc2dN5BAZu4QG4DbIecPwSi_VSCMXCEik3TGlm3IjQjsFq2DBgNcGTGJ5faY6vRCl1yQlaxjl-pQsSoKV0UZHBpmfqmsei5KH-Rw7q1KX5qwSAx6MzaVUHfL1TWHIoSisUtDvKK8YUcPfZTNWTxBQgDjuQz_K-_QOWD_BvooeocHrntc7E1W3HYwnIvGf1w3VSoMJh3Uiqb-ZlY9--55OkozdJi3hoPr8hjun7HF9AEZeI6oPGvI7SC4H-kM3CT549J_3F_Ugu1agIQOOrFfWMiMyHzQwxJrHCHMDkbq0XTe7bxoOWhQZYcciSkYasvfyAQ6Tz0yOwlgW2ldVXRZYe7TCC7rQ3nJ7o31wZR5nn2y7sCXzBBDhNTjWgmKN0FCWXOF5LYzoxDl9EPxSoVTOeyNOcOTr-i7pSfJmEnQ-3xkVjaaK35AKOJ6KDz627hJVhApGEXh3z67jxfJwsNZIs7_zUun18kVCE1d_0qLbwjU4vUqttm7W4RiNYHbBVge9eAJ6OQnewgk9tbSPGRmmxu3PJokw9DRs3QQgnXXoagwb9adsRWK2-QL8I6rqZXi-bS2e5ZTa18uc-D2yCZ_ws0dKp_6jvdHgzHv5IDbg-U33pINlkabVMbwnJa3_QiXORh9Z3g5WcVgxoxIFBbUutAJq9saabJWMRjrReWbRDMiKpVuXaz8yIK2VnATxEwRVregEnr-IvJn1iQdgpte9UKzza7v96HlqBRPbaaxH0E8_j8RnX_Y2cevhW5uKQeKKxb1vqJKtAiVxeMXG42Bo4Z2Y3hiWVThWUZxhO5M9kUW19FuKjQWM5kmgr92PVy9ib8A6N8B-lm6nJovlgLFpF-msSag7aGhX1bUS71TBuDTOTo3Q9ThLfdDbybKi_I=",
  "id": "rs_06d28e28c1227dfa016aaca16d883887d0a72d257b43ec1fdc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The gripper has reached the low target, with the brick between the jaw sides. I’m closing to secure it before a short test lift.\"}",
  "call_id": "call_AKf8VAZK08egIjrpAG0uoX25",
  "id": "fc_06d28e28c1227dfa016aaca16e8f7087d0ba896380506eace0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AKf8VAZK08egIjrpAG0uoX25",
  "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]: [-0.0254, 0.8062, 0.6037, -0.408, -0.0227, -0.0498, 0.9995, 0.0307, 2.1151, 0.6842, 1.0756, -0.5266, -0.2581, 0.0099]\nstate[eef_state]: left_x=0.2917 left_y=0.0002 left_z=0.1707 left_yaw=0.0011 left_pitch=-0.0388 left_roll=-0.0046 left_gripper=0.9995 right_x=0.4563 right_y=0.1064 right_z=0.0263 right_yaw=0.6259 right_pitch=0.2609 right_roll=-0.0633 right_gripper=0.0099\nstate[joint_eff]: [-0.0068, -1.306, 7.0769, 1.6874, -0.0806, -0.0757, -0.0122, -0.0889, -10.0444, 3.7402, 1.4139, 0.0024, 0.0073, 0.7888]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12ab92e590622aea264bc86745fc91390cf7da28eee97caceee31dd420da2344",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e4ff30dcf194ea153f03e6cf5903307f50cfdb6ccaf04a938928716dc74c1fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:962119f3bea7520c17f3033f19ce2ea7a7a0996536eadc31c22d8fc97351fac2",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 2.914 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 18 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0254, 0.8062, 0.6037, -0.408, -0.0227, -0.0498, 0.9995, 0.0315, 2.1044, 0.6842, 1.042, -0.5148, -0.2535, 0.996]\nstate[eef_state]: left_x=0.2917 left_y=0.0002 left_z=0.1707 left_yaw=0.0011 left_pitch=-0.0388 left_roll=-0.0046 left_gripper=0.9995 right_x=0.4555 right_y=0.1049 right_z=0.0236 right_yaw=0.6107 right_pitch=0.2397 right_roll=-0.0494 right_gripper=0.996\nstate[joint_eff]: [-0.335, -1.4291, 7.0222, 1.7216, -0.0269, -0.022, -0.0122, -0.5265, -7.4735, 4.2598, 1.199, -0.1978, 0.315, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKF342XMzWY6gJNWbCVFyXctfjfpObqbNXC8kATaztK2wg9mkV4BjsLoISwydgabiYqUw7yrIhcmCrHHqP1xZ6HnjL-DVNR6azzJ5W9BfOZTxty92Or83SpagzQicxKka1szklYZCKYZPIs3NYgyU4M46nB4uUFn8Ol1hgXUGV3QvxlAWCzZp0XtxalVZpO0kBZA2FUXxWAg4Jpx6llDuB6CFcmpwNhkXpMlVd8sIxAOuzdVjxfspCv2uZsOdsZ1IlyOpYdOcbmwZ9EzMKfgfbrF5X20TIMPvB7jD9H6keczZJwaiA9YhQBITuAbs6ptOG1FdqhkbXEaob6mMSLbycVDo3xxomDUJiDDWuvGiwNrjBvO60OnTVwTEryTZyU-dsZznddpNhnow0yZipLuWsteStYxYTuPHCLmRfQAH-ZlSj0hgmC9N5M3rPPGQM5P4cZfipHukELYmP_CY0S48nZnj5o6a_MJzVcZIAKdv9m0KTgWqu0GE_XcH5bUHaF3f4feETqMl2d46v96xyGIEACLNY1OCP1KzMkCwMX8WY-vQk32Ka9OExkpcWRybFJq7F3rl_XP6Xql-3dfByZYNzkJki-2mgkUJtMFHGc7PMaz7F97bgsDXGQ8CHwJ0KlZ0MCVKMQv-Qzs34HfKnZpmWL2sHSyOuOVmBmG7quUhLp07ki-yUqrPiQ3Z1hOLyPGIV1kyjey7zCX2xY6C4A5RDhV3_pa3Km0OlrI5SmRHvhTwQX6WdoAievDCwgCYwvh8yJiiTKiHspg6JdN4i_mW2dHbz007DWKGJMDw7PPTnWlGi-crBVv68lLncH8HQjyJh-23WVSAE21HMTEjTTTItdGqEZsZ3bVBHQ_XOIvfr0ArvmRAbIXrgx7dNlhBgaCInAwrnzZWQc1T496mnq-leP0N3lzzrd3PS-HRxk4LeJqXPlvhmaC-ySu6oxyccAD3ZxGX2T-k5Xh9jpuN6rPDrdjCpIFGLbUKW9hasBL_a7jni-Ln4u9DfZGbtRuXqseI50q5Q4DUdOcGBIFe4L3mVxhvqmYnUjLps8GH5AoHrnRvl6mxep1su30W1WWaJxzPLeRVTQh631wXX7jA4qbaNjqt7BhIGPNqd0l5KI2SAyqgVWWGNCzMqUEtVk3TtFYIXTQU1_Q8PDFIp3CX_JmWSiDdaDC_SKnbfw4JizBa40pV3zQkssG-J-H-ED3epPwqhdX2p6l1UOmukD3E1-o61NPo2rpKIn54QMRBfXujAJTGC8FWEoVdRk17cOMt7K6ALCPMBcarIsnD0214Yp2WQmdODF9vsd4ASwwq73Ngjc3YzCWRqYvgViiDOg79g3mm5i7ptMZEAZL_J_B53jnC0A5yp2rcoarf2ETumEq1DS8UChEIK2B4xuSnBlcQe_iOwQfIZ5qySOJzL9t5ZVLl7UwAAwZuqEenAP9VYIEwgZv0TJE4nyk5P6x-mPbXmfFibXuXKnkwLx1qriDYXkn_WN9bOSOgJFBkpvO-tVxeN6hhds=",
  "id": "rs_06d28e28c1227dfa016aaca17329ec87d085c694586be29c75",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.48,\"right_y\":0.12,\"right_z\":0.01,\"right_pitch\":0.25},\"note\":\"The closed gripper reads empty; it caught the space just behind the brick. I’m reopening and advancing about 2–3 cm toward the brick’s center for one corrected attempt.\"}",
  "call_id": "call_KqdQLZW5jVDIFcSqVKr7dgb0",
  "id": "fc_06d28e28c1227dfa016aaca175694887d0bb0621a210a9dfa4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KqdQLZW5jVDIFcSqVKr7dgb0",
  "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]: [-0.0254, 0.8082, 0.6037, -0.408, -0.0227, -0.0498, 0.9995, 0.0666, 2.1902, 0.7876, 1.1, -0.5133, -0.2611, 0.9957]\nstate[eef_state]: left_x=0.2918 left_y=0.0002 left_z=0.1702 left_yaw=0.0011 left_pitch=-0.0408 left_roll=-0.0045 left_gripper=0.9995 right_x=0.4803 right_y=0.1225 right_z=0.0289 right_yaw=0.6603 right_pitch=0.302 right_roll=-0.1007 right_gripper=0.9957\nstate[joint_eff]: [-0.1436, -1.4701, 7.0085, 1.7021, -0.0366, -0.022, -0.0122, 0.0342, -7.5145, 4.7658, 1.4628, 0.1148, 0.1099, -0.1392]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a6dd480f118267dd9b4ab4910fefc160d417b2351d8502d5be179d38cbd9f67",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4443e2bfa314f7ce4564eddb7e62bc53e4f458b07866b6d2026a17ef95950e69",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40150b0eda8f24428cfd7d34a8a2365b0c6336c211566ea7213279c40a09d3b1",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 6.087 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0254, 0.8062, 0.6037, -0.408, -0.0227, -0.0498, 0.9995, 0.0307, 2.1151, 0.6842, 1.0756, -0.5266, -0.2581, 0.0099]\nstate[eef_state]: left_x=0.2917 left_y=0.0002 left_z=0.1707 left_yaw=0.0011 left_pitch=-0.0388 left_roll=-0.0046 left_gripper=0.9995 right_x=0.4563 right_y=0.1064 right_z=0.0263 right_yaw=0.6259 right_pitch=0.2609 right_roll=-0.0633 right_gripper=0.0099\nstate[joint_eff]: [-0.0068, -1.306, 7.0769, 1.6874, -0.0806, -0.0757, -0.0122, -0.0889, -10.0444, 3.7402, 1.4139, 0.0024, 0.0073, 0.7888]\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 brick now extends into the opening between the fingertips. I’m closing again and will check the jaw spacing to distinguish a real grasp from an empty close.\"}",
  "call_id": "call_YgtTvEB5bW5HlwW5zSL4fq1q",
  "id": "fc_06d28e28c1227dfa016aaca1797a4c87d082191089d1112104",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YgtTvEB5bW5HlwW5zSL4fq1q",
