adhoc

completed
2026-09-18T03:57:31.679711+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (76 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
134.2 s
total steps
172
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

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the black brick into the pot of water
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the black brick into the pot of water
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe black brick is to the right of the pot. I’ll bring the right gripper above it, keeping the left arm parked out of the way.
move_to
right_x0.3900right_y0.0850right_z0.1500right_gripper1.0000left_x0.2950left_y0.0000left_z0.2000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.7944, 0.6041, -0.3817, -0.0227, -0.0414, 0.9993, -0.0216, 0.7937, 0.6029, -0.3798, -0.0154, -0.0334, 0.9969] state[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1795 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9993 right_x=0.2947 right_y=-0.0 right_z=0.1796 right_yaw=-0.0003 right_pitch=-0.0008 right_roll=-0.0002 right_gripper=0.9969 state[joint_eff]: [-0.3624, -1.5248, 10.1949, 1.7753, -0.0415, 0.2418, -0.0855, -0.4718, -1.4017, 10.2906, 1.8632, -0.1197, 0.1441, -0.3297] 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":0.39,"right_y":0.085,"right_z":0.15,"right_gripper":1,"left_x":0.295,"left_y":0,"left_z":0.20},"note":"The black brick is to the right of the pot. I’ll bring the right gripper above it, keeping the left arm parked out of the way."})
tool
executing move_to over 8 steps (0.8s)
step 8
top_cam
camera top_cam step 8
left_cam
camera left_cam step 8
right_cam
camera right_cam step 8
assistant
agent noteThe brick is visible just ahead of the fingertips and slightly right of the jaw centerline. I’ll move forward and a little right while lowering toward its sides.
move_to
right_x0.4250right_y0.0650right_z0.0750
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0265, 0.807, 0.6449, -0.458, -0.0265, -0.0502, 0.9992, 0.318, 1.3266, 0.7197, -0.0872, 0.2306, 0.123, 0.9969] state[eef_state]: left_x=0.2899 left_y=0.0006 left_z=0.1792 left_yaw=0.0011 left_pitch=-0.0476 left_roll=-0.004 left_gripper=0.9992 right_x=0.3704 right_y=0.0832 right_z=0.123 right_yaw=0.0469 right_pitch=-0.1031 right_roll=-0.0325 right_gripper=0.9969 state[joint_eff]: [-0.8, -1.347, 10.5915, 1.8291, -0.0904, -0.0366, -0.0171, 0.2667, -5.9556, 8.9504, 1.8535, 0.2222, 0.188, -0.3297] camera 'top_cam' (step 8): [image omitted: streamed camera frame] camera 'left_cam' (step 8): [image omitted: streamed camera frame] camera 'right_cam' (step 8): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.425,"right_y":0.065,"right_z":0.075},"note":"The brick is visible just ahead of the fingertips and slightly right of the jaw centerline. I’ll move forward and a little right while lowering toward its sides."})
tool
executing move_to over 5 steps (0.5s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent noteThe brick is still ahead of the open jaws, with its lower end close to the grasp line. I’ll advance another small amount and lower to grasp the brick near table level.
move_to
right_x0.4500right_y0.0450right_z0.0150
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8104, 0.6487, -0.461, -0.0265, -0.0502, 0.9992, 0.2081, 1.6081, 0.7296, 0.0994, 0.1604, 0.0586, 0.9968] state[eef_state]: left_x=0.2901 left_y=0.0007 left_z=0.1793 left_yaw=0.0015 left_pitch=-0.0502 left_roll=-0.0039 left_gripper=0.9992 right_x=0.4027 right_y=0.0599 right_z=0.0539 right_yaw=0.0283 right_pitch=-0.1982 right_roll=-0.0543 right_gripper=0.9968 state[joint_eff]: [-0.3761, -1.5385, 6.6803, 1.6874, -0.0806, -0.0611, -0.0122, -0.5675, -7.3641, 8.841, 1.9756, -0.0464, 0.0513, -0.0317] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.45,"right_y":0.045,"right_z":0.015},"note":"The brick is still ahead of the open jaws, with its lower end close to the grasp line. I’ll advance another small amount and lower to grasp the brick near table level."})
tool
executing move_to over 4 steps (0.4s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteThe arm stopped short of the requested position, so the jaws have not yet reached the brick. I’ll tilt the tool forward to improve reach rather than repeat the same descent.
move_to
right_x0.4450right_y0.0350right_z0.0250right_pitch0.3000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8108, 0.6487, -0.461, -0.0265, -0.0502, 0.9992, 0.2024, 1.6318, 0.7296, 0.1406, 0.1402, 0.0437, 0.9967] state[eef_state]: left_x=0.2902 left_y=0.0007 left_z=0.1792 left_yaw=0.0015 left_pitch=-0.0506 left_roll=-0.0039 left_gripper=0.9992 right_x=0.4083 right_y=0.0622 right_z=0.0515 right_yaw=0.0485 right_pitch=-0.1836 right_roll=-0.0481 right_gripper=0.9967 state[joint_eff]: [-0.0342, -0.9641, 6.9949, 1.6679, -0.0855, -0.0855, -0.0122, -0.3214, -7.665, 8.4718, 1.9609, -0.022, -0.0415, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.445,"right_y":0.035,"right_z":0.025,"right_pitch":0.3},"note":"The arm stopped short of the requested position, so the jaws have not yet reached the brick. I’ll tilt the tool forward to improve reach rather than repeat the same descent."})
tool
executing move_to over 17 steps (1.7s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteThe forward tilt brought the fingertips to table height beside the brick. I’ll slide the open jaws slightly farther along its sides so the grasp is not just on the end.
move_to
right_x0.4650right_y0.0250right_z0.0250right_pitch0.3000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8139, 0.6487, -0.4675, -0.0261, -0.0498, 0.9992, 0.1059, 2.0983, 0.5068, 1.2232, 0.0875, -0.046, 0.9966] state[eef_state]: left_x=0.2894 left_y=0.0006 left_z=0.1771 left_yaw=0.001 left_pitch=-0.0602 left_roll=-0.0036 left_gripper=0.9992 right_x=0.4364 right_y=0.0344 right_z=0.0055 right_yaw=0.0459 right_pitch=0.2018 right_roll=-0.0544 right_gripper=0.9966 state[joint_eff]: [-0.3624, -1.5521, 6.9675, 1.7216, -0.0562, -0.0611, -0.0122, -0.3487, -7.8017, 3.9316, 2.0928, -0.0855, -0.0757, -0.0269] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.465,"right_y":0.025,"right_z":0.025,"right_pitch":0.3},"note":"The forward tilt brought the fingertips to table height beside the brick. I’ll slide the open jaws slightly farther along its sides so the grasp is not just on the end."})
tool
executing move_to over 4 steps (0.4s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteThe jaws now straddle the near portion of the brick. I’ll close them, then check the opening and perform a small test lift.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8139, 0.6487, -0.4679, -0.0261, -0.0502, 0.9992, 0.0708, 2.1239, 0.5674, 1.2686, 0.0593, -0.0586, 0.9966] state[eef_state]: left_x=0.2894 left_y=0.0006 left_z=0.177 left_yaw=0.0012 left_pitch=-0.0605 left_roll=-0.0039 left_gripper=0.9992 right_x=0.4581 right_y=0.0256 right_z=0.0228 right_yaw=0.0414 right_pitch=0.2815 right_roll=-0.0536 right_gripper=0.9966 state[joint_eff]: [-0.2393, -1.1966, 6.9538, 1.6532, -0.0415, -0.0659, -0.0122, -0.4308, -6.9675, 4.6564, 2.0195, -0.0855, -0.0952, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The jaws now straddle the near portion of the brick. I’ll close them, then check the opening and perform a small test lift."})
tool
executing move_to over 10 steps (1.0s)
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 gripper closed almost completely, so that attempt was empty; the brick remains ahead of the fingertips. I’ll reopen and advance about 3 cm for one corrected attempt.
move_to
right_gripper1.0000right_x0.4900right_y0.0350right_z0.0200right_pitch0.4000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8173, 0.6487, -0.4679, -0.0261, -0.0502, 0.9992, 0.0669, 2.1265, 0.5762, 1.2736, 0.0429, -0.0689, 0.0079] state[eef_state]: left_x=0.2896 left_y=0.0006 left_z=0.1761 left_yaw=0.0012 left_pitch=-0.064 left_roll=-0.0038 left_gripper=0.9992 right_x=0.4609 right_y=0.0269 right_z=0.0254 right_yaw=0.0577 right_pitch=0.2921 right_roll=-0.0589 right_gripper=0.0079 state[joint_eff]: [-0.1162, -1.6068, 7.1316, 1.6874, -0.0269, -0.0806, -0.0122, -0.4308, -7.4872, 4.3692, 2.0098, 0.0708, 0.0757, 0.6618] camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.49,"right_y":0.035,"right_z":0.02,"right_pitch":0.4},"note":"The gripper closed almost completely, so that attempt was empty; the brick remains ahead of the fingertips. I’ll reopen and advance about 3 cm for one corrected attempt."})
tool
executing move_to over 10 steps (1.0s)
step 58
top_cam
camera top_cam step 58
left_cam
camera left_cam step 58
right_cam
camera right_cam step 58
assistant
agent noteThe brick now extends between the open fingertips. I’ll close again at this corrected position.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8173, 0.6487, -0.4679, -0.0265, -0.0498, 0.9992, 0.0834, 2.278, 0.6819, 1.4322, 0.0448, -0.0811, 0.9955] state[eef_state]: left_x=0.2896 left_y=0.0007 left_z=0.1761 left_yaw=0.0013 left_pitch=-0.064 left_roll=-0.0032 left_gripper=0.9992 right_x=0.4875 right_y=0.0364 right_z=0.0263 right_yaw=0.0792 right_pitch=0.4045 right_roll=-0.0712 right_gripper=0.9955 state[joint_eff]: [-0.1162, -1.1966, 7.241, 1.6923, -0.0562, -0.0513, -0.0122, 0.0615, -7.5419, 4.3692, 1.9512, 0.1001, 0.1685, -0.0611] approver: 10 step(s) modified (delta_clamped ×10). 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_gripper":0},"note":"The brick now extends between the open fingertips. I’ll close again at this corrected position."})
tool
executing move_to over 10 steps (1.0s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteThe second close was also empty. The overhead view shows the brick farther forward than estimated, so I’ll lift and reposition over its center before attempting another descent.
move_to
right_x0.5150right_y0.0650right_z0.1050right_pitch0.5000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8173, 0.6487, -0.4675, -0.0261, -0.0498, 0.9992, 0.0834, 2.2833, 0.6846, 1.4731, 0.0422, -0.0883, 0.0081] state[eef_state]: left_x=0.2896 left_y=0.0006 left_z=0.1762 left_yaw=0.001 left_pitch=-0.0636 left_roll=-0.0035 left_gripper=0.9992 right_x=0.4892 right_y=0.037 right_z=0.0345 right_yaw=0.0859 right_pitch=0.4424 right_roll=-0.0786 right_gripper=0.0081 state[joint_eff]: [-0.0615, -1.3197, 6.9812, 1.7118, -0.0415, -0.0708, -0.0122, -0.2393, -10.0718, 2.6872, 1.5653, 0.0317, 0.0317, 0.6374] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.515,"right_y":0.065,"right_z":0.105,"right_pitch":0.5,"right_gripper":1},"note":"The second close was also empty. The overhead view shows the brick farther forward than estimated, so I’ll lift and reposition over its center before attempting another descent."})
tool
executing move_to over 10 steps (1.0s)
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 brick is now centered on the wrist camera’s jaw column. I’ll lower toward its sides while advancing slightly to compensate for the fingertips looking past the camera.
move_to
right_x0.5400right_y0.0650right_z0.0150right_pitch0.5000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8173, 0.6487, -0.4679, -0.0261, -0.0498, 0.9992, 0.1574, 2.1292, 0.7605, 1.2518, 0.0891, -0.091, 0.9958] state[eef_state]: left_x=0.2896 left_y=0.0006 left_z=0.1761 left_yaw=0.001 left_pitch=-0.064 left_roll=-0.0035 left_gripper=0.9992 right_x=0.508 right_y=0.0683 right_z=0.0795 right_yaw=0.1176 right_pitch=0.4511 right_roll=-0.0877 right_gripper=0.9958 state[joint_eff]: [-0.0889, -1.3333, 7.0906, 1.6532, -0.0611, -0.0464, -0.0122, 0.0752, -12.6427, 6.2564, 1.873, 0.0757, -0.0024, -0.1245] approver: 10 step(s) modified (delta_clamped ×10). 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":0.54,"right_y":0.065,"right_z":0.015,"right_pitch":0.5},"note":"The brick is now centered on the wrist camera’s jaw column. I’ll lower toward its sides while advancing slightly to compensate for the fingertips looking past the camera."})
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 descent stopped above the requested height, suggesting contact near the brick. With the brick centered between the jaws, I’ll close and check whether it is captured.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8223, 0.6487, -0.4694, -0.0261, -0.0502, 0.9992, 0.1425, 2.4248, 0.9363, 1.4906, 0.0639, -0.1062, 0.9958] state[eef_state]: left_x=0.2897 left_y=0.0006 left_z=0.1745 left_yaw=0.0012 left_pitch=-0.0705 left_roll=-0.0036 left_gripper=0.9992 right_x=0.5412 right_y=0.0699 right_z=0.047 right_yaw=0.1349 right_pitch=0.5693 right_roll=-0.1002 right_gripper=0.9958 state[joint_eff]: [-0.1846, -1.7573, 6.9402, 1.7118, -0.0464, -0.0415, -0.0122, -0.7863, -8.1299, 2.865, 0.7595, -0.0024, 0.0513, -0.0171] 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_gripper":0},"note":"The descent stopped above the requested height, suggesting contact near the brick. With the brick centered between the jaws, I’ll close and check whether it is captured."})
tool
executing move_to over 10 steps (1.0s)
step 93
top_cam
camera top_cam step 93
left_cam
camera left_cam step 93
right_cam
camera right_cam step 93
assistant
agent noteThe gripper is empty again, and the tool obscures the brick from above. I’ll withdraw upward and back to see its exact position and avoid pushing it farther.
move_to
right_x0.4300right_y0.0250right_z0.1800right_pitch0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.823, 0.6487, -0.4686, -0.0265, -0.0502, 0.9992, 0.1421, 2.4424, 0.9421, 1.5303, 0.0616, -0.1085, 0.0084] state[eef_state]: left_x=0.2898 left_y=0.0007 left_z=0.1744 left_yaw=0.0015 left_pitch=-0.0705 left_roll=-0.0034 left_gripper=0.9992 right_x=0.5413 right_y=0.0701 right_z=0.0494 right_yaw=0.1382 right_pitch=0.597 right_roll=-0.1028 right_gripper=0.0084 state[joint_eff]: [-0.1709, -1.2786, 6.9538, 1.6728, -0.0757, -0.0317, -0.0122, -0.0752, -12.4923, 2.8923, 1.5556, 0.0269, 0.0073, 0.6276] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 93): [image omitted: streamed camera frame] camera 'left_cam' (step 93): [image omitted: streamed camera frame] camera 'right_cam' (step 93): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.025,"right_z":0.18,"right_pitch":0,"right_gripper":1},"note":"The gripper is empty again, and the tool obscures the brick from above. I’ll withdraw upward and back to see its exact position and avoid pushing it farther."})
tool
executing move_to over 20 steps (2.0s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteWith the arm clear, I can see the brick lying flat. The previous closes were likely above its thin sides; I’ll approach lower and slightly closer to the base, with a forward tilt for reach.
