adhoc

completed
2026-09-18T02:23:24.111783+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 s
total steps
159
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

put the black brick into the pot of water

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the black brick into the pot of water
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the black brick into the pot of water
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe black rectangular brick is to the right of the pot. I’m moving the right gripper above it with the jaws open to line up a grasp.
move_to
right_x0.3300right_y0.1200right_z0.1500right_gripper1.0000left_x0.2945left_y0.0020left_z0.1800
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0189, 0.7944, 0.6037, -0.3817, -0.0227, -0.0414, 0.9996, -0.0219, 0.7933, 0.6025, -0.3786, -0.0132, -0.02, 0.998] state[eef_state]: left_x=0.2945 left_y=0.002 left_z=0.1794 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2947 right_y=-0.0006 right_z=0.1798 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.998 state[joint_eff]: [-0.4991, -1.5658, 10.0991, 1.7705, -0.0415, 0.2271, -0.0611, -0.4034, -1.4701, 10.1812, 1.9121, -0.1441, 0.0073, -0.2173] 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":0.33,"right_y":0.12,"right_z":0.15,"right_gripper":1,"left_x":0.2945,"left_y":0.002,"left_z":0.18},"note":"The black rectangular brick is to the right of the pot. I’m moving the right gripper above it with the jaws open to line up a grasp."})
tool
executing move_to over 11 steps (1.1s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
agent noteThe brick is visible just right of the jaw column, and the fingers are still short of its center. I’m shifting slightly right and forward while lowering toward the brick.
move_to
right_x0.3700right_y0.0950right_z0.0750
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.7986, 0.6075, -0.3893, -0.0227, -0.046, 0.9995, 0.5587, 1.1687, 0.6254, -0.1833, 0.424, 0.2844, 0.998] state[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1784 left_yaw=0.0017 left_pitch=-0.008 left_roll=-0.0037 left_gripper=0.9995 right_x=0.3167 right_y=0.1165 right_z=0.1263 right_yaw=0.0512 right_pitch=-0.0819 right_roll=-0.043 right_gripper=0.998 state[joint_eff]: [0.0068, -1.5932, 6.9675, 1.7509, -0.0415, -0.0024, -0.0171, 0.1846, -4.2188, 9.7436, 1.707, 0.3541, 0.1636, -0.2173] camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.37,"right_y":0.095,"right_z":0.075},"note":"The brick is visible just right of the jaw column, and the fingers are still short of its center. I’m shifting slightly right and forward while lowering toward the brick."})
tool
executing move_to over 5 steps (0.5s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteThe brick is now centered between the open jaws. I’m lowering to its side faces and advancing slightly so the grasp lands nearer the middle rather than the near end.
move_to
right_x0.3750right_y0.0950right_z0.0180
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8036, 0.6075, -0.3897, -0.0227, -0.0494, 0.9995, 0.3832, 1.438, 0.5808, 0.0826, 0.3107, 0.1791, 0.9979] state[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1769 left_yaw=0.0036 left_pitch=-0.0133 left_roll=-0.0064 left_gripper=0.9995 right_x=0.3538 right_y=0.0883 right_z=0.0612 right_yaw=0.0219 right_pitch=-0.162 right_roll=-0.0745 right_gripper=0.9979 state[joint_eff]: [-0.0615, -1.4291, 7.0085, 1.707, -0.0171, -0.0464, -0.0122, -0.253, -5.9145, 6.2564, 1.8339, 0.0366, -0.0659, -0.0269] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.375,"right_y":0.095,"right_z":0.018},"note":"The brick is now centered between the open jaws. I’m lowering to its side faces and advancing slightly so the grasp lands nearer the middle rather than the near end."})
tool
executing move_to over 3 steps (0.3s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteThe fingertips are down beside the brick, with its width between the jaws. I’m closing the gripper to secure it before a short test lift.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3912, -0.0227, -0.0498, 0.9995, 0.3779, 1.6531, 0.5777, 0.2691, 0.3096, 0.1516, 0.9974] state[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1759 left_yaw=0.0038 left_pitch=-0.0175 left_roll=-0.0066 left_gripper=0.9995 right_x=0.368 right_y=0.092 right_z=0.0162 right_yaw=0.0305 right_pitch=-0.1934 right_roll=-0.1054 right_gripper=0.9974 state[joint_eff]: [-0.0615, -1.4427, 7.0359, 1.7851, -0.0366, -0.0269, -0.0122, -0.3761, -8.1162, 5.6274, 0.6862, -1.3602, 0.7448, -0.0855] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The fingertips are down beside the brick, with its width between the jaws. I’m closing the gripper to secure it before a short test lift."})
tool
executing move_to over 10 steps (1.0s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteThe gripper closed fully, so that attempt missed the brick. The wrist view shows it farther forward and slightly right; I’m reopening and correcting the approach.
move_to
right_gripper1.0000right_z0.0500right_x0.4100right_y0.0700
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8055, 0.6075, -0.4015, -0.0227, -0.0498, 0.9995, 0.3794, 1.6547, 0.5785, 0.2974, 0.3107, 0.1383, 0.009] state[eef_state]: left_x=0.293 left_y=0.0018 left_z=0.174 left_yaw=0.0038 left_pitch=-0.027 left_roll=-0.0064 left_gripper=0.9995 right_x=0.3725 right_y=0.0942 right_z=0.0207 right_yaw=0.04 right_pitch=-0.1681 right_roll=-0.1067 right_gripper=0.009 state[joint_eff]: [-0.1026, -0.9504, 7.2, 1.8242, -0.0464, -0.0806, -0.0122, -0.0342, -6.7077, 5.053, 1.3797, 0.2906, 0.1343, 0.7448] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_z":0.05,"right_x":0.41,"right_y":0.07},"note":"The gripper closed fully, so that attempt missed the brick. The wrist view shows it farther forward and slightly right; I’m reopening and correcting the approach."})
tool
executing move_to over 10 steps (1.0s)
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 runs diagonally across the wrist view, with its near half still to the right of the fingers. I’m shifting across and turning the jaws slightly to grasp across its narrower dimension.
move_to
right_x0.4250right_y0.0400right_z0.0180right_yaw0.3500
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8055, 0.6075, -0.4076, -0.0227, -0.0498, 0.9995, 0.26, 1.655, 0.7002, 0.1665, 0.223, 0.0483, 0.9956] state[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1728 left_yaw=0.0038 left_pitch=-0.0331 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3992 right_y=0.0695 right_z=0.038 right_yaw=0.0424 right_pitch=-0.2002 right_roll=-0.1157 right_gripper=0.9956 state[joint_eff]: [-0.0068, -1.306, 7.0085, 1.8095, -0.0122, -0.0513, -0.0122, -0.5265, -7.159, 8.0068, 1.6239, 0.1148, 0.0317, -0.149] approver: 10 step(s) modified (delta_clamped ×10). 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":0.425,"right_y":0.04,"right_z":0.018,"right_yaw":0.35},"note":"The brick runs diagonally across the wrist view, with its near half still to the right of the fingers. I’m shifting across and turning the jaws slightly to grasp across its narrower dimension."})
tool
executing move_to over 3 steps (0.3s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent noteThe brick’s near end now lies between the fingertips. I’m closing again and will check the jaw 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]: [-0.0196, 0.8101, 0.6075, -0.4107, -0.0227, -0.0498, 0.9995, 0.0471, 1.7573, 0.7216, 0.239, -0.0418, -0.1944, 0.9966] state[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1709 left_yaw=0.0038 left_pitch=-0.0408 left_roll=-0.0061 left_gripper=0.9995 right_x=0.4169 right_y=0.0306 right_z=0.0151 right_yaw=0.1906 right_pitch=-0.2309 right_roll=-0.099 right_gripper=0.9966 state[joint_eff]: [-0.0342, -1.4701, 7.1179, 1.7705, -0.0366, -0.0611, -0.0122, 0.4171, -7.4872, 6.8444, 1.5556, -0.0366, -0.1294, 0.0904] camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The brick’s near end now lies between the fingertips. I’m closing again and will check the jaw opening before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 52
top_cam
camera top_cam step 52
left_cam
camera left_cam step 52
right_cam
camera right_cam step 52
assistant
agent noteThe jaws have stopped at about 7 cm apart, consistent with holding the brick rather than closing empty. I’m making a short lift to confirm it comes off the table securely.
move_to
right_z0.0800
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4149, -0.0227, -0.0498, 0.9995, 0.012, 1.787, 0.725, 0.2436, -0.1669, -0.3416, 0.7403] state[eef_state]: left_x=0.2914 left_y=0.0019 left_z=0.1701 left_yaw=0.0038 left_pitch=-0.045 left_roll=-0.006 left_gripper=0.9995 right_x=0.4149 right_y=0.0379 right_z=0.0069 right_yaw=0.3456 right_pitch=-0.2397 right_roll=-0.1085 right_gripper=0.7403 state[joint_eff]: [-0.0205, -1.3197, 7.0085, 1.7705, -0.0513, -0.0513, -0.0073, 0.0205, -8.1162, 6.7214, 1.6435, -0.2271, -0.0317, 1.033] camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.08},"note":"The jaws have stopped at about 7 cm apart, consistent with holding the brick rather than closing empty. I’m making a short lift to confirm it comes off the table securely."})
tool
executing move_to over 5 steps (0.5s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteThe brick remains fixed in the jaws, but the loaded arm lifted less than commanded. I’m bringing it slightly closer to the base and raising it farther for clearance above the pot.
move_to
right_x0.3800right_z0.1800right_pitch0.1500left_z0.1800
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8108, 0.6075, -0.4152, -0.0227, -0.0498, 0.9995, 0.012, 1.6516, 0.8001, -0.0883, -0.1654, -0.342, 0.7403] state[eef_state]: left_x=0.2914 left_y=0.0019 left_z=0.1698 left_yaw=0.0038 left_pitch=-0.0461 left_roll=-0.006 left_gripper=0.9995 right_x=0.3916 right_y=0.0374 right_z=0.0332 right_yaw=0.3568 right_pitch=-0.3545 right_roll=-0.0677 right_gripper=0.7403 state[joint_eff]: [-0.0615, -1.1556, 7.0632, 1.7118, -0.0366, -0.0708, -0.0122, -0.0615, -10.5641, 10.4957, 2.0879, -0.1099, -0.0317, 1.033] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.38,"right_z":0.18,"right_pitch":0.15,"left_z":0.18},"note":"The brick remains fixed in the jaws, but the loaded arm lifted less than commanded. I’m bringing it slightly closer to the base and raising it farther for clearance above the pot."})
tool
executing move_to over 17 steps (1.7s)
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 brick is lifted and stable, with its cord hanging freely. I’m raising it above the pot rim and moving inward toward the pot, keeping the brick clear of the table.
move_to
right_x0.3700right_y0.1900right_z0.2800right_pitch0.1500
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.812, 0.6113, -0.4545, -0.0227, -0.0498, 0.9995, -0.0635, 1.2377, 0.6277, -0.0227, -0.3122, -0.2726, 0.7467] state[eef_state]: left_x=0.2862 left_y=0.002 left_z=0.1634 left_yaw=0.0039 left_pitch=-0.0827 left_roll=-0.0051 left_gripper=0.9995 right_x=0.364 right_y=0.0348 right_z=0.1296 right_yaw=0.3448 right_pitch=-0.0289 right_roll=-0.0324 right_gripper=0.7467 state[joint_eff]: [-0.0615, -0.8821, 10.4684, 1.6972, -0.0659, -0.0317, -0.0122, -0.6359, -7.0906, 8.335, 2.8254, -0.359, 0.105, 1.033] approver: 2 step(s) modified (delta_clamped ×2). 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_x":0.37,"right_y":0.19,"right_z":0.28,"right_pitch":0.15},"note":"The brick is lifted and stable, with its cord hanging freely. I’m raising it above the pot rim and moving inward toward the pot, keeping the brick clear of the table."})
tool
executing move_to over 13 steps (1.3s)
step 87
top_cam
camera top_cam step 87
left_cam
camera left_cam step 87
right_cam
camera right_cam step 87
assistant
agent noteThe brick is above rim height and the pot is now immediately to its left. I’m moving it laterally over the opening before lowering.
move_to
right_x0.3700right_y0.3500right_z0.2800
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.812, 0.6113, -0.4603, -0.0227, -0.0498, 0.9995, 0.543, 1.2816, 1.0183, -0.3416, 0.1535, 0.0174, 0.7473] state[eef_state]: left_x=0.2853 left_y=0.002 left_z=0.1623 left_yaw=0.0039 left_pitch=-0.0884 left_roll=-0.005 left_gripper=0.9995 right_x=0.3531 right_y=0.1857 right_z=0.2203 right_yaw=0.4045 right_pitch=-0.0291 right_roll=-0.063 right_gripper=0.7473 state[joint_eff]: [-0.0342, -1.265, 7.0222, 1.6728, -0.0757, -0.0464, -0.0122, 0.1299, -6.3658, 12.2188, 2.6105, 0.2857, 0.1392, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.37,"right_y":0.35,"right_z":0.28},"note":"The brick is above rim height and the pot is now immediately to its left. I’m moving it laterally over the opening before lowering."})
tool
executing move_to over 14 steps (1.4s)
step 101
top_cam
camera top_cam step 101
left_cam
camera left_cam step 101
right_cam
camera right_cam step 101
assistant
agent noteThe brick is over the opening but slightly toward the near-right rim. I’m centering it a little farther into the pot and lowering carefully toward the water.
move_to
right_x0.4000right_y0.3750right_z0.1800right_pitch0.2000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.812, 0.6094, -0.4614, -0.0227, -0.0498, 0.9995, 0.8921, 1.7939, 1.6779, -0.7059, 0.387, 0.2039, 0.7473] state[eef_state]: left_x=0.2849 left_y=0.002 left_z=0.1612 left_yaw=0.0039 left_pitch=-0.0915 left_roll=-0.0049 left_gripper=0.9995 right_x=0.3554 right_y=0.3401 right_z=0.2297 right_yaw=0.452 right_pitch=-0.1827 right_roll=-0.1257 right_gripper=0.7473 state[joint_eff]: [-0.0889, -1.2513, 7.0906, 1.6435, -0.0464, -0.0464, -0.0122, 0.335, -10.906, 11.1248, 2.2491, 0.6325, 0.2125, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.40,"right_y":0.375,"right_z":0.18,"right_pitch":0.2},"note":"The brick is over the opening but slightly toward the near-right rim. I’m centering it a little farther into the pot and lowering carefully toward the water."})
tool
executing move_to over 13 steps (1.3s)
step 114
top_cam
camera top_cam step 114
left_cam
camera left_cam step 114
right_cam
camera right_cam step 114
assistant
agent noteThe arm did not fully reach the centering target, and the brick remains close to the near rim. I’m changing the wrist tilt to gain forward reach rather than forcing the same position.
