adhoc

completed
2026-09-18T02:14:50.013693+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
82.11 s
total steps
128
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

put the black brick into the pot of water

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the black brick into the pot of water
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the black brick into the pot of water
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe black brick is to the right of the pot, within the right arm’s reach. I’m moving the open right gripper above it to align before grasping.
move_to
right_x0.3600right_y0.1600right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.7944, 0.6044, -0.379, -0.0223, -0.0414, 0.9996, -0.0212, 0.7925, 0.6025, -0.3744, -0.0139, -0.0196, 0.9972] state[eef_state]: left_x=0.295 left_y=0.0017 left_z=0.1803 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2952 right_y=-0.0002 right_z=0.1809 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9972 state[joint_eff]: [-0.3487, -1.4838, 10.1812, 1.7509, -0.0269, 0.2711, -0.0611, -0.3624, -1.347, 10.1675, 1.8144, -0.1197, 0.0317, -0.3101] 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":0.36,"right_y":0.16,"right_z":0.15,"right_gripper":1},"note":"The black brick is to the right of the pot, within the right arm’s reach. I’m moving the open right gripper above it to align before grasping."})
tool
executing move_to over 14 steps (1.4s)
step 14
top_cam
camera top_cam step 14
left_cam
camera left_cam step 14
right_cam
camera right_cam step 14
assistant
agent noteThe brick is slightly right of the jaw centre and still forward of the fingertips in the wrist view. I’m shifting right and forward while lowering toward its sides.
move_to
right_x0.3850right_y0.1400right_z0.0650
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.7994, 0.6075, -0.3866, -0.0227, -0.0425, 0.9995, 0.6285, 1.3754, 0.7677, -0.1307, 0.4862, 0.3321, 0.9972] state[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1787 left_yaw=0.0009 left_pitch=-0.0095 left_roll=-0.0006 left_gripper=0.9995 right_x=0.347 right_y=0.1546 right_z=0.1282 right_yaw=0.0444 right_pitch=-0.074 right_roll=-0.0473 right_gripper=0.9972 state[joint_eff]: [-0.0205, -1.6342, 6.8308, 1.7705, -0.0708, -0.0171, -0.0171, 0.1436, -5.8598, 9.2513, 1.746, 0.4078, 0.1441, -0.3101] camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.385,"right_y":0.14,"right_z":0.065},"note":"The brick is slightly right of the jaw centre and still forward of the fingertips in the wrist view. I’m shifting right and forward while lowering toward its sides."})
tool
executing move_to over 5 steps (0.5s)
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 brick’s long sides are visible, with its centre still a little right of the gripper column. I’m making a final small alignment and lowering the fingertips to grasp near table level.
move_to
right_x0.4050right_y0.1200right_z0.0150
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3889, -0.0227, -0.0425, 0.9995, 0.5152, 1.6009, 0.6846, 0.1207, 0.4126, 0.2611, 0.9969] state[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1769 left_yaw=0.0009 left_pitch=-0.0168 left_roll=-0.0004 left_gripper=0.9995 right_x=0.37 right_y=0.1322 right_z=0.0525 right_yaw=0.024 right_pitch=-0.1522 right_roll=-0.0883 right_gripper=0.9969 state[joint_eff]: [-0.0205, -1.5385, 7.2957, 1.7216, -0.0122, -0.0366, -0.0122, -0.5949, -6.9812, 5.8598, 1.8437, 0.2125, 0.0024, -0.0366] 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":0.405,"right_y":0.12,"right_z":0.015},"note":"The brick’s long sides are visible, with its centre still a little right of the gripper column. I’m making a final small alignment and lowering the fingertips to grasp near table level."})
tool
executing move_to over 3 steps (0.3s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteThe fingertips are at table height and aligned on opposite sides of the brick. I’m closing the gripper to secure it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8074, 0.6075, -0.3958, -0.0227, -0.0456, 0.9995, 0.437, 1.7855, 0.6998, 0.2752, 0.3676, 0.202, 0.9966] state[eef_state]: left_x=0.2939 left_y=0.0018 left_z=0.1747 left_yaw=0.0026 left_pitch=-0.0267 left_roll=-0.0027 left_gripper=0.9995 right_x=0.3928 right_y=0.1174 right_z=0.0111 right_yaw=0.0127 right_pitch=-0.1832 right_roll=-0.1101 right_gripper=0.9966 state[joint_eff]: [-0.0479, -1.5248, 7.0769, 1.8242, -0.0269, 0.0122, -0.0122, -0.253, -8.8, 6.9675, 1.7265, -0.0611, -0.149, -0.0464] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The fingertips are at table height and aligned on opposite sides of the brick. I’m closing the gripper to secure it."})
tool
executing move_to over 10 steps (1.0s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent noteThe gripper stopped well above its empty-closed width, suggesting contact with the brick. I’m lifting a few centimetres to check that the brick comes with it.
move_to
right_z0.0800
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8074, 0.6075, -0.4061, -0.0227, -0.0494, 0.9995, 0.4328, 1.8065, 0.6983, 0.2817, 0.3573, 0.1947, 0.7503] state[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1726 left_yaw=0.0047 left_pitch=-0.037 left_roll=-0.0056 left_gripper=0.9995 right_x=0.3915 right_y=0.1168 right_z=0.0031 right_yaw=0.0196 right_pitch=-0.2013 right_roll=-0.1151 right_gripper=0.7503 state[joint_eff]: [-0.0752, -1.2786, 7.0222, 1.8388, -0.0806, -0.0269, -0.0122, 0.1299, -9.2923, 5.0393, 1.37, 0.2125, 0.0269, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.08},"note":"The gripper stopped well above its empty-closed width, suggesting contact with the brick. I’m lifting a few centimetres to check that the brick comes with it."})
tool
executing move_to over 5 steps (0.5s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteThe brick remains between the jaws during the initial lift, though the arm rose less than commanded. I’m raising it further for pot-rim clearance and keeping the idle arm parked.
move_to
right_x0.3750right_z0.1800right_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]: [-0.0196, 0.8085, 0.6075, -0.4076, -0.0227, -0.0498, 0.9995, 0.4316, 1.644, 0.7742, -0.0704, 0.3309, 0.189, 0.7503] state[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1719 left_yaw=0.0049 left_pitch=-0.0396 left_roll=-0.0059 left_gripper=0.9995 right_x=0.3704 right_y=0.1114 right_z=0.0354 right_yaw=0.0313 right_pitch=-0.3142 right_roll=-0.1463 right_gripper=0.7503 state[joint_eff]: [-0.1709, -1.2239, 7.1179, 1.7509, -0.0415, -0.0757, -0.0122, -0.0479, -10.1128, 10.1812, 2.2002, 0.3639, 0.0269, 1.033] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.375,"right_z":0.18,"right_pitch":0,"left_x":0.295,"left_y":0,"left_z":0.18},"note":"The brick remains between the jaws during the initial lift, though the arm rose less than commanded. I’m raising it further for pot-rim clearance and keeping the idle arm parked."})
tool
executing move_to over 11 steps (1.1s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteThe brick is lifted, but the loaded arm is sagging noticeably. I’m gaining more height before moving sideways so the brick clears the pot’s rim.
move_to
right_x0.3500right_y0.1200right_z0.2700
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0265, 0.8261, 0.6098, -0.4339, -0.0265, -0.0528, 0.9995, 0.4767, 1.3598, 0.7948, -0.2588, 0.3977, 0.1299, 0.7503] state[eef_state]: left_x=0.2898 left_y=0.0006 left_z=0.163 left_yaw=0.0029 left_pitch=-0.0811 left_roll=-0.005 left_gripper=0.9995 right_x=0.3515 right_y=0.1085 right_z=0.1189 right_yaw=0.0657 right_pitch=-0.1925 right_roll=-0.1898 right_gripper=0.7503 state[joint_eff]: [-0.4444, -1.0872, 10.2085, 1.6923, -0.1148, -0.0855, -0.0122, 0.3487, -8.0752, 11.9043, 2.2686, 0.6032, -0.0708, 1.033] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.12,"right_z":0.27},"note":"The brick is lifted, but the loaded arm is sagging noticeably. I’m gaining more height before moving sideways so the brick clears the pot’s rim."})
tool
executing move_to over 10 steps (1.0s)
step 58
top_cam
camera top_cam step 58
left_cam
camera left_cam step 58
right_cam
camera right_cam step 58
assistant
agent noteThe brick now has clearance above the rim. I’m carrying it left toward the pot, keeping the gripper high and allowing for the brick extending forward from the grasp.
move_to
right_x0.3600right_y0.3600right_z0.2800
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0265, 0.8284, 0.6094, -0.4412, -0.0261, -0.0525, 0.9995, 0.5156, 1.3769, 1.3338, -0.8925, 0.3817, 0.1387, 0.7503] state[eef_state]: left_x=0.2888 left_y=0.0005 left_z=0.1608 left_yaw=0.0024 left_pitch=-0.091 left_roll=-0.0046 left_gripper=0.9995 right_x=0.3399 right_y=0.1211 right_z=0.2322 right_yaw=0.1017 right_pitch=-0.2989 right_roll=-0.218 right_gripper=0.7503 state[joint_eff]: [-0.3897, -1.5932, 7.0496, 1.7314, -0.0464, -0.0024, -0.0122, 0.253, -5.7504, 10.9333, 1.8584, 0.5592, 0.2027, 1.0281] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.36,"right_y":0.36,"right_z":0.28},"note":"The brick now has clearance above the rim. I’m carrying it left toward the pot, keeping the gripper high and allowing for the brick extending forward from the grasp."})
tool
executing move_to over 20 steps (2.0s)
step 78
top_cam
camera top_cam step 78
left_cam
camera left_cam step 78
right_cam
camera right_cam step 78
assistant
agent noteThe pot is beneath and slightly left and forward of the brick. I’m shifting toward its centre and lowering partway, still keeping the brick above the rim.
move_to
right_x0.4000right_y0.4000right_z0.2200
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8288, 0.6094, -0.4423, -0.0261, -0.0525, 0.9995, 0.9691, 2.3348, 2.6884, -1.5833, 0.5434, 0.5552, 0.7529] state[eef_state]: left_x=0.2886 left_y=0.0007 left_z=0.1604 left_yaw=0.0028 left_pitch=-0.0926 left_roll=-0.0046 left_gripper=0.9995 right_x=0.3472 right_y=0.3507 right_z=0.2354 right_yaw=0.139 right_pitch=-0.4026 right_roll=-0.2527 right_gripper=0.7529 state[joint_eff]: [-0.1846, -1.0325, 6.9675, 1.6435, -0.0464, -0.0513, -0.0122, 0.2393, -13.3128, 9.3607, 1.2088, 0.9792, 0.2027, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.40,"right_y":0.40,"right_z":0.22},"note":"The pot is beneath and slightly left and forward of the brick. I’m shifting toward its centre and lowering partway, still keeping the brick above the rim."})
tool
executing move_to over 5 steps (0.5s)
step 83
top_cam
camera top_cam step 83
left_cam
camera left_cam step 83
right_cam
camera right_cam step 83
assistant
agent noteThe brick is over the pot opening, with its right edge close to the inner rim. I’m lowering carefully and shortening the reach slightly to bring it farther inside before releasing.