move_to
right_x0.5050right_y0.0850right_z0.0050right_pitch0.6000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8276, 0.6487, -0.4683, -0.0265, -0.0502, 0.9992, 0.0448, 1.438, 0.8818, 0.0067, -0.0174, -0.1619, 0.9966] state[eef_state]: left_x=0.2902 left_y=0.0007 left_z=0.1733 left_yaw=0.0015 left_pitch=-0.0747 left_roll=-0.0032 left_gripper=0.9992 right_x=0.4346 right_y=0.0262 right_z=0.1666 right_yaw=0.1369 right_pitch=0.0162 right_roll=-0.1092 right_gripper=0.9966 state[joint_eff]: [-0.2256, -1.6615, 6.9949, 1.6532, -0.0464, -0.0513, -0.0122, -0.5675, -7.5145, 9.8803, 1.8584, -0.1538, -0.0366, -0.2711] camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.505,"right_y":0.085,"right_z":0.005,"right_pitch":0.6,"right_gripper":1},"note":"With the arm clear, I can see the brick lying flat. The previous closes were likely above its thin sides; I’ll approach lower and slightly closer to the base, with a forward tilt for reach."})
tool
executing move_to over 20 steps (2.0s)
step 133
top_cam
camera top_cam step 133
left_cam
camera left_cam step 133
right_cam
camera right_cam step 133
assistant
agent noteThe arm is still several centimeters above the requested height, and the brick has shifted slightly. I’ll shorten the reach and reduce the tilt to get the fingertips down beside its near end.
move_to
right_x0.4850right_y0.0650right_z-0.0100right_pitch0.3000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8288, 0.6487, -0.4686, -0.0261, -0.0498, 0.9992, 0.2005, 2.479, 0.9314, 1.5829, 0.1158, -0.1329, 0.9969] state[eef_state]: left_x=0.2902 left_y=0.0006 left_z=0.1729 left_yaw=0.001 left_pitch=-0.0762 left_roll=-0.0031 left_gripper=0.9992 right_x=0.532 right_y=0.0909 right_z=0.0398 right_yaw=0.1569 right_pitch=0.6007 right_roll=-0.13 right_gripper=0.9969 state[joint_eff]: [-0.1436, -1.4427, 7.0769, 1.6679, -0.0464, -0.0366, -0.0122, 0.3214, -9.6205, 2.7556, 1.7607, 0.0855, 0.0952, -0.3443] camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.485,"right_y":0.065,"right_z":-0.01,"right_pitch":0.3},"note":"The arm is still several centimeters above the requested height, and the brick has shifted slightly. I’ll shorten the reach and reduce the tilt to get the fingertips down beside its near end."})
tool
executing move_to over 11 steps (1.1s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent noteThe fingertips are now much lower, and the near end of the brick lies between them. I’ll make a small forward and right adjustment to seat the jaws around that end.
move_to
right_x0.5100right_y0.0550right_z-0.0100right_pitch0.3000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8307, 0.6487, -0.4683, -0.0265, -0.0502, 0.9992, 0.1539, 2.347, 0.7368, 1.4502, 0.07, -0.1226, 0.9963] state[eef_state]: left_x=0.2903 left_y=0.0007 left_z=0.1724 left_yaw=0.0016 left_pitch=-0.0777 left_roll=-0.0032 left_gripper=0.9992 right_x=0.4941 right_y=0.0678 right_z=0.0142 right_yaw=0.1509 right_pitch=0.4061 right_roll=-0.1202 right_gripper=0.9963 state[joint_eff]: [-0.0752, -1.5795, 7.0222, 1.6679, -0.0806, -0.0611, -0.0122, -0.6359, -10.0991, 1.7983, 1.1941, 0.0171, -0.1245, -0.0708] camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.51,"right_y":0.055,"right_z":-0.01,"right_pitch":0.3},"note":"The fingertips are now much lower, and the near end of the brick lies between them. I’ll make a small forward and right adjustment to seat the jaws around that end."})
tool
executing move_to over 4 steps (0.4s)
step 148
top_cam
camera top_cam step 148
left_cam
camera left_cam step 148
right_cam
camera right_cam step 148
assistant
agent noteThe jaws are at the brick’s lower side edges rather than above them. I’ll close here and check the measured jaw opening.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8314, 0.6487, -0.4686, -0.0261, -0.0498, 0.9992, 0.1177, 2.3394, 0.8005, 1.3529, 0.0349, -0.1249, 0.9962] state[eef_state]: left_x=0.2903 left_y=0.0006 left_z=0.1722 left_yaw=0.001 left_pitch=-0.0789 left_roll=-0.0031 left_gripper=0.9992 right_x=0.5107 right_y=0.0578 right_z=0.0135 right_yaw=0.1479 right_pitch=0.3801 right_roll=-0.1157 right_gripper=0.9962 state[joint_eff]: [0.0615, -0.9504, 7.1179, 1.6386, -0.0415, -0.0562, -0.0122, -0.4855, -8.4308, 4.3419, 1.5409, -0.0757, -0.1099, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The jaws are at the brick’s lower side edges rather than above them. I’ll close here and check the measured jaw opening."})
tool
executing move_to over 10 steps (1.0s)
step 158
top_cam
camera top_cam step 158
left_cam
camera left_cam step 158
right_cam
camera right_cam step 158
assistant
agent noteThe brick has slid farther away, and the gripper is still empty. The arm cannot reach its sides at table height reliably, so I’ll withdraw rather than keep pushing it toward the back edge.
move_to
right_x0.3600right_y0.0200right_z0.2000right_pitch0.0000right_gripper1.0000left_x0.2950left_y0.0000left_z0.2000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8326, 0.6487, -0.4683, -0.0261, -0.0498, 0.9992, 0.1146, 2.339, 0.7979, 1.3582, 0.0208, -0.1314, 0.0084] state[eef_state]: left_x=0.2905 left_y=0.0006 left_z=0.1719 left_yaw=0.001 left_pitch=-0.0796 left_roll=-0.003 left_gripper=0.9992 right_x=0.5102 right_y=0.0586 right_z=0.0141 right_yaw=0.1615 right_pitch=0.3829 right_roll=-0.1199 right_gripper=0.0084 state[joint_eff]: [-0.212, -1.265, 6.9538, 1.6484, -0.022, -0.0415, -0.0122, 0.1846, -10.1402, 3.412, 1.8486, 0.1392, 0.0904, 0.6422] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.36,"right_y":0.02,"right_z":0.2,"right_pitch":0,"right_gripper":1,"left_x":0.295,"left_y":0,"left_z":0.2},"note":"The brick has slid farther away, and the gripper is still empty. The arm cannot reach its sides at table height reliably, so I’ll withdraw rather than keep pushing it toward the back edge."})
tool
executing move_to over 13 steps (1.3s)
step 171
top_cam
camera top_cam step 171
left_cam
camera left_cam step 171
right_cam
camera right_cam step 171
assistant
agent noteI could not grasp the black brick: the jaws repeatedly closed empty, and contact slid it farther toward the back of the table. It remains outside the pot. I withdrew the arm because a reliable table-height grasp is beyond the current reach; please move the brick closer to the robot before retrying.
give_up
hindsightThis brick is thin and slides forward when approached at its near end. All closes were empty (about 0.008 gripper reading). At long reach, requested low poses tracked several centimeters high—for example x=0.54, z=0.015 produced z=0.047—so do not mistake wrist-camera overlap for a usable side grasp. Stop earlier and ask for the brick to be moved closer rather than repeatedly advancing.
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0265, 0.8692, 0.7284, -0.5644, -0.0261, -0.0528, 0.9992, 0.025, 1.1267, 0.7498, -0.115, -0.0422, -0.197, 0.996] state[eef_state]: left_x=0.2887 left_y=0.0006 left_z=0.1789 left_yaw=0.0025 left_pitch=-0.1326 left_roll=-0.0039 left_gripper=0.9992 right_x=0.3736 right_y=0.0204 right_z=0.1997 right_yaw=0.1571 right_pitch=0.0724 right_roll=-0.1338 right_gripper=0.996 state[joint_eff]: [-0.5949, -1.4838, 10.4, 1.7753, -0.0562, -0.0611, -0.0122, -0.2667, -4.0, 9.4701, 1.8144, -0.1148, 0.0806, -0.1685] camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not grasp the black brick: the jaws repeatedly closed empty, and contact slid it farther toward the back of the table. It remains outside the pot. I withdrew the arm because a reliable table-height grasp is beyond the current reach; please move the brick closer to the robot before retrying.","hindsight":"This brick is thin and slides forward when approached at its near end. All closes were empty (about 0.008 gripper reading). At long reach, requested low poses tracked several centimeters high—for example x=0.54, z=0.015 produced z=0.047—so do not mistake wrist-camera overlap for a usable side grasp. Stop earlier and ask for the brick to be moved closer rather than repeatedly advancing."})
tool
give_up: I could not grasp the black brick: the jaws repeatedly closed empty, and contact slid it farther toward the back of the table. It remains outside the pot. I withdrew the arm because a reliable table-height grasp is beyond the current reach; please move the brick closer to the robot before retrying.
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 · 4.496 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, 0.6041, -0.3817, -0.0227, -0.0414, 0.9993, -0.0216, 0.7937, 0.6029, -0.3798, -0.0154, -0.0334, 0.9969]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1795 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9993 right_x=0.2947 right_y=-0.0 right_z=0.1796 right_yaw=-0.0003 right_pitch=-0.0008 right_roll=-0.0002 right_gripper=0.9969\nstate[joint_eff]: [-0.3624, -1.5248, 10.1949, 1.7753, -0.0415, 0.2418, -0.0855, -0.4718, -1.4017, 10.2906, 1.8632, -0.1197, 0.1441, -0.3297]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3fc61e747c62d87611660b168ff4b43fbb7ae0ea7a97e76c1b7ed0784b03bfb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6321671224483c8436404dea5b667ec4acf960588dfe8f267b4da1c40d1dbc1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01727af9c8fbe1dd5ace3195d78f8d836c5a24d56eb0c6fcb802abf96cf14d3d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob f3fc61e747c6
wire blob b63216712244
wire blob 01727af9c8fb
call 1 attempt 0 · /responses · status 200 · 4.514 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
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  "id": "rs_0df9610db47bc64f016aacb6b9d54c87d0995183f7652663ea",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.085,\"right_z\":0.15,\"right_gripper\":1,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.20},\"note\":\"The black brick is to the right of the pot. I’ll bring the right gripper above it, keeping the left arm parked out of the way.\"}",
  "call_id": "call_NM8EUzQ7strJt2AoCxQEvsYv",