  "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]: [-0.0254, 0.8082, 0.6037, -0.408, -0.0227, -0.0498, 0.9995, 0.0685, 2.1899, 0.7891, 1.1099, -0.5255, -0.2619, 0.0089]\nstate[eef_state]: left_x=0.2918 left_y=0.0002 left_z=0.1702 left_yaw=0.0011 left_pitch=-0.0408 left_roll=-0.0045 left_gripper=0.9995 right_x=0.4801 right_y=0.1253 right_z=0.032 right_yaw=0.6755 right_pitch=0.3137 right_roll=-0.1054 right_gripper=0.0089\nstate[joint_eff]: [-0.0479, -1.1419, 7.0085, 1.7118, -0.0269, -0.0659, -0.0122, -0.4308, -9.9624, 3.7402, 1.6532, -0.0269, -0.0269, 0.696]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0938c6751b8a953a6896807c61a6c99556349ea7feae6cd548a8dcbe9653a068",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26588172824b098448a7445dda0661fc662a561e4791015f55fcb8f6479b96e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd8ded358457cc24b6a8266c3286ab1374ff63e47cbb2e135588b8bc67ac86b4",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 8.925 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 26 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0254, 0.8082, 0.6037, -0.408, -0.0227, -0.0498, 0.9995, 0.0666, 2.1902, 0.7876, 1.1, -0.5133, -0.2611, 0.9957]\nstate[eef_state]: left_x=0.2918 left_y=0.0002 left_z=0.1702 left_yaw=0.0011 left_pitch=-0.0408 left_roll=-0.0045 left_gripper=0.9995 right_x=0.4803 right_y=0.1225 right_z=0.0289 right_yaw=0.6603 right_pitch=0.302 right_roll=-0.1007 right_gripper=0.9957\nstate[joint_eff]: [-0.1436, -1.4701, 7.0085, 1.7021, -0.0366, -0.022, -0.0122, 0.0342, -7.5145, 4.7658, 1.4628, 0.1148, 0.1099, -0.1392]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKGBYUoQwuVvdMDOU5XkS_iWTrW-sYoameeED8ztwTIMECsSOpM6jetKi1bhYk6chI2KPtvLBkYOdb4kMBZlugXNCl3sccqm0b_D8NXdM7FKNJuXBmjpE_zChBnWDtoeyd7425oW16Ow-II8_ASBepHD_2_5Vzjlij2f-zc2_XLLaIe_IALRfDKQ7XpQVKMqzUmKZD9Y8iGm8ZIQm3pqrnKujHV0mZsJaeUK7pui9ajj-RCFk6UBl4du212YzOQWZiRVimbMjNS9LvGhSFPeifOAK4iARbDNxmQCMvkoNq5b4TQpLR_TFK0jvndHqNTwefIAIdGxgPlqFTBT-SNJFR2Wy0b71u9LvvEuQblmv09I6SfUJ95eb-TvPGhQZt76zMp2o6_lciB4Tt3doLayEeUB02978TmF9zd57I2ikQF9lbHt-PzFyqkPDeY2VJxHpRhxjgNv1_b9ZmVrdZR7X_DXx4XyxSU8sax8Q5EQP8BatrjdNmNDzWC0v3tJkgD2l6sxc4IIxJ7XIrZjgfBYQmjQ_iaJiHTldJdTCu9_zprTa86p6-IPvY62ahSr0SGI9Y2NmwAOve6eZkNt0qsBogZghDJR4cBfo-HKlTtZ3XjgHV1VpFW0uIMpPGCeEv7ASzF8ZZermQ9ElQA_8WozKeaEq3eHPOZTyf-CvvoWBwu6nqQ_F0vrufJD989ShBTDUl0MzlzaRcDqyKzv_ZH7a-A0P2SGkXBvNzm1i1URlQo9mcro2Cig99Q--V6gmvSyW44ZM7zRHCDZO-q2DBoldl5V2lc9E5f2WthIJ5VrMdwZ6Nwzp7nrenSQ3rQfgCmGYq7Sn4zXcSv6NiValllYGBQNp8DJwHjU8B31R2o6QQ6WBAHZPyxQ4fMZQuuAZdwtU05JoZSqErLM7SSfRtgSHHb0H7ZWjXRx4bBB-5jwJriTGTo2Qsou0h72S7aWjtQWpJ9ee8aRYL6dpBfo8klPq2vAIlKZf-qB8lb0moyGrg5n3ma1y-Wk7aaPGhwjv6nOpU4ZnRkoWsrhBaXB_F2EqBf1qOYRMm6I7t0NZSXsglloAQ0eLAG8A9dmd6VHYQYp7bu7JF5NDO0qxaVpfg1Av75bhs5HYvVZswofPgJExjEuCAZJjihWd14O58icFK-7x7MLnNKg9hWxQ8t0gAKGLY_8LpxwutuMvcL9jayHGgKypb7p-w1JDDicDqrAcap0A-Zk9tEG134o3dC3pkIVYgbTsoDIEpLjSwZwwxNK2a1wAi6T6wK0JVWalmQh4zisCBHxlEryb5UCmaGRkCzMZ7Y12Wewy6PMpTKJLwG4_gSvMqX1GNrOBN-W1WFEGII2ym8r_1lpwvPG83V-GY7ccrjbkt4UcIYLTMBGiHOsRTt71j9oI_sP19NTVmOPykpX-nw4NzbKlgNNtjjB3Ilm_nGboOwNNfobbxq3MAkWuv-Bi2yP3zgFVVZmLSrqUvHCFv_qNToAZeRmGegJ3otwmTgYYA72f7-4mQaiUnbBhllIjqyQ5oqqOPTA6xPmavaOeySRsrs5qw3yVJIfmLUiM4GCAGxwgdlQbPgPTHfSS_AXxPY=",
  "id": "rs_06d28e28c1227dfa016aaca17d036487d08f0b1740f9d2fc6c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.07,\"right_z\":0.15,\"right_gripper\":1,\"right_pitch\":0,\"right_yaw\":0.6,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18},\"note\":\"The second close is also empty, and the readback stayed above the intended grasp height. I’m lifting clear to reassess the brick’s position rather than repeating the same approach.\"}",
  "call_id": "call_ozjiDDjvxAIALA3VKTTilPXq",
  "id": "fc_06d28e28c1227dfa016aaca17fdb0487d0bd526c85a0603d81",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ozjiDDjvxAIALA3VKTTilPXq",
  "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]: [-0.0254, 0.8288, 0.6117, -0.4389, -0.0231, -0.0513, 0.9995, -0.0227, 1.5612, 0.8829, 0.0799, -0.4778, -0.4473, 0.9956]\nstate[eef_state]: left_x=0.2895 left_y=0.0003 left_z=0.1621 left_yaw=0.0023 left_pitch=-0.0842 left_roll=-0.0044 left_gripper=0.9995 right_x=0.4354 right_y=0.075 right_z=0.1413 right_yaw=0.6133 right_pitch=0.0393 right_roll=-0.115 right_gripper=0.9956\nstate[joint_eff]: [-0.2803, -1.1829, 10.4274, 1.6923, -0.0611, -0.0464, -0.0073, -0.5949, -8.2256, 9.0051, 1.6435, -0.0611, 0.0757, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63f2fdabe32f9dd2ea6366487c1fd8bc80cdbfd937605138cb57a79ee56b1557",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a51f548c9ef4aa4b7e58fe98d80c038f63b926ae15ae1a589c473167f6c13182",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c1973087c08f2fb1eb191db61e06f96ba1a5025d67fdb8f95139ee99591de73",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 9 attempt 0 · /responses · status 200 · 3.933 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]: [-0.0254, 0.8082, 0.6037, -0.408, -0.0227, -0.0498, 0.9995, 0.0685, 2.1899, 0.7891, 1.1099, -0.5255, -0.2619, 0.0089]\nstate[eef_state]: left_x=0.2918 left_y=0.0002 left_z=0.1702 left_yaw=0.0011 left_pitch=-0.0408 left_roll=-0.0045 left_gripper=0.9995 right_x=0.4801 right_y=0.1253 right_z=0.032 right_yaw=0.6755 right_pitch=0.3137 right_roll=-0.1054 right_gripper=0.0089\nstate[joint_eff]: [-0.0479, -1.1419, 7.0085, 1.7118, -0.0269, -0.0659, -0.0122, -0.4308, -9.9624, 3.7402, 1.6532, -0.0269, -0.0269, 0.696]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKGLs4nPErsWepkweCsb80V7YUzE9z2KsikLhk7KQRVMq_Wcn8fPqXum-hfWD2A1JAaRDoI8vmllfcYJzAOrPr9ShVDfFw18QQE6jvkhVbYyaqjYcfV4qUJf2o2I76BMU45Spbi3v8l-uxlEN0yoSbjs3Gt9qZ8n8VmIiIjuNlXy1G5CqGjeEGRNAksgx0a5EVVSJ27hWl7IcUhd881chDTnjLCKEM4rA_vPxEeH-XjONrteUdzC6PKcmNwrKdKmj4qaZwFa3J7tn-1FRQzdaWc80-HZE7Ht9osgCQhSwTFT8ux19MDpVwruaryA8oagki4uzXsvrmUj4QG8gOvocJ2vzL8KvUgtfpYedlLjKKiMJ8pdjxmZMQhQnC2nV_SgJrTsvkkaHC-13u4VpuA88DMBYiyOpxmZzqAD3pmsianU8zy12XVplZ8JlYMAPc04SWQ_e0Iui9znsv6RPalWh9FBJ2DYKKmfeFVT8dBwYwuVT_UQM7-bKV98tl0ggsdZwr219qdolRqONvCNbJm6JnAPy9XoNmU6w8j0urnsRHJjpa0sNXtTPpsgJuCYHartr0Xo-kriR0ReuHhdrTsXg62wuyD6NorwQqcl5cnK6uE7gyM12JqJNWJtZP9Wu6R_UgU02vq5OU9TCqknnjdbQlmsaJyHjGZTpe_6noGQIsFFNbeBriG603gf601mL4P-yvC6EMDkeWcMHURRp8N_Z3Irf3eNWRUA-NnmMmOv-1u6ujgWfbUSW9_J8gVYoMhNJpANAcm-Py17zgNSOzxeGz1X_PFKe-XCKUSwhWLcQU7XT4FyX6JwsiX3TR9ISy5Q7k43DRg-tV3tlEY776Xq6iIUTqmVGGQDHcF9wBBJOD1siVd5wrr-Y64izdtJwUPzW2onFGhG55arA9B1C7Uuzdmj2q0nMhgtJ5DiRWN3C3ppX_pk4mCnyHcvreJUTvFs_2sNYGhBHSHjnA42i3zKQ1jY5ZiytD_gxNMsekKYmXDx5ODacYZi4VSluJGt0pCf4Ij-4P7qm0pN0vBwApXVjJOlJnB0qQCbq8wwtHU1W8awLrOjx4gfm_Sx2aW9vtxHcxceKPFvc1WkfwSVQPD0ClnVIVZ5gnwk0CkZsQQB68oQ9w4ZpzNHRheLf4oGrhEZS4dl6OHcW1W_H4cB1m1w3adT1Jc6uqeJXWGZXqRsYfE_Ece7V8vPDU2rhaSgNp8U-3o-xvrbSMMwEgjr8LD77deos7J1n0AGG5hjv9M9Ipgze1xr2kGhAeIzi5SRhvTsWZrx9PFWdI68kJqmSebkxFx7QIWXqcW4htm47UpPPlPSdzdHEYdHL2QXOQ-YuXb7aHLhJmWMMdxxcowUwJAeR6S5YTat2g9uR8vMORxjBeeospbXme9_GuYcGFDsodaW5rvoygQ_9NRWHmC9O38Brkf5aZJ1lQZbqmSLcPYdReSHF_Biq0BvpWo5SdKl8DraNyEHc1LQzNYMlRfXBySl2sFaLPJRb5MWewa45cNNYWCnKUhY2_MrHPh17DnTL75svOlBb21qIht3lVcrL4NIP7KCMf8-eEw0rNHnmme4sVdRj2w=",
  "id": "rs_06d28e28c1227dfa016aaca187b7a887d0990064791ee114e9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.505,\"right_y\":0.16,\"right_z\":0.005,\"right_pitch\":0.5,\"right_yaw\":0.6},\"note\":\"With the arm clear, the brick’s center is farther forward and inward than the earlier grasp points. I’m approaching that revised center with more forward tilt to reach it at table level.\"}",
  "call_id": "call_S7UtShUeBplWXLlCAvzLEAAz",
  "id": "fc_06d28e28c1227dfa016aaca189d9b087d0ba997a45972a5da6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_S7UtShUeBplWXLlCAvzLEAAz",
  "output": "executing move_to over 16 steps (1.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0254, 0.8333, 0.6102, -0.4419, -0.0227, -0.0525, 0.9995, 0.1799, 2.4485, 0.9279, 1.5566, -0.3836, -0.1669, 0.9958]\nstate[eef_state]: left_x=0.289 left_y=0.0003 left_z=0.1596 left_yaw=0.0026 left_pitch=-0.0934 left_roll=-0.0052 left_gripper=0.9995 right_x=0.5084 right_y=0.1633 right_z=0.0477 right_yaw=0.679 right_pitch=0.5909 right_roll=-0.2078 right_gripper=0.9958\nstate[joint_eff]: [-0.0615, -1.7846, 7.1043, 1.6532, -0.022, -0.0269, -0.0073, 0.335, -7.4598, 2.0444, 0.315, 0.1392, 0.1783, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ee6dd15f8e8c6faa288b3390959a62834a2361b6b35aee072b7531a1894fb67",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ef9da4a4337b8c2df70e28d8bb19455f35007f4c765b45ecfaf1aec8795b1f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d8fd9d96b532f4f0ba6d9c21225ab9b8373c23bf1b00593a42404977467ea9b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 5.618 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]: [-0.0254, 0.8288, 0.6117, -0.4389, -0.0231, -0.0513, 0.9995, -0.0227, 1.5612, 0.8829, 0.0799, -0.4778, -0.4473, 0.9956]\nstate[eef_state]: left_x=0.2895 left_y=0.0003 left_z=0.1621 left_yaw=0.0023 left_pitch=-0.0842 left_roll=-0.0044 left_gripper=0.9995 right_x=0.4354 right_y=0.075 right_z=0.1413 right_yaw=0.6133 right_pitch=0.0393 right_roll=-0.115 right_gripper=0.9956\nstate[joint_eff]: [-0.2803, -1.1829, 10.4274, 1.6923, -0.0611, -0.0464, -0.0073, -0.5949, -8.2256, 9.0051, 1.6435, -0.0611, 