adhoc

completed
2026-09-18T03:28:49.745776+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (78 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
118.8 s
total steps
156
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’m moving the right gripper above it with the jaws open, keeping the left arm parked.
move_to
right_x0.4300right_y0.1500right_z0.1500right_gripper1.0000left_x0.2950left_y0.0000left_z0.1800
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.02, 0.7944, 0.6041, -0.3817, -0.0227, -0.041, 0.9996, -0.0216, 0.7929, 0.6029, -0.3744, -0.0158, -0.0326, 0.9993] state[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1795 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2953 right_y=0.0 right_z=0.1809 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993 state[joint_eff]: [-0.6496, -1.5932, 10.0718, 1.8046, -0.022, 0.2857, -0.0611, -0.4034, -1.4291, 10.1538, 1.7949, -0.0708, 0.2027, -0.0855] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.15,"right_z":0.15,"right_gripper":1,"left_x":0.295,"left_y":0,"left_z":0.18},"note":"The black brick is to the right of the pot. I’m moving the right gripper above it with the jaws open, keeping the left arm parked."})
tool
executing move_to over 13 steps (1.3s)
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 visible slightly right of the jaw column and still ahead of the fingertips. I’m advancing and lowering toward its center before grasping.
move_to
right_x0.4750right_y0.1300right_z0.0850
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0265, 0.8024, 0.6071, -0.3897, -0.0265, -0.0498, 0.9995, 0.4744, 1.5814, 0.9424, -0.0525, 0.366, 0.2192, 0.9993] state[eef_state]: left_x=0.2944 left_y=0.0005 left_z=0.1771 left_yaw=0.0015 left_pitch=-0.0129 left_roll=-0.005 left_gripper=0.9995 right_x=0.4155 right_y=0.1463 right_z=0.1283 right_yaw=0.0403 right_pitch=-0.074 right_roll=-0.0371 right_gripper=0.9993 state[joint_eff]: [-0.7316, -1.7162, 6.9675, 1.7753, -0.1099, -0.0562, -0.0171, 0.2803, -8.253, 8.7453, 1.6581, 0.3687, 0.2125, -0.0855] 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":0.475,"right_y":0.13,"right_z":0.085},"note":"The brick is visible slightly right of the jaw column and still ahead of the fingertips. I’m advancing and lowering toward its center before grasping."})
tool
executing move_to over 5 steps (0.5s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe brick remains ahead of the fingers, and the arm stopped short of the last target. I’m extending with a forward tilt and turning the jaws to span the brick’s shorter width.
move_to
right_x0.5100right_y0.1300right_z0.0550right_pitch0.3500right_yaw-0.4500
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8051, 0.6071, -0.3908, -0.0261, -0.0498, 0.9995, 0.3641, 1.821, 0.981, 0.054, 0.2943, 0.1528, 0.9992] state[eef_state]: left_x=0.2944 left_y=0.0005 left_z=0.1761 left_yaw=0.0015 left_pitch=-0.0167 left_roll=-0.0051 left_gripper=0.9995 right_x=0.4493 right_y=0.1202 right_z=0.0563 right_yaw=0.02 right_pitch=-0.1821 right_roll=-0.0797 right_gripper=0.9992 state[joint_eff]: [-0.1983, -1.4017, 7.1726, 1.707, -0.0171, -0.0708, -0.0122, -0.4855, -9.4017, 9.4291, 2.0098, 0.022, -0.0171, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.51,"right_y":0.13,"right_z":0.055,"right_pitch":0.35,"right_yaw":-0.45},"note":"The brick remains ahead of the fingers, and the arm stopped short of the last target. I’m extending with a forward tilt and turning the jaws to span the brick’s shorter width."})
tool
executing move_to over 18 steps (1.8s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteThe brick is now centered in the wrist view near the fingertips. I’m lowering the open jaws around its sides and advancing slightly to get a secure hold.
move_to
right_x0.5250right_y0.1300right_z0.0150right_pitch0.3500
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8089, 0.6071, -0.4015, -0.0261, -0.0498, 0.9995, 0.5232, 2.2532, 1.1221, 0.6575, 0.9096, 0.242, 0.999] state[eef_state]: left_x=0.2932 left_y=0.0005 left_z=0.1729 left_yaw=0.0015 left_pitch=-0.0312 left_roll=-0.0047 left_gripper=0.9995 right_x=0.5046 right_y=0.1342 right_z=0.0395 right_yaw=-0.3727 right_pitch=0.2763 right_roll=-0.1203 right_gripper=0.999 state[joint_eff]: [-0.1846, -1.4701, 7.0085, 1.79, -0.0317, -0.0611, -0.0122, 0.1162, -11.1521, 6.8581, 1.7705, 0.4957, -0.0513, -0.0269] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.525,"right_y":0.13,"right_z":0.015,"right_pitch":0.35},"note":"The brick is now centered in the wrist view near the fingertips. I’m lowering the open jaws around its sides and advancing slightly to get a secure hold."})
tool
executing move_to over 3 steps (0.3s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteThe brick is still visible just beyond the jaw tips, so closing now could miss its near edge. I’m reaching a little farther with more forward tilt while avoiding pressure on the table.
move_to
right_x0.5550right_y0.1300right_z0.0250right_pitch0.5000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8108, 0.6071, -0.4076, -0.0265, -0.0498, 0.9995, 0.5087, 2.3848, 1.1603, 0.8227, 0.9195, 0.1856, 0.9988] state[eef_state]: left_x=0.2924 left_y=0.0006 left_z=0.1711 left_yaw=0.0019 left_pitch=-0.0392 left_roll=-0.0042 left_gripper=0.9995 right_x=0.5163 right_y=0.1311 right_z=0.0141 right_yaw=-0.3812 right_pitch=0.3208 right_roll=-0.1215 right_gripper=0.9988 state[joint_eff]: [-0.0615, -1.3333, 7.1453, 1.746, -0.0757, -0.0562, -0.0122, -0.8821, -12.0957, 6.5436, 0.6813, 0.1392, -1.0574, -0.0513] camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.555,"right_y":0.13,"right_z":0.025,"right_pitch":0.5},"note":"The brick is still visible just beyond the jaw tips, so closing now could miss its near edge. I’m reaching a little farther with more forward tilt while avoiding pressure on the table."})
tool
executing move_to over 6 steps (0.6s)
step 45
top_cam
camera top_cam step 45
left_cam
camera left_cam step 45
right_cam
camera right_cam step 45
assistant
agent noteThe arm gained only a few millimeters on that extension, indicating a low-height reach limit. I’m raising the grasp point and increasing the tilt to approach the brick’s upper sides instead.
move_to
right_x0.5500right_y0.1300right_z0.0800right_pitch0.6000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8116, 0.6071, -0.408, -0.0265, -0.0498, 0.9995, 0.5018, 2.402, 1.1683, 0.873, 0.9047, 0.1532, 0.9988] state[eef_state]: left_x=0.2924 left_y=0.0006 left_z=0.1709 left_yaw=0.0019 left_pitch=-0.0403 left_roll=-0.0042 left_gripper=0.9995 right_x=0.5215 right_y=0.1318 right_z=0.0155 right_yaw=-0.3681 right_pitch=0.3406 right_roll=-0.1175 right_gripper=0.9988 state[joint_eff]: [-0.0205, -1.4291, 6.9949, 1.7118, -0.0806, -0.0415, -0.0122, -0.2393, -11.2068, 5.559, 1.6777, 0.3101, -0.105, -0.0122] camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.55,"right_y":0.13,"right_z":0.08,"right_pitch":0.6},"note":"The arm gained only a few millimeters on that extension, indicating a low-height reach limit. I’m raising the grasp point and increasing the tilt to approach the brick’s upper sides instead."})
tool
executing move_to over 9 steps (0.9s)
step 54
top_cam
camera top_cam step 54
left_cam
camera left_cam step 54
right_cam
camera right_cam step 54
assistant
agent noteThe higher approach has brought the jaws around the brick, which now extends between the fingertips. I’m closing the gripper and will check the opening before lifting.
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, 0.8127, 0.6071, -0.4152, -0.0261, -0.0498, 0.9995, 0.4808, 2.4607, 1.2335, 1.1503, 0.9035, -0.0956, 0.9988] state[eef_state]: left_x=0.2915 left_y=0.0006 left_z=0.1691 left_yaw=0.0016 left_pitch=-0.0487 left_roll=-0.0042 left_gripper=0.9995 right_x=0.5442 right_y=0.1315 right_z=0.0542 right_yaw=-0.3393 right_pitch=0.5109 right_roll=-0.1545 right_gripper=0.9988 state[joint_eff]: [-0.1983, -1.4291, 6.9949, 1.7753, -0.0464, -0.0317, -0.0122, -0.7043, -11.3026, 6.6803, 1.9072, 0.0464, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The higher approach has brought the jaws around the brick, which now extends between the fingertips. I’m closing the gripper and will check the opening before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteThe gripper closed fully, so the brick was not captured. I’m reopening and shifting about two centimeters farther forward and slightly lower for one corrected attempt.
move_to
right_gripper1.0000right_x0.5680right_y0.1300right_z0.0400right_pitch0.6000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8127, 0.6071, -0.4152, -0.0261, -0.0498, 0.9995, 0.4778, 2.4619, 1.2297, 1.1481, 0.9005, -0.1043, 0.0087] state[eef_state]: left_x=0.2915 left_y=0.0006 left_z=0.1691 left_yaw=0.0016 left_pitch=-0.0487 left_roll=-0.0042 left_gripper=0.9995 right_x=0.544 right_y=0.1298 right_z=0.052 right_yaw=-0.3311 right_pitch=0.505 right_roll=-0.1703 right_gripper=0.0087 state[joint_eff]: [-0.0752, -1.3607, 6.9949, 1.6777, -0.0366, -0.0513, -0.0122, -0.0615, -12.5607, 4.8342, 1.7216, 0.0708, 0.022, 0.6862] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.568,"right_y":0.13,"right_z":0.04,"right_pitch":0.6},"note":"The gripper closed fully, so the brick was not captured. I’m reopening and shifting about two centimeters farther forward and slightly lower for one corrected attempt."})
tool
executing move_to over 10 steps (1.0s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteThe corrected position tracked well, and the open fingers now flank the brick’s near end. I’m closing again to test the grasp.
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, 0.8165, 0.6071, -0.416, -0.0261, -0.0498, 0.9995, 0.4599, 2.608, 1.3579, 1.2888, 0.8745, -0.2043, 0.9956] state[eef_state]: left_x=0.2916 left_y=0.0006 left_z=0.1679 left_yaw=0.0016 left_pitch=-0.0533 left_roll=-0.004 left_gripper=0.9995 right_x=0.5649 right_y=0.1325 right_z=0.0401 right_yaw=-0.3147 right_pitch=0.5812 right_roll=-0.184 right_gripper=0.9956 state[joint_eff]: [0.0615, -1.6479, 7.0085, 1.6825, -0.0562, -0.0659, -0.0122, -0.4308, -11.4667, 6.188, 1.7118, -0.022, -0.0366, -0.2027] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The corrected position tracked well, and the open fingers now flank the brick’s near end. I’m closing again to test the grasp."})
tool
executing move_to over 10 steps (1.0s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteThe second close was also empty. I’m lifting back to uncover the brick in the overhead view and reassess its location rather than repeating a blind grasp.
move_to
right_x0.4800right_y0.0800right_z0.2000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8173, 0.6064, -0.4156, -0.0261, -0.0498, 0.9995, 0.458, 2.6133, 1.3594, 1.2888, 0.8742, -0.2054, 0.0092] state[eef_state]: left_x=0.2916 left_y=0.0006 left_z=0.1674 left_yaw=0.0016 left_pitch=-0.0544 left_roll=-0.004 left_gripper=0.9995 right_x=0.5651 right_y=0.1315 right_z=0.0377 right_yaw=-0.3137 right_pitch=0.5784 right_roll=-0.1885 right_gripper=0.0092 state[joint_eff]: [-0.0479, -1.4564, 7.241, 1.7363, -0.0415, -0.0464, -0.0122, -0.0205, -13.5179, 4.3282, 1.6874, -0.0659, -0.0464, 0.6569] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.48,"right_y":0.08,"right_z":0.2,"right_gripper":1},"note":"The second close was also empty. I’m lifting back to uncover the brick in the overhead view and reassess its location rather than repeating a blind grasp."})
tool
executing move_to over 11 steps (1.1s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
agent noteThe views suggest the earlier closes were above the thin brick rather than around its sides. I’m returning to the aligned position at table level, keeping the jaws open.
move_to
right_x0.5650right_y0.1300right_z0.0050right_pitch0.6000left_x0.2950left_y0.0000left_z0.1800
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0254, 0.8215, 0.6041, -0.4301, -0.0261, -0.0498, 0.9995, 0.4377, 1.9137, 0.886, 1.0599, 0.8505, -0.2111, 0.9952] state[eef_state]: left_x=0.2893 left_y=0.0009 left_z=0.1624 left_yaw=0.0024 left_pitch=-0.0754 left_roll=-0.0034 left_gripper=0.9995 right_x=0.4837 right_y=0.0837 right_z=0.1882 right_yaw=-0.3051 right_pitch=0.5764 right_roll=-0.1982 right_gripper=0.9952 state[joint_eff]: [-0.253, -1.2376, 7.4188, 1.8437, -0.0317, -0.0757, -0.0122, -0.6222, -10.5504, 5.5316, 1.6825, -0.0513, 0.0611, -0.105] camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.565,"right_y":0.13,"right_z":0.005,"right_pitch":0.6,"left_x":0.295,"left_y":0,"left_z":0.18},"note":"The views suggest the earlier closes were above the thin brick rather than around its sides. I’m returning to the aligned position at table level, keeping the jaws open."})
tool
executing move_to over 12 steps (1.2s)
step 107
top_cam
camera top_cam step 107
left_cam
camera left_cam step 107
right_cam
camera right_cam step 107
assistant
agent noteThe descent stopped at contact with the brick, and its top lies between the open jaws. I’m closing gently through the normal gripper command to see whether the fingers have reached its sides.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0265, 0.8562, 0.6415, -0.4911, -0.0265, -0.0528, 0.9995, 0.4515, 2.6606, 1.3956, 1.417, 0.8543, -0.2302, 0.9958] state[eef_state]: left_x=0.2871 left_y=0.0007 left_z=0.158 left_yaw=0.0034 left_pitch=-0.1337 left_roll=-0.0039 left_gripper=0.9995 right_x=0.5688 right_y=0.1317 right_z=0.0471 right_yaw=-0.3423 right_pitch=0.6607 right_roll=-0.119 right_gripper=0.9958 state[joint_eff]: [-0.4308, -1.1829, 10.5094, 1.873, -0.0513, -0.0562, -0.0122, -0.0479, -7.9248, 3.2068, 1.1453, 0.022, -0.1197, 0.0464] camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The descent stopped at contact with the brick, and its top lies between the open jaws. I’m closing gently through the normal gripper command to see whether the fingers have reached its sides."})
tool
executing move_to over 10 steps (1.0s)
step 117
top_cam
camera top_cam step 117
left_cam
camera left_cam step 117
right_cam
camera right_cam step 117
assistant
agent noteThe close was empty; the wrist view now clearly shows the fingertips landing on the brick’s near edge. I’m lifting and moving farther over its center before another descent.