  "id": "fc_0df9610db47bc64f016aacb6bb84e087d09b4b766d22d9a835",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NM8EUzQ7strJt2AoCxQEvsYv",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0265, 0.807, 0.6449, -0.458, -0.0265, -0.0502, 0.9992, 0.318, 1.3266, 0.7197, -0.0872, 0.2306, 0.123, 0.9969]\nstate[eef_state]: left_x=0.2899 left_y=0.0006 left_z=0.1792 left_yaw=0.0011 left_pitch=-0.0476 left_roll=-0.004 left_gripper=0.9992 right_x=0.3704 right_y=0.0832 right_z=0.123 right_yaw=0.0469 right_pitch=-0.1031 right_roll=-0.0325 right_gripper=0.9969\nstate[joint_eff]: [-0.8, -1.347, 10.5915, 1.8291, -0.0904, -0.0366, -0.0171, 0.2667, -5.9556, 8.9504, 1.8535, 0.2222, 0.188, -0.3297]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9790cf261a23ef77b0a978f4390932a5b0fe506357e13939c90d26a99683402",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8655cc23e11e0d21570dcfd1f80dcdbf1abd88010cce0fe7e37987a1c9763b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1dc947d9e934c42e17f5fcbdfb2d90bb904f3937ad8a7d184358db9e1ef408bf",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob e9790cf261a2
wire blob f8655cc23e11
wire blob 1dc947d9e934
call 2 attempt 0 · /responses · status 200 · 5.209 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, 0.6041, -0.3817, -0.0227, -0.0414, 0.9993, -0.0216, 0.7937, 0.6029, -0.3798, -0.0154, -0.0334, 0.9969]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1795 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9993 right_x=0.2947 right_y=-0.0 right_z=0.1796 right_yaw=-0.0003 right_pitch=-0.0008 right_roll=-0.0002 right_gripper=0.9969\nstate[joint_eff]: [-0.3624, -1.5248, 10.1949, 1.7753, -0.0415, 0.2418, -0.0855, -0.4718, -1.4017, 10.2906, 1.8632, -0.1197, 0.1441, -0.3297]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLbCd2St67VRZgbM_MeSns3SZOmRKQbcBUvtgM2D2A2vVf7qah_rDPsrNIuHDGARYrujWE26L2rZpzJ2qKb6LxrKTI5dQfwq2LQqgV69mtjRsqFxbJZBafT-TRvjfoHXsIQgujSlZaRRyuAj68n0EAVCMXydG_qGFrUxuK9Vzd0sb-4wzSpNUwEvUY_OiFjIh4ZrAnRCvijHGcOVcIDuF2XGF_p6AW98VbBpuLUNoqwAw6XJhKEiJ4gYPrI3fYfDZNM_A848QVD6tSNhkr5XRxJ-4KAVBODcHgXmlWeTu45XxUlq1j4F1C_Kfi6DkTsrhLAa-k-zFoL2wNdRC1LW2W3CLaQ219juFmCyC-AiMnwMvCAtAcoyYO5OCh493NKlDGY8evcPYFbrAitL8J0_WFssfQ17opFHyjCywSdSplpza10cALnq1NPHRt5f1Iv8xRfnvgB-qpkCBYOZgdo1evd7Jizr5_LQ8rwLcB5cRZ7uQlMRezwGD5aH1pdz3O3k_pyG_zpH0d7EyGBQ68sSbOGrki8IFscv4j-HiNfBowySlO5Q2t7tj8KjHYctrGErk8atWJCDJWXGxRmu8_MfDcKoFYZjPo7_nKqDyxAS1oZooEf74T_Trff6U12sw_ypfTS9LTsC0c6f497SeTlT8BU9XyTlbAhxVKpIwWtwYtXjGkHfAvQg88Nk6MBMwTeE0hmrHmJaNFvkoZPsNvEL1ZGz3aMjhmk1b8uqcbkYR4orxDAHLCdUEPRO4ECAUxw2TemsMoW1R2SiqGR070kjZDhAXBf807AUvNF1ASh_sOduQsSOL_jeKKb08VzDv9Kj9vQSqaVjWESLvhmf99CUsjnKv42CRWiOZV0-52FRNuQ8BkyqBmOgGPQpjIQJ990WU0SwqxIXQv8J10ZBw1c24NY6_hwpm4zmH7NxY_ZbkJGyVIy4CWlz02vjDnetlV1FrAbpgCaRbICOiY_VVcyy8eNCbL1SBAWenR3VfR5Is8suMeOvgxb-SMkvBQvdyTSKiKkWAtvegSJnreavTD38Y4IWtZ7JuOe7A3E1x1cwkQF868Z1Ae5HwpaGZPMdJUNIwvPPrtl3VWnV3nbH0UzNaE-g6WswIv8YrIJ7u2q-MMvPep7MuzBHRldZBQiv1auEMWBhJd43ChGbH0Q8n6Hjk3Gq5tpwx2YygfKrMgG-nAhmgtqIYZADtanjZKiMlij5UwcMrcTh6b6z_OBg8Hu6kgEcO9O2Cz7ECkfG0j5mZO6b3BE6X_qkiLFx1Kngo4_sbzy0K5MAlafrFRboHqLKwik6pgrFYBJA6ztJU_Di2qfhRFxGN6lEyAUC_SMgQwtDCVdAUNGdlOcGLnOb5fJlYSmVs38-J-k6DICD_u51lC2VQ-S4hq_WqaeQHfTk0RCKAdcwfVeVMyoxpfhFhd2J7cWFRLZlhP6R0zgtAQMUoIZY030pYQ-WdqVa3IDnMRxQBXjogXdMQt5jN46Kelj2-neRRQ==",
  "id": "rs_0df9610db47bc64f016aacb6bed38487d0a249bccec45c1777",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.065,\"right_z\":0.075},\"note\":\"The brick is visible just ahead of the fingertips and slightly right of the jaw centerline. I’ll move forward and a little right while lowering toward its sides.\"}",
  "call_id": "call_54dxlZUImbMp5o88oLdBUvqk",
  "id": "fc_0df9610db47bc64f016aacb6c0bbd887d0824a9423f1a8b8cf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_54dxlZUImbMp5o88oLdBUvqk",
  "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, 0.8104, 0.6487, -0.461, -0.0265, -0.0502, 0.9992, 0.2081, 1.6081, 0.7296, 0.0994, 0.1604, 0.0586, 0.9968]\nstate[eef_state]: left_x=0.2901 left_y=0.0007 left_z=0.1793 left_yaw=0.0015 left_pitch=-0.0502 left_roll=-0.0039 left_gripper=0.9992 right_x=0.4027 right_y=0.0599 right_z=0.0539 right_yaw=0.0283 right_pitch=-0.1982 right_roll=-0.0543 right_gripper=0.9968\nstate[joint_eff]: [-0.3761, -1.5385, 6.6803, 1.6874, -0.0806, -0.0611, -0.0122, -0.5675, -7.3641, 8.841, 1.9756, -0.0464, 0.0513, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2a4bd8670075a993bb855131829ede50000ee32a4083c8ffa814b4549d5f542",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82b3b6f955f3439a52c19ee716bb5d5c61dc72e15154351b74079e5094368196",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e099b95af134079273915069573840a4f8db0d4a5dafccfae5b5bb8ea3511c6a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob b2a4bd867007
wire blob 82b3b6f955f3
wire blob e099b95af134
call 3 attempt 0 · /responses · status 200 · 3.515 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 6 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0265, 0.807, 0.6449, -0.458, -0.0265, -0.0502, 0.9992, 0.318, 1.3266, 0.7197, -0.0872, 0.2306, 0.123, 0.9969]\nstate[eef_state]: left_x=0.2899 left_y=0.0006 left_z=0.1792 left_yaw=0.0011 left_pitch=-0.0476 left_roll=-0.004 left_gripper=0.9992 right_x=0.3704 right_y=0.0832 right_z=0.123 right_yaw=0.0469 right_pitch=-0.1031 right_roll=-0.0325 right_gripper=0.9969\nstate[joint_eff]: [-0.8, -1.347, 10.5915, 1.8291, -0.0904, -0.0366, -0.0171, 0.2667, -5.9556, 8.9504, 1.8535, 0.2222, 0.188, -0.3297]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLbHeu5nse9-mQCK8Wqgl7M6vUQunjUzdHDIAO-fbNCEXngJO3_apY9vf9y3AEvEWSE6JtdRXUJx_kUkdtkz0dLiEm46_CHJksTm9cUrQRTGAtgnFVv_-YiF4zH7luiofRuLIUe1656s7I9Fhmg_Oc-pByiKeR9XDGMqfxI9MKY3RsHlmSYL0agwz-sp0SeLpXvHFyibjY4zb70UkG6fDl2YQkFOXHyDYhfbtO3zVJv3L4xoV9ssgkVkd4aWi_RtjSSJXKSrAPrGW4VYjdrc08JYnab5POpEwp2IUkCgBOytcuEj5Z5JRhW7K1zmNtxXUEOppg3hLKM0WWJ1wfp7UZ8ZySxFU6XbJ-lXWGSZvLUr6j4F_KFzUHzzb1ucuqKR3hMLKQYyMmHGdBtDgNpjzzdyDgRSwW8UwqNq5c1e3Xij-cDwrJkT_lgalolH6qMeBK768lhjW-D8Q7vk50oT0lUKVnIAeCZRmCjPjcsXCb8wqzPhaL8iJxsXS12IeMW_4jpqhcI9lZfJJLFXiw-KKcgCgzlX0OxTNo-mfPzCp9vxKwT6n6M4VrCs30l7JAkJe_Odp2jweNCkoi-HBxiyiI_BlIJb6v7R-mRfYdDCOS9NqtL2a7l65HKQuVBvSSTeY34vaaRGTk656UQ-bN7He8i_yXAKMLsqxv4a0LDSLL8D_wxpIhjMN9aWSovfKmiTNMrolPokw9BBZ0OxeKNKuQzHG4IeUoDLtcL0rvS_mgjPUPWAZE0P2PTmlgKc0saGN3NtBfUBCg2NEc_L-hK0DD0mSPVm8AkDvh8ytnJMnnGcc50qL8oIcyDLu4gKpjaIhf42P34Fdc1Dt_eutwMukK--80OdL3HR4tzcBMrPpK05PwCO9OQ9bSuODO4SQfr-CYbQSMBCk9FitiU_mORZLEuS7vAMCyeUf9COKt1cUjTZmypqWh4yRbE7Zd_kJGNAzM_2nuwUOPbGhLHV69oAFvJdFaWQou4xw7-tHuN9U7DcqEPQwTUbddP3eJCS1504TbgF-ukM9t93vJGSpnLzt6CLQCL0-EyzU_sVbpf82jUnU73ocAJySyT-mmfH-E5O3ltRxSn2J9PiibPIfV1mF1O0cjE62FIp7Sz9gMcWbUzdAjRrl41EYeVb9wSkeutrZzl08U6PlUEiBCQBuXO4-KMvVFgxVpHwCtWLvCi-IJI8X2siWS3Vo9p5LHTpiz7n7qygSUUWtUswGoUK8TgEhmoeczUAJdCUi79igzeNDgiqtEtLeGF8huOBuPRmrb7q5t0ppmkgQKKynAQwqs7WrPYFOZfJtNONlrjgwmIp0ehjyJyABydSMcc8A247AnCPZdXKJ6GJcWOROdOXZ0NWiNoqFSkA8A_nnUiHEdZFCbTODdjJIHfYmqNIuhghv8Zs2z6sdEQ9OEvpANnOdmgm-pjxtLQAsfom6zsQ0yG1vOzgFKxfRp4jqVyPrHsfKbKqyKiLSRpwBpC8N0p6ryRojNmrXA==",
  "id": "rs_0df9610db47bc64f016aacb6c47dcc87d0b0c833a7cf7b8983",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.045,\"right_z\":0.015},\"note\":\"The brick is still ahead of the open jaws, with its lower end close to the grasp line. I’ll advance another small amount and lower to grasp the brick near table level.\"}",
  "call_id": "call_CZcmiGbfVWkwKuNLc3ItBkxv",
  "id": "fc_0df9610db47bc64f016aacb6c645a087d08720bab5d17c0965",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CZcmiGbfVWkwKuNLc3ItBkxv",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8108, 0.6487, -0.461, -0.0265, -0.0502, 0.9992, 0.2024, 1.6318, 0.7296, 0.1406, 0.1402, 0.0437, 0.9967]\nstate[eef_state]: left_x=0.2902 left_y=0.0007 left_z=0.1792 left_yaw=0.0015 left_pitch=-0.0506 left_roll=-0.0039 left_gripper=0.9992 right_x=0.4083 right_y=0.0622 right_z=0.0515 right_yaw=0.0485 right_pitch=-0.1836 right_roll=-0.0481 right_gripper=0.9967\nstate[joint_eff]: [-0.0342, -0.9641, 6.9949, 1.6679, -0.0855, -0.0855, -0.0122, -0.3214, -7.665, 8.4718, 1.9609, -0.022, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81bddf3420da45c62206d5e3745fa42e1674f5abd5982fd3d9740455888d604b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e102b689df5862d9e96b3351f12449b7a31b1bd9603be52e74ba90282833bf87",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9fcfd6476e926615b9089cad896c8535cc31b51907eb681ecbd6bc8d5127948",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 81bddf3420da
wire blob e102b689df58
wire blob a9fcfd6476e9
call 4 attempt 0 · /responses · status 200 · 5.154 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8104, 0.6487, -0.461, -0.0265, -0.0502, 0.9992, 0.2081, 1.6081, 0.7296, 0.0994, 0.1604, 0.0586, 0.9968]\nstate[eef_state]: left_x=0.2901 left_y=0.0007 left_z=0.1793 left_yaw=0.0015 left_pitch=-0.0502 left_roll=-0.0039 left_gripper=0.9992 right_x=0.4027 right_y=0.0599 right_z=0.0539 right_yaw=0.0283 right_pitch=-0.1982 right_roll=-0.0543 right_gripper=0.9968\nstate[joint_eff]: [-0.3761, -1.5385, 6.6803, 1.6874, -0.0806, -0.0611, -0.0122, -0.5675, -7.3641, 8.841, 1.9756, -0.0464, 0.0513, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLbL3NWWwVV0EmK3MNhytWvQG3XeMqvDi4dhTWW2QudGPyWUSAoRcPZSS9Lo_4QJmQrUNcI4QcUoFv1Mis0Rpt0tjRFxbZMX96iOJsSphfg5bpziHaVeiTIO9CAlE0ZOB2N4rH_qQGuWGO_Bu3uHAEQ6p-7llG3sY2ryF96TWh3Nrw0m-FvRUj3_ywvv5SFPmcnhpTgNqR4kWCwTaTJADPlzr_8QMIkDALx96e9SM9mhc7O8YeopjPaNtS-kpALNhcYvJzJ8rt3z7p5l9rx7VAreyU5uJ8FPNO1i1-SZCFmcmnJJI_kfsbSnI0tO9hIeP-paN5KiCe1z6nwSSQWUvUcK3HwrtcB6NXyr0ZGAj__9MGUCZpy4Za4ufi49SOhkTWtyiq6MWQnFB0q75eI7a6wU0wM9LvtZIYrLJccGjl0peQno0gS-chcSReDQ2kSzEQzc7Om3djJbwBEgGpr57dD3eb2cClgu7m7mWgJSParhI5CJthIzj50YkFRJLNFelkJ5ATEyQozW5Dd-F9M6bm1W75e9p5OC5yd9b8BdR8BvQOo3OzuliiJRWYkIWfWVsOdN2qhn0x1jCyE7HzlMrurNEvXXc3MTgxtqbNP5vxJ0y6dx2rHQxHqH0oDXMMbOV_Rtsmr1S-8CRzSn5RlEFgBc3CWIwvIxv8nS-KCt0ES3o7xV8dEMqYVCgXwZJVIP9rxW3pQPdl07clE2G5yJ9VkoHJjx5GcrFriRhDMh-f-YqiPmjAKhsDrb_lRO_tOL7lioDUcakYRJ-qbyvJSHuLONQ7prxYr9DdJb80qNzJDLVUXIW0qtcSnGrbPqKqPmgpPkm4_kotyh1pmCnRndsow5BerJCjLDuB6RGPnA1dfIU5CFoiUD0sRMqqiqQ1lBsZ_hGE6R6bdfnXpJYiNoupJ9fK483zsHq6udNFARJyDqJ7XYO93L40kFfZqUA1VWKGfQywQ5Heu6mXsFRCSCV6oKO1taPWtslDg5oAmHR-HTv-ggdySMB4KUUkM3JfH9m9ODm4qBvGjRKu9Q9qbW21jHo57NpRxcVFpjea7vBjnW4Fwx89ppzBUSR8PWnvbs1m9oUVjuhHd1tNqnv8l-IBVv91t_7JdLN6Cxdk8sEInxiEcRO7KW8mMsGXoe4j3bzOwEgZpcso0oVanqmHS0haZBrx0ufh5vzoF4gNPV1z0mkhbRBxdldsqm7tDJNm4m2SGxSwl3ntg4oyD6v2MzdOu4V0N0gllvQ_2fHsN1zBGjNBtQfOL7UEM5MC_4WIKFemf0cyqVLi0z68kVHWYHZDRcXT6g7QKfZVUMpUATQ7LekGukrXb0h2goEG3k2ZcYi8AD5K13jYrWD0xpsTykiWZIEg==",