move_to
right_x0.3950right_y0.3650right_z0.1900right_pitch0.5500right_roll0.2000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8146, 0.6094, -0.461, -0.0227, -0.0498, 0.9995, 0.8967, 1.8187, 1.5639, -0.654, 0.3775, 0.1829, 0.7473] state[eef_state]: left_x=0.2851 left_y=0.002 left_z=0.1606 left_yaw=0.0039 left_pitch=-0.0938 left_roll=-0.0048 left_gripper=0.9995 right_x=0.3483 right_y=0.3374 right_z=0.1796 right_yaw=0.4674 right_pitch=-0.2664 right_roll=-0.1716 right_gripper=0.7473 state[joint_eff]: [-0.0752, -1.4564, 7.1043, 1.619, -0.0269, -0.0269, -0.0122, -0.2393, -12.1915, 9.0462, 2.1856, 0.3883, 0.0024, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.395,"right_y":0.365,"right_z":0.19,"right_pitch":0.55,"right_roll":0.2},"note":"The arm did not fully reach the centering target, and the brick remains close to the near rim. I’m changing the wrist tilt to gain forward reach rather than forcing the same position."})
tool
executing move_to over 28 steps (2.8s)
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 new tilt brought the brick over the pot, though it is still near the right side of the opening. I’m shifting it slightly left and lowering a little before releasing it.
move_to
right_x0.3850right_y0.3950right_z0.1500
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8185, 0.6094, -0.4679, -0.0227, -0.0498, 0.9995, 0.8288, 1.9045, 0.9199, 0.7864, 0.26, 0.1616, 0.7507] state[eef_state]: left_x=0.2842 left_y=0.002 left_z=0.1582 left_yaw=0.0039 left_pitch=-0.1045 left_roll=-0.0046 left_gripper=0.9995 right_x=0.3879 right_y=0.3612 right_z=0.1434 right_yaw=0.5003 right_pitch=0.3745 right_roll=0.1258 right_gripper=0.7507 state[joint_eff]: [-0.0615, -1.5932, 6.9675, 1.7021, -0.0513, -0.0171, -0.0122, -0.7863, -9.347, 7.3641, 3.0256, 0.0562, 0.0171, 0.9402] approver: 5 step(s) modified (delta_clamped ×5). 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":0.385,"right_y":0.395,"right_z":0.15},"note":"The new tilt brought the brick over the pot, though it is still near the right side of the opening. I’m shifting it slightly left and lowering a little before releasing it."})
tool
executing move_to over 3 steps (0.3s)
step 145
top_cam
camera top_cam step 145
left_cam
camera left_cam step 145
right_cam
camera right_cam step 145
assistant
agent noteThe brick is now positioned inside the pot’s rim, and the descent has slowed at contact. I’m opening the jaws to let it settle into the water.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8185, 0.6094, -0.4679, -0.0227, -0.0498, 0.9995, 0.8745, 1.9606, 0.976, 0.7704, 0.3099, 0.1547, 0.7545] state[eef_state]: left_x=0.2842 left_y=0.002 left_z=0.1582 left_yaw=0.0039 left_pitch=-0.1045 left_roll=-0.0046 left_gripper=0.9995 right_x=0.3843 right_y=0.3813 right_z=0.1349 right_yaw=0.5069 right_pitch=0.3633 right_roll=0.1024 right_gripper=0.7545 state[joint_eff]: [-0.0615, -1.2923, 6.9538, 1.6435, -0.0366, -0.0269, -0.0122, 0.5402, -9.6479, 9.1282, 2.4737, 0.1538, 0.149, 0.6422] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The brick is now positioned inside the pot’s rim, and the descent has slowed at contact. I’m opening the jaws to let it settle into the water."})
tool
executing move_to over 3 steps (0.3s)
step 148
top_cam
camera top_cam step 148
left_cam
camera left_cam step 148
right_cam
camera right_cam step 148
assistant
agent noteThe jaws are open and the brick has dropped lower into the pot. I’m lifting the gripper clear so I can verify that it stays inside without support.
move_to
right_x0.3500right_y0.3000right_z0.2700right_pitch0.3500
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8185, 0.6094, -0.4683, -0.0227, -0.0498, 0.9995, 0.8795, 1.9621, 0.9813, 0.7444, 0.3019, 0.1562, 0.9966] state[eef_state]: left_x=0.2842 left_y=0.002 left_z=0.1582 left_yaw=0.0039 left_pitch=-0.1048 left_roll=-0.0046 left_gripper=0.9995 right_x=0.3815 right_y=0.3842 right_z=0.1302 right_yaw=0.5211 right_pitch=0.3419 right_roll=0.0974 right_gripper=0.9966 state[joint_eff]: [-0.0615, -1.3197, 6.9402, 1.6532, -0.0317, -0.0659, -0.0122, -0.3897, -10.0855, 5.4906, 2.1514, 0.0708, -0.0708, -0.0806] camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.3,"right_z":0.27,"right_pitch":0.35},"note":"The jaws are open and the brick has dropped lower into the pot. I’m lifting the gripper clear so I can verify that it stays inside without support."})
tool
executing move_to over 10 steps (1.0s)
step 158
top_cam
camera top_cam step 158
left_cam
camera left_cam step 158
right_cam
camera right_cam step 158
assistant
agent notePlaced the black brick into the pot and verified it remains inside after withdrawing the gripper.
done
hindsightThe brick required a roughly 7 cm jaw opening and was missed when approaching its near end too far left. At the diagonal reach toward the pot, the loaded arm sagged about 5 cm and failed to track position until forward wrist pitch was increased to 0.55 rad; that tilt enabled placement. Verify release with the gripper withdrawn, since the working arm obscures the rim.
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8215, 0.6094, -0.4683, -0.0227, -0.0498, 0.9995, 0.7853, 1.4364, 0.9203, 0.268, 0.218, 0.1303, 0.9967] state[eef_state]: left_x=0.2843 left_y=0.002 left_z=0.1573 left_yaw=0.0039 left_pitch=-0.1079 left_roll=-0.0045 left_gripper=0.9995 right_x=0.3517 right_y=0.3026 right_z=0.2456 right_yaw=0.5177 right_pitch=0.3256 right_roll=0.0871 right_gripper=0.9967 state[joint_eff]: [-0.0205, -1.0735, 7.0632, 1.6874, -0.0611, -0.0562, -0.0122, -0.335, -7.5829, 10.6872, 2.1172, -0.1148, -0.0562, -0.0024] camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]
assistant
done({"summary":"Placed the black brick into the pot and verified it remains inside after withdrawing the gripper.","hindsight":"The brick required a roughly 7 cm jaw opening and was missed when approaching its near end too far left. At the diagonal reach toward the pot, the loaded arm sagged about 5 cm and failed to track position until forward wrist pitch was increased to 0.55 rad; that tilt enabled placement. Verify release with the gripper withdrawn, since the working arm obscures the rim."})
tool
done: Placed the black brick into the pot and verified it remains inside after withdrawing the gripper.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "What you observe right now in the observation (images, if any, and state), and why you chose this motion. The user reads these notes live and in the saved transcript to follow what you see and what you decide. Write for them, in one or two plain sentences.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 5.97 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]: [-0.0189, 0.7944, 0.6037, -0.3817, -0.0227, -0.0414, 0.9996, -0.0219, 0.7933, 0.6025, -0.3786, -0.0132, -0.02, 0.998]\nstate[eef_state]: left_x=0.2945 left_y=0.002 left_z=0.1794 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2947 right_y=-0.0006 right_z=0.1798 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.998\nstate[joint_eff]: [-0.4991, -1.5658, 10.0991, 1.7705, -0.0415, 0.2271, -0.0611, -0.4034, -1.4701, 10.1812, 1.9121, -0.1441, 0.0073, -0.2173]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db925f9ac9e1ceafc8d493e80620dfb589b8ae208dfb45e6e9c1226f85aef9dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac7cc466f563210aa87fda1422965ab8dff3eac0d6a4ac449a6abeb59563d2b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c385d2aab2b8fca49a2945cf8d68a5c6d43c0d4ee3d90647f1247e7caff55fdb",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob db925f9ac9e1
wire blob ac7cc466f563
wire blob c385d2aab2b8
call 1 attempt 0 · /responses · status 200 · 6.695 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqrKCuonCmHlXCyrMAuum-KBlm4z02xgaUjZF3lefnAv8wQN6VGw9EPbTaE6duhOkRSUsW91RoJLVEmkx_Poxe0GQKE8XSt_p9zOybCJ4byd6wKvF5sXtuOiZGWmEku3gGIFUFsqB1SdcqfqILCB_0NGCGD1basiiUQ_xhv5ENvmeLcepdc9yai5ybgtqPNWtYUoQrGED1EMds11vCuntnc0v0I-C84A8TVLhQel_VpHQEGRDeeecnWDkGScTGyKNjgIWEKsQ56FXKIkg4jvYXgWgBCsPkD-jfRpldXHKfDWF0SZtlt4570fbKcaHuNWJa6lLqfUVZzE1Kg6nB2r3VEgKFMO1Bt1bTUv0XZV_fvq_gKx6vzp-GtxiY461Dxxxoi1TL_pidx3_aIqkx7m4N0cxa6LiMDgRU3Zjs9TT9xxtwFNJnRTCws3SdxBqBJg3PmaF-6sqcP6tySUhyyWWN06EUBDhf4_mx0lo0tvTHLeWH4rrpHQoLopxEoX2Mv0DdtMBmkFGfohtO-TvODlTlChZXA4YipM9LsVJp_0MqsMz9sBZmdziQ_cLU3hLYxW7ikCL6MnasOc7AUN-BeZI6HycImSALL3EV_3S5GPzVqMxLzGznglEFL7CW6747n37DGcunR9pARPH78J0odl6m4fleNq7VbaL8rlQuX4rLPYSun6Mrf1U3Z4BIFza50gimrZsenhWPSB1Vq9nSOG-wY6mF0Py1OleFtLMhc3ZhyVzndxPTBO82wb_rZXqq8_pSPzDI_wAoIaFZRCYVZMbjiH3Bg4cN9FDhRwuC1Y2cnulO7kt_G9E5_JgAV01GzEjt3m8LZc6rVDtiI-wN6iYXgu_H7kbMzu2PPUX6C9ZbSabKm4RXw6ERkvH4H1FKBc_J9MHNAO_KqQP8V1Z-keYkvbt4KnoJyoSEUnCXwdHanKXi5d4duqcJNbjlOAqt-vnpZERvb_TCSiHxCLG8af7QxP2cP-ju9Z2BLaQb_5gTJohsaTP_Sw2PEErzyF7GT7RdzxBscqGFtzctnOPs6Lo-UB9DZiPgUd7AYfXJnoaHM398Q5Dt7_LVoZ6bdwdBubf1JClDuEsgLx_-eLOlIvptKRX-EXThfNGNvVB9GprVt9TPOjqdux6HetZNEOOA-G1lPXQTKwsXseQx6BSH2vpYO6rOp2gzk6uG0YEepnDJ-yrVdu6d-oO9wgxyETWcaQgigMmgKm-tMQZMxfnOhpm7gZ3li4oebhCBq-rSl8H9oXxGLBezjltbDFam5Wp-RpzClk18ShvCC8OuzRbryhONmVlwOKBUn9sw3wfNi8fK1AMNPZU_y6jZVt5gm1DfV17CG2rr0A94tNtHnVZA36SvPgu6yRrFPYlvCNY5y3aAfS0dIy-_b2zv-IyGIXB_CNIwT3H5oN-iZID4XpzsH_uFAeBAVX453LAUMuikYM0LpslAb4CUK99eRYmemEfDjEy9gjHau7nxj42IIK2SrEp3C0IQJqCDCmwnVQhf87NNyfF2Pz3ZPQiZ_ERFe_sdwHtXVQ9on70Aomlui1GW4SMecxt_x3oi1Nibs1jIc64WNRCjNpx72ajhaeF_ncJwGe6kS_vh",
  "id": "rs_02ca71d0f42cc462016aaca0aa91b487d0976e4f4d4a08f982",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.12,\"right_z\":0.15,\"right_gripper\":1,\"left_x\":0.2945,\"left_y\":0.002,\"left_z\":0.18},\"note\":\"The black rectangular brick is to the right of the pot. I’m moving the right gripper above it with the jaws open to line up a grasp.\"}",
