adhoc

completed
2026-09-18T02:49:52.737459+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (79 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
95.04 s
total steps
103
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

put the black brick into the pot of water

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the black brick into the pot of water
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the black brick into the pot of water
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe black rectangular brick is to the right of the pot. I’m bringing the right gripper above it, keeping the left arm parked clear.
move_to
right_x0.3600right_y0.1300right_z0.1500right_gripper1.0000left_x0.2950left_y0.0000left_z0.1800
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0193, 0.7937, 0.6037, -0.3798, -0.0227, -0.041, 0.9996, -0.0219, 0.7925, 0.6025, -0.3771, -0.0154, -0.0326, 0.9978] state[eef_state]: left_x=0.2948 left_y=0.0019 left_z=0.18 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2949 right_y=-0.0002 right_z=0.1803 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9978 state[joint_eff]: [-0.6906, -1.5932, 10.0991, 1.79, -0.0122, 0.2711, -0.0562, -0.2667, -1.4154, 10.1812, 1.8926, -0.0952, 0.1832, -0.2418] 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":0.36,"right_y":0.13,"right_z":0.15,"right_gripper":1,"left_x":0.295,"left_y":0,"left_z":0.18},"note":"The black rectangular brick is to the right of the pot. I’m bringing the right gripper above it, keeping the left arm parked clear."})
tool
executing move_to over 11 steps (1.1s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
agent noteThe brick is visible ahead of the fingertips and slightly right of the jaw centre. I’m advancing and lowering toward its middle, with a small rotation to grip across its narrow width.
move_to
right_x0.4000right_y0.1150right_z0.0650right_yaw0.2500
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0265, 0.7986, 0.6075, -0.3882, -0.0265, -0.0498, 0.9995, 0.5293, 1.3025, 0.7086, -0.1234, 0.4034, 0.252, 0.9978] state[eef_state]: left_x=0.2944 left_y=0.0005 left_z=0.1786 left_yaw=0.0007 left_pitch=-0.0094 left_roll=-0.0051 left_gripper=0.9995 right_x=0.3456 right_y=0.126 right_z=0.1264 right_yaw=0.0473 right_pitch=-0.0831 right_roll=-0.0438 right_gripper=0.9978 state[joint_eff]: [-0.4991, -1.5521, 6.8034, 1.8144, -0.105, -0.0415, -0.0171, 0.1436, -5.6547, 9.1145, 1.746, 0.2076, 0.1294, -0.2418] 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":0.40,"right_y":0.115,"right_z":0.065,"right_yaw":0.25},"note":"The brick is visible ahead of the fingertips and slightly right of the jaw centre. I’m advancing and lowering toward its middle, with a small rotation to grip across its narrow width."})
tool
executing move_to over 5 steps (0.5s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteThe brick’s near end is approaching the fingertips, but its long axis is angled the other way. I’m correcting the gripper angle and moving a little farther forward to grasp the body rather than the end.
move_to
right_x0.4300right_y0.1000right_z0.0150right_yaw-0.2500
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0265, 0.804, 0.6037, -0.3908, -0.0261, -0.0498, 0.9995, 0.3153, 1.5764, 0.6525, 0.1768, 0.1474, 0.0334, 0.9977] state[eef_state]: left_x=0.2939 left_y=0.0004 left_z=0.1749 left_yaw=0.0004 left_pitch=-0.0213 left_roll=-0.005 left_gripper=0.9995 right_x=0.3841 right_y=0.1018 right_z=0.0504 right_yaw=0.1623 right_pitch=-0.1716 right_roll=-0.0588 right_gripper=0.9977 state[joint_eff]: [-0.1162, -1.6752, 7.4735, 1.7753, -0.0366, -0.0317, -0.0122, -0.4308, -6.8991, 6.3521, 1.746, -0.0171, 0.0317, -0.0269] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.10,"right_z":0.015,"right_yaw":-0.25},"note":"The brick’s near end is approaching the fingertips, but its long axis is angled the other way. I’m correcting the gripper angle and moving a little farther forward to grasp the body rather than the end."})
tool
executing move_to over 4 steps (0.4s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe brick now extends between the open jaws, slightly to their right. I’m making a small final alignment at table height before closing.