move_to
right_x0.3750right_y0.4000right_z0.1450
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8295, 0.6094, -0.4423, -0.0261, -0.0525, 0.9995, 0.9337, 2.5679, 2.8326, -1.5955, 0.4889, 0.5156, 0.7529] state[eef_state]: left_x=0.2887 left_y=0.0007 left_z=0.1602 left_yaw=0.0028 left_pitch=-0.0933 left_roll=-0.0046 left_gripper=0.9995 right_x=0.3708 right_y=0.3676 right_z=0.1579 right_yaw=0.1229 right_pitch=-0.516 right_roll=-0.3188 right_gripper=0.7529 state[joint_eff]: [-0.0342, -1.5111, 7.0085, 1.6386, -0.0464, -0.0024, -0.0122, -0.2803, -16.6496, 10.988, 1.0965, 0.6667, -0.0024, 1.0379] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.375,"right_y":0.4,"right_z":0.145},"note":"The brick is over the pot opening, with its right edge close to the inner rim. I’m lowering carefully and shortening the reach slightly to bring it farther inside before releasing."})
tool
executing move_to over 3 steps (0.3s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteThe brick is positioned inside the pot’s opening at rim height. I’m opening the jaws to let it settle into the water.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8307, 0.6094, -0.4427, -0.0261, -0.0525, 0.9995, 0.9482, 2.6133, 2.8243, -1.5963, 0.4686, 0.5194, 0.7544] state[eef_state]: left_x=0.2887 left_y=0.0007 left_z=0.1599 left_yaw=0.0028 left_pitch=-0.0949 left_roll=-0.0045 left_gripper=0.9995 right_x=0.3633 right_y=0.3754 right_z=0.1314 right_yaw=0.1236 right_pitch=-0.567 right_roll=-0.3474 right_gripper=0.7544 state[joint_eff]: [-0.0479, -1.5248, 6.9675, 1.6386, -0.0269, -0.0317, -0.0122, 0.8137, -13.7778, 8.8274, 0.8034, 0.525, 0.1294, 0.9109] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The brick is positioned inside the pot’s opening at rim height. I’m opening the jaws to let it settle into the water."})
tool
executing move_to over 3 steps (0.3s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteThe brick has left the open jaws and is resting inside the pot. I’m lifting the gripper away to clear the rim and verify the placement.
move_to
right_x0.3400right_y0.3500right_z0.2700
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8307, 0.6094, -0.4427, -0.0261, -0.0525, 0.9995, 0.9604, 2.6556, 2.8311, -1.5822, 0.4709, 0.5282, 0.9958] state[eef_state]: left_x=0.2887 left_y=0.0007 left_z=0.1599 left_yaw=0.0028 left_pitch=-0.0949 left_roll=-0.0045 left_gripper=0.9995 right_x=0.3615 right_y=0.3832 right_z=0.1129 right_yaw=0.119 right_pitch=-0.578 right_roll=-0.3635 right_gripper=0.9958 state[joint_eff]: [-0.1026, -1.3744, 6.9675, 1.6728, -0.0366, -0.0562, -0.0122, 0.1573, -16.2803, 8.3624, 0.6178, 0.4664, 0.105, -0.0757] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.34,"right_y":0.35,"right_z":0.27},"note":"The brick has left the open jaws and is resting inside the pot. I’m lifting the gripper away to clear the rim and verify the placement."})
tool
executing move_to over 11 steps (1.1s)
step 100
top_cam
camera top_cam step 100
left_cam
camera left_cam step 100
right_cam
camera right_cam step 100
assistant
agent noteThe wrist views confirm the black brick remains inside the pot after release. I’m parking the right arm away from the pot so the final placement is unobstructed.
move_to
right_x0.2950right_y0.0000right_z0.2000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8341, 0.6094, -0.4484, -0.0261, -0.0528, 0.9995, 0.9276, 2.2509, 2.4046, -1.581, 0.4587, 0.487, 0.9963] state[eef_state]: left_x=0.2879 left_y=0.0007 left_z=0.1578 left_yaw=0.0031 left_pitch=-0.104 left_roll=-0.0046 left_gripper=0.9995 right_x=0.3305 right_y=0.3165 right_z=0.1881 right_yaw=0.108 right_pitch=-0.6091 right_roll=-0.393 right_gripper=0.9963 state[joint_eff]: [-0.0615, -1.4291, 6.9538, 1.6777, -0.0464, -0.0659, -0.0122, -0.1573, -11.4256, 5.8598, 0.9499, 0.3053, -0.0464, 0.0317] camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.295,"right_y":0,"right_z":0.2},"note":"The wrist views confirm the black brick remains inside the pot after release. I’m parking the right arm away from the pot so the final placement is unobstructed."})
tool
executing move_to over 27 steps (2.7s)
step 127
top_cam
camera top_cam step 127
left_cam
camera left_cam step 127
right_cam
camera right_cam step 127
assistant
agent notePlaced the black brick into the pot of water and moved the right arm clear. The final overhead view confirms the brick is inside the pot.
done
hindsightThe loaded right arm sagged 4–8 cm below height targets and accumulated substantial pitch/roll error at cross-table reach. Use extra clearance and trust readback during transport. This brick was successfully grasped near right_x=0.393, right_y=0.117 at table height; release near right_x=0.363, right_y=0.375, right_z=0.13 placed it inside the pot.
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8371, 0.6094, -0.453, -0.0265, -0.0528, 0.9995, 0.1326, 1.2999, 1.2613, -1.1339, 0.2432, -0.2878, 0.9964] state[eef_state]: left_x=0.2874 left_y=0.0008 left_z=0.1561 left_yaw=0.0034 left_pitch=-0.1116 left_roll=-0.0041 left_gripper=0.9995 right_x=0.2927 right_y=-0.0003 right_z=0.1944 right_yaw=0.0617 right_pitch=-0.6314 right_roll=-0.4033 right_gripper=0.9964 state[joint_eff]: [-0.335, -1.7162, 7.241, 1.7411, -0.0757, -0.0757, -0.0122, -0.1436, -5.9282, 5.7778, 1.2234, -0.1148, -0.0269, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]
assistant
done({"summary":"Placed the black brick into the pot of water and moved the right arm clear. The final overhead view confirms the brick is inside the pot.","hindsight":"The loaded right arm sagged 4–8 cm below height targets and accumulated substantial pitch/roll error at cross-table reach. Use extra clearance and trust readback during transport. This brick was successfully grasped near right_x=0.393, right_y=0.117 at table height; release near right_x=0.363, right_y=0.375, right_z=0.13 placed it inside the pot."})
tool
done: Placed the black brick into the pot of water and moved the right arm clear. The final overhead view confirms the brick is inside the pot.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "What you observe right now in the observation (images, if any, and state), and why you chose this motion. The user reads these notes live and in the saved transcript to follow what you see and what you decide. Write for them, in one or two plain sentences.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 5.45 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
  "role": "system"
}
{
  "content": "Goal: put the black brick into the pot of water",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.7944, 0.6044, -0.379, -0.0223, -0.0414, 0.9996, -0.0212, 0.7925, 0.6025, -0.3744, -0.0139, -0.0196, 0.9972]\nstate[eef_state]: left_x=0.295 left_y=0.0017 left_z=0.1803 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2952 right_y=-0.0002 right_z=0.1809 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9972\nstate[joint_eff]: [-0.3487, -1.4838, 10.1812, 1.7509, -0.0269, 0.2711, -0.0611, -0.3624, -1.347, 10.1675, 1.8144, -0.1197, 0.0317, -0.3101]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a037699bbeb06a8bae1846c8e7000db9ffe790ffdb007a2316b5995c99c67ec0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e986f2487d48de346b033f0745e6cdadb245247e233976f86c03fbbe520bc906",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98682969dde45b6cf71d21a065b21378815d643261802cfab858389bb289f856",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob a037699bbeb0