0.0757, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKGR2Tql8u3kuWmgN1Z-osmj1cgsT7IwtiLwaSlsDLLDOK4OHeD0zOiyhHQRBbqAqapm_LjzyyzvcRv0UP73XO8jzftIQl95pK-UyJ9yWf5epLQdYvuIE_Ik1jUARPdLO2YiI6dl3mj5ICh5olibV8kOmZx1IVI4BgzJzV931ZSC2M7HR10qpVZz2e7HJdTGPZrvbLflH2ZFuQO_3id_Jh8UZQZ6x9cwPTE_2m298q7iEXDDn6R6ZSwkaNpxMxlGDFd-6SkTpvkQh9JGUf4OvIXsAGeJ3y7ersxONhwRTga0J-iIrWPuiBV_21jySad_PPwFsgfIRZpc11Y06_Z1acpO7x1j-2puYmk5QSqoyO0vnhx3sHmJuXT7azwZWBmoco0-DhStsmuTQr2Phowt2SWkpC3hSirzNB4mL5USYitfsu_S3HKf80ahmnH2vWHtZFqW6haboYHnof456HzmSSAI5Lp3BIzXpxT8gpLm4bvIsmtr5mxbA_2hr7CCWXchhMGn_dN_VrIFjeKNWtxrvxzL8Ei3MlNR58bMMbIi5BeGuQZqrC7v-R3RTwJdXPelVIMBL5dfnNaeiBDHsdacKpU51ifEL9M3J0IUm8Q734ficymTIRNku8HlZupNdZQuQcSb47z0Ox_UveD36IdduatRRsEgPlkcLMmFlJel7ZfwKiHzWh7Zty1FCp9g3hGhOUwxRkvy5yrW9tz9js-onf2xqWnFwpL9n7n3Rttl9EC8TVJGfWmcZJkVQmjMtVI4sEKz5pPWzE2Hg4CcXdu9LybEP5pEiUfrifiTugI6210VqxpOqSUBBCyOZa4sapR60EllVOJegewu2jTvto-EhKzT1DMXSBBQm5fTC1LS6KHZOrpNcft2ouXz1V4BLmbhpKPZ4F24_pGf7b78cd-KFWXP9vBhgLBeGWvzJoc3ehMXbrAXtVhaWAhZYpEkAqcDssHo9VOd-k0FRILpGOOY9NXQweb7ioWP4nKeonK3WsF267i6OEaNW5PwGN4mgYcE2O1bMzt2tiRQzaagMYxWnhf3oVKYPf0Y5Kj1tldAaMpmc03nv5lJi_z5ZTTbHTXwRQ_EC0lTasIMsJDznmPi_oWXu9GDOneAXlvQpcJmgFieM2hM0bUCZHVlsUFtk1mBmrnl6b22Y6ftAfjMXe_XvJwVFTy3R60Lz1TpqnisfsuVfbbM3K5Z9kUV82aegmQeZAVo9RcfSNlDjiABFAwAQIB2bDmn-knOzTYnea_gopXFa-iU44v7dUVtElFG0Nc6v0ZIMjJMzdvIpsWOKhGno0sKa7Sb2QECpx5pFTn24ruDieP_eAd0Hag4QY47IdBW5QT7z9aGI6eWVAK2HO1eZ-T6Dj_uejF50PAAvgtYyOBitDMOalCnvQ2vgaMU87q3oBcjl6fTAMwjg0xhkNm7e1BUs8ejY4cZTe3ckFLpABYnxRqKU_dA6DwbzB0pMkLjjND9Cv_K4WiSWMJaPXtroDFjZA==",
  "id": "rs_06d28e28c1227dfa016aaca18eb7fc87d0a443cd02c7876fa3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The revised approach places the fingertips over the brick, though the tilted tool stops above the requested height. I’m closing here to test whether the jaws now straddle the brick.\"}",
  "call_id": "call_jNHY1VQU5ytc9PK2GgnSayK9",
  "id": "fc_06d28e28c1227dfa016aaca190500487d094feb8ef3d985946",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jNHY1VQU5ytc9PK2GgnSayK9",
  "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]: [-0.0254, 0.8341, 0.6094, -0.4461, -0.0227, -0.0525, 0.9995, 0.1814, 2.4573, 0.9356, 1.5829, -0.3832, -0.1669, 0.0103]\nstate[eef_state]: left_x=0.2883 left_y=0.0003 left_z=0.1583 left_yaw=0.0026 left_pitch=-0.0991 left_roll=-0.0051 left_gripper=0.9995 right_x=0.509 right_y=0.1642 right_z=0.0518 right_yaw=0.6885 right_pitch=0.6129 right_roll=-0.2225 right_gripper=0.0103\nstate[joint_eff]: [-0.3214, -1.5111, 7.0359, 1.6581, -0.0513, -0.0415, -0.0122, -0.2667, -11.8359, 2.865, 1.5165, -0.0611, -0.0513, 0.6667]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f71f630c16d951201bbd5d4d51fe2af64668c598a4165a887593ebb06f9e614a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9eee8d74b60dd740a0bfc1e96551fe2c806295640b81e231fd610fc1d86a98c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae5e7e03923a2907fd8609adac85ee26452b80815f67f82d328cad4bcf3a6779",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /responses · status 200 · 3.205 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]: [-0.0254, 0.8333, 0.6102, -0.4419, -0.0227, -0.0525, 0.9995, 0.1799, 2.4485, 0.9279, 1.5566, -0.3836, -0.1669, 0.9958]\nstate[eef_state]: left_x=0.289 left_y=0.0003 left_z=0.1596 left_yaw=0.0026 left_pitch=-0.0934 left_roll=-0.0052 left_gripper=0.9995 right_x=0.5084 right_y=0.1633 right_z=0.0477 right_yaw=0.679 right_pitch=0.5909 right_roll=-0.2078 right_gripper=0.9958\nstate[joint_eff]: [-0.0615, -1.7846, 7.1043, 1.6532, -0.022, -0.0269, -0.0073, 0.335, -7.4598, 2.0444, 0.315, 0.1392, 0.1783, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKGXGK_DK0D8NG6J8S7VbHCj8_jmJoxH2T0B0mRwaCTivGByBawTmGqM4NiFkky72UTyr8Bdyx6mavB-yk-I7V2fkJTy54Est8d7V22hFiDNLXfSlu02q1HoEJ2TfMLZ3XLB3d1HlKNdwGV7_lDPSj6bGnwYHzUfjp3o9Qv6GvBXNlcaOgftbrFgdDdW_ATH5aHhRbi6dfy0NEjR0cwVgoqHUd3rG-1R_9-EcplbK6vTcf3o2xINtARDnXNlhZ3_uq0IvyoH2s28SY3pELfs9B-NiNYYMHSJyKiLGnccwIoPshYlZXdLMurDLKFfUnmHgl34ag4gS2W65yPZL6IEp5YSwtohHw36Q__Ssf1FNWuGp7uFdWmWWLUSQdvgYq5p5nwf-WT883wdT7Z723Ipw2Ny9ypi6yO2oPobgC-BE_j4YRGGxjLX243MVVD5meGOGOEtPnuTQdUoT8C-RWiojhr3O2oaAk58cJu-u95l2-0Qvt9-LCcErf7st31EBn6nLx3Ub5Rr6DPFTVWuvzDE2VTlgPkjvQT7UUytFK_YcRLUnIwu3dq-Lb_y0MNAL4xlLg8PIOtQPL5lxGuEexDZyMN67U6zMVGUti1fCbNr41pytT7iibo_GCIwydYLEaKz7j1kHsMA1rfIO4QkTme_1rvpRzWvVujigQFBNv2MiGkv4AREkgaiIT4Jp58S6oK7tFG6jikEiPsWkNctfb2fKCLIRLYp1SlUrErx6LF0LuMlneAyB8g9nUiXCK7_Gw_SynXM4b19PfieL8Ad_apf3N0mvtoFfEEuWHIBy9cReuQ8-be1UM0C23Yr1Z2CxcX5nSL2clP_ybF4kMursD7MYyTptMIl9B2OKJguNn4Ryw5FKMmlth-fMJG4ovwEZHTtKY6HlQA9cNFjpBEPCxCJlsdsz6LpCP8Fsg1mt3lfyEQ5N8KKK1zjeyQL0keh1Tfv12chGrO53vJNpamvMO7SWMTXwe57h5s4I3JT6HjqpmrXQ5dEV2TQ-WPfqmyuKm1vUoAYoTa0qnXnntp87KhorP4GXLmmkAIZDMTtIN0of3y3BbB_FQD8P3V3GE6OWae1udBT344c7-_aVMZWPL673edKqpkY2UD9YfOtkCSaMYUNgWL7rAhbjqPwNP7kIGMjDJzvc_q3o1x9fZp1lBaazF2Ni__xIXIn6JS1uBSyDp5HhmClPMoycp4XV3iFizNOfliKa64gsPyJM9WtFRxogC98XIB1Wqvzv8gHVdrDHuJmMb4MLw2rqKqFIQOFGSfVeta0Mioq7xZVwbmTybgpajVJ2l9gFLtd7KkBtl6uIjxoVsbbmY1bCZ0VYoFU0SoI3JFjcmNaKpn7g3Bo6XDP6p2DuZhxpx4REnU2XMQTbNfde4HIbSBAMvSS_QpX3_qCLxxmFZsgWdxyA6lYOS2kjEqET0WfQzGqmSfDrCyz4UrtG6-7drvln5gOOfEXeBXGAegJLJCZ27oIgZEZwnr-5TkYwiYSVSogkM7Rl6ZnwesdxBX7KPXNsC-nXCEcv48zaEHi_sTPuur_nlXWfgO9UhugXleQsHdAIsP_bV0A_9Nu-_ui1ZB4et2s4YhABuCVPY243rlV1l5-RYwpsJkp5NI2VyzsUanfAfr1SkjAH5YXEuPYTfytbmCA4f4-TtcFWe8JbpP5znAsHnJmCvXVSR0mFgaBTMH6VvAaZ0jznUjR7r8=",
  "id": "rs_06d28e28c1227dfa016aaca1936a9087d080688207fa9e0e7b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.16,\"right_z\":-0.01,\"right_pitch\":0,\"right_yaw\":0.6,\"right_gripper\":1},\"note\":\"That close was empty as well; the forward tilt kept the grasp point too high. I’m straightening the tool and reducing reach slightly so the fingertips can descend beside the brick.\"}",
  "call_id": "call_cQCFExI5cfZKrGGb5vBRqH3l",
  "id": "fc_06d28e28c1227dfa016aaca1967fa487d0966a536d591a66ce",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cQCFExI5cfZKrGGb5vBRqH3l",
  "output": "executing move_to over 21 steps (2.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0254, 0.8345, 0.6094, -0.4526, -0.0227, -0.0525, 0.9995, 0.247, 2.1746, 0.934, 0.7998, -0.2157, -0.3969, 0.9962]\nstate[eef_state]: left_x=0.2873 left_y=0.0003 left_z=0.1569 left_yaw=0.0027 left_pitch=-0.106 left_roll=-0.0049 left_gripper=0.9995 right_x=0.4997 right_y=0.1687 right_z=0.0137 right_yaw=0.6426 right_pitch=0.1167 right_roll=-0.2612 right_gripper=0.9962\nstate[joint_eff]: [-0.0752, -1.4701, 6.9812, 1.6923, -0.0708, -0.0708, -0.0073, 0.1026, -10.8513, 5.2855, 0.9646, 0.1148, 0.2027, -0.2808]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da36d781691025cdb4a7d59e587a3ef57e3fe14e7df69ea95c2605291909ce91",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cdbbccbd997d51e95acc5fd38e652be295abc6ab296b5fd6404c631ef135149",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2f2270a682aa0094525b1493253f96be388335edc8142c0313e499bef89c3a8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 7.749 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]: [-0.0254, 0.8341, 0.6094, -0.4461, -0.0227, -0.0525, 0.9995, 0.1814, 2.4573, 0.9356, 1.5829, -0.3832, -0.1669, 0.0103]\nstate[eef_state]: left_x=0.2883 left_y=0.0003 left_z=0.1583 left_yaw=0.0026 left_pitch=-0.0991 left_roll=-0.0051 left_gripper=0.9995 right_x=0.509 right_y=0.1642 right_z=0.0518 right_yaw=0.6885 right_pitch=0.6129 right_roll=-0.2225 right_gripper=0.0103\nstate[joint_eff]: [-0.3214, -1.5111, 7.0359, 1.6581, -0.0513, -0.0415, -0.0122, -0.2667, -11.8359, 2.865, 1.5165, -0.0611, -0.0513, 0.6667]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKGdZp2Q10UXnlAkALoKW35Cy4eVXxmcY77smbHuUONyAdL9rad2FxawbUMv-QL4995-RiMQ7TxPx7uUYioKjH7Dd376523C5AYTzuV0F4RqCaxiFxlM-0ElSNk0unTPaPmOpXAV-LMAmuDwdJ7MPK37BlFrok3IFtWDNw2y_rUE1yGoKMMjRflWetipf0Ay2TJrUrqAwPpa73z6XLQLPNt25LyIKr_5-p4UDzxai4u03WjWWh-JeK6ipGOvDp9Ugh2MnaZ605Obnyow4O4Ih8cvHvu2Yz1h2d4JUZO49LXQc0By0TJKAheGHMDg1JvAira-EuyNWHR0eq0nCCyVHha6leeH8lSM_WXmQ_04tY4HJg7DMSshizdIBPdgxh8YodqlqiFahWEQ6WRl5AdAKe6hSMd2GKbyg_74D736GVNDvAYMRxa85CZxyEXJsDgi5eC3sU4fCkZ73QHqH6Qg9tc49ENC0DGDbyqZEMFvEA_yOCV-SSy4pxnrfSYOwTrew_Pgt5rXU5wFeDn6t5Il9mOrXJu2LX4A56x9rPeJh2QU-__MlfpYY5Q29SSPPeX-jHkQoJvkKuWdOBP7Cn74YbRHi072kcxxOORQcwhgU9I1hE1iKBymi-njVIPdX87jF3bHQ5MKSzqSAmChuppDagAU_LaHWEWOn1pVXmyB1tnz2yhQ654EZwyadI-SyXHluHdC8NZMdhuaRQmMQfoEDJ1slYfkNdNMAycR8hk-8x5mkGpqstRbUDXmK8ggrRns5yqQRjAlCXQqs6ve8DQlZKiEnuwchY_yIJGJXQgRu4CaG96QnLCUEmSP7g-Lo_S9DIXX2uF3ck7UrC8agwhH1B_sCnjHedJlJSgiHIRt_NfEUpjsN9TCf7r4C3rlMsHbgBm11l7AzwotJ9KLVZIunHUVVIohmsAp1kk9VuEhVnAGpTrHghnUSEpEebnzJqTrYreQeAZC0n_3jvJLxQB3lsbK1tLJDiZA3BgbxiZI-AeX6qXsjrt4I_7ju4c2Si9gG5MEdYJx7Hm6azjxozqAQRA3qm5jre47jhOFhuWV-8NPYdXBebnn87h4y9ybRneVNE_Dtfvpb8V8I-rX3mGjkqI41-H9ikRkm7SBpzo6TPYOyX6g_5n0kCWD_qcyhDDUWFSf5PB_pB0V52yDLo566340dQf8kxGt9WpVEj7h6C8eQuqaFb1y-zgVnST5kp-sK7Ez6CcruFGnSx2sVjNsjlfHLA==",
