adhoc

completed
2026-09-18T02:53:10.428430+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (78 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
95.41 s
total steps
155
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

put the black brick into the pot of water

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the black brick into the pot of water
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the black brick into the pot of water
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe black rectangular brick is to the right of the pot. I’m moving the right gripper above it, keeping the left arm parked clear.
move_to
right_x0.4300right_y0.1000right_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]: [-0.02, 0.7944, 0.6041, -0.3798, -0.0227, -0.0414, 0.9996, -0.0219, 0.7929, 0.6033, -0.3779, -0.0135, -0.02, 0.9979] state[eef_state]: left_x=0.2949 left_y=0.0017 left_z=0.1799 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2949 right_y=-0.0005 right_z=0.1804 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9979 state[joint_eff]: [-0.6906, -1.4564, 10.1675, 1.8193, -0.022, 0.2662, -0.0611, -0.4034, -1.2923, 10.1265, 1.917, -0.1343, 0.0269, -0.2271] 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":0.43,"right_y":0.1,"right_z":0.15,"right_gripper":1,"left_x":0.295,"left_y":0,"left_z":0.18},"note":"The black rectangular brick is to the right of the pot. I’m moving the right gripper above it, keeping the left arm parked clear."})
tool
executing move_to over 11 steps (1.1s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
agent noteThe brick is visible slightly right of the wrist-camera jaw column. I’m shifting right and lowering toward its middle so the jaws can straddle its narrow width.
move_to
right_x0.4400right_y0.0730right_z0.0650
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0265, 0.8001, 0.6041, -0.3889, -0.0269, -0.0498, 0.9995, 0.3275, 1.5002, 0.8597, -0.0353, 0.2512, 0.1471, 0.9979] state[eef_state]: left_x=0.294 left_y=0.0005 left_z=0.1765 left_yaw=0.0016 left_pitch=-0.0148 left_roll=-0.0044 left_gripper=0.9995 right_x=0.4125 right_y=0.0976 right_z=0.1263 right_yaw=0.0362 right_pitch=-0.084 right_roll=-0.03 right_gripper=0.9979 state[joint_eff]: [-0.6085, -1.4974, 7.159, 1.8193, -0.105, -0.0366, -0.0171, 0.2256, -7.2957, 8.9368, 1.8681, 0.1832, 0.1441, -0.2222] camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.44,"right_y":0.073,"right_z":0.065},"note":"The brick is visible slightly right of the wrist-camera jaw column. I’m shifting right and lowering toward its middle so the jaws can straddle its narrow width."})
tool
executing move_to over 4 steps (0.4s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteThe brick’s long axis runs away from the gripper, and the jaws are still near its closer end. I’m advancing to grasp farther along the brick and lowering to its sides.
move_to
right_x0.4770right_y0.0530right_z0.0120
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8032, 0.6037, -0.3897, -0.0261, -0.0498, 0.9995, 0.226, 1.7023, 0.7902, 0.1612, 0.1944, 0.1001, 0.9978] state[eef_state]: left_x=0.294 left_y=0.0005 left_z=0.1753 left_yaw=0.0013 left_pitch=-0.019 left_roll=-0.0047 left_gripper=0.9995 right_x=0.426 right_y=0.0666 right_z=0.0508 right_yaw=0.0053 right_pitch=-0.1673 right_roll=-0.0493 right_gripper=0.9978 state[joint_eff]: [-0.1162, -1.5248, 7.2137, 1.6923, -0.0611, -0.0366, -0.0122, 0.3624, -8.9778, 6.5162, 2.0537, -0.0855, -0.1245, -0.0269] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.477,"right_y":0.053,"right_z":0.012},"note":"The brick’s long axis runs away from the gripper, and the jaws are still near its closer end. I’m advancing to grasp farther along the brick and lowering to its sides."})
tool
executing move_to over 4 steps (0.4s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteThe arm stopped short of the forward target, so I won’t force the same descent. I’m lifting slightly and tipping the tool forward to improve its reach over the brick.
move_to
right_x0.4550right_y0.0480right_z0.0750right_pitch0.3000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8043, 0.6037, -0.3901, -0.0261, -0.0498, 0.9995, 0.2081, 1.7672, 0.7792, 0.2214, 0.1715, 0.078, 0.9978] state[eef_state]: left_x=0.2941 left_y=0.0005 left_z=0.1749 left_yaw=0.0013 left_pitch=-0.0205 left_roll=-0.0046 left_gripper=0.9995 right_x=0.4285 right_y=0.0633 right_z=0.0302 right_yaw=0.0183 right_pitch=-0.1866 right_roll=-0.0534 right_gripper=0.9978 state[joint_eff]: [-0.0342, -1.2923, 7.2684, 1.6923, -0.0513, -0.0806, -0.0122, -0.3487, -7.9248, 7.0085, 1.79, 0.1245, 0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.455,"right_y":0.048,"right_z":0.075,"right_pitch":0.3},"note":"The arm stopped short of the forward target, so I won’t force the same descent. I’m lifting slightly and tipping the tool forward to improve its reach over the brick."})
tool
executing move_to over 17 steps (1.7s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteThe forward tilt restored tracking, and the brick is now almost centered between the jaws. I’m making a small final alignment and lowering the fingertips beside it.
move_to
right_x0.4800right_y0.0400right_z0.0050right_pitch0.3000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0254, 0.8051, 0.6037, -0.4011, -0.0261, -0.0498, 0.9995, 0.1684, 1.8816, 0.5716, 0.9615, 0.1741, -0.0059, 0.9975] state[eef_state]: left_x=0.2926 left_y=0.0008 left_z=0.1725 left_yaw=0.0021 left_pitch=-0.0323 left_roll=-0.0043 left_gripper=0.9995 right_x=0.4496 right_y=0.049 right_z=0.059 right_yaw=0.021 right_pitch=0.2232 right_roll=-0.0567 right_gripper=0.9975 state[joint_eff]: [-0.1299, -1.388, 7.0085, 1.8095, -0.0366, -0.0611, -0.0122, -0.5265, -7.3504, 4.1641, 2.2979, -0.0415, -0.1343, -0.0415] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.48,"right_y":0.04,"right_z":0.005,"right_pitch":0.3},"note":"The forward tilt restored tracking, and the brick is now almost centered between the jaws. I’m making a small final alignment and lowering the fingertips beside it."})
tool
executing move_to over 4 steps (0.4s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteThe fingertips are at table level and the brick is between the open jaws. I’m closing the gripper 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, 0.8078, 0.6037, -0.4084, -0.0261, -0.0498, 0.9995, 0.1257, 2.2143, 0.6552, 1.2533, 0.1547, -0.0353, 0.9973] state[eef_state]: left_x=0.2917 left_y=0.0008 left_z=0.1703 left_yaw=0.0021 left_pitch=-0.0422 left_roll=-0.0041 left_gripper=0.9995 right_x=0.474 right_y=0.0361 right_z=0.0055 right_yaw=0.01 right_pitch=0.2636 right_roll=-0.0733 right_gripper=0.9973 state[joint_eff]: [-0.1846, -1.3607, 7.0085, 1.79, -0.0269, -0.0757, -0.0122, 0.212, -8.6496, 4.041, 2.0928, -0.0757, 0.0171, -0.0366] camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The fingertips are at table level and the brick is between the open jaws. I’m closing the gripper to secure it before a short test lift."})
tool
executing move_to over 10 steps (1.0s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteThe gripper stopped at a substantial opening, consistent with holding the brick. I’m lifting a few centimeters to verify that the brick comes off the table.
move_to
right_z0.0750
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0254, 0.8101, 0.6037, -0.4084, -0.0261, -0.0498, 0.9995, 0.1238, 2.2349, 0.659, 1.2747, 0.1482, -0.0273, 0.7467] state[eef_state]: left_x=0.2918 left_y=0.0008 left_z=0.1696 left_yaw=0.0021 left_pitch=-0.0445 left_roll=-0.004 left_gripper=0.9995 right_x=0.4746 right_y=0.0364 right_z=0.0022 right_yaw=0.0092 right_pitch=0.2682 right_roll=-0.0628 right_gripper=0.7467 state[joint_eff]: [-0.1846, -1.3333, 7.0085, 1.7118, -0.0464, -0.0757, -0.0073, -0.0068, -11.0427, 2.7966, 1.6532, 0.0562, -0.1636, 1.0281] camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.075},"note":"The gripper stopped at a substantial opening, consistent with holding the brick. I’m lifting a few centimeters to verify that the brick comes off the table."})
tool
executing move_to over 5 steps (0.5s)
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 has risen with the jaws and the opening remains stable. I’m bringing the load slightly inward while lifting high enough to clear the pot’s rim.
move_to
right_x0.4300right_z0.2300right_pitch0.3000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0254, 0.812, 0.6037, -0.408, -0.0261, -0.0498, 0.9995, 0.1242, 1.9739, 0.6308, 0.9295, 0.1436, -0.0277, 0.7467] state[eef_state]: left_x=0.292 left_y=0.0008 left_z=0.1692 left_yaw=0.0021 left_pitch=-0.0461 left_roll=-0.0039 left_gripper=0.9995 right_x=0.4609 right_y=0.0357 right_z=0.0314 right_yaw=0.0164 right_pitch=0.1562 right_roll=-0.0743 right_gripper=0.7467 state[joint_eff]: [-0.253, -0.9504, 7.3778, 1.7509, -0.0513, -0.0757, -0.0122, -0.0752, -11.412, 6.4615, 2.8547, 0.0855, -0.0611, 1.033] approver: 5 step(s) modified (delta_clamped ×5). 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_x":0.43,"right_z":0.23,"right_pitch":0.3},"note":"The brick has risen with the jaws and the opening remains stable. I’m bringing the load slightly inward while lifting high enough to clear the pot’s rim."})
tool
executing move_to over 13 steps (1.3s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteThe brick is securely lifted, but the loaded arm sits below its commanded height. I’m allowing extra clearance as I carry it left toward the pot.
move_to
right_x0.4500right_y0.3400right_z0.2900left_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, 0.812, 0.6037, -0.4152, -0.0261, -0.0498, 0.9995, 0.1371, 1.3663, 0.7158, 0.2165, 0.1452, -0.0437, 0.751] state[eef_state]: left_x=0.291 left_y=0.0008 left_z=0.1677 left_yaw=0.0021 left_pitch=-0.0533 left_roll=-0.0037 left_gripper=0.9995 right_x=0.4191 right_y=0.0357 right_z=0.1671 right_yaw=0.0371 right_pitch=0.1354 right_roll=-0.0918 right_gripper=0.751 state[joint_eff]: [-0.2803, -1.0872, 7.2, 1.7656, -0.0122, -0.0513, -0.0122, 0.212, -8.294, 11.494, 2.6935, 0.2515, 0.0269, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.45,"right_y":0.34,"right_z":0.29,"left_x":0.295,"left_y":0,"left_z":0.18},"note":"The brick is securely lifted, but the loaded arm sits below its commanded height. I’m allowing extra clearance as I carry it left toward the pot."})
tool
executing move_to over 26 steps (2.6s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteThe brick is over the pot’s right side. I’m shifting it toward the center of the opening and lowering cautiously while keeping the jaws closed.