wire blob e986f2487d48
wire blob 98682969dde4
call 1 attempt 0 · /responses · status 200 · 4.751 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqrJ6sQ-4k8UfMhs3msxiTB_QkTBzaZSuZcp4XXuZZK1p4iI63QaV-5fGKtT4V3ym8DzFer02uoWMDeHCr5qmetFoOe1x9SS4KjiSdi6oaWZAZM_kwgFTDylZJBLSgZ4CYY7s5iu8BhUAG82kNiI4OpN4oamrZ024dJEdu-Vmkk0ZmBy_616OD7f0n2LNYypvZLXhEEGIlvvdka3jQx9nwl2g0TIokh1xSI8AouLYGg08ID9GQOQm0ffEVjSAOBtVWHQtJ0T2pmC_zhwVYXsTEbKk_iyn_Qzd4tlGgLiIdMucgDCdQBbxcQ4AUZ2OdsmodoAHGskPvIIS3gjSXRcy-Yhd5OALGVUDTg56p5O9-_fWtJGotT-sh15C6lFOTr9kGWuH8zB2X1BT0rnfXWiMCIKduPitT5sYo4acHK_7MPBr32z5pUKlUDvJ2RyWxPq4qShDVRo4AWAGTTbGEPxdP32eFoDSyBesIOYXqw30Y6zqEmqUP1UXl36apzq6cNnFSN7f6-YhZ1VF_ks0HSPFLSd6u7bRa7fzGqGY1kyURMdxHvYixfemJrZdxfW5mOrVxEeaES8CmRNbKVSaZE2RuVhn9h8O0r61AED58ujOVOqFiBiPaxvTj02ESYo40O4TPI3P4vlJrcNH-C2YdHG94Fz69_epDzEatnzOWUzRWOzpDgOYDgn7uF3SKRVCSEmpbqWZai0S2vAR3ZlE5kaG-6A7gaomylweUMiVylpeJ5AhXhcOmFnsz00qxIbKdfG9Hgo7UzY7CV-zeR98Re_3IaqnKrG874GMWMxokQOG-wnwmYNybPmsGf3qcCzCsO0CZ8JJKBBdA7Luf4cWtI8mt8lX5cOwIdfG346ztY-cKLJMafjOSujEcCnMFxNk_JJRp1ZcdR6fiwE0EHFTHV6a6CY_uqGh8eTMFENcvzM9YEMvHBPEr5WhzEeav_e-viU2eXPdykZEWch3R3g5e0K7tncsJTOQIaKz8ia7rWIBttHTzTxmZblAhPLZaw5U4o6vi70pCrQacz0u2Hpw9fKGofIAbWJFDNJBmyL8txkhgRym7FyOMJqVMX9U2wJhv7zwYFr2a_8EwhRyZvXKET9su0-21c0sjYoLDLj2j1kq2e5MohlWNDwuMp1XqkM-LrHGmJ-Nyd9S3HptLclk0TDX6TmambAPB4_mmSkITZ-5MDyU8BbpgpoGiKHLM2cV9hGFjh7EaBDbatA8xGxJzMUkskxRbKpPpYWNb8rg9sDDyT2S9gr07cBs2De_ST09fp_be5u9uhK_V8SJZ21_ht-dOcMe8bFr9JV-zz8HQ9UUqixlRAkFLD-hCaidh51m5guUxp5RMtjoUvc-dcxQs3t_NYs1g-bddGkFy5OVpm4du6LfJFwDmaHhBDIL0SEtVbGY3-L8glqHK9u1T2RlvXxO2yes5RqOyronhheKLHUqLfg0-dg_lqz5r5fIa1P0heKggCUtXJbrnhplqCrthz-mycQOiQysybOqh5hw2Tm-M8lhTEvYiTjHOr9ZRe_as_aADUbxQNoyHrZqXUv4UACLtG3ODfwU45vEncKjkCTHMVbjdPhlp8r8jCtLR0gYU8QkLs-9iGUMwVxCZYERE4_CZ9O-yGpEl0r9lGLp1YdZFEWUa4FiXvyuFw6JCF-vwe1ZrGNSf",
  "id": "rs_0a8f12b8194f5f21016aac9ea7e00c87d0a523e0fd488fea71",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.16,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"The black brick is to the right of the pot, within the right arm’s reach. I’m moving the open right gripper above it to align before grasping.\"}",
  "call_id": "call_6mhSqYLRiVnVbIk7wpCLF84R",
  "id": "fc_0a8f12b8194f5f21016aac9eab11a887d08fb132fea48c234b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6mhSqYLRiVnVbIk7wpCLF84R",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.7994, 0.6075, -0.3866, -0.0227, -0.0425, 0.9995, 0.6285, 1.3754, 0.7677, -0.1307, 0.4862, 0.3321, 0.9972]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1787 left_yaw=0.0009 left_pitch=-0.0095 left_roll=-0.0006 left_gripper=0.9995 right_x=0.347 right_y=0.1546 right_z=0.1282 right_yaw=0.0444 right_pitch=-0.074 right_roll=-0.0473 right_gripper=0.9972\nstate[joint_eff]: [-0.0205, -1.6342, 6.8308, 1.7705, -0.0708, -0.0171, -0.0171, 0.1436, -5.8598, 9.2513, 1.746, 0.4078, 0.1441, -0.3101]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80c798a4d6735b325ea3921d6c0c6ea346b577744477b330722cb4e163e94957",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f72ab866eac38d7944ca0619894beab9df5161b97cf1e9f5ea4fb011a9491f42",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:047160c9e79f7f442fded31b1040c82669bd260f54b171df7ad6ffeca0d5d78a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 80c798a4d673
wire blob f72ab866eac3
wire blob 047160c9e79f
call 2 attempt 0 · /responses · status 200 · 5.556 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 2 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.7944, 0.6044, -0.379, -0.0223, -0.0414, 0.9996, -0.0212, 0.7925, 0.6025, -0.3744, -0.0139, -0.0196, 0.9972]\nstate[eef_state]: left_x=0.295 left_y=0.0017 left_z=0.1803 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2952 right_y=-0.0002 right_z=0.1809 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9972\nstate[joint_eff]: [-0.3487, -1.4838, 10.1812, 1.7509, -0.0269, 0.2711, -0.0611, -0.3624, -1.347, 10.1675, 1.8144, -0.1197, 0.0317, -0.3101]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrJ6yv4fsyzQq8ydW5HmJ_88HfuPw_HQ77NPQQwRw8RFJM5QzJcEqX7fdVtOVn7oan4JhnQ9SeGJiRZEQaLIds5SDZ1hFFWUOYh9f1ky0RbA3a1yy2-buADVfIW2Hp8OH1XyFjalyL91_bCMGUBjfXu2GOrPVAH_FVgGOWKyehhfv3Vf90FwZSm-uSF3LTvxdkfUzOQ6OT_BZVTZvKiW9p50VM6O_7Uo7ZnzcjFghlvj0U1yBJeRvr4OaQ9RLL39YT9tEZnKFvytxU7agL_B70iT-FjZRsNumDIUvyv1DdTmLw2TKMpMlTvH1CrgfE_mb7G08d_bcI4sWAC7BDE806uXtIIfsg0UWiKbiMPU-cpeV0zvC7xIIgwwTHoBRX9FFKviI0IjXSk6-r-I22FQsz76MeRbvQnBN-L7mOroOjpuyhuAPhbEQBGWXEIyO96FV8pvzAaqDZIV-1vvQgsnkhEWaJI2lF1WVuFSVlkpi6PTk_upDSYDKEtGiviC3p3VGnDD0yuwwWf-S1o5Recu2j3tkQAP1q_U2wB84Lsjpmm_Kbb7OsktMfyOUajcG7fDfTzEnxb1geu_rzIVq-6VzXjzWtDwCJV06n2dk2ptGm3TZBZ8Bi2bT0WaMmLxlxUY1Y3cEYbQ-82fR0dut1QW_QqBeBaeHDiNPkWsVTwgwZNyS2yNebLi0HboiNqASL1OLGBE__g9o0gb48pGvuB8Sxw21UdE1sMIvq9NqXb4EIVmKWRrSYuTZiLR-BHQQcyywRhLwFi0R4lFLLNo4h8ECojKv-IUA_oRbfoS3g2FVIjucG-gSlc-KlbVFgeh5bw1q9jihBDt-sNB74NhliAHQm6QWRu9eio2Nwvt63VyXV8rQ9B4qpGwgLigDc7EsSdwhNl7MU1lTUDSQEg84kkHhKfza_CwZZSMEN2XBcLqRLU6xdvsW0HhVW-rC5CNMs4gmeL7n0yZkiCpaYG2UZJvRFkGyS124SQnfPVZEI5gKbRHemgKqSPDggpbG_Qu6C0QmpLT7IHRQ3HClG73cYvjVFNiVIYxgKHP-9QQ9ciOMgyhE-1X-cSwZSNGeXbt517tYmhgfQGghtMH86ouKRtwUqQBIxUg_bPVcdEPXxnDk9m4Pn79idmMYtHpsz6USow0gik8gcrSznm90jCLZWuX3Cn0w2hpKdce-OIJXyIPmwug4ZHUFMHbie_P9KBbHo2afk8nKOxr9W3fW1eZ82qSerWMeaT8TH_Dj4kP5OMxQ9oIe858lf6y-M8fR_3b_r8PrNwbh3ri7fJhD9m8CMaVC-Vt84cjtWs9_USeL5VMEi3StpzBC2eHnZ3gVACsCb1JOC4v9p1AQv9NjZGfye886jk2r7Q==",
  "id": "rs_0a8f12b8194f5f21016aac9eaf585887d0a7902adf0cfe1146",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.385,\"right_y\":0.14,\"right_z\":0.065},\"note\":\"The brick is slightly right of the jaw centre and still forward of the fingertips in the wrist view. I’m shifting right and forward while lowering toward its sides.\"}",
  "call_id": "call_ULddAOyIbmGJlYaSq9JYqZlq",
  "id": "fc_0a8f12b8194f5f21016aac9eb0e1c487d090141a51e6b942e4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ULddAOyIbmGJlYaSq9JYqZlq",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3889, -0.0227, -0.0425, 0.9995, 0.5152, 1.6009, 0.6846, 0.1207, 0.4126, 0.2611, 0.9969]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1769 left_yaw=0.0009 left_pitch=-0.0168 left_roll=-0.0004 left_gripper=0.9995 right_x=0.37 right_y=0.1322 right_z=0.0525 right_yaw=0.024 right_pitch=-0.1522 right_roll=-0.0883 right_gripper=0.9969\nstate[joint_eff]: [-0.0205, -1.5385, 7.2957, 1.7216, -0.0122, -0.0366, -0.0122, -0.5949, -6.9812, 5.8598, 1.8437, 0.2125, 0.0024, -0.0366]\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,$blob:52998980272e9fdd465c27dba1b00f01852a6295674780beab5f935ca59cc75a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ab2f7727e853c47b1b1affaac46e5c2cdfdc53c80ce45e05899d9e79870bd61",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c011b6c2d904d72535f70305b925b5f20642d6e900ddee04e00fbbb3935a0b70",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 52998980272e