move_to
right_x0.5950right_y0.1150right_z0.1100right_pitch0.5000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.857, 0.6434, -0.4934, -0.0261, -0.0525, 0.9995, 0.4515, 2.6274, 1.367, 1.3014, 0.8547, -0.1749, 0.0084] state[eef_state]: left_x=0.2871 left_y=0.0007 left_z=0.1582 left_yaw=0.0032 left_pitch=-0.1349 left_roll=-0.0038 left_gripper=0.9995 right_x=0.5677 right_y=0.1311 right_z=0.0348 right_yaw=-0.3225 right_pitch=0.5861 right_roll=-0.1477 right_gripper=0.0084 state[joint_eff]: [-0.1573, -1.4974, 6.8171, 1.6044, -0.0562, -0.0464, -0.0122, -0.1983, -15.0632, 4.4239, 1.5995, 0.0366, 0.0708, 0.652] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.595,"right_y":0.115,"right_z":0.11,"right_pitch":0.5,"right_gripper":1},"note":"The close was empty; the wrist view now clearly shows the fingertips landing on the brick’s near edge. I’m lifting and moving farther over its center before another descent."})
tool
executing move_to over 10 steps (1.0s)
step 127
top_cam
camera top_cam step 127
left_cam
camera left_cam step 127
right_cam
camera right_cam step 127
assistant
agent noteThe brick’s center is now beneath the open jaws. I’m lowering straight down to place the fingertips alongside it instead of on the near edge.
move_to
right_x0.5950right_y0.1150right_z0.0050right_pitch0.5000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8612, 0.6422, -0.4942, -0.0261, -0.0525, 0.9995, 0.4049, 2.4393, 1.3838, 0.923, 0.7979, -0.1066, 0.995] state[eef_state]: left_x=0.2869 left_y=0.0007 left_z=0.1564 left_yaw=0.0033 left_pitch=-0.141 left_roll=-0.0036 left_gripper=0.9995 right_x=0.5874 right_y=0.1181 right_z=0.0736 right_yaw=-0.2875 right_pitch=0.4618 right_roll=-0.201 right_gripper=0.995 state[joint_eff]: [-0.1846, -1.8256, 7.0085, 1.5849, -0.0415, -0.0513, -0.0122, -0.8821, -16.9368, 7.9932, 1.7802, -0.0122, 0.022, -0.2027] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.595,"right_y":0.115,"right_z":0.005,"right_pitch":0.5},"note":"The brick’s center is now beneath the open jaws. I’m lowering straight down to place the fingertips alongside it instead of on the near edge."})
tool
executing move_to over 5 steps (0.5s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteThe fingers now visibly straddle the brick at the lower approach. I’m closing and checking for a nonzero grasp width.
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, 0.8631, 0.6422, -0.4942, -0.0265, -0.0525, 0.9995, 0.4038, 2.6324, 1.4658, 1.1267, 0.7906, -0.1516, 0.9958] state[eef_state]: left_x=0.287 left_y=0.0008 left_z=0.1559 left_yaw=0.0036 left_pitch=-0.1429 left_roll=-0.0033 left_gripper=0.9995 right_x=0.5965 right_y=0.1222 right_z=0.0316 right_yaw=-0.2868 right_pitch=0.5281 right_roll=-0.1841 right_gripper=0.9958 state[joint_eff]: [-0.1846, -1.7436, 6.9538, 1.5995, -0.0562, -0.0659, -0.0122, -1.1009, -10.2222, 4.9846, 1.0574, -0.0171, 0.188, 0.0659] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The fingers now visibly straddle the brick at the lower approach. I’m closing and checking for a nonzero grasp width."})
tool
executing move_to over 10 steps (1.0s)
step 142
top_cam
camera top_cam step 142
left_cam
camera left_cam step 142
right_cam
camera right_cam step 142
assistant
agent noteThe gripper is empty at the maximum forward reach; the brick’s graspable center remains farther away, and the left arm cannot reach this side of the table. I’m backing away safely so the brick can be repositioned closer.
move_to
right_x0.4500right_y0.0200right_z0.2200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8635, 0.6422, -0.4942, -0.0265, -0.0525, 0.9995, 0.3996, 2.6503, 1.4715, 1.1568, 0.7795, -0.1474, 0.0086] state[eef_state]: left_x=0.287 left_y=0.0008 left_z=0.1558 left_yaw=0.0036 left_pitch=-0.1433 left_roll=-0.0033 left_gripper=0.9995 right_x=0.5976 right_y=0.1215 right_z=0.0291 right_yaw=-0.2894 right_pitch=0.5421 right_roll=-0.1656 right_gripper=0.0086 state[joint_eff]: [-0.0205, -1.6479, 6.9265, 1.6386, -0.0708, -0.0708, -0.0122, -0.8274, -10.8376, 5.2991, 1.5116, 0.0806, -0.0073, 0.6618] camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.45,"right_y":0.02,"right_z":0.22,"right_gripper":1},"note":"The gripper is empty at the maximum forward reach; the brick’s graspable center remains farther away, and the left arm cannot reach this side of the table. I’m backing away safely so the brick can be repositioned closer."})
tool
executing move_to over 13 steps (1.3s)
step 155
top_cam
camera top_cam step 155
left_cam
camera left_cam step 155
right_cam
camera right_cam step 155
assistant
agent noteI could not grasp the black brick: even at the right arm’s maximum forward reach (x≈0.60 m), the fingers closed empty at its near edge. Its center is beyond reach, and it is outside the left arm’s lateral workspace. I backed the gripper away. Please move the brick about 8–10 cm closer to the robot bases.
give_up
hindsightFor this brick location, x≈0.60 m still leaves the fingertips at the near edge; do not mistake the large brick image in the wrist camera for a reachable center. Forward tilt allowed x≈0.60 at low height but did not provide a grasp. All closes settled below 0.01, confirming no capture.
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8688, 0.6422, -0.4946, -0.0265, -0.0525, 0.9995, 0.2848, 1.6402, 0.7158, 0.9222, 0.6716, -0.1543, 0.9963] state[eef_state]: left_x=0.2872 left_y=0.0008 left_z=0.1543 left_yaw=0.0036 left_pitch=-0.149 left_roll=-0.0031 left_gripper=0.9995 right_x=0.4545 right_y=0.0223 right_z=0.2158 right_yaw=-0.2999 right_pitch=0.5567 right_roll=-0.1586 right_gripper=0.9963 state[joint_eff]: [0.0479, -2.0991, 7.0496, 1.5751, -0.0513, -0.0269, -0.0122, -0.4171, -7.0222, 6.2291, 1.7802, -0.0611, -0.0073, -0.149] camera 'top_cam' (step 155): [image omitted: streamed camera frame] camera 'left_cam' (step 155): [image omitted: streamed camera frame] camera 'right_cam' (step 155): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not grasp the black brick: even at the right arm’s maximum forward reach (x≈0.60 m), the fingers closed empty at its near edge. Its center is beyond reach, and it is outside the left arm’s lateral workspace. I backed the gripper away. Please move the brick about 8–10 cm closer to the robot bases.","hindsight":"For this brick location, x≈0.60 m still leaves the fingertips at the near edge; do not mistake the large brick image in the wrist camera for a reachable center. Forward tilt allowed x≈0.60 at low height but did not provide a grasp. All closes settled below 0.01, confirming no capture."})
tool
give_up: I could not grasp the black brick: even at the right arm’s maximum forward reach (x≈0.60 m), the fingers closed empty at its near edge. Its center is beyond reach, and it is outside the left arm’s lateral workspace. I backed the gripper away. Please move the brick about 8–10 cm closer to the robot bases.
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 · 3.418 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
  "role": "system"
}
{
  "content": "Goal: put the black brick into the pot of water",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.02, 0.7944, 0.6041, -0.3817, -0.0227, -0.041, 0.9996, -0.0216, 0.7929, 0.6029, -0.3744, -0.0158, -0.0326, 0.9993]\nstate[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1795 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2953 right_y=0.0 right_z=0.1809 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.6496, -1.5932, 10.0718, 1.8046, -0.022, 0.2857, -0.0611, -0.4034, -1.4291, 10.1538, 1.7949, -0.0708, 0.2027, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a518738cb332510958a32e281cbf0fa3016cf9c48d22f976082e8ce76774bd96",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:864631e6ce5db10c898ec4cc6821a417000bd380db9589e12ab664f0bad26e1f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:079d319ab4f25721b2e7518662d8ec967cbc19aebc0b66d04b3ebe26d05fd0d6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob a518738cb332
wire blob 864631e6ce5d
wire blob 079d319ab4f2
call 1 attempt 0 · /responses · status 200 · 7.024 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.15,\"right_z\":0.15,\"right_gripper\":1,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18},\"note\":\"The black brick is to the right of the pot. I’m moving the right gripper above it with the jaws open, keeping the left arm parked.\"}",
  "call_id": "call_QxBcGu64dYpGLe5GPzTrfgOG",
  "id": "fc_0f408856b0212824016aacb000278887d099d7730d3d36cf21",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QxBcGu64dYpGLe5GPzTrfgOG",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0265, 0.8024, 0.6071, -0.3897, -0.0265, -0.0498, 0.9995, 0.4744, 1.5814, 0.9424, -0.0525, 0.366, 0.2192, 0.9993]\nstate[eef_state]: left_x=0.2944 left_y=0.0005 left_z=0.1771 left_yaw=0.0015 left_pitch=-0.0129 left_roll=-0.005 left_gripper=0.9995 right_x=0.4155 right_y=0.1463 right_z=0.1283 right_yaw=0.0403 right_pitch=-0.074 right_roll=-0.0371 right_gripper=0.9993\nstate[joint_eff]: [-0.7316, -1.7162, 6.9675, 1.7753, -0.1099, -0.0562, -0.0171, 0.2803, -8.253, 8.7453, 1.6581, 0.3687, 0.2125, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e3f797d01788db3bb7b5d24f6eb104a6cc70cb55e278bd531b0e36a910e60d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83cbfe2a98407cfed1ae1d9e46aba91713e68a516cfa8d4aa3f2c9d41601aec1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3cd54fffca46fa167533170e20814670dcf96bc31c0437e5e770ac253697680",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 5e3f797d0178