  "call_id": "call_6PACa5FE8OoIlVujguAjhhPB",
  "id": "fc_02ca71d0f42cc462016aaca0ad380087d0b57b99fffd56536c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6PACa5FE8OoIlVujguAjhhPB",
  "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]: [-0.0196, 0.7986, 0.6075, -0.3893, -0.0227, -0.046, 0.9995, 0.5587, 1.1687, 0.6254, -0.1833, 0.424, 0.2844, 0.998]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1784 left_yaw=0.0017 left_pitch=-0.008 left_roll=-0.0037 left_gripper=0.9995 right_x=0.3167 right_y=0.1165 right_z=0.1263 right_yaw=0.0512 right_pitch=-0.0819 right_roll=-0.043 right_gripper=0.998\nstate[joint_eff]: [0.0068, -1.5932, 6.9675, 1.7509, -0.0415, -0.0024, -0.0171, 0.1846, -4.2188, 9.7436, 1.707, 0.3541, 0.1636, -0.2173]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0ff1eed94d2db8d8d057bc47143994ac9636cf8d4e2d4ce10bd73645e7a94f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a243d700c7fdb1daf55fea591441a313e7f68fd84921f16ba860343c47b4e8d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88ec7ff0505200c050991faf641c266bfd919a57be11b7cb57ae582048b8fd48",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob c0ff1eed94d2
wire blob 5a243d700c7f
wire blob 88ec7ff05052
call 2 attempt 0 · /responses · status 200 · 4.635 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]: [-0.0189, 0.7944, 0.6037, -0.3817, -0.0227, -0.0414, 0.9996, -0.0219, 0.7933, 0.6025, -0.3786, -0.0132, -0.02, 0.998]\nstate[eef_state]: left_x=0.2945 left_y=0.002 left_z=0.1794 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2947 right_y=-0.0006 right_z=0.1798 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.998\nstate[joint_eff]: [-0.4991, -1.5658, 10.0991, 1.7705, -0.0415, 0.2271, -0.0611, -0.4034, -1.4701, 10.1812, 1.9121, -0.1441, 0.0073, -0.2173]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKC2mqR8O9LnKAe8EB8moQaWs-TWiDnuxVJasmz_mOGvHIdx1QeQqqclPvIj8KAYc2sWqUNW4o5A3Rf0oHzbMBVnr550u0sYIgX4TH0VbLRg00yhqBtgoYQyxkQ85gDHJo6BBTUBS0DfLcnjt3JxlFb8UWZs4001hq7a9LQ8tfsdFP5_hbbe7vtyiuDVgi96CdO-nh90nql4dtMbrMUMf43DCegCVPE1aXH0WzER5bSVNfF1S4bwX5ocNhAJzV00ZhU7gBFuOn4h4m8_NyGTRAeXyyXhfr-Z4lrP9eOLoROYt6C1VAD5pXP9wVmx4uU3ga4pf3dwXhES6gOA_TD00pP15O2KWd38snJ7OQ-TUaLOsHjwZX3dknq8JqFe7u0D3FqaL-32WJypu7z7iofrIAavuCEKTDEuqXyrT8A0Qg90aQB9yYjvx0AWC6DZbFLeVJxi2dp3cU6CbE2BR_HlEkHOUbu_dErp-CVH1Quw8oy8_D-V10u6Bo7Zg-o3wCnG7VXBkYqi-epvMyrol0O0B-WvE8hANuLFGUOAOTPq3Rpuw4BvwlW7D7d5tRwVFE0LvZ5NVzaBFXdyZhr9I86_fa1xOFY1QwNxzP3vWOgQTGL-m44lli_wq4hr58ar1BF-c6o6zdyD-8LaQkCsv1BX9PgXYfYruSDWFg6zEVV26lSlIRL4qJUsgUGe2NTl-zGln7rQDIsCn0AGvSukn1Ibbwgj5lTjUPzTECywIs2XywytOkzxLCMlg4FPxGXHXcqjjCw1NHBVYpaH4xk8fPFRcfLEL8i8MbxA1H4qOaRTVVqw83HR2vzEJ3CJsXxpJ7iIZLzVl6TqCX-mJG_nhxNHkwLoJXUBPA16NkX0wEs5kn3Oq89ohRWju2iD2_japr_XkAY4jdmplHwvfhmKkhFQqmPOn6-PN6UKxYxiZ5aOQsmNpoxNnztI3QfLqMC_FF9mEQbQED_aHtNgXm6VekuP6joTTDJMRrhRsLDwNqj9_RYssymprLXdxODu80wrg2P0FkG3K8FEAh7EmbKfGSxkhcEKOs6eFn3WXss6m6SoZcMYYIQ4raAlPPbAS3_AhV_rjdjjgPV7h5P3Y2GPi9OG4CA9CnufmQn2Xb7JIahKnFCXmZuBlQ9X5cvQm70M2pNH77pj4bwj9fuioXE5rGYvrJCOMDrQulqKbAwDLliVHVDgy3DWAgtZeiN_UGBIS627sNfI_eM-DytOx9MuN8xjRLwV6yZNMm2GMroISLOVvlMHd0Y8MrRURdBTPjuP62znuITHBL2nun_pOp9y449XPTwP2wFydXuS58MFRdd9b27UU1T5Gnl4uaznv1K7-hPoM2yUAwXooUPTXFMWycr5aX9wahs56-nffDEf-tRGanjXbbWXDV66nejt9fbhW03Q8HusnPKDNvBiEy-llVF3wQowpVtGX1U_e5eyKwJkb85MxYuLH2i0KUXsUaMGCQvCnAp59rqupzcoWi_xsGQDzQcW3_hvoEYwt4j5Lu340UvxCBtxDTo-3L6nLKLx1HSH-EsMDSgrTCGfXw2ceZUxztWcJeM-ES9y31mQYyLxuz5joFwizmFShPwsfUt_Nv0MdMbgCs6iVuSm0r4x9vs1EzrhaA==",
  "id": "rs_02ca71d0f42cc462016aaca0b307b887d0a9869b17be0a3028",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.095,\"right_z\":0.075},\"note\":\"The brick is visible just right of the jaw column, and the fingers are still short of its center. I’m shifting slightly right and forward while lowering toward the brick.\"}",
  "call_id": "call_FgArBnW1xMJIpmkdOyQUan6p",
  "id": "fc_02ca71d0f42cc462016aaca0b52cf887d0b4a06a837fbda497",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FgArBnW1xMJIpmkdOyQUan6p",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8036, 0.6075, -0.3897, -0.0227, -0.0494, 0.9995, 0.3832, 1.438, 0.5808, 0.0826, 0.3107, 0.1791, 0.9979]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1769 left_yaw=0.0036 left_pitch=-0.0133 left_roll=-0.0064 left_gripper=0.9995 right_x=0.3538 right_y=0.0883 right_z=0.0612 right_yaw=0.0219 right_pitch=-0.162 right_roll=-0.0745 right_gripper=0.9979\nstate[joint_eff]: [-0.0615, -1.4291, 7.0085, 1.707, -0.0171, -0.0464, -0.0122, -0.253, -5.9145, 6.2564, 1.8339, 0.0366, -0.0659, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:546790672f5a4964fd8525ac890c3962ffc5eacd0c68ed1f3a25ca2460c25adc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fd571bf3adb6ae65b546f8d72a01e097e71c6a0873ec807cdf73ad9b8e145cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26404cb3f44614bec04f2c72b869a24fbf09b03e95fb3731d032083eb4fb7734",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 546790672f5a
wire blob 5fd571bf3adb
wire blob 26404cb3f446
call 3 attempt 0 · /responses · status 200 · 2.815 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 6 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.7986, 0.6075, -0.3893, -0.0227, -0.046, 0.9995, 0.5587, 1.1687, 0.6254, -0.1833, 0.424, 0.2844, 0.998]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1784 left_yaw=0.0017 left_pitch=-0.008 left_roll=-0.0037 left_gripper=0.9995 right_x=0.3167 right_y=0.1165 right_z=0.1263 right_yaw=0.0512 right_pitch=-0.0819 right_roll=-0.043 right_gripper=0.998\nstate[joint_eff]: [0.0068, -1.5932, 6.9675, 1.7509, -0.0415, -0.0024, -0.0171, 0.1846, -4.2188, 9.7436, 1.707, 0.3541, 0.1636, -0.2173]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKC7-JhPkPWfr6LU0A8GCZdmf7hLzxiOAWFHV7w-jRy5AyEETuzV0O1l6rU2kptRnueEimYOmjFD9rdCD5j5BJh1wGlaj4gzspFKmG_ni7ZXLtFs92PUBTgFIX5ewFfPOYoSA92fD_HHf6YLH4tY7L04z3yQZJYzbrWa-f8P7kb3K11QXXjkORenCDHpIDg2hT-Lyvm8lBlvUeXQrwdLm27WdlgTBMVkRlbo-SGbx-fGECBh1rbDlV1UxReALzbtNS8w3lG506gahvack0W184lcvQilnlLo7-nFqkVQytpV91-EfX8Z0FtEosHGsDdFDejRM16TVh5Perf6SkuMeaa1Y1RiU2PD1FRYvK60nbiCKqlx64tOirE8scFYRlEIFAIA8FX_b6v2dcisIRvYQng8CIttmEfcTZwU4JpdQ3ZeiJ3FERq1tYhc2HpvLMTmXXDBJ4y1ZbnY90CEx3dx-jk8URGZmd39LEFMx4p2EIoS-epTn-qsg215_2BgnDbs00CvkCFO0iN1pLlfJhDdMt7PeyceFR4PBE4ai9MJSQCSHRvAPqr96TQoUyeo8WkFQObrEhwWhySGLNx6EepfAbDqFmpso-JHR1cyw7ydVaJpdXh0Ho04NIYFPQ-be_Akd4I7pzSlQZRbT9AM_rTT3HRAGKOtCUqxp81BzSIiouHHQZJB7g9HqGK7j0Iuv3nSUwfXSsLzCR-QvRGZ9SOROH2b5kBmb6havP_SyyuzqwU2Lv57diJMIvnoAKk-tcxNtJcAd6krToPHhfaNGEPk7uuglk62aBfzI25bqlYJ8Lp7vhzeKDmk19tAGuEG3fv5S3XWPcgAQnPtkI-tmTVSssqVdUcD1V_pK2u_TbxSQBi9RhbUmKF1X_umXiPeFM1M_eRAz5B6q-FMJFhkculeEV3sffNqu5Oq_hzk8lRUK4Qv_JdzGQMlHcI0MHzOlZSYPU-4PYx1xlOG9uKOmpYlENXe9t1aGMZ2lOLr3X-PRXPX7zayW_ZQGs8SUP-EE38QS6FWR-hdOkOgQ1m8ZUuLw-qrBOGLT2o8s1eIAnanFriEG-43tLCd5j0T8XGB1qWFV57uweiejFROyMdQICf4LKZ2L7jY-R3mYVmzprfcqjs3YRzQF_3gAhfCpHm39AfW8FHlZR6N0kMR3NqsM6kz-VX5Pvr3sYssBDiW86XYScuh_4MO7tR83ua-NLseSspoHsyTuGWjQJvMNFdVEYQhp99MBbRdMeZ8vx5v6fgrBL_yZk5chxTwUe3B1IKS_xI-c-Vmf2e7a4mAzSPlsQysr3an8bjuEIrgBrF6w7y_uxy0Uldy_q7YCrWkXPUgxTVJ6yeEkdztFnGyIakCdpxCTGXf7T9PqKviS5GTiv11MvjPbVZib7783FiuTkwsIlk79ba6e6Y-0CQxsJU87kARvh3k4_-xRvaC3b7C-hHoou9z6E6Pq_K9diEHEOnx1z6OyisL",
  "id": "rs_02ca71d0f42cc462016aaca0b8abc087d0b282251e2ae77a7a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.375,\"right_y\":0.095,\"right_z\":0.018},\"note\":\"The brick is now centered between the open jaws. I’m lowering to its side faces and advancing slightly so the grasp lands nearer the middle rather than the near end.\"}",
  "call_id": "call_E4WAU6ahReN5IrJ90wgkNTXt",
  "id": "fc_02ca71d0f42cc462016aaca0ba1ffc87d0a04c21e2339d5fe2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_E4WAU6ahReN5IrJ90wgkNTXt",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3912, -0.0227, -0.0498, 0.9995, 0.3779, 1.6531, 0.5777, 0.2691, 0.3096, 0.1516, 0.9974]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1759 left_yaw=0.0038 left_pitch=-0.0175 left_roll=-0.0066 left_gripper=0.9995 right_x=0.368 right_y=0.092 right_z=0.0162 right_yaw=0.0305 right_pitch=-0.1934 right_roll=-0.1054 right_gripper=0.9974\nstate[joint_eff]: [-0.0615, -1.4427, 7.0359, 1.7851, -0.0366, -0.0269, -0.0122, -0.3761, -8.1162, 5.6274, 0.6862, -1.3602, 0.7448, -0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ba0cd9956f1227f26c0bdbef66168461eff864f4c5a25ce359820abb34dc0ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:831b51ca49481c97702ee8c3b984e5d1c9a69dccd6374743ba989eea2cb931b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9acdba54f3c0860b821f16766e0eb2b188778e78420887af93a88bd312205a7",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 4ba0cd9956f1
wire blob 831b51ca4948
wire blob e9acdba54f3c
call 4 attempt 0 · /responses · status 200 · 4.825 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8036, 0.6075, -0.3897, -0.0227, -0.0494, 0.9995, 0.3832, 1.438, 0.5808, 0.0826, 0.3107, 0.1791, 0.9979]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1769 left_yaw=0.0036 left_pitch=-0.0133 left_roll=-0.0064 left_gripper=0.9995 right_x=0.3538 right_y=0.0883 right_z=0.0612 right_yaw=0.0219 right_pitch=-0.162 right_roll=-0.0745 right_gripper=0.9979\nstate[joint_eff]: [-0.0615, -1.4291, 7.0085, 1.707, -0.0171, -0.0464, -0.0122, -0.253, -5.9145, 6.2564, 1.8339, 0.0366, -0.0659, -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": "gAAAAABqrKC-ysF1izZoT5wGk-und8N7F84YeKsFqz-DwmS-cFkqMR_fO-qP3UQn7R6d-eEHYc6wi0beT7LOI7D4cHfs9o8dic9AL7UHKEEwxRIKT3rLZGkASFahQtb8XtLlZ5cUvvdjZT6kja7eI1Td3iOdGSUt0lDKTTA7NNnsTCQmecgTWVWnhfJFAa4psVfFsAZEwAPm5r1OhU9hdLvJmZswG22uM92hIauypV7ekgQqOvNovVIEVWeM6Q6pGFwywKspg-bJEbxCsc0w34KPQ2_O0PGOKKz-VPvczIgqlweX2_yzTLn1seY9lOCCJMLPat_XuSyyw44dQCB7TLiolNpCT6IjZpZnqBHxGC50X2Y0tQJL7eTVVfT-RNOMYgBFRvfboPlR5GQy4QNvPvBGim0awVXcioSkoTgxjbuae7L4Nt90YgDDHYNeHJY0bynHWIlgwQa9PFFhxg12bY-0rU4EWUHxGVy67OG5sK9rDIhNjw33UOJxjkkAvGI1u5SH5Ot2UlqMsmETT3A1jJp1S_LGH7izTWkPCd2fjL0OLL88sAFtkExcS1DR-F-UENiLhbM-o9hSsTVSH1DoaY2kSYGaHHbmSM-qt0QkUUEWwMXdBp65tnktJL8eoWMZ1jvsVVuhYRKXnJvQRAVN576Jb0zy6CfhNkeTnQRAC53ayxwVyfJnPMZQWHMaXbvjzgPcjYNth-jM0h1mzjmd5tVCynAm6MUiuX3x4VTC2eZ24RFPXOcaDZRplEF5KzQth-rHU7TESNACxyaLK2m-lQLCM2HNVeyMmuNWSamvgDb4uWDqgCUpWCkV2HX2vi8uTOhi0oQvn59l-Lmtf5dqsdx6kMrniZDJSSEbUWKc7BagMz7TzzgD00ddG58XxpDnJonHwxSdnHLaXO6IBvEEZ1OVuLrxrLri2fBMlKzUzt5NDlrFfSnJ4aEMB_wXKUtSnPeDaowysn4w-DK8opLSIU9TPrZzpUPCKf8wzuCAnVtMxoFPwbmFMv0Ui_7SSNXWiQ6938OuhbgInQy_oEjeNFxzWlBXW0ca32ERuBzI7VM3BY7qW4Dm4mGEhfYxoO3o05SyorsSqMRHTVOV-6D7tJMr9D9ySs3Jl_t0rIL02rEJnqihQKg3zy2WdL9AW92Eix2_BaB5kJBZvkPmDWFv6Mw3Byf4elV2mQ2O0gbBSHa1qVv5VtL-Ycg6_BxB8j2vtn-xNf1ywYYoYBJ0pS8fiSM-U-NimATXYGot-mPWLGs_eiLKcF0al2o=",
