adhoc

completed
2026-09-18T03:47:29.310640+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (78 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
95.21 s
total steps
143
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 bringing the right gripper above it with the jaws open, leaving the left arm parked.
move_to
right_x0.4000right_y0.1100right_z0.1500right_gripper1.0000left_x0.2950left_y0.0000left_z0.1800
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.7956, 0.6048, -0.3817, -0.0227, -0.041, 0.9995, -0.0219, 0.794, 0.6041, -0.3782, -0.0139, -0.02, 0.9982] state[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1796 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9995 right_x=0.295 right_y=-0.0004 right_z=0.1803 right_yaw=-0.0003 right_pitch=0.0004 right_roll=-0.0002 right_gripper=0.9982 state[joint_eff]: [-0.5265, -1.6342, 10.1128, 1.7705, -0.0708, 0.2711, -0.0611, -0.5128, -1.5248, 10.1402, 1.8828, -0.0855, 0.0366, -0.2076] 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":0.4,"right_y":0.11,"right_z":0.15,"right_gripper":1,"left_x":0.295,"left_y":0,"left_z":0.18},"note":"The black rectangular brick is to the right of the pot. I’m bringing the right gripper above it with the jaws open, leaving the left arm parked."})
tool
executing move_to over 10 steps (1.0s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
agent noteThe wrist view shows the brick slightly right of the jaw column, with its narrow width suitable for grasping. I’m shifting a little right and forward while lowering toward its sides.
move_to
right_x0.4200right_y0.0970right_z0.0450
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0265, 0.8032, 0.6075, -0.3893, -0.0269, -0.0498, 0.9995, 0.395, 1.4067, 0.7815, -0.0685, 0.2996, 0.1844, 0.9982] state[eef_state]: left_x=0.2946 left_y=0.0005 left_z=0.1771 left_yaw=0.0014 left_pitch=-0.0129 left_roll=-0.0047 left_gripper=0.9995 right_x=0.3827 right_y=0.107 right_z=0.1251 right_yaw=0.0424 right_pitch=-0.0893 right_roll=-0.0356 right_gripper=0.9982 state[joint_eff]: [-0.6769, -1.7299, 6.9675, 1.7705, -0.1294, -0.022, -0.0122, 0.3077, -6.4342, 9.0188, 1.8974, 0.1392, 0.1392, -0.2027] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.42,"right_y":0.097,"right_z":0.045},"note":"The wrist view shows the brick slightly right of the jaw column, with its narrow width suitable for grasping. I’m shifting a little right and forward while lowering toward its sides."})
tool
executing move_to over 6 steps (0.6s)
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 remains slightly right of the jaws and extends toward their lower edge in the wrist view. I’m centering the fingers farther along the brick and lowering to a table-level grasp.
move_to
right_x0.4430right_y0.0770right_z0.0120
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8051, 0.6075, -0.3901, -0.0265, -0.0498, 0.9995, 0.3233, 1.7073, 0.7113, 0.2325, 0.2466, 0.1383, 0.998] state[eef_state]: left_x=0.2946 left_y=0.0006 left_z=0.1765 left_yaw=0.0015 left_pitch=-0.0155 left_roll=-0.0049 left_gripper=0.9995 right_x=0.405 right_y=0.094 right_z=0.0338 right_yaw=0.0369 right_pitch=-0.168 right_roll=-0.0596 right_gripper=0.998 state[joint_eff]: [-0.0615, -1.388, 7.0222, 1.7167, -0.0855, -0.0708, -0.0122, -0.6359, -7.5556, 5.6821, 1.9512, 0.0366, 0.0317, -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":0.443,"right_y":0.077,"right_z":0.012},"note":"The brick remains slightly right of the jaws and extends toward their lower edge in the wrist view. I’m centering the fingers farther along the brick and lowering to a table-level grasp."})
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 brick is now centered between the open fingers at table height. I’m closing the gripper to secure its narrow sides.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8062, 0.6075, -0.3904, -0.0261, -0.0494, 0.9995, 0.2493, 1.858, 0.7795, 0.2962, 0.1974, 0.0925, 0.998] state[eef_state]: left_x=0.2946 left_y=0.0005 left_z=0.1761 left_yaw=0.0009 left_pitch=-0.0171 left_roll=-0.0047 left_gripper=0.9995 right_x=0.4303 right_y=0.0775 right_z=0.0063 right_yaw=0.0284 right_pitch=-0.1965 right_roll=-0.0646 right_gripper=0.998 state[joint_eff]: [-0.1709, -1.3333, 7.1863, 1.6972, -0.0513, -0.0415, -0.0122, -0.1709, -9.1692, 6.7761, 1.8339, 0.0171, -0.0562, -0.0171] 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 brick is now centered between the open fingers at table height. I’m closing the gripper to secure its narrow sides."})
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 stopped at about 7 cm of opening, consistent with holding the brick rather than closing empty. I’m lifting it a short distance to verify that it comes off the table.
move_to
right_x0.4330right_y0.0750right_z0.0750
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.807, 0.6075, -0.3901, -0.0265, -0.0498, 0.9995, 0.2344, 1.8797, 0.7883, 0.3035, 0.1768, 0.0738, 0.7478] state[eef_state]: left_x=0.2947 left_y=0.0006 left_z=0.1759 left_yaw=0.0015 left_pitch=-0.0175 left_roll=-0.0048 left_gripper=0.9995 right_x=0.433 right_y=0.0752 right_z=0.001 right_yaw=0.041 right_pitch=-0.2058 right_roll=-0.065 right_gripper=0.7478 state[joint_eff]: [-0.1709, -1.1829, 7.0769, 1.7265, -0.0757, -0.0611, -0.0122, 0.0479, -8.8274, 6.8034, 1.6239, 0.0904, -0.0464, 1.033] 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_x":0.433,"right_y":0.075,"right_z":0.075},"note":"The gripper stopped at about 7 cm of opening, consistent with holding the brick rather than closing empty. I’m lifting it a short distance to verify that it comes off the table."})
tool
executing move_to over 5 steps (0.5s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteThe jaws are still holding the brick, but the loaded arm rose less than commanded. I’m lifting higher with a slight inward move to improve clearance before carrying it toward the pot.
move_to
right_x0.4000right_y0.0750right_z0.1700right_pitch0.1500
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8082, 0.6075, -0.3901, -0.0265, -0.0498, 0.9995, 0.2344, 1.7454, 0.8494, -0.0158, 0.1696, 0.0704, 0.7477] state[eef_state]: left_x=0.2948 left_y=0.0006 left_z=0.1756 left_yaw=0.0015 left_pitch=-0.0186 left_roll=-0.0048 left_gripper=0.9995 right_x=0.41 right_y=0.071 right_z=0.0252 right_yaw=0.0426 right_pitch=-0.3287 right_roll=-0.0864 right_gripper=0.7477 state[joint_eff]: [-0.0068, -1.2923, 7.0496, 1.7656, -0.0806, -0.0806, -0.0122, -0.2256, -11.9726, 9.894, 2.1465, 0.1587, -0.0269, 1.033] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.075,"right_z":0.17,"right_pitch":0.15},"note":"The jaws are still holding the brick, but the loaded arm rose less than commanded. I’m lifting higher with a slight inward move to improve clearance before carrying it toward the pot."})
tool
executing move_to over 16 steps (1.6s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteThe brick has lifted with the gripper, and its cable is trailing behind it. I’m raising it above the pot’s rim while beginning a clear, sideways approach.
move_to
right_x0.3950right_y0.2000right_z0.2900right_pitch0.1500
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8108, 0.6075, -0.3901, -0.0265, -0.0494, 0.9995, 0.2947, 1.3701, 0.6693, 0.0727, 0.2508, 0.0254, 0.7477] state[eef_state]: left_x=0.295 left_y=0.0006 left_z=0.1749 left_yaw=0.0013 left_pitch=-0.0213 left_roll=-0.0044 left_gripper=0.9995 right_x=0.3836 right_y=0.0743 right_z=0.117 right_yaw=0.0693 right_pitch=-0.0421 right_roll=-0.1166 right_gripper=0.7477 state[joint_eff]: [-0.1983, -1.5795, 7.0085, 1.7265, -0.0611, -0.0317, -0.0122, 0.4308, -8.6085, 7.6923, 2.8596, 0.3883, 0.0562, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.395,"right_y":0.2,"right_z":0.29,"right_pitch":0.15},"note":"The brick has lifted with the gripper, and its cable is trailing behind it. I’m raising it above the pot’s rim while beginning a clear, sideways approach."})
tool
executing move_to over 12 steps (1.2s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteThe brick is clear of the tabletop and rim height. I’m moving it over the pot’s opening, keeping the gripper closed and the load elevated.
move_to
right_x0.4300right_y0.3550right_z0.2900right_pitch0.1500
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8116, 0.6075, -0.3901, -0.0261, -0.0498, 0.9995, 0.6888, 1.4868, 1.2392, -0.4179, 0.5568, 0.1654, 0.7477] state[eef_state]: left_x=0.295 left_y=0.0005 left_z=0.1747 left_yaw=0.0012 left_pitch=-0.022 left_roll=-0.0049 left_gripper=0.9995 right_x=0.3839 right_y=0.1997 right_z=0.2375 right_yaw=0.1404 right_pitch=0.0051 right_roll=-0.1844 right_gripper=0.7477 state[joint_eff]: [-0.0342, -1.4154, 7.0359, 1.6777, -0.0513, -0.0757, -0.0122, 0.253, -7.8564, 11.4256, 2.1514, 0.6032, 0.2466, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.355,"right_z":0.29,"right_pitch":0.15},"note":"The brick is clear of the tabletop and rim height. I’m moving it over the pot’s opening, keeping the gripper closed and the load elevated."})
tool
executing move_to over 13 steps (1.3s)
step 75
top_cam
camera top_cam step 75
left_cam
camera left_cam step 75
right_cam
camera right_cam step 75
assistant
agent noteThe brick is over the opening but a little toward its right side. I’m shifting it toward the pot’s center and lowering carefully toward the water.
move_to
right_x0.4400right_y0.3900right_z0.1900right_pitch0.1500
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8162, 0.6075, -0.4068, -0.0265, -0.0498, 0.9995, 0.9077, 2.0365, 1.9018, -0.6247, 0.7132, 0.2134, 0.7477] state[eef_state]: left_x=0.2929 left_y=0.0006 left_z=0.17 left_yaw=0.0015 left_pitch=-0.0434 left_roll=-0.0041 left_gripper=0.9995 right_x=0.4189 right_y=0.3544 right_z=0.2344 right_yaw=0.2155 right_pitch=-0.0055 right_roll=-0.2815 right_gripper=0.7477 state[joint_eff]: [-0.1573, -1.7299, 7.0496, 1.8339, -0.0708, -0.0708, -0.0122, -0.1436, -13.8462, 11.0974, 2.044, 0.8425, 0.2515, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.44,"right_y":0.39,"right_z":0.19,"right_pitch":0.15},"note":"The brick is over the opening but a little toward its right side. I’m shifting it toward the pot’s center and lowering carefully toward the water."})
tool
executing move_to over 6 steps (0.6s)
step 81
top_cam
camera top_cam step 81
left_cam
camera left_cam step 81
right_cam
camera right_cam step 81
assistant
agent noteThe brick is aligned inside the pot’s rim. I’m lowering it a few more centimeters so it can be released into the pot without dropping from a height.