  "id": "rs_06d28e28c1227dfa016aaca19b814c87d08b7df661c4243f0b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"Straightening lowered the grasp point to about 1.4 cm, and the brick is visibly between the jaws at the bottom of the wrist view. I’m closing at this lower height.\"}",
  "call_id": "call_uCGqmHffdHMMW63Fer3vPeKO",
  "id": "fc_06d28e28c1227dfa016aaca19be58487d09d3b77658b11ae7b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uCGqmHffdHMMW63Fer3vPeKO",
  "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]: [-0.0254, 0.8391, 0.6094, -0.4603, -0.0227, -0.0525, 0.9995, 0.2485, 2.1666, 0.9348, 0.8227, -0.2268, -0.411, 0.0093]\nstate[eef_state]: left_x=0.2863 left_y=0.0003 left_z=0.1542 left_yaw=0.0027 left_pitch=-0.1182 left_roll=-0.0045 left_gripper=0.9995 right_x=0.5017 right_y=0.172 right_z=0.0233 right_yaw=0.6626 right_pitch=0.1455 right_roll=-0.2824 right_gripper=0.0093\nstate[joint_eff]: [-0.294, -1.8256, 7.0632, 1.6923, -0.0611, -0.0317, -0.0122, -0.3214, -10.0034, 4.6564, 1.6142, 0.0757, 0.1636, 0.735]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00bfa7d3191cd6c7a1467093856595fbe91f9df263c7f32149b263c9d4364b84",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0361ac6b2797439c510412dbddb8984d10b7b9ec0d9876051b5016da3f524899",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59bdff5a76cedefb58f2d5aea21f288a551a08b81a974f225a0e0701314551cc",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 7.687 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]: [-0.0254, 0.8345, 0.6094, -0.4526, -0.0227, -0.0525, 0.9995, 0.247, 2.1746, 0.934, 0.7998, -0.2157, -0.3969, 0.9962]\nstate[eef_state]: left_x=0.2873 left_y=0.0003 left_z=0.1569 left_yaw=0.0027 left_pitch=-0.106 left_roll=-0.0049 left_gripper=0.9995 right_x=0.4997 right_y=0.1687 right_z=0.0137 right_yaw=0.6426 right_pitch=0.1167 right_roll=-0.2612 right_gripper=0.9962\nstate[joint_eff]: [-0.0752, -1.4701, 6.9812, 1.6923, -0.0708, -0.0708, -0.0073, 0.1026, -10.8513, 5.2855, 0.9646, 0.1148, 0.2027, -0.2808]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKGlSoMu8rZz7Oo9EQ55VEZ2na9DnYgAxxdoYbpR2KqNtwclkfG5xQsvnv5ILd-_i6mBsx81uS5oeEi-8FOKHkrpbkTI3RJaDhG7McghlpiMsXqYqMd2d0Uf5-O5d73zSwp1No-WW_uOGAA1DDXx3Mq1co_hrqnxQhDmgb8ilwF2XuTuZPcVnt81Yt51QCnVs0tdeV_5DHZOJxeigr9RAVj2H5RO8l9OjLr_O5CSEXThxvxVjSIiw7QwRDUz6q-YZQUEHzeRFL358RWCwfNeeSEWg9JFCAVMOjzEcuLMnS6lVwkk232Zh2_cHuOoMY1YbEwotGnblKFrQMvUzLmDfW7LibEinA2hhTilmqkcJL8nXHePrqMLfcnAaCSkDCpgYux_fa6-woTDv7Pm5TUqPIG4IEMzPwlpyKKwgAl1k4tYm_lPQUtTGsqZsPT78L8WyJ6LTTZzibb_h4eTOUcfdRmd1MGQ8-Wv6MfB7yQMIV_kYqlx9rRJGA2EgxLtUIhJ9Ch8X5Lp4fjUufHMueUkrMo39RwV1RLJGnGFJJlH9quIHLgtIdBGAPNh_rLLfP2NHdnFLO2txQbmWzlKY8zqTfG7Yiy3Ra9fe85rzQiM1mz-t4DGmEu-sRrc21XYw4cjmZt6LIwSoGPtiI1E89bscFJ1m_4sJRuJRDV54piNQdjPsGGujCw04jVcvVgWLjy4JQrMEiPGQS2nuDHMlyPQJScqPLhSjmDeJ0Vf4GP6JVLwhspXqcOjZqt-9pjIBdxh-0qAEwEufb0ZlzLWdhPAngjz_WSX2btsgvwNDBTRYzd43jZ_PM4bbmq5BqoPQI350EMMMAup-sMrCtxXAviCGQCUQGKqSfspg22ZZu61V3ndwBQcTZ_94oe4pMDLaLm3wGtw2AlvU56vaG8l7HZ4wGQ-8C4Yh3cUCDMgQpytSrKmfXEU22R_xX8E_nnCxm9pKxvY1oJ9P0HD7LB_qaVLign3UlrVLWT4oPK35AI78jZ2T1vxjcQFHH2MzQrLxlQcQmVpRw-MeusH665GFUcBqYlZacfdf4GloOUnOhKlcxV-qnvDf6R42tNjXvCsSW0wegdWPrglRR-rUkSVazmo5a6hcm4tQnBlTWJfybG2VZGQoHmfNL-L9YmRanTkdr_39HoT-6EVbRJHSqU8kzhr4SbmcZg6uyt4WjiM2KVcPScVMhCHGB40Ck9ntza_6snZajuQtnUuzedLUc2ox3_vB0LYcdGEH7k3s5Juy4pnaeThTZVwcoCG9IuoO3qjVT5Kjdd8x8Izuy8mr2O4WmBlC2DrTzmvmoReB84BHm6StBqrBSCcDAAAK8Ik4a-JTR5epCXxgucQyROPEI0sHWPsjOLyKhJ13A7FknEw1yfDCVRtiZ6Ds3Gh4hbZ6iHmGHw67XFCGtGYVQ3410q5__wQyEt4ATERjKDy75CxdvG8uA1cl5z6AyPj11FULpe_IA5X7u7zG1HW0P3T-kPnSl9X7XC6U5GcJSlVEKat6Jwqgq7q4qJkW7Iz9V7mDgfQ98izxMtThG7UrpFhTjCeFD3MNekL6pSK8O7w-fRyhICAFOXHwGMriLKN2Z3dT8l348IWaKUW-y4o9dSykOWQss_6zGdms-gcWCu3LVNXoxuTiJ6U5gUeHk3JEhbT7oFriqq_OlSWvhPXFp6amySd9E4dyBKcwO1m773CpgeuczwPqYtHUnkLQRf1LH2dfJ-GVFHQGkO3Qb63_MeVve-qobHopyhGvg_-0rimYRxQmOc3mktT4oTohWgu8IL3xK4edfe7nGHmn-m8MzIiiw7qRKIWDGFT17hzlODKDQ5j5gZAboYpAtgjUTwKySKupsZAOYfYcgBAZWGpw35TfnXgSwIyXO3A_RoXFocD7GC3evlUtU9QyiA=",
  "id": "rs_06d28e28c1227dfa016aaca19f446c87d0bcd36bb056e7b519",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.05,\"right_z\":0.11,\"right_gripper\":1,\"right_pitch\":0,\"right_yaw\":0,\"right_roll\":0},\"note\":\"The jaws are still closing empty, so the brick is offset from the actual closing point rather than securely between them. I’m moving aside and resetting the tool orientation to obtain an unobstructed comparison.\"}",
  "call_id": "call_rtEitXFDDR6V06OJcvXdvrIC",
  "id": "fc_06d28e28c1227dfa016aaca1a3ca9087d09d0762bb089729e4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rtEitXFDDR6V06OJcvXdvrIC",
  "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]: [-0.0254, 0.8436, 0.6094, -0.4606, -0.0227, -0.0525, 0.9995, 0.1532, 1.7214, 0.86, 0.2714, 0.0784, -0.004, 0.9956]\nstate[eef_state]: left_x=0.2864 left_y=0.0003 left_z=0.1529 left_yaw=0.0027 left_pitch=-0.1231 left_roll=-0.0044 left_gripper=0.9995 right_x=0.4655 right_y=0.0615 right_z=0.0894 right_yaw=0.0883 right_pitch=-0.0208 right_roll=-0.0377 right_gripper=0.9956\nstate[joint_eff]: [-0.212, -1.8667, 7.3094, 1.6386, -0.0415, -0.0415, -0.0122, -0.4718, -9.5658, 9.6205, 1.8828, 0.1392, 0.1734, -0.2173]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96f71e2f34334b099f21b86ad046382b724a66ea2e74b908d5f47379b03135e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8202ca5fdf6ff37325aa71a2410bc5b0dd8cd1bd977b1125e9bf56d90499fc3d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83fb39c3804fdf0c9bf92d6e7493cd1da1e72f776755ac7770d0b744856431e5",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 3.632 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0254, 0.8391, 0.6094, -0.4603, -0.0227, -0.0525, 0.9995, 0.2485, 2.1666, 0.9348, 0.8227, -0.2268, -0.411, 0.0093]\nstate[eef_state]: left_x=0.2863 left_y=0.0003 left_z=0.1542 left_yaw=0.0027 left_pitch=-0.1182 left_roll=-0.0045 left_gripper=0.9995 right_x=0.5017 right_y=0.172 right_z=0.0233 right_yaw=0.6626 right_pitch=0.1455 right_roll=-0.2824 right_gripper=0.0093\nstate[joint_eff]: [-0.294, -1.8256, 7.0632, 1.6923, -0.0611, -0.0317, -0.0122, -0.3214, -10.0034, 4.6564, 1.6142, 0.0757, 0.1636, 0.735]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKGu9RCgamcmV0NdkXhWs4ntq0Ik0hs__Bww1jZIc-zaigb56eqdoYfQ8p-taJPNxif1IShra2_clXUS_deN941QPysqmMGQFSt4jIzPcXj_QoYecQw7YDP1p7apSTTowwEqrE6QoG3JetfUPlEl39Elh5E-eslJeyInLtlV3ZZyuU-ANzJd86__kYXb9LsoO3Gq_rr6yN--O3xs6MosoxO4lzDOyHvUfFCpuupkuL4p934oltRelgQx6XkF-Wh4NRzpHx3eh9QvDLn88UvlNU3UWWdZWsy-2zu8wW2xKYjcn8yb6EWfsBFXoQXE1FkApsW17emJx_Ai6WlWptFU7I9lLf5gPqB37g3PCg7DYF8Bi_lJ6Y5_i1JaAJwm4IYrRLK22s2vSGd-DhUVC3TivTD0k0MWhAcgJ033ugPgoXAAV4Mj8o9TjabO9maCukx2S6R08uWRJMh2LfK5NNCEwozAWVFmhFN5PfNGirV69MIrTBPWouYXt8LVPgetmKuJyjs2WfTP3P7JWgI7cJDbqwm9Zn7NP2JEBUy9YzYiuJ6Rne1DXi_FJ58DYL9mvqK0UzMzIZqAr5z-X2GxadXtJl4dzIjDOqZI3gdVkRZw51brJTloWv6iJpP52yZXrF5Q8Qb7l7hBR6TxIhW26b8RENi7gle8vTdVO7NeV-8f1XZ5VSaO08PYO39laqX7CF8x2KWl3zMwKa79bBEwbW_bgQNtYTxrpE77kKPDMGXITYmCnqLhOu-xiN3kUmnstK1DTKIN9paPTQRewteXrMtgptF4pGYUqlXDVr4m_06f-9LOEOdTG-fzIcohX1mJA5FHqSsvjw44FoNBLJRxuu6xpz3LwMtFEzBNV5XlH4LvDBWmSf-NKs4fCgU8DdnBwRUO-SSdCp424uNnnmQCjQ3j-GgJZcVbAi8XFcTNFEOfaPj53_WcDTfcvYv5PxOurSBuTiLoiabKlXSq89nMiInWswp_wXP0BNyZAzjflST11qqMpygnd-A1vRYiov0i1rg2YeytmdB3tG31o1GE1CGkWMCu8dddDxmIpYeytZXkkEWP_mH-Kb3r0g2s4XUOtgNigiyIi1cciHoR0rUf9Jc8pY0FY63UqcDeLkvOEOHXNy8K3MjYSXKt1RhYbjRSRDJZ2FS-WwvYzfCajqd-7zfIliN0a0Pd2YcURqO_6K1jcpc4pvgyoTsQaYlqWTkeQZsUFwXeMtS5_lB0dDUBdd7WVWpZU_mZoin2IpnbPs5t_yvybbUPouQSZEq7L-PcRhplpnvseKBByYpC4t-x5jByDNASQ_ABm6XSY5J6c3iEqHzOfdAmFI5xmbd1O0IjxJDm3TEUCQMgtUwAJ7CC5t8EnGs8gc8FQjf-RT1Mr0p6rmQbRx2dWwFUqSxfE1hromPgjSn8sKz9bq2DhvyCLqRXM78B3HXk0ZZe2050OQsiiBAFkeAFHtzGalNapP7okHvC3UtXsPq-zdfTgElBK_UAZHz5eyShx7MG_Zzm5EzgqkNlSYTjwo4NzlEHL6ECxFQQBZffZsQ7zLs1b6Z08RXIFhvFTi5DUW3RDnySwYsjA913d4mCmgHjJBuRQnBauItxWH_VxG8Z0k_fvWsIWwvRLgZhHC2w3ZgmbqGTNf3A-097dZD6G6CbMvLmBGtDAEd3wqYUT6oLCJRql1Bu6iS3VmPcFv7dimugIaaOdCVZm0iVmipiB2VHIC6QWsuY2jZRtpomMY3s1xe6O_vpJAiONak0Mmwv7sHrqLtt5KOZnodNYnVIegdKfUgAvsRWKJBiAhLn",