move_to
right_x0.4500right_y0.1000right_z0.0050right_yaw-0.2500
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0265, 0.8085, 0.6037, -0.4015, -0.0265, -0.0498, 0.9995, 0.4156, 1.8717, 0.8719, 0.1829, 0.3962, 0.2779, 0.9972] state[eef_state]: left_x=0.2927 left_y=0.0005 left_z=0.1714 left_yaw=0.0007 left_pitch=-0.0365 left_roll=-0.0043 left_gripper=0.9995 right_x=0.4293 right_y=0.1189 right_z=0.0207 right_yaw=-0.0806 right_pitch=-0.1726 right_roll=-0.0664 right_gripper=0.9972 state[joint_eff]: [-0.1162, -1.4701, 7.0769, 1.8828, -0.0513, -0.0464, -0.0122, -0.4171, -8.1846, 5.5043, 0.906, 0.1343, 0.315, -0.0659] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.45,"right_y":0.1,"right_z":0.005,"right_yaw":-0.25},"note":"The brick now extends between the open jaws, slightly to their right. I’m making a small final alignment at table height before closing."})
tool
executing move_to over 2 steps (0.2s)
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 brick’s narrow width is aligned between the jaws. I’m closing the gripper to secure it before a short test lift.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8101, 0.6037, -0.4068, -0.0265, -0.0498, 0.9995, 0.4088, 1.9015, 0.9016, 0.1383, 0.4889, 0.3664, 0.9972] state[eef_state]: left_x=0.2921 left_y=0.0006 left_z=0.1699 left_yaw=0.0011 left_pitch=-0.0434 left_roll=-0.0041 left_gripper=0.9995 right_x=0.4315 right_y=0.1004 right_z=0.0166 right_yaw=-0.2118 right_pitch=-0.17 right_roll=-0.0833 right_gripper=0.9972 state[joint_eff]: [-0.1436, -1.4291, 7.0222, 1.7411, -0.0855, -0.0464, -0.0122, -0.4171, -6.4615, 6.9402, 1.5018, 0.0708, 0.0171, -0.0171] 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_gripper":0},"note":"The brick’s narrow width is aligned between the jaws. I’m closing the gripper to secure it before a short test lift."})
tool
executing move_to over 10 steps (1.0s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent noteThe gripper stopped at a substantial opening, consistent with holding the brick. I’m lifting a few centimetres to verify that it comes off the table.
move_to
right_x0.4300right_y0.1050right_z0.0850left_x0.2950left_y0.0000left_z0.1800
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8101, 0.6037, -0.4076, -0.0265, -0.0498, 0.9995, 0.4046, 1.9247, 0.9016, 0.1547, 0.448, 0.3332, 0.7373] state[eef_state]: left_x=0.2919 left_y=0.0006 left_z=0.1698 left_yaw=0.0011 left_pitch=-0.0441 left_roll=-0.0041 left_gripper=0.9995 right_x=0.4318 right_y=0.1055 right_z=0.0068 right_yaw=-0.1674 right_pitch=-0.1947 right_roll=-0.0858 right_gripper=0.7373 state[joint_eff]: [-0.1026, -1.347, 7.0085, 1.7167, -0.0611, -0.0855, -0.0122, 0.0615, -8.7179, 6.8171, 1.5409, 0.1001, 0.0171, 1.0281] camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.105,"right_z":0.085,"left_x":0.295,"left_y":0,"left_z":0.18},"note":"The gripper stopped at a substantial opening, consistent with holding the brick. I’m lifting a few centimetres to verify that it comes off the table."})
tool
executing move_to over 6 steps (0.6s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteThe brick remains clamped, but the loaded arm rose less than requested. I’m shortening the reach and lifting higher to get clear of the tabletop before moving toward the pot.