move_to
right_x0.4450right_y0.3950right_z0.1450right_pitch0.1500
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8173, 0.6075, -0.4076, -0.0261, -0.0498, 0.9995, 0.9298, 2.1742, 1.7374, -0.3695, 0.7277, 0.1448, 0.7477] state[eef_state]: left_x=0.2929 left_y=0.0006 left_z=0.1696 left_yaw=0.0012 left_pitch=-0.0453 left_roll=-0.0043 left_gripper=0.9995 right_x=0.4244 right_y=0.3784 right_z=0.1345 right_yaw=0.2613 right_pitch=-0.0477 right_roll=-0.3759 right_gripper=0.7477 state[joint_eff]: [-0.1162, -1.4838, 6.9949, 1.7314, -0.0562, -0.0317, -0.0122, 0.6222, -15.0085, 8.8684, 2.4396, 0.9402, -0.0611, 1.0232] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.445,"right_y":0.395,"right_z":0.145,"right_pitch":0.15},"note":"The brick is aligned inside the pot’s rim. I’m lowering it a few more centimeters so it can be released into the pot without dropping from a height."})
tool
executing move_to over 7 steps (0.7s)
step 88
top_cam
camera top_cam step 88
left_cam
camera left_cam step 88
right_cam
camera right_cam step 88
assistant
agent noteThe brick is lowered within the pot’s walls. I’m opening the fingers to leave it in the water.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8173, 0.6075, -0.408, -0.0261, -0.0498, 0.9995, 0.9363, 2.225, 1.6554, -0.1623, 0.7433, 0.0322, 0.7477] state[eef_state]: left_x=0.2928 left_y=0.0006 left_z=0.1695 left_yaw=0.0012 left_pitch=-0.0457 left_roll=-0.0043 left_gripper=0.9995 right_x=0.4303 right_y=0.389 right_z=0.1063 right_yaw=0.313 right_pitch=-0.006 right_roll=-0.4331 right_gripper=0.7477 state[joint_eff]: [-0.0342, -1.4017, 7.0222, 1.6679, -0.0708, -0.0269, -0.0122, -0.0205, -13.1214, 8.3214, 2.4444, 0.8376, 0.1197, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The brick is lowered within the pot’s walls. I’m opening the fingers to leave it in the water."})
tool
executing move_to over 3 steps (0.3s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteThe released brick is visible resting inside the pot. I’m lifting the open gripper straight up to clear the rim.
move_to
right_x0.4300right_y0.3850right_z0.2700right_pitch0.1500
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8173, 0.6075, -0.4088, -0.0257, -0.0498, 0.9995, 0.936, 2.2383, 1.6207, -0.1406, 0.7403, 0.0154, 0.9959] state[eef_state]: left_x=0.2927 left_y=0.0005 left_z=0.1693 left_yaw=0.0009 left_pitch=-0.0464 left_roll=-0.0045 left_gripper=0.9995 right_x=0.4273 right_y=0.3852 right_z=0.0887 right_yaw=0.3227 right_pitch=-0.0327 right_roll=-0.4607 right_gripper=0.9959 state[joint_eff]: [-0.0068, -1.1282, 6.9949, 1.6923, -0.0171, -0.0073, -0.0122, -0.335, -13.8188, 9.6615, 1.4628, 0.2076, 0.0855, -0.1001] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.385,"right_z":0.27,"right_pitch":0.15},"note":"The released brick is visible resting inside the pot. I’m lifting the open gripper straight up to clear the rim."})
tool
executing move_to over 12 steps (1.2s)
step 103
top_cam
camera top_cam step 103
left_cam
camera left_cam step 103
right_cam
camera right_cam step 103
assistant
agent noteThe brick remains in the pot, but the gripper did not clear the rim on the first lift. I’m narrowing the empty jaws slightly and drawing the arm inward as it rises to avoid catching the pot.
move_to
right_x0.3850right_y0.3500right_z0.2400right_gripper0.8500right_pitch0.1500
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8173, 0.6075, -0.4084, -0.0261, -0.0498, 0.9995, 0.9401, 2.2284, 1.7107, -0.2935, 0.7544, -0.0303, 0.9967] state[eef_state]: left_x=0.2928 left_y=0.0006 left_z=0.1694 left_yaw=0.0012 left_pitch=-0.0461 left_roll=-0.0043 left_gripper=0.9995 right_x=0.4256 right_y=0.3838 right_z=0.1078 right_yaw=0.3363 right_pitch=-0.0824 right_roll=-0.5366 right_gripper=0.9967 state[joint_eff]: [-0.1709, -1.1419, 7.1043, 1.707, -0.0269, -0.0073, -0.0122, 0.7179, -24.0615, 13.2718, 2.3223, 0.6325, 0.0171, 0.0708] camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.385,"right_y":0.35,"right_z":0.24,"right_gripper":0.85,"right_pitch":0.15},"note":"The brick remains in the pot, but the gripper did not clear the rim on the first lift. I’m narrowing the empty jaws slightly and drawing the arm inward as it rises to avoid catching the pot."})
tool
executing move_to over 9 steps (0.9s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteThe gripper is now clear, and the brick is visibly resting inside the pot. I’m parking the right arm away from the pot so the final placement is unobstructed.
move_to
right_x0.2950right_y0.0000right_z0.2000right_pitch0.0000right_gripper1.0000left_x0.2950left_y0.0000left_z0.1800
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8211, 0.6075, -0.4149, -0.0261, -0.0498, 0.9995, 0.9943, 1.9007, 1.5139, -0.2276, 0.8509, -0.1276, 0.8513] state[eef_state]: left_x=0.292 left_y=0.0006 left_z=0.1671 left_yaw=0.0012 left_pitch=-0.0564 left_roll=-0.004 left_gripper=0.9995 right_x=0.385 right_y=0.3551 right_z=0.2175 right_yaw=0.3617 right_pitch=0.087 right_roll=-0.5563 right_gripper=0.8513 state[joint_eff]: [-0.1573, -1.6479, 7.159, 1.8291, -0.022, -0.0562, -0.0122, 0.2667, -11.5214, 6.3658, 1.7753, 0.3394, 0.0024, 0.0366] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.295,"right_y":0,"right_z":0.2,"right_pitch":0,"right_gripper":1,"left_x":0.295,"left_y":0,"left_z":0.18},"note":"The gripper is now clear, and the brick is visibly resting inside the pot. I’m parking the right arm away from the pot so the final placement is unobstructed."})
tool
executing move_to over 30 steps (3.0s)
step 142
top_cam
camera top_cam step 142
left_cam
camera left_cam step 142
right_cam
camera right_cam step 142
assistant
agent notePlaced the black brick inside the pot and moved the gripper clear. The final camera view confirms the brick remains in the pot.
done
hindsightThe brick was grasped at approximately right_x=0.43, right_y=0.075, z=0.006, with a settled gripper opening of 0.75. The pot accepted placement near right_x=0.43, right_y=0.389, z=0.106. With this load the arm sagged about 5 cm below height targets. At the far sideways reach, a straight upward withdrawal stalled; reducing both x and y while raising cleared the rim.
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8394, 0.6281, -0.461, -0.0261, -0.0528, 0.9995, -0.0349, 0.7456, 0.5934, -0.3187, 0.0044, -0.6502, 0.9977] state[eef_state]: left_x=0.289 left_y=0.0007 left_z=0.1623 left_yaw=0.0029 left_pitch=-0.1002 left_roll=-0.0052 left_gripper=0.9995 right_x=0.2973 right_y=-0.0076 right_z=0.2015 right_yaw=0.2924 right_pitch=-0.0006 right_roll=-0.5625 right_gripper=0.9977 state[joint_eff]: [-0.4444, -1.1145, 10.3179, 1.7265, -0.0513, -0.0562, -0.0122, -0.0342, -1.1692, 6.5436, 1.8926, -0.2515, -0.0073, -0.2564] approver: 1 step(s) modified (delta_clamped). 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
done({"summary":"Placed the black brick inside the pot and moved the gripper clear. The final camera view confirms the brick remains in the pot.","hindsight":"The brick was grasped at approximately right_x=0.43, right_y=0.075, z=0.006, with a settled gripper opening of 0.75. The pot accepted placement near right_x=0.43, right_y=0.389, z=0.106. With this load the arm sagged about 5 cm below height targets. At the far sideways reach, a straight upward withdrawal stalled; reducing both x and y while raising cleared the rim."})
tool
done: Placed the black brick inside the pot and moved the gripper clear. The final camera view confirms the brick remains in the pot.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "What you observe right now in the observation (images, if any, and state), and why you chose this motion. The user reads these notes live and in the saved transcript to follow what you see and what you decide. Write for them, in one or two plain sentences.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 5.779 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