  "id": "rs_02ca71d0f42cc462016aaca0bd2eb887d09391b76ad198c4e6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fingertips are down beside the brick, with its width between the jaws. I’m closing the gripper to secure it before a short test lift.\"}",
  "call_id": "call_h8Xkfy0LZcyFDP8SinYXVTCX",
  "id": "fc_02ca71d0f42cc462016aaca0bdd64087d0bcfc27fdbddffea4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_h8Xkfy0LZcyFDP8SinYXVTCX",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8055, 0.6075, -0.4015, -0.0227, -0.0498, 0.9995, 0.3794, 1.6547, 0.5785, 0.2974, 0.3107, 0.1383, 0.009]\nstate[eef_state]: left_x=0.293 left_y=0.0018 left_z=0.174 left_yaw=0.0038 left_pitch=-0.027 left_roll=-0.0064 left_gripper=0.9995 right_x=0.3725 right_y=0.0942 right_z=0.0207 right_yaw=0.04 right_pitch=-0.1681 right_roll=-0.1067 right_gripper=0.009\nstate[joint_eff]: [-0.1026, -0.9504, 7.2, 1.8242, -0.0464, -0.0806, -0.0122, -0.0342, -6.7077, 5.053, 1.3797, 0.2906, 0.1343, 0.7448]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3e60e668492c312ceb803e73052dd0ab84b613fb92c5647a728c3267dca2c45",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef8625ea22ed738120a29b9d6a4efcb7ff4bd72f520969093cb032225b6202b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:921e993fe363a2ac0f4971454d7a5c69e1abb5d5bb86f3294ef1bd1d96550124",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob e3e60e668492
wire blob ef8625ea22ed
wire blob 921e993fe363
call 5 attempt 0 · /responses · status 200 · 10.53 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 14 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3912, -0.0227, -0.0498, 0.9995, 0.3779, 1.6531, 0.5777, 0.2691, 0.3096, 0.1516, 0.9974]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1759 left_yaw=0.0038 left_pitch=-0.0175 left_roll=-0.0066 left_gripper=0.9995 right_x=0.368 right_y=0.092 right_z=0.0162 right_yaw=0.0305 right_pitch=-0.1934 right_roll=-0.1054 right_gripper=0.9974\nstate[joint_eff]: [-0.0615, -1.4427, 7.0359, 1.7851, -0.0366, -0.0269, -0.0122, -0.3761, -8.1162, 5.6274, 0.6862, -1.3602, 0.7448, -0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKDES_XKt-g0cfKOyEzPgfpPrZX0UGtK8Lbud-8C98A3ZKBthEr9xTAh_vPTjylZijz0JASMEzf0uCvHm8CzOKAR4b_vdy2IE-fQXO3xifDkmv32OiR6i102Blae2NH9QX3L10r2quHOVbU6EobrHru4hVyLxRa3uJdhequjUrquCSEKP9Osb7tTaGWCpFlt3obkkUpD3jvoNvutj7gxpDk5Dtd7XUvmEbciJV1k8hklai4_rucLc6T6QfVoFMTHce7Wazb5JiLnatiTfV-7cGi0v16b2bN-rdK6sPnweiVpqUgJ773t0acLowEjZIWYt0Bbko38gxArEllf9Sv6nW3CWV5NJ2J8MdHMwpDv6jnKp3J4-7KKyfwWr5ycceE1qFZMjDn8xEQLFSXwJgdo2jE6BtpronkNvwTC4P8AqU5eklT4fPePZux0j_alTHlMEBnpCTbvjDymvfEEs_4-y0I9AnAyUtJusFUqGhhLZcb_VCKeZgLyjBiOwHoihUuJNBXCt35GW4C8AFN0ZOmyWUGuoKe5SdIknh0vPRntun2T5gzGCmQ9ev2bJ6_uyJl-6TPa0Mv95mZvAKWMvWcjTICsqVCD6i6BjhmXsaaDzehp2ROgsLjJWQUwJyRtI-wTPMpDxjKvGFitTXjfnr1ezxQKUGReKfZLzHISX3VGSvEvoj8l7gqmI2COPp5YT6sjtFAMajQJwr4GJHui7vhOs98vUopcUw_D6_y3YGge6nuZfrSnmPKjC1RJngncC8b1et7X-czb--SL8PDjcRaISmT46ktOA9qR0tA1rgObciX4DyEhiVvqNYNzJKbHnMJEbWkmbGKwxGwbSbaZ8uEFZlSIep5mePX0N5fV3SijzIPcAJITCFqlxGmvtI1DiwyHpUxoDbzATHmqR5jp2u_0SX3oVvGpGMJgNoIsZD9XpnPp6zgMxoUtpobA3LbOi4bOdQN5jd5vcNmc42FefXO8fJWuxE5klYFm-k2wsezZQE3UZfilO2t6FYs5Q2RKn5spto4uR-wfwB8ClFewB8kGWoG70HAPZRBk9lkBmmcpc-cFBN0ZZe7_dBlmsu30GpGk5m9MvjeljAL-0bqUNhwIWNJRZiaYjMJWh4zRKcnOHN-NT1yfkqcn4jYH_EwGS6hmncinVnle3Ua2_en3YJA5PCyjHlhq_jv1a_UXJbwjDOnOR83-seh8y_aB9tM9gCS6l4JepuAQ55NBmugEF0tPYrAhHWyMPs7pJeDB-4V-xjThoIq0t2fmtcykIGlXZaY10uD1WZLf5GG1GryeM-HCfI0RqpV3t0ugNuCsxUGF-ovrJmQeNeTSLOQKmClUNdBoN_oU1YvhLbY2wyPht6TnqH23yZs2wLzGcaxG-8jsltuI1kWXJKfJASWqm8DRm7bZpHzaNLel1VbCy7PdkTXof_tv3A==",
  "id": "rs_02ca71d0f42cc462016aaca0c102b887d0a06d4344fccd3a25",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_z\":0.05,\"right_x\":0.41,\"right_y\":0.07},\"note\":\"The gripper closed fully, so that attempt missed the brick. The wrist view shows it farther forward and slightly right; I’m reopening and correcting the approach.\"}",
  "call_id": "call_U3RzzW0mY3OcL5qdEVEfyOyv",
  "id": "fc_02ca71d0f42cc462016aaca0c2cec487d0b1562c1a5ff698eb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_U3RzzW0mY3OcL5qdEVEfyOyv",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8055, 0.6075, -0.4076, -0.0227, -0.0498, 0.9995, 0.26, 1.655, 0.7002, 0.1665, 0.223, 0.0483, 0.9956]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1728 left_yaw=0.0038 left_pitch=-0.0331 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3992 right_y=0.0695 right_z=0.038 right_yaw=0.0424 right_pitch=-0.2002 right_roll=-0.1157 right_gripper=0.9956\nstate[joint_eff]: [-0.0068, -1.306, 7.0085, 1.8095, -0.0122, -0.0513, -0.0122, -0.5265, -7.159, 8.0068, 1.6239, 0.1148, 0.0317, -0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afdd6b24bdd2492ae8dda28011190aaff2a2cf1e0fa9c4f2b9ee4ecbf1857df1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95a32fa9377ae2699c2b40804a2c868e6e98f99eb66c2ec20071900c987daa4c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd098cb7e34ef4f62fe9690f2b52363977920f5f4220202ea47e6bf0f7100a5e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob afdd6b24bdd2
wire blob 95a32fa9377a
wire blob cd098cb7e34e
call 6 attempt 0 · /responses · status 200 · 4.129 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 18 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8055, 0.6075, -0.4015, -0.0227, -0.0498, 0.9995, 0.3794, 1.6547, 0.5785, 0.2974, 0.3107, 0.1383, 0.009]\nstate[eef_state]: left_x=0.293 left_y=0.0018 left_z=0.174 left_yaw=0.0038 left_pitch=-0.027 left_roll=-0.0064 left_gripper=0.9995 right_x=0.3725 right_y=0.0942 right_z=0.0207 right_yaw=0.04 right_pitch=-0.1681 right_roll=-0.1067 right_gripper=0.009\nstate[joint_eff]: [-0.1026, -0.9504, 7.2, 1.8242, -0.0464, -0.0806, -0.0122, -0.0342, -6.7077, 5.053, 1.3797, 0.2906, 0.1343, 0.7448]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKDPvla8V9VDUq7QNQA_uswqpyhyn7ORTviMt_r_EEtUprzR_fKdUFGljbj5Db2smLLfQgcBIBsklHXPdFQWZRRNWhhDtEo3ucFt6dqvET7oASlKw6amUqN-1SzBn9PycGg3RV7O_rr21Im026sWdfewQ1doN9lrYrX1oP4AkxBLW_azmv8Yf5OBAx0Uj7eKl2NfzgWMMILG-om4CQOJEtVwoRXcaa9zTV2ync7Priu9LjpZmu4KPOs4guQ8gee3ezFd8h4K6fhFpW9RiOF4vL7kO4B1QahFllkgMW8N5IYer8N9IUJgO96yigUvUvpT6ZUQDtE4GO9SCzxdeSyamvvUVOBnVvC58Z8brq5mkFAIYTjXDCRb-Gbt28ieTZyDu0TtRvBg7ZZZm0XKkXs8__fjJsRgPoMhLlxEOVMjIEj_hXABSt7KUyEYZa6FlHQkMjt0t16vCfqawbKhUCIEv34ZWJRiSAio-f-YMXQq-9MSezi5KNqqIM6gasOch84WDmgLRkSdVGbiAOdbVuYc0wrPM_1jdZEqtzQ7IKQfnoAAxx0Bz5Xlx5acerpwLR1RyOVAQL2Ck4z6jZxo3n4T7M7dwEtJeNMFJhrkmTNi7u2gtXuJTzF8bGpihctmhrw7wvR7sSsKwrf2tpx8c-8FzcSiC62LDpXP1o2kw_FhGfwXQBi3-QgI9Ou6s1vAQXCSbpZantufaI5PFDHs0V0g3PXkqgi9d8rj0ZBLFtoLlSD5nZo299cBA_RZzKjRm5Vhoo20aNQ42aQAA9s-6nxUu46NLp1lUSKbGOBoF7g3RdilwpN2JpgrGrMznzUA-whsVfk0BWd7Kelb2xZAjq4Ib_uPmxT4GwMLH8snpgbajjKHk6sxtUxMrqcciwrHY2xtskN2Gyx5Svf5mxnhh3nj0VQdinkbE5HvLW7ua-iRzeTkkOcLNFDLG7LLdk3bq4poYU2y6MwJM9qi3qAOdwb_zhnnyNRiNh9-78G-9VxxpS5VWH5uIyi_vRABwT2NnB4z-qOvPZkrfSX3rWDW2AVPnc2BTdDPtSn86pqaAwxGNQ93rv5Y7ss0QL0MyBtfDDQ3PUOk1vFx9ElIfPb8KBYjq0IPAhYJ1xzT2-X0LISLdpw1uiaTQOq1QNod7YoGIDcb3XaiFGbGfaXgSyknyBEeLQJxluyQdI_wq8kt45p86BRbrU5Aw-rZYmibtRzUBrOibzpVKjpgqvf84ac-inLetqK5nRnlKhpanjdmO6wzR3kWc4k-fbbOzr5L9dCVhT8gGo7xmTbM_ESv81ty3uR0CFFLJPL-fng9PevIKuRQ18gETjQEBQkA3Vsr4sEg8qnfthc1YTEO3yX7ZP7hvFYGggf7o-KcOEmdcK8m1DILwz7EjGtsCN9_wMubVA7hN1sgm6X2-7ytJjnFO4fH_8RJcjAaQZDnwEX-LIPRlYLUvNGt_b-F2bDJCAzOO2qFbqndDNHWhfXtg7S9zUWBb-pRcjLwsrW65bHWEFHAYNa8OD1h7kunhvFvJ_V1GxbdAfNYXJyb_s8REIbCV13ywclVThp4MHVHMR-SPQK6VRtX33HJNP8c--c6LwE-32a91iy9N_hx1vw9qq_lpG-eefwDIIgza7leZ7W091-bi3iawZlK20Da214FyHTfjYABw_6JnP6zPYP7v-P9P1qRvDY9sx9boXY4rvWDG2tXHTiHXNbG416Mxn7aEX1GDSEBB0RPkTEmPRkWsOLtjwCOmHHG-RL2syWWbz3z33txdD8ExOG4p7KqPXI1oGPWqp-QUn2VdU3yCKEr3uJSj-y5MckfVuYQNNeLJgk1Vc5FpIhlvIMch09Ww24iuZpBSUvsMtVDGnoUnVZkElvVDSpwMcWyjBDrzQ0o1QFJeERVpBsrBiOm4M1nDK3b-Ij3EDQajvFi3oHTfLMVnr05PMc7F8PLS4sjd4u5NQKr_ZOvBk6yHR5YlLtRzuhjVP_-Q_bJIxw2fxilRNQrEvcypSKabhfHMgub8WZc592dzd1OTxB5x-_2G4nu3rAt3v1KAc6_Z9BnLMh8xoSEzwlafBG5hgMMtu-r5nHBhMVuYmCqvXR9XCqBY4NylwdeHLzeE3dTsjesE-Ldx5u5k6JXc-Gx2gGuIfhy1lgyiNiDdWe-cOtb_Wkmg47q7mjrxIIQnh1i-VOxE_xR8YeVOb0lEHHRYdQ_8WUUk93xHR-zLoEOODcEyZJVzvvXQsi4Xko99kfIPKk0IB7YWMpbDQX2-hQ6uDYLl91rQhgyK9BJYItdAgolPcOSHi-6TU1o4P97NAMBaMrcz3xNis6zy4g-kgx_pMNQt740JBNdLS3iziJ7e5m9B6YNWWh1lx9U2hCT4jU8qRTHODK7K8VlZ8IgTTrZbWfkA6Tt4ywOCOTju5ODGbDjAH5qoiwt-3OWiwncxkOQdCN81fh84iBvtKqdjQjUIudYBiE_MH1LkVZUeIOuD7Uy1PuQeV7kYoefe1X8Bh0cIudJm1Es5x-NchKMYiFiR2GshielG4aYZXnAkCHV9OdkfbWJD21kHJ5kh4tmWkwzVEhLbXfYujCEpekta6zKeBSFsrBUGQ==",
  "id": "rs_02ca71d0f42cc462016aaca0c785b087d080778dbcea0ab236",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.04,\"right_z\":0.018,\"right_yaw\":0.35},\"note\":\"The brick runs diagonally across the wrist view, with its near half still to the right of the fingers. I’m shifting across and turning the jaws slightly to grasp across its narrower dimension.\"}",