move_to
right_x0.3900right_y0.1050right_z0.1800right_pitch0.1500
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0265, 0.8265, 0.6102, -0.4397, -0.0261, -0.0505, 0.9995, 0.4046, 1.8015, 0.9661, -0.1665, 0.4129, 0.3325, 0.7373] state[eef_state]: left_x=0.289 left_y=0.0005 left_z=0.1619 left_yaw=0.0009 left_pitch=-0.0861 left_roll=-0.0038 left_gripper=0.9995 right_x=0.4072 right_y=0.1011 right_z=0.0323 right_yaw=-0.1588 right_pitch=-0.3226 right_roll=-0.1359 right_gripper=0.7373 state[joint_eff]: [-0.4991, -1.0325, 10.3726, 1.7998, -0.0464, -0.0806, -0.0122, -0.0342, -12.7932, 10.6735, 1.9414, 0.5495, -0.0073, 1.0281] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.105,"right_z":0.18,"right_pitch":0.15},"note":"The brick remains clamped, but the loaded arm rose less than requested. I’m shortening the reach and lifting higher to get clear of the tabletop before moving toward the pot."})
tool
executing move_to over 16 steps (1.6s)
step 54
top_cam
camera top_cam step 54
left_cam
camera left_cam step 54
right_cam
camera right_cam step 54
assistant
agent noteThe brick has lifted with the gripper. I’m raising it above the pot’s rim while moving partway toward the opening.
move_to
right_x0.4000right_y0.2400right_z0.2800right_pitch0.1500
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8288, 0.614, -0.4458, -0.0261, -0.0525, 0.9995, 0.5362, 1.4551, 0.8131, -0.0799, 0.6296, 0.2176, 0.7373] state[eef_state]: left_x=0.2888 left_y=0.0007 left_z=0.1618 left_yaw=0.0023 left_pitch=-0.0907 left_roll=-0.0052 left_gripper=0.9995 right_x=0.3793 right_y=0.1086 right_z=0.1351 right_yaw=-0.1039 right_pitch=-0.01 right_roll=-0.2006 right_gripper=0.7373 state[joint_eff]: [-0.1983, -1.5658, 6.6803, 1.7021, -0.0269, -0.0317, -0.0122, 0.2667, -9.388, 7.2821, 2.3956, 0.7888, 0.0464, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.24,"right_z":0.28,"right_pitch":0.15},"note":"The brick has lifted with the gripper. I’m raising it above the pot’s rim while moving partway toward the opening."})
tool
executing move_to over 11 steps (1.1s)
step 65
top_cam
camera top_cam step 65
left_cam
camera left_cam step 65
right_cam
camera right_cam step 65
assistant
agent noteThe brick is above rim height and still to the right of the pot. I’m moving it left over the opening while maintaining clearance.
move_to
right_x0.4000right_y0.3800right_z0.2900right_pitch0.1500
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8322, 0.614, -0.453, -0.0261, -0.0525, 0.9995, 0.8337, 1.7443, 1.5093, -0.5987, 0.8394, 0.3489, 0.7417] state[eef_state]: left_x=0.2878 left_y=0.0007 left_z=0.1595 left_yaw=0.0023 left_pitch=-0.1013 left_roll=-0.0049 left_gripper=0.9995 right_x=0.3933 right_y=0.243 right_z=0.2342 right_yaw=-0.0236 right_pitch=0.0257 right_roll=-0.2729 right_gripper=0.7417 state[joint_eff]: [-0.0752, -1.3607, 6.9538, 1.6923, -0.0464, -0.0513, -0.0122, 0.3487, -10.6051, 10.2359, 1.6337, 1.072, 0.315, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.38,"right_z":0.29,"right_pitch":0.15},"note":"The brick is above rim height and still to the right of the pot. I’m moving it left over the opening while maintaining clearance."})
tool
executing move_to over 12 steps (1.2s)
step 77
top_cam
camera top_cam step 77
left_cam
camera left_cam step 77
right_cam
camera right_cam step 77
assistant
agent noteThe brick is now over the pot, though toward the right side of its opening. I’m shifting the last two centimetres inward and lowering toward the rim before release.