  "id": "rs_0df9610db47bc64f016aacb6c968d887d08799ad08b31ab245",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.035,\"right_z\":0.025,\"right_pitch\":0.3},\"note\":\"The arm stopped short of the requested position, so the jaws have not yet reached the brick. I’ll tilt the tool forward to improve reach rather than repeat the same descent.\"}",
  "call_id": "call_sKmoegXe5UpS0WnUVjXkFtKb",
  "id": "fc_0df9610db47bc64f016aacb6ca841087d09dacd7fcce012e30",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sKmoegXe5UpS0WnUVjXkFtKb",
  "output": "executing move_to over 17 steps (1.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8139, 0.6487, -0.4675, -0.0261, -0.0498, 0.9992, 0.1059, 2.0983, 0.5068, 1.2232, 0.0875, -0.046, 0.9966]\nstate[eef_state]: left_x=0.2894 left_y=0.0006 left_z=0.1771 left_yaw=0.001 left_pitch=-0.0602 left_roll=-0.0036 left_gripper=0.9992 right_x=0.4364 right_y=0.0344 right_z=0.0055 right_yaw=0.0459 right_pitch=0.2018 right_roll=-0.0544 right_gripper=0.9966\nstate[joint_eff]: [-0.3624, -1.5521, 6.9675, 1.7216, -0.0562, -0.0611, -0.0122, -0.3487, -7.8017, 3.9316, 2.0928, -0.0855, -0.0757, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc64866331d5297893972a22fc66d3aedc6015c9a138d2ef63da4e94bf8d3475",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:980665a93f825563661f0120020cade8a9436cb4a974334b437ae3264da14256",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:819b6e0e301ac7e22c269d5f6100d126c91278102fef98bdf502f52c508622cb",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob fc64866331d5
wire blob 980665a93f82
wire blob 819b6e0e301a
call 5 attempt 0 · /responses · status 200 · 3.042 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 14 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8108, 0.6487, -0.461, -0.0265, -0.0502, 0.9992, 0.2024, 1.6318, 0.7296, 0.1406, 0.1402, 0.0437, 0.9967]\nstate[eef_state]: left_x=0.2902 left_y=0.0007 left_z=0.1792 left_yaw=0.0015 left_pitch=-0.0506 left_roll=-0.0039 left_gripper=0.9992 right_x=0.4083 right_y=0.0622 right_z=0.0515 right_yaw=0.0485 right_pitch=-0.1836 right_roll=-0.0481 right_gripper=0.9967\nstate[joint_eff]: [-0.0342, -0.9641, 6.9949, 1.6679, -0.0855, -0.0855, -0.0122, -0.3214, -7.665, 8.4718, 1.9609, -0.022, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLbSmfjc3L4zx2tKTzRpEZTs6yCS4s4OUt-mVVoe7nocfZwYZZjBh1q3DIJHOgseZSRvo5oJYdwiWaeePoP7qnaNRcLxLqjpZt4SM_A_4L7T7-QC1kM8PaSzfUewTqDXdHBDAMPXLTevODX7miZt18zeXICZMvDhfvl08rzi4xRf6gmkCicBG7jmNKsSMVUh92J3jRcXFP-js-nJUb0y2AFEKHXie4v25lVbrAeL5r3v-W9bhb0A2JpNqVSQwDbKvklQDPQEWSbNAjY0TLqFTjgrVMsXvEA829rzX2_QLbxHGKTpD-EnggZqQt6x-PPFp-lqcJsEIDOiUS-0Lol2i5Q_7MLdgb9h64iZfnJHQUvlBPag1R7RofGLHS70Kdup1HpqA9ZLgVbn-1M6N_AQ7M7WiBGvV6sqjvelkepBxoiJnsZoaqQJOe3Xzg8-ao4kOLr77gE6ee7VZDI9jMFoMoOOQitArZBAsX7Vo75ea1_K_fZCHsuWU6qlxD8ru3nxg6Q-pKtzEgmPQQ4t7MQFkAcgeXaFdTMYf-EchlyBi93i8htzynd3ppzcZcwTlZopKuy314YkqOcIuNP9mA66cxTQqxzO1v0hSMIjE4VXmJH5KsXhecn6UN6QZy_yUUtoeSprTYd8fEQx-RFgwSdrXRmyRtq4_XG6RMB9_6W6bud5psZuufN5pTal1PuLNtjlC8kzwxCbAjuho4PJJ1TXs4jtEjwPoCM5ho5gtatuKBFGxnwDmdss7FhThPYLPyvDpXBQ8MnHZVaCQWo_VJa6ngLoymccWICUnBEogJRBLyydxKuRmSw_9zTf7MD1bvxbTqqzy-nIlaqZndRKWblwddyNkj9ZncUeyPMiv9ApmrJ8qps2w6Ri1yUIMWl_cmiL5ZW02X89TvdbhweDrMO8-rKN4_rx296QA69dxGSWTSB94tT7KNM03BnAOUJ22uB4gA9BJxhFMBHx8_0WA-JZcNG_5Ug_OKoMHnDgoFZt683nMEpEDS2LkdCLLZXco2xbUqzWROzR5OAjucWxAO6ss41fkn2-0lE95sVyO0NlqGb6Em4gzHB9VFym1DDSUtN35Fma9pCHj-3mlt3Rhs1GHdBmZb719pG6EctUBS8x4LVzCR4mgjXykdMIc_gWts-TJNFI2ZJLmh99iisFGhgE5CRRVuj9kw4GOTcXTVjqbRi4uk9cTSzHrNNp3nknC9ezw2t-EvWgA6shipkCF7l_XLqNqu2A5WWAWNUpeDRgnx6bfeFg3yfknMi1QcTHDpYS6bDaXEbeIjUQMet7nLSR5dUJEB_j2qeEkvQJB8Xw9uNk9otQIf67KwkbUp_BC3hIyYqA7umInYz7canIxE9pkJMR3YzRJDhZ7uzaHqpubHlkLKTtBRveDc_jbWy91vlmH_GqEuBRRRv2MQtjwDRq6O_cbm8eDrkQL5ugzjvuW7ugYS_ARFZqouZlVuwAp_OerEw6802MVgVBwpzAxYfh62psMrLqbqAk3LoC6gRUp47yMp8thTH477ZH1z0QW5OaA5D6VJO5YNmB6WQOqQGq59cWLLWaCiix5-eZfFALK7EfJ6s=",
  "id": "rs_0df9610db47bc64f016aacb6ce8ba487d0bb3ed38c0000628e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.465,\"right_y\":0.025,\"right_z\":0.025,\"right_pitch\":0.3},\"note\":\"The forward tilt brought the fingertips to table height beside the brick. I’ll slide the open jaws slightly farther along its sides so the grasp is not just on the end.\"}",
  "call_id": "call_kPLSyslBLwDmESPAzLuyM27r",
  "id": "fc_0df9610db47bc64f016aacb6d0b7ac87d0a3ba078e7e8ef60a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kPLSyslBLwDmESPAzLuyM27r",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8139, 0.6487, -0.4679, -0.0261, -0.0502, 0.9992, 0.0708, 2.1239, 0.5674, 1.2686, 0.0593, -0.0586, 0.9966]\nstate[eef_state]: left_x=0.2894 left_y=0.0006 left_z=0.177 left_yaw=0.0012 left_pitch=-0.0605 left_roll=-0.0039 left_gripper=0.9992 right_x=0.4581 right_y=0.0256 right_z=0.0228 right_yaw=0.0414 right_pitch=0.2815 right_roll=-0.0536 right_gripper=0.9966\nstate[joint_eff]: [-0.2393, -1.1966, 6.9538, 1.6532, -0.0415, -0.0659, -0.0122, -0.4308, -6.9675, 4.6564, 2.0195, -0.0855, -0.0952, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72abd3bc3901f586476d142100c34980f76e77b0b1c3595f206964f533a6e80c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ceae9b16b169c634418fdfa20c980cdd5fc674f0870d6955537ea3cfec7d87eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ef023929f0963b4760a160c9ef7dbe8b0ed19907e62c0e22f98abdc88d192b0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 72abd3bc3901
wire blob ceae9b16b169
wire blob 9ef023929f09
call 6 attempt 0 · /responses · status 200 · 4.35 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 18 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8139, 0.6487, -0.4675, -0.0261, -0.0498, 0.9992, 0.1059, 2.0983, 0.5068, 1.2232, 0.0875, -0.046, 0.9966]\nstate[eef_state]: left_x=0.2894 left_y=0.0006 left_z=0.1771 left_yaw=0.001 left_pitch=-0.0602 left_roll=-0.0036 left_gripper=0.9992 right_x=0.4364 right_y=0.0344 right_z=0.0055 right_yaw=0.0459 right_pitch=0.2018 right_roll=-0.0544 right_gripper=0.9966\nstate[joint_eff]: [-0.3624, -1.5521, 6.9675, 1.7216, -0.0562, -0.0611, -0.0122, -0.3487, -7.8017, 3.9316, 2.0928, -0.0855, -0.0757, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLbVCYA8DM0Zu4RiwGSvqscT9akJJP_ykBi-bQjNYjBR2_Le0DKYzuhJksq4J-mwx95oXZ_Md7_7zBisIjpKCNnRcvoT5sDwoRWjCYu6MtLqC_BxL5qD2KGrTMZqQTtx4vCR62eti1m9YaHJpWsPnFwn5BizsjU17u6evu2rENY6TmOXnhB9iukFyP18KC0O1MtYSG_Nv_SaKFf8TfbPQLErJomxCnPYuhOENmclTRsKadbeK94iAnO-TeeQgGhFT4SEYSmWE2s57Xnkdgm9OZQaJBb1JfrcvbzgAezJflAwWzplvarPvBRN0aj8fcyNvOw15LG1RfdBZB0_6P0KL2b3YcTPxF9gCzs3AN3DkiFbsUYK_9d154ga6oH-EqaU-2qUFapBDTzmtJLhGac4--zxEjmeAoB0S9zyZlaMyli8aKATfWQ2FUxf-5scUIbfU_gdard8kxq6BRL3SWqzgkuPHDb7T3Bz-EOO09sG8iBShtw_ZfwYRnqDX4CbbCVYpn0Wh3AwJo0kAzsdR-65NoaLXkG8DFxN61tF7CS5ityuiT_M0MviQgk7fKQqm-7ab7gbEEhWlfphKOCgay6EhwjRdNwnsqzttMch2qxVjoPdYIRox-WvGbcbCQWKVu-miLnizWCiEuY-EzKTDTJdPr937kbV9wDfn_TEALnr-dNJYP7N-_HVQZ08jYtBHKqKyn348WbTPrJXnHtmZvGwPqdlviFOUm2CUvPvl51mi_JsWF73wI_GRyIcEhMId4LjkNvzpXGr2Lu0kJoLXFJA6MaZE7bYruLhxyt54m3y14Ia60PbtJjsV6nosCfL-kfcD7xWQm6Eo1REOpuDZ2Szy3zope2Z4nAFfOuoncnrHC9sApCcI7uwp2Uv-CqJsOwaB_aytwZa5gGXz7kQKIlOdsRspmgBCeT3hJAR0gBO2xxKVbJv6UTx1Q7bzS1IEScum2ZnoKR4ruppxZtEGTu68JO2dp5WgNEpjyo2FyK-vR5bJ40OLmCwLxKGLX8X_Q938sYaT6GRKkBPC4wVueBxFvWv229PLzFiMXALh5S-quypbaBHmLXgPA5_ZOD3Ka5SQZ5TDffDvewZstY6iOAdobK8e0LvN0X_0HhBBuQQyH-Xvs6z_yCzG7cErlJpC0AYkWASMbgb5ZQ0zbcOHSyu7EZsTkaOPaxWu7ghC3T1lhg4GO4=",
  "id": "rs_0df9610db47bc64f016aacb6d427a887d09c834cb8ff8c9bda",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The jaws now straddle the near portion of the brick. I’ll close them, then check the opening and perform a small test lift.\"}",
  "call_id": "call_GYjghia1O0UEOZXmNCXakWkS",
  "id": "fc_0df9610db47bc64f016aacb6d4704c87d0befcff33769c1e6f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GYjghia1O0UEOZXmNCXakWkS",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8173, 0.6487, -0.4679, -0.0261, -0.0502, 0.9992, 0.0669, 2.1265, 0.5762, 1.2736, 0.0429, -0.0689, 0.0079]\nstate[eef_state]: left_x=0.2896 left_y=0.0006 left_z=0.1761 left_yaw=0.0012 left_pitch=-0.064 left_roll=-0.0038 left_gripper=0.9992 right_x=0.4609 right_y=0.0269 right_z=0.0254 right_yaw=0.0577 right_pitch=0.2921 right_roll=-0.0589 right_gripper=0.0079\nstate[joint_eff]: [-0.1162, -1.6068, 7.1316, 1.6874, -0.0269, -0.0806, -0.0122, -0.4308, -7.4872, 4.3692, 2.0098, 0.0708, 0.0757, 0.6618]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:531755c993609b06a1820c8ffdfd22a2b42a573904c7da73c36491ddca595b8b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecc9027756733517cf7356980229f61123ad50f1ba0840ed71e3a920faa8e4b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04483313e86405f40ab4e9e864754f6d7b446a0efef0893a5daec8177da86528",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 531755c99360
wire blob ecc902775673
wire blob 04483313e864
call 7 attempt 0 · /responses · status 200 · 4.24 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8139, 0.6487, -0.4679, -0.0261, -0.0502, 0.9992, 0.0708, 2.1239, 0.5674, 1.2686, 0.0593, -0.0586, 0.9966]\nstate[eef_state]: left_x=0.2894 left_y=0.0006 left_z=0.177 left_yaw=0.0012 left_pitch=-0.0605 left_roll=-0.0039 left_gripper=0.9992 right_x=0.4581 right_y=0.0256 right_z=0.0228 right_yaw=0.0414 right_pitch=0.2815 right_roll=-0.0536 right_gripper=0.9966\nstate[joint_eff]: [-0.2393, -1.1966, 6.9538, 1.6532, -0.0415, -0.0659, -0.0122, -0.4308, -6.9675, 4.6564, 2.0195, -0.0855, -0.0952, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLbb2Z36WN3hWkGZLcfJAZWtW89yEYQi8bS7IF0mAAlQ1mo-x83HX9w4PEk8N9kb6MVDhJzVgcoqqlziNlWkXd3mAKep73958Vz0hik7UPRjRj4Q23fWgp-Ve2fiyMcPOHoZcZ58W31ibLe16teVWL7UyFyIgcqZW1zCJTJSaf8IegABVyrgL2ZedKgV6-YxE2b9Gb08TPmc9-sesUm5KUSyJ6t75o67q0cRj-isq88tmH1tCM3DxFBAXf5w6LoRlNx_UwdIqFvPwzNCRGYCiDN8DUZsDPOpElkPj9BpgkDU0eW3oqw37w1kZYJ4n8gC32P7W3ZesTXBJJrBMQAmzbiFLSPE0hHoepBjIdKuXUx6dLxyQZm9dHV9cBtn8qm_4Z4Vf5qdBpMRDeAVyYhcA4F5vZwQYFa-1evDRfygNDuJY52-hv4I2_dGrWCI9q_OEdsOFgKXdKQ1ybr1M5Wr3lOcPbSm2iaHVUYc1e4a4yvH0Ywj-jNTGIopwwXYDnHtIg9m9inf7Gx8ggY64VToYPun0YFPUTMsiVS7Y7W8l-39k70QKVwhq26P8phHRzxG6P2GQuyYzMDACkmWUVDsC2mCmB7U_UP8s1Zd58Ehd1q35kFdN_JI8Uj4z_v5miOy0prcJ5nU1PRJD-gWys0sAsjiFy5R9nOvqrXbFwYahE6SFVe2iWsqd1wcXQsG3z1bYJiW_d-gxsT4tu2uxMQpnSwcHhEG57LW-bTaKV9Fot-dcZy4ptZ0C18_YlrMQw8TRbPd0ypsK5hIvN6vLfmxVNVoYzo9vhcZNaMn4CFH-pWzRRYtu4wlxhrE9lqB9NHw-yPgUP6RGgTp56d2vvv8NJ0NzgAxjucuqFOUZv_ppvmRCQfBpn13IvvwmJIxuzbfvES_G6W9a5PRsb3ZNq16b8uiqaZHAgxoXymcHvV11vYt-mb1UI4Cp3M4i_olL8YjAIWcj9nbxjJCKjipiG4SnwrRoA0V4z5f3_YN3EhGNwDG5wOe97B2c4iocPWlgNZuT1GpoJA5-Mla05w3mx7K_mcw8Ufx-cc1mYJLWrd-EdCelzlKIV4G1kczlV_dOsppyuPlqw4JG_5_ATtA765sI0pV6VI2983IvlZnPYdpB8ZahU1Ez-x5mdzI7iwy4z7igAWbMjzIyEv0YE-dEeAKyuE1SdwN17L4eDPrUGK0gjVD_fYd8ong-gqnN49x7mOGI-uSozxQm26tsrkEeal7U2u-vvRyaU0izLYyKcnz8RkwvRqEPyj4hlkGBK7p1vvugE1rWihzQu_jXljqzR-B-vs3XKW_D3L64toZwNOVrbbCAqZdRp3h6Qz6-nnG4u4HlCqUdwsWdhjCZwDAoxSWicMDKg==",
