adhoc

completed
2026-09-18T03:25:24.903683+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
141.2 s
total steps
165
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

put the black brick into the pot of water

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the black brick into the pot of water
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the black brick into the pot of water
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe black brick is on the right side of the table, beside the pot. I’m bringing the right gripper above it with the jaws open.
move_to
right_x0.4250right_y0.0750right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.7948, 0.6048, -0.3786, -0.0227, -0.0414, 0.9996, -0.0219, 0.794, 0.6037, -0.3794, -0.0135, -0.0196, 0.9971] state[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1804 left_yaw=0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9996 right_x=0.2948 right_y=-0.0005 right_z=0.1799 right_yaw=0.0001 right_pitch=-0.0004 right_roll=0.0005 right_gripper=0.9971 state[joint_eff]: [-0.3761, -1.6479, 10.0991, 1.7509, -0.022, 0.2271, -0.0611, -0.3897, -1.5111, 10.1812, 1.8339, -0.1197, 0.0757, -0.315] 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":0.425,"right_y":0.075,"right_z":0.15,"right_gripper":1},"note":"The black brick is on the right side of the table, beside the pot. I’m bringing the right gripper above it with the jaws open."})
tool
executing move_to over 11 steps (1.1s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
agent noteThe wrist view shows the brick slightly right of the jaw center and still ahead of the fingertips. I’m shifting toward its center and lowering for a grasp across its narrow width.
move_to
right_x0.4450right_y0.0480right_z0.0650right_yaw-0.2000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.7986, 0.6075, -0.3889, -0.0227, -0.0425, 0.9995, 0.2501, 1.4509, 0.8135, -0.036, 0.189, 0.1051, 0.9971] state[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1785 left_yaw=0.001 left_pitch=-0.0118 left_roll=-0.0007 left_gripper=0.9995 right_x=0.4061 right_y=0.0732 right_z=0.1247 right_yaw=0.0337 right_pitch=-0.0904 right_roll=-0.0249 right_gripper=0.9971 state[joint_eff]: [-0.0752, -1.4564, 6.8308, 1.8339, -0.0513, -0.0269, -0.0171, 0.5538, -6.5436, 9.347, 1.9219, 0.2027, 0.1685, -0.315] camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.445,"right_y":0.048,"right_z":0.065,"right_yaw":-0.2},"note":"The wrist view shows the brick slightly right of the jaw center and still ahead of the fingertips. I’m shifting toward its center and lowering for a grasp across its narrow width."})
tool
executing move_to over 4 steps (0.4s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteThe brick is still to the right of the fingertip centerline, and the arm has stopped a little short of the commanded reach. I’m correcting the alignment and lowering the fingertips alongside the brick before closing.
move_to
right_x0.4620right_y0.0250right_z0.0120right_pitch0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8013, 0.6075, -0.3897, -0.0227, -0.0429, 0.9995, 0.2417, 1.7279, 0.8234, 0.1047, 0.2993, 0.1986, 0.9969] state[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1776 left_yaw=0.0012 left_pitch=-0.0152 left_roll=-0.001 left_gripper=0.9995 right_x=0.4257 right_y=0.055 right_z=0.0461 right_yaw=-0.1224 right_pitch=-0.1876 right_roll=-0.0613 right_gripper=0.9969 state[joint_eff]: [-0.0205, -1.3744, 7.2, 1.7118, -0.0415, -0.0464, -0.0122, -0.4718, -9.3607, 8.5538, 1.8828, 0.2125, 0.1832, -0.0317] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.462,"right_y":0.025,"right_z":0.012,"right_pitch":0},"note":"The brick is still to the right of the fingertip centerline, and the arm has stopped a little short of the commanded reach. I’m correcting the alignment and lowering the fingertips alongside the brick before closing."})
tool
executing move_to over 7 steps (0.7s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteThe readback shows the arm is not reaching the low target, while the brick remains off-center. I’m tipping the tool forward and easing the height upward to reach it without forcing the stalled pose.
move_to
right_x0.4550right_y0.0180right_z0.0400right_pitch0.3500
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8036, 0.6075, -0.3897, -0.0227, -0.046, 0.9995, 0.2409, 1.7584, 0.8249, 0.1402, 0.3363, 0.2359, 0.9969] state[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1769 left_yaw=0.0028 left_pitch=-0.0175 left_roll=-0.0035 left_gripper=0.9995 right_x=0.4301 right_y=0.0493 right_z=0.0415 right_yaw=-0.1735 right_pitch=-0.1701 right_roll=-0.0559 right_gripper=0.9969 state[joint_eff]: [-0.0205, -1.4974, 7.2821, 1.7265, -0.0513, 0.0024, -0.0073, -0.5128, -9.0735, 7.9111, 1.8779, 0.3443, 0.149, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.455,"right_y":0.018,"right_z":0.04,"right_pitch":0.35},"note":"The readback shows the arm is not reaching the low target, while the brick remains off-center. I’m tipping the tool forward and easing the height upward to reach it without forcing the stalled pose."})
tool
executing move_to over 18 steps (1.8s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteThe brick is now centered between the open jaws, and the fingertips are at its side height. I’m closing the gripper to secure it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3897, -0.0223, -0.0494, 0.9995, 0.178, 2.1002, 0.5724, 1.2091, 0.3614, 0.0395, 0.9969] state[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1767 left_yaw=0.0044 left_pitch=-0.0183 left_roll=-0.0065 left_gripper=0.9995 right_x=0.4508 right_y=0.0213 right_z=0.0241 right_yaw=-0.158 right_pitch=0.2703 right_roll=-0.0663 right_gripper=0.9969 state[joint_eff]: [-0.212, -1.3744, 7.2274, 1.7167, -0.0171, 0.0073, -0.0122, -0.6496, -8.3214, 3.0701, 2.2637, 0.1636, -0.149, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The brick is now centered between the open jaws, and the fingertips are at its side height. I’m closing the gripper to secure it."})
tool
executing move_to over 10 steps (1.0s)
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 gripper closed fully, so it did not capture the brick. I’m reopening and moving about 2 cm farther forward and lower for one corrected grasp.
move_to
right_gripper1.0000right_x0.4750right_y0.0240right_z0.0020right_pitch0.3500
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3901, -0.0227, -0.0498, 0.9995, 0.1802, 2.1075, 0.569, 1.2308, 0.3534, 0.033, 0.0088] state[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1767 left_yaw=0.0049 left_pitch=-0.0187 left_roll=-0.0066 left_gripper=0.9995 right_x=0.4509 right_y=0.0237 right_z=0.0248 right_yaw=-0.1461 right_pitch=0.2797 right_roll=-0.0666 right_gripper=0.0088 state[joint_eff]: [-0.0752, -1.2239, 7.0632, 1.6972, -0.0562, -0.0757, -0.0122, -0.3487, -9.1829, 3.453, 1.707, 0.1343, 0.0708, 0.7253] approver: 1 step(s) modified (delta_clamped). 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_gripper":1,"right_x":0.475,"right_y":0.024,"right_z":0.002,"right_pitch":0.35},"note":"The gripper closed fully, so it did not capture the brick. I’m reopening and moving about 2 cm farther forward and lower for one corrected grasp."})
tool
executing move_to over 10 steps (1.0s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteThe brick is bracketed by the open fingers after the correction, and the descent stopped near its surface. I’m closing again, then I’ll check whether the jaw opening indicates a real grasp.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3904, -0.0227, -0.0498, 0.9995, 0.1745, 2.2829, 0.6716, 1.4574, 0.355, -0.02, 0.9957] state[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1764 left_yaw=0.0049 left_pitch=-0.0198 left_roll=-0.0066 left_gripper=0.9995 right_x=0.4785 right_y=0.0257 right_z=0.0287 right_yaw=-0.1406 right_pitch=0.4235 right_roll=-0.0705 right_gripper=0.9957 state[joint_eff]: [-0.212, -1.3744, 7.0496, 1.6972, -0.0659, -0.0659, -0.0122, -0.5402, -6.5026, 3.3436, 1.2674, -0.0611, 0.3883, -0.0708] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The brick is bracketed by the open fingers after the correction, and the descent stopped near its surface. I’m closing again, then I’ll check whether the jaw opening indicates a real grasp."})
tool
executing move_to over 10 steps (1.0s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteThe second close was also empty. I’m lifting back to expose the brick in the overhead view and reassess its position instead of repeating the same grasp.
move_to
right_x0.3800right_y0.0250right_z0.1800right_pitch0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8055, 0.6075, -0.3904, -0.0227, -0.0498, 0.9995, 0.1745, 2.2879, 0.6727, 1.4952, 0.3546, -0.0265, 0.0082] state[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1763 left_yaw=0.0049 left_pitch=-0.0202 left_roll=-0.0066 left_gripper=0.9995 right_x=0.4797 right_y=0.0259 right_z=0.0356 right_yaw=-0.1414 right_pitch=0.4555 right_roll=-0.0659 right_gripper=0.0082 state[joint_eff]: [-0.1846, -0.8957, 7.0496, 1.7411, -0.0317, -0.0611, -0.0122, -0.2667, -9.7709, 2.6325, 1.5263, 0.0171, 0.0513, 0.6716] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.38,"right_y":0.025,"right_z":0.18,"right_pitch":0,"right_gripper":1},"note":"The second close was also empty. I’m lifting back to expose the brick in the overhead view and reassess its position instead of repeating the same grasp."})
tool
executing move_to over 16 steps (1.6s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteThe overhead and wrist views show a long, thin brick; the previous fingertip heights were above its graspable sides. I’m targeting its nearer end at a lower height, keeping the reach shorter.
move_to
right_x0.4600right_y0.0260right_z0.0150right_pitch0.2000right_yaw-0.2000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4065, -0.0227, -0.0498, 0.9995, 0.2028, 1.2633, 0.7654, -0.0696, 0.3321, 0.107, 0.9964] state[eef_state]: left_x=0.2926 left_y=0.0018 left_z=0.1717 left_yaw=0.0049 left_pitch=-0.0408 left_roll=-0.0061 left_gripper=0.9995 right_x=0.3871 right_y=0.0244 right_z=0.1721 right_yaw=-0.1326 right_pitch=0.0341 right_roll=-0.0745 right_gripper=0.9964 state[joint_eff]: [-0.0752, -1.7026, 7.0085, 1.8926, -0.0611, -0.0513, -0.0122, 0.2803, -5.6957, 9.4564, 1.8046, 0.0904, 0.149, -0.2369] camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.46,"right_y":0.026,"right_z":0.015,"right_pitch":0.2,"right_yaw":-0.2},"note":"The overhead and wrist views show a long, thin brick; the previous fingertip heights were above its graspable sides. I’m targeting its nearer end at a lower height, keeping the reach shorter."})
tool
executing move_to over 11 steps (1.1s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteThe fingertips have now reached table level, but the near end of the brick is still just ahead of them. I’m advancing slightly along the table to put the jaws around that end.
move_to
right_x0.4700right_y0.0240right_z-0.0100right_pitch0.2000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8158, 0.6075, -0.4091, -0.0227, -0.0498, 0.9995, 0.2028, 2.0521, 0.6247, 0.9276, 0.411, 0.0872, 0.9964] state[eef_state]: left_x=0.2926 left_y=0.0019 left_z=0.1697 left_yaw=0.0049 left_pitch=-0.0492 left_roll=-0.0059 left_gripper=0.9995 right_x=0.4449 right_y=0.0231 right_z=0.001 right_yaw=-0.189 right_pitch=0.1104 right_roll=-0.1056 right_gripper=0.9964 state[joint_eff]: [-0.0205, -1.5932, 7.1863, 1.7509, -0.0269, -0.0464, -0.0122, 0.253, -7.9248, 5.053, 1.4481, 0.1197, -0.0464, -0.0171] camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.47,"right_y":0.024,"right_z":-0.01,"right_pitch":0.2},"note":"The fingertips have now reached table level, but the near end of the brick is still just ahead of them. I’m advancing slightly along the table to put the jaws around that end."})
tool
executing move_to over 3 steps (0.3s)
step 100
top_cam
camera top_cam step 100
left_cam
camera left_cam step 100
right_cam
camera right_cam step 100
assistant
agent noteThe brick shifted and rotated as a fingertip met its edge. I’m lifting slightly and turning the jaws to match its new angle, while centering on the nearer end.
move_to
right_x0.4700right_y0.0480right_z0.0180right_yaw0.5000right_pitch0.2000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.4091, -0.0227, -0.0498, 0.9995, 0.2008, 2.1849, 0.6853, 1.1069, 0.4191, 0.0708, 0.9963] state[eef_state]: left_x=0.2926 left_y=0.0018 left_z=0.1692 left_yaw=0.0049 left_pitch=-0.0507 left_roll=-0.0058 left_gripper=0.9995 right_x=0.4677 right_y=0.0255 right_z=-0.0007 right_yaw=-0.1954 right_pitch=0.2098 right_roll=-0.0824 right_gripper=0.9963 state[joint_eff]: [-0.1846, -1.4701, 6.9949, 1.6777, -0.0659, -0.0806, -0.0122, -0.3077, -8.0889, 3.6991, 1.1209, 0.0952, -0.2222, -0.0171] camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.47,"right_y":0.048,"right_z":0.018,"right_yaw":0.5,"right_pitch":0.2},"note":"The brick shifted and rotated as a fingertip met its edge. I’m lifting slightly and turning the jaws to match its new angle, while centering on the nearer end."})
tool
executing move_to over 5 steps (0.5s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent noteThe low pose prevented the sideways adjustment from tracking fully. I’m raising clear of the table and completing the alignment before descending again.
move_to
right_x0.4850right_y0.0620right_z0.0750right_yaw0.6500right_pitch0.3000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8211, 0.6075, -0.4152, -0.0227, -0.0502, 0.9995, -0.0666, 2.1376, 0.683, 1.0405, -0.2676, -0.2085, 0.9964] state[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.167 left_yaw=0.0051 left_pitch=-0.0606 left_roll=-0.0059 left_gripper=0.9995 right_x=0.4724 right_y=0.0189 right_z=0.0018 right_yaw=0.2752 right_pitch=0.1687 right_roll=-0.077 right_gripper=0.9964 state[joint_eff]: [-0.0479, -1.5795, 6.9949, 1.7802, -0.0855, -0.0806, -0.0122, -0.1299, -11.959, 5.1214, 1.8339, -0.2076, -0.1832, -0.0122] camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.485,"right_y":0.062,"right_z":0.075,"right_yaw":0.65,"right_pitch":0.3},"note":"The low pose prevented the sideways adjustment from tracking fully. I’m raising clear of the table and completing the alignment before descending again."})
tool
executing move_to over 5 steps (0.5s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
assistant
agent noteThe arm is still at table height despite the lift command, so this extended pose is not tracking. I’m shortening the reach while lifting to free the arm before another approach.
move_to
right_x0.4250right_y0.0600right_z0.1200right_yaw0.6500right_pitch0.3500
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8223, 0.6075, -0.4156, -0.0227, -0.0498, 0.9995, -0.0872, 2.1334, 0.7071, 0.9646, -0.4797, -0.2962, 0.9963] state[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1666 left_yaw=0.0049 left_pitch=-0.0621 left_roll=-0.0055 left_gripper=0.9995 right_x=0.4643 right_y=0.0449 right_z=0.0006 right_yaw=0.4777 right_pitch=0.1617 right_roll=-0.0558 right_gripper=0.9963 state[joint_eff]: [-0.0205, -1.1282, 7.0085, 1.7118, -0.022, -0.0317, -0.0073, -0.0205, -11.7949, 4.465, 1.79, -0.315, -0.0855, -0.0171] camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.425,"right_y":0.06,"right_z":0.12,"right_yaw":0.65,"right_pitch":0.35},"note":"The arm is still at table height despite the lift command, so this extended pose is not tracking. I’m shortening the reach while lifting to free the arm before another approach."})
tool
executing move_to over 8 steps (0.8s)
step 118
top_cam
camera top_cam step 118
left_cam
camera left_cam step 118
right_cam
camera right_cam step 118
assistant
agent noteThe arm has lifted free, and the exposed brick lies farther forward than the earlier grasp points. I’m approaching its near end with more forward tool tilt to maintain low reach.