move_to
right_x0.4600right_y0.3900right_z0.2200right_pitch0.3000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0265, 0.8379, 0.6193, -0.4599, -0.0265, -0.0528, 0.9995, 0.8585, 2.0838, 1.9957, -0.6548, 0.7109, 0.3237, 0.7516] state[eef_state]: left_x=0.2878 left_y=0.0006 left_z=0.159 left_yaw=0.0031 left_pitch=-0.1082 left_roll=-0.0044 left_gripper=0.9995 right_x=0.4435 right_y=0.3427 right_z=0.2424 right_yaw=0.1106 right_pitch=0.0185 right_roll=-0.1757 right_gripper=0.7516 state[joint_eff]: [-0.5128, -1.6479, 10.7145, 1.7607, -0.0708, -0.0269, -0.0122, 0.2393, -13.8872, 11.0838, 1.8779, 0.823, 0.3492, 1.033] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.46,"right_y":0.39,"right_z":0.22,"right_pitch":0.3},"note":"The brick is over the pot’s right side. I’m shifting it toward the center of the opening and lowering cautiously while keeping the jaws closed."})
tool
executing move_to over 10 steps (1.0s)
step 104
top_cam
camera top_cam step 104
left_cam
camera left_cam step 104
right_cam
camera right_cam step 104
assistant
agent noteThe overhead view shows the brick within the pot’s opening. I’m lowering it closer to the water before releasing it to minimize the drop.
move_to
right_y0.4000right_z0.1400
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0265, 0.8391, 0.6205, -0.4667, -0.0265, -0.0525, 0.9995, 0.9211, 2.1918, 1.7832, -0.1989, 0.804, 0.1558, 0.753] state[eef_state]: left_x=0.287 left_y=0.0007 left_z=0.1579 left_yaw=0.0029 left_pitch=-0.1151 left_roll=-0.0039 left_gripper=0.9995 right_x=0.4497 right_y=0.3875 right_z=0.1746 right_yaw=0.1847 right_pitch=0.1367 right_roll=-0.2755 right_gripper=0.753 state[joint_eff]: [-0.1846, -1.3333, 6.8855, 1.7021, -0.0904, -0.0464, -0.0122, 0.2667, -14.3658, 7.8291, 2.5519, 0.7643, 0.0024, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.4,"right_z":0.14},"note":"The overhead view shows the brick within the pot’s opening. I’m lowering it closer to the water before releasing it to minimize the drop."})
tool
executing move_to over 3 steps (0.3s)
step 107
top_cam
camera top_cam step 107
left_cam
camera left_cam step 107
right_cam
camera right_cam step 107
assistant
agent noteThe brick is lowered into the pot’s opening. I’m opening the jaws to leave it in the water.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8394, 0.6205, -0.4679, -0.0261, -0.0525, 0.9995, 0.9298, 2.2402, 1.7336, -0.131, 0.8093, 0.139, 0.7538] state[eef_state]: left_x=0.2868 left_y=0.0007 left_z=0.1576 left_yaw=0.003 left_pitch=-0.1166 left_roll=-0.0041 left_gripper=0.9995 right_x=0.4473 right_y=0.3918 right_z=0.1385 right_yaw=0.2007 right_pitch=0.1137 right_roll=-0.3133 right_gripper=0.7538 state[joint_eff]: [-0.1026, -1.2513, 6.9402, 1.6142, -0.0171, -0.0415, -0.0122, 0.7043, -12.8889, 9.3333, 1.7753, 0.569, 0.2076, 0.9597] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The brick is lowered into the pot’s opening. I’m opening the jaws to leave it in the water."})
tool
executing move_to over 3 steps (0.3s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
assistant
agent noteThe released brick is visible resting inside the pot. I’m lifting the open gripper clear so I can verify the placement without the arm blocking the view.
move_to
right_x0.4200right_y0.3500right_z0.3000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8421, 0.6205, -0.4679, -0.0261, -0.0528, 0.9995, 0.9333, 2.289, 1.7321, -0.1516, 0.7853, 0.141, 0.9963] state[eef_state]: left_x=0.2869 left_y=0.0007 left_z=0.1569 left_yaw=0.0032 left_pitch=-0.1193 left_roll=-0.0043 left_gripper=0.9995 right_x=0.4436 right_y=0.3951 right_z=0.1055 right_yaw=0.2249 right_pitch=0.0508 right_roll=-0.3472 right_gripper=0.9963 state[joint_eff]: [-0.0342, -1.1419, 6.9402, 1.6386, -0.022, -0.0708, -0.0122, -0.1983, -17.2376, 6.735, 1.6239, 0.4274, 0.0122, -0.0464] camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.42,"right_y":0.35,"right_z":0.3},"note":"The released brick is visible resting inside the pot. I’m lifting the open gripper clear so I can verify the placement without the arm blocking the view."})
tool
executing move_to over 13 steps (1.3s)
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 noteThe wrist views confirm the brick remains inside the pot after release. I’m returning the right arm to its parked position, away from the pot.
move_to
right_x0.2950right_y0.0000right_z0.2000right_pitch0.0000left_x0.2950left_y0.0000left_z0.1800
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8436, 0.6205, -0.4679, -0.0261, -0.0528, 0.9995, 0.9207, 2.0979, 2.0914, -0.7376, 0.7681, 0.1112, 0.9966] state[eef_state]: left_x=0.287 left_y=0.0007 left_z=0.1565 left_yaw=0.0032 left_pitch=-0.1208 left_roll=-0.0042 left_gripper=0.9995 right_x=0.4237 right_y=0.3604 right_z=0.2652 right_yaw=0.2404 right_pitch=0.0103 right_roll=-0.3867 right_gripper=0.9966 state[joint_eff]: [-0.0889, -1.5248, 7.1179, 1.5946, -0.0464, -0.0464, -0.0122, -0.7043, -14.8991, 8.6906, 1.4481, 0.3248, 0.1001, 0.022] approver: 1 step(s) modified (delta_clamped). 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_x":0.295,"right_y":0,"right_z":0.2,"right_pitch":0,"left_x":0.295,"left_y":0,"left_z":0.18},"note":"The wrist views confirm the brick remains inside the pot after release. I’m returning the right arm to its parked position, away from the pot."})
tool
executing move_to over 31 steps (3.1s)
step 154
top_cam
camera top_cam step 154
left_cam
camera left_cam step 154
right_cam
camera right_cam step 154
assistant
agent notePlaced the black brick into the pot of water and parked the arms clear. The final camera views confirm it remains inside the pot.
done
hindsightThe brick was successfully grasped with the right arm near x=0.474, y=0.036, z=0.005 and pitch=0.3; its grasp opening was about 0.75. Forward pitch improved table-level reach after an untilted approach stalled. The loaded arm sagged 4–6 cm, so extra carrying clearance was needed. Placement succeeded near right x=0.45, y=0.40, with release at about z=0.14.
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0265, 0.8883, 0.6891, -0.5453, -0.0265, -0.0528, 0.9995, 0.0013, 0.7792, 0.6407, -0.3809, 0.0597, -0.4316, 0.9966] state[eef_state]: left_x=0.2871 left_y=0.0007 left_z=0.1602 left_yaw=0.0034 left_pitch=-0.1742 left_roll=-0.0024 left_gripper=0.9995 right_x=0.2972 right_y=-0.0066 right_z=0.201 right_yaw=0.1761 right_pitch=-0.0006 right_roll=-0.3911 right_gripper=0.9966 state[joint_eff]: [-0.5949, -1.6068, 10.4274, 1.7656, -0.0562, -0.0415, -0.0122, -0.0752, -1.2103, 7.0359, 1.8437, -0.1929, -0.0562, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]
assistant
done({"summary":"Placed the black brick into the pot of water and parked the arms clear. The final camera views confirm it remains inside the pot.","hindsight":"The brick was successfully grasped with the right arm near x=0.474, y=0.036, z=0.005 and pitch=0.3; its grasp opening was about 0.75. Forward pitch improved table-level reach after an untilted approach stalled. The loaded arm sagged 4–6 cm, so extra carrying clearance was needed. Placement succeeded near right x=0.45, y=0.40, with release at about z=0.14."})
tool