  "id": "rs_06d28e28c1227dfa016aaca1a814f087d0992f48a364150ad9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.475,\"right_y\":0.105,\"right_z\":0.005,\"right_yaw\":0.4,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The clear wrist view shows the brick closer to the right arm than my last estimate. I’m shifting only about 4 cm inward and descending with a nearly vertical tool, avoiding the previous overcorrection.\"}",
  "call_id": "call_MUbyKWygjyGajr8n8rro6c0h",
  "id": "fc_06d28e28c1227dfa016aaca1abd4ac87d0bb9d085fbeb1ba74",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MUbyKWygjyGajr8n8rro6c0h",
  "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]: [-0.0254, 0.8455, 0.6094, -0.4675, -0.0227, -0.0525, 0.9995, 0.1303, 2.0102, 0.8173, 0.5625, -0.1467, -0.1307, 0.9959]\nstate[eef_state]: left_x=0.2854 left_y=0.0004 left_z=0.1511 left_yaw=0.0028 left_pitch=-0.1319 left_roll=-0.0042 left_gripper=0.9995 right_x=0.4685 right_y=0.091 right_z=0.0012 right_yaw=0.3234 right_pitch=-0.0549 right_roll=-0.0107 right_gripper=0.9959\nstate[joint_eff]: [-0.0479, -1.6205, 6.9265, 1.6825, -0.022, -0.0171, -0.0122, -0.0752, -8.1846, 6.2017, 1.3846, -0.3883, 0.0708, 0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf5bc7efcb50b3fbde9650754a049926b3a278b808ad2107dbbb1387b0ff357a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a1f8b72f5f876ccd437bb8c18893d887d26257e2781ac494d7de56afb83e4f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7df791278ca7830131d8c6d05ae15a41d49c5a2979a21f592d492520c24a8890",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 3.274 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 53 changed as sent

message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0254, 0.8436, 0.6094, -0.4606, -0.0227, -0.0525, 0.9995, 0.1532, 1.7214, 0.86, 0.2714, 0.0784, -0.004, 0.9956]\nstate[eef_state]: left_x=0.2864 left_y=0.0003 left_z=0.1529 left_yaw=0.0027 left_pitch=-0.1231 left_roll=-0.0044 left_gripper=0.9995 right_x=0.4655 right_y=0.0615 right_z=0.0894 right_yaw=0.0883 right_pitch=-0.0208 right_roll=-0.0377 right_gripper=0.9956\nstate[joint_eff]: [-0.212, -1.8667, 7.3094, 1.6386, -0.0415, -0.0415, -0.0122, -0.4718, -9.5658, 9.6205, 1.8828, 0.1392, 0.1734, -0.2173]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKGyq6GeNMxKnszrOrKaeYr5JNlnQdFxiwemSnI-bCJFPcDFCeZJrvfnCqcIox00qBXCLxtZaJWonj9WGoC1NLgn3hYxS5dUvIwWu0dcO1RicfgIl0I36LeBhKROTq-vt8Erzw0NCRMcfwqPzWsNDh6gQfSQuwDJ8TZae5cgB5v2-HtPw-5ALjDSZnNTu_KKXN_uGB67IycVsJdJUtnuCRgWm-fAc5eKh0VIniPLOxTJUrHuCT-br09vRvpXcGXHdd1S97Vtf-k3S2mDO_zwf8gzeH4yjbYiG2UBIx_nWHaJ6R1bcnrftlNar4jDLBmkbB0rDG8F_nj5cB239a7atzggWi1jOcEFArJ94M4RF8uqwE7PoEwjYveMl9urAhn9Dp6P3T5_SkIdjZk-hKxce-lU-Kyv3hXPxQOAg4G-_qcIfN6e1vqxFOrtwxGolJd7aJCpK6CCINHk0Lg8dtuVOUV1KXheHSV7ehsCo4LIZK96PHB09oChGGNSmzA7IWGnWq--Cs2DeGRqfzUPK5NNJcqVe6QiUOcaNivFSZveCVOOtwzuQsrNS-nWZNFnwNI4VVgCso_x1CyHnEI-mxlG21vM2BYh6JVnEaivZq8gNxr4z-lSmD-AeBj-HOFFWW1L5HalrpWQiLMIK5UJQ0JF0U5s9SOEIi3NvYapcTYvfI7MBM1Dub-4VsiOGFawZamrXed6uEQGyb26cnUu0j5JCm9feijNWJaLDbbwS1CH9IYc52gkGAoisqcaQOQLOWbXsA1hNllZUBgNRQivGUNvqZLxAmmUHk1it9S-JJWCe7-4EAKJFSFtmqau9QzCZkvKJVoTMo28fBIBEPrErO8W1ZEJHAIAK9PutJNeXqVCsRiSWtKFp2UQ5byW_l-T9Zj6T19l4pAIsxikVz9mf-Oc8K6L6A1eo1TeCMYxaoJTconBOdjvo1J1Po_ImONekWBjK68wYHJA1AwpxF5QXaTbCg58V-PC47WtGWLvBhFPPuaxa_BULLP-kg_q5qNkVSzuWkfnHqEvxw1ENH1W8NXJOYpipat2x97hMc-XPG30jGqPNSfhtxAoIV2lGq70wflvMfGCi8uVl_HyFFLTX2TGOZUnFEPmCeexjli8moGU4T_GIbBUOKr-_MrOnNHp4cUwMYjQExQnLyTHApi6BCnecia7aBBSJNCJwrylIe_pz3YLJgaEOjHzaz5ApJ_1ZZYccRM7tUKpwpl7ul38Kjz_ARtrSgV2aCbFgdvX0hAEGoQdNdHv6OBbdLn_-6DXFgi6xwZuQC7OOlM7s0yqPFoFm-Q_G7k0SodKf-zYpeR0WUXJs2O08CnWcqJ0ZtGf2MOs92UYl-QSv4kRQY5dAYHkpLLBjKL6rwMm9yeKcAxsRfnGHOmMULK7cxG25cBwSlnkPq2DR7JkS7Qe_6tN0lS0d9Q_og==",
  "id": "rs_06d28e28c1227dfa016aaca1b0447887d0b47b9ad3c9c7d36f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The gripper is now at table level, with the brick centered on the jaw column and extending into the fingertip area. I’m closing at this corrected position.\"}",
  "call_id": "call_mlFOFU81PDuElCFDeWLofc3v",
  "id": "fc_06d28e28c1227dfa016aaca1b1814887d0b3a83bcdeaf122a2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mlFOFU81PDuElCFDeWLofc3v",
  "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]: [-0.0254, 0.8455, 0.6094, -0.4679, -0.0227, -0.0525, 0.9995, 0.1295, 2.0262, 0.8181, 0.5838, -0.1623, -0.1463, 0.7471]\nstate[eef_state]: left_x=0.2854 left_y=0.0004 left_z=0.1511 left_yaw=0.0028 left_pitch=-0.1323 left_roll=-0.0041 left_gripper=0.9995 right_x=0.4694 right_y=0.0935 right_z=-0.0014 right_yaw=0.3441 right_pitch=-0.0472 right_roll=-0.0157 right_gripper=0.7471\nstate[joint_eff]: [-0.0615, -1.4427, 7.159, 1.6239, -0.0708, -0.0659, -0.0073, -0.1162, -10.6188, 4.6291, 1.4481, 0.0611, 0.149, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36b8ed8c7b8b0650b99d9ae70e7cebfb832de18f602c79e2d1d51ca34bf5ef6e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5d30c25af703e71ba1ad33a896dd1e00bff55f26bafa828e4bbcef4418ef59a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa205d719ead4cf31d74f83f88392893493248354b52280a8619fa0039971247",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 6.082 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 57 changed as sent

message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0254, 0.8455, 0.6094, -0.4675, -0.0227, -0.0525, 0.9995, 0.1303, 2.0102, 0.8173, 0.5625, -0.1467, -0.1307, 0.9959]\nstate[eef_state]: left_x=0.2854 left_y=0.0004 left_z=0.1511 left_yaw=0.0028 left_pitch=-0.1319 left_roll=-0.0042 left_gripper=0.9995 right_x=0.4685 right_y=0.091 right_z=0.0012 right_yaw=0.3234 right_pitch=-0.0549 right_roll=-0.0107 right_gripper=0.9959\nstate[joint_eff]: [-0.0479, -1.6205, 6.9265, 1.6825, -0.022, -0.0171, -0.0122, -0.0752, -8.1846, 6.2017, 1.3846, -0.3883, 0.0708, 0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.065},\"note\":\"The jaws stopped at about 7 cm apart, unlike the earlier empty closes. I’m lifting a few centimeters to confirm that the brick moves with the gripper.\"}",
  "call_id": "call_ZAbCke4GfOp5wjgoNcspfHUy",
  "id": "fc_06d28e28c1227dfa016aaca1b51d2487d08f85af6947c654c7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZAbCke4GfOp5wjgoNcspfHUy",
  "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]: [-0.0254, 0.8494, 0.6094, -0.4679, -0.0227, -0.0525, 0.9995, 0.1295, 1.8866, 0.8341, 0.2981, -0.1619, -0.1509, 0.7471]\nstate[eef_state]: left_x=0.2855 left_y=0.0004 left_z=0.15 left_yaw=0.0028 left_pitch=-0.1361 left_roll=-0.004 left_gripper=0.9995 right_x=0.4457 right_y=0.0904 right_z=0.0126 right_yaw=0.3494 right_pitch=-0.1744 right_roll=0.0087 right_gripper=0.7471\nstate[joint_eff]: [-0.1846, -1.7983, 6.9675, 1.6288, 0.0073, -0.0171, -0.0122, -0.0889, -13.1077, 9.6479, 2.4542, -0.105, -0.0024, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:334f352648085aa1f40f4d79ecd3be077a7aad977a1bbd87c12b64dbef481b8c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fc314349cb5032f5ae710b95198522bcd4753767bc144732f69d7d7d23f53ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e5d3f0fe84c32321a940a1250b3759956673ff3b5214e47291f42eb61535283",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 17 attempt 0 · /responses · status 200 · 6.066 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0254, 0.8455, 0.6094, -0.4679, -0.0227, -0.0525, 0.9995, 0.1295, 2.0262, 0.8181, 0.5838, -0.1623, -0.1463, 0.7471]\nstate[eef_state]: left_x=0.2854 left_y=0.0004 left_z=0.1511 left_yaw=0.0028 left_pitch=-0.1323 left_roll=-0.0041 left_gripper=0.9995 right_x=0.4694 right_y=0.0935 right_z=-0.0014 right_yaw=0.3441 right_pitch=-0.0472 right_roll=-0.0157 right_gripper=0.7471\nstate[joint_eff]: [-0.0615, -1.4427, 7.159, 1.6239, -0.0708, -0.0659, -0.0073, -0.1162, -10.6188, 4.6291, 1.4481, 0.0611, 