wire blob 83cbfe2a9840
wire blob b3cd54fffca4
call 2 attempt 0 · /responses · status 200 · 5.574 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 2 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.02, 0.7944, 0.6041, -0.3817, -0.0227, -0.041, 0.9996, -0.0216, 0.7929, 0.6029, -0.3744, -0.0158, -0.0326, 0.9993]\nstate[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1795 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2953 right_y=0.0 right_z=0.1809 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.6496, -1.5932, 10.0718, 1.8046, -0.022, 0.2857, -0.0611, -0.4034, -1.4291, 10.1538, 1.7949, -0.0708, 0.2027, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLAKRfTLeMHtpkpMFQA8yOJ1uXYQK46tjDBJGT0ZS3GGKwSCD4chtUXfWH4uHnhk6heJPgUQwokXSVzR1nterBPafuYNxBA-Y-ApyP9xe2rMNGSNAKKC2YuB9qxuXj1CNdMqegtqCs38hffZVXwwAdQdI5rzLqR-nqGS-SvDJfNNkR0ieyu5-63oN3mvw9DhFWoR5nsmP-wjyKEIALShA5zddiW1tDSC-3K2xzYvnF3fcCi6rvnS6wEkumHIXJRMwfA38nHd_9_wIjVPS_MQ6GNDy1pDAEqcw2-DatHbMhsqvwI1kJ40OiYFQmdPndI1MsqyGA3OJ8QRjCngydaDk20lTKW1-chYRAkUBcDTuh0sF_Az1a2hn5EoVvSH6byf4FWgNYTvGrqSyR5tCsFoDS9DuwfF63KSMXUV6QSRaK3aZ-swGXRVR9uKHYgkZBoBoBs6E20usVhhruaXphQvDgVXIE___JaOlFKeAelXhzV1VrfGmaOsywAK_te0kIUd8KfrHAJN6lPsBOyrkqOX15vySBKbLrYfstBfH3YfAXmzRKsCs-YvWltdxBk2ThiixnfI76wSqjcNL8UFxVLnj0S9IM4B2VM7P1bTbh0osDptlebxkmiv_YqKahp0g4IxaolYm4Nxb8WmJYkU9KUUePAjQcUrVrwXiE0JKK62mpR7t4ziyyZs9EuktnKM6I3st4qwnwcsoyDxAjAI2kvL4WNYa-a6D_s6fZjby9J2hMfuJch7oCdSkJMvdjjH-zy-Fh4wrEGVVtgCGoVxg5AuR4hY1mNuBxiIiTCWcmHyBxQ0cyqKnKN4gxQRvMekPePpRXh1vt-QXHvBx2FEyyIxlmi09VEszvHK_xwnhSTgCA687WHBFGBfYYut77N4XiNGa00keIspA-fLubq5LvbR3NBzX9tUuDldKmpkOc00juh45FvuM-OupKW4JaWlAkNR8vzejeI2UbUGbFjj7gaxi4EEsMlwrsRlf7Pf6fYa7xbUjc6MsmmMXWN11HPa4GF_32vMOrXTOPp_hM-WCE7lbeuK17SWC0eP4ZpyFbfUtpCJWOOa_FNYFsN2keY-A14xxNLmuxoNNZsjY6Z4bCHs25okbLlyPOeuvVPp9_wZh5TRwysvSJIOCeufxbC17MZV9EXJuGdixHyCivSjGvHwa2fELg4LZfGCXlin5YGBkK36kavO9hsnetKSXoqnqbJMKhHM2iBSKfuuMsyP9AoSNMHvwbjsBJTnt1_3aHanieV_p7cWTXQOsU9rfrnxcs9O8pGhCHFdg_TwwrWkN4h6nL4DDr-L1apKf70A2hKKaKkL1Bn2y_cqDInzbvW4SzrGHvN5zZnqXATdusykXnGWKJYvhbQ9hz30DvlvlIzqX177rRaI1l4gDsHskL5YNTW7DLLrF2FNlcDgx-fUMbBf8zk2J8Xb_4ZQoOJoj7gJHywDa2ile0dZs7g9X1VZll1ug7ERBrmcL1VYa4xNp0VkCVsMUQ==",
  "id": "rs_0f408856b0212824016aacb00731f087d09694164c281382b4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.475,\"right_y\":0.13,\"right_z\":0.085},\"note\":\"The brick is visible slightly right of the jaw column and still ahead of the fingertips. I’m advancing and lowering toward its center before grasping.\"}",
  "call_id": "call_c6CNtZZf4Vraa3ZFB5WtVpRD",
  "id": "fc_0f408856b0212824016aacb008ddf487d091a2c54950a1af20",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_c6CNtZZf4Vraa3ZFB5WtVpRD",
  "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, 0.8051, 0.6071, -0.3908, -0.0261, -0.0498, 0.9995, 0.3641, 1.821, 0.981, 0.054, 0.2943, 0.1528, 0.9992]\nstate[eef_state]: left_x=0.2944 left_y=0.0005 left_z=0.1761 left_yaw=0.0015 left_pitch=-0.0167 left_roll=-0.0051 left_gripper=0.9995 right_x=0.4493 right_y=0.1202 right_z=0.0563 right_yaw=0.02 right_pitch=-0.1821 right_roll=-0.0797 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -1.4017, 7.1726, 1.707, -0.0171, -0.0708, -0.0122, -0.4855, -9.4017, 9.4291, 2.0098, 0.022, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac8759e8b27f290e5076a7afd14321164cad9d04c08c7d1e8c2be27553b8d4f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1831f863831031230c2fa0332afdde73d2f085be0f6282f4635a7f1900e93fe1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a287d36e7b05db4dc51b594041addae3457ca63022c192f1e14f07729af7c72",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob ac8759e8b27f
wire blob 1831f8638310
wire blob 2a287d36e7b0
call 3 attempt 0 · /responses · status 200 · 4.685 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 5 changed as sent

message 5 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0265, 0.8024, 0.6071, -0.3897, -0.0265, -0.0498, 0.9995, 0.4744, 1.5814, 0.9424, -0.0525, 0.366, 0.2192, 0.9993]\nstate[eef_state]: left_x=0.2944 left_y=0.0005 left_z=0.1771 left_yaw=0.0015 left_pitch=-0.0129 left_roll=-0.005 left_gripper=0.9995 right_x=0.4155 right_y=0.1463 right_z=0.1283 right_yaw=0.0403 right_pitch=-0.074 right_roll=-0.0371 right_gripper=0.9993\nstate[joint_eff]: [-0.7316, -1.7162, 6.9675, 1.7753, -0.1099, -0.0562, -0.0171, 0.2803, -8.253, 8.7453, 1.6581, 0.3687, 0.2125, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLAQcb-_D-JNqOxhgQhMePLjTtB7xp98Gci0ufgRYmAdlMDAXP-tk4l-pM63WYafoAd_I1UkZ-_qPSGkjqoN0di46LF3rT6CHSxK09M6u3U1OrPYYmUls67JJDGmQa0qdCT65gVtqfk8HLEV_MPu8d5H1HFDP5zvD0nAcbUfmo_7Rd-g-G09wnInwb1vwfUJ7eVfQ4MVBfk6JpAp9tlMEZOK-k5gaasGe8xDvy6pA4uWi9oy9IjRoAF6Qc9g20swHkPwFL6XxyO0_bBEGyxP2W7h5mRxwrb5mIgqSCLZwsaoNQbCGn2g50UjHKQKk8iIrZyPrKRb-SdByy184NL9iuwYdW1q6BHfob06eROk8-CEf33PiitSDGH8zF84CdVxzsp1YPpN0OepeAUwgfJR7kQ3Cvs2RrGtm0LR9VinDSO82vw3Z2ZEeRxnnGSQY4DNYh0_zaAeOkRQNzFYfg_gD2xiAMjpes3UjdBbo4wJWwGRPDD8s_fnxF7HkBRAW0371C64xUYQVmCSiwg8NJQHwjp6HbfJc-y-goBRyy1s-_PFZzRfGZuHVUC7Bcaz2UPGgEyGnNgAOW0HGRaYU0JTx8RMoTVWegHqCntdBZ3QmtgAHHaPPj0WaMQ79HMeS3tMx98UruxU8J0vWxUsKYuY3Rl-z08HGPaZRcg_1e6_MBgOYhhsZlsALAdorlM43A8oI9U43PLoO6lqfk40kH97Msago_qW_Cx_q2rQ1OhCFYDu6_dfIOYlQybh5Ik6mQ3zVB9yq_3Nku-2u4a82yRoEM9BerQvjyIdqX8oQTDeUor-E2zBtTgKxA8RVoLyQvYlhUYYZYRvvn61Y2ZIvkyNjtjmuxj6EH1HZovjKdNC2t2yMHLwR3ooqlnTFSzwJN3ioA8VsR31-j1Zgiyg9TyPjJttwjreDc7S80w6UoBTRjAfozpH1YYraZrI3lL1i0LNPJM4egkfOYOPL1ib3BrYhtnnOrxA6Le_SJBU3yROe5GiGfJK2uKzxa0fIDIe2m7ervc3UCA6cb_zoIZIDL1N8bDPN8AhkMb0nyjPfsiY3CO2MKYIXR0BOW_ea3rqIc8IBZ0nD2f_sMxPEbbp3XyuK6ilyzu7JmQh27cyIG1-gyPsjc6B24qRIxtwuZQq1oL_eCgTuoiY9XYAbrXEXZnislogNiL4o3mDTNT2_ufFpb5e7Qid4bzKN0iVIzc6MHhpbg9OZrG8ZWSgqx0QJeZIlPi3hfj467FAbILkMvVHNPKXk5mFnsv-4EamOsZXS92-6x9PscQtd91ycMqtWJ0ZFF79I9_JEycj_mHdzmhxqNWzzE8LGs7-VlFHUL_iNDxPiUXDW3DzPp7T3bc0Gu7ADNLMBcYcBjEzszOE_rDSeFLJoQZviJmLaLRphGmC2poBRUXKb0SBZkNX48bWQ0efDCEdUSDtMGg_sKyaO7822IP60sehux3o3nKdZmz0tF0JGWO6Vph4U9aB3Bnh7fkzThG_emY1KZomxBTOW_gRBDG3S-g=",
  "id": "rs_0f408856b0212824016aacb00bdd3887d08e6d219918453971",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.51,\"right_y\":0.13,\"right_z\":0.055,\"right_pitch\":0.35,\"right_yaw\":-0.45},\"note\":\"The brick remains ahead of the fingers, and the arm stopped short of the last target. I’m extending with a forward tilt and turning the jaws to span the brick’s shorter width.\"}",
  "call_id": "call_S94E4FJVUMvv8mDbmoJHkm1T",
  "id": "fc_0f408856b0212824016aacb00e32ec87d08ca83c88d8f90e48",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_S94E4FJVUMvv8mDbmoJHkm1T",
  "output": "executing move_to over 18 steps (1.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8089, 0.6071, -0.4015, -0.0261, -0.0498, 0.9995, 0.5232, 2.2532, 1.1221, 0.6575, 0.9096, 0.242, 0.999]\nstate[eef_state]: left_x=0.2932 left_y=0.0005 left_z=0.1729 left_yaw=0.0015 left_pitch=-0.0312 left_roll=-0.0047 left_gripper=0.9995 right_x=0.5046 right_y=0.1342 right_z=0.0395 right_yaw=-0.3727 right_pitch=0.2763 right_roll=-0.1203 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -1.4701, 7.0085, 1.79, -0.0317, -0.0611, -0.0122, 0.1162, -11.1521, 6.8581, 1.7705, 0.4957, -0.0513, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4791b11cd191f2ca37cb823b5f7e91ab5c51e67e85b0466f88d8a2f82a7ab19",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6599ba7cc2d08fd7414068c73429281258ad375c9f2321526c61b4f28f7b7e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dfd0a93fe04f6287f02bc3e36d76280b2933121bd9afcd26835b0493ac7d1eb",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob c4791b11cd19
wire blob f6599ba7cc2d
wire blob 7dfd0a93fe04
call 4 attempt 0 · /responses · status 200 · 6.62 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 9 changed as sent

message 9 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8051, 0.6071, -0.3908, -0.0261, -0.0498, 0.9995, 0.3641, 1.821, 0.981, 0.054, 0.2943, 0.1528, 0.9992]\nstate[eef_state]: left_x=0.2944 left_y=0.0005 left_z=0.1761 left_yaw=0.0015 left_pitch=-0.0167 left_roll=-0.0051 left_gripper=0.9995 right_x=0.4493 right_y=0.1202 right_z=0.0563 right_yaw=0.02 right_pitch=-0.1821 right_roll=-0.0797 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -1.4017, 7.1726, 1.707, -0.0171, -0.0708, -0.0122, -0.4855, -9.4017, 9.4291, 2.0098, 0.022, -0.0171, -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": "gAAAAABqrLAWf4rkcZYRlmvnKX2KGtubsX7WxIQfZPV2VlRX_9WkWoCrQ-L57QlLk5iJAcdBwY81aXF7Q4pXNbHNS5ttHxHkQ7nJNR8E_AYSXmrszoswaqy3dJOBP8UMFIA7GwaIdlzJ0wmRs7-SA68B6W9n-PTTV6_Amz1x1kADxkc0HkItp1_tVfOJH0f_TrNF_pyXGLJHqV_PgaY6a4FAcffdjds7IHXPOQ8MqJbW63OtieTEgjexcMBCReiYdPHDlNOVXFHBDah0GROoGdcJxqSbwRGoqrbARc0VcmGPLLBm6B_if4virWafYzHpS52t2ba61TlGkXlU7PRGSCQV9d5Yi_QWQpw477_ZM5V5EhZX4PJyBed4DTZjGY5MA1n5FVlke-mLzYbIWnIfqmWwsJOlNlQjSi5aOZKWcO-7eUAo8Je7JARAS2NGbxpiizByJ_uk9SQ4WJ9e-svXceLf4e0K1C3sfml7hZtk5d25rYwhrtggijrADXCzGB2xqCPqbTVxHi-uKISRLzezK39giLAxgPlZHaw_ApgjG5YYRQw7UHDGmPFMYGNF7YmWERA-HEA-6Oer7Yeh1uuvHwA9SuTz1xNsMbIWDgUlDTdKxZvl2jwlcS0Vv6FBw7cuTkbO12CygecPe3uhuneTfMoxzOnqKagoSN9dSG5t-XiBAMMjORc1ptwOuAVsiGPq9E4RL83jndEwoM9eRs0Y6qHmBfD4alo-ocMrdlebc8P1Yi74q1Ivh0gKwxDTOOGkFRak6Y5LF0dVzOmbIbUEkn15jyAWPaeDOnDAvpXGfrpgnXMywM1XSir1tw5Rfn_KcpemLp0qcpq_-rKGLNdNvlPLJY9ncnuREAkjH_-pjM6llONIFfEhykwh-lMJ9AB5VSNGxaP0ElQV4hbgLy1ohx0g5S6431njZvXTI4mCUkUwvw98jpjRrI6XR4bNj7JUit2ODt0p7FHRzCDq2v3q5erNc8XW4p-hTYoMMHCd5yvB6Q7jfiyGP9OmtWa5UoWuuGf7-SIozx7onaR8YgI1J1ZTcPQ6-OHmXnJjh7MWG6PCm4QWEqNWOgqSSimhDUrfsHfB1zOrq8ZJh1aNxArOFvQ3Me1S_wyIoxX-LVj6wrSf_tu-VxdgK36zqP8YCRJ8fMRpkE3cEBqBLqaxC2SpLQ3lWOibTL4nDMDP8KMUURMIg6fFN2GxM25jAJ3qtcIrdgwZF7BO6fOkJ5B5TXSN3jjtUiTe0xTkCKqRmtd53-mXSvtCHPTRtaNeFOlmkI8xCvHOcwZJ4WFi1xATGwA9f_qk0HwO9wYw62LiYLQeukb7RMS6Pd0PP8g=",