done: Placed the black brick into the pot of water and parked the arms clear. The final camera views confirm it remains inside the pot.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "What you observe right now in the observation (images, if any, and state), and why you chose this motion. The user reads these notes live and in the saved transcript to follow what you see and what you decide. Write for them, in one or two plain sentences.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 5.058 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]: [-0.02, 0.7944, 0.6041, -0.3798, -0.0227, -0.0414, 0.9996, -0.0219, 0.7929, 0.6033, -0.3779, -0.0135, -0.02, 0.9979]\nstate[eef_state]: left_x=0.2949 left_y=0.0017 left_z=0.1799 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2949 right_y=-0.0005 right_z=0.1804 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9979\nstate[joint_eff]: [-0.6906, -1.4564, 10.1675, 1.8193, -0.022, 0.2662, -0.0611, -0.4034, -1.2923, 10.1265, 1.917, -0.1343, 0.0269, -0.2271]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fa4f158920ca44ddc97c6cf42977a5f554f68cc0b1b11abb537b832d161bc3c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5b04ca09fcefe965b23942e3239232958e650dd30d7a589a52ed1d0b58e2a4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47a8510e430d57cbe0755a7ccbee1356150dd8d2ce736b7c7fe2546288b70d5d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 3fa4f158920c
wire blob e5b04ca09fce
wire blob 47a8510e430d
call 1 attempt 0 · /responses · status 200 · 5.821 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqrKeo30w0bb6vZ10365HbPysGSXNSbBYq5BVi13Bmt2LXtaIeo_lgcyOPQni710ADIAJiOBr6SS6wSEBSrEvn70db08xwUpQbmkEUFpiS1pWJtPz5Q4LXv3luFqVDzoLaRtAYNt1f23LaBZGoOogw0PbgC1G6tUL9514McYOepxPU4vuQoUrZOhUQLpg7HsJczqcuxrvYtMg_E2v9nsp7dmI_BDGkXOEL_DxQmy6Grlj3xgBOOnzKZHu-Gmy23eToLtMJqeE0lfPGNgtPTIyu3fXXiwlGHGTnXckAlyLZXs8r0ebHSzgkr0TATSORjoSPCIpGkWj1rdBWlcOfD3AvyaTlSyhHCZq9h1mIgTelaGtqn-nkQn3cmVJo2-WjWOapHI89gD9zmguDmx_ARhgEzZngGTK34uJtycSRsydEAWPELi5vV4RXa8FchVOybvgYdtYcnjiIeIa--rbiSF-_SKRSdvzCCFFx1fz5t26KEYIkspQNKQv9F45rzN5bhA_dVPtEUXXeKAZUudYpSfuVRzIEf8-u37XT2l2UKOb2GkDPf4M2zkT9C2EI2JZdin3e_a74rHMQcwsuTe_MsxfB7W20sqjwSLadhnTI8vNJC-PTBwqGX-IA8kEykz8L1gPgg3C-K9kcIEFnn_siq0z8u_e3aWGmjGvcQ_6gLcA1mD_G458Wgs_YnKGiWuIUExSponiOosOscvlDqiYhB8MsEGQsk8tKg5I4wSeJDzOw66fvh2MT-wcHudYyN1lbPwOLHa98NpzVFtDsHQxV-dAxlScnRj5nIvEAqyhGnNtRroj0KYWcE7z6pGdqOV0uxbknmcumdTvH8__Gd8nssYitvbny_Kd3ax_S2HGokxm6BUVz8tPxnajZ3vMyhc2MRY5TC0b_0M66PU9zvU4FZvz6svbSqM6WucV9sVY-WZTipOCfiyIj2qrkcVJPA5al_1c411VJYAYH7Iar9khjvgu8Ce4FipI4ZolMJFm_3T-m_hQHbTWiVJqANRQ-RRmqZQtz1vWKZJcqOdeYRRgEQZG7lFA_rkpkNIvcrLypSxHGxESv4gvh3UVQpVDfhdAeOVjXR1lDiUc4R9DdR8TalM2kKQLwBqEgGL0OumgPQlSk2Ae-eUENOt5FIYNJ1sg6TnOeOrI7dlusp0eD5yKN0NKb98fkl1ngm2IS3mbSuhYS2BNiSSPAelS6JGFJYJ__bq_77tMZF-_joYbSJMxfYNLQH6HjeHoBXCcF5EXrLoX5bgNsVUFi2o_osVN1RLVIdmtH4ikqrxdQAV7cx7Uynuw5HQcc20s3NEtnCC9WMU-vuqePrRC4WVCPccllN05iBmDXNI_slKRqFrhvZV0p_zJ86uz0l23CJhIJoO8YG5lrFrWhA3HHlbvrFkd1pXXa1wlr14-wjbxv3ubfniOUSngHcZf-Uzuidn2TA6pcAZYLO7hZo7U=",
  "id": "rs_0ad61ea3386d801b016aaca7a4311c87d0ae2e72e4080df864",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.1,\"right_z\":0.15,\"right_gripper\":1,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18},\"note\":\"The black rectangular brick is to the right of the pot. I’m moving the right gripper above it, keeping the left arm parked clear.\"}",
  "call_id": "call_I89uXpudItSBJF0zMKihEHPH",
  "id": "fc_0ad61ea3386d801b016aaca7a6369887d0829425c5ac901bfd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_I89uXpudItSBJF0zMKihEHPH",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0265, 0.8001, 0.6041, -0.3889, -0.0269, -0.0498, 0.9995, 0.3275, 1.5002, 0.8597, -0.0353, 0.2512, 0.1471, 0.9979]\nstate[eef_state]: left_x=0.294 left_y=0.0005 left_z=0.1765 left_yaw=0.0016 left_pitch=-0.0148 left_roll=-0.0044 left_gripper=0.9995 right_x=0.4125 right_y=0.0976 right_z=0.1263 right_yaw=0.0362 right_pitch=-0.084 right_roll=-0.03 right_gripper=0.9979\nstate[joint_eff]: [-0.6085, -1.4974, 7.159, 1.8193, -0.105, -0.0366, -0.0171, 0.2256, -7.2957, 8.9368, 1.8681, 0.1832, 0.1441, -0.2222]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a01d561c16036c0766a26a85370d642c1e717d9fe80ba02a26a6d1277d86725f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5473eb622245e7d57076d274bcfbbd5ae463d2f381fd29354ed9cdefc73b896",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab5642fc6556403b8eabe5c6fd316c532e4e5ae91c44f48101e399795797f88a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob a01d561c1603
wire blob c5473eb62224
wire blob ab5642fc6556
call 2 attempt 0 · /responses · status 200 · 4.977 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]: [-0.02, 0.7944, 0.6041, -0.3798, -0.0227, -0.0414, 0.9996, -0.0219, 0.7929, 0.6033, -0.3779, -0.0135, -0.02, 0.9979]\nstate[eef_state]: left_x=0.2949 left_y=0.0017 left_z=0.1799 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2949 right_y=-0.0005 right_z=0.1804 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9979\nstate[joint_eff]: [-0.6906, -1.4564, 10.1675, 1.8193, -0.022, 0.2662, -0.0611, -0.4034, -1.2923, 10.1265, 1.917, -0.1343, 0.0269, -0.2271]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKevWvYfYq1T36o1cmyfxESJu0n7CAe6CHuFQDFx9FmCr6JyNIJsIMmCh3415uKwgvyzO_tskwr-o8nyIurBjqwz1bjdNioMq2e6Ed4QFrlORxhp1AeL_bSwDFn-6VdLZqchDkkyj9DRt8MZcKqcpDmWZB-H4PL5QV8lWmY725EBibwMcZNCo8CJGLm9vKP8CFFttaVjXcfxV5VijXpc0hAdc_ajPnvjpnS7GgY5eF7hvd8FiYqUqfo55ojZQIlKlxn8sV_SrLbaXjionmL9POeW1uDCryolZy9kYwpNoYL6INN84K08Fw8SgKdZNmSG75nIgWKrZ8Wr9I6d22F8Z8f6-Uk46kaHrPxZBe-uodezynaoc8QLmua-FqLtSPFIJ1XnqLHgcI1xgHjEgxxel7trLbNuZM_L9nVTB3RoAzgJrX8Ov6tEuxy6Cyy4UAzuN3xzYJydycQBoEWHM5x1yevCRZZ6mI6nJtiPCrBdOQ4h_QpoUpuWYqLWldvrqeqQyTCzix-iJfKCYCuSWBl95tCbpH7A6dInTS7dc8cBAUBrYuuxLZfxxPQIKA7wJRWVCkcLcq2EHkuInCOgxFTCul2lKmEd2yzCsfBgTWe7eM3oVzICUv2uC8tj_heG1bXMhphYRpjNWEZGX8jED2WO2HbTTsYtlCdlv9eBQ69goJfMk0hSGl6ydv_2HnR20-D5-bHQN6QonUdUBKQzYu2oyehHY3ihX9pItHcF1vOeBcGWwpBqqV3GojRKsvvCEQy_REy73-fTvS9l-jcIXt8zbz9fHot1nYhBzSTY8vMfcXfXiIoc4wUAfZ2lBDk6TIBx7x7o7MX_kL_IlHIZqvG7qU5UbJg9qEmeNXk_iTZUhptgazXYbOo_hq_Vd3ER8lZ9vVhUt2LsxxSqXy_Yc7N7DlzKHA7k1HzeR_yoMxPIYZbDyJO72oNCgscjc3jOZgDE4Y5SjdD0Ew_VEVnuV1-BnOHBNgP2YRQc1PNrPU8Z0ZryEMCOYJQW4dY2n5Q8Lgz-FYVYViE7KxacAl4bW1XWPd49VmkNfPSQ86A6x6bFILuyBDa1ZoZNQGLrc75gNacvX2KbZRbff9TRgT6oeKu58vBj14NId-1LD32NRAQ3uzXlj4weYtg6V4tjJiMLj9SwW8y9Nn9ESjD_JWijeBEIFFSpvKutRhrNLfnSRoQg_DEAGFs-KEPGNIG-KIr5hVTUD-w8gJ036fZDjkFOY8wBpThaCkxFD4oGO9VCkfo8ZrruVUJt2wkBRIXNMl6dJbzA08EWaWjU0ZcLkW7JiV5TwlWxLHVq2aWI75nzk8rvPzPEJsjkgt8_O_VdHDZ9gxAAP5Q-uiDfxdJST5e7v1gVtWU6N27Oul2-Zn13-7CSsqRKyn_2d1NP_Vsv1QrYueDoGWG8C_Gkb11G15JA-rKJ13zFv7tMya6O4n9r1FP0ARpwpoZi3uZaSq_mt3VwDhZ4y5FzFtyssienKzQ2pOy70WukK9keCiqaQhboZiW7WS_n-e36uRi4g68ujSNXZW4RMhQ8HmU5UvieqCSqNHgdOiasEBuHvvq6KUtOCUZNOpgG_J0=",
  "id": "rs_0ad61ea3386d801b016aaca7ab002887d0b2f55e9d1d24ccc6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.073,\"right_z\":0.065},\"note\":\"The brick is visible slightly right of the wrist-camera jaw column. I’m shifting right and lowering toward its middle so the jaws can straddle its narrow width.\"}",
  "call_id": "call_dfjMa4iJaCtcQkvCj4AZAYaG",
  "id": "fc_0ad61ea3386d801b016aaca7adcc2487d0811a5d16d9ee4c0e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dfjMa4iJaCtcQkvCj4AZAYaG",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8032, 0.6037, -0.3897, -0.0261, -0.0498, 0.9995, 0.226, 1.7023, 0.7902, 0.1612, 0.1944, 0.1001, 0.9978]\nstate[eef_state]: left_x=0.294 left_y=0.0005 left_z=0.1753 left_yaw=0.0013 left_pitch=-0.019 left_roll=-0.0047 left_gripper=0.9995 right_x=0.426 right_y=0.0666 right_z=0.0508 right_yaw=0.0053 right_pitch=-0.1673 right_roll=-0.0493 right_gripper=0.9978\nstate[joint_eff]: [-0.1162, -1.5248, 7.2137, 1.6923, -0.0611, -0.0366, -0.0122, 0.3624, -8.9778, 6.5162, 2.0537, -0.0855, -0.1245, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f312295b3fa0e7ef26770e1810360fd7d7c1ac054b3f653f0f308d262d928db5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08d7f908696f164707dbf4f983d0353db2abe864b82386ecb57f97ec40d8a160",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ada5d3effb7c367f50516561325ef364a2d10eaa0b05c240d2fa9dec14dcd2f6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob f312295b3fa0