0.149, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKG9qHwE-zk3b3N3leADJs41A9FQup10z3o38hDnT7LKRBp752yzbFKmergN_lb6kl_ypyUMgymvLbLZ018QNu4DMK8gVJJrcksaQUuDIp8ud04gZ_EPd1GoDNEPmnqH8fT6flb0-1Q1kelTcOf9HcyZOlcHdJHuOPXdqud70fzdHiEgyQE7APB3rbmKXMOCdS1Yy8P9KVGG6XtKxaXelXDIDwMnM-h4fl8gWKQ5pSfRj1DbwXIpMsWX2wUtMfKK94lETFQVEs0acPYCIwNtea7QiZig4RS2gElueNqM9z-qH2lW7AaeeAt83-FE2rr5AWSBm2HXovKpuQ6XqctHKuasBo7yVZLuFsfz2_1zQOJDDkXTe0UEr8jeMZeZ8MWECF-FDxQhovVAaZZboCHeuO5CpLZDUS2dE3CQMfWPf35R8xacDLnlb81et9cQFwqDFHTlTVkD1chELRRqdeSEHeTt7qeE8CYXFOdy9KRB1zDX4M0-JdNAeQgN8OZfIqnxgD_tNmBUuauTKgfw35zzGvmC3MioQsoKW5k0eCRuOSeADL6PdP3wSWds4oMicCogqK6Pa8LwcW-sfiEi4yTknAcsr80ZHev7iKCPUByDJYnnQP1UrEHWCBBJFgUvm2jO_osBUTIi7mjr6vxmxrObNmRdiT8ASJdnMaraG2lZda7HF6OfrnoYgy0MSg93Q--UWEvCoOeisRNhS-GPdt79TsKtean5MTxneeK4AO4gUTF83JTSj8rwe31-WUtnMjsxhCW8pDhh813Xoo_Zyyqxp9e2wOw4f0oKIlpbu0-yxUJlz6aGNEh6AzWvfu9sEuWWKL_1Y8oe0v1O03vSCsPjUjgivX73Mj4goEtxUlEbNPeBL0hdf9AwQsD1Xv9-AA0JWuD2_tDYGRhptENSBgWtXCx5dQj4_NeeubhrQApPVzBkZpHsEhQ3TYMaAPpILioxZP1hqyciakMXEQykgeaIJMzrrH-OE1_u4o4zZiIuzKHZUpauPt28JgCFzP6Qxetycc7JT-JeAq31dVtHpa4XDbshe1O6I-_8q1cDdW45YIXB8hOMrplSIj8qondCXoSBAoeNsJk_gDwcd5w9nndmig2k-lN0uE5DmM3RQPfVcTFrdNoIjgAQeE6qMIU_SL7HoxKwM-cqf9Uzvc4Sa3R8DEqNUSNxfgpQc29UcBoO444_hy3QsoLrVqmjFR8vGgILWUIdp2v4rZmlQg_elQ2gwRMKkywt8b5ffMv4t73o-H1W7wWyTMRvd11kuiAREAhhGn1cQUhnTmTyOAucwDBdI_xey_vAXEGIowKCG4E8AqgjkMkkVziTSCejjGOJJV09kV8d03sVYnckCEiUF7lvUhM-IRvQLesuZgvmspGhnrsN4Bc=",
  "id": "rs_06d28e28c1227dfa016aaca1b9c86c87d0b92229c318c68099",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.1,\"right_z\":0.16,\"right_pitch\":0.15,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2},\"note\":\"The jaw spacing is holding, but the loaded arm rose less than requested. I’m bringing the load slightly closer to the base while lifting higher to establish safe carrying clearance.\"}",
  "call_id": "call_vD2MIMm7KbxLEgagJOKpfLVq",
  "id": "fc_06d28e28c1227dfa016aaca1bb364c87d0b946cee44eaca022",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vD2MIMm7KbxLEgagJOKpfLVq",
  "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]: [-0.0254, 0.9123, 0.7868, -0.6197, -0.0227, -0.0528, 0.9995, 0.1299, 1.8362, 0.7887, 0.2596, -0.1627, -0.1505, 0.7513]\nstate[eef_state]: left_x=0.2905 left_y=0.0002 left_z=0.1825 left_yaw=0.0031 left_pitch=-0.1735 left_roll=-0.0033 left_gripper=0.9995 right_x=0.4283 right_y=0.0884 right_z=0.0114 right_yaw=0.3517 right_pitch=-0.207 right_roll=0.017 right_gripper=0.7513\nstate[joint_eff]: [-0.294, -1.5658, 10.0581, 1.536, -0.0611, -0.0415, -0.0073, 0.1436, -11.6581, 5.8051, 1.9414, -0.188, 0.0611, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bf533b49864e85d90e5413dab45ee9036792c6c322c2c78f2243f10c4c49c51",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a4b6481bc2e2e9462198fe1bf44c0348d68fc70b55dcd48be4fd9f2919f5fa8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7be46273860d02597c472a465c8a69e90bd2eb244ec05cfebddb5181ee6d293a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 9.627 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0254, 0.8494, 0.6094, -0.4679, -0.0227, -0.0525, 0.9995, 0.1295, 1.8866, 0.8341, 0.2981, -0.1619, -0.1509, 0.7471]\nstate[eef_state]: left_x=0.2855 left_y=0.0004 left_z=0.15 left_yaw=0.0028 left_pitch=-0.1361 left_roll=-0.004 left_gripper=0.9995 right_x=0.4457 right_y=0.0904 right_z=0.0126 right_yaw=0.3494 right_pitch=-0.1744 right_roll=0.0087 right_gripper=0.7471\nstate[joint_eff]: [-0.1846, -1.7983, 6.9675, 1.6288, 0.0073, -0.0171, -0.0122, -0.0889, -13.1077, 9.6479, 2.4542, -0.105, -0.0024, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKHEhaKHUVuMjzRJ481U0HXwP32cZRwW8qJipTDkZsebED3WlpniOseQKLWsCoAxZqf32uNzNsc-0526oEcm42dIJMNEs-NAcbClcNd1yXg_w_9oR922shVFMFJRqueQBVz7Zp8KceL1Or4dGij3k21Zx8E4C6V3QpewzQ2oZ41RAiXeDFC3FlTcTOZYm0UVzgMOzYPnizKv3-aKqAdpqFX6BdfQXAjYpz0k6Am2ijWKxNmEc_izqCjpuvoZpr553nQoHJUG1YClVfwUJ6QYi7ZjdcGI0wN6sFwYxcfRzN1zg5dJnuGqCzFNDruuJXd3sk7bZe6uOYVCTAADjEj6dDZM2bmNbX8jRAvz7koaSP9ipvEVUCgTOIXU00SUMhTRnBdvA4sCGGMUFOnVjLTjy8XHK7sIaE0PM_5NswSy6UWWPVoLrn-lixPIfK5TG_Z0kSqGrXCQpXOVAGMsjWinRgKiQ9m7ZFsxyJvbsgQsVCsnw24QkLaTmtQ7xSc0BePnOuCUy09aSUXsp2VTNz9u1z6wV_jj5Pa0aeDfDN46mpuBI13zqPBLhvunMZCHqWsdJ1yGgsf6q0FWiP4J6dIcR8XHjk99_dccxHaNG_xQDqMOd_yE1LDwcDbCxym8RmjPUkQ3a1zTH8RDGpcn2_r3NC34g0Zus1zc1fDHehLOnxSP3tMeoPkpWpjN90jJqNgNpT2Zl40oCLglgTjlAh1f97ckoeb_K48sQtINtHpypQ4ksI34l8OidTnvFYlSVsACKN6NpPVtJAO52o-MdQcW6cCQ4kCF73-GA7ZAqLuxOqe1S0BusjFXMxCnUIRacZD0p-kxG1lR-Cqnl5sIJGOpsfd4kSWQlFMsEExkbuEus9ljQUGdOPid9pEwwkjXaUpMj06Scls_NT0SpqeVEqk3uV1RzwYFl3aiCIbbAynHGvNk4OQB9xezKpSvJq3lZ829NlncABcsI0qA-dvxVmNA11ZBHQoUi-c0BKhJNRnHeohEQ-hSScGcjmT4PbxP1U-1cIWqQxriqqbtImUrSn2hKDQFlyLrIRpbB4SWM6eiu3Ue2y0-OjYiK_lflH-7aPj3AxiSZ0A9pr-kz9ZDVdeSR523WMQC4EhjYal-YRB92Z3LkE27wraenR3gJ1lVFeuYWIG1VMnz-RIEcMmuWhzSJshGA30ruotyda7gOfwNlDwaDzjgHw4kSAXQj_9LHfNXIy-Y4Tn67O1QFJ8yrUcYC8_Vtk9w_Gx73pA8NDBgEYXFKnHdc4xMC9Y_pnYICAgdX9YAoMKKi7Jkyc_TphWJormoLczCSjf_fRBhXIiHelQ2NKSBIsA_8I37QNnd5W-WOZ_Af5XxTKBJPyqrg2eaax-DNDyAk63Qnn0O7-dhaKKJTylZCM5X9JUJNQ3QVVFQuxrDyjj6KdJLpTPoWZUylcVhotR7vrraEHrB_z8I76MxASGH1Vkmq3LZxMkjWlbNLDDkhsdsa5syL2hVwhjq6UJKi6tyeenX35VBB9RB0kAUqSLoYgJq8kOAXx486uVGvPMP_CwwDWgNzun3tq8Z8JoPq_Jv1RNmoeLYlbHUCgI1x2vvljf-Tdu5RSKMtngQXsPPkNUYk5HrMVHqIDIYehFPWSsGaTl3AgPQsg1QXq99_lfDCKdurvKnG7nCN-5_3ytYUsu4pAxXAVgVEjntal7UF3yreoIPrT-XO118rEFHvLH-CWYvsZcq4qztBT-g-7SY5m5PBrw5PhUE9I4WdxVdrQ==",
  "id": "rs_06d28e28c1227dfa016aaca1bfc72887d0b46a845c1e325696",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.1,\"right_z\":0.23,\"right_pitch\":0,\"right_yaw\":0.35},\"note\":\"The arm is still staying low despite the lift command, so I cannot yet confirm a free lift. I’m making one closer-in lifting motion to reduce leverage; if it remains blocked, I’ll release rather than pull harder.\"}",
  "call_id": "call_TyctSar32RG2uqSCiPvBfgcy",
  "id": "fc_06d28e28c1227dfa016aaca1c2853087d0a31c246f9358a85f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TyctSar32RG2uqSCiPvBfgcy",
  "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]: [-0.0254, 0.918, 0.7872, -0.6243, -0.0227, -0.0528, 0.9995, 0.1959, 1.2057, 0.8818, -0.4042, -0.1356, -0.0971, 0.7534]\nstate[eef_state]: left_x=0.2902 left_y=0.0002 left_z=0.1803 left_yaw=0.0032 left_pitch=-0.1834 left_roll=-0.003 left_gripper=0.9995 right_x=0.3479 right_y=0.097 right_z=0.1746 right_yaw=0.3633 right_pitch=-0.1522 right_roll=0.0264 right_gripper=0.7534\nstate[joint_eff]: [-0.0889, -2.2632, 6.8991, 1.619, -0.0513, -0.0415, -0.0122, 0.1846, -6.8308, 12.3009, 2.3516, -0.0171, 0.1978, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a39776bac83c0a54e7a49454e8b8dff812725783f677bbf614ef8d1010b9c2a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a68d2c45e5dd17b992fdf641af4b1b96e45c9ec5a17d0a5529f2b5255434e1ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:352d6265a2f3c68ec362f292a5575b14ff3747fe74e483b5e94d9c1bdd7be2e7",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 6.928 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 68 changed as sent

message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0254, 0.9123, 0.7868, -0.6197, -0.0227, -0.0528, 0.9995, 0.1299, 1.8362, 0.7887, 0.2596, -0.1627, -0.1505, 0.7513]\nstate[eef_state]: left_x=0.2905 left_y=0.0002 left_z=0.1825 left_yaw=0.0031 left_pitch=-0.1735 left_roll=-0.0033 left_gripper=0.9995 right_x=0.4283 right_y=0.0884 right_z=0.0114 right_yaw=0.3517 right_pitch=-0.207 right_roll=0.017 right_gripper=0.7513\nstate[joint_eff]: [-0.294, -1.5658, 10.0581, 1.536, -0.0611, -0.0415, -0.0073, 0.1436, -11.6581, 5.8051, 1.9414, -0.188, 