move_to
right_x0.4950right_y0.0700right_z0.0180right_pitch0.5000right_yaw0.5000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8249, 0.6075, -0.4187, -0.0227, -0.0498, 0.9995, -0.1501, 1.8256, 0.5789, 0.8219, -0.6392, -0.284, 0.9963] state[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1653 left_yaw=0.005 left_pitch=-0.0678 left_roll=-0.0054 left_gripper=0.9995 right_x=0.4263 right_y=0.0457 right_z=0.0672 right_yaw=0.5455 right_pitch=0.2321 right_roll=-0.0101 right_gripper=0.9963 state[joint_eff]: [-0.3624, -1.7162, 7.1726, 1.7216, -0.0757, -0.0562, -0.0122, 0.5538, -8.3624, 6.2154, 2.044, -0.2759, 0.1148, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.495,"right_y":0.07,"right_z":0.018,"right_pitch":0.5,"right_yaw":0.5},"note":"The arm has lifted free, and the exposed brick lies farther forward than the earlier grasp points. I’m approaching its near end with more forward tool tilt to maintain low reach."})
tool
executing move_to over 9 steps (0.9s)
step 127
top_cam
camera top_cam step 127
left_cam
camera left_cam step 127
right_cam
camera right_cam step 127
assistant
agent noteThe brick’s near edge is still just beyond the fingertips. I’m making a small forward adjustment with maximum permitted forward tilt to reach its sides.
move_to
right_x0.5170right_y0.0800right_z0.0050right_pitch0.6000right_yaw0.5000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8295, 0.6075, -0.432, -0.0227, -0.0498, 0.9995, -0.0555, 2.3978, 0.7967, 1.4719, -0.5735, -0.0807, 0.9963] state[eef_state]: left_x=0.2899 left_y=0.0019 left_z=0.1614 left_yaw=0.005 left_pitch=-0.0858 left_roll=-0.005 left_gripper=0.9995 right_x=0.4885 right_y=0.0724 right_z=0.0162 right_yaw=0.5281 right_pitch=0.4609 right_roll=-0.0017 right_gripper=0.9963 state[joint_eff]: [-0.1299, -1.7299, 7.1726, 1.7802, -0.0415, -0.0415, -0.0122, 0.4034, -9.347, 3.0564, 1.4872, 0.2613, -0.3101, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.517,"right_y":0.08,"right_z":0.005,"right_pitch":0.6,"right_yaw":0.5},"note":"The brick’s near edge is still just beyond the fingertips. I’m making a small forward adjustment with maximum permitted forward tilt to reach its sides."})
tool
executing move_to over 5 steps (0.5s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteThe nearer end now extends between the fingers in the wrist view. I’m closing to test this newly aligned grasp.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8326, 0.6075, -0.4347, -0.0227, -0.0498, 0.9995, -0.025, 2.524, 1.0031, 1.5829, -0.5518, -0.0208, 0.9963] state[eef_state]: left_x=0.2897 left_y=0.0019 left_z=0.16 left_yaw=0.005 left_pitch=-0.0915 left_roll=-0.0048 left_gripper=0.9995 right_x=0.53 right_y=0.083 right_z=0.0371 right_yaw=0.5631 right_pitch=0.6212 right_roll=-0.0558 right_gripper=0.9963 state[joint_eff]: [-0.0752, -1.1145, 7.1726, 1.6874, -0.0708, -0.0122, -0.0122, 0.4718, -7.8291, 2.947, 1.6923, 0.3101, 0.1343, -0.0122] camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The nearer end now extends between the fingers in the wrist view. I’m closing to test this newly aligned grasp."})
tool
executing move_to over 10 steps (1.0s)
step 142
top_cam
camera top_cam step 142
left_cam
camera left_cam step 142
right_cam
camera right_cam step 142
assistant
agent noteThe gripper is still empty, and the brick has shifted farther away, beyond the arm’s reliable low grasping reach. I’m withdrawing both grippers to a clear parked position rather than pushing it farther.
move_to
right_x0.3600right_y0.0000right_z0.2000right_pitch0.0000right_yaw0.0000right_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]: [-0.0196, 0.8326, 0.6075, -0.4351, -0.0227, -0.0498, 0.9995, -0.0196, 2.5332, 1.0286, 1.5833, -0.5312, -0.0017, 0.0093] state[eef_state]: left_x=0.2896 left_y=0.0019 left_z=0.16 left_yaw=0.005 left_pitch=-0.0919 left_roll=-0.0048 left_gripper=0.9995 right_x=0.5365 right_y=0.0825 right_z=0.0402 right_yaw=0.5409 right_pitch=0.6366 right_roll=-0.042 right_gripper=0.0093 state[joint_eff]: [-0.0615, -1.4838, 6.9949, 1.6874, -0.0757, -0.0415, -0.0122, -0.0479, -8.253, 3.3299, 1.5995, 0.1343, 0.022, 0.7204] 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
move_to({"targets":{"right_x":0.36,"right_y":0,"right_z":0.2,"right_pitch":0,"right_yaw":0,"right_gripper":1,"left_x":0.295,"left_y":0,"left_z":0.18},"note":"The gripper is still empty, and the brick has shifted farther away, beyond the arm’s reliable low grasping reach. I’m withdrawing both grippers to a clear parked position rather than pushing it farther."})
tool
executing move_to over 22 steps (2.2s)
step 164
top_cam
camera top_cam step 164
left_cam
camera left_cam step 164
right_cam
camera right_cam step 164
assistant
agent noteI could not secure the thin black brick. The grasp attempts shifted it farther forward, beyond reliable table-level reach; it remains on the table, not in the pot. I withdrew the grippers. Please move the brick closer to the right arm for another attempt.
give_up
hindsightThis thin brick was repeatedly missed despite appearing between the jaws in the wrist view. At long reach (x about 0.48–0.54 m), forward tilt caused the actual grasp-point height to remain around 3–4 cm, above the brick, and approaching farther pushed it away. Stop when that height shortfall appears; reposition the object closer rather than pursuing it forward.
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0265, 0.8635, 0.659, -0.4992, -0.0265, -0.0532, 0.9995, 0.004, 1.1202, 0.7555, -0.1692, -0.0044, -0.0696, 0.9968] state[eef_state]: left_x=0.2888 left_y=0.0006 left_z=0.1622 left_yaw=0.0034 left_pitch=-0.1353 left_roll=-0.0039 left_gripper=0.9995 right_x=0.3678 right_y=0.0058 right_z=0.1929 right_yaw=0.0453 right_pitch=0.0344 right_roll=-0.0479 right_gripper=0.9968 state[joint_eff]: [-0.5812, -1.1145, 10.2359, 1.6679, -0.1001, -0.0611, -0.0122, 0.1983, -4.3556, 9.8803, 1.9072, 0.1636, 0.2173, -0.2613] camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not secure the thin black brick. The grasp attempts shifted it farther forward, beyond reliable table-level reach; it remains on the table, not in the pot. I withdrew the grippers. Please move the brick closer to the right arm for another attempt.","hindsight":"This thin brick was repeatedly missed despite appearing between the jaws in the wrist view. At long reach (x about 0.48–0.54 m), forward tilt caused the actual grasp-point height to remain around 3–4 cm, above the brick, and approaching farther pushed it away. Stop when that height shortfall appears; reposition the object closer rather than pursuing it forward."})
tool
give_up: I could not secure the thin black brick. The grasp attempts shifted it farther forward, beyond reliable table-level reach; it remains on the table, not in the pot. I withdrew the grippers. Please move the brick closer to the right arm for another attempt.
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 · 5.168 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, 0.7948, 0.6048, -0.3786, -0.0227, -0.0414, 0.9996, -0.0219, 0.794, 0.6037, -0.3794, -0.0135, -0.0196, 0.9971]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1804 left_yaw=0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9996 right_x=0.2948 right_y=-0.0005 right_z=0.1799 right_yaw=0.0001 right_pitch=-0.0004 right_roll=0.0005 right_gripper=0.9971\nstate[joint_eff]: [-0.3761, -1.6479, 10.0991, 1.7509, -0.022, 0.2271, -0.0611, -0.3897, -1.5111, 10.1812, 1.8339, -0.1197, 0.0757, -0.315]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37c6afba693e56095c0369379e4a3b820468b46f6e147d6261ba2bf4fd0a895c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb00e80601c814a47d911e44602a6a72aefa744de5b4d5ce368450cc2e441c1c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f6abd4bbb5ca4a20ff3e1ca137b128c6c86c535d031f77a79281979a2f43c67",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 37c6afba693e
wire blob fb00e80601c8
wire blob 8f6abd4bbb5c
call 1 attempt 0 · /responses · status 200 · 6.016 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqrK8265yxHC_qFxszNRrtrSzHuqeCQOFwJfj92wghsmg_57VoXqgzPJotSkxJUEH8MhnI6es0f3vY1_FzvORE1pqBVsnEDRNJllE_q3PSxurnq9JmenBY1IJIRCK_ljhlDveVeO30vXv9gly3c5456UK6ipWE36FF4WdwnDhro3wpwSewE5n8nxbtsxAHs4BSjec6HRpQUxVpjer8J91tRYXHs58GS8p95lnusT2KrPmCb1kFhsY3Pw0UHqw2z1xBVpOHt0Htrc0gRWm8H3CVIu6sMF96kFtzWCozEHyEsZ5P9a_CAsK2WxNLcPf9Mi-XNMtsxTAmzeTH_nPa_F43GRxomKhv1JqrXk3HEuOG9uHaseiBzMYJ2qs84ph7RTySH8KuhhfcVyOakfDdcHHkUQO-2Eaw3RsTf6P12Y6oqIJPViInHLpH_w06jtaM3GkDXB4ujnCgqrXzd-y_2voW2CImdzf3whguOXRPgaVYeGMD9eW-1FP9m7Bidt0dwMGd820se-9NTD3Cle2u05R3M10J9-cfIz03WQioD_sTW_ink80teD7F9YrD2lreq33SYqQWREZLsXZLPRdvkD7xW7CwA3Nel7o7EJSydYzY4x572_d2E7yLORAWcr-V7RH0dBiDJfxJ9pfUC4K8aWXjxkd4rwi6nlPl8z-zuMObEpsIiVkBYznN_GBahRwb7wyerHrDXYZiYEOayfEczZ1Ebv-zmpK4kYBo7o17KbedR7OGt2xBrP8c664deVFemtWENP55mgB6cQdHTMZ6EEPGvqWuwKyVaMiEAFiBB1pvZGjnH8httbHc7GBTz-fH1QUFaBFG5qTHIPfDBNmwrjtanAzOieNT-PKzcqpOfWPHVKxRVj8qCuHt0bNS7_dyVjh9V8-usFACqJyO9B08bM21ROgCq_z4L9308EEPz2KRQjewlVIw7-lCgI9fb0ULt6g0H5sUgZ1xVitNDnQZbXyecgEsffuOwQKDutPy8UHE_vTLxJjYr05InjW4ogdQr6Mce1mfacXpphXLFXkAhQla5VOS8BsMpHboa7qXo5zubPgGQlQzUGfyU0fMb3_7eOb2Ekbzyd7TFm6i8HlBFiws5XqAhBzhKwgjjNmL8QHT6vVeHw_MkH2qvrxNhi83H2xfbV0XkwfJ_wu9xc-Y1HII69heyR4bFb8TfoXFDK39bjQnCTGLyHGRWamBU6ntl3JVRSLQL3MME_40zutw2wLfrdo3SI59FZQPOib1oIpXRJArsVB0Q02BARFbddOI9GtmiqTxtoxUSJAAv_OUcRx8nvKuRMazitWvMOHlGnaHVCvCGPH6RmLYWePQCWrhDz2jeTWxsimYx-K3AZ3gMsYN8FUequ9E7uNvqeDnYi3cNAa39qZN2_Ra2m7Wc4w0sh4JMWuRqyynMWcELKw9NpIOYP0WJxSyLIPsAjWzZ9WMl5LYYVKlhowWlX63dZVqwdQRzEEkaRS6Lhj2FTld5DWitHjBLdLi1LsPrqKpEtY9_qS68Mw=",
  "id": "rs_0b57e1e7299a2eb6016aacaf334fe887d0aaf71b599c06c33b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.075,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"The black brick is on the right side of the table, beside the pot. I’m bringing the right gripper above it with the jaws open.\"}",
  "call_id": "call_YxNcfLPlLTcjkUgufMwQUFea",