  "id": "rs_0df9610db47bc64f016aacb6d8037487d0804b3cd66fec2b09",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.49,\"right_y\":0.035,\"right_z\":0.02,\"right_pitch\":0.4},\"note\":\"The gripper closed almost completely, so that attempt was empty; the brick remains ahead of the fingertips. I’ll reopen and advance about 3 cm for one corrected attempt.\"}",
  "call_id": "call_MjexxramBnW0aynm6slelKXE",
  "id": "fc_0df9610db47bc64f016aacb6d9405887d0a3cde9be8e907eab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MjexxramBnW0aynm6slelKXE",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8173, 0.6487, -0.4679, -0.0265, -0.0498, 0.9992, 0.0834, 2.278, 0.6819, 1.4322, 0.0448, -0.0811, 0.9955]\nstate[eef_state]: left_x=0.2896 left_y=0.0007 left_z=0.1761 left_yaw=0.0013 left_pitch=-0.064 left_roll=-0.0032 left_gripper=0.9992 right_x=0.4875 right_y=0.0364 right_z=0.0263 right_yaw=0.0792 right_pitch=0.4045 right_roll=-0.0712 right_gripper=0.9955\nstate[joint_eff]: [-0.1162, -1.1966, 7.241, 1.6923, -0.0562, -0.0513, -0.0122, 0.0615, -7.5419, 4.3692, 1.9512, 0.1001, 0.1685, -0.0611]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d53a15be77b68090af1920c9384d14b3b6fbbd4dda11f0021ddd74177362a0a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b085474c859a1fe83f0e32324b31d2a38a8154844cd702baa9d1aab37c3cd17",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c39dc4069d76948e9958de327a178ec1536d54e1f60f4cfc230e2a05364b510",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 6d53a15be77b
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 7.195 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 26 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8173, 0.6487, -0.4679, -0.0261, -0.0502, 0.9992, 0.0669, 2.1265, 0.5762, 1.2736, 0.0429, -0.0689, 0.0079]\nstate[eef_state]: left_x=0.2896 left_y=0.0006 left_z=0.1761 left_yaw=0.0012 left_pitch=-0.064 left_roll=-0.0038 left_gripper=0.9992 right_x=0.4609 right_y=0.0269 right_z=0.0254 right_yaw=0.0577 right_pitch=0.2921 right_roll=-0.0589 right_gripper=0.0079\nstate[joint_eff]: [-0.1162, -1.6068, 7.1316, 1.6874, -0.0269, -0.0806, -0.0122, -0.4308, -7.4872, 4.3692, 2.0098, 0.0708, 0.0757, 0.6618]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The brick now extends between the open fingertips. I’ll close again at this corrected position.\"}",
  "call_id": "call_d021yEmTicKCQne0FB0n4X9Q",
  "id": "fc_0df9610db47bc64f016aacb6df295c87d099bf03a6327021b0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_d021yEmTicKCQne0FB0n4X9Q",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8173, 0.6487, -0.4675, -0.0261, -0.0498, 0.9992, 0.0834, 2.2833, 0.6846, 1.4731, 0.0422, -0.0883, 0.0081]\nstate[eef_state]: left_x=0.2896 left_y=0.0006 left_z=0.1762 left_yaw=0.001 left_pitch=-0.0636 left_roll=-0.0035 left_gripper=0.9992 right_x=0.4892 right_y=0.037 right_z=0.0345 right_yaw=0.0859 right_pitch=0.4424 right_roll=-0.0786 right_gripper=0.0081\nstate[joint_eff]: [-0.0615, -1.3197, 6.9812, 1.7118, -0.0415, -0.0708, -0.0122, -0.2393, -10.0718, 2.6872, 1.5653, 0.0317, 0.0317, 0.6374]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bf4a97bf1a996e251732257d9fa46f38f2e6c3f218e07caa1534e914a2b4d80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1b69564b0b34c005f8a205f6734459e36dc8c0a2222aa2377e77e3f029b4d2e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ac1bc2ad24cc9bb8046436941189691168655cc19718b93a2aaa4f6e7e3d388",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 3.915 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 30 changed as sent

message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8173, 0.6487, -0.4679, -0.0265, -0.0498, 0.9992, 0.0834, 2.278, 0.6819, 1.4322, 0.0448, -0.0811, 0.9955]\nstate[eef_state]: left_x=0.2896 left_y=0.0007 left_z=0.1761 left_yaw=0.0013 left_pitch=-0.064 left_roll=-0.0032 left_gripper=0.9992 right_x=0.4875 right_y=0.0364 right_z=0.0263 right_yaw=0.0792 right_pitch=0.4045 right_roll=-0.0712 right_gripper=0.9955\nstate[joint_eff]: [-0.1162, -1.1966, 7.241, 1.6923, -0.0562, -0.0513, -0.0122, 0.0615, -7.5419, 4.3692, 1.9512, 0.1001, 0.1685, -0.0611]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLbo2C-fC3ZefnwBDCJY1YPGa5ouAOnpkQ4xe7pn0uGDHpxfjtx3zphmSZzPQPEIHZN9jP3l0X7ykuwj69O0WqdneVIrS55sHbiJVxVzA3AbHpiJFznrbEv1mDBq3jf3cDyRsxnG534Jp6-rM1JfvsG98VEd_h5GzS8HWXlDeUQ7VPlWMkbKFWsJMXcAf78R3K2Vf8QdDfEtYIwC_0lFVx7n-HETVcS9qAMiveSvqF8DEcT6Fc_t11u69mCKX7TLLCMbHRM16980QWpq5HDl7_S9uzfZvwHheXexahLngfxPDmIQY2GPVmpNIN2IxlMXj6sr_XnF0NEla0RO0lfYZHn4YAXpDDl-zpsFI3X_FTUxqkr8AyuUO1UOebFOqQvQVjSrp2ACCFgYhq1weDx-3vBt1qHj745LRNxi2FaU92-jPro2yQst008BLMaKT5fr2NehKut90aYIaaec47EJGujnZpovb2uIYtE9N9YfRH-L7Ax07hJrX6S8tfxlpLLqx6y4xrTf__ORiXSBtLdqAdWFHst8z9XvTuE1yeb3gmm3vXMMggfIVm62IG88zt1xNW1SLzfkgNZpSc8iiHfTiyeM2agIHrLkjrUPfdcSKzfv8RHkuS6OGBmXcuMCW7BswDgDPdLL1h4FK0TWiyUVHO9yTGg3eMwP2O1_D0AQVEWtBjHhNJFOSOORIo9vqVBIGIS8ZXdVzZ2-NgvgklXPNqdjRPsv3MaFRENBmJpO2vin6w1w4M3yhJZ3hWS-Zj_J6TJAtfzxo1ZJAH7X3XUCuUCzTaslfj7bDRsXJktMKvBpYnSegmL2Oxk0gVnHn3KmvbSNr634ZiQkR3hGarWWPqYNyCNwp-uupfxqeeKnCyRoMNtdJm0jXp4vBAZRkqKMXHkorbsPbuTxTNGvJUuMhOnWD3UbCOhkQOP3KNiXkUrHrzCgiUb3kVoJnb03YR3sFCyLptCNRXZfcVQifPPhe7GZfGvJNuocO6Zo7FGs2u9zhQ4GXN0GidwVD-FjsTOBBBl0RSxDpNMRH7EP1JH3rbTVrPfeFQU-y9g72MdKvdp2M1g2EfFnRZqKksFoD-5_QG9XFjCxHMVaofOW4C8H-Fmsa5hmY5JyANN_r061ygUAg8oWLcBzPhk_OLHyPBZkQO2P5HFbFfdVsIlc5RvXxJpHp0tfcrE-cSpfABeFHt6xCQqEm4JszVwqp_g8yTjgYbx8DnBOiAskFMeZvSz_dkXWFwbtAgEdN1UW5yFdNDw3ZEpik7_gPm0UgHkHIqTP5UQZA0VjdZ-xqC1ubqygAERczy5ZXKTLbYZSOBNoHYi5Z--Xdkg7X_WGTF-MpJYiSjnW2Pdgz8dUR23Bool_UJMH-T9nZOjAmYhtIlmVoQCWS8B2PP_Sj9_GDkt8EZ0EtFkuxkPmrgI6T0rGzX1Lr-JkJC7EQWYank2WhNwMXtXIeVdW5s4J6g13xfQZn7w8V7z-_swy3MlfKm_LPH9juhaxd4QWwz0Sq9xh9NvUPPsaxtB_qSabi41VgEzVV7Og3ZArZWOdjakn013p2c-dE_Eh2jqoHNve8qWpy01W2lg-QjEI4RpZTk3hHJdb-MFsQIWcDpzS8818YoAbWOGTKkM0wfPEbG3gyxFCSI4ymvTk147mnivGAnLk_YvtAjeFtZ0l_cjQecGteXQg2NQdGghG6t-h70ufljXLRynzqbvzv2CvFsNXVwl1u7k_JsCk73f8STNP7i8G5qMMGfYh0GOpRFB5VRQQtLr6ik0m3oR7wEdEyyiTOAjjEL6qbbgdgW-AoCrLwFKSPaVjeOz8aWM0heaHjpDGMfB6k5HJjG7Nee8qhboFmN43Kuz393xrPSBecucG9mbG2_ap5p4DtOfGlcWTLxPl5BTgHr242jowe7U=",
  "id": "rs_0df9610db47bc64f016aacb6e24ad087d09bc53665c419cecd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.515,\"right_y\":0.065,\"right_z\":0.105,\"right_pitch\":0.5,\"right_gripper\":1},\"note\":\"The second close was also empty. The overhead view shows the brick farther forward than estimated, so I’ll lift and reposition over its center before attempting another descent.\"}",
  "call_id": "call_hpnFQhlNNrcEqCmLlGYhAqRg",
  "id": "fc_0df9610db47bc64f016aacb6e6e96c87d0aea95d5443b7c363",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hpnFQhlNNrcEqCmLlGYhAqRg",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8173, 0.6487, -0.4679, -0.0261, -0.0498, 0.9992, 0.1574, 2.1292, 0.7605, 1.2518, 0.0891, -0.091, 0.9958]\nstate[eef_state]: left_x=0.2896 left_y=0.0006 left_z=0.1761 left_yaw=0.001 left_pitch=-0.064 left_roll=-0.0035 left_gripper=0.9992 right_x=0.508 right_y=0.0683 right_z=0.0795 right_yaw=0.1176 right_pitch=0.4511 right_roll=-0.0877 right_gripper=0.9958\nstate[joint_eff]: [-0.0889, -1.3333, 7.0906, 1.6532, -0.0611, -0.0464, -0.0122, 0.0752, -12.6427, 6.2564, 1.873, 0.0757, -0.0024, -0.1245]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:505371e0753b98bb84a339c941790d65093d6f2ef7311701d4c4615fb4ad72d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b384a99c93d94d11af23a254b40594c8d04214c21380648b72524694089d8a78",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:100d94074b8b2b06c1bef88a6c6545b1d17c8bd837b17d3f4e24abafcaa4dcd3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 10 attempt 0 · /responses · status 200 · 2.938 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, 0.8173, 0.6487, -0.4675, -0.0261, -0.0498, 0.9992, 0.0834, 2.2833, 0.6846, 1.4731, 0.0422, -0.0883, 0.0081]\nstate[eef_state]: left_x=0.2896 left_y=0.0006 left_z=0.1762 left_yaw=0.001 left_pitch=-0.0636 left_roll=-0.0035 left_gripper=0.9992 right_x=0.4892 right_y=0.037 right_z=0.0345 right_yaw=0.0859 right_pitch=0.4424 right_roll=-0.0786 right_gripper=0.0081\nstate[joint_eff]: [-0.0615, -1.3197, 6.9812, 1.7118, -0.0415, -0.0708, -0.0122, -0.2393, -10.0718, 2.6872, 1.5653, 0.0317, 0.0317, 0.6374]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLbtMKMhDqIuWQuHYsZFXvhIc6d1SKDnz3Ls985KgDJgAG1ejr32E6sdBudTau_0z5jzbTM7fwiFln7YRZ8KKqTc9LHCXol89ouY4c5CXtkVMBLPMbL64tvJmWgXUtz6r6m3nn5NIVrFNpJJeLQEvINjPPLCSqG1jcU-NV_8tiWn5gtrnoqF9T7ueWIB8ZL5omS39QnLaoBRjub5W4t0RZzmY_BaCUp_EoXpUjHP1e_5fGXqZUESWW_8tiFsceqLwAZhl5uZVaKEsWe6OSrFmyHAMtBNgQY42pclXYmlNCcvi_FppowDVYhSVRrjjxsFF5SyTVeUDhPeHvzVx42xQaMlX26j_OMDbKqK6HOvCitbO_Ev0UcniFOR5iR5-_bpEJq0WYTYpx277lL-e9awSFVhEtyYRpTc0T7Gef14H0jsSSWGHhejHbQkSA6IT0BezelKMgBbrdz4r12dJyu9Sz6BCLr4Q0em-YEV-ryDtQHAJK9jpAmn5NtqsIHNJvtJSDnwVF_Kh3dOJvilHeGBP3NdkjVbaALxsfALFusiikJo3BXGZV_bEzQ1hqBKs0UoC2rBBy0w2UqLdc8zBI4UjKGR7-I-jxmOhFqE3NoorgbSLKgAVHlv7-O1dMEDc7sOZ9TlDcpxz_F_Jl5tkE06mxYxuK-5ggTx560GKXPG5BwQS9fUh0tm7mp0YJ5LG6CZ9MymtgHNVQp1WFdZUFuSsyCjSmMmEVlTT20G5o8cPlHor7EironkYkvThDjYGv7_6X2FdLRnbH9VyN4VwU5rpMKoSkoEgrCgtF9sjHyGsfwbTyGzYPt2NjNvMRAiLdqI3qh_yfl0O7buxN2SYZIXpHbN6J5OO4jFIdND0Cdpi_3rQJUiqO3omF-wOOAjFAfwTf4eEffCGVzuwt4YJVpJNgG7csN0luO2JTVldhVwhv0zMV6hocaAjGEH0Zwwz37iuLR2CpRykgUbJnUL9I-FMyt8pxx3sTxgBrAE2XYJW7dTiiGiB5B6lcsq8zUjGQ8_wD31-yaZjOnMxcyBwMo0NuysWkLkIHk0kRgzfGl_KN-71trRiKOeusfOx1WAQjMX6qKe5V1wkjuQBeIMW1rO2a6K97mpeDK68ICDys6gWUIm8kcxLoSacmeon13LOewD6b0GiU-O3nercDqc3XHLuHQ8vkAV0YKkjGsar-irn4wdGB6pDRFH7dFLPOcFATyU5bFVWTyacPgAr4uHCwiPbNbzKIufNpqKA-wqhlZRRnfP9Jiko5p_E7KwoWHAUl0kgIdq5AB5DfV_r_UHdbo99wFCjA==",