  "id": "rs_0f408856b0212824016aacb013ae3087d09f92af8064b46878",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.525,\"right_y\":0.13,\"right_z\":0.015,\"right_pitch\":0.35},\"note\":\"The brick is now centered in the wrist view near the fingertips. I’m lowering the open jaws around its sides and advancing slightly to get a secure hold.\"}",
  "call_id": "call_cX43hWu65BA7jWXlJmBi8avo",
  "id": "fc_0f408856b0212824016aacb014d98487d0bd1990dde493e65d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cX43hWu65BA7jWXlJmBi8avo",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8108, 0.6071, -0.4076, -0.0265, -0.0498, 0.9995, 0.5087, 2.3848, 1.1603, 0.8227, 0.9195, 0.1856, 0.9988]\nstate[eef_state]: left_x=0.2924 left_y=0.0006 left_z=0.1711 left_yaw=0.0019 left_pitch=-0.0392 left_roll=-0.0042 left_gripper=0.9995 right_x=0.5163 right_y=0.1311 right_z=0.0141 right_yaw=-0.3812 right_pitch=0.3208 right_roll=-0.1215 right_gripper=0.9988\nstate[joint_eff]: [-0.0615, -1.3333, 7.1453, 1.746, -0.0757, -0.0562, -0.0122, -0.8821, -12.0957, 6.5436, 0.6813, 0.1392, -1.0574, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f31c3903e7d20d8c41640e4931f1fe8f35e908c7bf62c5d31cc234a1c943f48",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c84008f4bef83373389c87a993bdb41c8a8c79920bc8f60d7465a48c25e8a6a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:270016bfb70957a2f48bc173fb7afd8327c18104fa06289c09e08026145a6075",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 7f31c3903e7d
wire blob c84008f4bef8
wire blob 270016bfb709
call 5 attempt 0 · /responses · status 200 · 5.516 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8089, 0.6071, -0.4015, -0.0261, -0.0498, 0.9995, 0.5232, 2.2532, 1.1221, 0.6575, 0.9096, 0.242, 0.999]\nstate[eef_state]: left_x=0.2932 left_y=0.0005 left_z=0.1729 left_yaw=0.0015 left_pitch=-0.0312 left_roll=-0.0047 left_gripper=0.9995 right_x=0.5046 right_y=0.1342 right_z=0.0395 right_yaw=-0.3727 right_pitch=0.2763 right_roll=-0.1203 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -1.4701, 7.0085, 1.79, -0.0317, -0.0611, -0.0122, 0.1162, -11.1521, 6.8581, 1.7705, 0.4957, -0.0513, -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": "gAAAAABqrLAdqKzIyLRk2b29Tcg2TAEryCLAZfauG2HNKYnvWE6zkiMyXywdeVxMTd7ZcOGuNg2G71ioj3MyrmHN1whGeWlqk0PEfMiI3pviB4fWFvOoVL55bNeoaeAnnSI6ie9zk3AX4LKxhcXKk3NULIV9lg-AlNuY2hWV7WCJDcUs9dOvXtNwZMnxYNOmusm1JBcSmzXZm2ruGJIPPF4bTEV4NhJes3o_CYJxk7kz_A80Fg0t5hyxna05ttSgi9NaVkFYxAO8WcntrJtLlf8BFKJmr3Ddb4Y7W34h4nNbIN7Yzc7crBMQLoI2KSs2WfmPBjxQ3OzUqJ_DuosItaWwo3_m_PjKdQLuArDkjPdVvf4HA7Qrduum3dLjmfkMp_DZz-cu9uNJeRnXA1bpv0QgH6n2quyBgCpqma3ZclhBNb37GfD2WUYho9dBsRlpVCoh2LJ-HelUZ1VER349FisRmRC3vz7mf6LVet0rVQkMfHIzt8vCqiNsvnFOCztgS0Zpd_svUm9MreZVl8KSNE26PdA3CV5hFUpYxbPHdNwBeT0WQBsdop14xREoWIGIvCUVdDitLzPaHIQ-l0GKx0SO-kuZ_JEVLIrz6uz2S2MKPevOTg50xIPK7rO0azHvvsAs7qbkfZZocuDGikc6g2l0Z9AaDDTmhNmh1KUPHiqDDlHoYc7_y0r9N5p-SSQj01clhchfotVPrzboFpQU1P_jXvz4G5d_ViRHnvo-RRzRDVoH6YtSbhEizOTO1lu8eDIrU2gaEXeQ7IE_Hc1T_HkB7_Bw0aBQ-JL7kKXssK95Zmn0sy-35J8MYyqx8gGvPOR1_0_lfVQcfdPTpmzNPqyR3R3PcCOwqOOmXaLyVOSrNHlaQ_XPHx5Nnf6NybffSCJzBe3EMX2A4uF-zCBRd-ak9JELp9AsWd9adUwgwp_lSPw1FjA9HJcRTRG8eyk9IrKh0R1i2m_GWxFX8mK2DlyUZfQFp43b9EYv7vmO9rZz3Zjgc3Ze_raMUMpWP4boC8xBr_4yDgxsjjP0VHgzkruf63Bz0_aU-VK9t36-cIH8tmSZvBajLPIHYeSzXlqOhsVul3ro1S2RcnodHrR9Y4DSAwP6IAmA5JayhqE0VdlnoSjnmh2kIFSMu8d2ocxjyB_Wz_NYffCjnoEVap-DctdNDEzpAopVTI4NTzhdhzo0EYmhWWNf2JBfGVT0etzFwSefYUzo65X7x5ORNka78YHZ5heOm9zubv8QF6-LUp5wLYf7kEEd8UCEpEspSIyvsM-KI1SLeDXbGrzI_RfHKgJFKNQ3v_CPTh2tsxxILHYL2M_oS_xF5yg8HHFIo57xK3Xe3mXG8MEZKBGM9ytHHqpA-njWF_kvVMdgvOwzXUqrJa8p3JWPmGAsdnCUDlCYQP0yJ1O4aErrdBPleGkxcrDa0fwb39aRmOfjZ7oic7qXPoHywsxQQt5Oghjd4lHKg-m1kcw2ZfG0jYdgQbA2AzadH7CmTG1qthbhxJEG_30JBmKgxvTFpIKP5S_aH-rWGff2RbeTb0PUHBwmBjdrhZRe2sigtHZ2HRnqysWfEWvSDt464hB_PGL-oYIg-4Uor4P7_wPudCcU-0iGDAtTH-uYhIiGazryuUTGs08QxJdyUfktO_zIIB4=",
  "id": "rs_0f408856b0212824016aacb0183cd087d0829ef706d422658f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.555,\"right_y\":0.13,\"right_z\":0.025,\"right_pitch\":0.5},\"note\":\"The brick is still visible just beyond the jaw tips, so closing now could miss its near edge. I’m reaching a little farther with more forward tilt while avoiding pressure on the table.\"}",
  "call_id": "call_Z3eqmbrftJIej8R4XnSHDLic",
  "id": "fc_0f408856b0212824016aacb01b663087d0abf0fdcbd17b2b22",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Z3eqmbrftJIej8R4XnSHDLic",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8116, 0.6071, -0.408, -0.0265, -0.0498, 0.9995, 0.5018, 2.402, 1.1683, 0.873, 0.9047, 0.1532, 0.9988]\nstate[eef_state]: left_x=0.2924 left_y=0.0006 left_z=0.1709 left_yaw=0.0019 left_pitch=-0.0403 left_roll=-0.0042 left_gripper=0.9995 right_x=0.5215 right_y=0.1318 right_z=0.0155 right_yaw=-0.3681 right_pitch=0.3406 right_roll=-0.1175 right_gripper=0.9988\nstate[joint_eff]: [-0.0205, -1.4291, 6.9949, 1.7118, -0.0806, -0.0415, -0.0122, -0.2393, -11.2068, 5.559, 1.6777, 0.3101, -0.105, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd4218049363ac7776b3794b601f6aef00bf03082bdbbe709217a7c0a6a7d8d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1522702d52e2e8df253646a046924df67f4c72fb580820d5aca6fc39da132ca9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4efc28c5ecd9dd6ba1e8b803a5c51e050f1934399fe7fbb3045b0273e279f57f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob dd4218049363
wire blob 1522702d52e2
wire blob 4efc28c5ecd9
call 6 attempt 0 · /responses · status 200 · 3.003 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 17 changed as sent

message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8108, 0.6071, -0.4076, -0.0265, -0.0498, 0.9995, 0.5087, 2.3848, 1.1603, 0.8227, 0.9195, 0.1856, 0.9988]\nstate[eef_state]: left_x=0.2924 left_y=0.0006 left_z=0.1711 left_yaw=0.0019 left_pitch=-0.0392 left_roll=-0.0042 left_gripper=0.9995 right_x=0.5163 right_y=0.1311 right_z=0.0141 right_yaw=-0.3812 right_pitch=0.3208 right_roll=-0.1215 right_gripper=0.9988\nstate[joint_eff]: [-0.0615, -1.3333, 7.1453, 1.746, -0.0757, -0.0562, -0.0122, -0.8821, -12.0957, 6.5436, 0.6813, 0.1392, -1.0574, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLAjAJhXY6XgzI_6DTzfLUalRrze-iVc0wdPp58OtHY0dKrvoJ_6KaRrs10G1W9fCNXqLy5MmYwMplP1yWqpKTy4sBJFGDDP2MQKE0kqX01ug9qX2TtM3tKl7pzTqO98i01Tvsjrmfcq6qdS0E5WUHM8vA_qfuUQ0a0FfhAKk5SOh4KNd0U2shQ64OJweCfA_W44AlF0fR0UFQiObO_IVrYVo0vWGx8i6q2KXtrQqPQffz8J0qnGNUziaqmErADrssPzq_3i3gmRMYSF-QVvaZXldn1F-OJSyEFzEsfrH810aP37rv_eb5ate0Yjs6R9NoUmw2EddkhDU1qTdYUFlDTJfAfbq2J_hSIVfueLsjzjprNcOFjD7CBceL1jESB6tYAmx3vVyux89VhV2-218Qcwnn__TMrqJVp3U-lDWW2MVhaYj54cTAvEBgPcvJ2n_RfrZPb9OnAjyGl_gTg0eyi0Ll_WboEWAf7BEJIvk9W9UNtdgxKgsGLHYgJc0nwTUViOSH8SK8KtxGYegeDSLlCyA5YN5wBW53pe67VaKnQwDb5EhUu7Uyn_OhL3pbZ3yFY3tlvMo9SP33Rqn7CmNssrZOLVh5q_zjNmHVhs_IGVGBJvZkspR0VYjxPgGn4mXzhgH-lUL4ECw6kUmWaOde5V7zjoh1T-OeHNGvdJYC9_SmJHajHKnLEG_stH7VSV1sGMVqwiQP_NEeRurbUrb6bDuUjAS9uuvZmVvY-zV3Qjp_UblE_rBH8Xne1vSitHS3IU_YgkxdENnGmCCIffcqcOpS0-2EjWizd4VjIJnw5OhTrl8rb93lAsDUDkcTw3b-jl5FPhVQBLkO1ufy4othkoPM6aReibWBpsxv8ttbsUrfEkFjJ3Pvv29GsFhRZGfskwTz4unoEkoELDWk2ql9yml9oYje1JZTcTM_zWiXbl_bU983iygOjLOstccWRWRtMqhe05bi3ufjmEKcgUsxzsJdRyc_6CSKgZrhNFDrN2JeIfIUsZUisLYj60S-3xMCvsEm476Pj6dkdsJtbSzxK3xPiITEJEBhGRkpajOOgQCQ4xKrjeIknqn3F1ZnhZ1BTRvRnurhhi0hbuIthpKMjFZkER4MMRXeZhCYRf9MfaxZ4o7y-TRrXORP6roJ6rS13cuN99IBrdo_ScDJL-FstcWOe3lZ6WNC7Mblnx0MYwJLQ3RZLvZZ7EclhIm5oC9z8D526wSd51j96HMobLmea-UPrXK3AjGmBxi7p6AT63dyPfEy7npKcAkWzYIq2Oxe6EaL-QORP9gc0YYblfs2d04kQo0YgSGB_RNOiF6zRmfS5EDF-5kTNklRnyTZa1PFxZVmn4vkGdWA_26UV97uPu-_YQwkrUJ-XrTG0-qLDWzow3o_etqsfC_6qS29P2e3t3EnWzuqRpsHZbsBZ8cCgFVprLhRr6tmb_9TOf_Lb4zuKsA1AAj5o2cVFtDY5e9oimI4IQiPSiTku4jBfZhK2MMHHj3EWcAzvtucQF_5UphCjY-wlhD3yr3yA9X9AiXSOdeDo8PGUExmZpKoLLunrEJp5ShcLqv-LANENOM6J-cJM=",
  "id": "rs_0f408856b0212824016aacb01f6e9887d0bc4af3c4a3f91271",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.55,\"right_y\":0.13,\"right_z\":0.08,\"right_pitch\":0.6},\"note\":\"The arm gained only a few millimeters on that extension, indicating a low-height reach limit. I’m raising the grasp point and increasing the tilt to approach the brick’s upper sides instead.\"}",
  "call_id": "call_1rYj1kVwSzHu6h8dViKUt3YO",
  "id": "fc_0f408856b0212824016aacb021c04887d0a89fd357d02b50da",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1rYj1kVwSzHu6h8dViKUt3YO",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8127, 0.6071, -0.4152, -0.0261, -0.0498, 0.9995, 0.4808, 2.4607, 1.2335, 1.1503, 0.9035, -0.0956, 0.9988]\nstate[eef_state]: left_x=0.2915 left_y=0.0006 left_z=0.1691 left_yaw=0.0016 left_pitch=-0.0487 left_roll=-0.0042 left_gripper=0.9995 right_x=0.5442 right_y=0.1315 right_z=0.0542 right_yaw=-0.3393 right_pitch=0.5109 right_roll=-0.1545 right_gripper=0.9988\nstate[joint_eff]: [-0.1983, -1.4291, 6.9949, 1.7753, -0.0464, -0.0317, -0.0122, -0.7043, -11.3026, 6.6803, 1.9072, 0.0464, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6dd66fe7df66b191053a23dc64ceaedfc4f8a5610889aa54f8e6be7ba73b0b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9267614161d3d3efdce6867361dd094dc81b222a755c4c62ed5bef24f4ae1544",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8dd860110fa866ca975882e2ad2a615f84849e3bb69002f2e0b879b5ffdbcb39",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob f6dd66fe7df6