  "id": "fc_0b57e1e7299a2eb6016aacaf35ac7087d0bc152536e84425e8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YxNcfLPlLTcjkUgufMwQUFea",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.7986, 0.6075, -0.3889, -0.0227, -0.0425, 0.9995, 0.2501, 1.4509, 0.8135, -0.036, 0.189, 0.1051, 0.9971]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1785 left_yaw=0.001 left_pitch=-0.0118 left_roll=-0.0007 left_gripper=0.9995 right_x=0.4061 right_y=0.0732 right_z=0.1247 right_yaw=0.0337 right_pitch=-0.0904 right_roll=-0.0249 right_gripper=0.9971\nstate[joint_eff]: [-0.0752, -1.4564, 6.8308, 1.8339, -0.0513, -0.0269, -0.0171, 0.5538, -6.5436, 9.347, 1.9219, 0.2027, 0.1685, -0.315]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44b521a0aa0ca2976f71a923ba2e66e18ae96bef8eb2f774c8f43008a46bff71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9e763d1ccc2a4777dca85ee45c20dea92ab90a20d6a424a15843a84fc5da8bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6ad52e84546c721f677e638c4188a6d7224b70685643485bc28990f9983392e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 44b521a0aa0c
wire blob c9e763d1ccc2
wire blob e6ad52e84546
call 2 attempt 0 · /responses · status 200 · 6.879 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, 0.7948, 0.6048, -0.3786, -0.0227, -0.0414, 0.9996, -0.0219, 0.794, 0.6037, -0.3794, -0.0135, -0.0196, 0.9971]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1804 left_yaw=0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9996 right_x=0.2948 right_y=-0.0005 right_z=0.1799 right_yaw=0.0001 right_pitch=-0.0004 right_roll=0.0005 right_gripper=0.9971\nstate[joint_eff]: [-0.3761, -1.6479, 10.0991, 1.7509, -0.022, 0.2271, -0.0611, -0.3897, -1.5111, 10.1812, 1.8339, -0.1197, 0.0757, -0.315]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrK897goFlf0yFLPHrSAlCq9DzqpYdkM9DVR-vSFwMSXClw1-sSyGfKBdhYKmAWgaTtfXDMN7_IbvJLhmEJYIMF-46UqipyM0BX3xu-qAXJrWlC0LwVG1Jl9Jg7EyMh_IaXkFjOylNpaau6OwIH5UEfQ4CxtR1Zj4KDH25uMBmLSaR2TPW5I5nqUOjNoecfro8Mf9IwvUEuEOm9LYMzM5OBae1B3T_r63jNlY2lAR2Iy_NPhILqT6qI_CM3gchPkuKO_4xTlefQi1G5fcNjxh4_cotNf96H2OEg0lSphzLJLUkK5I2jtNu-rMX8wbVUnSMoBYJrinRy1Tdl4e8LSvAb3XFqVv7dyBgvrw3N3dLIG1TjWs5p9_phBLNJKSL1ycaIj-Fhs2e70liekTjSooXHqEvhuZ70OPr1GQUfGb5ahJch3_gyo5WAuNahpGQQScAp6YoNawsQGodz5p_LnK1UWhTCTNqCq-COuovhPpHCxCzPmqhK_XiNcctNRjby0wALTO7Mq646lL5o-88Yvo861BfoWkdeoQCQv7rUfoC41464MCN8xRS7w8IXf0jLVtJ7qP1Qv71USbg_Nb2J8ZdK6Cd9MoFwPgMxxJOMeaItE07Md-yBCCI6CNIRW_5IQQ9lwf8D6nmihTETJ7s_nWPCZ9Ib_Pm9rQCzM_XJQQQIW8YCd6I3JVPqZv9XrU7wngCfDsaMSRb7IYkOjqZUavyuTift_k8HQi5nShAk0Dbvl6m1UeU2RKQNqhlaUzYZRXzBfHTQ4JXFr5qevtrCtf7vigKBxRvHTVGYol_wkKnhLrimfnqCz6wCRzCoZEYTA8yC2H-tKkfRnrU07noNCpfGcWGaRHq1LOjRGNe1nfUAnDAGXtnbGS9ZXdX1NBO5DatBL3L-Q1szYNf60V28LYGL3kWgP3VpJQyv9maztvGmJlpRHtt0ASQyxFpc25QTEhsbVV_V6FPe1F71FVp7KSvrBjHcN0c3TBB2t-zVwiYRZ2x_keVbpukHxDZ5jvzWGUmcin10czQF6mum9MNYKNi0p7Ci5wntKGPqlLaLbqiTTuJGWz5hBqHk6evBhP6yuTOr-m65MWZH-HEq1WonSsYpGlPTQyUXVozwnlQOJtZSApiv7FUV4a79HrpmKfr8WI6zLMjJFrlI4Vr-4X-Q9B_bmP9a5bIz3pEdB7sg6UKP3VTU4X2YMm8egfwas8cAW7UG_xfJr2bL03zqzTjJFC4nA3aGUJBmewxOmL5O5we3NTXdSb15HIfB8SD9Dt9vCL1ai3wOhmrdIv0BppJ9hk3-C7-GoUViZvGJtcoWOqBKpZIT51qjonjIJ7przRgMgshBuFQNnwvqU3J2GzJ9d4cu6Ujbzy3tNV9VtVxVwtKsKo1LVrEDCOLhGWuDpwYtQQMdPfme4B-zN7poI84CQIcPhpSh74XC8N7y8yxKoNVuS-9XkQQxfgHJxrKnU3bCAKh8o1tZHAaCMvi3h8p8ikOoX1rw0G4UuC5Vk1bnI-uoTJ4-mK9NLHC7toVd3ymo4CfY1J62zrGxLkDROLIiCnk63HkU1-vYg8krknkQCNqI81iVXoJsnGacs7rNkNZF4VeRCZNkQy9hr9rT4-9opTdFMlZC_9Yq5P8vmSqGuo87LSDUpmEe_O8wbUZ--jhiE167ayctOAGysOyQ8G0FIOdZttFpRBRiq0VY-PYLFKC2TzQMg=",
  "id": "rs_0b57e1e7299a2eb6016aacaf39326c87d08f8aa212de654484",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.048,\"right_z\":0.065,\"right_yaw\":-0.2},\"note\":\"The wrist view shows the brick slightly right of the jaw center and still ahead of the fingertips. I’m shifting toward its center and lowering for a grasp across its narrow width.\"}",
  "call_id": "call_t3YvFyW209EceiD10WwIL14C",
  "id": "fc_0b57e1e7299a2eb6016aacaf3c2c7c87d0ba49de319a1fe689",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_t3YvFyW209EceiD10WwIL14C",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8013, 0.6075, -0.3897, -0.0227, -0.0429, 0.9995, 0.2417, 1.7279, 0.8234, 0.1047, 0.2993, 0.1986, 0.9969]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1776 left_yaw=0.0012 left_pitch=-0.0152 left_roll=-0.001 left_gripper=0.9995 right_x=0.4257 right_y=0.055 right_z=0.0461 right_yaw=-0.1224 right_pitch=-0.1876 right_roll=-0.0613 right_gripper=0.9969\nstate[joint_eff]: [-0.0205, -1.3744, 7.2, 1.7118, -0.0415, -0.0464, -0.0122, -0.4718, -9.3607, 8.5538, 1.8828, 0.2125, 0.1832, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a600e4f0b3601523b78b5fec20809b27565c98b99bcc5c5e90b971825876713",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cd0ca51b1691520029bfc645f575a33643b9ae7ef7cfd24232db3ba7f3da514",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae75ff83a990d8016ee38a424543faa8632590e60494b149ef967e54ff6e4fd4",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 2a600e4f0b36
wire blob 2cd0ca51b169
wire blob ae75ff83a990
call 3 attempt 0 · /responses · status 200 · 5.009 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 6 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.7986, 0.6075, -0.3889, -0.0227, -0.0425, 0.9995, 0.2501, 1.4509, 0.8135, -0.036, 0.189, 0.1051, 0.9971]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1785 left_yaw=0.001 left_pitch=-0.0118 left_roll=-0.0007 left_gripper=0.9995 right_x=0.4061 right_y=0.0732 right_z=0.1247 right_yaw=0.0337 right_pitch=-0.0904 right_roll=-0.0249 right_gripper=0.9971\nstate[joint_eff]: [-0.0752, -1.4564, 6.8308, 1.8339, -0.0513, -0.0269, -0.0171, 0.5538, -6.5436, 9.347, 1.9219, 0.2027, 0.1685, -0.315]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrK9F0oPlpQRLnQT-SVp8U3OoRaV_XqbRRWqnUNWz_BRvaK0bN4QcjYVxePUb-8zbEM7NrhDBfYRNeD9In0DDOLvZuWr2KwmWFgmuLIhO6hlul7t9HRCAZoIgI1DxNIswTKSNSzETgJ_2Z7xD_cpYW5qG7YpkXL-zTFA2R6zGM5PzikgekjR3cFSKGve74EbfpaDcwsUGNCLm0gqGZwX6ThrqmzkkYOwQ7ZLfMDpmZEd_cv6ej_Xh4HyUFJnLnAXEtaosFc2AaO2pw1pV3c-VdJJKPK8yvc_xTXhPFZp2vJKlMwci786yImxXjF5V64K95-kacOi1ubAEIdyfk-fLiCa2mPq1Ei7tyfHO_ldQfpqa11y2vrNXp0N6HA3QfpRNhlf2xUHudQuHVUkMQ0PqjQGeVo6_NyfSDmqjTvfRfBt61v-mKgAVtfoOENfLTQUeen5suQkwzAQeANpEFjCeViossNTUETbqHxuMo_bpqAKw-0IJPmkTjQ5LV5Zk8anOAksxG6DlJo2gYK3J8tp-5YsuNZzCctnGt_LM74ycQSUksdVl-ddTLtZwJlwAOUkX879v7iDk4NtE6vZoSHhz6baUR-o3sAUMj3vj8LtT8Tx-Qcuf21FmsSBRy1GreLPAwFNtGmIvcA9IhEmPOmfxqQV7aBiTTm3_yBDhuV7fjJMisMqXZ9b0ffiq4cFivx9Ld9qVwFvxrZWj_AGsToVVsWnATQgLeTtC-30_Uzqt-4frKUobA9od1me8bVDk3CCF0o9No8CUo8F578znj1dgL-ChtL_FnX3yIiZiM6V0wsQKjNpGEsKG7-1Mpxg6RhRDjfWCahAf6738-F0MhsC4hL-CRR3UZWz_BhheRiQC-ijBa1yR7JNvurRxpzIENAJeNzO6Kg4CIxsKX_cG0VDsxrI62eYgrnL5fEMPdy9QuC9eryFOBZOPZlQco0lNLRiwJbI98OPvE3WRF-mNes5mJ-8bzsdDlE7j5wx6s01jjPQxorT4TxS4ct1eHBB4Wd-6HvpzeZGieD9EjXlR0VAfAMfwn04HXfXM6TUSzpigZfcZyxT7c7BbV67v-TzQB1qMMZwjoDvHzaRuYCT9JhaD6lcbxcxGBYJdbl050YvZBhsDgkH0uIk7nwhv8mZqMLeLF9xvXeC_H8wjr7PJbSCL3EokW2VuV_EM5-LGZJ9zsLjtJrSSbZF7648TpDdvGwv20PfBhBwMWjP1dQWIY9PkLFgreIodKHF35_NNNe2Ya7ioV0TZw-jRKNo2A7FgqRVK_6emnTRc5cJFZfgMz8_0InqG0pKeKooppnvvNc9Gl7Q_3BNv4pPXilTy0IQDNSzajz4-Mfh5mmIPppBTL-7AVxEEi9j6ASkAFpWtZa8aFq3yDy1sxmdHdXpN3QjhHgJuK75JI99vYHEkfW4MW0NHwbF3njJh9PcgwWDjP-pvFVq5jdQPuugrzzx1sb95h3h3wCvlOGV7J5EETm_SuTZmddEHrkucrOznZ6lpaJTJZ5UzP-Y=",
  "id": "rs_0b57e1e7299a2eb6016aacaf40b7b087d0b840ab1fa264b766",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.462,\"right_y\":0.025,\"right_z\":0.012,\"right_pitch\":0},\"note\":\"The brick is still to the right of the fingertip centerline, and the arm has stopped a little short of the commanded reach. I’m correcting the alignment and lowering the fingertips alongside the brick before closing.\"}",
  "call_id": "call_XqU7lwcGY7qB5HKkQwxnojZl",
  "id": "fc_0b57e1e7299a2eb6016aacaf42d63087d0b3f99a74d5359abf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XqU7lwcGY7qB5HKkQwxnojZl",
  "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]: [-0.0196, 0.8036, 0.6075, -0.3897, -0.0227, -0.046, 0.9995, 0.2409, 1.7584, 0.8249, 0.1402, 0.3363, 0.2359, 0.9969]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1769 left_yaw=0.0028 left_pitch=-0.0175 left_roll=-0.0035 left_gripper=0.9995 right_x=0.4301 right_y=0.0493 right_z=0.0415 right_yaw=-0.1735 right_pitch=-0.1701 right_roll=-0.0559 right_gripper=0.9969\nstate[joint_eff]: [-0.0205, -1.4974, 7.2821, 1.7265, -0.0513, 0.0024, -0.0073, -0.5128, -9.0735, 7.9111, 1.8779, 0.3443, 0.149, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de12d9d0a9744aebf7f5de947b2c95ddc368356453b7eef690f61ea602d46bd2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bdc3f4af9b7a4d80ca96f52b4b9b8c78d21ddcc8ffe2ce58f8142810316b910",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e74e97ffafd0e81fb32e7abc7b9fb2a277c17b45fc8808028268ed72d14815a1",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob de12d9d0a974
wire blob 8bdc3f4af9b7
wire blob e74e97ffafd0
call 4 attempt 0 · /responses · status 200 · 4.279 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8013, 0.6075, -0.3897, -0.0227, -0.0429, 0.9995, 0.2417, 1.7279, 0.8234, 0.1047, 0.2993, 0.1986, 0.9969]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1776 left_yaw=0.0012 left_pitch=-0.0152 left_roll=-0.001 left_gripper=0.9995 right_x=0.4257 right_y=0.055 right_z=0.0461 right_yaw=-0.1224 right_pitch=-0.1876 right_roll=-0.0613 right_gripper=0.9969\nstate[joint_eff]: [-0.0205, -1.3744, 7.2, 1.7118, -0.0415, -0.0464, -0.0122, -0.4718, -9.3607, 8.5538, 1.8828, 0.2125, 0.1832, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrK9KDgEF8mEGyPMCwPetGV3L1EGzJLXPFcLqxDcUneBOec8rWR4BMyjUgtvrnL70vubcxfzQM9EDROe8NmPgxl-qZuNUQ64few-t6jZs-5qgkgjY5Lo1_bbtQhm_xoEitFBPGTgHjY86IPcJFinrwmgEhRj-t0HCo88aDoWz69bP1RZTeXvZcw2SNBVM1X_iGU2nBvnm4n8asVKtjapgjfmNcwQmk1cAM6saLsZ-F6oga_M3TBuoNlliMklmGiaTxacm4qJ_AYq0X6nZowgo8bgLRJDJzVIM7z9rQryKoOFmQtxrQ2hJS9bxtmHVYHBBi0112T9D9aMKh9p_Scnun5Qje-n-F4fEDiDxuFAk_7tVWGe1cchRGOyx56cl9GsDJU4fuiNNV7R0puKWp4-ijzWM66DREYy0_u64oZ2-q3ass2BXlwHDfDVyVKC1y9ISBQ6mGalcSQrFAN5INKwnzs0U5xW23n2dpmlnI5uGZQDPhIhRa-L7jFbnEdSNhmCVU5V4AeoGi3gcPe72kGZxHFGSrx_JI9Xq5F94LNpQ-greOrq6dS0geEaX6xLMkS-9RGyxZhT6q_dusGG0SfXr631ixxHwUkDMbf9q_74GO-wc8d4UzMOhCGCzVG0A_6KhXcdxcK9QcE9evFd_Z5535ZSpEQMCYkpTjKHcDCukUQSMaqQOZCGW0HqUGMcmWeCU4jNh_Bj4mOSpbbGdMT0wzCyWWUsXF88qHoU16nn8fcuWWLwCDH4W-3yL7z8fJEIyxK54zzNIQkBM03ZYKYqajSukGbNyrI95R4HToJ-5VVnVU4t97_w11COwAHTCXXo_2-L5SWW44v3MxOL7nFwy6130uq8jumCCfp2zajxL78vxb3AeBahftdLUHq-gPtVybde7t_XELZYMBTyH29xrFjqSxvCw4V5hQGecZ_3LjQTgyJ1BRoibew3GuusK4aARZLkoSOiG-mrhdgbDULiu0bdZoEEhuoCB-oT-3Y8kUXC_0xmFBHtbnWyvYxIukJ_p2-kl95FRhEdNIiA7N-GO_prk7KFjzNdlL3TeCV1s29mTrs4fzMVAnYykMs-4Fz7m7Bz-20cmL2DZMQNaEOYY67ydMv10deDMd2BcSDKOIlQQI1T8ageEpIMoPC5zm4Whn1xl70qhZceau4muA9b5JA2EDwPF1Fumgx0gQQHutuOvtFEt-6fuWe2G4vSBFicx9IcpAty347ugbX4N1dShzhFjDeA4BVZkW7GDChnw70kmYntjKMnsPkHUJsQZ4yTEDHyd5ugCTsgQYtSgLJKynP72FNW2ZRVnGoftIc2bUWec-nJZ4KdwoYNhrFoZCQP9CO9Hw1xp5utpjDH4k8VyQgSXn6IiSFRkiBiJahKDAAGo5RNLnRXWzHYqOyjRJvjnN_sc",