  "role": "system"
}
{
  "content": "Goal: put the black brick into the pot of water",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.7956, 0.6048, -0.3817, -0.0227, -0.041, 0.9995, -0.0219, 0.794, 0.6041, -0.3782, -0.0139, -0.02, 0.9982]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1796 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9995 right_x=0.295 right_y=-0.0004 right_z=0.1803 right_yaw=-0.0003 right_pitch=0.0004 right_roll=-0.0002 right_gripper=0.9982\nstate[joint_eff]: [-0.5265, -1.6342, 10.1128, 1.7705, -0.0708, 0.2711, -0.0611, -0.5128, -1.5248, 10.1402, 1.8828, -0.0855, 0.0366, -0.2076]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:746d4b9601c65bbd278ad06f73ac163f02aabddd1f708a3042cae9bde7a71ab0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:853ad8aaf91641b33c02b2eedc2f02e136102d44a73a19af411361bce7250772",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:349faecb1f9fc68a0478bdeac9a92194db47259a0c4b2c7ae03df937ddbf7f0a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 746d4b9601c6
wire blob 853ad8aaf916
wire blob 349faecb1f9f
call 1 attempt 0 · /responses · status 200 · 6.166 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqrLRjrHxYcaSOKch5f_WAPSmfx0LN-YF1tXBZ6XTXYp_5FOrM2OCJRqNcsVHxKKT_IeXBqN7RuA0YkQG63XSUcMm5cszCpBjvYif5-MLo0hbPtH6iuiltoBuM20piCIUP9JauFfr8CL2lY1JhuyXw0JZHaLprsmM5PFijHTR6PtqJQf5kRAglaxA5B9zhB1hLrlYPzShDj2abA8Oc8VYs6S4or4igNu5L6Apc9k8O2eN09QaoduEQ0OSTqtxeHnq90Odde95I6P73wJGZnfdddEvBKi06GDZJ242laq7g-ZZnKp3wLdha55pDb55j7LZr1bcJZjvj5rzBPqKQNB-a5bRDPRWGGFPyrBoXzH5sKVY68FlQ0bfv_Xw_xP6IMgYKbCrmY3OYrzGdKRirL_repvNOHLHTQ_ve7H7UvlOZMhgkS-T1fAfvVhPMXkuxHco3F6eyokjc8cQsAoJiCHKNtSk0F2AUynf6otX8oHlm49n6atyK4C8khHA2iYBZvQ1xVumpuo0QAHj0dgJLwT0lpsJP7i8hpBirUQZoDbRDnOQAGDhWoI6e3qNCL9tG4Ix3ny5lOEwaomWChLseNuPyoAq8E4Ye5iWMnjUIvqANIG3cNHbX7I-AudZmJWHi-SmYZd9_p4gnUIGvxDJgJjVkYLHUS2YckpXnX7vcmG8rOLKyZD_FhvNCOmodhtalQFH3_7ZSoaqY2OJbTev3Js5_B8S6gSYLiUozYhJZ_UV11B33boWjKPwieYev__yjo1HbeyqWaGLKYgzfrEi6dxvmO0KzYtLXc-IjTy5TW_95va1sPEW0FX61PjP2Tugc6-4B2SZFZLeB9LSih8v7Q_jMMqY0doeUMkQuVyhf6wJpm0Hl3FHlwd_dhyIkLWCmzxSmTG3h3SFOxw-lIRo-TPXzqbpfw9Y-A7-kLSGkjx4_efEjE3FDlQX7mtKVYOaX0bTLxsQXYNWuv73hoxS9F032Pdtsx7mA5Of3Jo7KspXTfDNlyJWZI06StfI6FH_xI-_u4T_6gQuUvbKuEJ3yUsIb02PdY5NmlsG7MTN2nkSCyz-qaERHCn4cBJfTWd7LKJtWTevPxS1e_NZbbCc0nSpivS9LRFeYRQm8WUisiAEbREdc9Nsw99hkikbgHZ5NNCFwtFHkW7msbqNyQvHhT92tMPVb5BZcQjUdKG6Pv4u3MfoOjz3Sepc0z81VzFcNB-D6QP0dCjs8dCLKtH0ft2NtjeoD8WzUk98u4h-EIsT4j9_7688Yzet3IJB1Aw7E1rI1bAdAoIJJebBSIMnnBxOyZEuBq1tBEWTcaaEAGL6jWPTGank8R1uIEl6S2yagQLB4vv8DeFCif3cjuBK4vJtXmM4OPEGNf25OVCMJfphXUKiR0tNu7TwzS6PYqrvv4EIYIySutJckdBb_RqGMqvm7eb7FfEzO2p9mEedz5cs-7YK--lgyVhZ0qTh52TbMuGdDk2pfDjm0CAPQHjKxqa_ceK5-6j5b_jNOtCdyYVujdNOKcbubtEnPCC232slZAH2PGeFrv5FD5jx1EE-Bj0ASqUMCPqrNl8W9iR_Z2Y9WcqQNXMqlaQaHWX4ikGKqXbFdrdErKGdnSXetQ6nQ23ThVibOvZbh6NqUgh6PJe_EnKtvPHk=",
  "id": "rs_009144f1c1282598016aacb45f779887d0b0bf6565bbe68cbf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.11,\"right_z\":0.15,\"right_gripper\":1,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18},\"note\":\"The black rectangular brick is to the right of the pot. I’m bringing the right gripper above it with the jaws open, leaving the left arm parked.\"}",
  "call_id": "call_Uo4VGp5kQUO9MV1pfffZURPv",
  "id": "fc_009144f1c1282598016aacb4625a8087d0b26b180fb0b0e289",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Uo4VGp5kQUO9MV1pfffZURPv",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0265, 0.8032, 0.6075, -0.3893, -0.0269, -0.0498, 0.9995, 0.395, 1.4067, 0.7815, -0.0685, 0.2996, 0.1844, 0.9982]\nstate[eef_state]: left_x=0.2946 left_y=0.0005 left_z=0.1771 left_yaw=0.0014 left_pitch=-0.0129 left_roll=-0.0047 left_gripper=0.9995 right_x=0.3827 right_y=0.107 right_z=0.1251 right_yaw=0.0424 right_pitch=-0.0893 right_roll=-0.0356 right_gripper=0.9982\nstate[joint_eff]: [-0.6769, -1.7299, 6.9675, 1.7705, -0.1294, -0.022, -0.0122, 0.3077, -6.4342, 9.0188, 1.8974, 0.1392, 0.1392, -0.2027]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e18fb29ef6b90612e3194f3b85d2e6b63e5a915428b6ee5bd88a226b8793fda2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64476f83d1ae5e6870624d6466197be0e4c501f00250f06cfaf9da0cb7219db2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e523bd9791f0b4b447b74c990089cee8c12c5a49e936ea363e26f1d3e6ff75ea",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob e18fb29ef6b9
wire blob 64476f83d1ae
wire blob e523bd9791f0
call 2 attempt 0 · /responses · status 200 · 6.854 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 2 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.7956, 0.6048, -0.3817, -0.0227, -0.041, 0.9995, -0.0219, 0.794, 0.6041, -0.3782, -0.0139, -0.02, 0.9982]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1796 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9995 right_x=0.295 right_y=-0.0004 right_z=0.1803 right_yaw=-0.0003 right_pitch=0.0004 right_roll=-0.0002 right_gripper=0.9982\nstate[joint_eff]: [-0.5265, -1.6342, 10.1128, 1.7705, -0.0708, 0.2711, -0.0611, -0.5128, -1.5248, 10.1402, 1.8828, -0.0855, 0.0366, -0.2076]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLRq6RL2yMTSMHCCnUqcRNmEe_UWhTU4vsCx38rDP4imUUPEBJD2rMwIF1FgjjiO-UtcG_ysgrdqHOh5FFh5lHX-8B5XA3a3TZtx2IPO4pTLJtnBptI5uExDB-zmTLdyc4aDKem9ckgHEwqke8-k1TWyAec4urfsYGRdXKPzsQX4IDKCacZAQo_TR6QhlvoResj5EwDm9tKltOtj7nDK3zOklBg9znBm2r40-J1WbkLtLv0kTc7kgoO5BtDskNhYOeK7Yn85eO_PyYLSgkFx5lzGgk7kr5mUgHINQFbhM4iFMJGWbyZLvF5nBQmamHs5CaI1Ja0qNhIaNeOPS-Rqt2b8Oe8_uIA52RejMJm9IQGScvgHZJpbSZagEUSwZhnuu23RlEukIyacDc0KIIk6-oBjjA3rPinthWzV9mh2ZjtplfI-PxnSpf9UlaiaMjlYWBs4fJaIBW6RrzVADDA00d6_akQICPOcEwfqa99B4X2mkpwUPBGk6UDY8AxS1O-t3xQ0_LTAPZ69TUJxLz7iF3Sg9tFOd-obxa7N22Fa4-FQ91Qd9GUbTa6iLivsE9_gIA4zCxBStuw_BVAlxuf0NmmSdj8mDJupv_ogWQjp7zsB45cKQJ0YRzZm55HqZW2XY4ud7Z6cTaEOvczwPSbu6riUhS_7-iRk3qmGXH7pKWkFyeXrBE3W1G6JrNLeGInMhx-PqEhoRPr7-PprO1tuNtk6SnEqJl9Q_hsavTeKzYvoU0un4UbjHjRASAptYtEkmJgjheK55ZHU_sij3AmFu1GulXrK9HMS6G86Ih8acMWhHAIMANKbxbLAi1i0k2D72K90UERqNcl_oiPYOp8iVaclu4jtiX0lsN2ktOQ1qFSsz6e6rJuaicsLa_o8G5nN6p5kPNd3FOtxxkwr7UBygu346njEAtb4tfFDLgYaHv4ITZPIp91XPyqVKkm5p2L4UsBSQgxb7Z7d84C7ND4qeFkV3pCXtw_Yb43wZf6z3AVlcvIz2_YMZgAe1-iw7oXm4-K8tTOIxo6xAVwUX6bX6bBbOqoK3USiX7FvMyJ57DYH0jB4hgzQPXNaOpSW_vBuKad4SZ-nkr9vMN_uO8xdXMrWVzxPIAjPSn056aMbeL713sGsWihAFoF4SWD2VtFtwuKliY2_5IyUapQb5T2f-qDYitUACoD2fv3kk_U9pZRTjI3DAc9P4bfsz2pwbRBkvYo8zQ-WVQkqF_II_ydg0t0eXG2yvX_wa4GpNcK6W1Q-Bx0x_f5mVwitH3FKmj36ZP_g4FuCnusG41LkwwyWPJ9jeBT66vSKJWlJ9gJMBcEXV4wWR7dKVXlMWV_ior38BOSPpkvCVIfVKkFKXd_-vBiQGBATi7YUyA7oXOPRe14SKDvXCMjm_tqHqcWmVPiueftuIFdCIM--RfQUN-oKF8lL4Vu1wHeqB8ATm_nAqhuwcYR56aUo0K-cYDIDxoyhYFylIeMVALvb4STHCoO8sAHuL0lPf1LLcEY-YiiEExgYqk0dmuHNC7G0CR1mgnjQFFVuG9mU96mSfcYJNNFvZeuRgYu4E9ZxxCzsSPczxf0-i9G69wHliyTv6aAHoXcgaxaNB30v0dKYpJ-5Gbwll9CldirLAJhAAL_etqR_vCEc_iIMFt97LyAn1Rg3N-J7GkQl6v_KRN3LM_opYTzQoT5Trw==",
  "id": "rs_009144f1c1282598016aacb4668a0c87d0a90de363179c1d85",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.097,\"right_z\":0.045},\"note\":\"The wrist view shows the brick slightly right of the jaw column, with its narrow width suitable for grasping. I’m shifting a little right and forward while lowering toward its sides.\"}",
  "call_id": "call_rWBk3IJA7dIn4cmB3l4NxKKr",