wire blob 9267614161d3
wire blob 8dd860110fa8
call 7 attempt 0 · /responses · status 200 · 5.388 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 21 changed as sent

message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8116, 0.6071, -0.408, -0.0265, -0.0498, 0.9995, 0.5018, 2.402, 1.1683, 0.873, 0.9047, 0.1532, 0.9988]\nstate[eef_state]: left_x=0.2924 left_y=0.0006 left_z=0.1709 left_yaw=0.0019 left_pitch=-0.0403 left_roll=-0.0042 left_gripper=0.9995 right_x=0.5215 right_y=0.1318 right_z=0.0155 right_yaw=-0.3681 right_pitch=0.3406 right_roll=-0.1175 right_gripper=0.9988\nstate[joint_eff]: [-0.0205, -1.4291, 6.9949, 1.7118, -0.0806, -0.0415, -0.0122, -0.2393, -11.2068, 5.559, 1.6777, 0.3101, -0.105, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLAnbVxnQPzyhqfaj_Svq0RqJ0PZyNwE653UPKr2dN9-k3KWedo1rsxfbOTrtDFg3KT20oe_Tv93a0n61XosIw9kSqfZABUJ9fRTtX4FQ8oznblVK-OeGu56VKdIlz33nvPrSiGvQz5jF08rP2NOG54xzf8bTRKAqY3xU5dEhrkV6BAUAadQ3nbaSDhaGkUFLrX6mNS-LALJLJvVORKdTvjlM4wj--6VHyM_tO_b4rOf5jbrSZThzZgFTehNDsQ7IWT7pj5ICvCPKlVMFJoAMPTkYc4H9Mq8OtnI1u7PI83Xfm75o3oNUQs0fI2gzHFi_1k7WJF2l5x3fQI273RUn2HT9qT9NfM4x56jLHkVew76Rw8pZl4DtDuF2FnEbEgFiFDXkO49QSrYR9-AZwktO24I69mneFA-rq_jE-a5CKwNDo1VLABQGkp41fYCaesq56_aAafGviZSBOspIl4lxnI2n6tefP5mDaBvZdrW5ITE9_rELy1J1vQzg4g_8k5bWAeDwTn6Fb7FDBnxLB6GrOOmjAXlzeEaeIKP3V3EV83uT-e1wPpp-xfU2wx4a8Xuaw6sxzb6Cwf4pcAHY1YvJFJp1biopmfFHXEnYlJ0bT30sFMrT6sRkiM2IVfXEL5dvcvC0RpgE96tVtVP04yjMzVCqsPAohOZ419375B60oKEEFDvHo26sorsGYgpVy_WfjksoMJrUfQievHvmX_hp1twOtlQlh-BDpPB8WUEw-nWDcHmEwn8J-K5isFYipndgixnlWdNIdXEiVMThAGvXSo9LhC7Lewp3DH2t9z1IgNalC1kJeLOcGwngP632C0Ysu0aRDeIG9Sk_kABZSotTXs1fxmHTP5u0WmmggAd5Xdl-wCsFuOXsYqCviT_tgAUGSNMqOLJ95E0l5M1RkD6nQ3OncuvBbwQ0p_rjjACdJBrH6ifzNSckn0St3qTUYMNQQe2R9E0aXytE9MZguZZyinG2tUs0iGo_qm3mX5UdqkdS3uqq6QXht7o0vSLsUJWb-xsmke-PYoZE1f00ROxMHHHOgHlKFtOxuLImtv8E43gi5Poi8l1UhrjM1vN41LJDsRbEr0UAyLcawuOstO85hz4ptZz3qHeA8MkcRLN9c7_3gP1kOMAPrXdAzv4P84KALQ8Y4JIqi765OoKdSOZY-5GelRWVKBoB95NZZqLc2Z4kBfSbxzRQ6a7XMzG0ztzajxps-ePjfJwy033B8BeoA7T2w==",
  "id": "rs_0f408856b0212824016aacb025a5bc87d08c0db0ad1ee24fdc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The higher approach has brought the jaws around the brick, which now extends between the fingertips. I’m closing the gripper and will check the opening before lifting.\"}",
  "call_id": "call_fjvfVwrkXhpPW3nWRgK3C21d",
  "id": "fc_0f408856b0212824016aacb0262fe487d081df074ee55c9417",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fjvfVwrkXhpPW3nWRgK3C21d",
  "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, 0.8127, 0.6071, -0.4152, -0.0261, -0.0498, 0.9995, 0.4778, 2.4619, 1.2297, 1.1481, 0.9005, -0.1043, 0.0087]\nstate[eef_state]: left_x=0.2915 left_y=0.0006 left_z=0.1691 left_yaw=0.0016 left_pitch=-0.0487 left_roll=-0.0042 left_gripper=0.9995 right_x=0.544 right_y=0.1298 right_z=0.052 right_yaw=-0.3311 right_pitch=0.505 right_roll=-0.1703 right_gripper=0.0087\nstate[joint_eff]: [-0.0752, -1.3607, 6.9949, 1.6777, -0.0366, -0.0513, -0.0122, -0.0615, -12.5607, 4.8342, 1.7216, 0.0708, 0.022, 0.6862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:734e7ee1475d3d558f4805c80231a863afdd46d10a1ec99969d163b845745ee7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a07511ed2028af67d45c19f392fe42aea1f1377ad2cf4c71306e294ca6b116c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98b8bcebea3a013aa77e4bc3d163ff02e37e7fdbe63413698506fc3f7491cffa",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 734e7ee1475d
wire blob a07511ed2028
wire blob 98b8bcebea3a
call 8 attempt 0 · /responses · status 200 · 3.632 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8127, 0.6071, -0.4152, -0.0261, -0.0498, 0.9995, 0.4808, 2.4607, 1.2335, 1.1503, 0.9035, -0.0956, 0.9988]\nstate[eef_state]: left_x=0.2915 left_y=0.0006 left_z=0.1691 left_yaw=0.0016 left_pitch=-0.0487 left_roll=-0.0042 left_gripper=0.9995 right_x=0.5442 right_y=0.1315 right_z=0.0542 right_yaw=-0.3393 right_pitch=0.5109 right_roll=-0.1545 right_gripper=0.9988\nstate[joint_eff]: [-0.1983, -1.4291, 6.9949, 1.7753, -0.0464, -0.0317, -0.0122, -0.7043, -11.3026, 6.6803, 1.9072, 0.0464, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLAt3YUYhruYAGIG7L5Fg_6ticHfZD2zXGu6RCjXoOi47zS9khCElp28xTUBJk9-eFmaw-8ESxdl552hQaBxUQ71CMVowHd2QwRH-_9VbnMXFIgsrGp8q1_FOI0dz91KSyFq3yWa2PPkgJHJ7D4C14JjrzML676u5daKb4oCSClrDAxBKhApRXHLDALf3ehJed_0wF6yga_Mr4ehAE3W7h6BE7qFHQHgLo5eEuTlJKJ_61pTnfxdTDGp4m_SD3Xvi1GfDcTzdZf2Gib0iDgfB_KpQwzvpLn_B2uZcsIklbBb0NRzgfsih-zEhSljw8DHhNIdnczKMMDRh3TH_bU3S14UUBP7UYPgcs78RXC6qa_AIUCHydCYrNKGOnAs_w23PBSvPOHSxOT38IR7E24ODDRr1nttbsAjv_uc9z5o7jYoaYVy_JKJLUyXiSE3pRnlmeX_H5cKY7R_MQlhhelHzv9ejnCKNAmTI-bs75H-2fqitGmXdDluPXdRgRnU_-7nJKPDx7rWFrtbFvCR4akrNyJNhRURJDMc1GkLtr_OzVwgB1fBJPVHuH_0ds9mg2CtwxjlOyUm_3Wu6IS5pboO1WQjeKL_9PIATSC-fCzWrHyFFixjOSpCUeUvil9aQQOQEYlAbQ__cfw3cvwOcf7zpaC6AYrtazLUkjuPtaDRBR8Or5Iu-_jtufdxAiocSVIVaMSVxj4EYla8Fy7NMXPJqbbkJ5rpcbvD_fM6JZs6QL8eLvGgQtp7G99smjisSX8JiVq9duHA3OxMd4Bq6igQATtnniv7XfNcjKl7Q1iAu4HYgtexkMREta1eeJja8Cdau0NMGIjmYZJlIGqBQgBrfF7u9t7xrAFkaaonuzgaqPaigMOJlzj-nHNqjZYAI8v8xW6qSOcqhJRsZftRXE1oqnnfDup5d7ol8LtriI8beCO02UsEDPvjok0mINeSwtKK8B1yaspHi_7EA8Zkd0drUyPOmfffb2VwlZY6iLrYpAYOrIBXcW7xdue-aMpoV4XA_BY-zCSH1z4TnspmCfKK2Y1HiDfgMjP2Wpcgkzwuian4fhUIXILrJ9BK8L-Knrvt_FzkHg3k5mU0bC0ylq5ZhpJcdYIsqCr_V_SbCcMJGCFxI8YSwZ-3lAYERH18UBSF4vdxnWibwAObyj13OgFkihiqwkvnYBlhnNw0XFYToFXQqMsBAeB8jLZZ0FR4MyJpMj2xaNj78QJSDUFB93qkU-_Fu0zPhxe8bm4xCwWCMfPMtWBuTypris3p1-3o9AMUlMEs_FZO5ZHpj7AgQYj2ktJDBB3In-cPYf12eeC40EOyDUWEcavOOzZKfD4QL3I_uBSZcZP1flJPmrZbH26em5LHaUNEoRt7uIznCn0qVUcDLVb3HPe4dBYTV-tSLmr6JT7cbCnwUv50YboLCkVMnq70yD9rg1iPbckBYl-NhdK-D1X0KTAQ0P-wmz_XmUZzKzVEByGxfwga3TXMRCXby_UJCos-1HrfR4R3mLkKw7qjpIdJdtxILnukUix8TXEq30UkmNdfyckC1yhxeCRJuWUbRw==",
  "id": "rs_0f408856b0212824016aacb02992bc87d0bb7a95bac08c0e10",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.568,\"right_y\":0.13,\"right_z\":0.04,\"right_pitch\":0.6},\"note\":\"The gripper closed fully, so the brick was not captured. I’m reopening and shifting about two centimeters farther forward and slightly lower for one corrected attempt.\"}",
  "call_id": "call_41zqKLFLKw2aEIlri6c6SnT3",
  "id": "fc_0f408856b0212824016aacb02bd8b887d09d9d1eafd6d1d648",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_41zqKLFLKw2aEIlri6c6SnT3",
  "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, 0.8165, 0.6071, -0.416, -0.0261, -0.0498, 0.9995, 0.4599, 2.608, 1.3579, 1.2888, 0.8745, -0.2043, 0.9956]\nstate[eef_state]: left_x=0.2916 left_y=0.0006 left_z=0.1679 left_yaw=0.0016 left_pitch=-0.0533 left_roll=-0.004 left_gripper=0.9995 right_x=0.5649 right_y=0.1325 right_z=0.0401 right_yaw=-0.3147 right_pitch=0.5812 right_roll=-0.184 right_gripper=0.9956\nstate[joint_eff]: [0.0615, -1.6479, 7.0085, 1.6825, -0.0562, -0.0659, -0.0122, -0.4308, -11.4667, 6.188, 1.7118, -0.022, -0.0366, -0.2027]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:994ad7610089a23465c31f925b41c47dcce1787dcaf50109df77b8b38b079b86",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb47085e6f70f12c1f17631d38c26345ced2b0e090a6577814d2b1cf7ec528cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03104c40741edb280a2164c0c0010110bcdcab63887842cea7da027563af2956",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 994ad7610089
wire blob fb47085e6f70
wire blob 03104c40741e
call 9 attempt 0 · /responses · status 200 · 8.001 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 29 changed as sent

message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8127, 0.6071, -0.4152, -0.0261, -0.0498, 0.9995, 0.4778, 2.4619, 1.2297, 1.1481, 0.9005, -0.1043, 0.0087]\nstate[eef_state]: left_x=0.2915 left_y=0.0006 left_z=0.1691 left_yaw=0.0016 left_pitch=-0.0487 left_roll=-0.0042 left_gripper=0.9995 right_x=0.544 right_y=0.1298 right_z=0.052 right_yaw=-0.3311 right_pitch=0.505 right_roll=-0.1703 right_gripper=0.0087\nstate[joint_eff]: [-0.0752, -1.3607, 6.9949, 1.6777, -0.0366, -0.0513, -0.0122, -0.0615, -12.5607, 4.8342, 1.7216, 0.0708, 0.022, 0.6862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The corrected position tracked well, and the open fingers now flank the brick’s near end. I’m closing again to test the grasp.\"}",
  "call_id": "call_CwnDVwnvCcFIU1yEVJNmFM9M",
  "id": "fc_0f408856b0212824016aacb030f19c87d08e07f17741e8eb84",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CwnDVwnvCcFIU1yEVJNmFM9M",