0.0611, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKHP1n4GLtE5BP9PQhk4mLm-0uYVX50fyj7_mlRJMtYJTMFPP8UDD-TFI0hMf71rsrCAnH33zU1Ml0hMqkB8c3kNEjG8g9pUEu9FZNMCsKDkBpnfXvgRPcYmIUj7NLq1I0sBdibVang-m_VZr_vgVktN6mBrOAsvrt6OLuwtrtIqSD7B-UjPw7b0YfMhaxHJAwncnXovtDbPuvvew5Wg0AgqFLoFK18_Jzh-JDPbTRDBzcho7kBeBNB-K35QUiiqhpeKS2phJi-G0hUBiX5-6P5_GkFvfwIBY9qvaeiz3H1vsKwpS0an3ZUIU7qXqTrLPl4oWcxdV6c9rqm3yqVgoYWuvOsCDl_JqRbTy2ZyI9DAvzhyfOEE0l0tsxlSGQbMH6qG749euqa7PK3RvgaNfimyvMUpMmiGnp7fpUXs5cUs-zLJjapwk_lWTsseAhsf9FYaXg-Fm4dw3ZbnZGmKaiV9Zh7yJZehe0-6MiYYQbEKLmzPGIG81d6swodOqahnnPeNkhulokGhfZyjqArGpAYT7s-dbW3Vo92UH-SWaP-c5R8s7Mj8AB4nRlLXjYWqEjC9O18cEGMSS3Lw0jW1v02pBwmNuK9rNpOx7DMp1CBFtqwurLBTHiPIxfyfa83Or0GGRiNT-u4s0OeuFco9XImI0oOZH26y7y802NCzQrLvr9PpsMmYvE_YtfJOUyur2UtIeHVE6cZB2x_LetNb9C-FRPg3y0Rgbwbfs7Qiktev1-gaKLXiOtLnq1EhEnnkPJCXy0C1s_du3w7RkpIXOIXbQX0uDhMBkkYpDUrOet62NwxboGjKsu5KEhgXpw_TGR2wP-t0LVSbz30eOXwsWY4WimNd0woA-c99eoZffWHvxnyG_Tbq7v_Cu7q3XrPQzS4XppTHs03NpNgqqAw3lk4pRM3OnX0qx7HzzQ4e1z49xnj9gmT-doS83YqMST0cIxbnLqnpJd6XC3C8O-6QZ1SrtnB2pHkawJOe6T2mp6cFNXR3RvfTjm5jMuWWMYttgzDyMSRaeZ_r8BiVeTlzPDPlaVBCRGK9S3g5cxrxVbsFrX3WdVoJl-n3pt6G6MF3wo4Dus4PwcL9BheGb6Hudpx0C8bTf4u35DXe9c9XV9CHdu14dMA6S1xT9j_mcvxes2_lnxji9Yo2_Ope66To0D-uFsYg_bIP0IuODALfug6eqqaJ2zTOIcCt9klPudZ6_yR-F5bRmhsa9ssGaucdf-leHLB_duj0ufktGBXmmx53ZXlm5L6bcI5GE0vI4MCSAzg_srWni_SC7oFK3N5NuEE_4pqb38JfEeBzfRR2-RmRFJx-zeG95DTmVC7VCyaDwPeCw2Q2W9j0vQJ97nHlFC1eTuozhJ8diKjDTinmbdo8lcmKek3fV_xN3a_W7yM5crN7AOiNj4b0hNb-hvsRZEEDkiYAviIlC9hiCXp3ucIK2WwtGluylq5YVBD9dr9q6pNcq3V0I_3EIUtCeXCwS8jc_yzPqErgh5oPSf_xtNtc59pv9ezPWiY4WT5vRuDbn60OEIIiBi1efmGu06kxVY9Qxeks6XYl0AaHYuAdANzRJHrmpGIrfdyU4C7BPRcj3H-9D4N4golLlIM2pQOOU4_GowhmnR9ieyQsyuN9uRJs0c_Rb7YJ17iDNYj8P6HXnYsws52u5VHTY6RPcGj-KMsx5RI-_5RodslVwvuCdS1AhTTpOvBoM-nBwTqEzt-XlsSIohSdm8ZjB-LUtobMJIsx4vT4HuOw9FdvdfFnS7CaUcU_5jtvJsUtVW4KxI0S4N9lRzFMhg7IYJRtHPjCnfStVIIVXxdvNbik0rNeFnZh47i7V-WbRyLwp2houUrJ7LqesbS5pcnNqfAG9wxNWYTFYi1kdpp8iZL2RPPgu9GM00AZUheGr1ynFUxbr-UaJbP2aw-sdXzfTOOfgSq9pTHa5Vybz4HSfiCx3MZC0KTICPByTI7qKN5bqo4QWqSNVqZvAIWLa5-SdQBAm5AszPapQt5eP02oB_ZqWB2h9Vzc3aIDza4RuCwN56obyZZLMT7FWPJ_aTvtULbPk1wTAjPjVq3kfpgQs7akQ_PTevplGf93W2L9_L1jbdORykkJ9UWTpLXcS2IPF9AU6rs_383-6LzPoVMm00GKbCMpR0wJMI2gHYIPOPZO2xe0A9Z3D7U_OR_bEOWY3604ZUJ_VUk_hA==",
  "id": "rs_06d28e28c1227dfa016aaca1c7668887d0993a5e1e8e24da91",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.32,\"right_z\":0.29,\"right_pitch\":0,\"right_yaw\":0.35},\"note\":\"The brick has now lifted off the table and remains held. I’m carrying it inward toward the pot at a higher clearance, keeping it away from the parked left arm.\"}",
  "call_id": "call_nB4LzxnjzIqdkpPAakSWPKNk",
  "id": "fc_06d28e28c1227dfa016aaca1cde89c87d0bdd1dfdfda6d3038",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nB4LzxnjzIqdkpPAakSWPKNk",
  "output": "executing move_to over 19 steps (1.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0254, 0.9195, 0.7868, -0.6254, -0.0227, -0.0528, 0.9995, 0.7818, 1.7672, 1.6512, -0.6586, 0.3035, 0.2291, 0.7534]\nstate[eef_state]: left_x=0.2901 left_y=0.0002 left_z=0.1795 left_yaw=0.0032 left_pitch=-0.1864 left_roll=-0.0029 left_gripper=0.9995 right_x=0.3841 right_y=0.3121 right_z=0.2354 right_yaw=0.3982 right_pitch=-0.1636 right_roll=-0.0328 right_gripper=0.7534\nstate[joint_eff]: [-0.1573, -1.9761, 6.8444, 1.5409, -0.0757, -0.0659, -0.0122, 0.2393, -10.7145, 11.4803, 2.2686, 0.3248, 0.2125, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47c58d2efc78e9ac57824084dfbc1121b21a470d840cd26d9e9f434ae248fa5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eebbeb0deac8b63c541bbc63dca3225fd457fe79b9d9ad992871314c8e146c1a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eeb91d68de9f706955158a708c5cdadfb62fc943ec82114861234cd04150f07c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 4.558 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 72 changed as sent

message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0254, 0.918, 0.7872, -0.6243, -0.0227, -0.0528, 0.9995, 0.1959, 1.2057, 0.8818, -0.4042, -0.1356, -0.0971, 0.7534]\nstate[eef_state]: left_x=0.2902 left_y=0.0002 left_z=0.1803 left_yaw=0.0032 left_pitch=-0.1834 left_roll=-0.003 left_gripper=0.9995 right_x=0.3479 right_y=0.097 right_z=0.1746 right_yaw=0.3633 right_pitch=-0.1522 right_roll=0.0264 right_gripper=0.7534\nstate[joint_eff]: [-0.0889, -2.2632, 6.8991, 1.619, -0.0513, -0.0415, -0.0122, 0.1846, -6.8308, 12.3009, 2.3516, -0.0171, 0.1978, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKHYIQRygqvQpaw2kYCWlgv2N1-VcVH8rsSlB18XB2_ieJu2_Lezhr8rbJhiQALvkqawicjXVlJ-24sosMLWyptRH4jLjhgsw39f_KAc2OJO5yICQ0OPCFtVBjohZH-sJ4mqHMuDobPdMWKSv0f1PuTgPCTo9p1CCpzUnqlqYtJeWE_XrwMlL-XgbT5Q9FnaIRSr4xlhD569zYF-BM5MLICoDlA_hBGs2-vrkPhojFXVwzx-GFuGeR6294L1Apq3LH-RmR0l0sJIOROQ6t9ZJq1baeJj6H9l_KtxptlwyHaWpiPrDOv7aRQO0hFr_rl_rf_ZVeQK_fFuiiTbjXvw9EKsp-kXF12JB7Fddc8sDNHxlKWDIgqIouTVGcoITbRQKkoreDWNuz-QN9uGEn6fF3EsbUc2Jn5XUgRUymtsBnkXSZ7uPpy9sLpErelhL5oHUAP2qPNcYIEVhvdMf5jKyTBgCxNc3kHKeEuB3hXG50mbMpa0_d96qJ-W_KSt4eUuKEwT7NkEs9KGUBLVisdTEjYnFsvCn9RK0aVROTxf68a8hwD-_KN17oq0RDpw8lAulGz2yOHUvYabcKCiVaa5G3BQMVcqqPWPA0cGSE5MUvVEANisoXLf5yEAkrKB_5_pYpXRUIeRhFS8ZaTukrs1Mmn1-aKe99wEAq-aQ9cEZVEuSJ51UBYPe5IE3LVQjp7KxwHv7EPLldM_3ZgKwnJ-MBmgO8mUA3tA1gQzwE-XjltXz_iCuLzKzLtVOhr4pvfUbQauj8X86dti3lxvYfeewVmz9prqU77q9gjrdx4CotaypyBNJSZ6zDJyP_qlwQSP7TEqzZmGg6hQaFOlmyNaIg20lMKGTcBGt-GAMnm5paUwH-P4rpPSSpNQ5_3aCdGuukkPbkndcAgl8BJdKRObJFsGuXkF3ITSJBQI5OctenkELUOrgX3L_Rq5JSu-1ogIfkQSJgzVZIXxAbRwaIijHOlsnM4r6xgbji2qI5bhkqnsz2UuHCCDzSN5UNRbVgHIOcaUJAsCrVXNSQs_7inzKX7dOxHhDqq4NmtSGbbpI-mCXAf3W4mBz_Abr-4IK9M3uTd0v4g2IfNYP5DVNBmCsS7lmS0t5xCqM2aeXYGoy2B2XczZWuZEMP7GHDcBtuobLFNZjBFrpWA2OK9eG3JF8k_vYHqLzH3tgN0F6EmVjlbFr1PDND8wFjHLBXybkRwaMescV6x9gUH9IADXr1wVzcH5yEQNq02NiQZaH-Hlwp3DzdSMDy4vCtLvhJ73fOcBWk3y8E_SQ8WZI5uSp35hZjPINMvtYH-GYnuRRnCMWhJWHCyJV6OgqtMXowXQTG8Nt6DOA8SACsB-yBjbIrR0ySQxzrw9GNA1gZwBCn-vn8Q3EoHJEKIW4WRmzcv8ZzDXy1ZvkhdmbennXjPtHrSssNQS4QHRKP5ld_gNv1JR9DnO3KaJFjMlrBdNs-tpPaJWefcdiMPFrthZOsT2t_DWZyx6DCP0YqpBKKQzySYdoUaIyD28wbdmcM94d-ockOgZ3t-ls8rE4QtF2P5yrAinasQKYilJPuCYBsrAcEQK4vjewjkQVhILh3XR9NIPwDFFemnNxMD2OX8gu0d0IZ9sRNGF2l9-m9XjjYKQYx15JmTZkDusr2wgOJPLerseIj-JPbtdHsEcotmiLxlZCtEAp3d3DUrR_zXU-tMc759BKeqhIcEReurhbsrAnxA5-MHW9iZ4f7O2enQQ8_FB-s2wheuzpRNGccgwHZwJMy1hrqmEJ6xXi_uO90hzEhjEgw3l93LZ",
  "id": "rs_06d28e28c1227dfa016aaca1d2c6f487d09ca196478d2ec267",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.455,\"right_y\":0.4,\"right_z\":0.27,\"right_yaw\":0.35},\"note\":\"The brick is above the pot’s right side but not yet centered over the opening. I’m moving farther inward and slightly forward while maintaining rim clearance.\"}",
  "call_id": "call_rhX3899YbIYpFCOZwn1QpaTE",
  "id": "fc_06d28e28c1227dfa016aaca1d6811887d0ad2df52a4223ee15",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rhX3899YbIYpFCOZwn1QpaTE",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0254, 0.923, 0.7868, -0.6254, -0.0227, -0.0525, 0.9995, 0.8204, 2.5099, 2.738, -1.1919, 0.326, 0.2657, 0.7576]\nstate[eef_state]: left_x=0.2903 left_y=0.0002 left_z=0.1786 left_yaw=0.003 left_pitch=-0.1899 left_roll=-0.0025 left_gripper=0.9995 right_x=0.4435 right_y=0.398 right_z=0.1869 right_yaw=0.3787 right_pitch=-0.3287 right_roll=-0.1012 right_gripper=0.7576\nstate[joint_eff]: [-0.1573, -1.6479, 6.8308, 1.5751, -0.0708, -0.0317, -0.0122, -0.1299, -14.8308, 8.0205, 0.9792, 0.4567, 0.1099, 0.7937]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8beb2755cff207fa9b54347f6f99f1fe51acc6552f3d44655a175470d2f0765",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6132b67f9e3d5042c08e8810f250628eae6bfacf4d057982144dcfbb67909a21",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:670e1a90a29a233fb4e3f014eeca0819f7984d9b5ff6c6d5b24869b897833f73",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 5.589 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0254, 0.9195, 0.7868, -0.6254, -0.0227, -0.0528, 0.9995, 0.7818, 1.7672, 1.6512, -0.6586, 0.3035, 0.2291, 0.7534]\nstate[eef_state]: left_x=0.2901 left_y=0.0002 left_z=0.1795 left_yaw=0.0032 left_pitch=-0.1864 left_roll=-0.0029 left_gripper=0.9995 right_x=0.3841 right_y=0.3121 right_z=0.2354 right_yaw=0.3982 right_pitch=-0.1636 right_roll=-0.0328 right_gripper=0.7534\nstate[joint_eff]: [-0.1573, -1.9761, 6.8444, 1.5409, -0.0757, -0.0659, -0.0122, 0.2393, -10.7145, 11.4803, 2.2686, 0.3248, 0.2125, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKHdRKEkJDBVopDoSrK8BuyiuZli1VHutEWQZQdk9btI2y1iN7sqUZc3kOdzkpfWk_8manEZz1QU_-nd65qvq03wfv2dysMdKcZPUVmRrUGXpMO-hxjxdljCZO35HE6x7zvAvOEAFEjv1fQFie_ZF3tzqK1dvl-efJ5ct46A6rkaYEiikodLg8o5QNLXjsZ50ZJZ2P8U5wcZo8efCQjEwLUtHyO7R_4u2dNKbmhkTFhSLW94jtIBT0QYWAdsnEvuR7Yyx7vccqXRVZEORB7pHYE_s_5p6VEWgan_iQyw98WARBo_vOutRggUi0PLl-94uXdPdvDWzuOeQFbBtJVAezV4J98zKsYljobtJ3zVw8hFzoto9EgGi417kdfcp4BAnjZjZQ4lcj-mDmEtlOacUhy5qj_0bG8LUUYAyZTe7aSTYwQ4SP3BNzYiE4CEchTVyxwHNFaFojFFrVRdxwLic8zprYWvx23gp5CjtvwxIKWmORxa6XM7LnC8IsougqZJfc6bhm9h3rAjv8MWk72Ul7qPGAz2g92gDAyjwskWlayqCR1ZO6W1bjnaVwWGltAEYp4H2nY970-Ff1OIXqFUd6XVyj9rYlR1WBmk2gpKto4RucldTFFKP-c-Z7OnBqbGT7-Ib_evyVv0K2SR_SjQ9POz0dLXb8WmNdCzUytzMtmlX7VkfUd2w6E89LpHhsR3QT9kvg1GKEHC2_PMAZPTWYTa3q6-2ZG4SKJeJdezMv5b1teFUOhLsWxAnovE6Di8EiT99RXQjMNbO-UHs615udtCZFMxf0shNCnyNHeCV7fM9RwEQH48v6tr3AVlDimh1QIg_OnLWdk_UxTcLjsVrth-nM3wz5eW9jUVHgBDClDLYhXIN9JDg7dyqCnQvH_ukJW_lHbOab9U9hYpzffaa_Wi_aH3MfcqGzFL13FdlrjBxIzlTrv4N_xnKRq-20-KbhtNBmByk8HtvtBl4Jr-JXZgmJ0cFGO3PIBPx2cU-j7ZRWGbUny_gjfAGi77uM5afSulHWgW-2mOC9RNFZ7FvJV49ZXv_bsqQi22QIV6neog0udPgwBBDLWEcPMa6TuYJLe88GcrtsmXQbmtBCJbyQwctCFr2dA2W5TL7sE7QkloZ2YcTHVx3M8g3imm1-LOOEiVHA5ctRAJkY1xz7ireyjZIr93uISRinsIKZMt3UWo0szVnwbkldX-WkaDzB5qs1-Z6k-KIbEzekgjP3WJrC5hw1j27dgLtsJNj7JEAsQ4uD7EEr4VFnIrmLFahwI6dUG8YKJMG1kYNom09sFj3LeIulsYbCEq4DeT5_NA7DceqCzfRwa9FskE_pKccrSe7UN9dnmpufoXaqNiy7Q9SzbunDTopC57mgs6nltRV9hiuqM=",