wire blob 08d7f908696f
wire blob ada5d3effb7c
call 3 attempt 0 · /responses · status 200 · 4.524 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 6 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0265, 0.8001, 0.6041, -0.3889, -0.0269, -0.0498, 0.9995, 0.3275, 1.5002, 0.8597, -0.0353, 0.2512, 0.1471, 0.9979]\nstate[eef_state]: left_x=0.294 left_y=0.0005 left_z=0.1765 left_yaw=0.0016 left_pitch=-0.0148 left_roll=-0.0044 left_gripper=0.9995 right_x=0.4125 right_y=0.0976 right_z=0.1263 right_yaw=0.0362 right_pitch=-0.084 right_roll=-0.03 right_gripper=0.9979\nstate[joint_eff]: [-0.6085, -1.4974, 7.159, 1.8193, -0.105, -0.0366, -0.0171, 0.2256, -7.2957, 8.9368, 1.8681, 0.1832, 0.1441, -0.2222]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKe0zH4ES8mqQyXGGceqmGZk1E-FvLJLhbWxyyb5sgFuTwG6JZsgCZIhwBao8-HzJBGuebVtDFu3pyjSX32mCMJl4kAVpGDrl18CF4ShDnmzDWqXt2G4dNuaptnp2mFBA4Rtl34WPkofxJP3HQ7QszVfVUdamEH03S5eUT6bT75qwuXwjUmEgdW0xrlGaRYJLzu4VwmdVR69e017u7QrvuRydc0rFiJA7oOT9-3mda4nB-ESiegmlRqJRv5cWFItwrATtSCWngIBmd2J2ZDsNeTNe8ruxfhdvCV7z2YuIeEb59Pesl351y2pV7Teow9VY5sF28nNMgUxWFoG5w9GGCMI7BQfWUeRSeoH5hQhyGiHfjMkgRWUnwszCTZaj3-IrwUfLLkF03N4cIVcXrJjduCcWlWEU2cSwCTw3ZkseVBfnJOPqGBLoeHYZEt0ROsO5BvUrvGzNfMlKjx8i8oTenQOdeJXX33520-BTIsX1-IkidUmg_jS2BDUv5xSpyI2qVOQGEyQLRq2de3COefXC9qaJwP7_o2uWIWcuZZAh8-TWtohhHYL377O87Giv7hsE98jzVMToU7FCgvZeg_g90EmeM1jnxStg-GrVlpa9YqrG7DYybdu3QgIJ9Ygesgz31hHvENS2yA4a3GfZ7vKW_B_QuR2MsAjIwExN_EWphR4vVRuyznUosx2nnkL-dxF4iyCB_-u9ZDFKPy1wBqOJrxxkfyCECE5UHsfW2831H_Ca4uyH1MTM5IV-Typanh35vfiyHp_fDFBixCR1fS9WIV34S9yu5IMPKLkX1LQCMIWQP8P71WLh5UXHiizQleVf9DdjvPhXx--j2OOupUOTnBFJyi9rFQQ6hwXm9CyXb4KQ5rM0jxeHSpW0ro5_nfLhHbVPK46EL7TDfPLpDFL_saWkJmDS-Xmjav9I_KYmb2RlwyVrJAV3i1MrdCxxFIsKZizx4jyrpJSZxzsCNRdiJrI8tXfqZ6xWJn71AIj9nyi08k-EkdkRW_-dKqRLn-_AUyWJnw8Ph5XAjzn41Lz9qRQiH0zlwkK-ko-mZae7ubZECXW5tj3TyCbyV4YIrKEBQ71XwbE_NjpiHsNZasFMLuWw10q4wflPLrVbXXLjr-dLWeRjRSqKjuqe8WSiU6vZgAlf74sEEMxOU8w6VxIpTvOL2C8axaHNux9k50FAEAwTOx3zPgRvyw-wvvudvV1xmjfj7ZG8aIeId6nfgLhF1ycIjfoBxzVYWe-zWv1wyzvo618ye6qRTwu3Wx3SJjaV2Tw8JCHhQTaArQKfe14NwaCcVVC1lyXhSM3VmObbaEjFKSxcw_QWMAwB0Uzb1cYgHLmBF6ldY-5uz-DtkcNy7F6esvSOg8MxNhj8jdDkWpR9n1clp4jknpKF9RZNg4crl2ssI7KXxpd_T_8L1vk47xtJENF_YBrTXCjEKJqvPmQQ1iuqMNncNDYYdbnuTOuydKZjzXrO_3ai9JqLMEvV9F1I3A82Er_kn5GGi_MU7ZThRJJIyWeaLQ3BpfC-Ke6JeQowFJyWRAy9TPyK9XuRlwqHwW3QkedNXr3GaX2wbkmJ0E=",
  "id": "rs_0ad61ea3386d801b016aaca7b0a47887d09bb5eb22dfe43d85",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.477,\"right_y\":0.053,\"right_z\":0.012},\"note\":\"The brick’s long axis runs away from the gripper, and the jaws are still near its closer end. I’m advancing to grasp farther along the brick and lowering to its sides.\"}",
  "call_id": "call_ArC59Zl4VsqOoyBIhFEkut0C",
  "id": "fc_0ad61ea3386d801b016aaca7b2ee3487d09a8cf14956c30d71",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ArC59Zl4VsqOoyBIhFEkut0C",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8043, 0.6037, -0.3901, -0.0261, -0.0498, 0.9995, 0.2081, 1.7672, 0.7792, 0.2214, 0.1715, 0.078, 0.9978]\nstate[eef_state]: left_x=0.2941 left_y=0.0005 left_z=0.1749 left_yaw=0.0013 left_pitch=-0.0205 left_roll=-0.0046 left_gripper=0.9995 right_x=0.4285 right_y=0.0633 right_z=0.0302 right_yaw=0.0183 right_pitch=-0.1866 right_roll=-0.0534 right_gripper=0.9978\nstate[joint_eff]: [-0.0342, -1.2923, 7.2684, 1.6923, -0.0513, -0.0806, -0.0122, -0.3487, -7.9248, 7.0085, 1.79, 0.1245, 0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae851d7c56c572a1202fec83aaae6a4cc8f416dda02229aa10209bf33fe3303e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f15da1b20f7a519f134b78ea97dfa8b4e23f2e7d61270c40a6d54634855e484",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b39d1a488ca6597b2ee4903d6bf31dafdec1cfe7ad41aaa705b047a7af9b592",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob ae851d7c56c5
wire blob 4f15da1b20f7
wire blob 2b39d1a488ca
call 4 attempt 0 · /responses · status 200 · 7.376 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8032, 0.6037, -0.3897, -0.0261, -0.0498, 0.9995, 0.226, 1.7023, 0.7902, 0.1612, 0.1944, 0.1001, 0.9978]\nstate[eef_state]: left_x=0.294 left_y=0.0005 left_z=0.1753 left_yaw=0.0013 left_pitch=-0.019 left_roll=-0.0047 left_gripper=0.9995 right_x=0.426 right_y=0.0666 right_z=0.0508 right_yaw=0.0053 right_pitch=-0.1673 right_roll=-0.0493 right_gripper=0.9978\nstate[joint_eff]: [-0.1162, -1.5248, 7.2137, 1.6923, -0.0611, -0.0366, -0.0122, 0.3624, -8.9778, 6.5162, 2.0537, -0.0855, -0.1245, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKe55B_0jY6YA4LSmQzR-7yYXAovgL6dgvTuPD1J7UE2CjGFONVgH9QCMa2UPlGSH62_q4Uv1dIrFuQhrcgOX8i8PUIFCBXE52bhiiaV8uz5PLOyV1BYL3kGM3VBFbxZZOm330--mTOfQHxKtez0QhVf_ngwQasiHZ0vmL12e5ruQB4husFB2XClK_07HyLxhtcICtL-e1kz-sbmV6pHg2zcmyaCatV4AgYhvZ-6slThUiZhzgfa_mRur37h8FNHgIzHy5fu082nli5RA5AlYdZJ8nwvRRKDjT7i-3e8Q_0tmHdpHDMcSovzuoEoBIuo8y3tIZUfBBRt3Ly1WZ3tv2yB5MJ_sOwY38kCGBJPCg9Ju1i5tiHEDIX1yNRW3OUUJluOZp8Krz_61w4_NWwS0MS-W_p9BDtUbYZAvwItsmUFqZI2hyLeXeTslE2fHUv1M8rwqghF7wwRDBvO4NpoChXe8mewQN44JZrDYkPxSG7x6btLo1PDaRXbDH9z9Q3SZLZ09sZrjetGF7SZmGilmtzXOJVQvbO973n3cz3tJyY65WibLd1qnF5LM33SoA14AaWzBZqaExLKTqgzTD6JoWWo-WErlmkh1RqLQARyOzee7DbqUoZVMrhG78Yct1jA_mPs-AiJrU2NrnpKd9QsG-BGrd32MJRYKBeDmiwTQTkwXTVoyVvOtwWSi8eUgoH25oTQ5Ah4f3KCrf4BbHxg3lKMCeiXuqJx--Q_nEN0_DRDOCBs6oZueuIpVhnbxhNPwTcZb5OswnccOJYGaj_iaZrQ1i5ZqtclPfx-Bw_e_zCcELuBFfwb4TJA0G9E3Hap9W1iJSLcLyiB67oScYD1NEtkTZ0ZGqxinSaOVf1rb3aubh5yKYId1pgwzj7miJpPmlFN-uLx8z4ag0z8V2t63Rv5SU484Hm2HeGv9AgGtXUU-0JI42MaOmEtb22Xxy6CXZVYnNdu6xUhKAzushuqdqb9B92NUr_jNyTc7NL4T3XjgBD-mB3WOxfOQbAZFO0PCMJeczUl6Vc3aAp-RDzjT1gHAiGHgy9ZS5fXq40EkZPy7jeQ7Oi3IVu79iERiqkgKhfxWPKzK-hpLujzfrLpssWpr8Zl3-9g4_uUoe43JGrkFhQ3i4z_oTWdz-XuZCEH8a6U6_vaAvjh9rB9csx3niHjzzaJJ4kPw3GmhqaOB4eIprYiTMp9RbiepfMHSoJOklhV5eHon2HcwZGH25AoaJc5gxaLa_bmJARrd3XDbyuyV2ESw-3zQt3gcuG15foWIKaGfBOZBXM9cVHmU7BQxKLKViS2lqFoLG0BLzh7blN15TeDQlmooksltb3aK6bkUVw403onzUFwDNrlmE83IFsWBJlB2i3gty7Hjgx3jCPsyFQ=",
  "id": "rs_0ad61ea3386d801b016aaca7b6202087d0b5620779e3feef99",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.455,\"right_y\":0.048,\"right_z\":0.075,\"right_pitch\":0.3},\"note\":\"The arm stopped short of the forward target, so I won’t force the same descent. I’m lifting slightly and tipping the tool forward to improve its reach over the brick.\"}",
  "call_id": "call_kjRQfMbIghrREQWL6Hkm9qIJ",
  "id": "fc_0ad61ea3386d801b016aaca7b790e487d08dc5ce65190c0df3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kjRQfMbIghrREQWL6Hkm9qIJ",