  "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, 0.6064, -0.4156, -0.0261, -0.0498, 0.9995, 0.458, 2.6133, 1.3594, 1.2888, 0.8742, -0.2054, 0.0092]\nstate[eef_state]: left_x=0.2916 left_y=0.0006 left_z=0.1674 left_yaw=0.0016 left_pitch=-0.0544 left_roll=-0.004 left_gripper=0.9995 right_x=0.5651 right_y=0.1315 right_z=0.0377 right_yaw=-0.3137 right_pitch=0.5784 right_roll=-0.1885 right_gripper=0.0092\nstate[joint_eff]: [-0.0479, -1.4564, 7.241, 1.7363, -0.0415, -0.0464, -0.0122, -0.0205, -13.5179, 4.3282, 1.6874, -0.0659, -0.0464, 0.6569]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:840354e3cc7d518b7dde7db847205380ec5ff8b5148b0442c83f5aadfc15ffca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56d13dca1ee59a9e9836379db014472ebbfbbcd182a66972b2291a25481823f7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d278db79cf0b15afe831baa33de626a2631d62764a277eb70efdb2077d73acbe",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 8.439 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, 0.8165, 0.6071, -0.416, -0.0261, -0.0498, 0.9995, 0.4599, 2.608, 1.3579, 1.2888, 0.8745, -0.2043, 0.9956]\nstate[eef_state]: left_x=0.2916 left_y=0.0006 left_z=0.1679 left_yaw=0.0016 left_pitch=-0.0533 left_roll=-0.004 left_gripper=0.9995 right_x=0.5649 right_y=0.1325 right_z=0.0401 right_yaw=-0.3147 right_pitch=0.5812 right_roll=-0.184 right_gripper=0.9956\nstate[joint_eff]: [0.0615, -1.6479, 7.0085, 1.6825, -0.0562, -0.0659, -0.0122, -0.4308, -11.4667, 6.188, 1.7118, -0.022, -0.0366, -0.2027]\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": "gAAAAABqrLA7_Ct2CsespBe1ya3UrWfOLo2x6Q0zvPvZF_5uiVN2-5V_TNG_nebSJuIPk2qkKfvXur9Kophu208yus0oVN28vG8AU4IUxh1lHjzXsQk_BSRlpxUoYCK5p8QGxbJ89Zft43y8Tr3P0rlnHIHNoLSg4RjghwdWa2lrGoMXyL6-7FobcPZfxdyWtgnZha6vHlE62IbO2ArmbRZHNc4nutUQrZLzZnYbsETerxfOT4I97cXzZfSA7u4CtpYLDNoWpzVbxY_J52mEhhx3mpqrDrCWYvJboIGRf4UhiUa3f0bpsXsQXEV2uhUdG_jSOe3r08ZbHTMLkqblt7aAeZShdLfSuLvj0pfdfYzdLbztUxaJNcb2hC2gZzkGRGHHbADVm535hQqS-mTEjuRtxzCeSXbr1Zjo1tWysWXAJurfpPq8S8Zz_61uZTtJ6e96vs08-ppSTRI7pG9UCbGc88KUCERzHBJjSQ8-faca8HkD83eOUrL70xAh-c8HfruPGAF26hqWvmcm7LFIQkhCDy1sD2ZFhd7XcHBp_Q5kGox3HyF3v5hVFTTaF0RYiQSCg2HcomQJDZ1FvDTPuTDB77XQjCTLoNNMyDVK-SExowKVo4BZsl8uCYF0jpa30OrOaxCLamdMQ5AzLcq3AqQTGi-9YSPoSKFMjcrjo0CJJaQcIzVSfLKNPgJdrjAYCnxk0XRAS4Lg3NZta9UGZWgT8lGLdykGzSK2Yjxw_w7TJdy5NMtVBKBIv-jmvX1Pis-EZuoL6bYGz595hgt5GzG2hvua_9sH1gYxpRyoArZh1dt33K_B81AplXDax8syViLsv9RT2VVysqWQj4QfVKLU2amUzaBWVERYGnR3i0_y9FWziuJ-wSnh92R04oIP8705CeXZUjp2bSYVawwAsiOlLaqkskmTE59YR_qpVrova1XGApr8bGbBibxerQIbyPx8fZ96YD5h9zLsy-6x02OZhpCJDeUc3dPC37zXG9bdl9LTQxgczhJyBdp2rp3djJIDZZpeUr6geSKGp_QqDTO0AsyreOEfCdxR5fqCCiAAbES9D11cZ-paSFfPAtHd7lQNy_7otzdoOPpcgY50CHH-jetso0PvLuv33PbzWjL2YCEKy3jVajJZ28mXQoq4Dg3fyFi2TrnS1rK9BBZDR3QtHWvU_IUmyLm_jR4tQ7PoNRSZMlQRWiVlE5yDZebbYnwO48dc6mGtweSX-GHnXU3GMB96Armn6FQeE0xrQL36hNXzxZM7IsQAAwyMsnVX-d5VOoxNBpYhZCTkT4neVi7YXnDKGHAsaMzq7BcIHgPZZ0826fJPNnEGKJqMRtHkoprMyH6T8VN8OnqzCdLP8NTSqwWSC26x4SWW6tctQOB4i94I6YEzMRIHiRu4SHwrT5JDVD4urgYeW3jmVn28_Z7WKjWJ8Qddld-MN9TIMNfdkG_bw549R00vCSlGgpyRbQ6bJo_J7QQzdKsCajPDhxGHrK-ROcUQKh_nBVessDwbKGAlyFMWQcuN6QEm9x-dzntWY1cVYdWGOUbWjaEd_5rGOLlCA8JWSmvydAnTPLy_WMblAu58MweVPHZ5OTnrln_-OqBxr789t40NJEAh2bpePECu5I_NvIhuPxMH6Oh1je07b3oH-ANI2EXmEh3cGhcPJbGhQbAzwXLxNkzVa4GpTRxjqGMW7tIERZ9fMdp5HA2dY_JcKm1f-ly5iYx1s9MnqwsDa5CQNaau1knlUV6nGrjTGW4hTJtHpp6WuyxGIQchvRLWp9Kaez_ZaMmA1AjLIOQycc1s9_kgHzEFRiE5_XLgUeVCotxdcpgI4csx6l-_1thu1kMhhLVo-zBcODQbpfDj3Dc9Rh3V4x98UAXBAdbdUMBYQu-RR8oD0etrjAT4pz7iZVhWb6J5XACM5iMmBJaPiIH9jnjfSSi_wWAdbiFhGWaLkKXaVYU3fMs85Zbd1a4I2JkbHVK6y0p21Zs9FtuAq9fH6s3isw7qF4zm7mcSrWsbdWHb5MHTdROMciW7-AlO8AwYqTg9j6wTdYJc_okdmy666659VHA2Vy5shNCeezxdAJ6T1To8cLsDXzL13SkYp0OcIyzhCyjMe_j2x7XTozCiO5pmKQuLRfaQ7w10UwPzQK1w2eOt6x-u2CjqA6n-9cHc-b4yA_qGw2TSZZDY56yQWKwqtt-UuOjyEYlACZxuhA==",
  "id": "rs_0f408856b0212824016aacb03443a087d0ab43796aba243361",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.08,\"right_z\":0.2,\"right_gripper\":1},\"note\":\"The second close was also empty. I’m lifting back to uncover the brick in the overhead view and reassess its location rather than repeating a blind grasp.\"}",
  "call_id": "call_Oufgitf4JvZlqlqFCokife2O",
  "id": "fc_0f408856b0212824016aacb0396f4087d0a155549674e281cd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Oufgitf4JvZlqlqFCokife2O",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0254, 0.8215, 0.6041, -0.4301, -0.0261, -0.0498, 0.9995, 0.4377, 1.9137, 0.886, 1.0599, 0.8505, -0.2111, 0.9952]\nstate[eef_state]: left_x=0.2893 left_y=0.0009 left_z=0.1624 left_yaw=0.0024 left_pitch=-0.0754 left_roll=-0.0034 left_gripper=0.9995 right_x=0.4837 right_y=0.0837 right_z=0.1882 right_yaw=-0.3051 right_pitch=0.5764 right_roll=-0.1982 right_gripper=0.9952\nstate[joint_eff]: [-0.253, -1.2376, 7.4188, 1.8437, -0.0317, -0.0757, -0.0122, -0.6222, -10.5504, 5.5316, 1.6825, -0.0513, 0.0611, -0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fa0fec78a45a506d3f02a10012850275568be0df06c70af446cfbf8ee43bd46",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8eeeeeda6a045b1f99740869f080b21568f3ab54e51420e3cddab252e37850a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd2b1953d20d06ff0b8164fea9796c431b76b0eee95b66aef26360e92a7c558f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 7.622 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 36 changed as sent

message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8173, 0.6064, -0.4156, -0.0261, -0.0498, 0.9995, 0.458, 2.6133, 1.3594, 1.2888, 0.8742, -0.2054, 0.0092]\nstate[eef_state]: left_x=0.2916 left_y=0.0006 left_z=0.1674 left_yaw=0.0016 left_pitch=-0.0544 left_roll=-0.004 left_gripper=0.9995 right_x=0.5651 right_y=0.1315 right_z=0.0377 right_yaw=-0.3137 right_pitch=0.5784 right_roll=-0.1885 right_gripper=0.0092\nstate[joint_eff]: [-0.0479, -1.4564, 7.241, 1.7363, -0.0415, -0.0464, -0.0122, -0.0205, -13.5179, 4.3282, 1.6874, -0.0659, -0.0464, 0.6569]\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": "gAAAAABqrLBEe9t9XLtl2IBOINPU0oUqqZfOlC6HJBJYgaucO1VqEA9TUnFOSCJsftxUXccFlwTZRgqp4NH-aeP6YtMMsrAqAPXMjqix2rCny_hmIRm9NO3Zk36ZM7gDEMsdiF6fv1s8se4DS02IlZJad7xpBztGcLXbgiZdMiJ_GHNpcKbL8qx7-GdsU1wWQ4Q325e1wueigMdpJV9eMna0jA2CFFQEjPOnbYrsKmIeNAsUd1dyLkegiyxtNRJRKZUyN6-x_t4otm8M9E7phX8qGWk9la36_zeCqA8NCxywcfzojd8M7GK1GAsMcbXco5SWBo49aXuSXvnlfgVNlX47NauPuNGTyP-9JfTtFRCE79llJNO9svfvjpxmPFyuR8GCyJ2eJWGZnH3q1W64Ya4gwO8ZM6uLe4wvRh9m_kQAE-GR65x7QKExDODBxVpnlTzkGEGZ3BPWcgKS55un9zbm1B9CQ_M5_pRkZaFIjKaT3UcLB2zkCNnfEd2iaJrlAs80KHQUQER1I1Xp0sWNFUMcrKDeWZ1j8kUKBPA1b-tYZDhYHy0J5SO0ZBuN0KN6G_6935MihbYZPeb9HFEIbPuF8M_piWwXmqliLx9TRDLQtgw9tuYO5xhsfdgH2CCtyhKSaDKUlTMolm-zXXVsWCilQV95MTjnmyvscpTVW28z8OZzb9sVqvh59Kw-8fexxNBC8hLFuU6SmK_q9jv9eqYijLn7ONzv0L6pDSX-jEGHLGqxyxl_YAyCTZk-Tpb4wgaa96nHiNxCOtpFD-tCQ0iAa5YNZsdyLJhMHREeW0t5QDzk49zZU5gCf4H5dFgoPJO2vdiZsY3yb5P_FDXYmz9a3BAxPhF6tNC0lTaMD9H7GJJMlubID35paQyVQE9rZIq41Q7gE3GbzoBcPtipjlwmvOIXLDXy3sTcBt8RLg08ax96wMFdXtN13IdsYieopjJ6YKvHywqfTCMBQgVZk-egys7hGDeQmbaQb2bKu4ZTPL3A5fN-vVkaYD-ean1NwXZ44nxIKwWDG2YvDH8WzfuPJgsvisll_npS1Cj2O4QphtuWj5kl5vZxgjYyb9YrMoqqpwhw4-yFIYPKkYEn0MLjbxUbPPty8syjnibgy-2kLKmA5SMxg3zuruPhrf4o_syHeEGmfYDNhiikSIN6OJieGjOkzCToipvBRxpFfK0MtsRLGOOZWCPk0FdSFkAu4WS0Qt0fgZERHz_UGr33k9DlQ03kv-QxO9HhDS_96bWOsOGM52XTnvU_oVbgny5q9Xcr-yN-FMwf9jP6ag7rZ9rxihh0BqnILRgozpCdvSAdZ-Uf-YlU4Cl2Hl9OEFeuAkRV_R9y2h-UKira_nLegbdMNomobKNm_EilxohiUe9fEsIUWCxw9MJx5mj7-7awXkaK6ThOoTut1hN9gf8dKUgxok6DwfmaHfF3wZ1YlD3FItUsRXWkVxGXkL433jn_ib-WgsG3faJduMw3sQAcm-il7ZdPFcKvXcHd-yrcYbaHXKjgdERbTbHSRmAWBVs2l4EoCvNJQ5VTCBZeopKW-PFkfxQXQz4PsnjyfnXID6Y5CbAJelV7p-xFcyzeK7lX_eNVvvQgSdimZuaONOO2wRQ_k5GgBHs3HeorbY1xKR3Fx7_YFasUR7wI4InbnPqsDstaDXcgnKLgVAjArviTNdbRnDB4pbSNIVgUr0TtT2mngiBVt07ogzPc_Ks9b2uiIOIktzrk7vLseneYPvICNRKrkLK1bexnRCaMo53Fy3gr8bZ274kFMb_ITih0wk77Tb33xYclO-dBZCBv_UxuiMRI4m_U07b4Nz1PEZjakaFPVUkzu4zv3-mQq6w8t6dPzDrNwBw8IcA3WpYqehsfp0d-UK4EQq3lQfhwl8MHmsoJhU3XVq3FGUTdT3Uewa3EJkiwwC9fJBOUzPpfezo0tVg78FFbPFege8abEHtcX499ouQnJh7v-2-wyy4s6ppv3ZdtLmujdJlgz7VZzb9ABj_JLLVAQAMqAyxqCRClYUqns-ruXceuhvvc797uiLN1AovbdgP3xNic",
  "id": "rs_0f408856b0212824016aacb03d756487d0a44e93f35a7bb48d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.565,\"right_y\":0.13,\"right_z\":0.005,\"right_pitch\":0.6,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18},\"note\":\"The views suggest the earlier closes were above the thin brick rather than around its sides. I’m returning to the aligned position at table level, keeping the jaws open.\"}",
  "call_id": "call_1HYHdxtEERmaA3cvJSdB8nS7",