  "id": "rs_0b57e1e7299a2eb6016aacaf47587487d0b3d742bf48e2553a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.455,\"right_y\":0.018,\"right_z\":0.04,\"right_pitch\":0.35},\"note\":\"The readback shows the arm is not reaching the low target, while the brick remains off-center. I’m tipping the tool forward and easing the height upward to reach it without forcing the stalled pose.\"}",
  "call_id": "call_EMHUGohYhnF6NLgkvxK9XPxC",
  "id": "fc_0b57e1e7299a2eb6016aacaf48d7f087d08bd82aa8a55b465c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EMHUGohYhnF6NLgkvxK9XPxC",
  "output": "executing move_to over 18 steps (1.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3897, -0.0223, -0.0494, 0.9995, 0.178, 2.1002, 0.5724, 1.2091, 0.3614, 0.0395, 0.9969]\nstate[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1767 left_yaw=0.0044 left_pitch=-0.0183 left_roll=-0.0065 left_gripper=0.9995 right_x=0.4508 right_y=0.0213 right_z=0.0241 right_yaw=-0.158 right_pitch=0.2703 right_roll=-0.0663 right_gripper=0.9969\nstate[joint_eff]: [-0.212, -1.3744, 7.2274, 1.7167, -0.0171, 0.0073, -0.0122, -0.6496, -8.3214, 3.0701, 2.2637, 0.1636, -0.149, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cea12a89b393f3c97b93110271811ae9df428ee209e34bafd38263adc29bdd7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fbe8a68cf74cd0cb9c8b25a35718ac5bf47204c55b21607a56b9c812c8fc06d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:353661170c1401539f59a0011c1c29f24dce607ce1e7f90aaf467789245e613e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob cea12a89b393
wire blob 0fbe8a68cf74
wire blob 353661170c14
call 5 attempt 0 · /responses · status 200 · 3.558 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 14 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8036, 0.6075, -0.3897, -0.0227, -0.046, 0.9995, 0.2409, 1.7584, 0.8249, 0.1402, 0.3363, 0.2359, 0.9969]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1769 left_yaw=0.0028 left_pitch=-0.0175 left_roll=-0.0035 left_gripper=0.9995 right_x=0.4301 right_y=0.0493 right_z=0.0415 right_yaw=-0.1735 right_pitch=-0.1701 right_roll=-0.0559 right_gripper=0.9969\nstate[joint_eff]: [-0.0205, -1.4974, 7.2821, 1.7265, -0.0513, 0.0024, -0.0073, -0.5128, -9.0735, 7.9111, 1.8779, 0.3443, 0.149, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrK9Qsk1Ir2E9d4Z10zkVyQK2U6JFotXdSigoIHGjJ2U-gQ_tolRItOUuIHcIf_Dfx9OgUW0t0fnmVZphBkjnTt1kekjxLfX3GWqVfzz-jjyEjTkLK-PnnssljqSfEm3PTHq4dM8YMPKJGTtXgz_m4mkJILTfSlpgQGh7pbMOE9bp_xXnVUN9Rbc506HrJIEhk6TW0LNd3wTDzoFn6-tK3_6F_dUNR2wBJrHMiF0DDW-jKWeKNHeJcCPqjb10wRCBjwUr17GeS6SX_sLXfVfl7g7AIirtet5uYZg0__oFlNfccMDjOOjODsMLyQPWgyzWSEn9-hMnlxMo50oJKj6bQ5v7Ec4MsHFqsG8n4cm4-8o7wsA0Jum3AMwFR7JC7-ndAdc89EWHNflu-I1UUH5nm9RQvW2gwyNKMCiMVbvSeKMOz3rQ4GqQQ5oJOCL_u6eMFeFGdPBqkpAZ71PJTOvnCBh0OcdTK-of2tRv7lDCvQIQYRNfnJY3-x2zqqYUwZ1lo-3GEwkRVKbh0pC9-Z3mB1FlRD6jszwmzI4Ohb8dYUeztYAU6qrg-vNM3qjoRlvb6slMc0Tv5xrbbtlGv3XtyXtzUeZjThsjHSPNS236B02E8Ppz79R7yrylqMMoNhS0-fb_DWnhlEW-yCjeo3kpU5dAObRv6SJqVqX6fLn7YBxcxdmrEOaViVw7OGmo0NvNxHOH7AQR1O10pnwIl6YcfjmAhikuFt3gI555Vg9t3E8HFqddJgAc9Fc11u1SQPeMDArbpM-6T8zcq3cgcPCaBPeJ0ljN3crMpoto14y_oNES-7HbNJf4Hhwf042HAIZXRD5KnsWJBMQsFDz0KbR_ov8GAqOlHNe8zjSSCbJHxJNxdqoRhZ1dMT-tNfi_Io7GxU1RlaD0YuuEQNzeDqkC_UZAscpjgF14zWhqGvslh07bZUPq2vyZngmUItYd8cdyZP6CgCzjTqXUpcebSKSoE4eBLtaE2hEf4uWNJEX-9hZKI9LW_Lg05CoLtDkSdalqZxjm46c1KDJeSBSqlaWuOXvocY4qcP75zVfGxC1octDBaWkLTjprqZL7q63xXvOiMTrBYOA5IUyDmVhLhb2EqZTywDKlboAYK1UT0PhwUmPITUwW64nR0KqXWv6fFZVsHH9inBch23QsJweNxQBzn-bpz6cg-NrSxwC-YM3m9ORFetgSoFHec7BUww69QGJMN-XombxHiE2HCOKb1WrqGqnFG1Ryjbn3mqn5CY_qTPSxUkIp3d4vjNSiGyv3nJJOtk9X57gp7TKurrWNmAhC66gKIl14IJ2RrSS5LmAjGMWfIcdra4CCy1LOw9zpeiK-Z516LKJ8e6_aE56SiIBSMj8qlUaC-jhGsk-09IlZE-8bDvk=",
  "id": "rs_0b57e1e7299a2eb6016aacaf4e0c5c87d08addf1fb0a19e099",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The brick is now centered between the open jaws, and the fingertips are at its side height. I’m closing the gripper to secure it.\"}",
  "call_id": "call_VavLY5qHcNRaqjOee2SSiMgh",
  "id": "fc_0b57e1e7299a2eb6016aacaf4f63a087d09d39a81ccf530b08",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VavLY5qHcNRaqjOee2SSiMgh",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3901, -0.0227, -0.0498, 0.9995, 0.1802, 2.1075, 0.569, 1.2308, 0.3534, 0.033, 0.0088]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1767 left_yaw=0.0049 left_pitch=-0.0187 left_roll=-0.0066 left_gripper=0.9995 right_x=0.4509 right_y=0.0237 right_z=0.0248 right_yaw=-0.1461 right_pitch=0.2797 right_roll=-0.0666 right_gripper=0.0088\nstate[joint_eff]: [-0.0752, -1.2239, 7.0632, 1.6972, -0.0562, -0.0757, -0.0122, -0.3487, -9.1829, 3.453, 1.707, 0.1343, 0.0708, 0.7253]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18ac6ad5cf51b4863403860712e39a23e7a01d4219c741fc414e7edd7650f6cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76e04ee757ba85ca828117a96a1378b1ab5b1b4d60f744ee085a9b4398157fe2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb5b0f4124807710667cc6178d05dfa9ca3cd25bd05b56b5a54032088c674976",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 18ac6ad5cf51
wire blob 76e04ee757ba
wire blob fb5b0f412480
call 6 attempt 0 · /responses · status 200 · 5.333 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 18 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3897, -0.0223, -0.0494, 0.9995, 0.178, 2.1002, 0.5724, 1.2091, 0.3614, 0.0395, 0.9969]\nstate[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1767 left_yaw=0.0044 left_pitch=-0.0183 left_roll=-0.0065 left_gripper=0.9995 right_x=0.4508 right_y=0.0213 right_z=0.0241 right_yaw=-0.158 right_pitch=0.2703 right_roll=-0.0663 right_gripper=0.9969\nstate[joint_eff]: [-0.212, -1.3744, 7.2274, 1.7167, -0.0171, 0.0073, -0.0122, -0.6496, -8.3214, 3.0701, 2.2637, 0.1636, -0.149, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrK9VEQe7pl6-yZ5ciqo8j0wNRLD0K_ujP2YtHYkdYoYAG0K-UzGShvpW_6LqmYZjzJyEhJcWZ7S4IqvRia1-Sgadk5y-PKq-dH8LKQ63c-4nvFbmuva_6Q1Y4ALttR4P1mGZBpm9EVv3NYkSVxDSgq3fkvaycQB2e3EsPtyCxVzsm_sMaQjwrSHtiyn387piqijLvUB3f1H1JRk9Lk2sAopkRE8ugEwmE9B8JQVxfgXhYIY-wyVVobM3_A9QJ6z_1bhjs_gY65fQ9kxRsshPTTZAAVpHmO_mde7igLTPkZbRWAaJ3UbXSlnnHI4CNujJkd68tkFRonwSVL1AnMYp62Ey4vdYCCWgs-5Qg26bxwdDytoUFY_ReJ4PgwocdO9uwXJf1Prx_0QQ6lDmKOr0gibx9SqlOoTR0IDflHTPEUz9T_tIzmHwuP_FsxbhFzPA9m7Vwi-hmaHe-Mx_7Y7MMTshbNziosOavXVcIvRrnD3d-q8CKk_nKuMPMCG2_xuAMAYpxI_rej9rpAStUNrYLGLThLWVdqDOJGPhZ6cLk0bhaoaq6X9naSFv1Xbm9u__Z_rxIIKC7NRHHNahRDmwI9Ifw1OSYm4HRx-rKdS_5el-3WgadlZBSwKQ8pt2fCxL_5m1a5E5di8KEidmJlUzwonuzya7hxkuOXFbqkpsvkGu-jxF4s0nTtKZcRBtpdmuaFa3zJrZtWKXzrLOZU7eq22EnsFkn8LOsBN8OpGoN5ZKKGxowbj0g3IZ2QQMTL3KY1-F9HR2r2lnyId1Szf7an-TIFG1mjo2EJ7a-vUCiczp12WMxJ3C8fZQdLpjK0kgpUg3yQo0dEvkbRvY2aEwqM92q-4GUtfkPvOJq_Poxtu7U2FV7aooNkUPbW1QGKP6_J4Ba3bn_OTdlBVZp-uUNik_cahSCS8QCHbNzdDTkKyZWCXt8v7J1DZ-uxLptLgWn85pVE38gUUSXE_F-G5cxYaPA6TgfOZLIaMtylwhpOWyCz1qD5c2DR1CFPzixw7VTPFGuiT1VDOkD16SsAFf1JtbimxVNTVEi6kga578uK1-NSJxQ-V_FfR9orxkC7ZZNIECLhZLWjL9NlB8GMkcLFd5TzkqOirSgPXUSRKaOaxQDjWZdly_kKLhX-yPWxsOH6Mw5U9bx0_yGt42yJaXGnQ0yHE4iXztOAZUdue3Hy5eh-cRjE9uxfDQt1ALfsP5PgL-BCze98QdTyuTgAb3vF65uIk6F2zUt4OKy2liVeeyf9OecQcL8K2PhRu5WgQrLpz_GzOMm95PPGfX0zrtkmRYil_f1u-UT6z1xwDhZi2hcTo=",
  "id": "rs_0b57e1e7299a2eb6016aacaf52d52487d0899230a906e2029f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.475,\"right_y\":0.024,\"right_z\":0.002,\"right_pitch\":0.35},\"note\":\"The gripper closed fully, so it did not capture the brick. I’m reopening and moving about 2 cm farther forward and lower for one corrected grasp.\"}",
  "call_id": "call_1ZpwADMfbzbJ4Oj0WPeoVI3t",
  "id": "fc_0b57e1e7299a2eb6016aacaf53bedc87d0a6c10fe06c153ee7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1ZpwADMfbzbJ4Oj0WPeoVI3t",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3904, -0.0227, -0.0498, 0.9995, 0.1745, 2.2829, 0.6716, 1.4574, 0.355, -0.02, 0.9957]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1764 left_yaw=0.0049 left_pitch=-0.0198 left_roll=-0.0066 left_gripper=0.9995 right_x=0.4785 right_y=0.0257 right_z=0.0287 right_yaw=-0.1406 right_pitch=0.4235 right_roll=-0.0705 right_gripper=0.9957\nstate[joint_eff]: [-0.212, -1.3744, 7.0496, 1.6972, -0.0659, -0.0659, -0.0122, -0.5402, -6.5026, 3.3436, 1.2674, -0.0611, 0.3883, -0.0708]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5942109305f25e892b40b64812e1709dd5c55ca37b94e404f31e1f175528ece",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b74d895aa4c0720e7d1b979ba810b9546f1e9d510695d46d24d6b9fd95284e17",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61e78a6916fb8bd633f90022010dc958ffcae89c0c88494cbf1c99c4c258a60e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob a5942109305f
wire blob b74d895aa4c0
wire blob 61e78a6916fb
call 7 attempt 0 · /responses · status 200 · 4.857 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3901, -0.0227, -0.0498, 0.9995, 0.1802, 2.1075, 0.569, 1.2308, 0.3534, 0.033, 0.0088]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1767 left_yaw=0.0049 left_pitch=-0.0187 left_roll=-0.0066 left_gripper=0.9995 right_x=0.4509 right_y=0.0237 right_z=0.0248 right_yaw=-0.1461 right_pitch=0.2797 right_roll=-0.0666 right_gripper=0.0088\nstate[joint_eff]: [-0.0752, -1.2239, 7.0632, 1.6972, -0.0562, -0.0757, -0.0122, -0.3487, -9.1829, 3.453, 1.707, 0.1343, 0.0708, 0.7253]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrK9boliUCDZWbBzoUUhK8duTgfy6_eiExwBUdOpEMgzX7ICls-a7YETq-58bAThXANzBirYNa48BlL0og04atYYf8md0PjH-pJO9u7L7ylt6A94T5RFe-i24Ri20y3uxGuJo99UtDmB9664QxDGByabwIE8dvP6jV10ElzaIzeBeEFBkxd1JepYieA2tUw9bVCTFDMpyIWkM3pTWkfW-ZXz2lPBQFnTnwWlaDvaf1qQ2vfyIdXEllRhEVNVr3EpQ7s-GeF3n2rdgdGg4egUVUCQ4X_eKkM8fk3kNGtfO566DLF9RetS2-m6X1TuzWwK8XO61T-XNQiElJyBwr0V7d0NGDiljqw6ypE9Kg7j-j1OMISEBPwa1nabgPJw27JXxQwk48-XYUnqUSFZyO5lRrGPPnQVo0OvXAQS7NQLNwZg5FW1qHuqsst8Vkzu5CvIFEY1AxmtBimOdYfsfypQMwFC9TfXw2-DXDHus7IF-oKh42UPPfyRc5xgpcWPSLfYx2nHElOC7KMhtW6VAO-e5eLc_jqliiL-aYMPLRygiLjCiBub3PUhTDto69BGiU1Qt1aZRMHzLDyDJFYUG2gIMWBMsaK2pHQlGoYvOBWJxgHLb4yC8akM3noq5l7swMhLUe8w0Js3AegMWSQPVYgdzSqwHGJYbarkaUKwHlbPwMsI95y3gr3GOOJ7O8YcltrT6Dr6FpXG3W9YEevaoorX-q9HU2ZBWp0rXz-XQ2M0emi69lcIK4ei5DYWukGHJLaqnwS6TYynHtH3qmiMEL3AJbPWV9ElnVrZlBpukX6xnWn7Vn1_suWX_cMU6BlQskPqMZw1kD68VttP2fId7dCYckg4--xiI1RTnt6zAfOqhrUkOImJ5zGBzzZ1CyAXxz4pYqKssdUulZuprkNfV_VWlmNaAz5DFyaWfiUZraaS6AVI9GK1TnqTFBWUGR2COhUUhJfxl8d8lsj4vRoaWtXVge8qrxhVlSGqYVtae5JPerixEFLpwWSrquirsmDBjUVxNqkmOsPkVzG6e4XYkxtwuRZauxKAE7iw1lYhS-5aMw5JELwIYzGOcsY7ottLIXuUxFaQfErqRmAZhnqbTAB_o5qch_xDZ2efoP0yymdrd-iAEMWC8cLv2MKTR7N_V_myPHyCV1RlhzNqI5aeImnZeuJce8mO9iazM_3hIn8v8-bwS_P7MuiGCZNXzyaqdrCleRCo4hDph843aPvm_Epk94OOQBeJ2sKgDjC3lSmfvrSHUOXWpHkjxO7GaCsaOZ5ibvg_Szs5xMhMd9BVBlq-WyAzs8Q3RK6nb-78z3aCikExezVHUr6GuPoUSbu9Q7hm_rTVxyGwTiTvAdfZxSz3NGDafr2sNOtyMkxiVjsxxJV376x5EgG-t0sO2MJF4_Api1zpQ_AgsU92hpbz7lLAcAMWtaZbqW8gth3DvZFergPm-lsZ4j9zOzZef8on35wSBrzLX0llWN8iFhbweTQPScR2RlW-IflDW_wUMUEzLMbh2ZmM=",