  "output": "executing move_to over 17 steps (1.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0254, 0.8051, 0.6037, -0.4011, -0.0261, -0.0498, 0.9995, 0.1684, 1.8816, 0.5716, 0.9615, 0.1741, -0.0059, 0.9975]\nstate[eef_state]: left_x=0.2926 left_y=0.0008 left_z=0.1725 left_yaw=0.0021 left_pitch=-0.0323 left_roll=-0.0043 left_gripper=0.9995 right_x=0.4496 right_y=0.049 right_z=0.059 right_yaw=0.021 right_pitch=0.2232 right_roll=-0.0567 right_gripper=0.9975\nstate[joint_eff]: [-0.1299, -1.388, 7.0085, 1.8095, -0.0366, -0.0611, -0.0122, -0.5265, -7.3504, 4.1641, 2.2979, -0.0415, -0.1343, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3090362eb82b521d78e51353384b0c67b735bc28188c26247c9446be5ceee14e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3ee2d2df4bad915dae550993fe208b463ead83cf213639775d36d4eb45f2140",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f14a7c0efbb8f55ef2a00ee845ec3a8e76ef6250210ecda8940ebfe9bfca4efb",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 3090362eb82b
wire blob e3ee2d2df4ba
wire blob f14a7c0efbb8
call 5 attempt 0 · /responses · status 200 · 2.545 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 14 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8043, 0.6037, -0.3901, -0.0261, -0.0498, 0.9995, 0.2081, 1.7672, 0.7792, 0.2214, 0.1715, 0.078, 0.9978]\nstate[eef_state]: left_x=0.2941 left_y=0.0005 left_z=0.1749 left_yaw=0.0013 left_pitch=-0.0205 left_roll=-0.0046 left_gripper=0.9995 right_x=0.4285 right_y=0.0633 right_z=0.0302 right_yaw=0.0183 right_pitch=-0.1866 right_roll=-0.0534 right_gripper=0.9978\nstate[joint_eff]: [-0.0342, -1.2923, 7.2684, 1.6923, -0.0513, -0.0806, -0.0122, -0.3487, -7.9248, 7.0085, 1.79, 0.1245, 0.022, -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": "gAAAAABqrKfC2ayGF4pJDyYygp9OwWz1TbJJZPcXqDk4cOrWadx6WXMAUxp1lJRJW_Qtlui-RZ2sh-kJ0KL2gzdLTTk2lj9dopSl6C8ptzDZoix_qRhcYIGxunDUzSg4bOzUySeW6FjmuOndr9bEcvnbt4RrRJJ5HvH8zKh_mxtFNYiAPUSnxsMmMTySQVdaLDsbYD3wfEbGy_LyFNo8itOs1e-4XTPwSqGc06FfNzsi7m1ZYlZIpMUp5JV2ZWd2IP1uJjUpOwS7rxkV_ks38OeX2BylJKluNAatosl_U4LCBu1nLqVPPBGviHJ10plYbDw5dByNAcGli1gmhAfkLmkjSkvgQchzJSlf4nmtMrp-lDIOsangCRX9Ar6P_f75OzZUZQSplcXK_bnGf0VyFTgggTjXEYgaU6q49mnNI5ol-qvtw25Iz2r5AgucYLe7vbOIRGmdldOxwVkigxLA-ZGOC2zJn9Z3i-LEXwLxgszpGnaXX3RMk7PYzLlbtdPeurMY9n8HjKhXg-c8yCbwXKiRq6uYzFJkPuUU1U_qsl2TGS7j8Z4U35yjWiYpwxwc95leGcaQDUCXiIdjNgKwkM5YdNF77R7royoH_m6Urwdu-vq0zWKnZPrpbkYonESFkjOX85dWgI5ZjnOBjcc1xhblQXJIkA1oZEXaPjgy8nlETnPQ7pi53Ox2ZieZs8rvqhKFsFWuGsUqFnpl07ldg5MOPdq-TebMg3OhmL5UzwiLbXfKcDUXZKRgc8mbTty5hEd5lmzZD6qDBHNaVflzxjYV3JB6gi6gpaYtLmo7u43c4DkYs0OisFpVCoC-PvR-wWr7NZ4FK38PMnKkOKRYyUAv3r07jLCoU1NdK6OCaWRLG9Ip8Ljnxpsd2FSW0HNE18GyzN7iJg1uz0QBOXGGjSHJQuqTtTjOYhEZKoXwzD5EkYQmGOat7G4fqdrnVElQbXnQ3h55bSd8Ndb5m2lN0lIYQwmSzELXfkw_RHWRNyASyswYB2Oz4SlLBnoePHyl9_vbeKL39L6vDiW_reBzwFmx46q6JxWAKceQ-dCqcZiAoVwyzzwHlgng8LjDi_8RyOCZZz03bK-MSkfDA8yqu7GpUH2KVnltizkD9SAM0-k5GB5xGobTjb0Dcfpsre19ccwB74E_7H8gyLGfVwgk5ew7q-UrENzVTKZq5uT4RZJo1sAe1cMbdIWEjBr5pwG1Tt6z1_kAgW2HLNTOPyDXPanWxWJ6wjXd4jboEpG6quhpMcQJzGAiMGwGEmwTEx48DV0XwPRTXWZlQoBafcWQ6XGpjgaB9MrYGckt5KftNFhMvWRug62YuOSVKzDbVt-YfBtPYJdP7VttocUux-rS8H0ImzCV-1TOIkRx06X6sUvZNaLAE3vbjJcNC-WLaJDCKp9Cqlk5xau-EKouVDmkjYpxwox_tfqPK1bkdWVGVGbD-SxaAWpb4OfkCdQc-oad6p0hjTNfJT66",
  "id": "rs_0ad61ea3386d801b016aaca7be747887d094bc652604007fd1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.04,\"right_z\":0.005,\"right_pitch\":0.3},\"note\":\"The forward tilt restored tracking, and the brick is now almost centered between the jaws. I’m making a small final alignment and lowering the fingertips beside it.\"}",
  "call_id": "call_IfHTxM7kXxrHnNC9ne5xELPs",
  "id": "fc_0ad61ea3386d801b016aaca7c0b3ac87d09757e0544effffb9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IfHTxM7kXxrHnNC9ne5xELPs",
  "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, 0.8078, 0.6037, -0.4084, -0.0261, -0.0498, 0.9995, 0.1257, 2.2143, 0.6552, 1.2533, 0.1547, -0.0353, 0.9973]\nstate[eef_state]: left_x=0.2917 left_y=0.0008 left_z=0.1703 left_yaw=0.0021 left_pitch=-0.0422 left_roll=-0.0041 left_gripper=0.9995 right_x=0.474 right_y=0.0361 right_z=0.0055 right_yaw=0.01 right_pitch=0.2636 right_roll=-0.0733 right_gripper=0.9973\nstate[joint_eff]: [-0.1846, -1.3607, 7.0085, 1.79, -0.0269, -0.0757, -0.0122, 0.212, -8.6496, 4.041, 2.0928, -0.0757, 0.0171, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67de27ecc7338cbe74cc2fdd8e2f1c7a6438685cbf1986fdde3e07fc9f75ea5f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f9c730c9e0ee1a14dc3207035e576a345767bfba8c1d66624e7af63c365940f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2f11e7fe46b37dab2f37d74bb54eeed6bfc6021cea1e20e305d30957de30d15",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 67de27ecc733
wire blob 9f9c730c9e0e
wire blob d2f11e7fe46b
call 6 attempt 0 · /responses · status 200 · 2.616 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, 0.8051, 0.6037, -0.4011, -0.0261, -0.0498, 0.9995, 0.1684, 1.8816, 0.5716, 0.9615, 0.1741, -0.0059, 0.9975]\nstate[eef_state]: left_x=0.2926 left_y=0.0008 left_z=0.1725 left_yaw=0.0021 left_pitch=-0.0323 left_roll=-0.0043 left_gripper=0.9995 right_x=0.4496 right_y=0.049 right_z=0.059 right_yaw=0.021 right_pitch=0.2232 right_roll=-0.0567 right_gripper=0.9975\nstate[joint_eff]: [-0.1299, -1.388, 7.0085, 1.8095, -0.0366, -0.0611, -0.0122, -0.5265, -7.3504, 4.1641, 2.2979, -0.0415, -0.1343, -0.0415]\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 fingertips are at table level and the brick is between the open jaws. I’m closing the gripper to secure it before a short test lift.\"}",
  "call_id": "call_0yauTZ5vkxIMMf3N7F2VTt8l",
  "id": "fc_0ad61ea3386d801b016aaca7c4041c87d08d2de38f8b28fefd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0yauTZ5vkxIMMf3N7F2VTt8l",
  "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, 0.8101, 0.6037, -0.4084, -0.0261, -0.0498, 0.9995, 0.1238, 2.2349, 0.659, 1.2747, 0.1482, -0.0273, 0.7467]\nstate[eef_state]: left_x=0.2918 left_y=0.0008 left_z=0.1696 left_yaw=0.0021 left_pitch=-0.0445 left_roll=-0.004 left_gripper=0.9995 right_x=0.4746 right_y=0.0364 right_z=0.0022 right_yaw=0.0092 right_pitch=0.2682 right_roll=-0.0628 right_gripper=0.7467\nstate[joint_eff]: [-0.1846, -1.3333, 7.0085, 1.7118, -0.0464, -0.0757, -0.0073, -0.0068, -11.0427, 2.7966, 1.6532, 0.0562, -0.1636, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fbbe05dde50f38d9d588615a1a7c3e6a2a1e07df9a9c9ec9ca3fdf686b67cac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:558c9ee1d674c5991c1578c712ffc9d46315cac35b7cb68e0144be453c2441e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a8f517b7a129de420ba9d4697c0d5247de146c86f2b0c822b4581b4e527f8b0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 5fbbe05dde50
wire blob 558c9ee1d674
wire blob 2a8f517b7a12
call 7 attempt 0 · /responses · status 200 · 3.553 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, 0.8078, 0.6037, -0.4084, -0.0261, -0.0498, 0.9995, 0.1257, 2.2143, 0.6552, 1.2533, 0.1547, -0.0353, 0.9973]\nstate[eef_state]: left_x=0.2917 left_y=0.0008 left_z=0.1703 left_yaw=0.0021 left_pitch=-0.0422 left_roll=-0.0041 left_gripper=0.9995 right_x=0.474 right_y=0.0361 right_z=0.0055 right_yaw=0.01 right_pitch=0.2636 right_roll=-0.0733 right_gripper=0.9973\nstate[joint_eff]: [-0.1846, -1.3607, 7.0085, 1.79, -0.0269, -0.0757, -0.0122, 0.212, -8.6496, 4.041, 2.0928, -0.0757, 0.0171, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.075},\"note\":\"The gripper stopped at a substantial opening, consistent with holding the brick. I’m lifting a few centimeters to verify that the brick comes off the table.\"}",
  "call_id": "call_gtcwZvIrTaaNPtBfwjBaDUay",
  "id": "fc_0ad61ea3386d801b016aaca7c79b4087d0a4ab665c79c60035",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gtcwZvIrTaaNPtBfwjBaDUay",