move_to
right_x0.4000right_y0.4000right_z0.2100right_pitch0.1500
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8371, 0.614, -0.4603, -0.0265, -0.0528, 0.9995, 1.029, 2.3421, 2.4458, -1.0714, 0.9508, 0.4572, 0.745] state[eef_state]: left_x=0.2869 left_y=0.0008 left_z=0.1568 left_yaw=0.0029 left_pitch=-0.1135 left_roll=-0.0046 left_gripper=0.9995 right_x=0.3983 right_y=0.3899 right_z=0.2442 right_yaw=0.0514 right_pitch=0.0317 right_roll=-0.3394 right_gripper=0.745 state[joint_eff]: [-0.1162, -1.8393, 6.9402, 1.7021, -0.0806, -0.0562, -0.0122, 0.4444, -16.0068, 9.3607, 1.0525, 1.2772, 0.3639, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.4,"right_z":0.21,"right_pitch":0.15},"note":"The brick is now over the pot, though toward the right side of its opening. I’m shifting the last two centimetres inward and lowering toward the rim before release."})
tool
executing move_to over 4 steps (0.4s)
step 81
top_cam
camera top_cam step 81
left_cam
camera left_cam step 81
right_cam
camera right_cam step 81
assistant
agent noteThe brick is close to the rim, with its near end still toward the front edge. I’m nudging it forward so the whole brick is over the water before opening the jaws.
move_to
right_x0.4250right_y0.4000right_z0.2000right_pitch0.1500
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8379, 0.614, -0.4603, -0.0265, -0.0525, 0.9995, 1.0435, 2.307, 2.051, -0.8238, 0.9516, 0.3981, 0.7451] state[eef_state]: left_x=0.287 left_y=0.0008 left_z=0.1566 left_yaw=0.0027 left_pitch=-0.1143 left_roll=-0.0043 left_gripper=0.9995 right_x=0.3883 right_y=0.3882 right_z=0.1516 right_yaw=0.094 right_pitch=-0.0447 right_roll=-0.4815 right_gripper=0.7451 state[joint_eff]: [0.0068, -1.4291, 6.9402, 1.6825, -0.0708, -0.0611, -0.0122, 0.7179, -16.9368, 10.9333, 2.044, 1.3895, 0.0904, 1.033] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.425,"right_y":0.4,"right_z":0.2,"right_pitch":0.15},"note":"The brick is close to the rim, with its near end still toward the front edge. I’m nudging it forward so the whole brick is over the water before opening the jaws."})
tool
executing move_to over 7 steps (0.7s)
step 88
top_cam
camera top_cam step 88
left_cam
camera left_cam step 88
right_cam
camera right_cam step 88
assistant
agent noteThe brick is positioned within the pot’s opening, just above the water. I’m opening the gripper to let it settle into the pot.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8398, 0.614, -0.4606, -0.0261, -0.0525, 0.9995, 1.0233, 2.3367, 2.0441, -0.6811, 0.9657, 0.2111, 0.7451] state[eef_state]: left_x=0.287 left_y=0.0007 left_z=0.156 left_yaw=0.0024 left_pitch=-0.1166 left_roll=-0.0045 left_gripper=0.9995 right_x=0.4077 right_y=0.3965 right_z=0.1481 right_yaw=0.1558 right_pitch=-0.0203 right_roll=-0.5602 right_gripper=0.7451 state[joint_eff]: [-0.1162, -1.5521, 6.9402, 1.5995, -0.0513, -0.0122, -0.0122, -0.7179, -14.653, 11.7538, 1.8388, 1.3211, 0.0757, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The brick is positioned within the pot’s opening, just above the water. I’m opening the gripper to let it settle into the pot."})
tool
executing move_to over 3 steps (0.3s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteThe brick has left the jaws and is visible inside the pot. I’m lifting the gripper away to clear the rim and confirm the placement.