  "id": "fc_0f408856b0212824016aacb042cabc87d09cc0a13a194f1074",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1HYHdxtEERmaA3cvJSdB8nS7",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0265, 0.8562, 0.6415, -0.4911, -0.0265, -0.0528, 0.9995, 0.4515, 2.6606, 1.3956, 1.417, 0.8543, -0.2302, 0.9958]\nstate[eef_state]: left_x=0.2871 left_y=0.0007 left_z=0.158 left_yaw=0.0034 left_pitch=-0.1337 left_roll=-0.0039 left_gripper=0.9995 right_x=0.5688 right_y=0.1317 right_z=0.0471 right_yaw=-0.3423 right_pitch=0.6607 right_roll=-0.119 right_gripper=0.9958\nstate[joint_eff]: [-0.4308, -1.1829, 10.5094, 1.873, -0.0513, -0.0562, -0.0122, -0.0479, -7.9248, 3.2068, 1.1453, 0.022, -0.1197, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0bea69367f5f28571bf911d700f3a1eccf065f2df59dfdcba3534595b6c8ee9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea8844648fec7629c60fa7037cb1017b5593336f673510f8a1d3b7c230931339",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c523d4f62ebd71ff08b86c1c05dc4deff56bf90694e38ed70156fbb4c489d805",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 7.338 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0254, 0.8215, 0.6041, -0.4301, -0.0261, -0.0498, 0.9995, 0.4377, 1.9137, 0.886, 1.0599, 0.8505, -0.2111, 0.9952]\nstate[eef_state]: left_x=0.2893 left_y=0.0009 left_z=0.1624 left_yaw=0.0024 left_pitch=-0.0754 left_roll=-0.0034 left_gripper=0.9995 right_x=0.4837 right_y=0.0837 right_z=0.1882 right_yaw=-0.3051 right_pitch=0.5764 right_roll=-0.1982 right_gripper=0.9952\nstate[joint_eff]: [-0.253, -1.2376, 7.4188, 1.8437, -0.0317, -0.0757, -0.0122, -0.6222, -10.5504, 5.5316, 1.6825, -0.0513, 0.0611, -0.105]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLBNTXlmdirO04BbYsf3UPuzdrZiqDDIASuaRLFXosjR15kf4bLEig5-EeZYw44BVfvMysLZQyF5NeyLfCH_G82XPjzxNbdpjeLkEfRmrOhPdnG35OdcX5_EpCJQmwCvEmuqKERINL_HsQT03TLwiITMTljY5xLYJTYTNhBWmg6Uf0QylLdLuOUD8oXw_aMuR5fawHK0c8kpFUBcqNEo39AHCeb1W2N5CsNmgRhvQDRtydNpxw3RcgnB3zQnEOStfXtTKDRUtBtB5PxkhhdX0O6T9lsXD7zBbkuDVrCOw-Eh3kvQOK90f9blMICojOwmXyO0S14oM8a9G4-SyfxwfhZPies9PR-tz-4z5dLLHtBuKjm4AKvL-v0gwBcKXVFp4rfYDK8HwlGdymdDA4EgHQpB1A2ChXmHFtxIpDQPO0_1q-gUNAyKfyinRxyEU7DUfeYrxvsa0sTHjQAT2Vd-CiSnT3BVKGOpcE3lRhZ1qFpa-lXmrFhucwOHWdoRzg4js7tChRA8_RUgF8WzSNl8ryHOKvLrGV6GtrJzseWyltSAd6cMdaEx_DC5sko87toNVI1JIc7w1mRf7t3ie-yJFyHS8ub4twNaDB3JvBO1K3siIBNpsFjfdq4NCF7DRk7dALzhdoFS6g70niKIn_Lql8ZfF65mK6R2dZ1NAStAZuJiFxJ1YZ7pymHzRV2ZBNUsIDmctUr9olBR3Zupo7LRk5Puz3WAAP-qioVgkeFyVKFEE_lzLxTavc2EPvDMkhOafjJ_6_ZIETZAPkYzynOiuGr8TQtFZ8XNPffug1wCtjfOh0LhWCrLjheDT5387eMp1Xq73wJJnOyi0fB2sifgj9xFQZNhjnCZ186yhXd403Wt-ttjGOBBIoBqYbJQpuzISQV32kiTe7XgoW8LcvbxFVMkB-xuLV6BtOqpYsmH3xKTdvCF18eUle2BLP6lh9qGoeGQeWA_UnhGhli5EIC5N63R0eG--h4D7YoPD1RfEQ4J0TaubCVc6QcRI09YzeyFbAZpuZiMdJH4bz3AVSvN_Wd4kgLRyTsD8Ue_5KjLxqocGG4PACJpwBDXZkWjZz_HrmuyDuu239QvG533BPiuWJxUtgQ-rQnCq6aASo1GvapkVigJA1Uucn8Ngfh8KtbC9U15Eqb7X5csQoPvvLSlEHwGJmyFdCmy3Ig-NWiDjUBv_J9mtMQFX3Uxryomj6dct-cKLTJrwVvKHsKYJOqi-foAsZoe55psCWOuWBD5X-Y3-QNK3i3SNz3bB1HMc9EQnD59VHC-mOBe4ezUUj7s_UoZENnX-rotP7ppMbp1HUwURINxVnkufxxTFA7O8jIlpCreRMlRDwX5U2rhY7dVFepUDxIDp4BqYpoP4wpjHqaobye_58nCQBhRkmM_pl4jgmgTnAw_hrE9iezEM5uokIg3JL0q4wGpJ-HiI67NHO8IydIEpoyZ7UrZHdZaymSjIlgVlQhHvcUPLZrrBgrBYqlc_LStPWTCVYYIb4Tb5TplVwwLfRm8CZLfILDPo-4maYmZ_FaxgZ2mi8e4RcCaHsGWCUiuMcJDSkP5UaVROi0xQqjkknro7GIUDjYl9zT1Fd5aYMHVaCLsAoIYHOaTV-98UM3VWrfxcHv8d5WaDuBs-iARyfZrgzB4H8WU8lEv1isYHQUfqEeI8AdT2Es704EVI05NarnxRxbDUwLs8A-_kFrF6KAX3CXUIh0l-831DFI7jrSgfVP-f32vHlnoeZILfg==",
  "id": "rs_0f408856b0212824016aacb0487b6c87d094b2173febf7c110",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The descent stopped at contact with the brick, and its top lies between the open jaws. I’m closing gently through the normal gripper command to see whether the fingers have reached its sides.\"}",
  "call_id": "call_YEvdCk9qpMe5K0fqixcb5aEA",
  "id": "fc_0f408856b0212824016aacb04c0f6087d08846fba0f2fc2b63",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YEvdCk9qpMe5K0fqixcb5aEA",
  "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, 0.857, 0.6434, -0.4934, -0.0261, -0.0525, 0.9995, 0.4515, 2.6274, 1.367, 1.3014, 0.8547, -0.1749, 0.0084]\nstate[eef_state]: left_x=0.2871 left_y=0.0007 left_z=0.1582 left_yaw=0.0032 left_pitch=-0.1349 left_roll=-0.0038 left_gripper=0.9995 right_x=0.5677 right_y=0.1311 right_z=0.0348 right_yaw=-0.3225 right_pitch=0.5861 right_roll=-0.1477 right_gripper=0.0084\nstate[joint_eff]: [-0.1573, -1.4974, 6.8171, 1.6044, -0.0562, -0.0464, -0.0122, -0.1983, -15.0632, 4.4239, 1.5995, 0.0366, 0.0708, 0.652]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eef64bc89543eff61ae2314d026368f6aabe788e0b3d1e420b165d60eb78ee15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:046f53834ae05bfc01945b8efd08f0fddd18f23e9d8ee6188f3d980b5be19991",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f2a12ace3995f07382a5730f9bab51f81e4d2a539b894511bc3e4da05fa2ec9",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 4.036 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 44 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0265, 0.8562, 0.6415, -0.4911, -0.0265, -0.0528, 0.9995, 0.4515, 2.6606, 1.3956, 1.417, 0.8543, -0.2302, 0.9958]\nstate[eef_state]: left_x=0.2871 left_y=0.0007 left_z=0.158 left_yaw=0.0034 left_pitch=-0.1337 left_roll=-0.0039 left_gripper=0.9995 right_x=0.5688 right_y=0.1317 right_z=0.0471 right_yaw=-0.3423 right_pitch=0.6607 right_roll=-0.119 right_gripper=0.9958\nstate[joint_eff]: [-0.4308, -1.1829, 10.5094, 1.873, -0.0513, -0.0562, -0.0122, -0.0479, -7.9248, 3.2068, 1.1453, 0.022, -0.1197, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLBVncq3htckRrCUtmXSPpNMTbCdlMG3AeGik1BZ9-P-5wnYxb7hyUaFXegWJ8F6sRDTrUcu2kFIdNtILL3jLMKD_z1WSiSN69wY-do71sEOzUkglFD4ycecJVrHKEUuZYxfu8ZcwbbX2I5TXTgjGg52QnR8HFrc2XIzUGy1F_0af4iBrrqFVIl5wx7Vly4p3pGhn_nDDz5Q0pSK1IX-IFf-ZpNXhhGObLvaQeJQXGXAhTQ2KRzbzRSASEDKw0Y1a2OGSgnCouWHojdfzeISxPjFu5Ggg2KJ2gn3HQZof1AbEe7xinjRZNgcAX3Lb_1ljEk0vqORfJloOEbapX18M7DSffoVzu7sqrnfan2Rgud48L4Xr2Tvs7ZJnKn5wTgPxs206XtqAUjJJKcM8jhi2VFjvmxKyFhueODqp5hB6SG8eJX_OA38_nwz7heYooOSJrezNY3yKftCLw9vbFdzxTxLOj5eYHXs9KntdKHWZtiTH_3DZ4ee_uYbQLdFkskvAYBfybMxjAwa8KJr8eDUpWOJiE8XymfPTjZSPunXtgHwMKuLt7Z1ikQvHBVjMOv9VuvdWv7We28AmhHA_xdWfOutAMYWpdtvo2ckmaFRyMmN41e1xaYXSAsYl1tjgyz-ZPn4TKqfF9SmCdFDG6xlANSeA72ey6srOh3w05qp9GwB2QCxJNIe8NWyf_Tngis-qPRBswC25vBJwHWlWz-icq7li7O8YWuk14zG_Au6KKK1nq80DzjBdysI28H4cPZG2fQvV4vspKfNHzSPqwDScWXp7YvGn-0cGK78TJb4k1tJMOkPoADiQxyntz4dpProXf2DVs4bqMDC4IySB0BZ2oceqJPXSxW5cLjNzguJtZNT2qCc-YKUAKieXXpv0BCwjllqvV4nkV9pUpnqfG4Ixrvokwl8865LTogovu281ShivIoMpiBXI-iN6kxu3g0Vw8dIgeKn7NzPY6vg_sm51mziLVBmFojNx9cpRZxteyTtVkaJ4Fm7GAem8u426PyLulRmJq8odv84ouRHevOs-RRlSG_KMM0iXQQjD_4NopaEfJK0EUvLqdm0UJPuMPStzDQqymMJHjxVC_O2FD_qAXqGRhUUTsedfRRUafuSLgMz1XXwiPc7bXDDYCSmAcSGIm1mlF9qLvfuhk9Xyvl74AjYDH2IqXovLXcGhRBnTwCpPBOHqfDqBAWA_b7IvdEw4B6CPYBr5fZV-2FxaK0OB0x604D15hNycGWmvCNBLOeRxbXYzb6myt2-LOQeyB0rXsHpB7qut0_3xm_C-xWF3lrs20xc9FZguij6pKfapwzg4KIm6csO6ig6zJhUByLe3m0v6UMCUT-s8AaUunkpFSpyGwGMcxTQkOlj-IuY9NpXKVjhz9LJqVPQHInt0Z8LAx7uW2eZ_7x5HsQySkcfUKOFXnSk9qSwipNJhUxZTALEOKdxYbi5gJIJWeFwj8jxezARh6SsfIVzEQXKeY-o9aN9CcbQZC3hxxXJrCjCMnwg2NSgrocfZ7sJ5MXALWZZOA9AsqGC02epwa_AsEjeUZljVix-RJDK-xnqjNnKMZ8a39aJyczqeRMOlZ4J4ID0JeDg3Di9dsmppXI1V3AywhL06HwzD-SXNr3Q-vlzoZ-uAJ1cjPy-UMsad_XfYEyF6FJp1BG8yEuFzEcbRD2GyzcKnjmrGgkYX03gYJ3kUQ_72brd4O65S9qIM-U_vQ3fS_n__fKpi2LBYdBab8jbD8_kido96aCs0wLEd71zjE6vt9UCPDT1lrmoTVgdNDYGP7sgWjsxUJBzVPGR4xRnPwuW3IaB_79q-talpDuBcky-NUs=",
  "id": "rs_0f408856b0212824016aacb050424887d0a322f66aa9f91b8e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.595,\"right_y\":0.115,\"right_z\":0.11,\"right_pitch\":0.5,\"right_gripper\":1},\"note\":\"The close was empty; the wrist view now clearly shows the fingertips landing on the brick’s near edge. I’m lifting and moving farther over its center before another descent.\"}",
  "call_id": "call_VQxCtSIVB4aLwVpkuS7s0aeI",
  "id": "fc_0f408856b0212824016aacb053e72c87d0a8728415c9b506f5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VQxCtSIVB4aLwVpkuS7s0aeI",
  "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, 0.8612, 0.6422, -0.4942, -0.0261, -0.0525, 0.9995, 0.4049, 2.4393, 1.3838, 0.923, 0.7979, -0.1066, 0.995]\nstate[eef_state]: left_x=0.2869 left_y=0.0007 left_z=0.1564 left_yaw=0.0033 left_pitch=-0.141 left_roll=-0.0036 left_gripper=0.9995 right_x=0.5874 right_y=0.1181 right_z=0.0736 right_yaw=-0.2875 right_pitch=0.4618 right_roll=-0.201 right_gripper=0.995\nstate[joint_eff]: [-0.1846, -1.8256, 7.0085, 1.5849, -0.0415, -0.0513, -0.0122, -0.8821, -16.9368, 7.9932, 1.7802, -0.0122, 0.022, -0.2027]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b7bd38453087214bd289394507abc4c4c1c33c899468d104659a8a32a2a4009",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c215e9401a682ec131af84a25716870eb6285b22e6dbf85fdd4c4f437de0c6f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35cf6eae768181a881d372ff766fc8d226d9026ac6d04f2abe793ccb516fc8e8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 4.984 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 48 changed as sent

message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.857, 0.6434, -0.4934, -0.0261, -0.0525, 0.9995, 0.4515, 2.6274, 1.367, 1.3014, 0.8547, -0.1749, 0.0084]\nstate[eef_state]: left_x=0.2871 left_y=0.0007 left_z=0.1582 left_yaw=0.0032 left_pitch=-0.1349 left_roll=-0.0038 left_gripper=0.9995 right_x=0.5677 right_y=0.1311 right_z=0.0348 right_yaw=-0.3225 right_pitch=0.5861 right_roll=-0.1477 right_gripper=0.0084\nstate[joint_eff]: [-0.1573, -1.4974, 6.8171, 1.6044, -0.0562, -0.0464, -0.0122, -0.1983, -15.0632, 4.4239, 1.5995, 0.0366, 0.0708, 0.652]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLBaz6oyOwLDk6rDI8n_StAn2lGbA-amfiQe2fiQLn9jJGxRN3x02SS3LdyaQxrnRz-vrGuunlZGq6q2qCz_6b0qlNxEQQ8SjRKx7HziWKUt7muRn-vyAqOr5EjIspke_z2BAkG-7NupQhXuOydurvGISr6akoM3qtqhcLeKCFKjgMkkAVmV_O5P57KpunZ7cZMd5ggRqZlSn_PgoqL-E3A4Ov38pmepv1QpZwOlJl8n2lYd1mVE8ExAY9e1Gqir5ptIJEKEJBHNya-wbQX7AzpxPo65Mqw5V_w9xskkuM-FZquj3K4uFxaw6UlYdPQudR6bN5sfMruc3cFtRKCCpYFXRQrYObQbMjh4FWUh_KSiX8OTSNN8nR-C2ou7DeKKLButEBmbN7yF_VQPYWhJAceJUP3OcUgYC71Dtp_7UuViOEj6qhFkcr-Ll1clqsE0U0g6TOK9EBV1PeuoB3taopRrYAhFqW7aE_WuHxohlOFy1lL5-w6WkBLtuW5fBv9cc08TCYqI0kJkkovCUZlb46ahYDISzNKZKezBWBmdyKDvfj_RrCB5327q1WvtxIKQSeA3yhnGd5kGmUOy6KJAafwBepeIff-1rbviOfglvqUYlzOxZdzf1USY7Eqn66KfQsgxFyz60qxRJjLFkQK_YPbTZZI-ExUU4KHGXvyxiTUu4ty7u_4wOsibeyNHKhYK2uTOBLjf_sxJLEltFr1o47mN08mVjqu7LcH5XYadRaErZ0eZEDPQxIvmCaZjTdvDoEys01IjMpxKp8pZI2mWjEssMMyDP8EhfviOXv5LqQqpyqa9Xe8vmaq9vXrKq7bapKyThryZZbjuB_UBcZUY853U2BnJLVrHPvuff6tBdnbl5cYncgt-OTwH5fvVd5VESDTwNPv7HpMdqm3ojpmklfxMzZSsEvb9InhLxGwfyA8hIX-jKBNHOElHHscXR3sY4zd-YGGfdvxmGF-NiG51mOBuARWbyACD043Y9tIA5_Q5Bfv7dcC_pxGVgf3GxmirsO42zF0U4eG2fm56RfQSw5PhJK1QjQMhNmH_SGvOnjcBI8M_zlGcezWRfyreS2WgjrvPN70yqVIoatxQ80Fs5tHzL41GQHUfQNvCs8_tEFHOP4t33q4BmrNQgZXB9dKBOljJwwIBa2VYzT4KqRNFnGB6hy_DSuHjCedydUEMWwMIfOMfjqQiXxHC8HfUxJ3BXSfjIfFCGTgkTwR82uOF0uXsE7eojuWSSyGa5rBV7KN7mvEkrh9-9gTc9qYFm9fzRxFlcInsAd99Wn2pwny8Z5pS9A==",