  "id": "fc_009144f1c1282598016aacb46976e087d0a28bd951b4cce060",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rWBk3IJA7dIn4cmB3l4NxKKr",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8051, 0.6075, -0.3901, -0.0265, -0.0498, 0.9995, 0.3233, 1.7073, 0.7113, 0.2325, 0.2466, 0.1383, 0.998]\nstate[eef_state]: left_x=0.2946 left_y=0.0006 left_z=0.1765 left_yaw=0.0015 left_pitch=-0.0155 left_roll=-0.0049 left_gripper=0.9995 right_x=0.405 right_y=0.094 right_z=0.0338 right_yaw=0.0369 right_pitch=-0.168 right_roll=-0.0596 right_gripper=0.998\nstate[joint_eff]: [-0.0615, -1.388, 7.0222, 1.7167, -0.0855, -0.0708, -0.0122, -0.6359, -7.5556, 5.6821, 1.9512, 0.0366, 0.0317, -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,$blob:a2f8ab9892379fb49f1127de4d19e1e9d53bed8f020ace733ca3a81c9c48bb38",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f12dbefaac2e2bc3c6d41e5a45e16185b84e30a1ea022da893cbcc68e9fe3602",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8eeb839620a16a379b3b8a2b18c75c476cf52854799544ffcd25ec76d32e3873",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob a2f8ab989237
wire blob f12dbefaac2e
wire blob 8eeb839620a1
call 3 attempt 0 · /responses · status 200 · 3.185 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 6 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0265, 0.8032, 0.6075, -0.3893, -0.0269, -0.0498, 0.9995, 0.395, 1.4067, 0.7815, -0.0685, 0.2996, 0.1844, 0.9982]\nstate[eef_state]: left_x=0.2946 left_y=0.0005 left_z=0.1771 left_yaw=0.0014 left_pitch=-0.0129 left_roll=-0.0047 left_gripper=0.9995 right_x=0.3827 right_y=0.107 right_z=0.1251 right_yaw=0.0424 right_pitch=-0.0893 right_roll=-0.0356 right_gripper=0.9982\nstate[joint_eff]: [-0.6769, -1.7299, 6.9675, 1.7705, -0.1294, -0.022, -0.0122, 0.3077, -6.4342, 9.0188, 1.8974, 0.1392, 0.1392, -0.2027]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLRyF5pz5zenkrkb3zl0KWHB324_guKwp0RfxvSaZOF8FHrTjkxRHA-gQvKiDbY1gNjw8aXoysda8HI4IpV2fzbMD2d2sIswYUpLECfTM0IrUPm0_ygqGHmkt-BX4YmVONxWkM1Tmg6LiueXwespc49aZKuVtANaZrZLuN7m3QgD-XMy_k9NbOqf2Qt7PrT4sPrBI2b6CZ9KsabbThIcqGEwV_7s0AopNf6YEUPPtiR1L5k4y05NkHKXdqgXaXtNTHewFtMtryF645zUsf8YP6wrVW2g3ojVccFhxi7ZIZql1DZt8HvoztHtBoriaVxtPl4froZ1zEZK63zz6mak596S3LuognwpY2nntTXi2IgQDekYThdeMiUPbdcVtcZyxD0KNgzqVATZdw14l95MfMq8b8gRX55259HDWovJLGsKpsdefUDUQw47nHBjSUJqdM-agUIUtdNJAcnj5WxMsykH_0KZ50mcXnD1noWvkD3HVO4zsjpJnhnk7HFJFAXwTAAD3ODU0LnfzuXrXuTCNq6LAQ5OK-Evn_dqh_vu4CVVbRTiCSPSWqVaYcmAxznUBFin-MGPrAMgbAqbQWNhHSMaHYYODtSESq1IvPu123D_e34z1k2cfr0IhXESasJkz9_egsBLbdeEkvO4e2x8N4TN5583rONCHIyAXK4YWUPx00fCA23jalkw6emj4HEucaqMJib_vGDplmWN4bVUnacHzDlVvtRxkWZSnQGCl7V3OWLosTEEwSJM1ZoM-jc3U_DECahqUSsntUmEnJ41Hd4OHjqRfrV7YdK_CcKK8ujomPe5VERyCXN9ujliXbGhT2on2fJCMYSfpWumZ2Kqaa2l2ONXD_W6zuUD7HAQuugOWqBmb_6x2TjGw_4v_w5LlyvrZ5NroK__hS5PqssxM0XBM05MavC5-CfqBHm--gmLldbc-gi-dCyCkofSZYaYH35sixIESa8gyh1PZoz13MTZsU2KgYvPFAuIcfWKST1kkHATiCOyiY9RSFFWND6y2vbxoBxubZ-8KggLhMdDVMfqkMuXPgAG4mXf-d8fgBXDPBhb6-Ul2cPpe1Xbev0qgbH7Pmrv9vgOsO5UkaPWC0qHeHYeNnA41WGBscyECBrcItvWWghzSL0qf3sK_XYMBjE9d61QtTUNxlg2dJSgvnV2UJmDnncnTKn35h-AVn2X_8zY_rzDfS_L1gmfXaHebFOVr4PYfYShQh0Jyn3Nsv4gs9dBo8K-RhSZNSwDRZI_YCtRqVuNv0i4SD7sLgI9cxM7iKzXw9bJM7s0PoIIT6HtFoMpiWWWIwTl4pZkTGHww9OgxmOFcKuG_NQ9x6iNQomEqA9-cnMAni1vNJatvEejzXFvsv51UgvVD4JVCxM8B7a1V6wPPQDrZhDMkDXwkDBoMs-BFIfxWeWL-GEkYlBzHJ31OAAMszkjTMbhhUzarmKZtyqIcRZQg3BdQUYiRKKOiMsDwMhoTCsrnSspEBNUgs5tF7FTLnzugyEq1-bPQHVtvjtBGL7kVydIblGpRSnrEX4QBhcVxzm6zMnq2Y8QOB9K5U464syI4YGuiqfxnd9Xq1KIpRxPmq68bbUSFgehnrLjKBUG3U9_LJot9YsGLzpHkkP9u1X-PRfUGn5bv2A_8ErJXPniUpEPm6gYER6mWTWFmtREQBAJvAg6Dgp_V-2iQSrdXQPKv8GUpgMtwAaz_vMDprfetD4zFlto7Buh",
  "id": "rs_009144f1c1282598016aacb46d04fc87d08c6d24fd4057c838",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.443,\"right_y\":0.077,\"right_z\":0.012},\"note\":\"The brick remains slightly right of the jaws and extends toward their lower edge in the wrist view. I’m centering the fingers farther along the brick and lowering to a table-level grasp.\"}",
  "call_id": "call_8T8skKIYhXMweUvyoQx7sQxu",
  "id": "fc_009144f1c1282598016aacb4704d9887d0b3fd7517947c877e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8T8skKIYhXMweUvyoQx7sQxu",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8062, 0.6075, -0.3904, -0.0261, -0.0494, 0.9995, 0.2493, 1.858, 0.7795, 0.2962, 0.1974, 0.0925, 0.998]\nstate[eef_state]: left_x=0.2946 left_y=0.0005 left_z=0.1761 left_yaw=0.0009 left_pitch=-0.0171 left_roll=-0.0047 left_gripper=0.9995 right_x=0.4303 right_y=0.0775 right_z=0.0063 right_yaw=0.0284 right_pitch=-0.1965 right_roll=-0.0646 right_gripper=0.998\nstate[joint_eff]: [-0.1709, -1.3333, 7.1863, 1.6972, -0.0513, -0.0415, -0.0122, -0.1709, -9.1692, 6.7761, 1.8339, 0.0171, -0.0562, -0.0171]\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,$blob:809f5a11eb56559f508e1cbdfdc0f32433af295dfaf2c498adca9a1f87c84bcb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f0f46e8041a6861c8ee7c9a23b2deffd4331203cca1dfefaecb31604db4f795",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bbcd020070d705715c4fbd8af54b7a25857b9b8ff41a2bdd4c117f4aabb5b6e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 809f5a11eb56
wire blob 4f0f46e8041a
wire blob 6bbcd020070d
call 4 attempt 0 · /responses · status 200 · 2.926 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8051, 0.6075, -0.3901, -0.0265, -0.0498, 0.9995, 0.3233, 1.7073, 0.7113, 0.2325, 0.2466, 0.1383, 0.998]\nstate[eef_state]: left_x=0.2946 left_y=0.0006 left_z=0.1765 left_yaw=0.0015 left_pitch=-0.0155 left_roll=-0.0049 left_gripper=0.9995 right_x=0.405 right_y=0.094 right_z=0.0338 right_yaw=0.0369 right_pitch=-0.168 right_roll=-0.0596 right_gripper=0.998\nstate[joint_eff]: [-0.0615, -1.388, 7.0222, 1.7167, -0.0855, -0.0708, -0.0122, -0.6359, -7.5556, 5.6821, 1.9512, 0.0366, 0.0317, -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": "gAAAAABqrLR1OevkP27YYdmErmmNDy8D5zD3ZsHwq_4GzaHHoNZkFhQ0UFBbz-QQ3FGpyWJrDI_7GAIwgOssf65OCadUG1trn-_xdhU6c0TUq2daYaxRN-dnfhKXrBy2ZxdQ3EYbqW4XIB-lnorq6Yg-Nm24ZVDGS1uM2WZi2uW_LioljDhPT8VCyONE1ZiWwGhxyKdXVfzGC74kxW7V5hS9oLlBBLPu8M86ep0SyXkFl2aAUM0_160dIwBL2B1bn8dF-ucHCXJZKdcfB8ZTIjznaO1yhChSWho8Dg0oVW1drsfNEsUX592ZVJS4pVh7k_0wNz9G2aifs-PM4319q-cm8S3x4roLq6FTVGZ_11ynluiFDLnmKcwhcU2RoiqB-BvEkr1JqtHNhc7Mzmst6xSZ_2O3Btmwby_6EwZ80qD32501nBBoWhIHAqGinOrvVT-4dLhhlWH6Q8Y5mWgvsJRm3YLwp1qKdafS5jFxF5Go6FnHmUX5wyDFnJAV_JiGv2-dJcdwHvgxT0DllENyO5Lhk6W_CWIPUz5seYGel3Pe5l-g98tcmLYIF6MAAd7iyGtAmICmsnWPaI4PjaiisdrC_Sj6-ybnmA3vtgM5kFMYngADF4Wf8P2H_0kpT6YGzNm9cTBnFGzLimEdbHZz8EnVg1EyqCJC2ZiqJBtZW4L1_Als3ngjpDtxdTXXBJBK9SZgV_-BPaefd_ghMoBbPPuaQVvhayqOAnBu9vKVzayCX9l1bqE9o1rghLX5Pw_dLUAOMA5M_GiiAL70v9_y_WbNjKH5KcVttgt6i-QHjH7pAeGm8r9Z3gHYaZr8Bx-O9LGTE74S8lkD-zYkLD6DXty0zE0-o4SxrpVz5RkovLOa7MbhjIgS3mGSiYwKLiu64hi-XHmkaWnbkdwXFNW9WHz9r7fltc4JZXJiAPei9mSSzAtO9zfF6XMewZ2HpDSFgnbWrUhkp25PWGw4UETxH--hNzXnsdKuUdWA08-onKwOMnHwEbD72shTrceKTSOBVByrIUKHDdasKHoVT1IwkgUXCjqOr6woQKyWkWvszBYbHa23FHJVYBjFoOQoJPoHytesz8SlcA5SdLH-DXwrdkTAgejpKkxqMFwzt2yVWCUQB5mMg4WovimtclJLqRjJWrdxu7LiSkNsU_gokVOLZogtPRy2iH3RyyoxAou7GQoSXf38idB2lAcO1SL_sgOzyKSBm-b_JztRlvn6Y4NOZsgC_KzH8i2cO8u2UWxDGaQWney4rJMgM17NOzvbjLQ4B7_0Hxm2XeiYaQ5e_Uj0_JrWouih9EB23w==",
  "id": "rs_009144f1c1282598016aacb473f7dc87d081ede78b01ec7f83",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The brick is now centered between the open fingers at table height. I’m closing the gripper to secure its narrow sides.\"}",
  "call_id": "call_ReBsruZ8fJZ13OOJs91BJE4s",
  "id": "fc_009144f1c1282598016aacb4749d4c87d0b2d11e8f0da9ef32",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ReBsruZ8fJZ13OOJs91BJE4s",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.807, 0.6075, -0.3901, -0.0265, -0.0498, 0.9995, 0.2344, 1.8797, 0.7883, 0.3035, 0.1768, 0.0738, 0.7478]\nstate[eef_state]: left_x=0.2947 left_y=0.0006 left_z=0.1759 left_yaw=0.0015 left_pitch=-0.0175 left_roll=-0.0048 left_gripper=0.9995 right_x=0.433 right_y=0.0752 right_z=0.001 right_yaw=0.041 right_pitch=-0.2058 right_roll=-0.065 right_gripper=0.7478\nstate[joint_eff]: [-0.1709, -1.1829, 7.0769, 1.7265, -0.0757, -0.0611, -0.0122, 0.0479, -8.8274, 6.8034, 1.6239, 0.0904, -0.0464, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3a29fbfe61b2bf9d5091c0d749c64a50c1b7f1fff969a956021f837f0a7b29b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e50c7296fb46a28e1655c42ec5c0b1692e577290cf0a510557daa0763d3b0f6f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdb3ded7369e4d8344f659254a805cfc8b8cded04cc0441dc3ecbd984e9c3456",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob b3a29fbfe61b