  "id": "rs_0b57e1e7299a2eb6016aacaf576c0087d0b0df355258d1e291",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The brick is bracketed by the open fingers after the correction, and the descent stopped near its surface. I’m closing again, then I’ll check whether the jaw opening indicates a real grasp.\"}",
  "call_id": "call_asVYGfpD6RuTcTTcI9yH1PDq",
  "id": "fc_0b57e1e7299a2eb6016aacaf59a07887d09e2c9557d2fc9056",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_asVYGfpD6RuTcTTcI9yH1PDq",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8055, 0.6075, -0.3904, -0.0227, -0.0498, 0.9995, 0.1745, 2.2879, 0.6727, 1.4952, 0.3546, -0.0265, 0.0082]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1763 left_yaw=0.0049 left_pitch=-0.0202 left_roll=-0.0066 left_gripper=0.9995 right_x=0.4797 right_y=0.0259 right_z=0.0356 right_yaw=-0.1414 right_pitch=0.4555 right_roll=-0.0659 right_gripper=0.0082\nstate[joint_eff]: [-0.1846, -0.8957, 7.0496, 1.7411, -0.0317, -0.0611, -0.0122, -0.2667, -9.7709, 2.6325, 1.5263, 0.0171, 0.0513, 0.6716]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c687ed84c219ac9d30e5b18640ab2b39658831a0c34ccce6cb201e2b1bcacba3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b65f3862fa706e4da21796354ab066ea28a5a2b5a3a0f0ba91c6768641cf739",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f05b82fe7f891986f35057a22e224c6dbd3f30601a1d35b5646606d101b075ee",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob c687ed84c219
wire blob 2b65f3862fa7
wire blob f05b82fe7f89
call 8 attempt 0 · /responses · status 200 · 15.6 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 26 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3904, -0.0227, -0.0498, 0.9995, 0.1745, 2.2829, 0.6716, 1.4574, 0.355, -0.02, 0.9957]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1764 left_yaw=0.0049 left_pitch=-0.0198 left_roll=-0.0066 left_gripper=0.9995 right_x=0.4785 right_y=0.0257 right_z=0.0287 right_yaw=-0.1406 right_pitch=0.4235 right_roll=-0.0705 right_gripper=0.9957\nstate[joint_eff]: [-0.212, -1.3744, 7.0496, 1.6972, -0.0659, -0.0659, -0.0122, -0.5402, -6.5026, 3.3436, 1.2674, -0.0611, 0.3883, -0.0708]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrK9hc4IsaPE6QbOAJkq44eO6aJ9zPUzoNENaiVzoq7IJgUlBck0RNpF40u7CJQPbY6zAgctI3X4vNxMlEONzIdDjlFqEq93oGW5rju1m70s0urPBaGNkdGkIIsgeAD4X7a6TkLYID5cODTTOyXdQkfUBOzL5CrZMAQN6KEWYx3gcwYrMLU2P0oCbQc4kLlPS4rA5s5-8Okp8shxejy3ie5FIyR6vFBdZDc8XsS_0Y3BlSccQr28W_Yyi5AtMsj2QaaacJLhYxRjCi-_7wkHk5r8Nt5KsAc4QCZSQkm_PuiRnH17VYUlYTgZdrhNB3khOqx4Qrbj-I2SYmR-rKNsW360jh2uEribVcW5I4J3KHrU-Cr33rSh4osbLwa5u0yhp7iUSKQ_ehYZjX0SEBt1nFXW69Th2QEMgb2fyFtWE_Cu7Z5NhfnDiaL1I_8UPzGKUFzZtqWZmjWzH_1NVpYt9ZkCK8dIDYn3k60ojWWq9pd0sqA1D69HEJxBk2TgAiSXDaE2NzQQDJeNMhU72srKOhStXUff_pVnX4UP55Y0WRSfOeTWJev_T2lq4Q_xPwYXKfLKLhOhRg66yADx7nMfAx62QZpFzwRRamJfAEnGUlhFD6amntUrpOxxFfqY8XVGQuUU5j9c0WVumbVsBZS0ytRd9vSl-_9RP4bTRoROJKS0kZHfs6Rtf7DrZZXh55Km4o4-wKBNojFwQBoN33jLnHN49yiD8-dqkTtLD2hOdaBXBGNERDVA-jnGPPfUGvR0lTr5SOoC-BKOiGfQD7L_iGmyTdO_wZc5_P3oafEdc8tFpuA33OohE3ChNda-kCKyuq_987BT9a1YKUkAaXOl1Tc69vHnAds5F8zRH2IQEmB7RZS6uWBIpAuExwmRwu9PV54Qbj6krXwfZr0G58V2bgRep2--7ZnD99bEV66PJ0POjXtw5bwBDgSJPWiShJ1N36NfhXVWrgHK-rrS7ikIyNRFIM46vDFfPRiQIi15kLOa-kqEnuBx1SsOLiXdVk4rICiq9YPqt3fPgZU4Ww-iTZQggMSaSLvmBJjU5j26BJzw4aNbVcd_CVEikhrxLiOFLv7LkzZk21tzpIUOBTdwbnpjA9mNFAy-_CvZqobbWTqbhDjVtk1-XtiN-OVIr29yMDD0L3I0VdyxSnENvrZ-gYpDcVTHHToaB5WvELJu7R_LpZCLfAIUwUB1jo09rBVETQLjP2na0w07frYRChlL37IH2djwQSMYXOy-hGGnZDCRPkaY=",
  "id": "rs_0b57e1e7299a2eb6016aacaf5f2a9c87d0984ff67f5e3750af",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.025,\"right_z\":0.18,\"right_pitch\":0,\"right_gripper\":1},\"note\":\"The second close was also empty. I’m lifting back to expose the brick in the overhead view and reassess its position instead of repeating the same grasp.\"}",
  "call_id": "call_8sGilJnjTmh0URIQABnZ9mYx",
  "id": "fc_0b57e1e7299a2eb6016aacaf5fda9c87d0869dbeaaf1a036ed",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8sGilJnjTmh0URIQABnZ9mYx",
  "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]: [-0.0196, 0.8101, 0.6075, -0.4065, -0.0227, -0.0498, 0.9995, 0.2028, 1.2633, 0.7654, -0.0696, 0.3321, 0.107, 0.9964]\nstate[eef_state]: left_x=0.2926 left_y=0.0018 left_z=0.1717 left_yaw=0.0049 left_pitch=-0.0408 left_roll=-0.0061 left_gripper=0.9995 right_x=0.3871 right_y=0.0244 right_z=0.1721 right_yaw=-0.1326 right_pitch=0.0341 right_roll=-0.0745 right_gripper=0.9964\nstate[joint_eff]: [-0.0752, -1.7026, 7.0085, 1.8926, -0.0611, -0.0513, -0.0122, 0.2803, -5.6957, 9.4564, 1.8046, 0.0904, 0.149, -0.2369]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be227269867a42fe1cb1bee06b50d9634025cc7a60863231616c803865e4ad80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:440869898798f5a71474dcc8496b52e9d323231db0f0b3bfe089486da440e330",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc097b9bb5790788c95188db06dcdeaa45f3e2566f949479f7fdf923d725d5b5",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 8.008 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 30 changed as sent

message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8055, 0.6075, -0.3904, -0.0227, -0.0498, 0.9995, 0.1745, 2.2879, 0.6727, 1.4952, 0.3546, -0.0265, 0.0082]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1763 left_yaw=0.0049 left_pitch=-0.0202 left_roll=-0.0066 left_gripper=0.9995 right_x=0.4797 right_y=0.0259 right_z=0.0356 right_yaw=-0.1414 right_pitch=0.4555 right_roll=-0.0659 right_gripper=0.0082\nstate[joint_eff]: [-0.1846, -0.8957, 7.0496, 1.7411, -0.0317, -0.0611, -0.0122, -0.2667, -9.7709, 2.6325, 1.5263, 0.0171, 0.0513, 0.6716]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrK9y9daIBnbJAfqAz1t77S4dpold7I7453Xcw87WnsgwdbDTbcUUJPps00AE8OPoF9M37fJlb1aDH8NUCeFJozYrYWbR1kfIWIuZosAfhk-0E2r3xuUO-XYT6o-tdakt0NmN9VZzci5O5oDQ2dFUPVR9Al6LGo-SCRzmoElgm6Q0nkTeEYgNDHoRF8Qo7b6ufFhrCURmeICzrdmt4lu0evKKuLbB42-jQskjqRIanqfGEVs6UMkt1OZwpWdWtSxcAjcScqK-WQw-L5ktpr4gf7oo7d3qBvUmsSlRDyrtCQOp6l53SYiiQOzC8AioDZl_DrLkmyQxKjxOWcBXCd5xmvxyYSJA8UqJZNfwM0jQvlWHSIwD7ekYwXQm-FpNxMmRynRqbU65TA4r--vuxt6evFFcouJgCaLuG62YHDVfQ4c7E1tk3DSH1sX5YAhsXMAurGsG4YPhuSymT0RCkvqguMPiAtNGihJLl9knmjb34XSNCsyKZ6ve4Lc6-uLgkbjZ0kH07yxtzQTgzDE0RYtUQXlBul6GyNtGarkt7CohbeLJyfQy1OBx3GNfP6_PjDiGu1HgPKbAOYw8wX6cBYaHokWFYLX1aEa33wZfKoSJROvdwiYvCFHIN3XHAeI7GDSUki6C3Gd02CFp_RtVddiMqcASzp0yyqrZ0-lWb9hgBpuy40rL5Pioxs6YPMOpM0TUn7dAtTgISMKr9KZ1cnCxl8zmzqHIzZNuAQuJNlDpG90w3H2fvP73dxFP7z65PxbtAoAed2qzPxaqs1QeUA0C_xILmHDoio8LQ5lNIp5DUC-dUgin_HzgidwHvor7o-CHxm9ASqo7ql8qk5t99U3SyJMjnR3vnwq9uOe_Vp5X7rI5gYb29USGWQ_lD5Wq74ENHAHRRsFR2uuhsTN4o3QRgDRNRP06-l7PGLE34oiaKhnTscjKDltNTYyW0ZhKw50ssgqPQsVP1M2bYsPvApChX3yMlYK-LQQMQavFoE8YqePKK8CZuZut5VBoxz5MeeRpny6kLE2qHq20_Kz8JfazNKgBTv-RbLQpJGpzF_SpnKh_Tt0DW4PPiZnkBza9v7_ByKn7hH5JU3dYLKtvZUYNfmnH2jiQx3sH76qhG8hU-eyQcqVfCbDJcyrf_gpJbhTsbI8Iy9scFEwY85kts_rGYVPIRWwbIRmPRWzy2NjbronlltguGaUzACmwBTA2wr-I4WS-vMkGXo9P23UqtFDD3Zs1fAoMr6_Cm7lieSBPqeceMIs4p45emErcFayaKvptvkgf1S2HvZmbeTDjW-oZfeMOr5XyS3zch4idcM94-5pQPHCfsbE7mkfeXDixqBXGiDpt5vmq_Lon2KervOZKkyPOndOk5fLTDYozOKWvb6Bn8YgYokGWsOZybyH1o_OCVR59Jp8jYJwR_zc31m-4oTWTXmI-SuObNtl70GmWx3NikDTb92TbyDuQV_49DJDulRkFJ790myBC6XxfnZns9TcsrZYo64QJayRfJmOigaC8x8FQtppG5hsCxl5slRuzhijTTH2xTnbB6ya5WwIBTKgZKUW90vAYNsboZkuOynXD1I8_mhaHmsrpb5gPVT9Ea9-MMKHfEf1UVMvksjYmxJLJVyMCbTzhDxRI-VJK6sFL_Z2J-V_Psybbe8lnKAvBlxUBoH_Q41awDCgYJe4sVMZQ5eD8o5gHN4wR68UaRbC1hjovSY9HNooSwfilKQ3m2ysvAXAdT7H3TAAWTCctH54fq44kJh56kht_cKibIyIgnaEeJ3CX4vE6hdBoX4fjJjqmI3kk65qtwghb76iHhpAxBbXVOGiT-oRlF_ReavSLY_hYDzJvdpdnKI9fbB5phH9Fu67i46qCB-keX8MnpM2Yo8UeJUugkhmbCKIfdnmnS5h091cnax7lPIeLbGHYoaQKtUdSC0eZ9iEluV8Cb0UQwvIRxAWHGzBzRgUNgKvakwt-4dVQlGoKQ5_tsuDyrefkzlEnbwhREPj5XMeTZM69WbTmSyHup_y74kwwpE7u-6el3B_P_RxUcvD-ZTnmlAilwrJ4TZySor_yJiAZQzmTNJpeVmGMSmekUjqZibxxqEO4Tzs7MAptfyicqPtYsEX0YjxUVJ7tikJVoHLVqFxEBV62T7NEqpOsVjZnANfQO5JNCjz5wpPod7ilqa-1dSrwyptiJ0YPT3nmQ6H2myH4tAfGlSkYRt7saiyR0w1UzK3dSzvlzz5JSNYDqS8mn7GEWH1a0m_xnSxyM87XW1C4NN2zSTKBSe1IV7T6k7d1TsEdYnQEKcSjC1KlcZs4qt_0-jnumCAYbd-SdoJD1nYqsp82pVfbAU3E65355vbAU_vFBvYDJRUCWJxpAvQUlHLpbYRY4J91CesTvowR7rtVsivVUpqpbtCGBPNUEJLAG4KaMybTKdcg2oix0I_V1tOZkXJEhqyVSXS-3-CB7hR5Naf4-kVS20nkAAHrbytzpvOzV7Sf7mnmVU1eNGo9zRsu3qKOxm5lSPRAnJ4x0vPwjrvuHJgMoLbTmJ1e_gY5W6dKg-aTtlb8oF42xH6Hww9kS13e9WIkzbdmt6vFeq9WQgtCweubz2YkAck0BXWv_2gbzAD7c4-4ckIE9dpV2X3E6NW5LSWX6eztydi6xpIS6rTrL5OU-91ARaN_Y2i7TdUvZf_1XtDh5CDTXczvtkGAQNOU3V8UG087gXwSny-X-jRlXBQwUE15YzebkTYGhrbjJVJBiMe4zOJ9R5cTeIgU6BFS9-mN6rPgtvNVsyicJzQDxb2TTt-7HsP8WeIc0Ovo-r_ZC5aCeLEbhcTV1cshKjKulN501mq_a7b8CFtT7MJU_rOgoLjsAWfIzWTfokDBCyI4ZRzTl1qCBPDJ7u2tW5D-WflAo0uPMtL4f_sS6xD4lo2Bw31o3H6mezCjGNNa0kn0MEp1rVnVdOiOvqLvHrkwpVEpDzDpaLJZa8Culp9KRY9bUB6KDteRU-_7yKw3YGFybzB07N_cjnSYFNXI",
  "id": "rs_0b57e1e7299a2eb6016aacaf6515b487d0b3809a2a6a6dd017",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.026,\"right_z\":0.015,\"right_pitch\":0.2,\"right_yaw\":-0.2},\"note\":\"The overhead and wrist views show a long, thin brick; the previous fingertip heights were above its graspable sides. I’m targeting its nearer end at a lower height, keeping the reach shorter.\"}",
  "call_id": "call_MDweiCO95JSLCL4wY9g3NndK",