  "id": "rs_0df9610db47bc64f016aacb6eaa5f087d081ac19a0e2f22973",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.54,\"right_y\":0.065,\"right_z\":0.015,\"right_pitch\":0.5},\"note\":\"The brick is now centered on the wrist camera’s jaw column. I’ll lower toward its sides while advancing slightly to compensate for the fingertips looking past the camera.\"}",
  "call_id": "call_36mxeig4q6T5dHpJ6qbyynbm",
  "id": "fc_0df9610db47bc64f016aacb6ebad3087d0bf557a10e179f322",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_36mxeig4q6T5dHpJ6qbyynbm",
  "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, 0.8223, 0.6487, -0.4694, -0.0261, -0.0502, 0.9992, 0.1425, 2.4248, 0.9363, 1.4906, 0.0639, -0.1062, 0.9958]\nstate[eef_state]: left_x=0.2897 left_y=0.0006 left_z=0.1745 left_yaw=0.0012 left_pitch=-0.0705 left_roll=-0.0036 left_gripper=0.9992 right_x=0.5412 right_y=0.0699 right_z=0.047 right_yaw=0.1349 right_pitch=0.5693 right_roll=-0.1002 right_gripper=0.9958\nstate[joint_eff]: [-0.1846, -1.7573, 6.9402, 1.7118, -0.0464, -0.0415, -0.0122, -0.7863, -8.1299, 2.865, 0.7595, -0.0024, 0.0513, -0.0171]\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,$blob:6e6433bb5b39896636c740def1eaa38dbaa101f467a082bdf2838ecdf2da652d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38e26248e78e03708af3a631f689ec4455a3c111cb475475612f473acb5ec36e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9e05bd2baa60a61ce78b9f8e9f4c6fbd541ddfe901c945dba9a0245202720da",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /responses · status 200 · 7.908 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, 0.8173, 0.6487, -0.4679, -0.0261, -0.0498, 0.9992, 0.1574, 2.1292, 0.7605, 1.2518, 0.0891, -0.091, 0.9958]\nstate[eef_state]: left_x=0.2896 left_y=0.0006 left_z=0.1761 left_yaw=0.001 left_pitch=-0.064 left_roll=-0.0035 left_gripper=0.9992 right_x=0.508 right_y=0.0683 right_z=0.0795 right_yaw=0.1176 right_pitch=0.4511 right_roll=-0.0877 right_gripper=0.9958\nstate[joint_eff]: [-0.0889, -1.3333, 7.0906, 1.6532, -0.0611, -0.0464, -0.0122, 0.0752, -12.6427, 6.2564, 1.873, 0.0757, -0.0024, -0.1245]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLbwwwOskFBL6A_256A4D1M2kvOo2BydLx5YbBt1MfHNMPjkW2IZZo7m1xKzecqJFDtGU7r7kypnVIerwpdXv3kR1hAp84wL7zFTli-L3IyCdqBriLUprRxeZ1c3afVJfedGIXQ6QyTwjyR8tnNTjAMcgAZBVReXJ-docJLMAM1aRHU4KqgGrejM8YAerT4CJ1fL_kXulcJEPYlbCzcunsHBHGUyrowbG2VYyRLIKmwLlGvTu_NHO1PpIz8kxdeQTR5xBTO_BrfUFCoERMDmFy0GPMi94BKCKBT39oDH_6Lx0OomsV48C4UxXq4v9KIwtAOyaBeOuDbZ3nIhd3uWUTL9iPY4zF7V2zsGGsAW8Jg2p1CH6Vd80aBTinhldbh-Vdtaze0Yx5fiKxEQUZv7wMV4rqfpYiZyV_B4ts4nkfMoyiLO9gP_B_xljsaK-LUm3K03slKT7zaK7eX4VKO0GARw45F2ezKUzHWKurOSlYh8cSR3xiEAmet1XRMdpQokrQMpH2fXWXe5NqdbnG6eZyzcrpM2xjVb0xJMnDEfh0s3YB1HsZJKlN3dnGB6a7WvkZf6h2LCimQXjTVbSM1TK-4GgVnqBudh8j0DQZdWRZyhYOoUOyahuab--J-3RdCbzKMy4XgnrnPVTZyAY0KZ1af_OuEW7HlLH0NXLA01BVdfLpJcxhZZPS86WIFcwY45U2VyMMWPGMoGfvyesDfBApnvf-XmEQfuIyKWd8Y4hiIpNz21eMUs6hnBb7zwn3WwPZhCwke1sPf0oYAoPDilgreiw55Hy6adRQH0DTHw5ENeHQOVRYRpjRAdvRznsCqaBRdPglecTTAl2_IFMpdvPf6qujNH6uRMSFPs8wH8g6K0VRgQbRbpT7cADD_M9nM1ME6L1ZejT-yuKMSS_Wjttke43p_k2Iwe5kvWxVEvxqlbWH0fb9y3gJbF5gxVOvM6N1pZgKNUAjpThODZDApjpQftA1BSYQfq1MMUOsq4yTEu9qB7ocGOzN6OT4O_iBfb9qDSC2E2XKtIljcUCU2ZRI9tEvj7jYcspwHcBgXxGovRmdamoYB8GB87yn-veJGO3KPKruw7mPzJAHOtXSE7gkyBckXt9AbRTn770_Z9W4lDCramUT0Bs361TAP3pmIcGeDt97J6MPYBa2tni_5N-l2gaMIC5IP-LAdCwfnPq4sbNgvPUMhqK83TuIAATd09QeYhRVi4LFe1iEpQ1xmMxDFALaZuhO4ltfkt5iC6oAEqvPxsID0mPqLkV8LkRch92BMJjyD99QyoztgAbG1gaengJw==",
  "id": "rs_0df9610db47bc64f016aacb6eed9c887d0a0bfff3f7d03b266",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The descent stopped above the requested height, suggesting contact near the brick. With the brick centered between the jaws, I’ll close and check whether it is captured.\"}",
  "call_id": "call_rJFDZSqz7J4LO4czlNxcBBDY",
  "id": "fc_0df9610db47bc64f016aacb6efae1887d09d6bc07593dff7d4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rJFDZSqz7J4LO4czlNxcBBDY",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.823, 0.6487, -0.4686, -0.0265, -0.0502, 0.9992, 0.1421, 2.4424, 0.9421, 1.5303, 0.0616, -0.1085, 0.0084]\nstate[eef_state]: left_x=0.2898 left_y=0.0007 left_z=0.1744 left_yaw=0.0015 left_pitch=-0.0705 left_roll=-0.0034 left_gripper=0.9992 right_x=0.5413 right_y=0.0701 right_z=0.0494 right_yaw=0.1382 right_pitch=0.597 right_roll=-0.1028 right_gripper=0.0084\nstate[joint_eff]: [-0.1709, -1.2786, 6.9538, 1.6728, -0.0757, -0.0317, -0.0122, -0.0752, -12.4923, 2.8923, 1.5556, 0.0269, 0.0073, 0.6276]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78b9bb458570ffcd4a75b69e4d11ad34d3de49f0315d2ce4a708a7217af1269d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76bab2079e7ffad8eabfae094673bfeef43f1dc3493b423056ab0e91639377f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:731709606832fa287ee7543c2f754d62398bad5dbeb59bc4153f74980deb4b15",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 19.57 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, 0.8223, 0.6487, -0.4694, -0.0261, -0.0502, 0.9992, 0.1425, 2.4248, 0.9363, 1.4906, 0.0639, -0.1062, 0.9958]\nstate[eef_state]: left_x=0.2897 left_y=0.0006 left_z=0.1745 left_yaw=0.0012 left_pitch=-0.0705 left_roll=-0.0036 left_gripper=0.9992 right_x=0.5412 right_y=0.0699 right_z=0.047 right_yaw=0.1349 right_pitch=0.5693 right_roll=-0.1002 right_gripper=0.9958\nstate[joint_eff]: [-0.1846, -1.7573, 6.9402, 1.7118, -0.0464, -0.0415, -0.0122, -0.7863, -8.1299, 2.865, 0.7595, -0.0024, 0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLb5yIsc1rQi4ltLy_b8XYwMyGY1i3nlLSyAfgR6jpatYdPx8EalupnPw-WG_2qTg8MTWxc2Xv6o8-b_gJ5_ocZTPVV2yOD7gmPfO5ubbmE060NYlBF41WnXo9RlfyEBqtYFDQZQ8UTfU51mHZ9dOqSD9rrHSlN9F94BI5RTLPUNHp9o0lyOY1R0FDqn1eldL0dWZ25u9W6AKxnqBC3o0Em8OYy6Kvu0EBGlUr4ZziLrtzsxWnHFPdTo7vu2n8SD0odsQwRviROuHIBlkJdlCDqnAfUVMNmXytAgvFDL86xovKjQ-a0i_kNGc3i2deGtdFSKXNYjaq5uz8DRjcmKj_3txWYIcAVN4Lk4isyigbQQSTVrIKDcng6iK8wJD5WQ3jJmnxl-PnnVzOM9kBzMRy-XKqDL3zcGHbZtlmUlZximyAtP2mV0WpKFSnmT0KEy6q6XwhQbGzvxUh_v9Y5MZDrcFe5GbO6XLjRMA9BaNYn8K7y-dQ5kV77XDqHqngLqE-HL1GmfviSwozGnc58IJFd7CBRAEcDZJ0QBUrXTTpLdmzUDfsYaGEuj1yJ4I9UtLLeH-Z8pp7zBYy8DJVU4uedwpnLcJ-lDGKdO_9y3QwVGWbe20VGPILa32PcbmG7T0qBgXBkRB98lQkOLGfDxjDK0guWpCws6aV1b7jGKXUqWeGfisEdktx6dyRV_lEd9CnpSGZcO8KLN4lDuYYkH27Em2679BiMxvvgPi1M8C6LBIf6WSqRtFHUx5pUkEcr9wDbb3QMbCsbSOPCEQSwS79BZrySJt_VOM3cd4vOpmqjh4tIMvBtg7YWWlKiQzTzquDv3hxdnR1EKue-53xC3xlEc9fFoJGtpjfLh7ouLO-q-K4bFmfeWqDfyaYK1x8Zc3jwmXv6MSHW7APqR5Igab8AGjQ7eFmkiRCUVZ8XLEOx0Hy9w4HzNs2Y7QE3LdqoBlLzAbD5_P5gXFvaO6AgnkfFwMFcrNmc3POjhti0y9t093ZYkAZCgzrAKA1iXFNASNyrjg5Kb-iI22HOxSqWO5SssTTupOcFdYug_680Bzx0Q0LDJ7fHZKoYWiYgnANZDrEIYyOu-5_ircZ7hYuxoTU0RA9E20lqUG7rOjGB9EJCT_DPjNATFzSbFTtbCvvAwc893DOTGAdd09NvAGVS-YdvMwPeCO8Ll5CEW3c9cavpvLZOsdiXAvTdMwEoDKoSy9GmeX56MVduBP3SmIWKNr2Q1V5hEvhRicVXr8x8kZKYRduOAsM2QvIt3HOnWckNTbQ6svozaVB3W0NhVndYsIsEXUci9yk3NHbzO_6gD5O-SqBbxTTvqA72JXZmkUFXnLN5EotcokzK44KQ5WixIoEMqwg==",
  "id": "rs_0df9610db47bc64f016aacb6f69c3887d09c100d7d5da4c8da",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.025,\"right_z\":0.18,\"right_pitch\":0,\"right_gripper\":1},\"note\":\"The gripper is empty again, and the tool obscures the brick from above. I’ll withdraw upward and back to see its exact position and avoid pushing it farther.\"}",
  "call_id": "call_5dhEngmJjnfSwoTU8rBd5Cqe",
  "id": "fc_0df9610db47bc64f016aacb6f76e5c87d0b090b36ae4843e95",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5dhEngmJjnfSwoTU8rBd5Cqe",
  "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, 0.8276, 0.6487, -0.4683, -0.0265, -0.0502, 0.9992, 0.0448, 1.438, 0.8818, 0.0067, -0.0174, -0.1619, 0.9966]\nstate[eef_state]: left_x=0.2902 left_y=0.0007 left_z=0.1733 left_yaw=0.0015 left_pitch=-0.0747 left_roll=-0.0032 left_gripper=0.9992 right_x=0.4346 right_y=0.0262 right_z=0.1666 right_yaw=0.1369 right_pitch=0.0162 right_roll=-0.1092 right_gripper=0.9966\nstate[joint_eff]: [-0.2256, -1.6615, 6.9949, 1.6532, -0.0464, -0.0513, -0.0122, -0.5675, -7.5145, 9.8803, 1.8584, -0.1538, -0.0366, -0.2711]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72030491e13537cf7ca2658ebe4a62f00046faf75f69c18bc3b67849716106e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fb6fe25789e2ae2f0d0c2d63602c612f2ac20c7af47dd132272962e2a725b13",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:047246b758bc7af3a6b35b8bba2db28858e235ffa62be3b07543c4eb4a7b77de",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 6.437 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 45 changed as sent