move_to
right_x0.3800right_y0.3200right_z0.3000right_pitch0.0000left_x0.2950left_y0.0000left_z0.1800
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.844, 0.614, -0.4606, -0.0261, -0.0525, 0.9995, 1.0275, 2.3348, 1.9976, -0.6392, 0.9768, 0.1856, 0.9954] state[eef_state]: left_x=0.2872 left_y=0.0007 left_z=0.1549 left_yaw=0.0024 left_pitch=-0.1208 left_roll=-0.0043 left_gripper=0.9995 right_x=0.4057 right_y=0.3955 right_z=0.1383 right_yaw=0.1651 right_pitch=-0.0226 right_roll=-0.5895 right_gripper=0.9954 state[joint_eff]: [-0.0615, -1.8667, 6.9265, 1.5849, -0.0611, -0.0708, -0.0122, -0.4718, -12.9709, 9.388, 1.1013, 0.4908, 0.1929, -0.0024] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.38,"right_y":0.32,"right_z":0.3,"right_pitch":0,"left_x":0.295,"left_y":0,"left_z":0.18},"note":"The brick has left the jaws and is visible inside the pot. I’m lifting the gripper away to clear the rim and confirm the placement."})
tool
executing move_to over 11 steps (1.1s)
step 102
top_cam
camera top_cam step 102
left_cam
camera left_cam step 102
right_cam
camera right_cam step 102
assistant
agent notePlaced the black brick into the pot of water; the wrist cameras confirm it is released inside the pot.
done
hindsightThe right arm can place into this pot near right_x=0.41, right_y=0.40. Carrying this brick caused substantial height and orientation sag (about 5 cm in z near the pot), so use readback rather than commanded clearance. The post-release retreat did not track, but both wrist views clearly confirmed the brick inside the pot.
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0265, 0.8825, 0.693, -0.5369, -0.0265, -0.0528, 0.9995, 1.0256, 2.3348, 2.0125, -0.6804, 0.9604, 0.1905, 0.9964] state[eef_state]: left_x=0.2888 left_y=0.0006 left_z=0.1649 left_yaw=0.0027 left_pitch=-0.1566 left_roll=-0.0033 left_gripper=0.9995 right_x=0.404 right_y=0.3938 right_z=0.1376 right_yaw=0.1696 right_pitch=-0.0487 right_roll=-0.5964 right_gripper=0.9964 state[joint_eff]: [-0.5812, -1.0735, 9.7709, 1.7558, -0.0855, -0.0366, -0.0122, -0.294, -13.3949, 9.1145, 1.0769, 0.4078, 0.2027, 0.0855] camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]
assistant
done({"summary":"Placed the black brick into the pot of water; the wrist cameras confirm it is released inside the pot.","hindsight":"The right arm can place into this pot near right_x=0.41, right_y=0.40. Carrying this brick caused substantial height and orientation sag (about 5 cm in z near the pot), so use readback rather than commanded clearance. The post-release retreat did not track, but both wrist views clearly confirmed the brick inside the pot."})
tool