wire blob e50c7296fb46
wire blob cdb3ded7369e
call 5 attempt 0 · /responses · status 200 · 4.735 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 14 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8062, 0.6075, -0.3904, -0.0261, -0.0494, 0.9995, 0.2493, 1.858, 0.7795, 0.2962, 0.1974, 0.0925, 0.998]\nstate[eef_state]: left_x=0.2946 left_y=0.0005 left_z=0.1761 left_yaw=0.0009 left_pitch=-0.0171 left_roll=-0.0047 left_gripper=0.9995 right_x=0.4303 right_y=0.0775 right_z=0.0063 right_yaw=0.0284 right_pitch=-0.1965 right_roll=-0.0646 right_gripper=0.998\nstate[joint_eff]: [-0.1709, -1.3333, 7.1863, 1.6972, -0.0513, -0.0415, -0.0122, -0.1709, -9.1692, 6.7761, 1.8339, 0.0171, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.433,\"right_y\":0.075,\"right_z\":0.075},\"note\":\"The gripper stopped at about 7 cm of opening, consistent with holding the brick rather than closing empty. I’m lifting it a short distance to verify that it comes off the table.\"}",
  "call_id": "call_X6b35c38ED42TRvfk0VutxzR",
  "id": "fc_009144f1c1282598016aacb47805d487d093962e2c069db899",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_X6b35c38ED42TRvfk0VutxzR",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8082, 0.6075, -0.3901, -0.0265, -0.0498, 0.9995, 0.2344, 1.7454, 0.8494, -0.0158, 0.1696, 0.0704, 0.7477]\nstate[eef_state]: left_x=0.2948 left_y=0.0006 left_z=0.1756 left_yaw=0.0015 left_pitch=-0.0186 left_roll=-0.0048 left_gripper=0.9995 right_x=0.41 right_y=0.071 right_z=0.0252 right_yaw=0.0426 right_pitch=-0.3287 right_roll=-0.0864 right_gripper=0.7477\nstate[joint_eff]: [-0.0068, -1.2923, 7.0496, 1.7656, -0.0806, -0.0806, -0.0122, -0.2256, -11.9726, 9.894, 2.1465, 0.1587, -0.0269, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e3eddfce164e40a4f727f80ff3483bb2f5cf356943975273bb42f05919940d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac1a913d10f890149b7bf09eda79595a83841f09e7063beeb9796bb46da375df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f9f975e0ef23d612b33ec8e4e6494cf9b0291e6a2c49921e8d5f949265884da",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 1e3eddfce164
wire blob ac1a913d10f8
wire blob 2f9f975e0ef2
call 6 attempt 0 · /responses · status 200 · 7.587 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 18 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.807, 0.6075, -0.3901, -0.0265, -0.0498, 0.9995, 0.2344, 1.8797, 0.7883, 0.3035, 0.1768, 0.0738, 0.7478]\nstate[eef_state]: left_x=0.2947 left_y=0.0006 left_z=0.1759 left_yaw=0.0015 left_pitch=-0.0175 left_roll=-0.0048 left_gripper=0.9995 right_x=0.433 right_y=0.0752 right_z=0.001 right_yaw=0.041 right_pitch=-0.2058 right_roll=-0.065 right_gripper=0.7478\nstate[joint_eff]: [-0.1709, -1.1829, 7.0769, 1.7265, -0.0757, -0.0611, -0.0122, 0.0479, -8.8274, 6.8034, 1.6239, 0.0904, -0.0464, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLR-aCh58HURTJhW3o_zsTdBnTXGLR81vftwJLMJU5Vx7NWMdPuGmz0h3h_oWEuLR410HXgqpINdqZQHOV4EJvEQcVcfsGky1siZnThQ6vXxjW9uVkYBu2Pdvlwz_VpmBcdNS-6uSIGsZP0wTqtCqvHQS-jUPdM02jbZ8gNf9yfgqfyno4WDdmkWJV7mQ7rk9WysSNMAuO7tFn-E13QJG84k5G353kfaPWe6S4QeTVHGLjn9UsTZ-QLPFNmcmW_Yolw8mOc6EAhu_8M_GwZp4xtjg2nLJBHqhmUKhR2B3nEvhUqvNdTW7FBd0cQMLFV58iTqvLtY7WoxI6-Qr0mdwd28wv8croK-yxAEv36G9MvpTH81NzchJxdFuresj1jXNnrf3oln_Bs9F7tPQGsr-cdSTrCVsJr325SOUgBEmtC8BAnG925UGULmxFXUqx2yvx6xB2uv7dTozMN3IErYG2ByxcYQghuu1zQB57sBiRsc2hr1jHxflLkYjtrN96BBWR_zfb7Fkvcfsq70U-hI10-WQYsmWruYanMNXTflc-yOUk5eao-zn_8tZI06hPUXRNRBBOSMqy14Q1rzf8l2B307LKS0diFiJmRH1kBI0skc_94hLwVyuwtyarZKfEuzPxIPy_qFVr2a3jXFIFkSRdoGCRbDq1lKbYOeAigSJYrlfGvAJfGWDlV7KXLjZddyqCkOuxVbxIibjGSod4-sIeNvhHZkrfvVep55GtSyi6Mb6Pu5V9_hRlGfKKWg26g4Q4VDR2v3Ud9BkoflzsG4PhA3CR2qDxixCzAnFHy17PyehPUt5OKf0kR1bEplh4pF6Ai2YWbcLuLKUI63kYeaa62wwEORG5zhin6_ZXHum3UrIGmew_qQ2APMH6XkzN2Sdoe8JRyF29fHaYzUJxpkPDWpYcM38CnHe4ULUxfJpHOAePLTbr2HSesxjtqQ0wqyHYYVfVm0GkpS5EU2tUfsvrIqFcT4_EAV_BExyiQuPptsyIFnpJXXfshtiD1gODUUCNxaMbqlOhaabjcMSmMVvmfiSK2r0UyVsrrwp1dOoV8XuRDMRxUiEqg6D4x573cop8pJHNTaeK_rzhcVye94l5hGGj6fxu4Quzco9uxd6lrA_VmOMkG3spDNn0zzUk3SMGbhwJssa7R57cnICdJ9gjD32OWqD58uuoew3PKebdG8VoUcCfH8tN1PKAaPamzEl0rGmsI5dexX1ZJZCPiuC5sdc1x_sMUGzykQKZQHRNdrjZDieLCNdUeOMZSGmuX3mgf7vabYyiVyADDK5ezYzwJ6ClQvbiWymWR5yVNBWd3Bl_MvjgledTjARDTTnO7XRkl7__5XIk0tURvPBeIPuNoqGozzxzCP-lSET0RDFHXmxv4rCT9stdxZXhak18aDvCsOY5azhY_7INAw0biJoSno-A==",
  "id": "rs_009144f1c1282598016aacb47b4df887d0905267b326956346",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.075,\"right_z\":0.17,\"right_pitch\":0.15},\"note\":\"The jaws are still holding the brick, but the loaded arm rose less than commanded. I’m lifting higher with a slight inward move to improve clearance before carrying it toward the pot.\"}",
  "call_id": "call_MPcsvp3RN3bUhU60T40W9iAu",
  "id": "fc_009144f1c1282598016aacb47cb72087d0846af11dc0b21909",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MPcsvp3RN3bUhU60T40W9iAu",
  "output": "executing move_to over 16 steps (1.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8108, 0.6075, -0.3901, -0.0265, -0.0494, 0.9995, 0.2947, 1.3701, 0.6693, 0.0727, 0.2508, 0.0254, 0.7477]\nstate[eef_state]: left_x=0.295 left_y=0.0006 left_z=0.1749 left_yaw=0.0013 left_pitch=-0.0213 left_roll=-0.0044 left_gripper=0.9995 right_x=0.3836 right_y=0.0743 right_z=0.117 right_yaw=0.0693 right_pitch=-0.0421 right_roll=-0.1166 right_gripper=0.7477\nstate[joint_eff]: [-0.1983, -1.5795, 7.0085, 1.7265, -0.0611, -0.0317, -0.0122, 0.4308, -8.6085, 7.6923, 2.8596, 0.3883, 0.0562, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91e7efb74d076107d2390e63ebd247e3ddf0e63614a06d3a7b57d2d579cb0815",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:801060a2866a5f86867ec123d54383ee768b157f6fb145e1a9b0bee4c8f2ea75",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5597eeb35138070040d2d366442d15938df4459e287b4295a814fe38a0b03b01",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 91e7efb74d07
wire blob 801060a2866a
wire blob 5597eeb35138
call 7 attempt 0 · /responses · status 200 · 4.284 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 21 changed as sent

message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8082, 0.6075, -0.3901, -0.0265, -0.0498, 0.9995, 0.2344, 1.7454, 0.8494, -0.0158, 0.1696, 0.0704, 0.7477]\nstate[eef_state]: left_x=0.2948 left_y=0.0006 left_z=0.1756 left_yaw=0.0015 left_pitch=-0.0186 left_roll=-0.0048 left_gripper=0.9995 right_x=0.41 right_y=0.071 right_z=0.0252 right_yaw=0.0426 right_pitch=-0.3287 right_roll=-0.0864 right_gripper=0.7477\nstate[joint_eff]: [-0.0068, -1.2923, 7.0496, 1.7656, -0.0806, -0.0806, -0.0122, -0.2256, -11.9726, 9.894, 2.1465, 0.1587, -0.0269, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLSHGQRsGJL0KWBnfIf98S1Orfg9Jva8IRkPNPLOYRSFtZQIouaFrOUkN8mvKMyz2gmaXROLGDiSpRRDtxd_c_P6XV7J4fgOqrb2z-Ni9QH46IZz5QI28d5y-HwMFM57d6omYuNLRiE8kRt9JiHZjXHJrVIJzPOmtpkMscC_AkCHC-3MXR_k5eQ5GhL0a7Z4CAMaMsPb5dfgoxdF6HX2X0uLOh3yn30KqMCgkbFk-C13CY26D5nvzNVGk2-pdqZpzzC3QVwPnKDSK6ZvwL4WOyNg2glF2x-LX4avTfS-I0b7Qv05nAoczYUqDIJzjmWr31WiowdSYsAZbPgaRtBuijDJLUTl9Yoh1w-ixZ9cqrEh36q8r15UOHd0RazhtCKC7KjMnVz1mzMsZwvHHGh6rLkwvjrRAt5dhB826GnloNS6EY4DHPcLORrWsU0MV8Uo2_38572Amdae39tDlBy2HzMa8sqNkNsaZI2-8Jo5Ia-cDp0a4SgiX_vriupZMiIxLPgipJgoWYL8lvp__BKPvnoSUGSvu8btCITWNr6k0ATdMZ_kgy1SPRRHnFjeIPQVgsVLrOUdMB_DUsd2mNkkdKl6SDBudnFB-ba1QVMOHE1oT5__OI523l4Zr-WheZZn4YouUAWEA5notF0Gd6LH0MPK6nnmsie6SqXBequXcoFOTqEOT7KL0HC7i4-SP11yHKLE7oI4ugJlHBhpoDOl7RxLHOFPnZFHmX1zrGPWUUFIG_-aVzHtIk_AlQT1ztkSVvGzeoniBIhjStIy6UUsmJaS6DeiEswwghwtQ8pSvRdDp9ofysqjE-9Vi4sMCe0IaYi-7MNXKDGOoJT8g_7nl-vRZUUdjlMf-wm64UQtX0woK1ZYViAOWvrvFaRLqK4kCxPzL8FzBWGzpw-NLu1s98fdaIdiJFOQXYk2FY5M2v91k4_aIx4O8DtKTOeXH6XYlh89IZYcU9nqulKRhTJZFOtgUl68HZ-inHKodvgTw05uTuvADhm_6QQ_AjgCyunpwPfcgIqaSxBrzDdKbeNawvq98p1Pdi0GTvQpp6xAOyu76dHt23sZJuotPKjQKQqi2fNO4ggpUqjsJYxuciEXim2x1qW_4R7TZeKyJL9QUrzEYn00V-vXEoNsPnTf0HrVWWgayPZEaBhcILu_yoJYLPnh-385AZOlPS29jmQy2OvfHng8I3KYB6CnLN4kU6WZylcI-Riv5UktixAkDfMLnznetVz-e4VBRWo2uCx-CrKApIWJ9weVuYoQl7EJsIkZvCMmP56wNG_gHC94yS_KQUxuRhK6dUfhknMiS1fEGgLbOoJ0DmnsfQhH5o82vdjRZK4QGFhIoQdjmLvgMJ1UEVIZXDBmKWtSW6HOlYNuqJ__4fpV6td7BwweyLfPsl5jC80vpIqn_4b-5MedEpOmLrBBbg==",