  "id": "fc_0b57e1e7299a2eb6016aacaf7080c887d0b3f56eec902ab2ea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MDweiCO95JSLCL4wY9g3NndK",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8158, 0.6075, -0.4091, -0.0227, -0.0498, 0.9995, 0.2028, 2.0521, 0.6247, 0.9276, 0.411, 0.0872, 0.9964]\nstate[eef_state]: left_x=0.2926 left_y=0.0019 left_z=0.1697 left_yaw=0.0049 left_pitch=-0.0492 left_roll=-0.0059 left_gripper=0.9995 right_x=0.4449 right_y=0.0231 right_z=0.001 right_yaw=-0.189 right_pitch=0.1104 right_roll=-0.1056 right_gripper=0.9964\nstate[joint_eff]: [-0.0205, -1.5932, 7.1863, 1.7509, -0.0269, -0.0464, -0.0122, 0.253, -7.9248, 5.053, 1.4481, 0.1197, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f72f850947c155e323b3785ebea0e56e2ad5f630b7268d47b5fe8fb84f53dc2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fc2d90290e66a968b5213952db4bbdc8b21df3b2196df2952263a739bc09df6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6597368abb4b913349ea10d719f11bc4d8526c1736bb238d91096b21e2a5bf8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 8.306 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4065, -0.0227, -0.0498, 0.9995, 0.2028, 1.2633, 0.7654, -0.0696, 0.3321, 0.107, 0.9964]\nstate[eef_state]: left_x=0.2926 left_y=0.0018 left_z=0.1717 left_yaw=0.0049 left_pitch=-0.0408 left_roll=-0.0061 left_gripper=0.9995 right_x=0.3871 right_y=0.0244 right_z=0.1721 right_yaw=-0.1326 right_pitch=0.0341 right_roll=-0.0745 right_gripper=0.9964\nstate[joint_eff]: [-0.0752, -1.7026, 7.0085, 1.8926, -0.0611, -0.0513, -0.0122, 0.2803, -5.6957, 9.4564, 1.8046, 0.0904, 0.149, -0.2369]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrK97VTJmiFYasWH4BW9QwXBRGg3aILVya_tIzRTE9pO3EBfIWQz5BMVOXeQfsbDIsRR_bSsRqfyLYkCXkFyXCxLts1GisAyXXagT8KrjOxCi0lzAtzHoQV31JDaSKIOIFuQNRBYy7m5M3lhuDn4qpkdn8bP81ZZf319NseHEKOeaj9kZVuaXPUzziqMFKuATLywC60G-70cpHl_wNLwCxJ8uNnxaonrYkClBjbUpDkzVv_ifH6CkOPl6S7JW7heAjsjvP02U0Uy49uQlbD_GkvPYMDDyihTJ1YlCcUvNWH9NvAXYs4IezYFRlKNs5IzgpbXE55Qm3OR5OUmpMNjWcxqRMRyaoJYaDF_lz4L1S-vs842yRFYPWQosRIiV0x4dWRhVqNz22hM9E-qrjJbShj7_PX-dS7bgRxtKkvtUK7Zzq4UTOtmfrqtkr8ekQ3h9IPK5VtjTl_H2zA161hPX6aWM0dumUpq5xPFA-25kbMwaBbY-naCPIjL47kLI-jtg_zJHZJG7SclwhMFIAdbMm6F8tT37fz74lqWLnhPSGfeo09Y2buOnnF19tAkm60_R1hRq3Q0gmzIp8OoMxlX_MIQ9LYkhz3rof7D3Vp0TEkOYyFztn7TVSCBQZzEXtU8icIOMkpeZJPMvYA4_YkMf4IiVGxo68OdkbuF99AhOlwewvY24tJzdXmFjcJJUUQvcV-Gpib_zF7O2xkb0tmVBnzPEEpIDLGSOHwqGMACDCbJUXm63S3BFI3H9ORNkl4ciRh80rBUq6vU3UbiApqckzO5nMV4pvRjYcBhkBt32Spd1oAVCTbL7RmwL5Dq4iWq4TXjeZegaVf30oc_4qlSgOs3s6IHY9yw8K7eG93XGXpjFA-K6pIPd9pV6UB5GCV42rfD0w8Jt2PJj8TzL0SJ4xDsf3WrD4fDNH7OYQCbUTLYmeEI3UcPL1gNPJQRuNVJyeP6iO3ktjO2XA0UfsWSQ4hJ-LtvV4qWbZex-e9duh0GMsJWEZpxaJK2iifBc293kDo949KKwrg2TW1sXPRJhbHVU9Mz_QPZhYnYiazFgSyWROu0j-yLUafy1N0Ufq38EHFJgaFr1oj8PhL74Vhi1j00k4q2L1C0HZILLwcsXp1EQ5zqx7lqgP7msj56dTFj1ROdEaqK1Xm60QnKo5vgJb8acdaiH-xy6MGHvkOU_rkwO4h8sKpXA4Pn_m6yedsoczfAu5nlDxi7tvedpS_awsPYLTPvoWK4r3qGKBncm89trsporP0_y7xPPosq99SRzx-k4InUWCQdGC5szD4YlkOHhz_wPJHptxHqr4scZpVL_77s=",
  "id": "rs_0b57e1e7299a2eb6016aacaf787e5487d09d7c5f297e310d49",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.024,\"right_z\":-0.01,\"right_pitch\":0.2},\"note\":\"The fingertips have now reached table level, but the near end of the brick is still just ahead of them. I’m advancing slightly along the table to put the jaws around that end.\"}",
  "call_id": "call_41WDTPX32Bz9okp94z9Vvz17",
  "id": "fc_0b57e1e7299a2eb6016aacaf794fd087d0b743686ad8e78683",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_41WDTPX32Bz9okp94z9Vvz17",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.4091, -0.0227, -0.0498, 0.9995, 0.2008, 2.1849, 0.6853, 1.1069, 0.4191, 0.0708, 0.9963]\nstate[eef_state]: left_x=0.2926 left_y=0.0018 left_z=0.1692 left_yaw=0.0049 left_pitch=-0.0507 left_roll=-0.0058 left_gripper=0.9995 right_x=0.4677 right_y=0.0255 right_z=-0.0007 right_yaw=-0.1954 right_pitch=0.2098 right_roll=-0.0824 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, -1.4701, 6.9949, 1.6777, -0.0659, -0.0806, -0.0122, -0.3077, -8.0889, 3.6991, 1.1209, 0.0952, -0.2222, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70cc4bd58754c3a0d4722c9258a634f185a9590a16aa7d03744455db3d98029b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:418710ee8e31ef9ebe5f33225ea07f091ec6f0359d70aadebb8d419944a7be6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d1d2e61377418c444f39dcc3d8f7b5a7bf35792acb9c3748dda290cbc41ae04",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 4.362 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 38 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8158, 0.6075, -0.4091, -0.0227, -0.0498, 0.9995, 0.2028, 2.0521, 0.6247, 0.9276, 0.411, 0.0872, 0.9964]\nstate[eef_state]: left_x=0.2926 left_y=0.0019 left_z=0.1697 left_yaw=0.0049 left_pitch=-0.0492 left_roll=-0.0059 left_gripper=0.9995 right_x=0.4449 right_y=0.0231 right_z=0.001 right_yaw=-0.189 right_pitch=0.1104 right_roll=-0.1056 right_gripper=0.9964\nstate[joint_eff]: [-0.0205, -1.5932, 7.1863, 1.7509, -0.0269, -0.0464, -0.0122, 0.253, -7.9248, 5.053, 1.4481, 0.1197, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrK-DBqu6-lyIx8KFaNZ7sqHZpOVv11NPPrMD01AGp-WDomL3zqpkCftQ8vK_-CbWoXSDyizUpUiYCDQv0pT5UBHVlxyahQh-0ZvLs7IumFGNhNWm307a1xWkZheVGB1Up9dJ486IoEURvreyLA7OslHD0XJZFpVJVj_yEYvd8PIVlRl3OM-Ui03-pK2DXskct8CtiLPhO57b-Y0FMhJTAuBrSQ-x0D1eAJMSVoOtIbcZxRgJDK1sW3HGt7zqbPHmx0pip0WTlLntWTh404XXqKH9TQ6FIiGqrAi7zEsvO1_Fu432kIZn1bxV-dPPobYnarUcLmYnppbs-wQeW8S09mXg_6zD0VOHrDwrYMdZ-FH_FCwBZMUWfQWwR7_P0ljfGITb7OXnVT4jNuiifiPEZS0uKZq-H8d_It98c5x7Xxf-ptVCpv0QClW0t1qQPzBTAL25aU6QniGKW0FdLCOR1YrI4sjpzcnBZRtxhaV_aMfjw5PFNACL5-74WPxUZeHPXuCvzywyxKFULAVUaVzw3HzJU-R8PCu8Y1nh_QbLcIw75WvaOgn6umJ2udeKJDIZ7cS30uz_6KXb-y8MM4wndUZgfCFRzmoIkttBhzcIFJ3PSRSU4aNTsKUkMtV0rS8Y4RNeYVhCdNw3dDMJmkZmav7eS7rcYl8a_SlBHyDtk3D4epB4JxFtGMDdC1CAEBA0AH2UXP7nGayLS0n1ZyAUNT6NjoUx-EX4WmTavDmr4lV5h3FAPb3DvBR7hq3vujGv5muKRgnrUoFTeqmGOFdQaqOVzXC_0xE2wtAnfQtzgJC7TFxZ1GxmAdfWboxYOG2qLhv9zcEpidu2vwFRplTyjWiI1SETB7QkkSRxjpBtMmyN4tIszWza5iwUB-QN7JOX-w7iOqoheCsVY4DkNN6rxNWXCRCa87XGXaZ-D4TIzjYEsnlUJCiJeh3i_454JcbOaV48EY0kMSDXJDNm3uGZiiJqnHml6jiwhxnyoTlopxgSd6y0GRQvDmsIxsgUa-MAXgkIAxmQrWgeoarum1sbl3W-bznbZcAvC9Ghk-6MXAZkMwkhcLkLdUYIVvRbOniHiicbWRH16-uqf0tHG4C9KyJLqlBiNJVVPiu5AtnKTkoISZuhvBqx3cA1jUunPtYM1I0a1zAMGH8yXhEexvb69-HQfC_X24F-7l11h46OU7Ag676PTk3o9Y6Dy6w-bf1M-uT9HawYt9TSWFHUkG5-S0qA_GGThNpmu83id_QblEpGaDf_9ypCildwvQO1FwKuBd2-5N_EerxR-HegWTBR4KVcMjN-HAl6LhOHESQ1EAIHRM9A_XoLq6kx1QLPlGyItwoIAHmaH80ufmqMOBWyaTmxcs4OftMBQQHfSIBZcPCItMgib2h6IrlbpdMTCLVHXYc7BJCEcZojYRER--hJ8XmdtRBRGdej5Yo4Osmyz17nd3xn6AnckfVChYwkvtKfKQfc0UaE8Z41bgiH7iTFzctcc_TGE22LHG1dJwZK7RnM15u0AJ88OaPjX5zKkx307jvLi-eyRQDvrgEsEw0WiySJh7eWxKvWfgHuniUciOTSRiNOQl3ORI_HFrhO3Gwf1KsE30r6UmtgFkxOxGSiZVul9iclF7TN3gtn4alOZWGY1vkhEHbCqE_pjLgT2emHUDgRBvCTOiylATHsi8uypIFdBWM4XRUA4llpPIwhdvgtXFhLcK9VShEs6Lx794ie1KFIGNY_Z5iZtdhRFM0Fcde_EN4NL0rnm-mIM3V_7cvD1XpPM4Kdyv-7IUEJi4t0OekpsI_AlihuUgy7ZPQzIuiC_eCRdAPBJxCjMSlXNiB-36SrTA6ATze-w-7tGwmis70tm8_YCmae8uRpim7xA7EYOxbJe5iC4Mv_dpVoWevIGNs=",
  "id": "rs_0b57e1e7299a2eb6016aacaf7d872487d0b04827ce1f9455c6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.048,\"right_z\":0.018,\"right_yaw\":0.5,\"right_pitch\":0.2},\"note\":\"The brick shifted and rotated as a fingertip met its edge. I’m lifting slightly and turning the jaws to match its new angle, while centering on the nearer end.\"}",
  "call_id": "call_ksvF1LxJ2NGkB0wjeDR6W2np",
  "id": "fc_0b57e1e7299a2eb6016aacaf8217c087d086d19bba88d393d7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ksvF1LxJ2NGkB0wjeDR6W2np",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8211, 0.6075, -0.4152, -0.0227, -0.0502, 0.9995, -0.0666, 2.1376, 0.683, 1.0405, -0.2676, -0.2085, 0.9964]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.167 left_yaw=0.0051 left_pitch=-0.0606 left_roll=-0.0059 left_gripper=0.9995 right_x=0.4724 right_y=0.0189 right_z=0.0018 right_yaw=0.2752 right_pitch=0.1687 right_roll=-0.077 right_gripper=0.9964\nstate[joint_eff]: [-0.0479, -1.5795, 6.9949, 1.7802, -0.0855, -0.0806, -0.0122, -0.1299, -11.959, 5.1214, 1.8339, -0.2076, -0.1832, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9aac99eae863871787c119b6a141bf9600e2e34d59adf2d4ec92efe3590074c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ffda3e47cb8e6fa5d2c7a7f09ad2db6c90bdbd9d0b39dde16c3099735e5cce1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5ee5410c57e37201079ecdd8726cfa0438291801ea33ce6bb88f0883ef1a4fc",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 6.028 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 42 changed as sent

message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.4091, -0.0227, -0.0498, 0.9995, 0.2008, 2.1849, 0.6853, 1.1069, 0.4191, 0.0708, 0.9963]\nstate[eef_state]: left_x=0.2926 left_y=0.0018 left_z=0.1692 left_yaw=0.0049 left_pitch=-0.0507 left_roll=-0.0058 left_gripper=0.9995 right_x=0.4677 right_y=0.0255 right_z=-0.0007 right_yaw=-0.1954 right_pitch=0.2098 right_roll=-0.0824 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, -1.4701, 6.9949, 1.6777, -0.0659, -0.0806, -0.0122, -0.3077, -8.0889, 3.6991, 1.1209, 0.0952, -0.2222, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrK-ItqmEPKo3425vR5oLTeFYVa63yA61VSDkXJdBNMK-wwf1reNr3vyI3tdtwC9Y-igbabXG3dNXgj939aWsP8t4gKsSpgA6cwIcw5yQNejCq0RvWeHMjq8Cp6_uIxIEBdcErYTwzkNk2srGAls8dwZPjUDsp6DdzTB5puoKEYt7uOfG0DmQoXdVx_PzV5ZWkV0nAKEJy6Xs_bDa6WDTNIop0aoeWMzVjkaqVF-a1viiENKxKaJYHw4dL3dPRTvG7TPy-6nVRvgYCTvKkCvq-Z-0qDy05J2arms6mnbse7ZMS8IO1d5Wxv8NnDRszmsePOK5EqVMMvyinoZ5WKn_MGZRrYZhYOgRxkvsdYDxVt5zebtkwp628WrIhF7dY-pr37xRdeqzYsLDhzbhLtmpREMLXoJkIZw7GJY1MDO4Q1wn_JtW7EemFBkrSf7NZQRRLp0CtYFPCDiU1jXb401Ji2X8i0esxJjEqXsOL6sInC1PwlmCMIVjo8tq4MPraBWVZTHHC8OPfkkMTFFRRdAqCYE_aEMDUz0eX8KOsV0ykWiy3zMMzyDmdhfptOdN6Be3yF_T88z9JOdNyHzU2NKp7MJLp_W_oH9Mnp0dRwd_0NlsGbXPt6f6BF-OhrZPYzeBkZ4ZCL9vHhhySW-4ZK5DYhyZwiU_NGo-qeU-Q5y5faei2kM6AO1J-vT7SgI5ZJC5f1dthtR3qoSWJJrJLkhh8wP1afySFojY9h-NqjmPuGDctjC8EwPPSLF9EVXtgZuJLU41TRjj4t0S4ZNjcIQFAO4wngLxxHSO5etTmH7Eu7CWduR3Sfch7GrdYtD16cbbe6pb8K5f5zZv1H8Pt5g-Cp4oqgPofcZ1CXzBbQvh75mkpgg87qPIbhT1E8qgzQSFj--e0AhRb81h5mHnxukZODMHB8_fkfXmi13zJncuV6zbyRzAXYo5cRfAuSNgk9Mi7LAZXyvOsOO238rHCI8XaI5lokIg2Q8nemPhkVC270jEMTGbFmXDlciIUmQg24-ANwtDaWQIiFoY8epD_mjAWV7tz83l_IcerW6hNzXAqAK_4cFRD5gOOBqjDG-T2qhW4IjH2u_OWpb6keNN3qM5Xhb8VKq583XaN-4G_-nMChzil3zLQsU2vmrKz6da4muBKbJ4YHNk2960kY0k18K9pFH707e3klg7zbVAeCvnBa39x_P6KqulmGpL2jUwpeB9vXxPS65eoWevq6RRFeMtuqK9FX1qvNxssNvA8aXF39IYqOp67MksFFePCcE1rCTv5GY3BIZDsfAdpfxloTdU3oaMmg==",
  "id": "rs_0b57e1e7299a2eb6016aacaf86090087d09f813cd4841438c6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.485,\"right_y\":0.062,\"right_z\":0.075,\"right_yaw\":0.65,\"right_pitch\":0.3},\"note\":\"The low pose prevented the sideways adjustment from tracking fully. I’m raising clear of the table and completing the alignment before descending again.\"}",