  "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, 0.812, 0.6037, -0.408, -0.0261, -0.0498, 0.9995, 0.1242, 1.9739, 0.6308, 0.9295, 0.1436, -0.0277, 0.7467]\nstate[eef_state]: left_x=0.292 left_y=0.0008 left_z=0.1692 left_yaw=0.0021 left_pitch=-0.0461 left_roll=-0.0039 left_gripper=0.9995 right_x=0.4609 right_y=0.0357 right_z=0.0314 right_yaw=0.0164 right_pitch=0.1562 right_roll=-0.0743 right_gripper=0.7467\nstate[joint_eff]: [-0.253, -0.9504, 7.3778, 1.7509, -0.0513, -0.0757, -0.0122, -0.0752, -11.412, 6.4615, 2.8547, 0.0855, -0.0611, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1457d986691e0cc4a9b82f8999de44159c06112dacb513fb1895cf24664170fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d072cd2129abeb2581c7673f181123cb88c47daeb793fc753a5c8e3b03d5c21a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6195be83c994cf5268de85580856c0ba61a924287b1ec1ffe3a4bf544aa25af",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 1457d986691e
wire blob d072cd2129ab
wire blob d6195be83c99
call 8 attempt 0 · /responses · status 200 · 4.831 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0254, 0.8101, 0.6037, -0.4084, -0.0261, -0.0498, 0.9995, 0.1238, 2.2349, 0.659, 1.2747, 0.1482, -0.0273, 0.7467]\nstate[eef_state]: left_x=0.2918 left_y=0.0008 left_z=0.1696 left_yaw=0.0021 left_pitch=-0.0445 left_roll=-0.004 left_gripper=0.9995 right_x=0.4746 right_y=0.0364 right_z=0.0022 right_yaw=0.0092 right_pitch=0.2682 right_roll=-0.0628 right_gripper=0.7467\nstate[joint_eff]: [-0.1846, -1.3333, 7.0085, 1.7118, -0.0464, -0.0757, -0.0073, -0.0068, -11.0427, 2.7966, 1.6532, 0.0562, -0.1636, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKfMhJVqAQWKMKjpnqAr3-HfdWwe4eDS1t2OZuHy-VDcxqEc8CRYbAVoZWHzvlhzahnKljE-TxVnCzYVfOdC09j3MIMR612Z-WAGh05mqxaxfRL2cJU_xSwBVBmYRVHRMGEaA1t9RSIatjuyQ7eb9IN4RGTKbygJWmjn-LR4kspX18fMSVv2yaYhmUiiSt802mpTDSsM18qYY9oGy4UiJzEli8lhgAd9gW_pDOlxU535Ailf2yKmuPD9rsGxyxoc870Pv9S55IqGgTJmwXdo5jyaZ7kqHFWH5f7IXj-OIxElLWkRUhl9lpkQ3PKx-2Jkd98bO1opzxK_QfY2u5tjxTJ8i1ek-vHE0lJPDexIZa-Xu_p-gFRKb9s9icjvj9eCRg2PQenflFgPftdO1RNaDm5djbgVwIYXilna8L_WlTFYMsJ19KSPNTbkLSnvC_N7tmC1F9pT8QSSOnCtQW5ZAf5z4qS5ty6916ay6Xo-MAjsKeKAWKdlvFHFnH8lnLrSw9AxtpOJ4NABk2T3jqhQdRj5A96RSSHprEdEFqchPKh0qH-6Eh-UwvSc9XRZxYAak0QN-jB24jrV9BQkFeG9IA2xFmgZHS0JxF48hP-3OSL9qJAv-_Ajsly2wh5_FSbdrbUW3UITNRwg-sVC6IixocoqPcDS9Ce9QymRfjkrX2ewU9-yHQeW0oReVV8DYPJP2NGat9amw9w-3MqfwaLMJKn1sETjA2moxfyy-12wANQ3FDswyKWJB52O_0M_30fblUa7PvjTp6QAhoaNUrVx4HnpNVAFEe1R0Wkzp2HH1kk8hhyjw0nRSiyowCppsG5hG4zd7jZzhjLmskzISwcZK2n5B6rusRymo6BDWQ8h8vKb39t-ZrQRFDUkxrRKyNwJuPzhixeUS5LIZncNgeB99JUEbs_PSVHEm1_Wu8i_6Tq6uLrCG7ew2kdkBl8ljLEI4rboTLSL_IQIFqznYBDDHBMrENWDNWoE2xdlAFn91Gqzr-8UukoE3oTnCRXNQtbKeUBwE2TP8eArsfyJrJgE91XXXKGIvn-GQ4cwVRrYRUMqCXU_5LkcutPcmVHqEl60vKY8ZTK1Eg5TFq1Hm6RB2QWW3hk6M2pBdiKl2hxJHkHgdtYMc-U8UWp_8jDkS6mVOmoTtskUQEDV2RWOeLLiZj08Oj5ANRYMUm-Z1993CYHZk-QjeG4uykV_C8ttD3tQGIB3rkm15tvp3o1jBjSm_3mG4wlFD0P2JNLujZu7At5-WqcnrjFEl39Z4vzftLNfJVV3uE6kyEu5Uo898QaNpuhooA==",
  "id": "rs_0ad61ea3386d801b016aaca7ca44fc87d0a842a618ed5bfb3d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_z\":0.23,\"right_pitch\":0.3},\"note\":\"The brick has risen with the jaws and the opening remains stable. I’m bringing the load slightly inward while lifting high enough to clear the pot’s rim.\"}",
  "call_id": "call_wmM3i93Qps1Ty9m3SVXxrLEj",
  "id": "fc_0ad61ea3386d801b016aaca7cb3b6487d0845eed345d7cbf09",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wmM3i93Qps1Ty9m3SVXxrLEj",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0254, 0.812, 0.6037, -0.4152, -0.0261, -0.0498, 0.9995, 0.1371, 1.3663, 0.7158, 0.2165, 0.1452, -0.0437, 0.751]\nstate[eef_state]: left_x=0.291 left_y=0.0008 left_z=0.1677 left_yaw=0.0021 left_pitch=-0.0533 left_roll=-0.0037 left_gripper=0.9995 right_x=0.4191 right_y=0.0357 right_z=0.1671 right_yaw=0.0371 right_pitch=0.1354 right_roll=-0.0918 right_gripper=0.751\nstate[joint_eff]: [-0.2803, -1.0872, 7.2, 1.7656, -0.0122, -0.0513, -0.0122, 0.212, -8.294, 11.494, 2.6935, 0.2515, 0.0269, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bb05cb1ac276c2ac9fced4d3a84c81d14c5778df545bc344f18d8240c7f65f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:998b06c8a19dc8def1a165968726a68c96284dec0ae0296bb651e1350cb2ba14",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2b2d6b36d72eef7816742b4362100136b89984486086a94e683053f78f7833e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 5bb05cb1ac27
wire blob 998b06c8a19d
wire blob a2b2d6b36d72
call 9 attempt 0 · /responses · status 200 · 9.284 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0254, 0.812, 0.6037, -0.408, -0.0261, -0.0498, 0.9995, 0.1242, 1.9739, 0.6308, 0.9295, 0.1436, -0.0277, 0.7467]\nstate[eef_state]: left_x=0.292 left_y=0.0008 left_z=0.1692 left_yaw=0.0021 left_pitch=-0.0461 left_roll=-0.0039 left_gripper=0.9995 right_x=0.4609 right_y=0.0357 right_z=0.0314 right_yaw=0.0164 right_pitch=0.1562 right_roll=-0.0743 right_gripper=0.7467\nstate[joint_eff]: [-0.253, -0.9504, 7.3778, 1.7509, -0.0513, -0.0757, -0.0122, -0.0752, -11.412, 6.4615, 2.8547, 0.0855, -0.0611, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKfSd6FMy2IWab6INmz1QX2aCuDMYfIVsjQxsMsMhXQ35YPq3eKjkXyluJPM9vf0SNeHPgwCotEYdVFPSJVnRamK5dus3k9K5fPI-GzmNh931xxgBY6HHNbz8u5Xge5hIlky9pRgEGyz-j5AsYh7hA7Jxk-3cOFWcVU7SYqGdxOXz1BhFvA0nc-qnZDCqD5Njf6sK1VkNKXdro5Oy3Imj-Bf51N0JmKAgAdHg6u6uB6U__pGjUKIQS9RyI6WecRpAU9DQELjpDmdHsU4HGCUPf3lyIusvE91e5l-Q2oEBVYoVFZWJ9ZsZegAE6A7h5qXsPzkYD95VSEi8A3--M5rswkDrHoO6H0iE0nQ7YtzpQum4EX3-mLqshTmIXq29Rd2B9C09X9u-c20KQ7pQ00bg9X1gvd0Fl57qSKZjBJIb13tkTcNTNUuFh7rpbPCswBkYtG1PJMineDk-3OGmRFN9n7Cbhn0_WtBj0RLDjX_cYcklGCWG6BKqRRHuWSPQcOw7EzVqRcVUeLzqD1kZ4JStOMjDYwAJIMKo-qudh_F9UkJDeFh44r9iTKVNdpm37ue-dlHwz9hLFChXq3D72lEw2QXVS3xb9qfdMMICMgNLZp9tel_kPGstOwx2eqzbyqhZ3MObc8XTy1xj9wAEiB4GBLiPrphB6g5czNdUzZRQKTEr8rBkca4mtX_IAr0Wl3ypSh0hVT-PjZjICRX8wJe0uFCt_dj7myc_eak7Me5vf4JbsA5MlMn_ryWGweic76EFGJuOCHRJx7jvJ554L--T7UfYHOQTUXB7Tm0tg6ud5t7MeXebGcS7L49v3P1n-d0JbVfwnLJgk0pAPvXMao8TyK7cvaS2CWV2G6ec4_Z82krdtOQXZiH0qfBDcz6S2jzonsTX1UIMmANLY4nxuqzIOxFcMQgpmbCaafFGweQym4PBudQuCr46isQw07RuQABu0AU9TLUT3qziZtLfzDgkkrhCIniaTj15UonXDy5DfHV5ouZbjpQUi1k-Ook4IZ8edUwWrg0TGthcEOu5gq2FmoAFwF6ImOPK0etbpXD8MFk173JMvX07aNt7YES0dGkIDcnRZqY-mfzPrTnYwKxRFtPkHX6EbYd69Mx4cNZZxgIujaOKzBIH-L1sZZTR_VbeMYkNg2fMEIDZwCls3ciWSHQi58gCw2Mm2SshzvPq5HrfsHqhE57KVnlCDv5M06frcN441_FoF--lDV-uuIodqnIJVxD9r4_qml6P9ryhD8dneaMN4zpiijQK9K4rFnweBeZNbV2SWZF8I7dHnFGYr-8Qqmlw_oPaZw_m7xb_KYPfQ9EkHAMbYBIgLiKLcGVRnFHNQvDYxNY0XwJadwGdbR3I9fMd1nfg-qwLUTMgqUUowJOm2QqvrlDYMtXpfeHY6i1zK4PQOukqnfgn5DFkIIBEWw_t1J7Q36wuwbHZVB1RBLFC6i5m7wluqPRHr9gotRq",
  "id": "rs_0ad61ea3386d801b016aaca7cf513887d0b166fcecd0781613",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.34,\"right_z\":0.29,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18},\"note\":\"The brick is securely lifted, but the loaded arm sits below its commanded height. I’m allowing extra clearance as I carry it left toward the pot.\"}",
  "call_id": "call_dR8kp5BWfjz6b17lcCYCAZ05",
  "id": "fc_0ad61ea3386d801b016aaca7d13bf887d09f8492144c3482c8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dR8kp5BWfjz6b17lcCYCAZ05",