  "id": "rs_009144f1c1282598016aacb484823487d0881c3146cf49f3d6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.395,\"right_y\":0.2,\"right_z\":0.29,\"right_pitch\":0.15},\"note\":\"The brick has lifted with the gripper, and its cable is trailing behind it. I’m raising it above the pot’s rim while beginning a clear, sideways approach.\"}",
  "call_id": "call_umagFexRCWfnPCSYF4INmM80",
  "id": "fc_009144f1c1282598016aacb48612ec87d0b1db759e576f86e5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_umagFexRCWfnPCSYF4INmM80",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8116, 0.6075, -0.3901, -0.0261, -0.0498, 0.9995, 0.6888, 1.4868, 1.2392, -0.4179, 0.5568, 0.1654, 0.7477]\nstate[eef_state]: left_x=0.295 left_y=0.0005 left_z=0.1747 left_yaw=0.0012 left_pitch=-0.022 left_roll=-0.0049 left_gripper=0.9995 right_x=0.3839 right_y=0.1997 right_z=0.2375 right_yaw=0.1404 right_pitch=0.0051 right_roll=-0.1844 right_gripper=0.7477\nstate[joint_eff]: [-0.0342, -1.4154, 7.0359, 1.6777, -0.0513, -0.0757, -0.0122, 0.253, -7.8564, 11.4256, 2.1514, 0.6032, 0.2466, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64d149c74b4f2c81c3e507be8fe83a5a0da15c4b5b97356dca06f42a7dc1e60c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bffd593730d5b5201d75c205abaa04c10151d209f4ddeb5e6b41aadbc3dd59bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e22656354d257a03a31fbcd5ef652f41ae99bf6a726f74ad67bc83eabfafe752",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 64d149c74b4f
wire blob bffd593730d5
wire blob e22656354d25
call 8 attempt 0 · /responses · status 200 · 7.505 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8108, 0.6075, -0.3901, -0.0265, -0.0494, 0.9995, 0.2947, 1.3701, 0.6693, 0.0727, 0.2508, 0.0254, 0.7477]\nstate[eef_state]: left_x=0.295 left_y=0.0006 left_z=0.1749 left_yaw=0.0013 left_pitch=-0.0213 left_roll=-0.0044 left_gripper=0.9995 right_x=0.3836 right_y=0.0743 right_z=0.117 right_yaw=0.0693 right_pitch=-0.0421 right_roll=-0.1166 right_gripper=0.7477\nstate[joint_eff]: [-0.1983, -1.5795, 7.0085, 1.7265, -0.0611, -0.0317, -0.0122, 0.4308, -8.6085, 7.6923, 2.8596, 0.3883, 0.0562, 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": "gAAAAABqrLSN-74awOjO35z64R5d8RL0icieFKkxEVOVyIZuee7GrFI-11czhs6vsBsw_eAZS21QoGQGdw30G4yXVBRSWjHjcndeKbmIm0HfSJzxLftNSxI9lTYr7zmB36vFZK0ZOyvtVMaVI4A60ISialkPzrK1NRcuT4oaJDUWhz8p627Ljet1y3iV2U9f_efDVQJwsaRTpPrJREntGmZETvxEwXF_wC1_veLGtykW0W_1lS8Xf31cn90t4nrB7atcqkXZVP4SNsy2UqYBhgZ8gCzuPdX8l_DtZ172C9VDXur7uFU_fGyZ9vddZq3ZnF1A3egDRvtOt_QQ0gghLEM8K_zpDgMW81qBB8zRUfJ0IgANkdF5xXKkCJXZ19XEso1IzQTo-nUmv55U769ABq3Eha9HdmomMEo-7bTBcphV56wBgnZmKqoui-VEaxeUXknaFS5uc0qdQdSVFl4IvL7BXsjZRCHN1ScIqiGNwLroK8th_UIyWIall2slraSW2a11fRAR5tU_0w6Qkot0fKe_Nsh8BAFag4RDR1ly4WELgU7kUYDcOd9GEQAwOwy7Ga7SakIWKeNMUTT2FZrgzwJpcemQQTNb47lS2TBzyXPm_HCJ7LBb2ArR8wysEWJN_BRp-vRCgkpQGbAbYQnmq0Y6pqnOjZ1hGl3-88MRJSbVx1GP-Jm_mrOPr1nLY5DyYOHRLKexZfW4mZIe-tNU9OrotGeS9hRu3rqgfd1KHtRbFgYAZcTQlpcnLHcS3PPLyoHYusmHgoKht_V_SBK20lIv2JDalaYsH8Puwtq65hSwhd-yv0rJwXp8JFCsq24baJF-au-OVaN48YSqtgN6L3_-WHISP7bRS_JEuorixaFN8I3_ZVziKdpL8Us6Kdw_UbT6o29PugoijODQhpPZnlYeseXL4L5YvXbN6IbQ87Kv7SFHVkn0dtFbH85VYQM1WEa6UJyXiXYuEIBqqGwrMecMN-Ci68G5fvT29G2WbSDRbnfHJtMHxBU3xGR4iIW75TAkCWmGg0GK0M73VEtUcIx3854KE2CW1HrjtJwAG7wv3HtMTTjkgGqebolU5bRInwX-uQm49ys13KtmfhjkT10-cxbxRbwl7BnpeltOGoqNswYh_Wr8a1vlJ_A4bWTZo1FTl18AZmLOTzbdTQBYpawwFvfA08M2D8HCgm6ctUq3O4rYO3n-qrxfjYsN-_-E6WZ8W8Y9CspTsLpL-FIPV2elztwCX8nwnQYa1LhTlvtJrz-sxpdHKc2IquBsyekCq7GbdO6Wt9oBDtBs5Gql38RQ0nI1n2Q3omduYYxaVqcC31N6DmvztI-BNfQ5_cRuoCVxeu6yEGUzEtxPVggCJxpxHVerJKbu5Use-XMnnOa16OgBsUEzycyVPbXl5YhF9D21EmZW6u3Ay5jTiw45iC8bI64JWRFk7DOMitf-w4sYcBoix2Zl3mIHKLd7RMPKgkv7gGFC620qpHjeT1baUQH8FAnjLykfNF8irCJX3BUFqqrtyiCLVko=",
  "id": "rs_009144f1c1282598016aacb48a2db087d088515e8de39cdd17",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.355,\"right_z\":0.29,\"right_pitch\":0.15},\"note\":\"The brick is clear of the tabletop and rim height. I’m moving it over the pot’s opening, keeping the gripper closed and the load elevated.\"}",
  "call_id": "call_IBDyDkL1ALDg6Wz5ZixN5NqE",
  "id": "fc_009144f1c1282598016aacb48bb1e487d096a9e59f568a857f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IBDyDkL1ALDg6Wz5ZixN5NqE",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8162, 0.6075, -0.4068, -0.0265, -0.0498, 0.9995, 0.9077, 2.0365, 1.9018, -0.6247, 0.7132, 0.2134, 0.7477]\nstate[eef_state]: left_x=0.2929 left_y=0.0006 left_z=0.17 left_yaw=0.0015 left_pitch=-0.0434 left_roll=-0.0041 left_gripper=0.9995 right_x=0.4189 right_y=0.3544 right_z=0.2344 right_yaw=0.2155 right_pitch=-0.0055 right_roll=-0.2815 right_gripper=0.7477\nstate[joint_eff]: [-0.1573, -1.7299, 7.0496, 1.8339, -0.0708, -0.0708, -0.0122, -0.1436, -13.8462, 11.0974, 2.044, 0.8425, 0.2515, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee2f43eca51294e692ebedf520297f31bf9db648802061d31961b2fdfd05912d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3714188f801649050b3b6eb4ffe90d63ca5c6ecd19c976f3dc10824abd8ca54d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48f934450e956fec5cee1a8e3f65193c34b26ddf2001d89f14adc185ded1e2d5",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob ee2f43eca512
wire blob 3714188f8016
wire blob 48f934450e95
call 9 attempt 0 · /responses · status 200 · 4.86 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 29 changed as sent

message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8116, 0.6075, -0.3901, -0.0261, -0.0498, 0.9995, 0.6888, 1.4868, 1.2392, -0.4179, 0.5568, 0.1654, 0.7477]\nstate[eef_state]: left_x=0.295 left_y=0.0005 left_z=0.1747 left_yaw=0.0012 left_pitch=-0.022 left_roll=-0.0049 left_gripper=0.9995 right_x=0.3839 right_y=0.1997 right_z=0.2375 right_yaw=0.1404 right_pitch=0.0051 right_roll=-0.1844 right_gripper=0.7477\nstate[joint_eff]: [-0.0342, -1.4154, 7.0359, 1.6777, -0.0513, -0.0757, -0.0122, 0.253, -7.8564, 11.4256, 2.1514, 0.6032, 0.2466, 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": "gAAAAABqrLSVCpt7mXEsVGBGHtzi5curnco_BLabv8KO_H3gN_-NjeYuSK842cVB2XNUoVE4ivjFOV4w2oDhQ1wpFjOQbrZsf7twAyFr6m_57BA36q7M1xNW0kLqoeTukQ2WsolVu2pdQNEzE3QbpehnuabyoOXA8s6Q0z0yzS_32WHkwC04owGtphItqQWnU9uKod7icUQNvHjtWKammG8t4KgtrTllCpXXUpZ9uHm-wJ0JUFJNhFYn8iF4YSJuU_EOxjq4zixntfZ6-taDYF_2PSHy5sA9vIUZf4Z1KthsU_Yyac0otv8jtXRONBQoHwfyR17XZCrNTqBbPNCAGysmJPtR1mRPfiYn9Qnil6cffyBpP6ljCHyvqpSh4EBmk_pM7-AyUltQodJSHBJ0hTSsiWBIA-LBN5-1TDcvK9OZJi63wuCb8xOjl9_jECPhG9CiKb_qVrhxmxc_0HKzZr4FcOhOrG8su3GM_2FcJ3BfW8EauUtVorSUryCkb5s0avJlDcNYbKBxDAarllXvGW186MeOUCHRz1WEZC9-9n3gJH-yU_qG2mN__7l3KqOVjEEWWSNQhJkkHRXpao_S8HHFc5zEpS1Mzb31AkP4nDSuznQpNGxpNqS_gTrse2KZummZ3L8tZ-mMIZgy29Nb-Vzuj_ibCmJWe6ymE9tM1nwaoyl4tcBgGRy6MKRlkCss-lFesJLUetq-uZXCkwJWTK0zTzVg8e00y9Ff0K6G1dPXe68NT6rlQ-Th4qmgaOwMR3teatpy746_KNMmU9h24IGc_AxutxAUfpIZUzh3XX7FMf8fcr17GNZN7DVLQFl_EkwGL0D9rhl2DSywqlOsM3HDeHUFPJwHv87Ybkqhz6kO7pv8hq9RuQBQ_bIA_IyZkS5B97S_GdgtKCirnt85k9bQy8Uu_zFj-DrFTWIz3ACUdFaTE0MyjZ3KYw5yOCp5ApfrjlQKUGF0-HU0fn8vzNJDjQkm4RUluDBkRgM5RO2oyFLrKdiOj_5uyZ-xfN9wWYNIfZd7nGqBgiYSGrA1vLlQfm_qx1mTJZWH87ZYIlFt-6bcPVoMzC1X1xmy6ZBUyifihtDu0eMnmJv-vWUdVMcY_siMEorRZ3ftROm4sEZotnqXFCD62NtMOzU5y_xY-1S5EMLa13cHxiXpeIMNan19y35Rkzhr4z7Yi_-ZrnzJ11LO8fHTcpAsKWvK53em87xt27BzpFtnL31pd4Mxn2gLPc2R6vFnvdecIvQIs_5mtCklYpVkeVBcIKRJURWwiGWOl4kyaH8Y5iI6q21zFVY8QpkkPX4mVDnv9CpMFeCLgCVUkfcsX-W-vegTs5Z5xpqh9mRX3AlhPqaKNsQ2wjZ4RZdRVLheEv2I3u_plRgTwqS1a0O95m6sJmM1MTSm-j6t9dMSbt4i3Om30-rGPP_xJpAbqj4uaL2AcosdpAmRsCahTEm5Vvp6BC5hLlxVdTkvyNni4CoJFEhygaVRakhZe8cGeUtGt0i8OP1_XTg6E0eclyQlOKvpH54sRVz1PwGTvoTQHCpFH7v4Qc5SbqhNslaa91tH-lhTnYwPKdTnxrZ6a_D7UXdw_6LaV0sb9Ih8QtVw1UUJv_yV2zITjiKhl81f7aT2iC1AIpD8f6XBZ_pMseEOVF54ukLWvVOR1jpCbw2kMN0a5unNg3FwOM2BMO7Fz3ToujWMTl6WI2Cf10bQmM4hKP0TrsmfyQscHJ4Z9MEk7kZqzkplCJZPVLzxSdPZT9JhQWy749RgTb6KL0c6KrlvO0hEzk9nmEp1b2kCd2jI6SjCJLIv1Wz_fwL0a3Aeh76Ovfe49EAzfEKuuycTy43ozJ6Tz8libKiEZuv-VvCr5RwhkGPcm4hVyW1zOAfa2wkApyiq6WTvzvSdiUCFEeCkXFYEFDeqDxZFfN504lK2_lvgJcQNIR0SQk7iBJhHZh7dqQ==",