message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.823, 0.6487, -0.4686, -0.0265, -0.0502, 0.9992, 0.1421, 2.4424, 0.9421, 1.5303, 0.0616, -0.1085, 0.0084]\nstate[eef_state]: left_x=0.2898 left_y=0.0007 left_z=0.1744 left_yaw=0.0015 left_pitch=-0.0705 left_roll=-0.0034 left_gripper=0.9992 right_x=0.5413 right_y=0.0701 right_z=0.0494 right_yaw=0.1382 right_pitch=0.597 right_roll=-0.1028 right_gripper=0.0084\nstate[joint_eff]: [-0.1709, -1.2786, 6.9538, 1.6728, -0.0757, -0.0317, -0.0122, -0.0752, -12.4923, 2.8923, 1.5556, 0.0269, 0.0073, 0.6276]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLcOevDXO6T36t9ZgR9BUqN2hIkMJy0FZc_JpPIvlqCtXLqoP23vvRNuBktq76EiM-f7zAPaSYW1C0DLh0c1qgh5CGy18nakdiJKxA_5EPTA7XTlIB_Vw0Vcf-12CInAfREN6KcjQFFuotBalXs4ctaGJHvr7MfqCecBWfICis_YFIabhVQ3YDqzAqfuUKK9XSAHTRj_nMiHTijSEUPGjw-axGGQ9n23zYAn3HS3pCj0PQxrY40E741yPetbefA2JuGEe3SjfE3SsWXjrU99NTCleCL_TVjRb0wFR3XCh2T_W2y7h6UUCj5CYdxhBHOwZrySMMesywi2E240XY4Qr4TTTmLV0HDvUXH3sSOoWA-9ORslKc2sokFpSaLZJ5-HPJLpnDg3FF7ZA5_Y6CPWwNVTIA_8TD2LC0ikxBqtmo7T4DXfSU8V53jqw8-NWZq0C1MB8Nds3A0UTWsW_Z4Mpozi06B44ux13sQL0HwrF2xDQhg1pDPpGbKfi8NtCuxWcowSqFeBbKkixqRaS-dj8TybGBbLxX0TH9MZL2zLIxdLIGGDnBw-_VLg-_KVTN5t_r80FTRuTys3WppJMvoKdgS_I1VTIFId3VoACOUfR1wzNonMKbn7eXPyZSlQEBpVZa6WNIEXv_tx4FOxbYuDWaB9AYhUzr3Yiyo7o16g7keta7AK0qv_FqUKctUUx6vUn7ief2bfspwutPrXiE8DPhgj0IqBMq-kn2o6oN7Vw1Ah8GQe9efBbnhQV7DiHOqB9DGJFNhdeu0en3QgFXl42NMe8gvq0Sk2E1t7p9Vj7K3AN1nIsLxWlCGKABzGF2isSEev7U6SvXDaHQAogC0gVy4IkIFAOmIjk3nsE51q9oaLYWoIR-NwplPgIiVnP1PZz72YE5OfAIiAT3AAEJNbX7jM2mxdXLaU1geJ5TeQK8MrpcN3I1pHWQ-ukdk29uc5Mbh3Gf5qsZMYJJkUzkIJm0kJyvK9XZdLnNlOHWAe1Yz3PmOJ2RgNcSjkx5TJ_-04s_S42MSlE4bxPf-2XAQiMlTc-cDsZSxTD1jNLYpQ57jUHwdk2hqZBSGOaMj9AUQfzGNQncLKZWAgVspWvxM9CejglpB77fgo9Iw7DN5uGRPdXl9EyQhTdxNMAhE5j3SL5e4mRyJXkPd00wYDoWbkBZC2wr6hdEwzUBjxtD-Muv4Ph9Ud_al9tTZofH3YAm4RIZURla1K0Fn-jMUE5yo1qKeOEAzBH4NSkzo87T-sM1UT21yfVZMBjjRCqcrcrCwKWnd-k-lJ7PqaBM9kMYsJIc9U85omYZuX40jF1HbP1436l-hFLCmU_mdficpetF4C8rrYkOFHWKRGKxOuI7fd-SXCxBzUhmBWt512uJ2IQPDfGYQ8q_dUwJSnayFxi3PYnIZrlhh__JPw5T94Ll-fsM3IBjzYAb0RCEAmiznUaEcRUQ9YYRKPMUPrGBcINdY14wEli1U89GUasZAc2EJLWQnPAMqv84mgusppCGdGC8XnhbEKnyeye7D2gb0F_q4SeAWRPk1h-_56b1Vq-nr_6l47kF2CjFRQSBDpoKCh17JfLgPyk1V9lxNTfQyXpVahVd50OTu-UmKvwpOPRW-jHsXXYtm3zcK-IViDu7YwSJ-3PXmsi6sWn5S8h0tC5l_MMumu5EJtdaz0vUNlUMJes1j928rqjiUa93CzzZpYp3mjHF_9bGbf-rnyfGJ8StGbzO-uwXx1_lEPbbrBwIVOrMFpgk-aP-i2hVBzooKO_s1kKx871W2MsWMHZNz5u-eUqejIpF46dw4j2PpZsyoDBPIPj7XuvbRFiMt_WSLu6jOcaHEBvKWNsOZeDQCNPFjs4JD4XL_ESXx6Axx0qycZdJlFGEqhDHh_1e_uHwVFh3rIfX6nqguTViBxzBEegK2MdH7vrIiXHDI83uS3bJjYJugCWzv0M5xaFYYkXx0TOHi89BxkHxo86xbk4KYRQUUxNoL_VftwK0-17W0LdQH_YJbvpmp6GbNUEz272lv6XU4H5RJphHPgBlQHEavGyMkAvy8TuYO5F4QOpjQ9men6ns1fkhwp05lBbgVPqz8mXO5Rc3QVazLmUvYFrs99XURb-bSejx4f9ts55lsIUrYb2WLp4N60nKyoeAEoCDSwoVypzRPsq48pWn2jbkD_Q27lcmLNDb4t10y3eeLxMLwWqTCqe4vTZj8hUAYlPyk0IZLbvpg0J13t2JdREGbOKStyewykr823id8J16vkTnBgA38StWWB9dX8qNS28sdwCftQND-esER099GyLL0im3BLm_kWuZtcpl4uNy560yshe5eISrbD3WCGvyCpr5bAlUBeVgpi7dhSXERW5NUhftDnSS7uN5XFyli4tfnXHO2IiwHAtuXznLKcOEt8VAjiD8kGEyduLkF_skbWGwbU9dHoidBslyT6bRGLv_AW3SxKTOOuVkjsEfDQLfmKZqvL_DmY4w2ImeuAXQXewxaRGDIlD_jfpvWK81Tsdumlk31TqMMUZImG2TVU8NjbNfytjnKPgZs-QoEZdRYIj7esUoMRri_XxFCce4jH3cALpSOCNbFNmhuQGMBYO1jqLRgx0_9Ob7nzaa8kSOG68Yecrp8wPXiRJM4xIbwaITfXXj68HRyicpDvuUJDFNH5eEtNoPyIX2nX64DM2bRwWDI1YKPTDYRYHIA0G8JRflxg210wkR4kRqwYgRRdqAjPIfUTt1jlJweKqhFTMM3CzVZ6_L6AdnH2fJtWiqfpHq46Ek4WGQi7p7vl8WDzdUsYdm3l7aC7c1i-7leMhtomcWdRJK4tDVIMS6T-AoT_grMdEoR7UR6C2qfXTIwA3Pb9E5D5wQYoe93pr8sazSTWs11JxGscLjgirRQHhZtUiY_0g2OPN1slvXVIwn-gP24Ah_SjOvLDTmTSyocmIYRkTbnq-_vMjlad2yYTMVjJE2uJx2rm3q0Glr4pIXTTy3rAFK_ElyarAWVG7UF79IHXRt2XVG1K_UzkaF0N5do0H1URovLKJYiNtPpZ8G7hArso4heCw3rtOj37dwKH3T98ceQSazKB2yRzJZNM3qFid1CBBqOZ0G4OZwwJ-w1ehxgk6cklBPue7hZ6XxO_xMz1C3JpIPFexo6T5z-gxx7dBTH8fGyb4aBusUhCusS3UBlev2pSJ0wFDWbO56K-N4inea27l9I4RJbXSKn2-cS7z-T_OyQFfQU-zTFhw6gGV34dpqbWCf4gJlR2gBp2ZK7zVFvkV9UG1bnpvhizUlfTLMWbtB_72n-zN709Sbe8eHIuAmIfecyLpmQs1jy9QZfcMK0vhk1aIeth9cRaQg1d0EZaCiHBrniN-tUkfzYj1txKFymU1DYzr2FomCV_k7Sh3Xi9kj07Tw7YKghbZRuBGpr0KWeHSi-6rQrlI0IzBq233AW-9iAhUyirm5ahvz0ZgJiZiUgyJR2meyWbEBWeLPHMLgbWVLIU02ogychpT6sfGp8lDsJEkx3U4tdq26b1gJwr4dmt_0fvsX5mD05QeyYz_Z4TDbP6CTF3DcWI1DwZPXL9zeQ2FLdYv67RiuxIob6Y45LNQZ9Jebf2ZCyjh1j_WKm-wj3hD6cMoYtEL5hvfpV-1scJHjXdE_higzeAZdoSunbCYF3d9e67njE0QBAtvLGsU6ClcJ1GtOx_2Lm15k7a9VanBWgmHc54O6XGYruENuTZzOQqMmR7eF6_3q3oK-h9Z76nyXoCHgjRHSzJ2YUts7pyA0zR1j84IMdswWAhNoKNAuNhTgtq91JAM6mQX6J_qAAV1YemSp4IK-fsYSMOsYJKMwTOO_C21PWtskOyIEXvsKQpGTTMZ8_Ad23VuR04DGnSsxVzbzbLKRUf_UT0q24g-Bpa7eTt8e7sNZs-G2pgeLew",
  "id": "rs_0df9610db47bc64f016aacb6fcd3a887d097f72abc792da38b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.505,\"right_y\":0.085,\"right_z\":0.005,\"right_pitch\":0.6,\"right_gripper\":1},\"note\":\"With the arm clear, I can see the brick lying flat. The previous closes were likely above its thin sides; I’ll approach lower and slightly closer to the base, with a forward tilt for reach.\"}",
  "call_id": "call_GIiSe7lqfpJzN8GVuR9L8H33",
  "id": "fc_0df9610db47bc64f016aacb70cf73487d09ff3bac6b44aebec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GIiSe7lqfpJzN8GVuR9L8H33",
  "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, 0.6487, -0.4686, -0.0261, -0.0498, 0.9992, 0.2005, 2.479, 0.9314, 1.5829, 0.1158, -0.1329, 0.9969]\nstate[eef_state]: left_x=0.2902 left_y=0.0006 left_z=0.1729 left_yaw=0.001 left_pitch=-0.0762 left_roll=-0.0031 left_gripper=0.9992 right_x=0.532 right_y=0.0909 right_z=0.0398 right_yaw=0.1569 right_pitch=0.6007 right_roll=-0.13 right_gripper=0.9969\nstate[joint_eff]: [-0.1436, -1.4427, 7.0769, 1.6679, -0.0464, -0.0366, -0.0122, 0.3214, -9.6205, 2.7556, 1.7607, 0.0855, 0.0952, -0.3443]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7e2e674b89cd5e2c836d625054e43f7838580803b61d0607d461c5dfe605044",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0334449aad835c141bbd7d91b6997fb577cebfa3b1f5f27a6e29f5e11cd5bcf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d0c8e2ad7e807f274f68aa7f7b4f3201dea436398282a698b9a973b74c55fda",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 8.428 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8276, 0.6487, -0.4683, -0.0265, -0.0502, 0.9992, 0.0448, 1.438, 0.8818, 0.0067, -0.0174, -0.1619, 0.9966]\nstate[eef_state]: left_x=0.2902 left_y=0.0007 left_z=0.1733 left_yaw=0.0015 left_pitch=-0.0747 left_roll=-0.0032 left_gripper=0.9992 right_x=0.4346 right_y=0.0262 right_z=0.1666 right_yaw=0.1369 right_pitch=0.0162 right_roll=-0.1092 right_gripper=0.9966\nstate[joint_eff]: [-0.2256, -1.6615, 6.9949, 1.6532, -0.0464, -0.0513, -0.0122, -0.5675, -7.5145, 9.8803, 1.8584, -0.1538, -0.0366, -0.2711]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLcXnp0xypfj3K6TEy3b3mGA8CVBFNkCmDK8n8gVFko5GcIc7NlmupGXZ3LwtNciFW7tIL5NjInTvwfw3tY_fBVBgmtQBFPpgpj1IJI19SiNlVuMnMRNN6fZ77dgYqoVSiBsmaXli1sVro8qKj-7-dyasCGw5OZER_aPiQMBL42X7qiT2_DJfnrd2mO1CUY0fBAOZ31hazgdsLwA2Ht7hZeFFPHpIO1gPPvuDyDGLlbrV4iQijstAeDKSuDEpiD5zPZwTv7_TrT2LHyaZrNKMrmwDaM_0DYMtUatP_v8hJSM3Nxb1_OWMUjn1qSTYu17K8s6CZOU3c35LQQi_gFu-hgXOwfLbCYgUR3XrOC0ZB9HX092KYhhIJqYX17uK-xMxaE6dlvnjgRRRVGZZgTFFx5uRzGObzFZBLQO3ICveWe5isBxLgVQJ-GkrO6JUy4nWawIlnW0I8vQloA6cUSFDYV3EiNLd4H5dPmSGX35NzLFwZvI59rKwY0Ap3LWVvuTfNGDzD0n4X2OfaYOZ4YjvFLS0_uK5XywU5KgJBrF8VPnjh1V87oBcFTHRP5TElOatWa8PKNYeZUFB54R96_gCIcgwxN0cvgTN5lX4Hht_0McieaVs3NbNyMD_xYTyAxGXzBklZfD7uAQVTZJdKiQUFmtP86Kctcf8e4TYbpD0JTqdHe_Yttkbzv9mPCVcyvVWbe9N6RZcIz7s7DMsMXkTLL9_0evdofKYaEldCdW3GfWivhyvO0y9SDI9WZXKFn5las_gFYWIeh-3Y_zA_9VgBUIIzJ7oENtvK8U9NzgVkvim2Qp1yOOqSmANpNA7raI_jHbvNTEQFFzF9cZmMr4m7sX2lhnUK7jafyEnm1hjrd3sl9NClgbH9m-UyNlxW-5u0W_lMoxuqe9UH1FjQSrTMWHqXePVPdvGQJzJ4IG_o9aBf1LRWSU-xnNe8D_WkvYDWu_sgJJRb4zD5HKKXL4qskfmhh5gX86Nlu3mVLTFAaOLMVG1ojOiv_ji-4FdfzWIhtA-b69nSn74vEKtfiKOdXOzNnKcskYpY3GnUYl8whMMUtdENXgz6RrDQlixQYzsMCTaRQ_pxBeVpl1pgNcRcwf4Gc-etk5hbITQ-WiFtE9jVDGCSBePA7j_V-gVhxtd9BK6oUU6ZyuhoXyQTdoWqsH3S5iuWoGJF9KP-d3eBNwIEuiyMc1VnzEj9ICFahCQDQCTW8FjoXAllFfQNqD4yBJduMf2CA2Pg7ewCADrLBq2DFqH7qUz94wJpC90ao0-62HjvmFXukf8zre6IMx837MuNR4qCBCGc0DhT-F_SRTDWzEFqq6LEdFkwbQXuB_ha3Bz_w1mD9DreqF3jFtNJeydRPPD8j5qXTBUwF6_TDikrd3sDjoIb7klsLk7xHmthfX982Cc8iUSJU3ph5BJUU8cJ-xOi4kxN-1Z8Jyr4x6gaQdFwaLypu7sF17-292eNTgTVDxTw8zEe-oADOKezmb5nx8iSfQpFM5ocahCk5NTy73OAw5df0955U3XUAWCmVCIUabhZgjZoFnKkOc-x5YAYP4FGLqG9Wfg4YgSofXLYkbCFsVR-E9UbpR9TWwYUpPPywSdKKTqyxOG_lS4vmHTeUCwI0Wl5NPEOlO8Yu2rcLA9tHy3UAwajsoHoUXuYlN5bk08EumYpePZ29TP5XYlw==",
  "id": "rs_0df9610db47bc64f016aacb7126f9087d0b22a536384c55ae4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.485,\"right_y\":0.065,\"right_z\":-0.01,\"right_pitch\":0.3},\"note\":\"The arm is still several centimeters above the requested height, and the brick has shifted slightly. I’ll shorten the reach and reduce the tilt to get the fingertips down beside its near end.\"}",
  "call_id": "call_XecTrhzJq4UeaS061DSG4fl0",
  "id": "fc_0df9610db47bc64f016aacb715db3487d089ce779b4dd18964",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XecTrhzJq4UeaS061DSG4fl0",
  "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, 0.8307, 0.6487, -0.4683, -0.0265, -0.0502, 0.9992, 0.1539, 2.347, 0.7368, 1.4502, 0.07, -0.1226, 0.9963]\nstate[eef_state]: left_x=0.2903 left_y=0.0007 left_z=0.1724 left_yaw=0.0016 left_pitch=-0.0777 left_roll=-0.0032 left_gripper=0.9992 right_x=0.4941 right_y=0.0678 right_z=0.0142 right_yaw=0.1509 right_pitch=0.4061 right_roll=-0.1202 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -1.5795, 7.0222, 1.6679, -0.0806, -0.0611, -0.0122, -0.6359, -10.0991, 1.7983, 1.1941, 0.0171, -0.1245, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d5e487be8f09f3e03f7c1ba66d24600b7c665c41661e803185cd854288671f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b82695004c399c56f3454487451b4bbec3782c9a21c93d9157745ec5fe19af19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f543431916d0895be57d3502029c3da2a39a3defee39cb144f213c7394c0ee4a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 3.65 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 53 changed as sent

message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8288, 0.6487, -0.4686, -0.0261, -0.0498, 0.9992, 0.2005, 2.479, 0.9314, 1.5829, 0.1158, -0.1329, 0.9969]\nstate[eef_state]: left_x=0.2902 left_y=0.0006 left_z=0.1729 left_yaw=0.001 left_pitch=-0.0762 left_roll=-0.0031 left_gripper=0.9992 right_x=0.532 right_y=0.0909 right_z=0.0398 right_yaw=0.1569 right_pitch=0.6007 right_roll=-0.13 right_gripper=0.9969\nstate[joint_eff]: [-0.1436, -1.4427, 7.0769, 1.6679, -0.0464, -0.0366, -0.0122, 0.3214, -9.6205, 2.7556, 1.7607, 0.0855, 0.0952, -0.3443]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLcgegzNi-bK2htQSu_CcxQRQVls6zZ546P607mVsO2QigowJFvOLbDPPRnxkl248Zq0wa23ZV-tb5kgYtUdbZCsOsfrhN2ObAswMLPSHsUnk9CIRFuR6PQLczEJZNiod2jVKLeq6BMr847Fomo-zv1qkPp0bdwrK99hIyKw2gktmbFj5TmiJW4il73wjlAWmMukCfw4XQGKCoMkWYfW37zlUFeBO6CHZN0EGeLQQQluL2kzbWJ0h7sNqgg3-wOeUlp_0kC1gajZTDhDQWqiVZr90J3pyk67SXkuyBic-0AjJxJ394fqIxOmZO4LwsfmtAAuDeM_eHMKdJjlcVWD03OqcwbKni7ekKuuqs6JG7HoaF-K2aw5GDsRhBnZJq2-1YH9BJfaMRl0VYH2_ozJMCol_m_6M5KObe_EL59TxtBet1XRS79JJR-WnCa8OsWtTDkgeC_t0-T3UStYz8lkZsgv8-4j4-1QRqOg0enFAUsWyCnobDD5r4_AJWA4XMeCQ4gFSAcwab8FwsGlpvnS9DhpliiiLuGYCr4wcjkf1p-Fc7dXRl2WGzlCXUaHONy-uwqcqFW1FIkiuXDcs5c2ei6G8IWfALDTIl5-fI1FUuTBTQeEo0wNoLO7BfoBokj2MGuWoedXyB8x4hOr0uk_0tYRTAZGPNWeGP2iA8PdJDibbp2pFBkd5c9LAvylNdnA9-jel8qTq3fu0A0uvxVyXnI-BAngPrlyLOPWOJ1VRKRrForChGB_fKBG_hQtCqxVVFh08EWpfvWPW5ctQyggcX2aqT_YEOvRAPpgNignJzoSqvVeQ8NdOvm-ryB0cPDVDLAHwldmQy77aDG14CFlimN8552LXAfe8Lg4TFbur7jh6LX4jYB2KhZxP6ZfV3xQ7ERRcDSwtgF7C3lHlYWtuG6uJU2uVhWVhvQZXhtxzGx6sg-8s4-XNWHB8gTt4B_parh1niE9HZozbF9ATsV0mQg02h-MuOJET79o3rJDECzOy3slrXQNv9hHhvX44RQ6MgM3m0PbfP5Ns8PRR7CEFUkVMpXZfBptMxNlvDxpaFrfT4MnxnGUuYr7QAFVEcw2tlLKY6RZtr3yGAw37BFELZEAS2RSpTszDTjk1l7dYctuWajk-fnLmW0Qf0ooAxXLUYHetLLaiwjB5BAoIvRdaLll5zV9N1CBMwYyrff_ThHOlaiR_UfnxJCEKqUmMwgtA2LxjQnNxWSrCywgHvLP4itrqYZr7evKkGscTWNzcz4UYqx6Z3SLlSUb25J62VU4Z_G3CN1Lrmeba_1zdJYWHGEw4P1yD2oe_eKqZaU1AyvO6c2nkv3dTe5AG6hyn1itbOFjM6dyhb86hrA8tQRaKfErf46oBaKKnftDfWKumyPC7yrqTvrsdGybtwE6-duMjEi1Fv48jpAhhjt6Z618igbXLg==",