  "id": "rs_06d28e28c1227dfa016aaca1dacb1087d08afd9822213c7b28",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_y\":0.4,\"right_z\":0.115,\"right_pitch\":0,\"right_yaw\":0.35},\"note\":\"The brick is now over the pot opening. I’m lowering it carefully, with a small reduction in reach to help the loaded arm track the descent.\"}",
  "call_id": "call_32LQvYAFlNdC3wGjkOs2nXX1",
  "id": "fc_06d28e28c1227dfa016aaca1dbb2c487d09f245bb7e421b532",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_32LQvYAFlNdC3wGjkOs2nXX1",
  "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]: [-0.0254, 0.923, 0.7868, -0.6254, -0.0227, -0.0528, 0.9995, 0.833, 2.714, 3.1062, -1.4338, 0.3256, 0.2543, 0.7606]\nstate[eef_state]: left_x=0.2903 left_y=0.0002 left_z=0.1786 left_yaw=0.0032 left_pitch=-0.1898 left_roll=-0.0028 left_gripper=0.9995 right_x=0.4317 right_y=0.3962 right_z=0.1657 right_yaw=0.3853 right_pitch=-0.3999 right_roll=-0.1441 right_gripper=0.7606\nstate[joint_eff]: [-0.1162, -1.9761, 6.9128, 1.5311, -0.0855, -0.0806, -0.0122, -0.2803, -17.3744, 7.6786, 1.7705, 0.4371, 0.0415, 0.5739]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef662477518cbdcabf00a7e9b9439964a3b6a37b21272cfe4a30137a2cd82dd8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f55baecfb695a103537a434827ea0c9d4c974739cfebcb99ebc3e36a0c760fd7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c247fca9f27ba1697992c3d24cc98490f92d6cd4d91e43d318f8125bd09aeea",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 3.542 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 80 changed as sent

message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0254, 0.923, 0.7868, -0.6254, -0.0227, -0.0525, 0.9995, 0.8204, 2.5099, 2.738, -1.1919, 0.326, 0.2657, 0.7576]\nstate[eef_state]: left_x=0.2903 left_y=0.0002 left_z=0.1786 left_yaw=0.003 left_pitch=-0.1899 left_roll=-0.0025 left_gripper=0.9995 right_x=0.4435 right_y=0.398 right_z=0.1869 right_yaw=0.3787 right_pitch=-0.3287 right_roll=-0.1012 right_gripper=0.7576\nstate[joint_eff]: [-0.1573, -1.6479, 6.8308, 1.5751, -0.0708, -0.0317, -0.0122, -0.1299, -14.8308, 8.0205, 0.9792, 0.4567, 0.1099, 0.7937]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKHjfjLTK9r0vZgNlWrxG8uLGjBd_JcU09exli8thn2GSNlbMYAABbU722uoUNYsyX5ErRq7hBBwlCoS7tazRu6Z8xIwHn9fg5jNBKDv8ofhQ2GSL0UvJAI6Cv9BMmMO9A5QS88ZTV8SzI-lgmNHt40iSnYcPhwSpg59ocoBe5nd1KcwBnbWaZ2hUOdH0anZNYjI9YWSru-1IpkggYhiWEn7qLcfENLw6yiLn_F-TAaoBhLz2-iuXmiZ1aqKba7e6GrnPyq0Pn5RA9usPAp8gWcLhMGcLNPaujgF2baL_O7CPpka-97dAREA6jH4oz8wBDhmaWFqv8BXVwuS9fNn5kIUU2cgxkBShc_9WwPjrJJ_GfHTbq8oRFqoSNZ09Y8ybgPigSFeK5AaFFIIfIDJWDE4WjT9YWtpvH87wJfd_nYjPUKBu9RUlZcRzi5NS4EX7LwOo54OsbeC2aqHTCHWqhiiHZy2601764zvsbhyDs7O07vEcPkIbXV65S79WckL7yCqq6WPFDx2wrHV2WFQRtRWJHjRKXa_cZvN5JUm3yHOF9ofFX4ggTEYxizxMu9rwUPV-S4Xf6_WKfPnzrMuBOY7yJ-EXMOV9R5MajscvfcBCFl0dM49EXw-KrbfwMev6qY5IRVR9lpJGtuRC7kr5IPz4S1yHyz-3KFcvJPUytie0Z2EYQBaQwo-n-qah_4Bm6aCIa7PPRbT_IMeKapeiH_U2K-v3ZjSPYQAYDb7-XgKiGXExND9j3FdGjPVGRGS4Fr1DdXt-q5JF9YSLMaBzCAxPzicS4qjsAFOBOntEpzXDpg5krN65REJ1Q2G-QjiCdr-tBzjQWgbglbb7lOQB7H9KaOvwb40FUsPqbtQfuNgnelLsN4EdtlQcNO8ziklnH9QdP-xc18MQscwAZMarTNkO9OAVdWZq3EuW74JZF-oU_ivXNgIkxsDUE0EbW9TnoPVuLnpaRIaJ0I1JH3ALY5pXpl3oKfa6_yK-ZfkMTFdTUXSIM2dO8qmTRuUWy4V3N4F_43BK4S95J94VSqzr0UVcBSOluHkWwr-jPwFsDP869bkTvGdQvekpIlPSnpN8Oe_y7wY4Dyz7DLIy5_n4BEQ_Ezzsso4b_dTeGdK_2MfEDHw3xky93rOQ8h1k7futRirA8JYi_qG-kB_G7Vr6frFl3GAOAcI-gsdwpEC0XIPexmr2oHRsqCe9JJ3vSJvxQFqq_Ivc6irL2zXp18EJ7TfViStOoy2LjeDRK_NgKYB6AN87B7Tx_88L_RvxLlqXTXVvOBmmmWHkcixH8EwRMZ8BQh1IloJYFFSJewAoPqLVAK2wK_Oo_0_33CXfszYItYKSblo0TyccwTrTGxPt6nVdQwpP4tpxvY899VOgly88ky5SLp_EAoYX0SWn4AsydBUQQqc0IIPtjlZl9Il_tpMU-JC_BrZzfVJ-2MOm1a9Q98=",
  "id": "rs_06d28e28c1227dfa016aaca1e087f087d0bb7c47ddc2e61de5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The brick is positioned within the pot opening, and the descent has stopped short. I’m opening the jaws here so it can settle into the pot without pressing on the rim.\"}",
  "call_id": "call_Wd3O1ZeLpUsuzTjxsHT2ua7o",
  "id": "fc_06d28e28c1227dfa016aaca1e2614c87d0a0c3fb625148fe17",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Wd3O1ZeLpUsuzTjxsHT2ua7o",
  "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]: [-0.0254, 0.923, 0.7868, -0.625, -0.0227, -0.0525, 0.9995, 0.844, 2.7201, 3.1115, -1.3655, 0.3645, 0.2352, 0.9956]\nstate[eef_state]: left_x=0.2903 left_y=0.0002 left_z=0.1787 left_yaw=0.003 left_pitch=-0.1895 left_roll=-0.0025 left_gripper=0.9995 right_x=0.4408 right_y=0.4064 right_z=0.1746 right_yaw=0.3864 right_pitch=-0.3264 right_roll=-0.1564 right_gripper=0.9956\nstate[joint_eff]: [-0.1846, -1.9761, 6.9265, 1.5507, -0.0366, -0.0464, -0.0122, 1.388, -12.0547, 8.1573, 1.4969, 0.4274, 0.1001, -0.0464]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcd81e204c6e4680c7978f4e2c80cb5b94c6674a16eae1a93825a31670fd4278",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46999de55c5b64e96761f29bafcb9edd484e211623d9753cb0205f06ad339038",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7573be6b9cfd6cc660c1e24e2ce51350a0226ef5b3ab3560d940124d589a177",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 4.825 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 84 changed as sent

message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0254, 0.923, 0.7868, -0.6254, -0.0227, -0.0528, 0.9995, 0.833, 2.714, 3.1062, -1.4338, 0.3256, 0.2543, 0.7606]\nstate[eef_state]: left_x=0.2903 left_y=0.0002 left_z=0.1786 left_yaw=0.0032 left_pitch=-0.1898 left_roll=-0.0028 left_gripper=0.9995 right_x=0.4317 right_y=0.3962 right_z=0.1657 right_yaw=0.3853 right_pitch=-0.3999 right_roll=-0.1441 right_gripper=0.7606\nstate[joint_eff]: [-0.1162, -1.9761, 6.9128, 1.5311, -0.0855, -0.0806, -0.0122, -0.2803, -17.3744, 7.6786, 1.7705, 0.4371, 0.0415, 0.5739]\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\":0.34,\"right_y\":0.2,\"right_z\":0.27,\"right_pitch\":0,\"right_yaw\":0,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2},\"note\":\"The brick has dropped into the pot and is no longer held. I’m lifting and withdrawing the gripper to verify the final placement unobstructed.\"}",
  "call_id": "call_cHVehiOYh5UifZ5yf5CoUjTZ",
  "id": "fc_06d28e28c1227dfa016aaca1e6040487d097752eca232044ae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cHVehiOYh5UifZ5yf5CoUjTZ",
  "output": "executing move_to over 18 steps (1.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0254, 0.9558, 0.8452, -0.696, -0.0227, -0.0528, 0.9995, 0.8719, 2.1162, 2.6587, -1.486, 0.7063, 0.4404, 0.9959]\nstate[eef_state]: left_x=0.2887 left_y=0.0003 left_z=0.1823 left_yaw=0.0035 left_pitch=-0.2348 left_roll=-0.0015 left_gripper=0.9995 right_x=0.3783 right_y=0.2775 right_z=0.3501 right_yaw=0.0581 right_pitch=-0.1134 right_roll=-0.2195 right_gripper=0.9959\nstate[joint_eff]: [-0.3897, -1.5932, 10.3453, 1.5653, -0.0513, -0.0464, -0.0122, -2.7692, -14.1744, 7.3504, 2.1807, 0.6276, 0.0562, 0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bf8aca0d2158c34b3b2f92349f3ec0e46d3190cf7d3f1454a78749ab6141cb1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca1fd1d27ca08e2d054ce2be9cbee0a753ab19c1ba4252ef99d3669659c7c331",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1212111102c3a0f04f19fb9c991108aca9be4b05039a42639ea83a314b7eecb",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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