wire blob 3ab2f7727e85
wire blob c011b6c2d904
call 3 attempt 0 · /responses · status 200 · 3.863 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 6 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.7994, 0.6075, -0.3866, -0.0227, -0.0425, 0.9995, 0.6285, 1.3754, 0.7677, -0.1307, 0.4862, 0.3321, 0.9972]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1787 left_yaw=0.0009 left_pitch=-0.0095 left_roll=-0.0006 left_gripper=0.9995 right_x=0.347 right_y=0.1546 right_z=0.1282 right_yaw=0.0444 right_pitch=-0.074 right_roll=-0.0473 right_gripper=0.9972\nstate[joint_eff]: [-0.0205, -1.6342, 6.8308, 1.7705, -0.0708, -0.0171, -0.0171, 0.1436, -5.8598, 9.2513, 1.746, 0.4078, 0.1441, -0.3101]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrJ649ylXZdIbGHYQ7XxzXomEV4e87DkR1csNrnU9TkeDJ3kQEXRmGGw8dnhLWhMbwszKw1R3rtF0sT9_CPf8wOZpwv3wUON-xljWZ9xIYvGg7TclU84087hc4Kit_H3iWbOPWmwmn79tG_M-hTNRHBY32zuNcvMVEHTvF_A7vVynmLl1kjehg-PogkB_vymCfTddyH6Fx-DexOZIQa9SBxJ5FfyMrhzbPluKi_snOO_dAnt4YQg4btQzVIl_d6fIAiBJjDVQo-LLa-NIPjKCkwk1C0SFVTGCPB58HKBMxsB27EYhA9KZynKNoZF4uhLLLr_0qgvgzox_oHGOfluviMq9Tlnt3tbwIO3HHUjVYff4iCdM9onkrZpl9yWBAhnvv3gqgtMgL8Jp58oOXfl-89T4nVt2Y9nWlueHCkX0fkv_XiHHIAPIR0M1SK7wWwyvxZXWEuC_XTnL9lLTWs27xaz51t_r8Oa7kIYwRMHX8MClzn_lio7hX8pxxpFCXiOTSSgM8dQOFvjaYMiXqbO-FB0whQqAFCSL6DdqZ3ouICKjwfs2mr2xr3kIY8smCtcFnXJx-3t4Fagj8VsCJB57qXnm28t6Xv1v1qqN7JkIBTDMhgTejOOlt7MIPhqU0kqFX4z2uq_FPg6jCymOyqKd8mwwWQimKxwQepcWHU1dxsD2Jh5d2QW5uiHhZi2B1MGSQ1xi_7Y0c-4M3uA9lQjXdvkIUQowewOzBVpagksx9jO3iaUwyCGRqaorbl_qVjU9DHNDZnCPYicG6YYqkKcDd-hNuk4uFoO2GQAD9tpdWgspvVGGmm79nA6yD-YbCpa_msF0LzHUiRtMluu_ezgMdzHGFbRpKMgHca0KkWiZp1ayKSkd0VJ8Vief4loftWQLL80A2Mz1TUYUpZjPTas2o_nHzqeyoYlBWDHpur3ltWxbonWhF0FboY9F5rf5E55ObCCfBU65hgNuxYq_e9n97Xd-wK5YtttjfRdjtIIHlzNOFaSmLzzrf6KjK80CsBsMTslaUE-CumfLlx3Tojyrq-clsVcCzW66PmpcYsuo1R1XB0JkTTABtARwXX0zAvPaZi-Scf2Q-DXGOT5Po1Q5EstxNB6SRV4c2u2_CTmJKrsBXcs5TmGFIYhUWjMJdV4er51nxMsSWZ3mjv55jF67O7mc7Ae3_n1ctLQWKjshO7h8XDJWfxiAK5pN25IelFSLV7-JIxyYqUxBA-m3AWlU8BAOoRoS3JGNuMCmn7Mnuy5tiXM2a2jnofrzM77v03jFRdaPA_FX6oEFKh7YpxtifkRbQJkWzW4WJtLqk5Rq4hUyNP57NBFHLZcCuiPl6HLqXEvrdc3Uwz6_x4m83nDoXDUa2GfnVwm8xSj3opB-n50vXoc=",
  "id": "rs_0a8f12b8194f5f21016aac9eb4966487d087f721e5b5c04380",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.12,\"right_z\":0.015},\"note\":\"The brick’s long sides are visible, with its centre still a little right of the gripper column. I’m making a final small alignment and lowering the fingertips to grasp near table level.\"}",
  "call_id": "call_n9TM6odmZrjL0aovLyaiHrZu",
  "id": "fc_0a8f12b8194f5f21016aac9eb604f087d08369d38b0c0948b2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_n9TM6odmZrjL0aovLyaiHrZu",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8074, 0.6075, -0.3958, -0.0227, -0.0456, 0.9995, 0.437, 1.7855, 0.6998, 0.2752, 0.3676, 0.202, 0.9966]\nstate[eef_state]: left_x=0.2939 left_y=0.0018 left_z=0.1747 left_yaw=0.0026 left_pitch=-0.0267 left_roll=-0.0027 left_gripper=0.9995 right_x=0.3928 right_y=0.1174 right_z=0.0111 right_yaw=0.0127 right_pitch=-0.1832 right_roll=-0.1101 right_gripper=0.9966\nstate[joint_eff]: [-0.0479, -1.5248, 7.0769, 1.8242, -0.0269, 0.0122, -0.0122, -0.253, -8.8, 6.9675, 1.7265, -0.0611, -0.149, -0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edeb1a93540966e0c3670cbf9f00d3ddd9083dc06e210912c5edbe38dd3dccfa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96e375e2a7e486f7f7d9f8b1ddcfa1f03c0bb8e430ebadfd51bea56dd14243ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afc98eaafa77558f4c90a7aad97ba9e1a1d459846cbb29c54b025aac48d56e9d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob edeb1a935409
wire blob 96e375e2a7e4
wire blob afc98eaafa77
call 4 attempt 0 · /responses · status 200 · 5.942 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3889, -0.0227, -0.0425, 0.9995, 0.5152, 1.6009, 0.6846, 0.1207, 0.4126, 0.2611, 0.9969]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1769 left_yaw=0.0009 left_pitch=-0.0168 left_roll=-0.0004 left_gripper=0.9995 right_x=0.37 right_y=0.1322 right_z=0.0525 right_yaw=0.024 right_pitch=-0.1522 right_roll=-0.0883 right_gripper=0.9969\nstate[joint_eff]: [-0.0205, -1.5385, 7.2957, 1.7216, -0.0122, -0.0366, -0.0122, -0.5949, -6.9812, 5.8598, 1.8437, 0.2125, 0.0024, -0.0366]\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 height and aligned on opposite sides of the brick. I’m closing the gripper to secure it.\"}",
  "call_id": "call_XXHYmen3XavqVUbKRM0BDIzz",
  "id": "fc_0a8f12b8194f5f21016aac9ebaff2c87d08c2576ca29c69d68",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XXHYmen3XavqVUbKRM0BDIzz",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8074, 0.6075, -0.4061, -0.0227, -0.0494, 0.9995, 0.4328, 1.8065, 0.6983, 0.2817, 0.3573, 0.1947, 0.7503]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1726 left_yaw=0.0047 left_pitch=-0.037 left_roll=-0.0056 left_gripper=0.9995 right_x=0.3915 right_y=0.1168 right_z=0.0031 right_yaw=0.0196 right_pitch=-0.2013 right_roll=-0.1151 right_gripper=0.7503\nstate[joint_eff]: [-0.0752, -1.2786, 7.0222, 1.8388, -0.0806, -0.0269, -0.0122, 0.1299, -9.2923, 5.0393, 1.37, 0.2125, 0.0269, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:988fc96e87147d94d262cf95020073c71e5d611f983a5d4d650804e552921672",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23a823d7aca8888e1e8ad0c26e01946d9dedbe47af8de59b6fdf4ccdb09cb2bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45314ab791069901d990d0239ab81d290a350790d892a7a9ac759cdcd19c2116",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 988fc96e8714
wire blob 23a823d7aca8
wire blob 45314ab79106
call 5 attempt 0 · /responses · status 200 · 4.371 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 14 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8074, 0.6075, -0.3958, -0.0227, -0.0456, 0.9995, 0.437, 1.7855, 0.6998, 0.2752, 0.3676, 0.202, 0.9966]\nstate[eef_state]: left_x=0.2939 left_y=0.0018 left_z=0.1747 left_yaw=0.0026 left_pitch=-0.0267 left_roll=-0.0027 left_gripper=0.9995 right_x=0.3928 right_y=0.1174 right_z=0.0111 right_yaw=0.0127 right_pitch=-0.1832 right_roll=-0.1101 right_gripper=0.9966\nstate[joint_eff]: [-0.0479, -1.5248, 7.0769, 1.8242, -0.0269, 0.0122, -0.0122, -0.253, -8.8, 6.9675, 1.7265, -0.0611, -0.149, -0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrJ7DeHpQcXtmtgSc2ybaAzvgoBqCFnoe-JPI4S8yOKme1GU1XFBztETTn6jKok_gHUm-vDKgvpJ9VWilsdPXHGBIVYuEGr3hqSCw8jQfDdJGLrb-YRc-BzivoOafmESkE4cBTaYgEPRcO7KBe3JmeuzwGPTlO6C-vFtYqmSf_hkLbu5mX-VJt-FbLvGnDDL54nRAiuCcIF8GMNX5I0Xhrz1zlgW7x2KXLFNWOUvQV-tKhnnRCKIUdxVZA2XnSghzyb8jBXmLg1CTItsXgmIQuycQzJ6iMFLtZAbpMKmUdLVJdDfnlHSQbEYI2cpHxKxYCF47UnTrfYkafi3Nt3zKu6MeEgUOSbYcAhhbBUhvoD9KPYEIjDrpiRMxTVKpKiz9sMLkcQoERAtp9Mpl5WZ-uevcr-EkShqeqLnFnoRW7f85D2OzXWMc_HksGKf9At_6NLVBuL6EBCBk_PYpVfXDwGOicbBHjc8Owxt50taKgAe4fZw_CLa3_UA4FDKcHVE4VkN5M-V_OpckdqQTauHD2RVx9xknKTaXxGZJksMnzM7UwoNpxrB3p0oKcvUc6OOfFB238HIY5fBXmwdPYSgWAbGL_Oq--igzhcHhE2CHQFRGHXjJmZDPITw2p81Qd_pXOAEtSsylnav-ThPzGiEVdDBeuZBUBgCQyPtie8M48hHViDdac7hAk_noFH5OvW34lJJ9StLr5eJzpCaV0PgW7NsPFNq1Y4QQTi-bS-7uhL7XIV36klVrrr0eEQpgp6Nj1Mez3PU26JEaULKVJKlYDxzsatPVvUjjj2GgepKCPdcqI5nrQIxIYJD6e5rISBaphaScy2-52gl3IwFyfjyckuRcnSuWxv6yk1Zyyjmm-kIwmXMSigY4uQfWanqT5Fg32oLcg0mnwxqX7O-TEm5wYpP-An1ccSLznbF98L9Q8n1uS2jesOa5buC6yD9yEUxdFdYl5iZpsAge-6fcXFo7REMpKETSeAMPRpqiqH9bS5cwtKkEXoFvCHNEx5wUBy3jrEE85HdaRaz_pSo2FL80ILeOkMFf4tEl23IYariFMZVZ0OWqU3XtoXWr-VaxKQ0NgP45nUOwvzg8QhNLk4bwI6F6xbV5CaOwBWquo0DSQsAPe9qxLeOyee2xmuNq6sJ3aXuiK7ubHl9ZPG-0i8ASuK4LOeV7TSsLyRP5OrsHOQABIyhG00nbfLTQ0ByDQn63osljieeFGegoTC0j5SEPy5RcV2KAQfmzbP1q5mjaYcfTCa5ED6OlCvC16oh_7atjEZ-RDDrqAUEZDP13OUyMLciFqn0WVxKcNs8hPtGp2kwoiK0=",