  "id": "rs_0df9610db47bc64f016aacb71d2c9887d08af7d031b435077a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.51,\"right_y\":0.055,\"right_z\":-0.01,\"right_pitch\":0.3},\"note\":\"The fingertips are now much lower, and the near end of the brick lies between them. I’ll make a small forward and right adjustment to seat the jaws around that end.\"}",
  "call_id": "call_ESyKQJNEYIMFwSz4ZAxPps9A",
  "id": "fc_0df9610db47bc64f016aacb71f44dc87d0a50f87b62ea7603b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ESyKQJNEYIMFwSz4ZAxPps9A",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8314, 0.6487, -0.4686, -0.0261, -0.0498, 0.9992, 0.1177, 2.3394, 0.8005, 1.3529, 0.0349, -0.1249, 0.9962]\nstate[eef_state]: left_x=0.2903 left_y=0.0006 left_z=0.1722 left_yaw=0.001 left_pitch=-0.0789 left_roll=-0.0031 left_gripper=0.9992 right_x=0.5107 right_y=0.0578 right_z=0.0135 right_yaw=0.1479 right_pitch=0.3801 right_roll=-0.1157 right_gripper=0.9962\nstate[joint_eff]: [0.0615, -0.9504, 7.1179, 1.6386, -0.0415, -0.0562, -0.0122, -0.4855, -8.4308, 4.3419, 1.5409, -0.0757, -0.1099, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e2dcea20718717bc132a71986381f6f5bf2416fe0f77f655d0035e404852754",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13a44ffe4b46b7abd557abdcafff8d174be6b316e4cc25a9c1bf0f00f4a6018d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c435a1e41c4e4c41ff48442ec5e66eb21a24df429902ca8de4c2b7672fe6fad7",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 9.999 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 57 changed as sent

message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8307, 0.6487, -0.4683, -0.0265, -0.0502, 0.9992, 0.1539, 2.347, 0.7368, 1.4502, 0.07, -0.1226, 0.9963]\nstate[eef_state]: left_x=0.2903 left_y=0.0007 left_z=0.1724 left_yaw=0.0016 left_pitch=-0.0777 left_roll=-0.0032 left_gripper=0.9992 right_x=0.4941 right_y=0.0678 right_z=0.0142 right_yaw=0.1509 right_pitch=0.4061 right_roll=-0.1202 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -1.5795, 7.0222, 1.6679, -0.0806, -0.0611, -0.0122, -0.6359, -10.0991, 1.7983, 1.1941, 0.0171, -0.1245, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLckYiOxovh9zWfvfD52KH4Ft3s7QbLi8mzoVSY7OdNdUl5BotqIj75CRJi3Fct3HiszWr4s3mUHF21t7Mjas6KwWhFBBNMNymC_-2pQEIjXZM4KTIeBpQsDv0fqbe4bumwq98L85hn7a5bJcw9u8xKFCEgGosHL0bXd2XqMjdTumhToDe_8sL3bDRbk54n184pAa30IlUq9GJNg9lqim59d0YgVoYC_8_JKxNzPSJxFLuAw4_r-9gkcTWT7jeWs40uv9v7plY5S_6ZtmTeUJC3JQleCMN1VHFiPj240o8htcrkAwSZ6LnTCwyCPuA1xJE8s32CQhDA2fY7IdqSV9c6t4KRijzhzlLnz4JdZRVgzisMVk08SRNjKyrZSJRtVWwD4019YwVKQ1fC_CjFCEkCA2BdIecNYSB2YTQaTnSBmXlMyCvXhwQa3vurBd-CvbrqrpOAxHhWvNyqOK-4ZmDJVXXV8y50RU3ZfkC220EW9c4slRmVvjHXc8IIZupJ3nae2YCR-UX2qRl14RX9M9Zt7AYfIXZk1OsAW1xbemztX6EMFx_MY9BHlq29OuecnoFxc6X3tiUbktUzMU026LB2RSnQNi-MzseO8KG9yxMYa4SfYqCwvnh0xweiKlAwhT4tWIMHXKGOF26um5hoUlU5uEY4X_VhxooSZeHmBiLmXzk5hCXcgFUDOtNvgPuj6zO-u1WFFkI3jih3cGcvjd2vpzlnhsdEu0RZ3yPLHjMgl3wrQgtlmTx_uJdQpS6oZKWTohwqJZjS9BFZGtrGzq3TOHEz2MZ7fuR0txH53HOZXAVNrzzZFRepBAFAwryu6qvgr2qI7jH0TkxPWDp0_3_UVzZ6D4F2t_fvL8-F9sciHogKaIu9FwiWIidGPXyIl7-iLnRXCb2OIIdG8d1g35PafXqs0dqOrxKD8sKk_UOpcvZuqCLMAq3P0HXcTlMsX0wVi9CYH9tQFjWOtUdKytd7ElIbyjatsXPdWRREUtLKFMtUv1k9ySXiCkgpZciMwlTOKHSOvEW1639LiP-1Nl6GhHZLcuSVANU4QRbxslFAbDR_4MeRJf3S96LvnY6L2nHReQWwWwqc-0inwIiDUix_QC_uinED91XMsfLxwvTGSEEJC0JdiD05o6rJrGzmYRLJNkBO4pCC002CL4KPG04lhmI6oAQR-FqmFEC8p2Y9ErIF_DYxHkPK_OFBjPoxHmOwVL1oaqaFPhu6UxR_KaQsZvl4zZCFHNmcUV4zvdg6Tj-30BTB_aoAqsPVCqxJCdODK",
  "id": "rs_0df9610db47bc64f016aacb722f8c487d08a8a8abf4d423ab4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The jaws are at the brick’s lower side edges rather than above them. I’ll close here and check the measured jaw opening.\"}",
  "call_id": "call_g7qWAoLWF0XdHSZ8gEJZkenp",
  "id": "fc_0df9610db47bc64f016aacb72393ec87d08887adb318a0b7eb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_g7qWAoLWF0XdHSZ8gEJZkenp",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8326, 0.6487, -0.4683, -0.0261, -0.0498, 0.9992, 0.1146, 2.339, 0.7979, 1.3582, 0.0208, -0.1314, 0.0084]\nstate[eef_state]: left_x=0.2905 left_y=0.0006 left_z=0.1719 left_yaw=0.001 left_pitch=-0.0796 left_roll=-0.003 left_gripper=0.9992 right_x=0.5102 right_y=0.0586 right_z=0.0141 right_yaw=0.1615 right_pitch=0.3829 right_roll=-0.1199 right_gripper=0.0084\nstate[joint_eff]: [-0.212, -1.265, 6.9538, 1.6484, -0.022, -0.0415, -0.0122, 0.1846, -10.1402, 3.412, 1.8486, 0.1392, 0.0904, 0.6422]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56ef65d61c42416b92ca2ce738a2ed4cdc8b65afe831f003e0fbe7299e3b0258",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edc05d063d96d9d88a565c7a6d7796690c9d1cd5780a99d2a115577026f61b67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35002757cdfc89a10062a9b7ba98b81605e9755260875ce062d71a2baf824c6c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 6.02 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8314, 0.6487, -0.4686, -0.0261, -0.0498, 0.9992, 0.1177, 2.3394, 0.8005, 1.3529, 0.0349, -0.1249, 0.9962]\nstate[eef_state]: left_x=0.2903 left_y=0.0006 left_z=0.1722 left_yaw=0.001 left_pitch=-0.0789 left_roll=-0.0031 left_gripper=0.9992 right_x=0.5107 right_y=0.0578 right_z=0.0135 right_yaw=0.1479 right_pitch=0.3801 right_roll=-0.1157 right_gripper=0.9962\nstate[joint_eff]: [0.0615, -0.9504, 7.1179, 1.6386, -0.0415, -0.0562, -0.0122, -0.4855, -8.4308, 4.3419, 1.5409, -0.0757, -0.1099, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLcvvSQeDsv4_wX6fuBqmbKjcoWurx4p8axoG4Q9uerSmQ6mDBExuz1QNXZmFaHsXISvdz6hM3l4wF2YtFf_CMgkOzHVscU-nqvFjb74r86QckCKFtPdD72JtOWCcYg9Wxa_ajZoC88TJD688-Q1pmZflu8oqst22IAwoqnGC5eAHieINltzvNBSxvzhE5dJWmROynhMwiTlwWA0Mx-QL87sXvZMub3s-v_EEUErri_ZjlvnBlwafYwL1wlLHz2wPMfkZ8EjOqsdIQnwLBLmDk7UFHK9yqEl4-ckT4K0tuZCkLdMjPelgpngMfz8bb1qcLz4msaIkSg26_g1_ii0Fl-d8cwGZRsnf6qVu0ZjQp_NBcxg--hjBVMyxiebUtK_Nx8v9E7DqbfezgsX7Ef2dBEN3IQLxOnEA4tWes5VvM1ugmWSd0GGCcLadOaxB8D9ObgCdbvKT9-a3Zk50SQ36D2SaoB4vRe-c0Yvnw7RlPvXpWaPkSeS-hc_ElmlVMf48ntcPEJPZBlqEVi5OhIWX6JvmNeHjrcOB7IfrQ63W-1zUFO6G4iuYQpic7NU-yBnkjK9fq4B0p-Sdck2aUKjr88wnVVIYmD9_8Jw_GaY9Z9Q2QJuFo1UMN0cZF9zsLUlfnlqwH11UcflPJhE-fkAqst_yByq--q3aIB9B4ajN9eizSHKD8ivZLYbSMNOoV6N7iBWguCGyb4PlyJYKpNMzrWOw4rHuM9TDK0j1KgabkOgDRv1M3HhKZ0giNWkz-LUEzi0obzeJTNC_iOyVyaxl3vkPQD4X9PPX300mpOJgCcet2D1qkcLTpO3tp6Op18mJr56LTyhZFcO_FLpa4XDCMVW7wD19A1rQwqGtWpY26pCijN3sTEZhP_W8EjsYFY5TbAyR_wp96Q9macVnKSu_yKdtVJZIye8cAKnxKRk3itIbu41rNb4gbq2RjEy3L5jmB4akUmb-s6XdZ3wBrt83_Zhvf7COAoPo1hHyhxS-voI6Konjie8KXqjy895ita9Gi4-f5oPxTboB8i8A4HWz7THIb7aWvZPFrHZJ1iummOtr2Z1GZx_cLtTdeuYXexPQC-1HObyuLYE2QBpoQUOkWKJ7Z5TJN7DRoJqCCVWOlj_c7JF66_lJFLfo11hVI5_EeQRqXtt60rSQz3xm3O5Vcsq67S3SFoZeMLgy10HS25yvDAv2OgRu__vZmZg845OTvNGjkSwM5qfwluEQoLtXq4jYJkk_Qvf4L4Ns_5uRPfdVt2KqpFyZQxJQRBX83cIDQixDSE41fQMA3-ikKbxZPXH8xg6q01PWFgXp6uOO06PEOHp68cm_MxGQ6S2PhZlKd_-CZoY8oA_phcQMxW3lW-PLCzCPQHxSnQO3kLmz6iMzwnnSbOw3s555qryLhnpNRsWFcZ05uihXkhAwhbogpjd-IITDsh8yEuJCFG9D62tOKeLwBaIPzruKtTDcTFnKkklY9O-rpZwIFvUt5jZdvNg_B6-iDpJWiIdAeCuI8nh5m7x81hpTdTHfkFx2ADRQ2YsBuZ9-Odoy7Lw2oqRhY1QEV0cJnn3lRlqUsiAwTLr_bVrs5sRub_3RyzFmoJwCmhoDoLhy6NC3Qk0EKInc7G6AGBiEeRDIU-MVq5qJP-Z8r0Kr5-GXewwobWrEaEv27JcGMQGAiore9xT65gTHRBf8ili0HEI9DeRCI4Mh_6Fka7ptdGeBB0WZDTgOL8poCNkOT_ZNHvhhGoJu2AjFjVnXEuI6nmgxYbarrr-nBioswoNaEEiBzQsdS3YGbkjDvZexcWzYhVoYgccw0x4X_-YUl9dNsUAYFS64Xsikym-tAdpNWEqcSRCaGHWLgwojTubKdBg3gwmoB0YytpZcG97cXTKJOSXbFL_3dK_JDc-XNMqEgiX6CgZWQj79r3IPIQJWJVqrnos0pCtsbppDGdrybgooCDFiMdt3VujzDpNcubMxzYvpLo_fJK0U4XsHsGqqVvnhEIwCaygoIl_sPQtox_TC7QsLHhG-ACfm6iq3TguiwsDBJgObHKbjY2S3RVF-r2BI_NqNFep-xF2uhUYi0eoSie--_tyCkoM45_qc42Snijqo1cIKnT662c7mYlgq-ieeNsZolUxiLjMeB-9ea6dMCO_-bSA1_yyxLtixPAhCkxd37JXNQT4ffJ3kTZIczoK7qsa-eRLksOIuAqyXTXGTs01ggAPYlsZGWW0pxFhTzy01IaebSVz0vPERy1E7FRe93ThDQlGaYwSmvtzE1DJshA-RjAVVA0DsYvsaL-pmVE3KGJSs1xutfy4zRMM4kAnhL7qPLSm2lBOjVvT2Xn3e-l1jV6mkD6idojMD6FoloKXSo5bNFbm4c-SHKyFtBc9ks7zv4gB5XKqLoStMNILsMcSXZe6Nv944CigFN_iTEvUYvtnx8Nx_Nns0F9T6FxymjBUV2S8TfvWv6Clrg==",
  "id": "rs_0df9610db47bc64f016aacb726fcf487d090360c650d740b23",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.02,\"right_z\":0.2,\"right_pitch\":0,\"right_gripper\":1,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2},\"note\":\"The brick has slid farther away, and the gripper is still empty. The arm cannot reach its sides at table height reliably, so I’ll withdraw rather than keep pushing it toward the back edge.\"}",
  "call_id": "call_a8VT3qZJhljDNyKT7IL7viUi",
  "id": "fc_0df9610db47bc64f016aacb72d7e3c87d0bb2a7255a3332c41",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_a8VT3qZJhljDNyKT7IL7viUi",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0265, 0.8692, 0.7284, -0.5644, -0.0261, -0.0528, 0.9992, 0.025, 1.1267, 0.7498, -0.115, -0.0422, -0.197, 0.996]\nstate[eef_state]: left_x=0.2887 left_y=0.0006 left_z=0.1789 left_yaw=0.0025 left_pitch=-0.1326 left_roll=-0.0039 left_gripper=0.9992 right_x=0.3736 right_y=0.0204 right_z=0.1997 right_yaw=0.1571 right_pitch=0.0724 right_roll=-0.1338 right_gripper=0.996\nstate[joint_eff]: [-0.5949, -1.4838, 10.4, 1.7753, -0.0562, -0.0611, -0.0122, -0.2667, -4.0, 9.4701, 1.8144, -0.1148, 0.0806, -0.1685]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da0b6d722dd4173e1ab6d464914e71e5096d9a368338b3bd0b17758c3be1a1a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb9cab9a0bc122965225565b2e81c6bfb61d9ff1c81b6b925cd5ad63e5f3812f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28b6a1a6a8acc94495f4494a3d1510f9884fe7402a3cdcfb2024e25b70537d3d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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