  "call_id": "call_TvatXt2ZIOMh1YlUAwbEFM7C",
  "id": "fc_02ca71d0f42cc462016aaca0ce732887d0a71e1f0595b9ad35",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TvatXt2ZIOMh1YlUAwbEFM7C",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4107, -0.0227, -0.0498, 0.9995, 0.0471, 1.7573, 0.7216, 0.239, -0.0418, -0.1944, 0.9966]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1709 left_yaw=0.0038 left_pitch=-0.0408 left_roll=-0.0061 left_gripper=0.9995 right_x=0.4169 right_y=0.0306 right_z=0.0151 right_yaw=0.1906 right_pitch=-0.2309 right_roll=-0.099 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -1.4701, 7.1179, 1.7705, -0.0366, -0.0611, -0.0122, 0.4171, -7.4872, 6.8444, 1.5556, -0.0366, -0.1294, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50d921b03a91a13c9def8e4056e338e9b7abfa99ac8ed3d6bcd9e3dfbd10b438",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b88f0cfef3f888c0df898759be848206a97ebe38b0840733c18a89f653132b11",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00f475881fdb3172212d0da7cf2c9d9f401224e41d41db65f478015ef034521a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 50d921b03a91
wire blob b88f0cfef3f8
wire blob 00f475881fdb
call 7 attempt 0 · /responses · status 200 · 3.873 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8055, 0.6075, -0.4076, -0.0227, -0.0498, 0.9995, 0.26, 1.655, 0.7002, 0.1665, 0.223, 0.0483, 0.9956]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1728 left_yaw=0.0038 left_pitch=-0.0331 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3992 right_y=0.0695 right_z=0.038 right_yaw=0.0424 right_pitch=-0.2002 right_roll=-0.1157 right_gripper=0.9956\nstate[joint_eff]: [-0.0068, -1.306, 7.0085, 1.8095, -0.0122, -0.0513, -0.0122, -0.5265, -7.159, 8.0068, 1.6239, 0.1148, 0.0317, -0.149]\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": "gAAAAABqrKDUW8PA8jzASEv5hmbSs1N4JODNcA1zqdQgT17CGK5bgE-9q1uflmV1Xtxa7AvlFE33wBQ_Q1pkbrmH3nvFzG9GYnX7KRyq9XdiBoFU7zltSOqvBlobtQ7Rc9MCfl1vWKYAq7mqiivbNZWmfVT9rAYlpfoA13q69hlUMYXsAIMeivLkfyWB75yLZMGa_3UEx1A2tm6PLTEk0y-jYC6DI76HOAxvsLNbIgmK-HXe9rACUxuMDEK4zCQ6d1qi-GWbF5LLNwjoSYUVmuWj183ROdVweX6Y0Upj3zeLlFa8ZPiny3_R-UWcbF9Vytz4MoheuZRSjExc9wH8xPBKxfpeTR0AdAZhc_TzvtSS1fC7ZSjZJXs9wG4c3tmp3b0r7RstPZ2nlWCjiz48Vvwe-_byah7cNqwbOFBnusyT1D-jO-6zzt8HnK1922ghPCQ89WqfCAwDNjJM598WUHVrbas5SJFyKYdNk6e_T1yetnIT8Mj_--TLCKOZRRV52yhkDEBBfwGbLc-4dMQ6VzODPfwKSfCYJVDG9MT8Mtsq6a8gyKxP8GEN4SanzeqrZ3pvBGDBSi13oDvoMZLq_zdSGYvwbN03Gaykg1ypsQVIXUf_b18VlERAVMGklhFy8MmF-j6yz3_g_E_HTAwf2Ggjhln4eyzHd1OKhOeZPw3mL8peaQSpLv6yvlNvz-rEaCEYTD5UkqXTI1TqUziE8BQZYb6JxGvQF8AwuxxGQhRP1LfFutnM8rQiai75XshXp3Y0ofxpuaxdngPBhUoloyvtz3uB23r4wYExcUCDM3lWQYjq11pwKaLH7LMD4aSI54cHZs_TVuelpIjRKNIayK1aEfI-p3ZXaNmpbSYNIZ9Lh65pDTzecvDt1eJ0LEXQTe8RoTj2epQLsyAlO4iis_QgYQA7K64uwasgBQKTir0h-RTlNneAbF5PhYMTvrhqUgr0_vpTLcqr9VxEyrxhFbxHD4139GwxC-ncsyCpaezuYwUOYVG8PqfgfBcl6yd2yyPl1LkIbqoweY3mLYjluufFkEie_r5ZgonzEYNO8CDPttd2t0_92Dd-RGTp6abYBGHtzmKe0VLEVdgeK7xcegErU97IWaDupNWcFE6vTVIEETd9jVs83sz8q-gMYJ-_ZMRg1urK5TVXYR8wWJU3s1PLOnvuREfJeVpWqhvGEl04hPIAO2eGW_e4y5KBCy6plAbA1hOz2G-sVNTwWLttinJOjkZwkqzCcvQviYQr0TN2vernGYgyNZSvpFwyqEob8GwX0UBDhTRTqg12KiVxkNkaINkR-_TrYg==",
  "id": "rs_02ca71d0f42cc462016aaca0d24cf887d0b7c504fdd73390da",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The brick’s near end now lies between the fingertips. I’m closing again and will check the jaw opening before lifting.\"}",
  "call_id": "call_Xfcf7ywYPbm1tkj75LydrGuS",
  "id": "fc_02ca71d0f42cc462016aaca0d3542887d0a42ce65b1b49ea26",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Xfcf7ywYPbm1tkj75LydrGuS",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4149, -0.0227, -0.0498, 0.9995, 0.012, 1.787, 0.725, 0.2436, -0.1669, -0.3416, 0.7403]\nstate[eef_state]: left_x=0.2914 left_y=0.0019 left_z=0.1701 left_yaw=0.0038 left_pitch=-0.045 left_roll=-0.006 left_gripper=0.9995 right_x=0.4149 right_y=0.0379 right_z=0.0069 right_yaw=0.3456 right_pitch=-0.2397 right_roll=-0.1085 right_gripper=0.7403\nstate[joint_eff]: [-0.0205, -1.3197, 7.0085, 1.7705, -0.0513, -0.0513, -0.0073, 0.0205, -8.1162, 6.7214, 1.6435, -0.2271, -0.0317, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fcf94d4340d61e767c0f9baa07ebbdae46ca61463f9a57e30a65650235a54df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a60d14da2608720dcb8eadf0f36743b9c0c5897d9309955a99b40273a202d4a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37a8f9d0b73c5641c4f48d5a38d32da773d4bca239c8787572874f2454b30abb",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 7fcf94d4340d
wire blob 0a60d14da260
wire blob 37a8f9d0b73c
call 8 attempt 0 · /responses · status 200 · 3.747 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 26 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4107, -0.0227, -0.0498, 0.9995, 0.0471, 1.7573, 0.7216, 0.239, -0.0418, -0.1944, 0.9966]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1709 left_yaw=0.0038 left_pitch=-0.0408 left_roll=-0.0061 left_gripper=0.9995 right_x=0.4169 right_y=0.0306 right_z=0.0151 right_yaw=0.1906 right_pitch=-0.2309 right_roll=-0.099 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -1.4701, 7.1179, 1.7705, -0.0366, -0.0611, -0.0122, 0.4171, -7.4872, 6.8444, 1.5556, -0.0366, -0.1294, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKDZI6Yu4eXTJye-DOlW7LbfKD4twl5asLQc0CzyV0Z2GRpLeRNRjRlnC44hPkVMDMjZyOENux2w5fvy2tFGVAPfHimcrWfqdrZ6assDUZBGpF1Rhs45pUpNTbtRJvgVzd2DOkDkUZNRu5RvvrNQmHV3qiBlvGKNjqsOs6wW8D3onWAt-iS4bBPrBZL0zLdRo7zu5xde9o0OnOb-Gfj1YdYgjAeBRsYXhekSojaoYPVcQQz1ffrXN6QngoBrOQmYY1PwwVcEApyuOgYbwe3hI_D7CZqDmaKYaSujsqnDiIvNwg05atPB7X4A0AAzKl4l31VEZFTdg4EKfG3QJmKJvXe5rlDR18rOvI5F-jptXoYdYO5kV9DO-p3x6UyZHzKht9v9SiA_sm7I-7t-3WOoFrAxN-isb0-3RhjI8gyFjCVjQKjmt1KBJjIPgVmFUayCbGusGEQZOsAc836keqJ8hg3SN0U6tQ3UStRgizLVvu06-p-DNtnZRKiNbbTAW1AXk1s-KyHMkdwhICJYnh-H8UF2qzyx2OcPLUcv5S-kFOnOj3shbl_gPZ5Yt5KFs5YRGcIHugZBSDw8zJQMlrFd1tsgLr12LDg80UAmh8plO3cyICnodIqOv0QkIbOmydXrdUQe-GHV4cOFvjT2bcZjzRosuuvm19ISPa20SoArQOQIA2kDM1WHbJ4B7IWvVYtSlZU86LVO228lSCBkchkuvsq7CHzNIv-3Dwjh-n119k6Cp7yCOIQh28Q-uH95pbnNsY_XGXoNBeG3pFQ5X0Lk1hYQM1Tbf-ybqdhw59XltnMPtr_4BINOTkia-NFJMy_RHs2RBxOj8XpnaRAa7d2qxQVW7OR7-L47AAxX8LvZn0fzdX-8vHsF7tsMK7Ekw9yascKKAFAUvXKu9NizgZ8VKrBmj_I5Lyxq4_fIn50byIhWR000ZqF0PSosQZYnqy86-kf9slmk8_9deYokBOkWetq8TbFf4HgPuSyZcTOpWNRRi-iQUJCDtQSZkMmy-XFQv_-ZxZ_9um6enVEQ5rbCPdA0pw9pXApiKLLXqJHalbYtEqZxbm7EJ6fu73ebQ_MzuNWm9SqkJ8WrD5BfmMkEJ7fRqDub27qjOBNx3YB5y4ac25tpHyp7MTJWuMxGhBpdkyb2xAw9ui4UCuWvK0-4NLeUNVRyp_yVu9-zAecORvvRF4mDmc9lhN3v1siiOnSaw_KltG6A-AWEfxp_2tzagrbAwnOiicMyi0MmfnrDJv3hMML_Im2J4iQQHJbtHct9m9Af",
  "id": "rs_02ca71d0f42cc462016aaca0d7022c87d0b9478f25f911f708",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.08},\"note\":\"The jaws have stopped at about 7 cm apart, consistent with holding the brick rather than closing empty. I’m making a short lift to confirm it comes off the table securely.\"}",
  "call_id": "call_u6pJLBIMtYJxi4aqTbyFDRc0",
  "id": "fc_02ca71d0f42cc462016aaca0d7ca8487d0bf1236ff262ec852",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_u6pJLBIMtYJxi4aqTbyFDRc0",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8108, 0.6075, -0.4152, -0.0227, -0.0498, 0.9995, 0.012, 1.6516, 0.8001, -0.0883, -0.1654, -0.342, 0.7403]\nstate[eef_state]: left_x=0.2914 left_y=0.0019 left_z=0.1698 left_yaw=0.0038 left_pitch=-0.0461 left_roll=-0.006 left_gripper=0.9995 right_x=0.3916 right_y=0.0374 right_z=0.0332 right_yaw=0.3568 right_pitch=-0.3545 right_roll=-0.0677 right_gripper=0.7403\nstate[joint_eff]: [-0.0615, -1.1556, 7.0632, 1.7118, -0.0366, -0.0708, -0.0122, -0.0615, -10.5641, 10.4957, 2.0879, -0.1099, -0.0317, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88ea9c2f81a87b227b431a1721f29b67b7e326cb071a9dc81674d9c81b469b14",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d97ca8a9fa11b71cb7eaa487f09de0009d73004f523c2c2bf7eb87eaa8f030f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d3f45ed70719bbad36488de32bf7d5e11197711cfa7db31c94c75de57f61035",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 88ea9c2f81a8
wire blob d97ca8a9fa11
wire blob 6d3f45ed7071
call 9 attempt 0 · /responses · status 200 · 6.883 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 30 changed as sent

message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4149, -0.0227, -0.0498, 0.9995, 0.012, 1.787, 0.725, 0.2436, -0.1669, -0.3416, 0.7403]\nstate[eef_state]: left_x=0.2914 left_y=0.0019 left_z=0.1701 left_yaw=0.0038 left_pitch=-0.045 left_roll=-0.006 left_gripper=0.9995 right_x=0.4149 right_y=0.0379 right_z=0.0069 right_yaw=0.3456 right_pitch=-0.2397 right_roll=-0.1085 right_gripper=0.7403\nstate[joint_eff]: [-0.0205, -1.3197, 7.0085, 1.7705, -0.0513, -0.0513, -0.0073, 0.0205, -8.1162, 6.7214, 1.6435, -0.2271, -0.0317, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKDdmvR7EeUgpCVG23Vhe2BpoEPO6KNePzRiPsQDGe57KA1cDU_6F5axLpoufVTpmxyQ1I3svTWblkJPAD7O4RYiPZnlvWoEnv6CXsFtPHdzTlFo5knVdW8jq0rMo8LjK03DJQU_ouzmVo43yJ_gmCjW1LslyCuMfJlwdBSid-RyOCvxBnRV3Q5fFN2ZIRRCL1JTjlMI6XDX_MFKcLGE4yNf0MfVvC_X43Tjp55NcILuhmwuf-Y-sPxBsZxO66KDoby1SQ0chlQ695w-oJo-aQhY2dpnnGPe_H9xfQv2A9ceqOui_OGmqU06FPGKplpp-2lfhkAmGeRJY-_zg-SBBBDYXSkoW7jOPRWsQIOjhY23vN0TTr-Ba_LBsexdQblI6V985V944_klar1mmiLIFao7n6Z1FbtDDegblrxj_o_cd0KLdfKOeySjDgRdOnfWkKcqURg5nMXE9WlLaA8k1zoWIkBuWwLR5G8EBVpe_m7seG4jrFNvFh7RNuI6vMu2MVzT8OZskM07ntgCJ1ScwRzzu4bt228INqQDa1H2q6iDwJ9PgbY9sFL5J4PXPm8yn_IxJpnv5LIQDNY1Nuf4NIvO4cjoUTwQK0F_BO6NdaUuFwirC8JMEMRGN1whgF2JN1LtJqAx2Hv_yD0yGazktTTXXqn8WSLpCMSLHXZTdwkC8Ts0bH6GIQuB-OB_-wn4WV-Al1wCjUjQv3HIencrAxj7_qgJ-fQWPhchEPuEfuOFhRNKf5U9_iFBEWWoyUR_Soq5p3CgVN-YosjvVDPDjVelXO-rH4i7gPHn4ePz2l6irTT6ZkXL2mcWBdjFeowiyFWwnyFcjVLsGv9_-KNjrUU_0Sh41VufvOvjLL8iD1Xp7uNLJzYrxICfXZWf3LyPni7ucp8xiPMiRYTeLTKIdopW5IQaTfWO3IUKU4ChJKjXCi6-wm1Ab8XNcEnzAgPKuzqsuy-RhcT9mNFOf4vtb4eDtWxgm0TNHoaZggbiISkxPV1rfmWMBZJEI5tBkRkDbKkvYVmssZ7uLF6ZPiUY2N-3Sxop9zy59AjerDn9f3YvPj2gXVoFpw2fcyM9SLB80gvAGxxfYbpywU6mjhN4M7rI3JRNlpuBip4T1CIExDfC1_BxnOreiLrry5Dm16yYPdz7xL2c5Jqhc-FbmEZ241-zYyBKrz2CzCiF77JhxgD4jIkIFjEQikK6SKt_tq8WhJOXHpYxuyqbePNJjOUwdREAliifOSDaBCFfq4eUSbtoKFWQhIxPpzvfG4WzS6g99H0e",