  "id": "rs_0a8f12b8194f5f21016aac9ec04dac87d09545359dc0d37683",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.08},\"note\":\"The gripper stopped well above its empty-closed width, suggesting contact with the brick. I’m lifting a few centimetres to check that the brick comes with it.\"}",
  "call_id": "call_NrqyCh6SQk8PpTmFkrEIyvOO",
  "id": "fc_0a8f12b8194f5f21016aac9ec13a5887d0abd25277e5332032",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NrqyCh6SQk8PpTmFkrEIyvOO",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8085, 0.6075, -0.4076, -0.0227, -0.0498, 0.9995, 0.4316, 1.644, 0.7742, -0.0704, 0.3309, 0.189, 0.7503]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1719 left_yaw=0.0049 left_pitch=-0.0396 left_roll=-0.0059 left_gripper=0.9995 right_x=0.3704 right_y=0.1114 right_z=0.0354 right_yaw=0.0313 right_pitch=-0.3142 right_roll=-0.1463 right_gripper=0.7503\nstate[joint_eff]: [-0.1709, -1.2239, 7.1179, 1.7509, -0.0415, -0.0757, -0.0122, -0.0479, -10.1128, 10.1812, 2.2002, 0.3639, 0.0269, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fb5042de5b843fa1a148ba95d56e24a344f55c9d8ca166b631c8ef1f728cb59",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:621b922f9b46e1294158b8c5815f50452ae9b4147e4f7aad0b877b809dfa3d82",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4087f5269f49cba4b7305158f410678c190fb30dce11c4686cab153dd4683f78",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 1fb5042de5b8
wire blob 621b922f9b46
wire blob 4087f5269f49
call 6 attempt 0 · /responses · status 200 · 4.681 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 17 changed as sent

message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8074, 0.6075, -0.4061, -0.0227, -0.0494, 0.9995, 0.4328, 1.8065, 0.6983, 0.2817, 0.3573, 0.1947, 0.7503]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1726 left_yaw=0.0047 left_pitch=-0.037 left_roll=-0.0056 left_gripper=0.9995 right_x=0.3915 right_y=0.1168 right_z=0.0031 right_yaw=0.0196 right_pitch=-0.2013 right_roll=-0.1151 right_gripper=0.7503\nstate[joint_eff]: [-0.0752, -1.2786, 7.0222, 1.8388, -0.0806, -0.0269, -0.0122, 0.1299, -9.2923, 5.0393, 1.37, 0.2125, 0.0269, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrJ7IeM4MuEFrLJBUmzK5g6dH3ucVR78TsQH1WZwQN_sNkkvsJNxU7vo1nsyD8xWQ2ZElTjS4FdC7mpBfEZ1ANoQqKbyb-oLimXfxG4iftlzzHxvyhABbp3wezQyOwivaQDV7V6zoCY4W2_H5FAd1kMuXdsxyu57wRPMnUmAHJ1VK21wNKPJG19SCx6jU4DtkBrN5t-4frcE-ccPIybJkU83dK4zFrTB_JUQ_X2OX818x19qlcbGcDzVwXMFkrEh3kaG-bUBDTjblIaKMHEn-L9pxcpyCB-4uN3UX9tonEHYrIAl8AToM1Vtsbzxf9JnBf1olLe5gVlGbhN2SOuLfN7tC9C493yAtJehaaWCqommcepj9DR_ol4a1gMhw7sPmFLr70-3B1duor_qfidSjhSyGGq-7lsRYv18jK2v7XFYxBauLXffvaSFhGPcd0BJ3vPUWtAQoCAblBVWVUN2VDS1nJVfxZ51LsKeFBuY6AGL7W6wHOWfAwXfpekJCt7uIiaxm2KMkgstk3iFQEjGb0T09iH3I0TTPNNGZpbC3FyG8F_QkZAt8cuqmUA6QWlt68yT5oowr9C_fMWg3O2bK0Eqx_Kt8REqB3b-XcHWYzcNFMaRQFFnLfUPoBErUYBAhFDSynW5FG5MsBb1PKI0wKOnz6EZEKCmjE80ZAsjfWE9ADzbh7JfI8QT03PO9cOVTFbmGYO02vV4ApAT-VOwA0iWX1PSj53PcyQAGw4BRSbiY7fmYnqWtQ8DNSiDEvazd97CVhchzNtTgEY4d798bfJiByVRnp2ZbPrxuLvkWtnNZCxvSQKDqdvWddbKzL3-94noiq9Hpe5pg9kLmez5r5iyklwlUDf5-yEv-KPixlVFRNCHNtm0y5MIH6qbxN5WxwyHyAF2c_8dXyVGb848n9ctaDZ_sZqYeKtsfffqqI35jdsMl0VunF4E-dIhK890QSN5DvLPXpJgsr9UI2qIAtO6y-jbXSjNemjR3DYgmtkAKZuvOd_07xwjnFmP2ipC0X_3T98J5AZ-sSXQysVpz5OgBmL_LdmzCtyHKk7iOWAXWTZm1cT-7dyvui_ak8UvE39on5NhEznRmYBNt9l4yzeukFyyZ_x_Vw1HXmDr3J9I7nYN_C3VZ1-fto-1gAwPhb-FU5lWtF-W2X7ST7J3M6z1yr9rhTtUoK0NmT3ZnVshGl_rpumZRU7LkCjEhg1MCN28tlJJOMxTRsrrSBYY7GCzDeXPLXQTGrIxTvxaIkPqHgnrEnHUzOHOimH2EoJOh2tmfejn7hctz52X6ILYyee4Kgmqvrvh_e3-YpKmVKwDMzf1V8GNe4tDdF9DLtV-g2DpA",
  "id": "rs_0a8f12b8194f5f21016aac9ec4f94c87d08678d53972006ef1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.375,\"right_z\":0.18,\"right_pitch\":0,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18},\"note\":\"The brick remains between the jaws during the initial lift, though the arm rose less than commanded. I’m raising it further for pot-rim clearance and keeping the idle arm parked.\"}",
  "call_id": "call_Zq1We1TIx2b58dkf6obYSrNP",
  "id": "fc_0a8f12b8194f5f21016aac9ec61a5087d0bafcf36fe8eb220c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Zq1We1TIx2b58dkf6obYSrNP",
  "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, 0.8261, 0.6098, -0.4339, -0.0265, -0.0528, 0.9995, 0.4767, 1.3598, 0.7948, -0.2588, 0.3977, 0.1299, 0.7503]\nstate[eef_state]: left_x=0.2898 left_y=0.0006 left_z=0.163 left_yaw=0.0029 left_pitch=-0.0811 left_roll=-0.005 left_gripper=0.9995 right_x=0.3515 right_y=0.1085 right_z=0.1189 right_yaw=0.0657 right_pitch=-0.1925 right_roll=-0.1898 right_gripper=0.7503\nstate[joint_eff]: [-0.4444, -1.0872, 10.2085, 1.6923, -0.1148, -0.0855, -0.0122, 0.3487, -8.0752, 11.9043, 2.2686, 0.6032, -0.0708, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adea5c62bc8fb5a9078978c97738f263f53d10573f80d82fc1f013d54f49288b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d4cbd4aeb1d777fd325d5123af73039c425a03ddfb53c0a3a228b15b2415d5e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d65dfac76df59d6f9c167b93b6c574f2b85500e55514e06818a2f8d6a20ca07b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob adea5c62bc8f
wire blob 6d4cbd4aeb1d
wire blob d65dfac76df5
call 7 attempt 0 · /responses · status 200 · 4.002 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 21 changed as sent