  "call_id": "call_UHaaGofhCn0KHewHGBDwtptm",
  "id": "fc_0b57e1e7299a2eb6016aacaf86f36887d090baedd7b29e4a6d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UHaaGofhCn0KHewHGBDwtptm",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8223, 0.6075, -0.4156, -0.0227, -0.0498, 0.9995, -0.0872, 2.1334, 0.7071, 0.9646, -0.4797, -0.2962, 0.9963]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1666 left_yaw=0.0049 left_pitch=-0.0621 left_roll=-0.0055 left_gripper=0.9995 right_x=0.4643 right_y=0.0449 right_z=0.0006 right_yaw=0.4777 right_pitch=0.1617 right_roll=-0.0558 right_gripper=0.9963\nstate[joint_eff]: [-0.0205, -1.1282, 7.0085, 1.7118, -0.022, -0.0317, -0.0073, -0.0205, -11.7949, 4.465, 1.79, -0.315, -0.0855, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10f546437d0fd3aef075066c9c70ebf1311c62f5ecae9b39b21ab0bb3a667e18",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41d827be1117f92d479393199f4af9937d965dd8fcba2690bd055e774ab599f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60debb7d066131c8188c5f3592ecc2ce87e29dcacd0847934b7bd44550332627",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 7.476 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8211, 0.6075, -0.4152, -0.0227, -0.0502, 0.9995, -0.0666, 2.1376, 0.683, 1.0405, -0.2676, -0.2085, 0.9964]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.167 left_yaw=0.0051 left_pitch=-0.0606 left_roll=-0.0059 left_gripper=0.9995 right_x=0.4724 right_y=0.0189 right_z=0.0018 right_yaw=0.2752 right_pitch=0.1687 right_roll=-0.077 right_gripper=0.9964\nstate[joint_eff]: [-0.0479, -1.5795, 6.9949, 1.7802, -0.0855, -0.0806, -0.0122, -0.1299, -11.959, 5.1214, 1.8339, -0.2076, -0.1832, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrK-PWU1GXpQCOsUP0XfNJc8T3aKqZtzWdGkrQag26a913G1W1ArsRBNO9F2H9utnKRVYYNDEUDfKhjrpsj3dlb34AFeUjIsFlIgoLmOTjeZRbHfmQsg-1Xsi7UEvq72-cKUN5hTkcEl_JuXj5WJ9XpZi5lLaFxvKQk10fQZWFX5Lz1aZjW4Gm4Nt7mkn4K-iFxmbJ2N8RPiQgZSy2nGp3k4Sx7Ygc1jB1Ng5PYOpl8ogVo2jMoh2pWOd2Fw1FwZLVj71Q2PAsXU-O2zZwAqB6AEm2z9LwCb1lFIQkvtrYOFeg1qGg3xrz6Dr8CQPV-oOzeNhlbGN9Mt7yWiDKF3mR55eCn5Jr2Hk4z3UvVrdLCuN2fB1mGrM8vsv9lq7vTd8H1ueo3xCwkgGX4_XevxnoVBl1RcRr0-2UIgqkz3Y9QE68qFHYRND5m44BM6qc1VDS8UWOq6ncdW-qRL_ubJ8hSkVbbUToq5kY-jcIbCvW2-K1x1nTbfNXBfUbU93hei9-k7TqOk2Hk_BgrwZu1Iq8Eoms4w8wfdK3R5JCAUN0zzN8d-52vjnU-9J7E8PHYFb1jhZNDXjbRrngNVn9eX_pJFpVmo4OPokUT5rp9wtOeyzGdf8eYXlAQ3TBhitpCJeVC5pJvebHus18X3VFcpN_V2GWX4IB9Z-J1mF4lh3DCULvvohFnWyUpViuhXiDR6L4BH8WTnl4XYLxDdEprwD3PPY7Abl-eBolikRM5EgkNLTFAkkmkS9iLk39LQGIul1c4BD0MXuji7Gm7PZEbC6oIzQYPT_VivXxnZB9mRbqeRFdfTVit3Ldp3_5OzBFK6p7SsrB9mCVlJF1yJKoR60uC5j-OJmUdPNflOEjktHMW8wkVkALh8WDPeYGJfQXBRIZnUd2FTHeJUmkvQK5Sgv5ABydEnUoiQ02oboeaza38fH5Dn_Lnhw0biOTI_Cj-E-w1AmWGoLIlI6myACu5afkAzWG9DHe4_XZ98Iw1Ep3qoZL4FvpmwZJnef4zn4Y0ZXQdGsP8mUaKzrrh3LRe7y2Xkxntymv_k1EAR1gJOkGKQzCv3dXcHbMOb6yCbWuxW88SUgSdQb9cvcz0GrGf5iuv6oxoWJStpABTkdIcb0JpL1J1k5zbgRwx_TJ1FuU_D2sdcp26VfhlitKMSclYbyMUA07SabMfAAWTkFBQ8SPpFBt21dQFMos-IL9ecbq2Bn-WVmR5v1cwyd3kUvmYwzxXnPkcxvK7iGezNkA_bHfGpEuQFVLv7GWmSgIRdsVwSU5O9W2fTnttwTCyTkg1fPzsc7LOfalpsc4gm8IcqUJ9OOyW3OtWyJDKAhrH2eG_jwK1_u8Yt11i0yoYBudfnOG4XDTMXxrDHl1qvsI-cm2sePpu0=",
  "id": "rs_0b57e1e7299a2eb6016aacaf8aa38c87d0b36eb0d1e1d92689",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.06,\"right_z\":0.12,\"right_yaw\":0.65,\"right_pitch\":0.35},\"note\":\"The arm is still at table height despite the lift command, so this extended pose is not tracking. I’m shortening the reach while lifting to free the arm before another approach.\"}",
  "call_id": "call_EsscuOSKVVw0tdIPsHnedzJT",
  "id": "fc_0b57e1e7299a2eb6016aacaf8c300887d0ade0db20ef1227f7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EsscuOSKVVw0tdIPsHnedzJT",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8249, 0.6075, -0.4187, -0.0227, -0.0498, 0.9995, -0.1501, 1.8256, 0.5789, 0.8219, -0.6392, -0.284, 0.9963]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1653 left_yaw=0.005 left_pitch=-0.0678 left_roll=-0.0054 left_gripper=0.9995 right_x=0.4263 right_y=0.0457 right_z=0.0672 right_yaw=0.5455 right_pitch=0.2321 right_roll=-0.0101 right_gripper=0.9963\nstate[joint_eff]: [-0.3624, -1.7162, 7.1726, 1.7216, -0.0757, -0.0562, -0.0122, 0.5538, -8.3624, 6.2154, 2.044, -0.2759, 0.1148, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d27c0c419754364fd5132e53482050a32cf42facdd566bcf5a4ff041f551edab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7b47607772eaf2d2959d2bede19563225ee7b2f8be521d5638a55812488f5f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e1811db17537e5ea2fbe6339f4cafd4b9ae114b1acbbf2d62fd0531eff32f04",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 6.62 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 50 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8223, 0.6075, -0.4156, -0.0227, -0.0498, 0.9995, -0.0872, 2.1334, 0.7071, 0.9646, -0.4797, -0.2962, 0.9963]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1666 left_yaw=0.0049 left_pitch=-0.0621 left_roll=-0.0055 left_gripper=0.9995 right_x=0.4643 right_y=0.0449 right_z=0.0006 right_yaw=0.4777 right_pitch=0.1617 right_roll=-0.0558 right_gripper=0.9963\nstate[joint_eff]: [-0.0205, -1.1282, 7.0085, 1.7118, -0.022, -0.0317, -0.0073, -0.0205, -11.7949, 4.465, 1.79, -0.315, -0.0855, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrK-XLReZJBrnfsVV3o_8x7aiQCDAmGBoS6Z-eGK4DlUsH0CRyu111M_3kJv4gdCpbmHEVqxpr8u1diGS1DkYjFN7nEmpwbUAIgH-rPKhVKZiLPOyDKg4FzeLOdNbDbQU4aaFNDbg1TDyevWLLKqU_eTSHgMGDDDObwBDpIoy3ynMQM3l3N0sJoVmN_tjeVptN0IAc0cLITXYeVoysa0gcjs6-aUOdnyhWmz8aGhV-ZFmSCHB6MFMKERcZvclTKR5RVdO0dOmOsnyDg84n02xUwKLdBp086ToMIAgcX_CJiVnC5WXudU9reOW2uCh4YoGQFsu3VscHHyAYweM4ppt6qa3eWfIBGGA0PQCoyea33cgeuRkzX1mJZeHk6If1z1CJyqVc8jwTqIGp0iMmWahGgd9xwOzDpJa9msCABvZCJ1pf2jgvqFD9wjS0fA3V8Tt6IXw4qvJYfwgUnM90Rd9NaCS8k5ZAq1Tet8S_u8yyW52xx4WTJzN3YhHV6YAiOslsOzm9UL8YROaZktfuWhEic5eHt0Wld6r9rm_UkBrGuGSzS13s05ctDJyQNOLwbW1N77k2GlVPZH7U46CBc4RNhNBR533i8rWbSSe61Ghu_Ny5Vce1BUUM7vEyjj3Ow3EB7jwWwoZvVshg2JH9kAUO-6ZIXrSuJ3TPfZIzUE9YfSQjjSB8F5wYKA5K2RfetlsC_F6Ql5WBRMV7UeTqHKJEr6oM60vYl89S7ULbfvznkz2mE3pJs3bV-QJLr34jQ3OuoO_59AQ6oOMe_zrcMDgGgLb0qN_-ZobLY1zXEs47kZPiGRrSEY8o6_ol9ReISTgvfN17_UywBUVokfz1Ck-0EvPsOjSuLpKBlYmShNz1ieeikOuqzv6gwfFgxM7wyGlS2fCpnE8iLucvbJSBn2ag3P7OFk-1mcmr2l2YrITUVVtZ9RjgjOQuAk_ZpAA9nWhe9h7GTYyAAL8dbSDEPIp48ryq696O7EuUyfbf4i2UCTNohGcEF7xjUX5j_yO4ad8-WDIX0pQbLq7lCDHANECfVv3_sp5A54d_5CP3FYvCKkPzq5xYbmNJeTeLGYRriaEl609dNOKDgTDkrdHt0yl36Tf4GA2TsEyWMVccjyIxa4cd9sT_NX2UcqUhvq_dquNtiVMc2xXl8KveuvCrrbkH-TgvqL5hck3Mx93bWW8752be6VSXHfr9zPfCwle_aRl0M6rt1jzjyfVkpfs7sC_LTJA05AeM963eFkwckH5MUiZ3f9vDcMjL0Z5k0A64WL41oz7IN9Tq9CS_bvlMnEZEUIUtYhIT1jTHJrfSF_FC4aKaTcNXSchYwlBY7niBPreUzyT3fg_VjdqHQanm5rrra9rj67CN3zHHenrXil60pWrn8fns1qJdnPRA7dkXVC34ZnW1KiPn2h5SuGdBMM6vuyHD4OIDOheJA2D_RKck77EroZeUAZHTxE2LelgcQhGwsPAbHCg-2e8_g7tdSrcYsKf5OdIf41SJObdWCNO1QIiMZ5DedVfkV5ThQSj2gdMyOjREdQ7YYglcWEBuXNSfa9kWhYSVQRpjWIvn8-nNTeeDeT-02CIX7jH5BUPq01vBSNMMlXlyWsJiepIBNJkXuCJsaGRV6kwJMP6Gs9Ed5jYtjsICMKAI2iJyX8Aj0YfjkKGz1AVHqbj47edrG7MXDZEw5rS2Zct6h9a56Qf9iGooo00JI_bLMjWDxxiJupfewDpDe1Zdv5qDej5U2B4-iij9BCfNrVjecFvO5t-BoeLxDzp8PHwnWHviWTH_F9HxWlL7sZm8CD10V9gvnrVKCnwVPiB-MNXfShpqoxoZbNnC2BDRjsdU5gGSSXs2RxdkPTZcEKF8dD6BtImywp6aLI37CXvLA_Hf9CSGLL5tQ67skM=",
  "id": "rs_0b57e1e7299a2eb6016aacaf9150f087d090b15be5fb4a911f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.495,\"right_y\":0.07,\"right_z\":0.018,\"right_pitch\":0.5,\"right_yaw\":0.5},\"note\":\"The arm has lifted free, and the exposed brick lies farther forward than the earlier grasp points. I’m approaching its near end with more forward tool tilt to maintain low reach.\"}",
  "call_id": "call_ngtMLUAGANHKOHoPkJJnJ60G",
  "id": "fc_0b57e1e7299a2eb6016aacaf9583a887d092852a9d168ca54e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ngtMLUAGANHKOHoPkJJnJ60G",
  "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]: [-0.0196, 0.8295, 0.6075, -0.432, -0.0227, -0.0498, 0.9995, -0.0555, 2.3978, 0.7967, 1.4719, -0.5735, -0.0807, 0.9963]\nstate[eef_state]: left_x=0.2899 left_y=0.0019 left_z=0.1614 left_yaw=0.005 left_pitch=-0.0858 left_roll=-0.005 left_gripper=0.9995 right_x=0.4885 right_y=0.0724 right_z=0.0162 right_yaw=0.5281 right_pitch=0.4609 right_roll=-0.0017 right_gripper=0.9963\nstate[joint_eff]: [-0.1299, -1.7299, 7.1726, 1.7802, -0.0415, -0.0415, -0.0122, 0.4034, -9.347, 3.0564, 1.4872, 0.2613, -0.3101, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f57970823e8ba83b66c5d6fdfe3f0df6fb0412da06eb2751701dd8048978fc13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef451b2c8adcc4df74c5596ecf6410ad2666521849971df5be16d57832b34b91",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:192961d0eb834847d436b16f49677f3894ffa7142ef47a9f3a60c079e6406d9f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 5.389 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 54 changed as sent

message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8249, 0.6075, -0.4187, -0.0227, -0.0498, 0.9995, -0.1501, 1.8256, 0.5789, 0.8219, -0.6392, -0.284, 0.9963]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1653 left_yaw=0.005 left_pitch=-0.0678 left_roll=-0.0054 left_gripper=0.9995 right_x=0.4263 right_y=0.0457 right_z=0.0672 right_yaw=0.5455 right_pitch=0.2321 right_roll=-0.0101 right_gripper=0.9963\nstate[joint_eff]: [-0.3624, -1.7162, 7.1726, 1.7216, -0.0757, -0.0562, -0.0122, 0.5538, -8.3624, 6.2154, 2.044, -0.2759, 0.1148, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrK-ejrjFazSQD47QGkE9kyJ7ynPi6w5lYCllKgdqq_m-B1l0hZF9_IMuswf_BU18mHH1gp_eC9KQnimn7Ikn9I2JtqCrTMGlsjJ717izoFJp_L226iKbc77X5lv1FTNOt3AYhmaWaU5vVHv5EsUDyfRyPCLcn9q0-jyxrI4XFsAEpwTuNnUj9-X3oi89IwhadrIqzZU3_TAAblm-KujMmPI7IFSBP8L4FHrwnuhkqw1qJjTGJMbROFNpSyYymHWOnJ6U9w_Q2PDf0S5WQxhqPyMhDELvOfQcb3BSkiBfgOtgnzSMVEaN7Hst5YqlsW48A67FeeUS_xrFDdHoA5zkw8hkpBrVzOOm7FCWk53zkhrWehrZdLGkBGx044vcQWJ2HFWoovEFw4VhPqoVAAYWWterd6MhV-nvJMOkpv0wc9X5dBngbyKkoBeqIe1CHYg0MbEmHP7EB7Xec_lss-oN85alqhwMWCKkIZXDSRLuhvt6JPbfXDcVqr439Ja1Y2rpi_fagTAU_h8kDqpwrSh5WYvUX5YDVJZ6pD_I_-g1PRI4dh9-PD-i66DJWMnwzGOeiiepUc_iQ1XVT57FL3e-AHvhV6FLOvbMyFaPzWdzEpvyopvHkk13xmaQNEiDxENgp549MxGwzNZ2A_0P-5Y1Rjc_JQnjMTAK0tBoNAU8i_pN6ZleD9PVwGyCjyODR61A5_ZRRQL_uGkY8hUdPae7INxm5flXRJwl-MUG31LAevwpaMMgfktMplsWVgvUZmipdzFqTvKq92YjSukR-Vn21ZecScFVVWRK6Ho0plgCtfiEVwNI6pPGH85khUArvXwW48kdT6jHtLHiO91ZGpRgxNR0HmCDP0UZ3Mng_PdQj99rD4yxNXsrTHVL3fJhoS_OKunZMuuTxDt6xql-beK_q87B-iTSJeKhAL5QcxCk5uiXpKEg-CtHE9zdANF4er5cBp7WVX6zLn5P70qfUMUQivurMM2B5dJyzOvUc1npgAYvNFz15WTrAUmAOKiQWVF6ROGxBO8316TyxrD-EdAkR2wz5ABDwiaJK7gevWh3mnKvGAqsmKbPNA_u7glT5c326KYcG7kiJti0b3ZAnBds8B4YC0Pb3VOq_V8VtqYYP4KQMRuoAjFeezeRQZvu-_bz0-KHypGoaZFBj7jBhvxZ-jdkgTzUNSPrbRebeNk-gKsS3BDu0ebiDgxG0LOxWCPLgvsDBheETl2Z9XObtQ50NFpYxkZ9ofxL4xysqvgWqE6LvpQwCYeuNK0v8DYYQSihMZSuk0tSHkLl5djEJk1XGTRDjMf2AxmhB1rxYkAYHdiwOxU1MSIGqekG032p9Xy2AilSzh3-Sqd9EKoxMf5FiWis9nWRWUEdTY2LPFiWpEG7Gbzf4RUsChTi-WBRzzhLCh9USXvvt1_OA59AypTu3MwY04EsMzs9Xs-PAdGjdrAcNAeJviP0eFkdyquLEhpIYmksxhqoPzqK-vpIW-QTjfBtFnQYXSCEyv9vJJ2Kq8g3Hwsj9rqGW4FcVG3q3vRxRiVjyDq2M4xS_yXJHn-xpT_dkiWLWQ6sYpEEkSMli0Ho7gFv2I8glaYPVbWAXm5ksS-K4RoSIk3bgeyw2vXvJ34Dv7Oq-gq_OZHFr2k-XWfRkdU5HBkOKzEL8dPaAr71Uyh7pc5sVuyK_S0cBk74QhdowOgV4eVEKGvJGmgBnbkYG5mZn9EFu7vkoMs-votXlzWF",