  "id": "rs_02ca71d0f42cc462016aaca0daf64887d0b1638a9168fe2622",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_z\":0.18,\"right_pitch\":0.15,\"left_z\":0.18},\"note\":\"The brick remains fixed in the jaws, but the loaded arm lifted less than commanded. I’m bringing it slightly closer to the base and raising it farther for clearance above the pot.\"}",
  "call_id": "call_PcuDK0OLR8RZkBeFYilRfHmp",
  "id": "fc_02ca71d0f42cc462016aaca0dba54c87d0b23399e4e35cafe7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PcuDK0OLR8RZkBeFYilRfHmp",
  "output": "executing move_to over 17 steps (1.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.812, 0.6113, -0.4545, -0.0227, -0.0498, 0.9995, -0.0635, 1.2377, 0.6277, -0.0227, -0.3122, -0.2726, 0.7467]\nstate[eef_state]: left_x=0.2862 left_y=0.002 left_z=0.1634 left_yaw=0.0039 left_pitch=-0.0827 left_roll=-0.0051 left_gripper=0.9995 right_x=0.364 right_y=0.0348 right_z=0.1296 right_yaw=0.3448 right_pitch=-0.0289 right_roll=-0.0324 right_gripper=0.7467\nstate[joint_eff]: [-0.0615, -0.8821, 10.4684, 1.6972, -0.0659, -0.0317, -0.0122, -0.6359, -7.0906, 8.335, 2.8254, -0.359, 0.105, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2bd066b2eccc362bbab32064b904596941beb46cce64606a42a8fb7d568fc0a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc279d052990d6599bf91b94b0864d8a8c1c2deb75bd645dbc081924c78145db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4795de7f5e7cf1e44427650267fa09101a9cd8c92f2114bb364c47206d9e95b3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 4.876 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8108, 0.6075, -0.4152, -0.0227, -0.0498, 0.9995, 0.012, 1.6516, 0.8001, -0.0883, -0.1654, -0.342, 0.7403]\nstate[eef_state]: left_x=0.2914 left_y=0.0019 left_z=0.1698 left_yaw=0.0038 left_pitch=-0.0461 left_roll=-0.006 left_gripper=0.9995 right_x=0.3916 right_y=0.0374 right_z=0.0332 right_yaw=0.3568 right_pitch=-0.3545 right_roll=-0.0677 right_gripper=0.7403\nstate[joint_eff]: [-0.0615, -1.1556, 7.0632, 1.7118, -0.0366, -0.0708, -0.0122, -0.0615, -10.5641, 10.4957, 2.0879, -0.1099, -0.0317, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKDlmll9lORgWQm-M0l2lXJXjecxzysGH6yIwb_ILTESWctUavbBpu2_mNM15GPEO1VFk7KNnWnGJniAL0fjNABllnzmk88_XuKt_lWaVno6hPN8JL8ItnunoNKAWc1L0-u4eIr3_sYA2Y-MhTSHuWR4-VqW5XquvgFSKixakzAg5X0F12MQkKFpvZbUWwhWZS8nKNu87W4i_Tmu7ZzSxdM_V4-280Sorq-7p19lDpODyPB9ZlUj1XJKu3rAFhwIpFHzd9aeqJSZ9aXakN9BJokiodl8tNRtpYnqgoI-HMX9R3KZBhzH35g7l2j-I9dDiogsdPxqLShUeS7LQphzV9-Eeg9GcFbvGNq3zTUVk1RHcncf8FYszZK0q_x00Qg4tgnz1WFmw1UDmkWiNxjAVCAlz5WyVwzZYgfIywPjfrraTECYAYs9P-LcQ0FEkmeELfxl7u3AJtC4fqd-OgITW2g72obyyfXJbkiX3BR5N6b776u72wNSItEXUcxn5QGh1NIH-iEG0DOM7gWRqFnHqFDIO8Xxw_Tvc3UsPW98nwAPCY2XGNNXhXhmO1z___M1sx90SJr1pEabagN1NayTSFHH4yZ51xJIgIwOOJefpbOKSx4YDR839SaPPo7XHbyipZnlIYG-TEEIT4FKmKQvoyowfKJQLJucdLlQMY3PtOz4F6eDBrvFldy-wd8odAOFCgsrsyZham0776qslsYSrRBa0q8cO1glezQccRIoasATlRHPJwTl5kkhCjgODWbK6oYfeLLv2tYB80Ee1S9KdgzuvBqcQ_trMXc7K__kcOU3cJizYUohvKFzla45MwOgI1Qh8e7oUiduhCdkUHX8pV3AhbRXeTcoIcBGlJXmTpN0XCJB0I9vdOKPVXwKJVy5Y7xwG8WY0o_E9M1RUNE2s2RTPvbUq8FGUKinZJ6RELwtJy-qf9EsNmQuWg06LeRxUxj8obCIu4BXt4UXfBN7vpWVs01L5FJoS1GDJ7yiOYFsMFYQqhxCfPCmJj7CYKB-TaXRBmPgumnEbXkiKfFIZgmPH7Wjx4k-Faf7BouexZr-qN55WhbbrAZKxwytGyYWWA9GyAfl3Vn8Vp5enWTaPwZrojVqdpI2tw0h5tk9splT-7Go3lZb71KpT88kDi9tE1JZ2Cu4p1dZBYDt2cGBFs67t-5xPIyeEv_a8-7R9XY3UD9Oq4FyE6LawkdpJrqdvoMWlizqJNrMBQOht25Ek-w5m0IQ2DxwAHMrO_HLPuMrW6HlXsCIRT2z4KHwfhBYHOytJpMMZz94vtjbbmnj_fpxNEaNY6u7G5-98Zg92xHNWSxzVLcRhkYZ6EqpkXCCY_bA-JSFKQyA8Tyk8E0WG9JA0eC-k0kdcUh5Neww2JIVrp37kDvrlOHQRC-7J46WqvV7_USCpRBV6qf48CvNH2Sx4-M1S4U2AGCUZsUWI9CEN9TE8W3LRLXIpCYl0hcIAxEN3e19XmFoNqJfX6NjxzLznXKlopkDLsuNuWetqqfg0bArYpapbbDd6868-KnuQcSSOK2dsi_iyUrw9xBC2-XnYcOpr4_nK-zaa6UJDz87ZhvPh02zcQtfJu_HSStnNglIbnEBMxF_N0I0ppdVfRSOh4T_61T1tsGQP9FwMM3xJ7zvERFibYoTPpVN3YnyGtPjg9ilgyUhB64f28S4RUs8tUVLjMR-Gq8pbpBpG4RWfsd9YCk0CRFU0nAiN4uarsh07DBLez0DGIQWte3D5hAsdgL_XkBpKq4_S2-59k8kkzZYm18YuQ9TIXW1SP0hm_t3tbqXoe5S8sVfD8ALPLrcBc8Srkki9cGoEB8BUp2gw8U=",
  "id": "rs_02ca71d0f42cc462016aaca0e0288887d092102cd53c8e2882",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.19,\"right_z\":0.28,\"right_pitch\":0.15},\"note\":\"The brick is lifted and stable, with its cord hanging freely. I’m raising it above the pot rim and moving inward toward the pot, keeping the brick clear of the table.\"}",
  "call_id": "call_YCxNE3bz3YkcixHf13YD3Wwx",
  "id": "fc_02ca71d0f42cc462016aaca0e43d1c87d0a8799a809023bcc2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YCxNE3bz3YkcixHf13YD3Wwx",
  "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]: [-0.0196, 0.812, 0.6113, -0.4603, -0.0227, -0.0498, 0.9995, 0.543, 1.2816, 1.0183, -0.3416, 0.1535, 0.0174, 0.7473]\nstate[eef_state]: left_x=0.2853 left_y=0.002 left_z=0.1623 left_yaw=0.0039 left_pitch=-0.0884 left_roll=-0.005 left_gripper=0.9995 right_x=0.3531 right_y=0.1857 right_z=0.2203 right_yaw=0.4045 right_pitch=-0.0291 right_roll=-0.063 right_gripper=0.7473\nstate[joint_eff]: [-0.0342, -1.265, 7.0222, 1.6728, -0.0757, -0.0464, -0.0122, 0.1299, -6.3658, 12.2188, 2.6105, 0.2857, 0.1392, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fdf7699df5ef26088812444040f556b17de8011e94913492ea0964a3fbbd161",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f94e46a71a52504b493d97eddcbfbdecb7164241cd88221d86546af7908c48f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:084195428f33c06ba7a7020f220999dd8fcca1baa8d9e264c29d8858e965c450",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 7.16 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 38 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.812, 0.6113, -0.4545, -0.0227, -0.0498, 0.9995, -0.0635, 1.2377, 0.6277, -0.0227, -0.3122, -0.2726, 0.7467]\nstate[eef_state]: left_x=0.2862 left_y=0.002 left_z=0.1634 left_yaw=0.0039 left_pitch=-0.0827 left_roll=-0.0051 left_gripper=0.9995 right_x=0.364 right_y=0.0348 right_z=0.1296 right_yaw=0.3448 right_pitch=-0.0289 right_roll=-0.0324 right_gripper=0.7467\nstate[joint_eff]: [-0.0615, -0.8821, 10.4684, 1.6972, -0.0659, -0.0317, -0.0122, -0.6359, -7.0906, 8.335, 2.8254, -0.359, 0.105, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKDrHv2gz6IScKndmQIsuVJn_wZdO-Q4fL9os-9hsBl9iS1Vfiq9u_M7LOVPEswnQWQqPFGMO6_u9ojcsRd_-Zu7s9GFIbkhITVuJ23uIytsTyRzhpkhdJEQ_0W7o1PrN3VoISiaIyj0oSmaGKISiwf_0wjCq63uTic0pTrAEtPzt8ekZ6_F7pxNJSfb6UjihwSOCg9vazFT9mgu_ntye9s1cfoYJBloFp1iq-JMLXXJJSyjgIiET_SPK1ucaAV6mnS0NusBjAtHzhHhieeTu1cag8IGvDk8oNRT5rWBnEa4DtmCtOMUVb4iapA1K0qDwK_IU6LS4JNg5iT1HS04VKdgQtAboZ5j9abjOZqsOAbIdxkhdmXPIeZeu4AeIh8jpy6bwatMTyNccxNPId0poJDgrUAYHOub-5etZPNnecYN4ugbqduZn4ErL30h-BWiIy4cwIFCbaYy_Z6GY7Utsjk5wXBI-V-488JaXNsUKzL6COCxl7dtQ_SSEv5Ab62OI962kHUgiIF5LpuSEzBRQPUN3sPPbaX7XbmWvqlAmsS5Hy1rcXaxqCkjXJ09OTorBXaaPCGKayFukoQ5SpkOgyKtYKwtAGqlOKtCq06g_LLLm-F8VJl6s45VYIcu_rkk1tQTorhN5KkAu3EGwNKnLvZ0a4lMyYjs4r8ri1j0dcwSJ5TLaBQiXw0nJ_JfQxVU-09ElKyW_rM_mz4OJrSJgGQeNbOsUfWcN_pSKms2Ur45xCfVTVDeAn-xL8reJEVWbvOCH1iGiTivgE9oSo78EYCPrpYzC3jBhWz7QA-PSJF9WwwtiFLGhP0k_WdQiZD67u-pqhhyBaunk0jJoy0Ha-Vggt6iX8BZPxazJ-J9DSanJuk9e8tw56gLrfjgFFrX_CpQvRSVn_hNc4F6mh5_HSJThypJMFpGfDzq9eFj6wLEQTMlipDsrC2h7hBeVxPzt7Dkjfkk3CX4Yd9aGTarbcbVhAIHBAFgw_-tRIch8YIXhZGFRP7ivToVJlJXyLBaDFWNoM2y8Kb5ZWTIQDWss3-zcczRI7CO617M5_Gcwsv7IIbm5-yIPsOtH8CxfpHBiINS9Ph24H_0ycq2y-dxHXLUQLmLbi3cR69VWDnUIBGLNKWL0ujq1yoZjrqYRELDEEOHZq17_IK8OBzGqhaBifGJ0eHHekieQaLaf9-09dQsjBoEc06fVMNLUTM4-5yW6Lb3tFvG-aYAVXHSal6K0N1KOR8HdfEPpbJvIjBm875D24OfY9Bk5xMgfCFloFPOOy3_k4TF-ToM5SOBMKQVnJc60TpchX46wfXdBTTxF71dMcQ7J0e2dAF8GctjBsq8lpu47z8TSQ3IxBMCLv9pLh6Sew==",
  "id": "rs_02ca71d0f42cc462016aaca0e8d63487d09fc5e83fb21709d1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.35,\"right_z\":0.28},\"note\":\"The brick is above rim height and the pot is now immediately to its left. I’m moving it laterally over the opening before lowering.\"}",
  "call_id": "call_4TK0xmAzhAxxKwPcEZ4vpiS1",
  "id": "fc_02ca71d0f42cc462016aaca0ea85bc87d09d8e598539acf9cb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4TK0xmAzhAxxKwPcEZ4vpiS1",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.812, 0.6094, -0.4614, -0.0227, -0.0498, 0.9995, 0.8921, 1.7939, 1.6779, -0.7059, 0.387, 0.2039, 0.7473]\nstate[eef_state]: left_x=0.2849 left_y=0.002 left_z=0.1612 left_yaw=0.0039 left_pitch=-0.0915 left_roll=-0.0049 left_gripper=0.9995 right_x=0.3554 right_y=0.3401 right_z=0.2297 right_yaw=0.452 right_pitch=-0.1827 right_roll=-0.1257 right_gripper=0.7473\nstate[joint_eff]: [-0.0889, -1.2513, 7.0906, 1.6435, -0.0464, -0.0464, -0.0122, 0.335, -10.906, 11.1248, 2.2491, 0.6325, 0.2125, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c11091910ee7bdc0f0942f188385cd33497cd0ff3f25f7f33749009a4fc69f3d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2bdf99f3b1335e30a2a07471dc73a731c9de426a5c1a9c6478b345073953c7b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4668b4a02706b3ce5c7447502aaddb5c1c7e36c3df1f54cfac6869b8e5095e7a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 10.11 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 42 changed as sent