message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8085, 0.6075, -0.4076, -0.0227, -0.0498, 0.9995, 0.4316, 1.644, 0.7742, -0.0704, 0.3309, 0.189, 0.7503]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1719 left_yaw=0.0049 left_pitch=-0.0396 left_roll=-0.0059 left_gripper=0.9995 right_x=0.3704 right_y=0.1114 right_z=0.0354 right_yaw=0.0313 right_pitch=-0.3142 right_roll=-0.1463 right_gripper=0.7503\nstate[joint_eff]: [-0.1709, -1.2239, 7.1179, 1.7509, -0.0415, -0.0757, -0.0122, -0.0479, -10.1128, 10.1812, 2.2002, 0.3639, 0.0269, 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": "gAAAAABqrJ7NcaVrJ4bCzxv_3t2GSxQ6gHc1Q7LNtFs9YlY9nvc9GKPtZ3dzulW706s4HYDQgai12dLgVODYrKoYK7p_qdG-jSXz3XlJgWkKtVOMP_VtdQ8CveG8dpJr_Cb8c89ppVejmYH-YbcE5OPRDB6Y5PRI8KP918SA4XSHC0vVD_aBi6yGWtLac5jlR_pIkf_906CrmPhrPmfqCmg6kUNofzUEL9QEKqb_QtHodVcbITipwaRrX2jj9K87N4haxrUbpuQIPXSjv3VXWlXKWhg38A825lK7jMwBU22OwVolkqMKK3T8YFl8jH6GvGbf5Tgg0yEm32s5yskdnw1ujKK3fjk-EE4bpwIk28sTTmtaPefjvWyHiubGdrLCIbOMsp-MGo_SB0nlzL7zIrA_ZCaKl831jYuQMPi-Z7RCPjIY6W4SLLRNTj1yC4dhDMZStOG2yIq6fcW2DKr29eoh9eGfooytw1rrm2ZJ69x80LeOv2IZspNb6quGbJF7FADynsTxcBQGbDK25v0iiHBt7ESbixAcgN4iWIlAaCwVsB0RC31EunqVkd1HXade54J77axehnz8YHomvPjPuhU4fQWK4gEEWIVrKvC5VQ2NpX51FCjOz9P26w1km6g2dId8e-MLZ_D9M7w83WfOkGUk6BF1aejHgFOkmfrFiQAxIBhCx5flFm8h1Kod9z3_wAuQ64pLN-GLESznkAoVF9ReVxcH8mWChd2o5uvUtQnqzLl8HQ_pYX_v-CvGtwQ8Ioq3j1IkKs__wNr_yDwqh9r9_zkdmjKxfqHXn4sDqLrF-5AhKxsld2Apdl0cu2JMAwhgLP-GPge3aFCSIIMDbmtM0tNQjIqR-OFQ_ZV07ZCrzUe0W-UWqZIyWn1IdnpNmuZgEZSxxdu6ofbE8h3sN25ofh3dSG3BvSUq3SgnKtVrt1XS7bG5dmVo9afKoGVUi5pctKLdt5cFcxdQ0FvWozzhLzHA_NGdZ-17pVhBPiP9Y4oilI-5Fl19Z2NiLy-9QTF5RD02H_mWDi-VEpX61NBSsMl9k79Dtpsk1zPESYqGraIccULDQKU89kKWP0awbHZFn96YG3oBgOhrRPIpSUTHW6e9l4LyMGtUtHSlclS_f37tlh_y1hNySg8RxM_MHZECmQ1b2rQjIossmZj2pN_9WGDjmyUWQrrovX9XMnB8AKtdSAYpVhtYRP5jTh8BwrNn9JrD3q2niO4olQ1d7TLh0YTtxMWzMgBia4KDvQ9wQl5frOT_zhtiqqLRPSCwptNvqxHehdW-M_-WsLN8knetnSrKniQNuntF7u6KTuQR5lCXIbMolP8Ospjg40L6Mlc8Y_bREVAyRfOKplE3MdzoDUadb1iXWF_mrHKJTokFXAicznzCwomptVFxNcWKaYdYMWC2xvHWkH6_oLhzyM5fIyd7glFj67zGuV7sk-JCoAwCnmuSyCySpmRr3cIDUPxpTMFlF6_gTQuLxIbadGOBBf8N7ofq3wfNi4zAyQBitpjhXJAC34k=",
  "id": "rs_0a8f12b8194f5f21016aac9ecad02887d08d2451392e4d4997",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.12,\"right_z\":0.27},\"note\":\"The brick is lifted, but the loaded arm is sagging noticeably. I’m gaining more height before moving sideways so the brick clears the pot’s rim.\"}",
  "call_id": "call_sMprTbLMlDqJCrnkVf6wXEey",
  "id": "fc_0a8f12b8194f5f21016aac9eccb32487d08888b30d540af4e2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sMprTbLMlDqJCrnkVf6wXEey",
  "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, 0.8284, 0.6094, -0.4412, -0.0261, -0.0525, 0.9995, 0.5156, 1.3769, 1.3338, -0.8925, 0.3817, 0.1387, 0.7503]\nstate[eef_state]: left_x=0.2888 left_y=0.0005 left_z=0.1608 left_yaw=0.0024 left_pitch=-0.091 left_roll=-0.0046 left_gripper=0.9995 right_x=0.3399 right_y=0.1211 right_z=0.2322 right_yaw=0.1017 right_pitch=-0.2989 right_roll=-0.218 right_gripper=0.7503\nstate[joint_eff]: [-0.3897, -1.5932, 7.0496, 1.7314, -0.0464, -0.0024, -0.0122, 0.253, -5.7504, 10.9333, 1.8584, 0.5592, 0.2027, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ddcc29ec1a1d52e2a4a690f246508198e785dd239575f1051c09743c149fea5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a729620e9bcc279d04833442071bc3a4f88531b2c73ddb772771f489d08a2e1b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79b7259ec4516ec3358f8a0b45d29e415fa10bf0db9c8df2973460e9e0274200",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 8ddcc29ec1a1
wire blob a729620e9bcc
wire blob 79b7259ec451
call 8 attempt 0 · /responses · status 200 · 4.236 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]: [-0.0265, 0.8261, 0.6098, -0.4339, -0.0265, -0.0528, 0.9995, 0.4767, 1.3598, 0.7948, -0.2588, 0.3977, 0.1299, 0.7503]\nstate[eef_state]: left_x=0.2898 left_y=0.0006 left_z=0.163 left_yaw=0.0029 left_pitch=-0.0811 left_roll=-0.005 left_gripper=0.9995 right_x=0.3515 right_y=0.1085 right_z=0.1189 right_yaw=0.0657 right_pitch=-0.1925 right_roll=-0.1898 right_gripper=0.7503\nstate[joint_eff]: [-0.4444, -1.0872, 10.2085, 1.6923, -0.1148, -0.0855, -0.0122, 0.3487, -8.0752, 11.9043, 2.2686, 0.6032, -0.0708, 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": "gAAAAABqrJ7S3bF3nMLLkrNaJwjnS6iVHnjGeUryVI1v0YoY3Aho0XvsEXjSfOZEdPcaXazOPdEHkytcNujZePFcfoy1FrqfMkDlJKfpyZVpN_r2XBp0ipnyphDznAOR0ZAxpB8PhFCcIYGc1NRNqa47HHGkMcnlYaWGgXOgCKhH18EAfT7hCsvK5HTzIkHB7wCremoA-5cTyc4WfIGJCE96f0eePKSwVB4fikXBGXdXLHXcU3WoJabRRJQ0yymCxwNVZzoePR1TTW-4kgiZLTiUi5femWCPoYIhMhEPBgg9cn8NTKMmMtW4TGmeYSiJ_aG93wmU90qVbgQdbGDp2juD-JQfziLmMabL6lDaotRJAnc9slt8vWzvqwFSWTmvvjA43peVyj0l0Ul3zeS3rwmBylj-ktXJ8Xdh17LAHrWBZTJjxTnnX2-znTI3a3hXoHwBNchzmjZum_5qEy37V8z85RjnDO9OpwZ3pYbamENjrw820FF7TGPKpULAxwpMb5EEADD_-ofPxUZo5efhupK_KC5gdYl8g-dYGKvJzuB9zGHinHiyaqVZNPjtQEx7XShEy_J0KGv5LCFBHrBBiVat69PsNxB0sOAce0sbH5BfDlDNioYtsIXjTFZuKFITwBEMwTZGnkN6lZ_JCyllWXQNgPWMLtnSOrwaqPvj26BWe5mOdiQONq0PcnEW_QFDTXkBgggzJNntEpEYg-pW2Jvg94wX7k5SeOBpJD81vwiPi-POX83NOomVa2PIZJ7tS1jO3xX2bcBAEI9_DNUHQaiiAS0UcaWwnkpNJo80TW7TDR5gDzQfhYDqO_dsH0-FmsGrSPBk4RkXEwDqcb-2ofLmsBviEXP7G6ATsvkE6yOOGjGVx52xapd42aInSlr8OOoGf9z1Nk96y0j-TYO2Ue8EOMzPcjC-vfMFaXihoiX0FO8v2rINkua8PLV6mGX4xigLkreUYFCNhFVYuopVAvMVMtS9O68UAQC2LgwJtfE9ZS9YM48-jhPwhAZjyZdNQUSRvWeiVHiwpqrFVerh_axd5HMphdxQdO6nB5CVcSjKqTOiU89suTpwp2b5yOyx6qnQtRQwQn8xp5RRI8yDxBRwgZ2gkiZQ0N8XSeQqIMBsnOxZ4gq-fi31D7_WXd9bX6_p_gQaCSm0wXzIa_ZFdiseCV8g_jykEmrl6sI7gGPsQuHn8vOKWZ7SjdvQpiJKJXghEfhDao5z11qeomPZJfcd_5lGv38GdohGxMRNZrDrSZP4wcsKVlNBNNmOZXUhDKC5fPSy2ULn",
  "id": "rs_0a8f12b8194f5f21016aac9ed0a97487d0bead58835ebc02ab",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.36,\"right_z\":0.28},\"note\":\"The brick now has clearance above the rim. I’m carrying it left toward the pot, keeping the gripper high and allowing for the brick extending forward from the grasp.\"}",
  "call_id": "call_gbOtHm0DOzL3owjRNwtprWKE",
  "id": "fc_0a8f12b8194f5f21016aac9ed13d5487d0ae5b9aa6f7f9cfe6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gbOtHm0DOzL3owjRNwtprWKE",
  "output": "executing move_to over 20 steps (2.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8288, 0.6094, -0.4423, -0.0261, -0.0525, 0.9995, 0.9691, 2.3348, 2.6884, -1.5833, 0.5434, 0.5552, 0.7529]\nstate[eef_state]: left_x=0.2886 left_y=0.0007 left_z=0.1604 left_yaw=0.0028 left_pitch=-0.0926 left_roll=-0.0046 left_gripper=0.9995 right_x=0.3472 right_y=0.3507 right_z=0.2354 right_yaw=0.139 right_pitch=-0.4026 right_roll=-0.2527 right_gripper=0.7529\nstate[joint_eff]: [-0.1846, -1.0325, 6.9675, 1.6435, -0.0464, -0.0513, -0.0122, 0.2393, -13.3128, 9.3607, 1.2088, 0.9792, 0.2027, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47e8d558686ce739b9517cc5a39eae9e626c86e862c5505c8ea8c03584ed0179",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:536dfd7707e480d5a6368d48dea2ecde45f5a13de5ea2752c6741ef41e6bce68",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2367bbc5c783cdd446a00d7df54fcb7123ff1cc2d5a0c5cb29725ad98efc6b3a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 47e8d558686c
wire blob 536dfd7707e4
wire blob 2367bbc5c783
call 9 attempt 0 · /responses · status 200 · 5.995 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 29 changed as sent