  "id": "rs_0b57e1e7299a2eb6016aacaf9a8c7887d0a7c0909c87919971",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.517,\"right_y\":0.08,\"right_z\":0.005,\"right_pitch\":0.6,\"right_yaw\":0.5},\"note\":\"The brick’s near edge is still just beyond the fingertips. I’m making a small forward adjustment with maximum permitted forward tilt to reach its sides.\"}",
  "call_id": "call_KHOqnsZIIGmpv9lI2JjForDJ",
  "id": "fc_0b57e1e7299a2eb6016aacaf9d72b887d0bb0a0355b0a963e7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KHOqnsZIIGmpv9lI2JjForDJ",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8326, 0.6075, -0.4347, -0.0227, -0.0498, 0.9995, -0.025, 2.524, 1.0031, 1.5829, -0.5518, -0.0208, 0.9963]\nstate[eef_state]: left_x=0.2897 left_y=0.0019 left_z=0.16 left_yaw=0.005 left_pitch=-0.0915 left_roll=-0.0048 left_gripper=0.9995 right_x=0.53 right_y=0.083 right_z=0.0371 right_yaw=0.5631 right_pitch=0.6212 right_roll=-0.0558 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -1.1145, 7.1726, 1.6874, -0.0708, -0.0122, -0.0122, 0.4718, -7.8291, 2.947, 1.6923, 0.3101, 0.1343, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d2b802be6499404b931978b3aada90960f44cc402541ee615360a9d371c73bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10ec7f018b60eb06279e5ead5f1b0712841898bd59b4ff340593e2e76ec80888",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d16b374d772fcae3648678a8255e29188f96d705483bad7a0bd2de6008a680d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 16 attempt 0 · /responses · status 200 · 9.734 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8295, 0.6075, -0.432, -0.0227, -0.0498, 0.9995, -0.0555, 2.3978, 0.7967, 1.4719, -0.5735, -0.0807, 0.9963]\nstate[eef_state]: left_x=0.2899 left_y=0.0019 left_z=0.1614 left_yaw=0.005 left_pitch=-0.0858 left_roll=-0.005 left_gripper=0.9995 right_x=0.4885 right_y=0.0724 right_z=0.0162 right_yaw=0.5281 right_pitch=0.4609 right_roll=-0.0017 right_gripper=0.9963\nstate[joint_eff]: [-0.1299, -1.7299, 7.1726, 1.7802, -0.0415, -0.0415, -0.0122, 0.4034, -9.347, 3.0564, 1.4872, 0.2613, -0.3101, -0.0171]\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": "gAAAAABqrK-kU_iPfiF8Y0IrGwdnluj-pWj5xyLMssgm3SCoMM3nSKDQgcFWGy6eIrHF_QRsOvYtyJZeaProqmIHA3m1FzUvK_2qBDfgm4Mvcjy6AYC7HIOuKdeytUoXU1rYG5oNXhVElyQoYRR_E8mv5tqPdGqQ1ctWSDloqOIkUNMoUCQKyCfDOyt672DEgiECfgSnlAjEjKLMNNbDwPIk1UjWWfBX1aa9FW1BU4FxqdUuBqu0UJp4ZbYpqOcOAZ07AQPXsuoauCcm7FYO1FREm_nsBSGaXytDHmfsS082W13v6Kc8jMJlMzg-i_pWZ_Ocb5EC-ageXhr3cMWcp9s5EY5U6oIw6UEuO7JIV0nRDMNWBdIHD5eDzEJA32eXs0OR-FJMlLHJzPwtZl4IEP7DtTT3HguHTl-AAtce66XiRn7VHjEsOYdHvpgE2YzhVanmJOH33EXMY_CFQPKM3nQCbfYz9JpXpJN4ZwgCnsEyiLNqkPD8Kz7Be7N5C22o87Wk9jNIIg1pQ1RebuyFH_5kFhMigJ5biQe6W-GI0MEjFHViSORInQMjW5EfLlge0uIyYIUNkJZM2ZN_Qtebl8zloT6i7VCfedWbUDaRudoo68XkeOxIItgaXe2lVbB88WBCG1YagZfHauExUKfbC-8lUr0jx-QW4fbR9_vKoVAZA74B0pWwhAQPNk-pU6TxIXQJm9oF2BSvvuUHvzG1y_6OKDVraFTJ-H8kfjBcK8OON4XMQe0j8qcOHjLeF9-xtLHVYeZ2zkaEonmRqb84olwXB4LyUWe2h8WQTK8SRoMJj9_2HcR1NE2FB9ouAMY4OAfshTHNucmzP8fXgnBdxr-GVeYFjOpOM-GUKryoyUUabzPohieoxf8HtGAQfR_q5NIUJ96yDisYsk37aEJyvNGdAMWt-R4SyAU2NZAgqZtigXKdIdEKUKm1pSwBh9r8q3uJlj1QBUw0VBvgAA8x6Xjru1ZH7mFrCe4uRyacVu4ixQCeqhK3IMdCy6MiEw0LJhTaERaPhh7bpkh6R8zFTs1tS37Zot_ptidLbhWdZwGtbD3kmICstYe45ceZ8CK2WGXTiQW-jD8_Ebxovcs1eten4DWDXDaNhcvGQTbUpDmS_dpncyOyfYuJbWiBZOSMrielmkpI2R4gcQF9dFk4tjoP9IC1yBOZaOH0X4nVipJDptWrUXLjrdUXDp6L1snkdMK2stPtTkz0mGfYTQrecRqWR7LZYIoddiNHbnIeJ7-v53B4xa75-5tTQhi9C3TxkaFozFJ55O1Y5ZfZhJfxncQdU-7Ie_0d_vzQNGxQ0SwZzfbZJjmJWaP7nm8xWfDiFP4TBo4A4-hZXTafYq019VxBUcdWJRQg5fiFu6tns6cwvtB5YH6HJ6xbPRADzOr8hwpc-SVuuGR5",
  "id": "rs_0b57e1e7299a2eb6016aacafa217d887d0bf0dbd88d8bf5d8b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The nearer end now extends between the fingers in the wrist view. I’m closing to test this newly aligned grasp.\"}",
  "call_id": "call_ltOggqwchVW5OptPZ3D6A2XU",
  "id": "fc_0b57e1e7299a2eb6016aacafa393c487d0aa5ded198afeace5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ltOggqwchVW5OptPZ3D6A2XU",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8326, 0.6075, -0.4351, -0.0227, -0.0498, 0.9995, -0.0196, 2.5332, 1.0286, 1.5833, -0.5312, -0.0017, 0.0093]\nstate[eef_state]: left_x=0.2896 left_y=0.0019 left_z=0.16 left_yaw=0.005 left_pitch=-0.0919 left_roll=-0.0048 left_gripper=0.9995 right_x=0.5365 right_y=0.0825 right_z=0.0402 right_yaw=0.5409 right_pitch=0.6366 right_roll=-0.042 right_gripper=0.0093\nstate[joint_eff]: [-0.0615, -1.4838, 6.9949, 1.6874, -0.0757, -0.0415, -0.0122, -0.0479, -8.253, 3.3299, 1.5995, 0.1343, 0.022, 0.7204]\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,$blob:cb07ee5b08f74d09a63db3a78539347ac2af43999f40b651fabbc92752541627",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da470e88f16f12c0b678d795b81cfc3932aca9414e5ff667067847cb46258dcf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df0124cba111a470981eeac6d5344d10defa7a9910d588ed39ab197a6344b3a1",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 5.615 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 62 changed as sent

message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8326, 0.6075, -0.4347, -0.0227, -0.0498, 0.9995, -0.025, 2.524, 1.0031, 1.5829, -0.5518, -0.0208, 0.9963]\nstate[eef_state]: left_x=0.2897 left_y=0.0019 left_z=0.16 left_yaw=0.005 left_pitch=-0.0915 left_roll=-0.0048 left_gripper=0.9995 right_x=0.53 right_y=0.083 right_z=0.0371 right_yaw=0.5631 right_pitch=0.6212 right_roll=-0.0558 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -1.1145, 7.1726, 1.6874, -0.0708, -0.0122, -0.0122, 0.4718, -7.8291, 2.947, 1.6923, 0.3101, 0.1343, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrK-vQ8VKiOP_GyVIzRfnBdQL1IN-wV0AK91n6iN08mgtH3NkfTOgxa33bP7tPRGKE1YXkZ61kScig041st928uD0b7RKUXxef70G74MkPswYHtkOuv6v1eurhtuqiTkZJw0XOa-59SVGodfI3a7EvBg5vkBB-89FQ8zlZxv0-XdPjAIec_7jpNX4R56oxvuF3AGkfv74lIuHcMSJx3NQgQATLqUE9qZgH_NpQ7fcmXvfdF-OppbW1vf7U5-VQKS3tkoC_JrZoVYBT8MVjYtoBtyVzl9V3VNjpVngZl_UASB_6xqtfhF5mhc-Y399tMhrcYIUpi4LxRcjysQGHqD_dVg3qFUV5UC7oEThjx7AwPKRyFStNPSPSLH0nesvLKDkmr31gFdsjHZHXxhuW6jcKSW4t9FGmOhYpzqcuN8zSyYMpC16_f1ZDi9DSNZN5XWxruJlOaTS9yMCNsqJllTsxkbzgWVESz8-JevF8P_qCOrMX4s31slq-TrlwjdoyMvWu6FNaUGS8443-pqVwCank-aXPZnoOzucPN8hAnGnaxOf-Jc_JbHvPuTOjYZjGjKiL0u0BZjVTtoVN7t6kEEEe_1cQaawx3B27jMp7cns12i3JOIBm8pJxgcK6_2xzWtIJO8QaoDm6VcO4ptm3Ei0HpwFf2q3czWtgGjcsWP6ooCGUSSEht4vXqwyiq6-AOGdREYVUSokV_lLQn5DI_PWvBxakmNJbK6HlbxkC47mmZIYfAVykU-MHsfe7nu5QOMJIWM0cJRHMFAvOnOb3IBcIpDWpy-FzD42oeqK-xc9gFkzLd51rYuaViOfHDyv-RoYnkCU5pY-1_fZDaw28hwOO9jbCq2n4yRlYH5ZvK34MN_43Q8f8TZo-uFrlocq7_CYvH7FBdFrc-yS_evC_3n_vtMoqkCG7Gt3AEv7h1GiHlVHX-8EVem72f8K-oXQ8NklZp2RFsDdI5UkUuASN60cxUjqeh7naXgJtd2IXkZTmrgjNhpoOY7K_kHchBUxUyWHtI1vOC_UrXXDUG2-30Mwns9wAb6pdeHBNXBH3zZMx-qacp_vYt41rMz7Iim-aQxjNKqvp5w-xvkUY5IthXfrhBVN8wOJRVvfiX3Iw7HuGOybrKM3yuA7cF1Hu_LjgAjMtP5wYUFZ-iRBxk1-op9zsoHOXqV9973ppztySYw40fZ7yZSyRwaydRkd8wXDGgYJToPi2t5oXcpFiQU39DLhU_cffgBjp5HuXt1ED4dmNUH28az5QpK0bY14eoG27uFL3fBk6vFf9NCjjqmVEN8TlZw-R_meZFgufZTWdjdE_k4V651rd6rZSlACjmFPYnyNKXBTrm97HxHtWqJmPgR9Ma-wDvigeK8HN6xVSCuq6ThW8LAySN7JGid69pMkdx2jWxsyuHUUTbbXatvkwisZt7_xEbOa3JFkY9E6MT5gaG8PuoyBVEvwFqpMPYN3H74jC_hlGCf3krvofbR-pTUr1-pJSpkRPDZvDcC13DIHEjKmMXVBgUbAXC9h3scxXAkWQDdjx2tlMSfGKHOdp0EqjPj-2N0P98jSiOY0PywDnv5iTmI591Y-6j5ftA8rmYqiEftrIOjfiyR9Z5SrJT6JmJUq9pbt62IpQmifWtC2KAIQ47UnoA-OlXMtZfUQAxxxMe1egyrxZ1WNdjWGf47jh9DftqrdIpEa4Hmn8GOk5xPzC7MapenLMaIrs0hOaYu6VhUAvjmZA-G8tIR0gZdquaIGRxthEPA-eBsMzgfgB80HdjB2hk_p5rUlF5qvBca_KS22mIhrMTY25emz6H6e0YhnQka6sa0YhsEl6T5azmVNzA7l1Er7gr6J51Ez-3Uo7fvLlSmxkgREGtoIfSTcnA0r-ilW9C4zmvBI74xI_HT9Tf7KPZeguFZZjUMPzflfCrQ1NM1XGFTPmyIBZ408eSAcw8uxnfV3-RBOat8vQMMnSHLohBcTwNckbOBlEaaRWFhgKCqw3j57yhtYjCaq9gCIFx-Lc84dJGb-TALy3-d7P0_NdUJW_wImDcHfyepFTdqoMl8ABpX5bLSDsmf0C_OSKPhwm7dh7wi4p0Zzmzi7IgEvo1Q9uOpBnIO-mx6KLpHi",
  "id": "rs_0b57e1e7299a2eb6016aacafa77e8087d0b515e7a2a4f27c7a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0,\"right_z\":0.2,\"right_pitch\":0,\"right_yaw\":0,\"right_gripper\":1,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18},\"note\":\"The gripper is still empty, and the brick has shifted farther away, beyond the arm’s reliable low grasping reach. I’m withdrawing both grippers to a clear parked position rather than pushing it farther.\"}",
  "call_id": "call_nDXRLA21eY4zSaLZQc1rx0gk",
  "id": "fc_0b57e1e7299a2eb6016aacafacf76887d0a0fda728d658c2c9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nDXRLA21eY4zSaLZQc1rx0gk",
  "output": "executing move_to over 22 steps (2.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0265, 0.8635, 0.659, -0.4992, -0.0265, -0.0532, 0.9995, 0.004, 1.1202, 0.7555, -0.1692, -0.0044, -0.0696, 0.9968]\nstate[eef_state]: left_x=0.2888 left_y=0.0006 left_z=0.1622 left_yaw=0.0034 left_pitch=-0.1353 left_roll=-0.0039 left_gripper=0.9995 right_x=0.3678 right_y=0.0058 right_z=0.1929 right_yaw=0.0453 right_pitch=0.0344 right_roll=-0.0479 right_gripper=0.9968\nstate[joint_eff]: [-0.5812, -1.1145, 10.2359, 1.6679, -0.1001, -0.0611, -0.0122, 0.1983, -4.3556, 9.8803, 1.9072, 0.1636, 0.2173, -0.2613]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00d4d19ad0fef0e12d3ae25fd63314007badbb5443464c65b0023dfeb69d9ba3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d891d607c4744758424bb1a9306fe98abdb9ae642e7ecfc8586e9ce1a2b5e15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:629747cd4e5e69d8ca023c44c665a075179efd25c0815d96fd35327cf68d0334",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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