  "output": "executing move_to over 26 steps (2.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0265, 0.8379, 0.6193, -0.4599, -0.0265, -0.0528, 0.9995, 0.8585, 2.0838, 1.9957, -0.6548, 0.7109, 0.3237, 0.7516]\nstate[eef_state]: left_x=0.2878 left_y=0.0006 left_z=0.159 left_yaw=0.0031 left_pitch=-0.1082 left_roll=-0.0044 left_gripper=0.9995 right_x=0.4435 right_y=0.3427 right_z=0.2424 right_yaw=0.1106 right_pitch=0.0185 right_roll=-0.1757 right_gripper=0.7516\nstate[joint_eff]: [-0.5128, -1.6479, 10.7145, 1.7607, -0.0708, -0.0269, -0.0122, 0.2393, -13.8872, 11.0838, 1.8779, 0.823, 0.3492, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36f1baccbb306735eb5706e22461648833ce8e808baa22512b0e191591b15035",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b07731553fad162b6a386f491f4f757acc36f2fde60985ea9a269f9b07dfc96f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6faf2540839d97c8d8f00793f5c17d9735e15305180a97c8147e19a5aec781e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 36f1baccbb30
wire blob b07731553fad
wire blob b6faf2540839
call 10 attempt 0 · /responses · status 200 · 6.357 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 32 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0254, 0.812, 0.6037, -0.4152, -0.0261, -0.0498, 0.9995, 0.1371, 1.3663, 0.7158, 0.2165, 0.1452, -0.0437, 0.751]\nstate[eef_state]: left_x=0.291 left_y=0.0008 left_z=0.1677 left_yaw=0.0021 left_pitch=-0.0533 left_roll=-0.0037 left_gripper=0.9995 right_x=0.4191 right_y=0.0357 right_z=0.1671 right_yaw=0.0371 right_pitch=0.1354 right_roll=-0.0918 right_gripper=0.751\nstate[joint_eff]: [-0.2803, -1.0872, 7.2, 1.7656, -0.0122, -0.0513, -0.0122, 0.212, -8.294, 11.494, 2.6935, 0.2515, 0.0269, 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": "gAAAAABqrKfewm1rkyIgU1TBKTdcCWRH0tKfxAkppGAJ_8rOvfmsKWjACfHzSVEzL9r7t5Qhp-ynjXFk0kFquEoCeAj3Ie0INRTj_cHUXdHp1mWTLQfJzZFdcEciDPBn4bT_n0VEoaKykB3Zd3ex-a0KDqXzMDbDjCQweHlFyCVbj_eLnx_kBcDT50KKM4hEY5mo2C-N_KCsbNxMQQK0NzC_1KdKGKhH4kgWRLA9yN4ds5cRxFpijpt4k_lI70ArVPeL4vk43aFVaIfOJWuen6CM7zbPqRgL3aw3MSf0zt7wq5Fp2nK8wic48e5OikbqHumSl8RR9urPzx6rdtW_SawziHvBbxck6irMuC1X9bu6VBPkceRsCouZwwqvnjxH_nHXUlqg9uxm4PKXG3f35sqXsviBU-ox38jWUYhRjTOgszpgtlZ6DVr7x2XbW0mNxFbceawscza8b53l9XJ89jbt5z53eybAFUCEnpgaNQ6FXy5N-DImdN9frCyVK9mO3CE3OK8I_WxeH-S32BQ2A_BC7yVF4AXDTJbGbs3t37iYMiCZLLQ5xEnh0_L5_JABQgxGKsk5R36wa9sSY8fxUFDAGwhnFVhHZ4SctlpsY7Z8Gp2rlsbHeFoGcOQQFEddzT0cDYjEfR5OVKcQMXkB9sywYqeNnsSREjxY8crPo5cUwVmCu03rWuApX9Sd0IjA7j40eOwlKoTQFCjaGDyr5Ls6E2FMHcoxBUL67n85lsnQTdiE-hM7-wofq_FRhv3tK1O-RTzZsYsYXpO6RlbTDu6nOULF4aVrkKNuI2NYbdSeDMbTuCa83ORdyIIUCDNCePMBaIMvGZ9xhu6ocvrGTacgS7Gu4jXC6lNMGC1tARfbUAhUNyLJ8lTu4j_c4vrXclMi7Lj3j5nDhoRccfxpwrATrjBiUslpmxnhpHPavcP-KHEDXZAbMK2FjPGnyao6BsMeNU2FCD3ACMH4wYjYqsagZFf_UUFhYUfjgDq4a8iMiXUWLsv-trU8MQdYNuGzcAkUFyYG9yEM1nkJBprzWxf4IEHeI_dqVkm1HTHi_A-C2L2unCsL4APAiHpPYW8k-tMbDYnfMdJMEpr9C8IaNEjJbCcVsljfAR9okFsthlCZbOhB7EFPe3dLMIk4gFwLSFGfg3Uu-82xq5J-tSZDAxxm6RoCWnlIbihmKnQWc8964GojN-OEH7Eoqj-joGxjsuA7FiaEvyVJ0zCQ5u2ETk8r49vW68V6-H4yNneTkokRZDwlB4PJjhvrThN3RY-LkZHsBM3YqYZRngatNqxpigslEEJBS5LRUrqfBQNAOLOU9pRwaqLuyLyDPXGo87Vv2Vw0jO2jeHV_ASgBu22ps_qqyXlNa6q-yE6ROC10PSU4AjWmdSzAIEuIVXvk7LQHUjsQXyWIkqj9kBd0cZqjDOWum8mPi5w1BwGgvHywZfVKf21K7S1xfGB2QJt3lAXCiNDoV18Kt4S926XWV1X2vKE0g0zB9geTpMV6JA0EB-cTGJev-nS_QqLnv2Aejz3tNHvzf9Z6geirfjXJHI5bhsDwZKnhbExvhJIzNGepWsedr8yt0v9_xbfnM-B4IP3YARJ-5CCEV17ctjrOZOAz_rHzlWTzP-oRiQPKb5WuUySsfiwvhVBdBK_xBpmFOQfISAcEUI0nslcENSp8ABITX6b5ykhvIhyIcnSjFcZip3W9VPymenA0KARKiQnCrqlAdLBb7a3XrNwH70WlIByG2c2iL0WyAv2dJc_orXarvPG6bZ2C6iMnrWKopqoOsJx78YurW9D3zol6cDPhJXiUcIYOmDiYKfEpfwwHSXbuB4AIoOTbXp88MKZzKph1kZYYkDyXwZUfXWWMkE-tW7gns0vlMHo6Ac8MACk8vVdaJUpawSL-bPNlsmyNJ25lxeI7mxtqfMhx9fs1aHge910SI6btXQn3ynfM4LILzbp3uEtk6TlyEbFiyhAULiEP0PYlVSjYpLd86OLE8g2uK6a2TKdLRi856sxNAjuC50o-hkXyz9WeWHUsRydi7FodlkZvbSyQJHXPxbThRMCmvLgdb5-1AQLnQoYEccFOe7F50rWbqj3QbLG_LQM=",
  "id": "rs_0ad61ea3386d801b016aaca7d6c61c87d08021f90c3d13e6be",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.39,\"right_z\":0.22,\"right_pitch\":0.3},\"note\":\"The brick is over the pot’s right side. I’m shifting it toward the center of the opening and lowering cautiously while keeping the jaws closed.\"}",
  "call_id": "call_j57F7KDp2ZlZFqIa6F3n5VWp",
  "id": "fc_0ad61ea3386d801b016aaca7dd109c87d08d4cc81b06921b6f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_j57F7KDp2ZlZFqIa6F3n5VWp",
  "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]: [-0.0265, 0.8391, 0.6205, -0.4667, -0.0265, -0.0525, 0.9995, 0.9211, 2.1918, 1.7832, -0.1989, 0.804, 0.1558, 0.753]\nstate[eef_state]: left_x=0.287 left_y=0.0007 left_z=0.1579 left_yaw=0.0029 left_pitch=-0.1151 left_roll=-0.0039 left_gripper=0.9995 right_x=0.4497 right_y=0.3875 right_z=0.1746 right_yaw=0.1847 right_pitch=0.1367 right_roll=-0.2755 right_gripper=0.753\nstate[joint_eff]: [-0.1846, -1.3333, 6.8855, 1.7021, -0.0904, -0.0464, -0.0122, 0.2667, -14.3658, 7.8291, 2.5519, 0.7643, 0.0024, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec97a377c4097f1604d07f3b01264896d622f697042eebaaef97ce785c72321d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e89c5bc5d22e3da8cdf0bc5e5781c0b81b02c7c81258063bfa590409d2b8eb3a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0aa185a6dfc2af22086040ac8cfeebdbf5347e077c9e6b3c53efd65c799d579",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob ec97a377c409
wire blob e89c5bc5d22e
wire blob b0aa185a6dfc
call 11 attempt 0 · /responses · status 200 · 2.428 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 36 changed as sent

message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0265, 0.8379, 0.6193, -0.4599, -0.0265, -0.0528, 0.9995, 0.8585, 2.0838, 1.9957, -0.6548, 0.7109, 0.3237, 0.7516]\nstate[eef_state]: left_x=0.2878 left_y=0.0006 left_z=0.159 left_yaw=0.0031 left_pitch=-0.1082 left_roll=-0.0044 left_gripper=0.9995 right_x=0.4435 right_y=0.3427 right_z=0.2424 right_yaw=0.1106 right_pitch=0.0185 right_roll=-0.1757 right_gripper=0.7516\nstate[joint_eff]: [-0.5128, -1.6479, 10.7145, 1.7607, -0.0708, -0.0269, -0.0122, 0.2393, -13.8872, 11.0838, 1.8779, 0.823, 0.3492, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKflYlPi1BVZBXiw5N8IJ4LQXNKXSiM_WTzAianFV_bpwOzdEWJDaIYK50_5BoU9a9QHIYphtJ_fHZjbmc4dq3xusW-FcqQdilR4ad7UuJbHjx6EiWAPf6auckHdQ5-egVLMAcZ8JDNTpJgMPHeZaJxHCWZK6C1x4NiuFNVFD3hMpz4EipnbBC2yJZmR-aOiUa6gv1-_dDWpZY5iAQl4idi4cjIen-5khttHwekwucds42WJkq5CNW3NapSn04jU0mE6I-Aqa_kBW7E9XsBaKub47yv6iHmTNTZkXTGG-GV2FpPcaNWF2zawb6WGGsqmP6rduLkvuI7QC8sm_oLzwKmYVnd9hs_kIEJbWkWYP6lRNPhRSpBlVET8k0Bw_d1f_4V7IEqrpFUJ6Z_AzQFnbh_CBMzQC1YB7l6oUv3KpYGRrO1ZEKR9xwP7DtoglFx6dSJ1rLwYuDhVZtOuwvjE5iDL0-mXMY7zMPdG94Y4rWRRkLg1Z2feVoeL63TnWAqlvB_d2IxnxJ8SgjOJ94TSAbV3Kepq4C3tc_D4BHS_YjAzI9GXfatBu-EVFCIfm3MvmuGqsSZqMg0mw0PkH50ERGIl8z7wgLkRyuR4M48MduwCQqjlbv8FP8gEjxhsm06lUHIw5MtMzSSIGdRs2gEa7eHgHzBTU_dOjHvlXTwU8JTzRvPq4EYQ4mP_9ahxlfJukButZ53DU69V7t5Bws2jolmvjHx1UTvrodqyXKT7r7Hv-mPSXbLeJQbfdUJk0m_rpC0dnPbjxjx5q0wsAdm-TffdP7KMLddWot4FmK0G1FjUj_TGKKedScEM9BkVlnGUlvkowYRjaLfcf2H_oBlxVdVOUPfNilk5W07rXR_wYUmZkIdqWw6zM3HxiD39A_iD7hR35dIeELa2pS9Xf22CvGL1q0U2mvIdxeOUNbUQCzEt9y_W9JMesrMXSkl-M-PVVzvIb9l1jKEF7Ly20umBTg0o_eCsoE702FGXB2yOecjGx5klKcTW7TXm3UI9lb9lkqqabfxQqgJS5oZDR5UhHA4fizOjjjgEanwgjGKSpeLLVvlclUU5Inbxi_01wC7-qxqef4_Yltou70bkXqe6zFb2mdp8Myxldo3SQ6rGVcSia6wRv74aztaAp2BE_fJJ71hrY_FXf0hhRn1fFgsqf6DRAPe-3cOwEr29dONHRqRISz8Qwbx71XAqkd7vcQAwpIa3iBDG3FxUd-vkEN6uE3Yo99PDF0-eh1PdBVJHPb9suN10avmUKtf8NHsCLTHQYVnikx3cyxl-FFX0JEWMc9_zrRpX2tFFeYv3ZxXP48o-5ft3M5O0YssjMzwNwBKVBqCK6z6eL4zYk4B2yoIcli5fk-5Chu1ewdvcMlcTQaUxwD5iXMKObxcL9omQVY0l-afIXC8MmS7my2xyisLgZ3VmP6tMkUdKwI6fq3pdcKDhoIwCAI3RVSZNVHHHooGBmWeyVbG2WuOY4CuQsg1nF3XU38FygRjvFHO0LZi0lq7sCIo8bbn-ISQhWtKQ3lM6eViWgmQRNyDhGM6RPKYtMlTYR3g8GOz3VBc85zxiOQ6qL02DiAnZ_AT2GN0Pt5qWaPDN6zhfSdDmAwWTwlHl-waXplzhTcggS2RWTObXzx7O6Hs=",