message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0265, 0.8284, 0.6094, -0.4412, -0.0261, -0.0525, 0.9995, 0.5156, 1.3769, 1.3338, -0.8925, 0.3817, 0.1387, 0.7503]\nstate[eef_state]: left_x=0.2888 left_y=0.0005 left_z=0.1608 left_yaw=0.0024 left_pitch=-0.091 left_roll=-0.0046 left_gripper=0.9995 right_x=0.3399 right_y=0.1211 right_z=0.2322 right_yaw=0.1017 right_pitch=-0.2989 right_roll=-0.218 right_gripper=0.7503\nstate[joint_eff]: [-0.3897, -1.5932, 7.0496, 1.7314, -0.0464, -0.0024, -0.0122, 0.253, -5.7504, 10.9333, 1.8584, 0.5592, 0.2027, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrJ7YLXhoTF8f7q5Gi3ysgdkp0LSK2GQwxHyN7pjMyNzDDXNUDvvGBqbz8g8SvtBfm1Vmt8hrKBC5LstxhO_UH_w6NPMEQGThfZxK6cJ76FZ4XLst5LnYuIfKdkAgvecjenSDkw7rsz7fsEJ5SxeG20eYCmObpo_XrY_bJYc5w9vAw2nRO-tgfCuduj0SCzAhLn43Iexu6rTJV9u2YNDeM2vyrp0BGhuUQpCC-jXAFpgfvWkCg4nU1Nyaf7dzLSVko8e946NwJ7ppRfOXOmW5be2YrRjSxiVmTp2gOVq6kBXs_Z-AQ-QzES7GSotMgN9_HNmn4IdUO-vbbo4A6dNE-brZ2IZzOS5uAgKA3Nts2pVcl1v1bI8A90vXWSmxIjby6WB0oOQJhm8E4ctEMLAWOy-rPqVu5eeOPUQfjnxbJthMYYb006Ke9wlQMVjrGHnUYcm24ZxF-Erxwwto4JaAGYk3mKKDX6xqpYXRXj3Lan4F74j9h8VRx3Svn4lKCly2WoxMIj24hS3wsKONrwTkBqN0phEhuG3Y0opkf2zipozcTC-vcJ-b9bR9bR0wWjr0pIimQ1p_Z3mC9h78JJuDnY315_TYoyWbUqKCnRWAo_Icb8biuFKHSXFOoA9RWHPwx8MedtxeY_sLQA6Lu0NcrJCTsRJrtuBeGflpQNbGqNa4go-IqHMLGDJqNQM3JkAMpV3gYKhrXntCjEuMd8hwKbpywRZT3jTdKPZHnfz6WUic1_mFgEZldGz2LaoTxXcCXdFSDI8IDL0vv0wICNVf01KR2OKtOfv_ji48MqSMyaEi9MsZ0DYNr4fkhiecDKKlAnCOYpR_calUrFMsJ7TwcJ7Nlvr1TB9DNdAaKoYi0hChdnxWNYXaUhSaaas4Ylt3ULF3fHVhV6Pl5esWNnysdwzRqcpI21GMAqlSZ3BKSIrRVXXAZBaarlvuLegSXTFkaYgLhlyJL86vFI7bWp2BU-SgrlE0ZhhnRXmV0hScXOO-nF7qSMXtZRiNPf6HJYB3X5g9Xq2NW9-6qkSmk15LTHxS1ID4JEp96UQuhdsFPzy1Enh-QWdSrea_sT6J9bOuc3OcGMhIhH9ZI_VZyWqJ8jR8K0ziHW6f9H_aFCrjyMfi6FE9RZwQjWYEkXXGOLKNZV7ja7-MwbbBtw7nouPp3gQt6Uv86dX_F4Lb1YIjwAP1B-Ikby8V-ORb9dsAt9_hFtOmhDgroXH7gNlv51BmnSVU4mev9rI5nQjvzoKrP2oW37-1t95V--sM6wHisZDAVOrQtFuguGTugTolEGKoCMzz4P_PmaQ5AQZEJoE2aPHdtbpftZ08KNkW9-_5vp4Ll5MKoyeizYI2ufoO3pMF-8_VXcXcSzP_lGNEiBlZGDcAA3FvKJe0-_kyWO5gy1wMCJpnr9wDcRD4udzPzw_4h2uFNQ==",
  "id": "rs_0a8f12b8194f5f21016aac9ed5e44887d091ffb7f5ef985805",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.40,\"right_y\":0.40,\"right_z\":0.22},\"note\":\"The pot is beneath and slightly left and forward of the brick. I’m shifting toward its centre and lowering partway, still keeping the brick above the rim.\"}",
  "call_id": "call_Nu8OTXxf9TDgwx0SkCbsY90u",
  "id": "fc_0a8f12b8194f5f21016aac9ed75e3487d0ac03f35ced7d61cf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Nu8OTXxf9TDgwx0SkCbsY90u",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8295, 0.6094, -0.4423, -0.0261, -0.0525, 0.9995, 0.9337, 2.5679, 2.8326, -1.5955, 0.4889, 0.5156, 0.7529]\nstate[eef_state]: left_x=0.2887 left_y=0.0007 left_z=0.1602 left_yaw=0.0028 left_pitch=-0.0933 left_roll=-0.0046 left_gripper=0.9995 right_x=0.3708 right_y=0.3676 right_z=0.1579 right_yaw=0.1229 right_pitch=-0.516 right_roll=-0.3188 right_gripper=0.7529\nstate[joint_eff]: [-0.0342, -1.5111, 7.0085, 1.6386, -0.0464, -0.0024, -0.0122, -0.2803, -16.6496, 10.988, 1.0965, 0.6667, -0.0024, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b16c19cb3d81ff23981bc063f5b5d824b6030801b6bd7ae51072b825289dcfb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9dfed6db2544707f0ff8604219866b06a909ae5e1610bc2a022c04ac0309a67c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75e5b4f88a0f029ebc0b8dce899a4c95cede771f6cae3801d8d61a8c208f542d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 6b16c19cb3d8
wire blob 9dfed6db2544
wire blob 75e5b4f88a0f
call 10 attempt 0 · /responses · status 200 · 2.465 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 33 changed as sent

message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8288, 0.6094, -0.4423, -0.0261, -0.0525, 0.9995, 0.9691, 2.3348, 2.6884, -1.5833, 0.5434, 0.5552, 0.7529]\nstate[eef_state]: left_x=0.2886 left_y=0.0007 left_z=0.1604 left_yaw=0.0028 left_pitch=-0.0926 left_roll=-0.0046 left_gripper=0.9995 right_x=0.3472 right_y=0.3507 right_z=0.2354 right_yaw=0.139 right_pitch=-0.4026 right_roll=-0.2527 right_gripper=0.7529\nstate[joint_eff]: [-0.1846, -1.0325, 6.9675, 1.6435, -0.0464, -0.0513, -0.0122, 0.2393, -13.3128, 9.3607, 1.2088, 0.9792, 0.2027, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrJ7f8iApdOAlIzH7nungxoQs2GbB4Z8u07x84cKWHpJV8pgUvweHSE3Gk4JFU1wu0qmUQJ3dzuXQZI9AJ-I45Kmoq7-FHI5rcdJ_GO6rcf_K74QXMSkl9b8Hd8qgYYKS672z54hjb7nopp_gcjvUeJOsJP92we-jFLxMgYNQYQmBRr8dhzSBpVtTTgO8uK8qSKOmw4_dueYafHM6992neuSvoAhRwT8iD08c-43GGI1x1RbwqgfBDxCD8O8l0id9O419xtgWhYgMXp1M99h2T9uKvmhcsM9TYy0ZkSVm9xnmTLRUznOs6jcJsWaCmNaynN6h0UGhRd9WIgexlx-_4NCSZ5-w9tSi7NFgebpgDHzdUBZ01X0xzVDInnaCI3Xw-r7xAcYac8LI9J0BXUQiNew-8_Z4T3GrKYHS8N-U0OnH0x9wpYqhDlxzyt5RFC7CNkvXFsIMpEvnPKJlU-kEay-w9BlpdRLEPoGDrj0-RuNngZOdF7PamoEG8yUpiMH-YjXdqo-MDtVjJ5LRmg1-2frcrYrTqYJu800CtGMWTcE12TBl8a7aktDcCAz-qf2i3BDo5IX31V0t2a8zCusqtCFlN3DA-JnxIlsGmRxlx_Ew-NWCzHMkbvjuVVRtau-6MnkR0u26LOKDG6cgxQwtsPkhf0PZUAZNw3FtvAA82wSMGXT1gZE41PY2dcAbWcDc-hrXD5DXc87NkKtErV6ZS2bnVMdH0pDYF8kWO1W8UWcYWLGBBmJb_HlvjyypK7E4hd3nmpah5UNRDVtaWtZ9XdDMYSyz45sVrqdjMzWtutrsOR_L5niNOkz47KGtUtwVc3_gy9xuUF90b9KQKsk_hqR_TAMqCapmhd-s8FhYiLKCnGjlOdLE2aTaYYYBBfwdDONfGPEP32xmnJVe7AyItHLvD6n_jgwhicpjxwLKVNZ5YEXLMZg9gC6JRXP3Xz19grj6Zh6VPf0DoO4Uj0Rdp7HOctr0vYpKI-JGyZvLgvZV33gsmJeOWs69zyTofFSLAITVODF23QLTYthqXu5g_C5MnnnqB9wPtEPu9vq5pHnREAn_w9D1fTngUpdkB7dugvbaAlT2e_zvILYgud_vUDVj4toNQOsKoBsQa-RPd_0-weOumqq-VqcOAOi_JuZh58km2WU2fi5anbcAzYwMygqDWLDDO8qHmySWhfeUcqG_bssU_DKUoJQsV0_dbUc6rEaZ8w3p7DnNBS6gi9cIquUo3Eq5wKClceD7GfXQ_6jvcKlA0PlpjrzAWlP3Malv9250wNAjMF4k25wfGSLauPZFp5FXyuCxe_Fxmt-GnR5llAWmtCZ0JIdKqK5bwb64ZOeRrHZh3KV0CbIBE--YElH1VGNgJehL3jOEoGGu3TSM0Usor8_Q5zzqZngAqfWnBHBvaMS45Fu8X0bQhsEwchwzolLiLBmBuUJU4r5KufaeiIpYsm_G4iZQC9hVfXWOQLsn1A5Qyapo4P2RvelubcGv4W0wB-XM0GsLCxyv3iHCzcUbwfNBXsT01sH3u_SWOW3kgSIir8hANW1Pj1yya_tPBMYlcEbNcB6jK8CncwxNmcpkeUI9JHSaKoXNVVYbO_Ut0YAnH-RdoWEGTf5TcUNZTA0bMDhJosIaRijw4jhEXoVKEOzlKWiB24JVKGi5a24kVqRgY5pGpZ6FkJtytmcf9tSudiFadw8ggc_kWwNtrGYPcmyamKYEIET1AzZy-RQT",
  "id": "rs_0a8f12b8194f5f21016aac9edac09c87d0bba5c6e229a39f3d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.375,\"right_y\":0.4,\"right_z\":0.145},\"note\":\"The brick is over the pot opening, with its right edge close to the inner rim. I’m lowering carefully and shortening the reach slightly to bring it farther inside before releasing.\"}",
  "call_id": "call_eXVWvm8wEIotuN9OpcCVJjO9",
  "id": "fc_0a8f12b8194f5f21016aac9edddebc87d08cfa7cb9be2fd25d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eXVWvm8wEIotuN9OpcCVJjO9",
  "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, 0.8307, 0.6094, -0.4427, -0.0261, -0.0525, 0.9995, 0.9482, 2.6133, 2.8243, -1.5963, 0.4686, 0.5194, 0.7544]\nstate[eef_state]: left_x=0.2887 left_y=0.0007 left_z=0.1599 left_yaw=0.0028 left_pitch=-0.0949 left_roll=-0.0045 left_gripper=0.9995 right_x=0.3633 right_y=0.3754 right_z=0.1314 right_yaw=0.1236 right_pitch=-0.567 right_roll=-0.3474 right_gripper=0.7544\nstate[joint_eff]: [-0.0479, -1.5248, 6.9675, 1.6386, -0.0269, -0.0317, -0.0122, 0.8137, -13.7778, 8.8274, 0.8034, 0.525, 0.1294, 0.9109]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c485e3aeacf8eee0888f40f67f0811ccb8995ab5f5eb0f2f23758ec7a7c951a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1dd8a9e2d77969033832fedd75c57511160bafa8a159a31c0bde451ba326ed27",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e13c02f340baa52510a6a1828961e749d69c3db4e87d58a06eccbb2ca34c7e5",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob c485e3aeacf8
wire blob 1dd8a9e2d779
wire blob 3e13c02f340b