  "id": "rs_0f408856b0212824016aacb057b65487d09ba4064eee92df63",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.595,\"right_y\":0.115,\"right_z\":0.005,\"right_pitch\":0.5},\"note\":\"The brick’s center is now beneath the open jaws. I’m lowering straight down to place the fingertips alongside it instead of on the near edge.\"}",
  "call_id": "call_CBEkxw4Oof0lX59n8oqXeCoQ",
  "id": "fc_0f408856b0212824016aacb058808c87d0983b4cd199e207a6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CBEkxw4Oof0lX59n8oqXeCoQ",
  "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, 0.8631, 0.6422, -0.4942, -0.0265, -0.0525, 0.9995, 0.4038, 2.6324, 1.4658, 1.1267, 0.7906, -0.1516, 0.9958]\nstate[eef_state]: left_x=0.287 left_y=0.0008 left_z=0.1559 left_yaw=0.0036 left_pitch=-0.1429 left_roll=-0.0033 left_gripper=0.9995 right_x=0.5965 right_y=0.1222 right_z=0.0316 right_yaw=-0.2868 right_pitch=0.5281 right_roll=-0.1841 right_gripper=0.9958\nstate[joint_eff]: [-0.1846, -1.7436, 6.9538, 1.5995, -0.0562, -0.0659, -0.0122, -1.1009, -10.2222, 4.9846, 1.0574, -0.0171, 0.188, 0.0659]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5503a94502c3adba53bd64946ff5ccb45bf4646cee947c0b383725044712085f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f98cc11b00cc6149725631a7d0db5aa5b27d706ec4b482683771202c859d3b17",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdcb877ad3de53384464d7a137672d6e129a097264ec30bd52378a124fdabb5c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 15 attempt 0 · /responses · status 200 · 6.094 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8612, 0.6422, -0.4942, -0.0261, -0.0525, 0.9995, 0.4049, 2.4393, 1.3838, 0.923, 0.7979, -0.1066, 0.995]\nstate[eef_state]: left_x=0.2869 left_y=0.0007 left_z=0.1564 left_yaw=0.0033 left_pitch=-0.141 left_roll=-0.0036 left_gripper=0.9995 right_x=0.5874 right_y=0.1181 right_z=0.0736 right_yaw=-0.2875 right_pitch=0.4618 right_roll=-0.201 right_gripper=0.995\nstate[joint_eff]: [-0.1846, -1.8256, 7.0085, 1.5849, -0.0415, -0.0513, -0.0122, -0.8821, -16.9368, 7.9932, 1.7802, -0.0122, 0.022, -0.2027]\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": "gAAAAABqrLBfQPFQq4_jIUtYsh66WQqfPi2shNb8bH-9gScGXCdvHxsdJ68Dj18d7-k_zPmKYqmLNF9GaYaO2OKVZsuIP2T-K7k3_BEQ_SjwteaYDaGF2lwYm4yNPXLd2H6EOsbr30b488bZ8bMaGAl1CiWU5OoYFiYo8lNuiwa2d7_8xcJTgeXzsCjbXtZtlI3vjZ_VWYHPbWxmgBlgbeoEvMkDYJI9xymXBWxr8loxtdiJWJUa_c9T4thhsI9GOoFBlY0QirNFCgkd_r2FXtTK6ljiSK5AK38VaZqtAPaLvDmGMcTqjSBoJgIiidsfWXlQ8QinBHd34p6dXx2CnAUJhCOzLst7ch430FJ8dbUJHZEw-qp7UAOA8-hvqo9qCNWP4pbox7vVEDc2Inloag-G7Zttb1fx_zefTH_WnHmuFLeIaFiUSFOPpzjC7iY605jPU6ierdvpU58fvkN07lVeDbl_qGOzDV93meaX7cx_0qHHQOKy2wcrCJru-xyq-xwd4u_341dNn83EReS-AxfisGNydGOeFb1yq40wfEA5_dzoFuYYHJ-8h6m3WX2iwKDCn9mG1BCrDRsalgL1gttFFafk6JB-7ZSFUYBhga9Uz5kgWitOl7EZwo2rAJ65zEy43yIgL5esN7821ZnOikfQJoqyaaF8QtPsWNaMMsv4BfDKzjIA1LFeO04eZYsOIlj1Jr0cRQqLpJoII90_0-oAhu_Of1X0guTOhUEC2utJ8kgJSygVCmgSG-5MjrNXFfFJ3ia5MddonCpYZ_C5LJwgRHM4eb0lsvWDGTX2WCAA49yGKJMT2bAjeJGGplTbDAaO9O7ltW89hdT4FvXbJIGafIE6s6z2cgjC2bsw5XyV90DF6ga4VCzI1qtHYdLSJ_Cm0m-tfY5tWv79sX13mzs4DxOmHfSPW24bWDQLrjrrNvdyAW53tqIowsvgR8DkKl9UAArv4x72EVi3MNwqCl4EmJmtFp_mKLoykfHHoQVHa0I65VsNIPrjxtP2zstvCn65QYmNNQX4mgZ1UH8wEnMOJFz1Pi8teHdMKfBg87pnKsgLTOkTjQO2djQWSXf8iZPAo-OBeNCeUs8QaSnkaK-2YuIOWhEG9DaNvvhwtlNdA8ISHgbnOhzb7r3IJ_EEPpHVTjbyokQ46AWnkhSe6qRhs_A9NJ4pxiG04BP6hrm_ukXPnhE-VAm7ekJFOo-kQrTsQtwU4fFJBeFOgfmS5Z6JapEOej5wWjpVWz8j9IePHZqeN4PSx_g9pnMHIxGQk3XM8x0zqF4FJW_wxzWAHK70qqschj9lKXA1PpUVzR579S0Fp31Q--6ASgt_b0z4p_71wqa9j6cJnSOTzPL5qinCP1yyFqkymZulLUWbCQoKxYwsWyo7ucQh8N109j1RtPu05_fAcvzu1FkLSvf0XZ9FEnM3vCVWuh1ju1PwpbqStrXehITKS0KsXg-Z7guSCwnh-tAH37PujdCM-jpfVp6kyVpkIKyb9mhF5aB3zEGQRKEa7gWIirPlzmPogfPrnt0B_Lj4tX7q",
  "id": "rs_0f408856b0212824016aacb05c505087d095ddd2c314defe25",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fingers now visibly straddle the brick at the lower approach. I’m closing and checking for a nonzero grasp width.\"}",
  "call_id": "call_xrWdF2IVtasrDYOE24xxuiVr",
  "id": "fc_0f408856b0212824016aacb05e9d6487d0837b2ad9e470d406",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xrWdF2IVtasrDYOE24xxuiVr",
  "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, 0.8635, 0.6422, -0.4942, -0.0265, -0.0525, 0.9995, 0.3996, 2.6503, 1.4715, 1.1568, 0.7795, -0.1474, 0.0086]\nstate[eef_state]: left_x=0.287 left_y=0.0008 left_z=0.1558 left_yaw=0.0036 left_pitch=-0.1433 left_roll=-0.0033 left_gripper=0.9995 right_x=0.5976 right_y=0.1215 right_z=0.0291 right_yaw=-0.2894 right_pitch=0.5421 right_roll=-0.1656 right_gripper=0.0086\nstate[joint_eff]: [-0.0205, -1.6479, 6.9265, 1.6386, -0.0708, -0.0708, -0.0122, -0.8274, -10.8376, 5.2991, 1.5116, 0.0806, -0.0073, 0.6618]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67bc3b3e4097ad2293ff384957b03eb86621cc4b350d6ee90ea52c85041c643e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70ec939e892422a44d113b945e26afc8c286cea5f69a9dfdd1cf3eda59830cc5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6507b64a42e41eb263f5e87ba26992189f43f8e0f82a95636a37d3bfb8dc2ab",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 5.358 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 56 changed as sent

message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8631, 0.6422, -0.4942, -0.0265, -0.0525, 0.9995, 0.4038, 2.6324, 1.4658, 1.1267, 0.7906, -0.1516, 0.9958]\nstate[eef_state]: left_x=0.287 left_y=0.0008 left_z=0.1559 left_yaw=0.0036 left_pitch=-0.1429 left_roll=-0.0033 left_gripper=0.9995 right_x=0.5965 right_y=0.1222 right_z=0.0316 right_yaw=-0.2868 right_pitch=0.5281 right_roll=-0.1841 right_gripper=0.9958\nstate[joint_eff]: [-0.1846, -1.7436, 6.9538, 1.5995, -0.0562, -0.0659, -0.0122, -1.1009, -10.2222, 4.9846, 1.0574, -0.0171, 0.188, 0.0659]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLBmkeZpoiUza_BFAPSu6FcCfYvY_qXCoLM3FL9t9n-IE4Jz6cUrL1WeiSUma5XFy1R11u3JFSvBZvgPbXjy2p0-pQm0X6FdYhhPHZiwVGUPYvOGDSTR5VH9Vr3D7KvVbYK6g3b3Ofj2o5O909tuwO1Sp9H-s1OFxNq7JX91dXd6W7JAD2PIwnfSzwpt7Lctyn27Op4-uKHjXGDG1QjeQ_ICy9RM5MMnDgZyRhV-Q4wUuGeZq3kO9b7T5U-9VVo-OPdmm6xD_czlqhTl1-bmnaLdDoO-Ot93sn9Uci0q9ZZpRkMplYdqboIliN5jFutdF3adSKCELByhMKkcvJm1CRw43LIHQGuhaviDj8VvWSuRzgEctGJ9xnSYaWezK2U05X9SJ3Bkqzlg5md4PKDQHtxyNFVofuiVjoNsmFGVHMqN0pY7lqx9SG_zZtEaLOlSt2S_RuMcanM0r9NPdkAFVcrXjoqGsT0kG7CsfClabEdRqCKN86aI1P_4RvjWWW5YmAF4bPcgmpxZkSDjp668qj-wng8e2Gzhw-rUQlbrTc0xwvV6eZWbLAHpwCPCxy5BRTvuY5CgFDqKmLpQLEjQTJI-iiks02KLwCBjn5CpATukErqzNVYxzYaTgdcccXiDCFvnm1CDaRA089Z66Pkp0ScdKHCQqijuMKdYXvrI3kEZt5MMnXsrq3JAB3QxXafZTJhrxsVjPNYC_PmAFKk4hDTqQk2PS1M964oMal0TQb3kzQesSl3bNdN2t9fHjBfNxYaUKKn47p976ETfq249US9hO3ghlzIBNReC9QW5LgBfgx-J--1njzeq6J-USsIyhdG5bj81ZGJQUBNRUg2iHSorjPHgaODQzZeaP3kySe2hxGKbgnsqpV87SWu8yYge5FgUpEQ8zJIagbBWB6DwMW6m0q7i38LMxo3-JKETs6ccZeAZ0cA64sMzJU0F1DnaYo9O_qaSChbRQo4RJcUwI5EjQF5cCMqekJTjpFc1WwwP7JrsxtDcZFenxFGjrDOzYPfbVrOUZDYuVHaLzh6EuOkn4mK5iGtPO7tG_fa_5l2hsXxepFnGOeRnu8lKc8cc3ExYABw6_a1YJfQcO8synA0VqIbAXFasK4ymtc_NZUYkKOwf6J-zNzTL-7lwstMlt7f3AN_jV--pOqIXd3xSzHKHd4rXtphWe1aovJeUfKF34gqtnLnxXKYtzcV4K4CwY5zYQ9hRm8vf9miMuJcn24JgmfiMCXvJB4fMAxvL4BWhA0nxjRkVD8D0ovPtlp7QUx_WpAfO4RnpHrtfY2HifFq9GzzWPqyIoahwFOrKIFyTN7xhly-lUrZHcDxdgTuqX4SMm5UcEiIt9bSpkXNXUyFO9_CA0hY5csFAZ9orlKIwk6hLPWZK6qVxDHeOR2my5nasSLy7Zl3VwXYV-pH2SaMJGQnw2zSPOiZnZwqOP626gEQOa5cYOqiX8WCrtgzu8yo296IANlyrh8zm2bqZJ0yfEGinqYJBPe9eEuykd__fZqssWXm7tz56Kb8N-PQrfs9-3U35sT1qMJeLTczNrHHUDGmE8_nVTU2lCDSRLD53q7g=",
  "id": "rs_0f408856b0212824016aacb06281dc87d0b95ec413ab04c360",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.02,\"right_z\":0.22,\"right_gripper\":1},\"note\":\"The gripper is empty at the maximum forward reach; the brick’s graspable center remains farther away, and the left arm cannot reach this side of the table. I’m backing away safely so the brick can be repositioned closer.\"}",
  "call_id": "call_ThkbqoCTQ9TEAkW4kblzrs8w",
  "id": "fc_0f408856b0212824016aacb064add087d0a757c417770068ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ThkbqoCTQ9TEAkW4kblzrs8w",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8688, 0.6422, -0.4946, -0.0265, -0.0525, 0.9995, 0.2848, 1.6402, 0.7158, 0.9222, 0.6716, -0.1543, 0.9963]\nstate[eef_state]: left_x=0.2872 left_y=0.0008 left_z=0.1543 left_yaw=0.0036 left_pitch=-0.149 left_roll=-0.0031 left_gripper=0.9995 right_x=0.4545 right_y=0.0223 right_z=0.2158 right_yaw=-0.2999 right_pitch=0.5567 right_roll=-0.1586 right_gripper=0.9963\nstate[joint_eff]: [0.0479, -2.0991, 7.0496, 1.5751, -0.0513, -0.0269, -0.0122, -0.4171, -7.0222, 6.2291, 1.7802, -0.0611, -0.0073, -0.149]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9f42f0f21234c6fb3ee98eb823e6c463dd2dc484c416bb0cdf0e4a80a27de70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b2721715b803d53e25435c5905c371d35faf6d1845454dd927e0baee3174461",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2297ada8ea958eb0d4ae2176003031db9582168fcb8347e93679f282250995be",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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