  "id": "rs_009144f1c1282598016aacb48fcb5087d088bfad6914b8500d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.39,\"right_z\":0.19,\"right_pitch\":0.15},\"note\":\"The brick is over the opening but a little toward its right side. I’m shifting it toward the pot’s center and lowering carefully toward the water.\"}",
  "call_id": "call_fnkAkmbwBbZ5dN0RmDE6QA8y",
  "id": "fc_009144f1c1282598016aacb494a21c87d0b3f19490447f9598",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fnkAkmbwBbZ5dN0RmDE6QA8y",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8173, 0.6075, -0.4076, -0.0261, -0.0498, 0.9995, 0.9298, 2.1742, 1.7374, -0.3695, 0.7277, 0.1448, 0.7477]\nstate[eef_state]: left_x=0.2929 left_y=0.0006 left_z=0.1696 left_yaw=0.0012 left_pitch=-0.0453 left_roll=-0.0043 left_gripper=0.9995 right_x=0.4244 right_y=0.3784 right_z=0.1345 right_yaw=0.2613 right_pitch=-0.0477 right_roll=-0.3759 right_gripper=0.7477\nstate[joint_eff]: [-0.1162, -1.4838, 6.9949, 1.7314, -0.0562, -0.0317, -0.0122, 0.6222, -15.0085, 8.8684, 2.4396, 0.9402, -0.0611, 1.0232]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f65c814fb27a7269e30ce342ce6d1f1c718fc8031fcdece36326ffb66090b38f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bb58e30c8701d20109d87c3b483e163d7a648eee0a6f62356e4dfbc888d2418",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d0cd67cfc798c913b4ad85cdebd3a18d29022e983e307052db01d6a4304780d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob f65c814fb27a
wire blob 8bb58e30c870
wire blob 1d0cd67cfc79
call 10 attempt 0 · /responses · status 200 · 2.344 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 33 changed as sent

message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8162, 0.6075, -0.4068, -0.0265, -0.0498, 0.9995, 0.9077, 2.0365, 1.9018, -0.6247, 0.7132, 0.2134, 0.7477]\nstate[eef_state]: left_x=0.2929 left_y=0.0006 left_z=0.17 left_yaw=0.0015 left_pitch=-0.0434 left_roll=-0.0041 left_gripper=0.9995 right_x=0.4189 right_y=0.3544 right_z=0.2344 right_yaw=0.2155 right_pitch=-0.0055 right_roll=-0.2815 right_gripper=0.7477\nstate[joint_eff]: [-0.1573, -1.7299, 7.0496, 1.8339, -0.0708, -0.0708, -0.0122, -0.1436, -13.8462, 11.0974, 2.044, 0.8425, 0.2515, 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": "gAAAAABqrLSb5EKTAjLtSCqLsKJOONDhsorJEr0f78RNBHDZyzLcTCZlVTJpcG55I-XnFs4dGuIHhBT1gRccuG7MyOzamsD7fikc81glBOFYi0MaqmqbnvQ0pkBNF0FZuAH5Mxnx5radNdiSGCMki8n-DOmVHxO67orTwX46PtXJ6QCf4H0Wx3EKKDVTN-TBPKJ8_SARA_FOF1jNA_MCNmXjTURWtguV87dAuUwFNctm539Rezty5Yek_0ZM3q7HGSpZ2l5fwOM7x91DtZg15Yv82AgD14aCTsN2ffR8CHZYsJTVD0eccXaI_FWShBTlPnq7HAqyqKu1px7HKALgppXMJo1MEH3z87qVNcmi8iCv4K1dTnvzWnjRMFZYF8_Yep4DR2FBJtoN8Kdj0FN_gIoIufqii3SbY6kz_Y5ZwfpEl7MVnGhcx_5UYbBPFAuxPlM8CqTpGU5rvNh35f5nQTle40Pw_xcRbzTl6yG0IUSFPUaki9WXOxTlJPlkOckagsCarh_VuvGymwMFokhiPS1TXKbyAX0KiyVDV2j9XtxOBuB-JeENJapIWXPCrWcsxYpoem9Gproa8tzjQBLx1n0l7X9pm8szlIZ-UXaW7tUJsh4QFBNSI7D7L-JUouF3O-ZDkgBBqBVP9l6BTOnt4i2HqCcYXbrmy42fJmCNNXkSd-kDlZzqzN4oMVQ2eytw27eAyOqjWtl0Z-2W-kfk6Ou4R_9oUl1Jnwif_4uy2NUf8Q1VuTsowsw91Twdzm4Wu3Fx1ROGUYlzzr0aIx_6vvwc_4QP9DINmovSXhjADULgyaiMv59eYEHcJ7ZZB8yGrmlXaYC9e533GKAPTvUJr5_Rrb8W9zEMA1mW6-DJptNOO7Wh16RdkHR0ftmC6B2xg6Z4IWejYtqeUMB4nzL0P8UqrtWqnteYvK8wKlqkMxrtpi2zMWFTNGo8zLelgLJJR-dHIuAhAmigEW3nW0ED9DdK0w116Thv-t23Qap4AjOxKUnK9s6A5jjwEfKgfjXbdldaZKJdreFn0NqnwfRDueQQvSu8uu3PlAzTVq09NeMfqFH7GYnTVAzYovuL8326-sFST8pnxmQZI2-phJ7DIrWd_I3qPiS2f6by_pPDLks5jWCSg3l32aY5Sm6sIZOEgo9sRsnSij8QCySht5s7lU8nr_DZ8KvWpct0U75zO8IsozR1og5B-YA-gqOMHTOXaJ72XoxjOfp4hkLrDYGybD6SmJnlgXuGZfXQwlcHwJuBzFpGWvejB8oC0G5S666EMJhAb--OjNvLr2IDZ58v5C9OOZSiXAl18k6nwNmLbJHRMsw50_MltQJF93UQgwBwW3uFcNtMux42kYWyW5CDQ0ar9-Qhm-tOE5H_4ZcUsyPvvet0IjPUQr8k7pMWV-z8UlsvK0teaDd9HQWCXOoVS3_Y9GTftF-HV5VDCSupC_fHFY4cMx_Xx4v8fW6T8UJ43tGPOJI8V0d-q24KLu7ORcMY3p9ECJTDBhxXwbkaZLB5DixWOZLLYZo=",
  "id": "rs_009144f1c1282598016aacb498235087d0bdae9dd60743bc39",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.395,\"right_z\":0.145,\"right_pitch\":0.15},\"note\":\"The brick is aligned inside the pot’s rim. I’m lowering it a few more centimeters so it can be released into the pot without dropping from a height.\"}",
  "call_id": "call_FaoitdUHo4n4adWAGy11dNNe",
  "id": "fc_009144f1c1282598016aacb499dce487d0bfa721289e82a156",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FaoitdUHo4n4adWAGy11dNNe",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8173, 0.6075, -0.408, -0.0261, -0.0498, 0.9995, 0.9363, 2.225, 1.6554, -0.1623, 0.7433, 0.0322, 0.7477]\nstate[eef_state]: left_x=0.2928 left_y=0.0006 left_z=0.1695 left_yaw=0.0012 left_pitch=-0.0457 left_roll=-0.0043 left_gripper=0.9995 right_x=0.4303 right_y=0.389 right_z=0.1063 right_yaw=0.313 right_pitch=-0.006 right_roll=-0.4331 right_gripper=0.7477\nstate[joint_eff]: [-0.0342, -1.4017, 7.0222, 1.6679, -0.0708, -0.0269, -0.0122, -0.0205, -13.1214, 8.3214, 2.4444, 0.8376, 0.1197, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f2b6b9da7b7d16848be7090928bb2a708e2f1242e230904907286fc270d301e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1ac33325947520cf630fc21e1cc549334ba1ec96ac3bbe545215003d7b1f577",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:794ba4514bcfe73bbfa44fee846019471bd836a22d909e162938576e2f7eca7d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 9f2b6b9da7b7
wire blob b1ac33325947
wire blob 794ba4514bcf
call 11 attempt 0 · /responses · status 200 · 2.988 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8173, 0.6075, -0.4076, -0.0261, -0.0498, 0.9995, 0.9298, 2.1742, 1.7374, -0.3695, 0.7277, 0.1448, 0.7477]\nstate[eef_state]: left_x=0.2929 left_y=0.0006 left_z=0.1696 left_yaw=0.0012 left_pitch=-0.0453 left_roll=-0.0043 left_gripper=0.9995 right_x=0.4244 right_y=0.3784 right_z=0.1345 right_yaw=0.2613 right_pitch=-0.0477 right_roll=-0.3759 right_gripper=0.7477\nstate[joint_eff]: [-0.1162, -1.4838, 6.9949, 1.7314, -0.0562, -0.0317, -0.0122, 0.6222, -15.0085, 8.8684, 2.4396, 0.9402, -0.0611, 1.0232]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The brick is lowered within the pot’s walls. I’m opening the fingers to leave it in the water.\"}",
  "call_id": "call_wVRuR8stUSigU2RcYJElDSFc",
  "id": "fc_009144f1c1282598016aacb49d5ec087d0a954ece4074eb127",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wVRuR8stUSigU2RcYJElDSFc",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8173, 0.6075, -0.4088, -0.0257, -0.0498, 0.9995, 0.936, 2.2383, 1.6207, -0.1406, 0.7403, 0.0154, 0.9959]\nstate[eef_state]: left_x=0.2927 left_y=0.0005 left_z=0.1693 left_yaw=0.0009 left_pitch=-0.0464 left_roll=-0.0045 left_gripper=0.9995 right_x=0.4273 right_y=0.3852 right_z=0.0887 right_yaw=0.3227 right_pitch=-0.0327 right_roll=-0.4607 right_gripper=0.9959\nstate[joint_eff]: [-0.0068, -1.1282, 6.9949, 1.6923, -0.0171, -0.0073, -0.0122, -0.335, -13.8188, 9.6615, 1.4628, 0.2076, 0.0855, -0.1001]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a71990f84ed390db38137387abb9bba8ef2bd46359f038eb49dc9349964f7d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e7ff047d6a3075d0f24ecb3bb86014a99d4d102a4ccdcec8f1257db147a5416",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9305bd45a0dafc93ef7cf957f4f6b082e13b42b046bb20fb99f80781887fa1b5",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 5.662 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 41 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8173, 0.6075, -0.408, -0.0261, -0.0498, 0.9995, 0.9363, 2.225, 1.6554, -0.1623, 0.7433, 0.0322, 0.7477]\nstate[eef_state]: left_x=0.2928 left_y=0.0006 left_z=0.1695 left_yaw=0.0012 left_pitch=-0.0457 left_roll=-0.0043 left_gripper=0.9995 right_x=0.4303 right_y=0.389 right_z=0.1063 right_yaw=0.313 right_pitch=-0.006 right_roll=-0.4331 right_gripper=0.7477\nstate[joint_eff]: [-0.0342, -1.4017, 7.0222, 1.6679, -0.0708, -0.0269, -0.0122, -0.0205, -13.1214, 8.3214, 2.4444, 0.8376, 0.1197, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.385,\"right_z\":0.27,\"right_pitch\":0.15},\"note\":\"The released brick is visible resting inside the pot. I’m lifting the open gripper straight up to clear the rim.\"}",