message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.812, 0.6113, -0.4603, -0.0227, -0.0498, 0.9995, 0.543, 1.2816, 1.0183, -0.3416, 0.1535, 0.0174, 0.7473]\nstate[eef_state]: left_x=0.2853 left_y=0.002 left_z=0.1623 left_yaw=0.0039 left_pitch=-0.0884 left_roll=-0.005 left_gripper=0.9995 right_x=0.3531 right_y=0.1857 right_z=0.2203 right_yaw=0.4045 right_pitch=-0.0291 right_roll=-0.063 right_gripper=0.7473\nstate[joint_eff]: [-0.0342, -1.265, 7.0222, 1.6728, -0.0757, -0.0464, -0.0122, 0.1299, -6.3658, 12.2188, 2.6105, 0.2857, 0.1392, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKD0TbAoJFSVdX5xn9q1hoYNTZzJ9YqMQNM2BA2ho7y0wvJ5MBDTFysMNktyzFykJDJZ7z4EsiOggbveaHOpryp1TrH6GeryU9SSyN8eqVLCpGiDStrfrsKoJgndDJ8ywcm2qRBTP82NhVdYXJTAEhUJ-PXthBRoNjXnRjD6_-sgTWERW8fNLmq-f9hkRjASzFmXY0yzSebgnTRlNrAi7eqEuVscGK2dQUgWkiGv3Vxh3sBSQf88E8qkwcTK6AvHSBU1Vhn_gyBTXHljHy7-2-g7u9DCLkJ54jZ0iQGJTv1Oh0_NRwpIDKqAbGSt46IyYovjXFC4yrxujrzW8Kug1h19rq7WrgcQ1B6HlolqCFzZumy40NhuUEnUnb4RsHSq-n4qRWQsNjsEuKcnCgu5M5Jnw7P9xsND31fMWVGZPUP73YOWGZP38czWAqhJRRIKB4rT1hzAIzXBn2z8y8_xXSq6LC1CZunfXpdf0NtSqPvPLiXHHqTxLo-bksPwBt1lj-1Xw1EDJWJ6Sutx8Zj_GVdak_tU1d3FntjapQMChbJel7Q0lbcsogl3vOBmoHt7XrmXl8-GJwT9Be9eTIVfXXyJYhbPDVywQEAU2OVOKbOci8Fqz7cxxUBqWCOOT42QhxTyoqrkh-JYGednxWW3DgWhVrcNlE--DvXZYR0OjhD7K_g3TI3jFkElhnvybbKgAA7VuRZiGgTeDLZpYYPZGoO3otRGnMNcvkomPjyKktjjHfdEgzL0StfMaZXu52eUWe2XzERMCn-lq7eZ117HJby_wFvjrnsUVaa4wgYKeh0WmLORsdIDfPa7DmsFfH_5MZGupf6FzTC9r2owJYDwkkLo_sqK7WqXD_HhBYBiV4rlbErzues35J5q7xLE9I4v80aI93rcnz9Os1ZgoAqSktWRtQeKx9KT_kfGNLiOE3XoMK5zVElorH2As0Yw-qi15rQ1YFGskS_Y3ZH8xLIounz05RBggQLss7BhKF0TkN6I_p0b4VIBlWR_PlmiwbRmNAR_GyeKJJPqlmpvvhM4RDMc37NyQzxceUqlCXxY8a5Na3VJANI6lUfyVAwMGmEKpx73XAQqdYSM3SBNEz8HTr95nYCjfpCrICH2zOM0gMHlvHqu79FSFZGZrzlC1DCaA8gL4OKNcZ86cQQj5VpQBM6zof9vwX6xVu6gpndWqpy5rY_2Xt5nm6-lbZ9uhEbQlBBDaQm0zUSehai0Wl0bjFZKAYTdYO_SG5_ccKkyyOxWaLbtOdK0wGhMu17EcfxUwFociNtnnn9OYDEuaqt-ytPH36dU37jhtlNkGUYY7KC_J1-9IFmks7A5odpXZbQVXag4JYX5tt4uwQgbkJ-8gPHnuhUUc1dmu07Z7FJQuE1EDEprj8Fh-gz4xH5b3ccw2AMtBoNQtaotBVtMNjbKem7i9VpBUpgQssg6yWGNmdjuwYR-dnxik7tv8_sWd4mA9C9Vg3vjBg7rpdzTzJIHisZ_jp71ahNsA5AHaKE_R_Nf4tswQa-0JJ4g7002VMWa8WrpbhjfBWcKPcD-crMMAJxzG28EEZZajuivAN3V9lZ2o7SS4uGuNa17SVm8Ttfq_SW-_JgjLD8zzvzFvkU_tC65G88SEfI9nleZ7pHoQ__y5YizWg0CcpNrrwjf3VAb4lWQT1XGhIzP_1nm_BEnH1vRwgXVcZqVhpafpoPgGR9HnQudl7rmC0gtDjWPH6Z8uREQpPNnbiO6i6Yp1LhOJ_11k4QjmIqdz7eJ5qIApKgJTa0CDwrq8gUL2q0Q7eJoPkCb-a2ghtBYn0rv4qcKqFW9TJT45e0eO5DUJJawGegPum7pB4LO8ny6BiaeTJHUJCP9LGE2LCHk416BZh_2mUhq5A==",
  "id": "rs_02ca71d0f42cc462016aaca0ee9ea087d0aeca9e62d01d0f48",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.40,\"right_y\":0.375,\"right_z\":0.18,\"right_pitch\":0.2},\"note\":\"The brick is over the opening but slightly toward the near-right rim. I’m centering it a little farther into the pot and lowering carefully toward the water.\"}",
  "call_id": "call_7XDhRHj9ui7Fry7yWaq5UHHw",
  "id": "fc_02ca71d0f42cc462016aaca0f2734487d08eb59769f3b0a34d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7XDhRHj9ui7Fry7yWaq5UHHw",
  "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]: [-0.0196, 0.8146, 0.6094, -0.461, -0.0227, -0.0498, 0.9995, 0.8967, 1.8187, 1.5639, -0.654, 0.3775, 0.1829, 0.7473]\nstate[eef_state]: left_x=0.2851 left_y=0.002 left_z=0.1606 left_yaw=0.0039 left_pitch=-0.0938 left_roll=-0.0048 left_gripper=0.9995 right_x=0.3483 right_y=0.3374 right_z=0.1796 right_yaw=0.4674 right_pitch=-0.2664 right_roll=-0.1716 right_gripper=0.7473\nstate[joint_eff]: [-0.0752, -1.4564, 7.1043, 1.619, -0.0269, -0.0269, -0.0122, -0.2393, -12.1915, 9.0462, 2.1856, 0.3883, 0.0024, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02e168e6cdbdd5b4e12f18375581d3a3a70ae97b0c9ed02b33488caa396cf7b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54a6f76e7ed0bc235fd290f7d5216b03fc6c942e26fad6f4b3a49313c087cf35",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62a4c4ef62d606c5c1ceb067587a8d886cca4e1575d722c97d221024058c8a80",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /responses · status 200 · 6.307 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.812, 0.6094, -0.4614, -0.0227, -0.0498, 0.9995, 0.8921, 1.7939, 1.6779, -0.7059, 0.387, 0.2039, 0.7473]\nstate[eef_state]: left_x=0.2849 left_y=0.002 left_z=0.1612 left_yaw=0.0039 left_pitch=-0.0915 left_roll=-0.0049 left_gripper=0.9995 right_x=0.3554 right_y=0.3401 right_z=0.2297 right_yaw=0.452 right_pitch=-0.1827 right_roll=-0.1257 right_gripper=0.7473\nstate[joint_eff]: [-0.0889, -1.2513, 7.0906, 1.6435, -0.0464, -0.0464, -0.0122, 0.335, -10.906, 11.1248, 2.2491, 0.6325, 0.2125, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKD_RKHfKk6JBbhuLLy9yKn9khct3vSGDLHLRf_hbmQ6xH2PUTycmDxQRKNKluwqP6i7_DSIJOQrapPS2yULClqgKFKS1qiNe2erFXAIxPpRy7DYIUrcb7IFPOFF58B3aIVDs-aow5mhbECiQmcD609jZ3esq86ljRP-XfrEaYTSfpsLPV8mXTsGZk9kIrTfUQeoFER7hBB_aaKdjtlUtCyQ6ZyP-26SdXAqk1erXZqsqyBjD87fDIMZAqcL6b8vmEyfPVsuzciEWdaZIuzYP7IAWZP_Xtu3GORFmz90SH-ymF2P3RAlg-6KsXjRVANmRagoqsQPwm8rza_LU5_6lXia8Daxn1hEN1K5pDqXz3LJS78moOR41k4h8vHPmXXtAbrnucOMMYviDp3k3WIf7aqQcnNosOTfgWk_Uio3RlzuKuzwXugJCf753JILNZmN--30MBMLZGoTF4X9XkXYGVhDVMGLJ3ojn4jv5faNHpL_0j2dXZLchuCRCNeUIpUZRpet_rPTwZI3GHCMi2WSemjhXIbEIKqhiu1oWj6dg8xHUhW9Udp27Nvkc86vwFCD651_RUU9oFzKQKczeMqCKv5Eq4yeDqPz0v2sKls-av6U20UOc0jP10wLfkvA2E-t1Kf5pmXBTJazcJ0xEjs0dJQfRRwyV-_Czqe-LscgZud5yrk2shlmmZY7MysqnR_NqtwtltX8bEcyH1XsOaaC4Yajb1y5P9Chhrfz-UEQjSs3QwE2Khol95m0_c0UkObpKOdpUW2VFj6X37fk0JracX_uj9HbNhMDBqE-iYtC89tjo_tHRE03iUOfPamnUEnKMeFg7ZJNwwh57iaMX20ymm_cXT3w7yQqvKPmGjFtjqYomt7hyfs2PGpD6WOsZjK28WWsF4lXR17kjUN5x2VFeVUAiAfBxdK8QKCGdKqrid9yrg91QdhRr9Hk_IEZOKHIuceaAfY_udYtt5rkj4-uD-IA9f77HhdVC3mq2Et7WFlEhRkll5VHafaKjY7raEjaSZ_JToKGLLxQqC_PEyKSENeIdqe0mlrBMdAJa88FHvvdrd9OW_uIb28truTgwTP6tVDNh9Gb3_010j0_f1xpDurajpdXkrhN8hNrJYXZWAFT93msDywIZ6syQBh7zS0A7FQ09JywIyPfx3s9G2s0PDycjPESrAHy_sYXijOSpF8z-agjUmLuPphOnMxhY10SloFzqJ8krT7OYRD0h6R4VTefHCAxh95UrgRlwbKLYByyI856QChnBeN6BIjcOszfWEsnrif9FWS__q1yJStqy1uPXFu0Qz9Q38PbMgmLS2lFKlN_D4ZCQ6TVBlzPhm9AMgDfDjTajcQO3Os65_4kXS3RkF9bxrqQqDl_aK5n8UsOEmwP7s2ZV3EE5lGeKz5ZQtWuZTA_JpgCs_rHDyjhjRIFvJ0XCwlprOK6bBjN562keNH7JvddGGtgR19L04cNhbILDM_QBHeqKegEiRssZnH3PwqYJtJXSF0gD2oscUNm3FQtr8wbLhnSqjIAn392oiUE71HMBJgWSWzxhyhdwZlvjAVsOMe_qHv7TMMHTKZJ5AcClDAc8ces55P6cVKcEsliXkRNStHWs121QPMeQqnGoWrzs7nmqNXYFxxqKt6PnWoRFvFUuS8g9WjnCq4DRjFzAol2QL4SA6Iidwa8yhqT1_o8zmIgtEP-8wgHYfKwtV5LDxVNbrtTVX8G-kIvuFj0w39KAdca1uUsjNvNysWy1pyWjUwwgF03ocxWdVQa0eJ6Svw03t4ll21Z-qseaDSiSLupYtpwZIi-meFeYQCC_typ7sO6g0O72xm2ub-oh4hkg-K2LvOdg5I6lP1t61InBeCltBturzKqqnmgTLQn5EAW6mg5owtoIFUVkfMlr9j1gj36qRE8i_uMDtm1LNNcO7eEyNnGtOPukxj5Ce8mtD2UT8DeEorSBY_O_-d3VABbIUJTiKGX3xdEWXhbtZjOJMckjMvQOAJh_gQkB2nCWHzubNopjRuNczD60Dteurs6H9iB4VbkCzgX3sQ2khRn1utltTGkY3FkQ-zKNZbEHZ477YQjhQQdVzPiMwfP_CjHTpRWLOSasbJoFjwnrLN-8PYz_-T1svc_SlArGCqPnPan-SHQOGOYGfeU7AhM3IFgeRzg8tmXmyEPOUPi-BTW3oYQTrDef-Hdxug02cuV0BX7Dlf5_S1q9VNwWwf9I-YTyeZFNR1hCcRDCbAJ5eC7LIxAcJqidJ17XL865a5fAuaUd2W1PbCe52vtMDiGvMuJkTewhAKduGvdIWXjClm5SURbOQds1X1rC-r1_O2eaWhxGoSQoYPxT7P8stbQ9uySdop7gWefGAWyLZLhG2_Gh64IG6lNqdzLVzAcxUXjhAu57U64xeGHQUqewlmPgE8=",
  "id": "rs_02ca71d0f42cc462016aaca0f70b9487d088f52701ca0cf2f1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.395,\"right_y\":0.365,\"right_z\":0.19,\"right_pitch\":0.55,\"right_roll\":0.2},\"note\":\"The arm did not fully reach the centering target, and the brick remains close to the near rim. I’m changing the wrist tilt to gain forward reach rather than forcing the same position.\"}",
  "call_id": "call_2REDF5XTJJceehColDJ50P62",
  "id": "fc_02ca71d0f42cc462016aaca0fd897487d08cb74a82514222d0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2REDF5XTJJceehColDJ50P62",
  "output": "executing move_to over 28 steps (2.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8185, 0.6094, -0.4679, -0.0227, -0.0498, 0.9995, 0.8288, 1.9045, 0.9199, 0.7864, 0.26, 0.1616, 0.7507]\nstate[eef_state]: left_x=0.2842 left_y=0.002 left_z=0.1582 left_yaw=0.0039 left_pitch=-0.1045 left_roll=-0.0046 left_gripper=0.9995 right_x=0.3879 right_y=0.3612 right_z=0.1434 right_yaw=0.5003 right_pitch=0.3745 right_roll=0.1258 right_gripper=0.7507\nstate[joint_eff]: [-0.0615, -1.5932, 6.9675, 1.7021, -0.0513, -0.0171, -0.0122, -0.7863, -9.347, 7.3641, 3.0256, 0.0562, 0.0171, 0.9402]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95cd43a1e64acfde2dc2870870c49f37b9799cd199977c392dec242d7898296a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12069e54110a29f6fce41e904f0bdf96d6c3425c7b1e90e433d205a2d2b546d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b3915f5396de2fb1946b3130858dc92fbf5f7c687aa8c3a9cbdeda0fc1c4498",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 3.731 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 50 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8146, 0.6094, -0.461, -0.0227, -0.0498, 0.9995, 0.8967, 1.8187, 1.5639, -0.654, 0.3775, 0.1829, 0.7473]\nstate[eef_state]: left_x=0.2851 left_y=0.002 left_z=0.1606 left_yaw=0.0039 left_pitch=-0.0938 left_roll=-0.0048 left_gripper=0.9995 right_x=0.3483 right_y=0.3374 right_z=0.1796 right_yaw=0.4674 right_pitch=-0.2664 right_roll=-0.1716 right_gripper=0.7473\nstate[joint_eff]: [-0.0752, -1.4564, 7.1043, 1.619, -0.0269, -0.0269, -0.0122, -0.2393, -12.1915, 9.0462, 2.1856, 0.3883, 0.0024, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKEIeL3jXvhSbERMPvVQ2psGbzp3J-JUG7eN9Y8CHDDJaLpqhtL1BGWcdPXMJGG_ZQ-YtVBGjpBCH7ro8ma3N4SN1vkPrinbHyTcp6IK15aepMk-VG9SErU5U6TJvdGjjHrpY43ln2oYVehVBnsDNsb5mEUZSsu5XdpUI-haSWgoF6CdZJDDfH9FjtVSBFtNAa9tKJzVz1dLKOMv8HiYsAgqP0TpKr6yi4nGqFrkc93WrUTNGtJVYh0xWssa7B21wepwfa_Nl7Xd71lExvolPbt0L4xM3Tk2jX6dTlCVinue3wzPCNAIyf7vmJpAvwHAXEk4fyf9M5ZS2rsheASc5hdC21RSqSlLLz-Q81qNda7_ZoQapJh_Mx1Z3NTsOdicD1RHVMAUk5lYKVcQrfd-PpmE7aetr0q3p2fwP0G1ODtNWOUV1sqN51B01KPd2gLQMhwXwHI_Va7vWEn52_NfKcOyRzv-ib1C0KPsDEXNYgoOFD_rp9Zn3IC6l1cCeiuoGAvULhvZV1YM1wQ6GFXt_0npW5TnVZ39p0nSkYMe1b4CZdInl53wUv0Z4an4o6rBrAU18BL9uMnnVuVGK9kRcHux7VlXcEGpPz9Eb-4t0nyx4SZzmzw37VwhPxhLb4UMuN31ozip83UuXIfHWYXE3eyJMBrIdOz57x7VRGgW4LrRU-_5uQ5TyzsNF-nfQejboPyTh2VVLNoC06uNbN6jXj1WNlA6ZkWd-iphr7f0xu-uhf6-xKSh_dUKGC-xQA9mn8xMSU0z-fTqutZD_1BbvMGTk9tiY4T_Zy2Qtmg7DlQvIA935AkxDQYBLO41zNEnEk6jLOG71VDbs0FKB-vWh9TOET_8SS0g5ivl-5dC37qMgdUfSjfaqyaqy5hq8DSlQYGCcIje_C9YacPzf57hOuWYDv67HHdGaz6sk2F0hmOdTLfnmCc_NBFVnqp0uj5R_cS6oPAi5aRpGmWvxXRUIu6nq9C5zc3ooJuixwLtYgWfO1SMJKxGcB79qd5jkWDUXbBtO-DAikpcED0-1GQNE6R-OG-Sq5tRPAY6voRsBGeHHATjqybhb26tAG-NtNeukus6aLa2Lhmc2sAJgF6_jawING2O7zRaHgeMdaMrJq3JK2P7MHCs2CJg1GAdy7RzQBJKIbX45cum15uIg4dPRFpNqzYrUp7zdWgi2Lf9J6SoKex9WaPj_OevWzOC2SmfQcISvHETrEc1rRps-359gLOwtPU0ZEqWg4oWkG3JfIYt1EDvjgm1o7Y1y3QtPGzPAWlIrgGiv5DimYWFZX9e6ELuu1e2ypJ4eSSZqJs_7BffSOCBTrbyh6x_ro_DCoO96cQsEdjTR8EzsVeszMvc0W6Z8EfKymTvqx_RWXPWyMnX3ZWyDlTl6R7JnIqv_uDxeLLt2BPzDBQkyS3FvcXh0aqXFtizfujYPEN932OgKLR8vVzT7y3rfQKSsSgzL56xBjGeqrwnpZy-Dc_vhnLYG65gcHMtXtRAiSIHUhOz57UkljeVC6xu5lSIVNtGDvbI76h1OUJP4FnsYlL6CbbE27lanWvrdJ4AK-jriHSFxy6fjM-IunzIEvPsC9L8BUWqsOPP7mzB-2isMXUi6ZeC3adfMwsyisDmWPDZOMKEpoOv3WdPQL1DRndgvh_7tmxAGrHKHkDULPTZPdWspO5fjF0V_h27XgUSwai7Ll3RVtYRUXIH9ZMbQXOmxSCb5P__2lJZxmQNQYlrrMwA_LcmJxEGDfymQd3-uKP5XG9ZERwVdHztLKe8YN7KEuan1bXf-rIwe8kB5HIm1_x9j5JHc5bGt97cVEF14u52SlDmkv27eaVg_Khb_QAMsXLG5R6-p0IH",