  "id": "rs_0ad61ea3386d801b016aaca7e1332087d0ab0bc6ce6cc3dd6a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.4,\"right_z\":0.14},\"note\":\"The overhead view shows the brick within the pot’s opening. I’m lowering it closer to the water before releasing it to minimize the drop.\"}",
  "call_id": "call_Cb5eCqb3TioXHSGalb0zQYPH",
  "id": "fc_0ad61ea3386d801b016aaca7e49e5c87d0bac73fea69deb780",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Cb5eCqb3TioXHSGalb0zQYPH",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8394, 0.6205, -0.4679, -0.0261, -0.0525, 0.9995, 0.9298, 2.2402, 1.7336, -0.131, 0.8093, 0.139, 0.7538]\nstate[eef_state]: left_x=0.2868 left_y=0.0007 left_z=0.1576 left_yaw=0.003 left_pitch=-0.1166 left_roll=-0.0041 left_gripper=0.9995 right_x=0.4473 right_y=0.3918 right_z=0.1385 right_yaw=0.2007 right_pitch=0.1137 right_roll=-0.3133 right_gripper=0.7538\nstate[joint_eff]: [-0.1026, -1.2513, 6.9402, 1.6142, -0.0171, -0.0415, -0.0122, 0.7043, -12.8889, 9.3333, 1.7753, 0.569, 0.2076, 0.9597]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efd78df13ae7a08c32276d9485f50dca0ca732df30ddbc93816e402a85b7269a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b100154b4114abf831c625564cbdab43f7bd464ffc5c17248956ce8912bd06d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5ec6d6a353a6f971cdd123d3f9acb1178805e16aa0eb22fe33878ff34844e76",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 3.028 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0265, 0.8391, 0.6205, -0.4667, -0.0265, -0.0525, 0.9995, 0.9211, 2.1918, 1.7832, -0.1989, 0.804, 0.1558, 0.753]\nstate[eef_state]: left_x=0.287 left_y=0.0007 left_z=0.1579 left_yaw=0.0029 left_pitch=-0.1151 left_roll=-0.0039 left_gripper=0.9995 right_x=0.4497 right_y=0.3875 right_z=0.1746 right_yaw=0.1847 right_pitch=0.1367 right_roll=-0.2755 right_gripper=0.753\nstate[joint_eff]: [-0.1846, -1.3333, 6.8855, 1.7021, -0.0904, -0.0464, -0.0122, 0.2667, -14.3658, 7.8291, 2.5519, 0.7643, 0.0024, 1.033]\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\":1},\"note\":\"The brick is lowered into the pot’s opening. I’m opening the jaws to leave it in the water.\"}",
  "call_id": "call_GgIk9vtRxgZEIR1uUnYRekqi",
  "id": "fc_0ad61ea3386d801b016aaca7e7732487d0a478ad1b5c367975",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GgIk9vtRxgZEIR1uUnYRekqi",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8421, 0.6205, -0.4679, -0.0261, -0.0528, 0.9995, 0.9333, 2.289, 1.7321, -0.1516, 0.7853, 0.141, 0.9963]\nstate[eef_state]: left_x=0.2869 left_y=0.0007 left_z=0.1569 left_yaw=0.0032 left_pitch=-0.1193 left_roll=-0.0043 left_gripper=0.9995 right_x=0.4436 right_y=0.3951 right_z=0.1055 right_yaw=0.2249 right_pitch=0.0508 right_roll=-0.3472 right_gripper=0.9963\nstate[joint_eff]: [-0.0342, -1.1419, 6.9402, 1.6386, -0.022, -0.0708, -0.0122, -0.1983, -17.2376, 6.735, 1.6239, 0.4274, 0.0122, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cdb9e66f1c0c823e26d84548ac375b49a48d33d74d4f224c08cd0b65a59b9b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ada87476cea3e202c4a5286777c83cf040b47101a63e47000189ac25be72164",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8df6451032f373b246852bbc69c53293820c6fe72f2744db5e594f8085e6900d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 5.323 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 44 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8394, 0.6205, -0.4679, -0.0261, -0.0525, 0.9995, 0.9298, 2.2402, 1.7336, -0.131, 0.8093, 0.139, 0.7538]\nstate[eef_state]: left_x=0.2868 left_y=0.0007 left_z=0.1576 left_yaw=0.003 left_pitch=-0.1166 left_roll=-0.0041 left_gripper=0.9995 right_x=0.4473 right_y=0.3918 right_z=0.1385 right_yaw=0.2007 right_pitch=0.1137 right_roll=-0.3133 right_gripper=0.7538\nstate[joint_eff]: [-0.1026, -1.2513, 6.9402, 1.6142, -0.0171, -0.0415, -0.0122, 0.7043, -12.8889, 9.3333, 1.7753, 0.569, 0.2076, 0.9597]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.35,\"right_z\":0.3},\"note\":\"The released brick is visible resting inside the pot. I’m lifting the open gripper clear so I can verify the placement without the arm blocking the view.\"}",
  "call_id": "call_Vj1DDJS8upWzSSpNJMQyUdFH",
  "id": "fc_0ad61ea3386d801b016aaca7ea124487d09dc53b2972ee386c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Vj1DDJS8upWzSSpNJMQyUdFH",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8436, 0.6205, -0.4679, -0.0261, -0.0528, 0.9995, 0.9207, 2.0979, 2.0914, -0.7376, 0.7681, 0.1112, 0.9966]\nstate[eef_state]: left_x=0.287 left_y=0.0007 left_z=0.1565 left_yaw=0.0032 left_pitch=-0.1208 left_roll=-0.0042 left_gripper=0.9995 right_x=0.4237 right_y=0.3604 right_z=0.2652 right_yaw=0.2404 right_pitch=0.0103 right_roll=-0.3867 right_gripper=0.9966\nstate[joint_eff]: [-0.0889, -1.5248, 7.1179, 1.5946, -0.0464, -0.0464, -0.0122, -0.7043, -14.8991, 8.6906, 1.4481, 0.3248, 0.1001, 0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca0701038817937ffff8a129c2c2779ba6a193839933f1e7b82a0f93f6b98d0a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5e90b6502c1bb9815d17f3144a681c7c4b841fefeefef431f2b9f2b73b15628",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e62345f4b4b8bbd1b7e8a669ed6fbca80059c9b73235c4517c79d43b48d19f23",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 5.535 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 47 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8421, 0.6205, -0.4679, -0.0261, -0.0528, 0.9995, 0.9333, 2.289, 1.7321, -0.1516, 0.7853, 0.141, 0.9963]\nstate[eef_state]: left_x=0.2869 left_y=0.0007 left_z=0.1569 left_yaw=0.0032 left_pitch=-0.1193 left_roll=-0.0043 left_gripper=0.9995 right_x=0.4436 right_y=0.3951 right_z=0.1055 right_yaw=0.2249 right_pitch=0.0508 right_roll=-0.3472 right_gripper=0.9963\nstate[joint_eff]: [-0.0342, -1.1419, 6.9402, 1.6386, -0.022, -0.0708, -0.0122, -0.1983, -17.2376, 6.735, 1.6239, 0.4274, 0.0122, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.2,\"right_pitch\":0,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18},\"note\":\"The wrist views confirm the brick remains inside the pot after release. I’m returning the right arm to its parked position, away from the pot.\"}",
  "call_id": "call_xGW4j19rJkoxamactBSW7tGj",
  "id": "fc_0ad61ea3386d801b016aaca7f0a31887d0b5e0633a3d1eb4fe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xGW4j19rJkoxamactBSW7tGj",
  "output": "executing move_to over 31 steps (3.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0265, 0.8883, 0.6891, -0.5453, -0.0265, -0.0528, 0.9995, 0.0013, 0.7792, 0.6407, -0.3809, 0.0597, -0.4316, 0.9966]\nstate[eef_state]: left_x=0.2871 left_y=0.0007 left_z=0.1602 left_yaw=0.0034 left_pitch=-0.1742 left_roll=-0.0024 left_gripper=0.9995 right_x=0.2972 right_y=-0.0066 right_z=0.201 right_yaw=0.1761 right_pitch=-0.0006 right_roll=-0.3911 right_gripper=0.9966\nstate[joint_eff]: [-0.5949, -1.6068, 10.4274, 1.7656, -0.0562, -0.0415, -0.0122, -0.0752, -1.2103, 7.0359, 1.8437, -0.1929, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:634f60ef852cb3ae42c5420cc4970332806258dcb01fe64b682ccd7a01051b56",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:636b5c9c9c4ccb39ccdf17d3be4978d341e54d5d15979c94beacc266faeeb36b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:434efd682ddc7bfc8fb01a937d68a1e2a4dee82c9d1768bb40df12eac056535a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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