  "call_id": "call_VW6NbJxFoFnekX0jPYeyF7Ov",
  "id": "fc_009144f1c1282598016aacb4a0590887d0b3a71d9275320b4b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VW6NbJxFoFnekX0jPYeyF7Ov",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8173, 0.6075, -0.4084, -0.0261, -0.0498, 0.9995, 0.9401, 2.2284, 1.7107, -0.2935, 0.7544, -0.0303, 0.9967]\nstate[eef_state]: left_x=0.2928 left_y=0.0006 left_z=0.1694 left_yaw=0.0012 left_pitch=-0.0461 left_roll=-0.0043 left_gripper=0.9995 right_x=0.4256 right_y=0.3838 right_z=0.1078 right_yaw=0.3363 right_pitch=-0.0824 right_roll=-0.5366 right_gripper=0.9967\nstate[joint_eff]: [-0.1709, -1.1419, 7.1043, 1.707, -0.0269, -0.0073, -0.0122, 0.7179, -24.0615, 13.2718, 2.3223, 0.6325, 0.0171, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a452a34f1a8d29ed3ecb8926cd7465c4ec9356506de6ed9603e278e1bd7834e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85952566f325fcc514c6b03416635e1ac11be7c53fdb74a2f898532584d10c7c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac4ba0dce88a3b497ea2506472cbea76b1cbb1a262907f9efe08d54933705d1b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 3.649 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 44 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8173, 0.6075, -0.4088, -0.0257, -0.0498, 0.9995, 0.936, 2.2383, 1.6207, -0.1406, 0.7403, 0.0154, 0.9959]\nstate[eef_state]: left_x=0.2927 left_y=0.0005 left_z=0.1693 left_yaw=0.0009 left_pitch=-0.0464 left_roll=-0.0045 left_gripper=0.9995 right_x=0.4273 right_y=0.3852 right_z=0.0887 right_yaw=0.3227 right_pitch=-0.0327 right_roll=-0.4607 right_gripper=0.9959\nstate[joint_eff]: [-0.0068, -1.1282, 6.9949, 1.6923, -0.0171, -0.0073, -0.0122, -0.335, -13.8188, 9.6615, 1.4628, 0.2076, 0.0855, -0.1001]\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": "gAAAAABqrLSoNsPOtDAH1IH4nPVvF7uaCd8w-elgU2xetGtISJ5Giq3TQcEw652_k-uEx-KobKRJbf8ICcwfx9TbgkXzZq8xQuWJAbhiKvadEfc7__byJiGk3Vrn4tYYi79DVpW8yWkT1ePnl0gSoc84VmTMmF7ZHHXO2jFjY07te9N9_TwoCGXok-uYcj_7OWi4cVBoReumwtzRu27-XbJOIXL8q7qLNzIR8K6QwcG8AEvgWsvFDxFCxojVmerG7lXR6pT_JGA8rhZCR-Js0txT8Lw75T-k3SyCKmiXUowccM5-oks-DnktHzceTwmCvnxTGgANNrCEiPP9sK_wRthhIkyXTCv0v28ZsNGkjsYMAzvz3m6Hno3DiZaVWtMO77qqPH0B3RV9moa9cE1FWnNxKpZVLxkmLQONuV_cysrwS_mcxx9T636soc1vOa5F6SJV8W71zgDSGVHPcvfzTZR_9DlTbUUucEo7biUz6-j6q3E05XOB_eAQ2kRJTxrBjkUQTbzKAyu4mfzdw30fnvTKqjzc01UNADozFW6I5SFsbaqa3KmDbNqJeyoXisWkMbruqm01TzY_tGtuyHDWYNsDPHDI6tBpeEu5J_nZ9eXHeDVTPBxQgSh2DMZbrE6hvYHVGCLJZygyCVY8lccUQeIRF5Z6rS4l-649ytC2xoOmL6OxKYK_x5egUnu6IFVSFLNyVXF_bmHbV3LFteJSJEdo1l-Ugd5qrYogS9WaVVWfKE0isI2SzPNqd7uKCZ72m6JzJA1xieiWM9vK1OduMzILY4OHcEy_uoLWc7mR4Y-lyOsI61vEFwskP1ZqkjOb7Mn7JN-eXP8aD-9U1prDxqGS7k_tD_9GuajdxfaJbM6-kGx3cvPiQ8dAAHn-SAbm4093-M7ZZuRkVzgCgwCpymyHPbEOqp3k-0strprX8ZQSwgpxGl_2bMu5_CdgbQ_K0D0dxwzVIMVmbkXaXE8gccq2mMQR-QAr-0pqpQNOfFgcBzpRo_Tatpk1p1iayeciIgoNSJ2yNy7X2-zN9D_Ju24_PKUJf8NTyFy6k3IT_JAki1EpBXOfKa-GNuifdtLdGrChYfVgKO2R91DtJNivx5IEq5OeryAph4rLRQjrkn--G7ZkLblQkBkLEur3HedwaX2d1hbELwpMqEtmxYSw0MLXj4KDvFb7FCwL0Z0Z6H6h6JDAtU4auD9pfaEGhhUk7c3iCORuqXMZDp5gC2TNDAC-a58ijsG8Cayc5eAkgpbbcXPM7WKtgK3-W78wPZgRnu_cwahdHMr19l7YCpex2VsxJtKKU90OHPJGNGVbBqpLVoxpBJhEbxh39VjDr-CmvPIL-sXB90A0b6UALdPOYu12-6CWWQaDhHEpG_SRbeRw03n4MY2um4XkQzdm4lzFezurcjU5zmIHr_B3CdJyEmzDXfR0lGQEvN3AVZtamTVsYB7n60c6fP2_HaBCSLngJ5SkF4sdbu4f-5kgVLuaPSuzyJweZ23z60_PMo3-2QXvVRKegDJZNrc7EMtm1z6paWL27BN0JZu0",
  "id": "rs_009144f1c1282598016aacb4a4526887d0be073535bcd239cf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.385,\"right_y\":0.35,\"right_z\":0.24,\"right_gripper\":0.85,\"right_pitch\":0.15},\"note\":\"The brick remains in the pot, but the gripper did not clear the rim on the first lift. I’m narrowing the empty jaws slightly and drawing the arm inward as it rises to avoid catching the pot.\"}",
  "call_id": "call_FGBhc66wpykBkwWO4tTrNNji",
  "id": "fc_009144f1c1282598016aacb4a6843487d0a1f4c220dbec1d45",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FGBhc66wpykBkwWO4tTrNNji",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8211, 0.6075, -0.4149, -0.0261, -0.0498, 0.9995, 0.9943, 1.9007, 1.5139, -0.2276, 0.8509, -0.1276, 0.8513]\nstate[eef_state]: left_x=0.292 left_y=0.0006 left_z=0.1671 left_yaw=0.0012 left_pitch=-0.0564 left_roll=-0.004 left_gripper=0.9995 right_x=0.385 right_y=0.3551 right_z=0.2175 right_yaw=0.3617 right_pitch=0.087 right_roll=-0.5563 right_gripper=0.8513\nstate[joint_eff]: [-0.1573, -1.6479, 7.159, 1.8291, -0.022, -0.0562, -0.0122, 0.2667, -11.5214, 6.3658, 1.7753, 0.3394, 0.0024, 0.0366]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93ff8a6e72e30f556388a40f89807e1aab0139f9f18d093275949fcd09986ba0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3024500aea2fba8fd19f822fc2d24fb5cb8b39e2a4c2257c887368d9aff49b70",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fc115fb52720c1894143362f7389c9e8e4cf12f0705310dcb50e10485416bfc",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 5.741 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 47 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8173, 0.6075, -0.4084, -0.0261, -0.0498, 0.9995, 0.9401, 2.2284, 1.7107, -0.2935, 0.7544, -0.0303, 0.9967]\nstate[eef_state]: left_x=0.2928 left_y=0.0006 left_z=0.1694 left_yaw=0.0012 left_pitch=-0.0461 left_roll=-0.0043 left_gripper=0.9995 right_x=0.4256 right_y=0.3838 right_z=0.1078 right_yaw=0.3363 right_pitch=-0.0824 right_roll=-0.5366 right_gripper=0.9967\nstate[joint_eff]: [-0.1709, -1.1419, 7.1043, 1.707, -0.0269, -0.0073, -0.0122, 0.7179, -24.0615, 13.2718, 2.3223, 0.6325, 0.0171, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.2,\"right_pitch\":0,\"right_gripper\":1,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18},\"note\":\"The gripper is now clear, and the brick is visibly resting inside the pot. I’m parking the right arm away from the pot so the final placement is unobstructed.\"}",
  "call_id": "call_yeGlyxl29B3pMofBnaSykMOE",
  "id": "fc_009144f1c1282598016aacb4ab482c87d095b2e54188078bcb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yeGlyxl29B3pMofBnaSykMOE",
  "output": "executing move_to over 30 steps (3.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8394, 0.6281, -0.461, -0.0261, -0.0528, 0.9995, -0.0349, 0.7456, 0.5934, -0.3187, 0.0044, -0.6502, 0.9977]\nstate[eef_state]: left_x=0.289 left_y=0.0007 left_z=0.1623 left_yaw=0.0029 left_pitch=-0.1002 left_roll=-0.0052 left_gripper=0.9995 right_x=0.2973 right_y=-0.0076 right_z=0.2015 right_yaw=0.2924 right_pitch=-0.0006 right_roll=-0.5625 right_gripper=0.9977\nstate[joint_eff]: [-0.4444, -1.1145, 10.3179, 1.7265, -0.0513, -0.0562, -0.0122, -0.0342, -1.1692, 6.5436, 1.8926, -0.2515, -0.0073, -0.2564]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a39ce1529a50412c61b5cae65c47d4316a0e68e212d77cd30436d4a530c59a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d0f32a22894661b89818362fc18fdb8c6ed57ab2af4bb0e26db97dbeddeb495",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c66733472edd8c04a51c83abbd146e157c8229daefbb0cba1f69e733806549a5",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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