  "id": "rs_02ca71d0f42cc462016aaca103c48487d0846bb24191d7fd28",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.385,\"right_y\":0.395,\"right_z\":0.15},\"note\":\"The new tilt brought the brick over the pot, though it is still near the right side of the opening. I’m shifting it slightly left and lowering a little before releasing it.\"}",
  "call_id": "call_y2FfoBAkBI3XTOmghQXWf1yZ",
  "id": "fc_02ca71d0f42cc462016aaca107708887d0b206aaaecc45f1d0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_y2FfoBAkBI3XTOmghQXWf1yZ",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8185, 0.6094, -0.4679, -0.0227, -0.0498, 0.9995, 0.8745, 1.9606, 0.976, 0.7704, 0.3099, 0.1547, 0.7545]\nstate[eef_state]: left_x=0.2842 left_y=0.002 left_z=0.1582 left_yaw=0.0039 left_pitch=-0.1045 left_roll=-0.0046 left_gripper=0.9995 right_x=0.3843 right_y=0.3813 right_z=0.1349 right_yaw=0.5069 right_pitch=0.3633 right_roll=0.1024 right_gripper=0.7545\nstate[joint_eff]: [-0.0615, -1.2923, 6.9538, 1.6435, -0.0366, -0.0269, -0.0122, 0.5402, -9.6479, 9.1282, 2.4737, 0.1538, 0.149, 0.6422]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20e5110f1e54e0539cde27c55f72e0108db0c46fba0932dac90b67aa85f59235",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:402ad5fa300c1a6ed20eda1e7e2fd5e167d75e93f7df3924168e99a8d1c8068b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6be7ed7b78527a8779a0965287595521b34e461bb17acc411462a0664ffcba05",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 3.959 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 54 changed as sent

message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8185, 0.6094, -0.4679, -0.0227, -0.0498, 0.9995, 0.8288, 1.9045, 0.9199, 0.7864, 0.26, 0.1616, 0.7507]\nstate[eef_state]: left_x=0.2842 left_y=0.002 left_z=0.1582 left_yaw=0.0039 left_pitch=-0.1045 left_roll=-0.0046 left_gripper=0.9995 right_x=0.3879 right_y=0.3612 right_z=0.1434 right_yaw=0.5003 right_pitch=0.3745 right_roll=0.1258 right_gripper=0.7507\nstate[joint_eff]: [-0.0615, -1.5932, 6.9675, 1.7021, -0.0513, -0.0171, -0.0122, -0.7863, -9.347, 7.3641, 3.0256, 0.0562, 0.0171, 0.9402]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKEM3287tUkRmCKqHbnYyejc5FQGB3wSmFwtvCZTwISC0SuMyELHW_-aDV4l6ncUqk5r4158B8kopNeRPcgjyYGAfmLX_DiKMFXLUSt4xbSFC7MSN4z2NY9LrH_0r4ZDUj8b04xz433aDg9d5Is8ar4s6faq2UtA8fsBAEGXbosD4J_KVOznTmn-voIMUajsx2B0Loo8cAcpFX1swlqhtn-Xd-zvqUgxPRx3cJPBtkUvIXeKYV1R40tfwm_zQlkMAYqcsISOFsJaSJ1BTYT_yORfb4Jp_h3FQDtJXRtkEkk_8HMQ1BDeSVZy0TZKC8Xt5Y_JpELhqmHB-ww8erAq2YD-VNQYWhRpwTEckouvfkPFONL_c0Z_kgzqfIaxQw8DuxlEOWhv-pPD0vZNJd-HwBDQ-ykjhPlzYHfe-JiguEtMDYDDJp1ks_ug0LOXmvGSDTpJFlzcPpx3PwTdI_rATqW_rHTbvrWTifNzFKeragYMo7KT5vnV5uODj8fXgeDKC6zBEL5eNZqKXpM4noPl9qtIXfVD11TuLz5X7WovY6GBLV0beXxh1-9b6VZ2o0G66-DWVEp9_KWt90DqW1VaBB6BJH4BkOJIcR2bHzNZBl_AKqhsorrh-jEPYzSfOpI9WiXbX4iTTseDWvS1cd6mURrVJao6J5Vfqz_pnR57RD0SgLXS6pqqbwArip8x3SKWt-Z9Ae6ig8FiEHLhiXwgjZsW3Y5e6EfnJOGWVuDE13bFIzaBIqqdwe_Au66kdptSXkT1VGYr5BNLKJvx3cvrrNyfq4iwkhmon4_NZUAaKZpZWb51Ku6ckDWNkpvC8iMZ9-pxFAgs5-CtOM4-6LWTZPgr4pg1STZhSfgh43kO_hocrApW4id0mMME2V_10dKFV0CuLVjL9dgFEUvjwk0iyjqFsbZrdyeE309VAXWG3LkS3cKup1MY6dAg_jTb7QprCzOP3lWyECfjb0DYV4n0pyvFgcjTR7NCq43us3ZQE0Hnq-Lb85bZ45HbdjVPG0NVpBlFKhigBts1oP5Hsd2PrZfBd9cQYQ-tmybEWVPegbOcf7MpWB0wyhfHoRIwzS0L1hjJ1za4IMBfNtg5Vzoy0rL22ED3BTlvB6yPVtpRCZLSx7IKV-wXqnG-QFIMqH6GrJqgM8g7MmdUDW1q7gPUX01j24slY7ry35gWjdUOYWE0eD0wmwAjXLrCIjmKH1iCxaIYQ_bDTCjx3VHfWVpYtQS3AOIvhj5M0wh69Xdr0bXpIFCkrOrIck1K5rmvoDc_-PclEGmNqMnb4Q7bmiga-AUNrToEwX5KF1lE0FL4pfGc4qHfTUVbob79lRuxO6NdGIsTC2B04xOHnjfPTJsslhbX5w==",
  "id": "rs_02ca71d0f42cc462016aaca10a5acc87d0b5286a312a1582dd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The brick is now positioned inside the pot’s rim, and the descent has slowed at contact. I’m opening the jaws to let it settle into the water.\"}",
  "call_id": "call_JraL6bzLkNiIDoEb9dymjNc3",
  "id": "fc_02ca71d0f42cc462016aaca10b654887d09eccae6864079ba6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JraL6bzLkNiIDoEb9dymjNc3",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8185, 0.6094, -0.4683, -0.0227, -0.0498, 0.9995, 0.8795, 1.9621, 0.9813, 0.7444, 0.3019, 0.1562, 0.9966]\nstate[eef_state]: left_x=0.2842 left_y=0.002 left_z=0.1582 left_yaw=0.0039 left_pitch=-0.1048 left_roll=-0.0046 left_gripper=0.9995 right_x=0.3815 right_y=0.3842 right_z=0.1302 right_yaw=0.5211 right_pitch=0.3419 right_roll=0.0974 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -1.3197, 6.9402, 1.6532, -0.0317, -0.0659, -0.0122, -0.3897, -10.0855, 5.4906, 2.1514, 0.0708, -0.0708, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae96dd8932ca2c4267be91b4dad0e7b0f822894a301f4d3dfa1a666c177e9184",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45a9049fed6ea5310f6f4ceadc60cf056541c1a196afbbafca5162667c56261c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36de697ae3da006d514eb969fcd45a63f334b1861b539df78403ad511f80348d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 5.27 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8185, 0.6094, -0.4679, -0.0227, -0.0498, 0.9995, 0.8745, 1.9606, 0.976, 0.7704, 0.3099, 0.1547, 0.7545]\nstate[eef_state]: left_x=0.2842 left_y=0.002 left_z=0.1582 left_yaw=0.0039 left_pitch=-0.1045 left_roll=-0.0046 left_gripper=0.9995 right_x=0.3843 right_y=0.3813 right_z=0.1349 right_yaw=0.5069 right_pitch=0.3633 right_roll=0.1024 right_gripper=0.7545\nstate[joint_eff]: [-0.0615, -1.2923, 6.9538, 1.6435, -0.0366, -0.0269, -0.0122, 0.5402, -9.6479, 9.1282, 2.4737, 0.1538, 0.149, 0.6422]\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": "gAAAAABqrKEQ3pwSBW8-m91RprawO56009RWJ5m93HczcioStcnb-WzmRrP8wi7JgkagPwmbBF4xg71qfXReYCc8Pp9yqCBn7SIaINIvi8hSW8Wyw7-Ll5lIlD_m-kWdaqzNgdOrsXQRxeYsCctWWbkgK9lOz_8y2m_VNCMwopsQjEX4mpKkQ_Ibs7zyf9QP0CiTz8xHxQXVSPOYznHnd2kq1MTQ0iitu0gvdJS6Jf56GKxBYJJIYZOXDmzBtpxxMgSPFkR1AxEjK-3pdE3Rkg7PwS6yHgRPc70ykG2FUp_J3lN8RY1lf3aRixVyT14QKMc0iYrielG6yXS7VRXYaxVqQTQKz00HFIogKZ1dlMuLd6f-Ub9je_QmchhPoEzZaoeETZ-vXpIIA4bHMp2m-2tItQ5ZZk2OlY2C4-a03juXR02ScH3L3zsMWRWV4-IMI-Z-E3KncaGOaj1U0RgWHmxtpdcI0WuQ9AdiLuuzkSqa4aJP1dqKvvAxcZ_PDSoyFxjrCmuC-wGhDrRjKPElTdoCLIF5STzI45gg3LKWZ4esfFKqS5HqJ2zbiPZ20R3m69cc22k_7OnHp_IGG4zDhxWDMjZ6ZhxhpQOf50auFijRuum_wiU0-BQsJ2jaGvkZVGNaidV6bNlEvLuwl5vs5X0dycP3vycNcsBy6l-UqaMA1vpyIOR9zWuu_qtTCa2eaEsR7EVBRUlCpBoBzTfyXgAShjvnV22CgMAw9qz4UPuT9FNvGta8gwQuoo6Ixgc4BoKLDgD_h3hI28SGXyuhxOS8O-w9eQOsaF2VRlw4RiBKDHFt3jzMSnNqDPqAI22G21yg9ov_BDmL1IpGiJqzbeOuC8CDd3n_hmardaolOODwt1vYHJeuiFTGXqgIGEVMPPv_v_UqdRipUuCaiDV5_fnR3VzyohNEE4Uto-UNnpvJCaT21AdiCivBB0k5I2a3qp2-zAFYncLN6RDZc9ojTSSvUe9xVCtJ9sf1xrWfiPg2wyXrMNIvaWi5ogajuFl27M3Hfzh0kxqK-dk2opJeQL6bP2X8PCm3CpwOQl3P3SyclEV982cxTTmWaUCaTWXvgu5koMmbt6HcaKHK2QQVODxwhRkOvjrUvNuP-9OS0NX7jLv8GGmVdb8LlgMy1AsTb7eEH27R1-BeGkFsUQLZfpCKHDwFytmNzy_26GjQuqlg5Ix5zN1WFNIukLXJ5HIRYJLjgLPZvXnMpftEmSR11ClmiROdwKsoSNDK-CDPqh8EGGwK--YtXgxxbGo-u0A85gEJ8QOfdC-H7JehG_o0HbKU2-rajeSM341xlDKGDyZkaF6vQuZ2kIzDl6G9ZXH9d_DqzRbe7V6pgTHZGwB_mFBxuo8CD5F1QQpemuVZWcBh_zVNri-o4T0=",
  "id": "rs_02ca71d0f42cc462016aaca10ebe5887d0a5007f0a815189a4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.3,\"right_z\":0.27,\"right_pitch\":0.35},\"note\":\"The jaws are open and the brick has dropped lower into the pot. I’m lifting the gripper clear so I can verify that it stays inside without support.\"}",
  "call_id": "call_Sfpp8RletRvTAoRJLgA8bVXd",
  "id": "fc_02ca71d0f42cc462016aaca10fa4b487d0bbc285ba9ad9d5fe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Sfpp8RletRvTAoRJLgA8bVXd",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8215, 0.6094, -0.4683, -0.0227, -0.0498, 0.9995, 0.7853, 1.4364, 0.9203, 0.268, 0.218, 0.1303, 0.9967]\nstate[eef_state]: left_x=0.2843 left_y=0.002 left_z=0.1573 left_yaw=0.0039 left_pitch=-0.1079 left_roll=-0.0045 left_gripper=0.9995 right_x=0.3517 right_y=0.3026 right_z=0.2456 right_yaw=0.5177 right_pitch=0.3256 right_roll=0.0871 right_gripper=0.9967\nstate[joint_eff]: [-0.0205, -1.0735, 7.0632, 1.6874, -0.0611, -0.0562, -0.0122, -0.335, -7.5829, 10.6872, 2.1172, -0.1148, -0.0562, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09b8f185213ff7b9648880bfe1d5ddb14dd1d439a4c8fa7e064cfc30840f04a9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f42a648e2391f4aa52a0fa5f3b7e96f053315883509265c01ec56539f7a9f81",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c796dcc52d7972ec2c8b4d423494d5481b069657b623047451afbfc67699461",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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