call 11 attempt 0 · /responses · status 200 · 2.477 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8295, 0.6094, -0.4423, -0.0261, -0.0525, 0.9995, 0.9337, 2.5679, 2.8326, -1.5955, 0.4889, 0.5156, 0.7529]\nstate[eef_state]: left_x=0.2887 left_y=0.0007 left_z=0.1602 left_yaw=0.0028 left_pitch=-0.0933 left_roll=-0.0046 left_gripper=0.9995 right_x=0.3708 right_y=0.3676 right_z=0.1579 right_yaw=0.1229 right_pitch=-0.516 right_roll=-0.3188 right_gripper=0.7529\nstate[joint_eff]: [-0.0342, -1.5111, 7.0085, 1.6386, -0.0464, -0.0024, -0.0122, -0.2803, -16.6496, 10.988, 1.0965, 0.6667, -0.0024, 1.0379]\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 positioned inside the pot’s opening at rim height. I’m opening the jaws to let it settle into the water.\"}",
  "call_id": "call_FyxlT8LgOdRVkKXwyp1qBYBs",
  "id": "fc_0a8f12b8194f5f21016aac9ee0dc0487d0852aca6da481b834",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FyxlT8LgOdRVkKXwyp1qBYBs",
  "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, 0.8307, 0.6094, -0.4427, -0.0261, -0.0525, 0.9995, 0.9604, 2.6556, 2.8311, -1.5822, 0.4709, 0.5282, 0.9958]\nstate[eef_state]: left_x=0.2887 left_y=0.0007 left_z=0.1599 left_yaw=0.0028 left_pitch=-0.0949 left_roll=-0.0045 left_gripper=0.9995 right_x=0.3615 right_y=0.3832 right_z=0.1129 right_yaw=0.119 right_pitch=-0.578 right_roll=-0.3635 right_gripper=0.9958\nstate[joint_eff]: [-0.1026, -1.3744, 6.9675, 1.6728, -0.0366, -0.0562, -0.0122, 0.1573, -16.2803, 8.3624, 0.6178, 0.4664, 0.105, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3425939159f4fd66ecac2253a7d9fa2504956769dd968bdccc10ec9822104423",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:518511bd7f1106b469af2755798d26231ffbf787342b6c65f8797aca76cc33cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ebe4bba0af899e4aed24ab1dab5fadfe2def626fc96d22c57844d4526c66cfb",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 3425939159f4
wire blob 518511bd7f11
wire blob 5ebe4bba0af8
call 12 attempt 0 · /responses · status 200 · 3.691 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 41 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8307, 0.6094, -0.4427, -0.0261, -0.0525, 0.9995, 0.9482, 2.6133, 2.8243, -1.5963, 0.4686, 0.5194, 0.7544]\nstate[eef_state]: left_x=0.2887 left_y=0.0007 left_z=0.1599 left_yaw=0.0028 left_pitch=-0.0949 left_roll=-0.0045 left_gripper=0.9995 right_x=0.3633 right_y=0.3754 right_z=0.1314 right_yaw=0.1236 right_pitch=-0.567 right_roll=-0.3474 right_gripper=0.7544\nstate[joint_eff]: [-0.0479, -1.5248, 6.9675, 1.6386, -0.0269, -0.0317, -0.0122, 0.8137, -13.7778, 8.8274, 0.8034, 0.525, 0.1294, 0.9109]\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\":0.34,\"right_y\":0.35,\"right_z\":0.27},\"note\":\"The brick has left the open jaws and is resting inside the pot. I’m lifting the gripper away to clear the rim and verify the placement.\"}",
  "call_id": "call_jKgVgGKOx2PQdYgNRXpxwoCj",
  "id": "fc_0a8f12b8194f5f21016aac9ee37f6487d089ce7d4594a05432",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jKgVgGKOx2PQdYgNRXpxwoCj",
  "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]: [-0.0261, 0.8341, 0.6094, -0.4484, -0.0261, -0.0528, 0.9995, 0.9276, 2.2509, 2.4046, -1.581, 0.4587, 0.487, 0.9963]\nstate[eef_state]: left_x=0.2879 left_y=0.0007 left_z=0.1578 left_yaw=0.0031 left_pitch=-0.104 left_roll=-0.0046 left_gripper=0.9995 right_x=0.3305 right_y=0.3165 right_z=0.1881 right_yaw=0.108 right_pitch=-0.6091 right_roll=-0.393 right_gripper=0.9963\nstate[joint_eff]: [-0.0615, -1.4291, 6.9538, 1.6777, -0.0464, -0.0659, -0.0122, -0.1573, -11.4256, 5.8598, 0.9499, 0.3053, -0.0464, 0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74824fb8c19b1f24cc4da5599fae60ce05c0ab0bb2b218d3a6d7834387ddd755",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a06da2d258d7fe207f5d03e4f689dc33541c5682e84f1bf285d103bd8ca26455",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dfd9e69a44b44fe0e274fad3885598276bdb46e2f82aac1d40258537020dea5",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 5.116 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, 0.8307, 0.6094, -0.4427, -0.0261, -0.0525, 0.9995, 0.9604, 2.6556, 2.8311, -1.5822, 0.4709, 0.5282, 0.9958]\nstate[eef_state]: left_x=0.2887 left_y=0.0007 left_z=0.1599 left_yaw=0.0028 left_pitch=-0.0949 left_roll=-0.0045 left_gripper=0.9995 right_x=0.3615 right_y=0.3832 right_z=0.1129 right_yaw=0.119 right_pitch=-0.578 right_roll=-0.3635 right_gripper=0.9958\nstate[joint_eff]: [-0.1026, -1.3744, 6.9675, 1.6728, -0.0366, -0.0562, -0.0122, 0.1573, -16.2803, 8.3624, 0.6178, 0.4664, 0.105, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrJ7ppl8MGF22EEnN2ahFpn4uoI3J2xZGoa3QphlpQ1P2nWMxnFLfi2VW7b4x3z9VdGeUH92AmwgGirOEF0lKyrNfVpdW7_77F13PHJYYjT-zHw4FXPLtBo9pUaol8b1E1uh56jE8qvnssPCZnQgjDQQp_HaOftB7x9DgcVDDIBTJd9HZrPRphDc_Bkvjahwq-htXLAuHwCg-Nm-I6KOC1xs8VKgkqn-mo4mL5RmWTML_YA9Qf3sBe18_Tu19XqWFGqssXvvH5dyqwYY48sw1TKW2nw0PcwAeXH25OHNXRnJbH0Pw7pslWUI8BYgKXF4aQ_NX9omaXBHP2hnd4oyWOK82wdf0wQNzRQWuwsTSrWDX6P0S-mMjotYBi3MWwWAp9R0_xV4cFBVgsMoEBN0Iz_JVgx6rRNvbOUsC3OvxPpQ764bDFFEMb8ratiT06TExCucg_Rymlqi6D3NbSuvlmwz_du4Ew0rTmax9nojmorUClDfOELnpeqUWToNJs5_I0kohdyDA_IBgRnOP6YxztJA3P-56HTvtIkbCn7_p2Nwkc7L5zSvMfHzuxBe3BGsq9DFMfvF6DT_SUjhE17k1299MRpVmhKiQbnj0jE9z4zzCCbbi4mBVXj__KmGgQDYRjDguZ327FW0dqIaeT5nR6jsT7dTNM4tATUN4qqhNW3saUMfXxDwhDuCZwU0alc-30krVSUTRjE-S7aLuM5KwaLeRbVVKs-bd8w3UVQqYtKcH2iEVqtyFdz2M8uAwsU8twSKWFMYCGGjYehg8RWuChKYm89dG18AoqrflIl0FLKhUt98A8D0n4NXFCNk5ZmSwP74YQ9zGGOWf9ak2q-jbZIiHGijDsdudaMToOg0qa9scBCKyOkxW3FsfSxgQK9btBr3BR8Dw9L5YdNpWO-lLB1MbG_-K34gBYpuMjHDstuFZVQQcZ3vv8KDoPk_CSEAMIKODYCk56pEzuIIEDk7dugGtKlV4_nRwnVgkmHE60NRYIh8iNcx14vnGXP5M-8dbmNpdg5GYCj2HDVqdkI9dzSAN-PysAlRtrcbJDg-UqOd8nnSDKZxPB23Z4oaiafE4nXUDWGs86DRXJm2ePn31MYSaLLFoOAfasucyG6rVMwcBHOoFNb2Xl96zwKyiR5mQxYXvNHqUsQXbQ7JVAEodoRlNRa7Q5N0gdjShN_dAEYCWaz_UZSHhw_Jj0mARYtJCX7yA",
  "id": "rs_0a8f12b8194f5f21016aac9ee77bac87d0b0a06072e7a7a9af",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.2},\"note\":\"The wrist views confirm the black brick remains inside the pot after release. I’m parking the right arm away from the pot so the final placement is unobstructed.\"}",
  "call_id": "call_kboyghtFDmxkw0e7C5vYqBv4",
  "id": "fc_0a8f12b8194f5f21016aac9ee7dcc487d09288dc47648a278f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kboyghtFDmxkw0e7C5vYqBv4",
  "output": "executing move_to over 27 steps (2.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8371, 0.6094, -0.453, -0.0265, -0.0528, 0.9995, 0.1326, 1.2999, 1.2613, -1.1339, 0.2432, -0.2878, 0.9964]\nstate[eef_state]: left_x=0.2874 left_y=0.0008 left_z=0.1561 left_yaw=0.0034 left_pitch=-0.1116 left_roll=-0.0041 left_gripper=0.9995 right_x=0.2927 right_y=-0.0003 right_z=0.1944 right_yaw=0.0617 right_pitch=-0.6314 right_roll=-0.4033 right_gripper=0.9964\nstate[joint_eff]: [-0.335, -1.7162, 7.241, 1.7411, -0.0757, -0.0757, -0.0122, -0.1436, -5.9282, 5.7778, 1.2234, -0.1148, -0.0269, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70504deba48d868a82953198b7d916978e66e541275451835598e4132da83e6f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6df477b058173ef4603e3304ddc68b0566f02932c147886dba51fff3290c7d38",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbe7f450174735ea9b632afdbc8724f8eb76bd41175d44013cefee07b4d61aef",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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