done: Placed the black brick into the pot of water; the wrist cameras confirm it is released inside the pot.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "What you observe right now in the observation (images, if any, and state), and why you chose this motion. The user reads these notes live and in the saved transcript to follow what you see and what you decide. Write for them, in one or two plain sentences.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 5.961 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]: [-0.0193, 0.7937, 0.6037, -0.3798, -0.0227, -0.041, 0.9996, -0.0219, 0.7925, 0.6025, -0.3771, -0.0154, -0.0326, 0.9978]\nstate[eef_state]: left_x=0.2948 left_y=0.0019 left_z=0.18 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2949 right_y=-0.0002 right_z=0.1803 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9978\nstate[joint_eff]: [-0.6906, -1.5932, 10.0991, 1.79, -0.0122, 0.2711, -0.0562, -0.2667, -1.4154, 10.1812, 1.8926, -0.0952, 0.1832, -0.2418]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f73e58cb50bced2926e9abc0215eb041edbf10a1cd313efdb21afffc5c7f7c41",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:222e0f15c79b6104dce9e1a55c19da2caa5962b58cd742761cb192be60132bfb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad66fb579a2c8dc3eca943143380a2cb9331535177d5698a034c0176ba9684fd",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob f73e58cb50bc
wire blob 222e0f15c79b
wire blob ad66fb579a2c
call 1 attempt 0 · /responses · status 200 · 6.43 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqrKbjLqCQ3Hl9Uc_e5snc0ov86rSMcSIycnMCoyIBLlJS3GDDEsmOM2PkWzcnsWp9JEZingORoTlv3sViG93Hd3AQPoDn4LFXnNIL35G6JwHCSBU9ryIiCYMoPNUuAk2xbHuHY4hbshb5KsMgGeWlg1p7ATufwhx9MWLmY_c6Fhd8NlgeyNvCoUCpWdaST9cLhEDUfOCuF69ymDMkbZWw6IfcpUw0Pz4jRd8SWMPw-iFnlnkl4_fqjtFXVudYhtM9Ok3ySXT7uOqviL5v0TDJ8KzxWFFKs_DtQBNobPqUCZCebuEXJvsfv4OA7OdbdnyBY_j6SL8Unt75zNN_HvqLwiVRz4aoljV8EjnVPxTwmkze1SYjug-HgC5wdcNPwKQ4X0wSspRFTlr-MmKn15MUZkbe-Y_hmY2bN_CjcFvP09MdYR072zRtcPY7UrmI9Bp3IU9xed213K6onkn6M35llilQnMYMvi5gmFA2FAYE0fmN2zDivDL7HYoN2462-1f6NsBzH5UYZjfs09T-x6I1X65PuuuRenzrem85MYz-xcci0b009-PTG9xvl2I6bai3RaXWFgnKv_7qn_vE_XhSNgPfFcH_rNqC-SF7TgxOKumdssokUyonSYHNAS0uGU5GcJlwqZOVuwOzZOlq3b3cuW2EEKn8TX-HGKu7Y_kbM50F5dt_mDA-mhXdrPncce36ducBI4Q-e_zEsSkNxw-ZKoUZ0Gw_svIfzBeUcvNQ4GtpkjnsNS2L4tN0FHtM_thbvm_9mhBaf417dhkWsJYTK4Q8jCxS8LEuhA2IfFnZeHVP0I5AYjg4WsWRF4jszN4ohwYqo9sWQ9tm89hLXGKOMsLYptKhWuYHkW1WaryBEp3MdVzzc31ceOx2mX08IJ3q6s7yKLl2s-gGvlw9f13Mop_wKUIdnZk5fnf_B_GaP5cVp-GIT31dAAcdGFZOCOSz94U_xiZOfpiJlXQauaNHqq41oa3gXOWn-y7caM8wjHzmGfT8MjF4UdKqdeXL_IY3LMjUwWxQp3cVZFQRU2mYokjO0UKHbipirBn6R0Bp1_V4HJSurX-E4HPKBGOvjFs7Q71rbQgRgazfkEkh6m9B2sRcZXxC5JP2Spl80lhzKbrjE3CPoO3Fl_2cOJo0VuUadXRUIP2nE14ZmjUrBLDdJfXmftfKmBkKGVlwNUoogdiQzMHSVfXm2_f-j4aEaMQ_RzSbRkeNB0qZ-ekKNvZrbB6zfcBVtYjIhv700R2FBOVpOCUmXWGt90C3MsIV9xmtrKmwTpdO1KTKRu0_BKGBEadRYbg9M6nMrMzVQMpK50bNU5a1f9wz2iheyWYQwX-x7Ia1cHLPFJomF582MXFpRc6RL5vvpePeJX55yBUeOnmG47muC35mrUvg1gN1zDVlVQpwVsudFYkymaSz00m5sblpag==",
  "id": "rs_05395f7f9929d3c0016aaca6df910087d080003654705e341e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.13,\"right_z\":0.15,\"right_gripper\":1,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18},\"note\":\"The black rectangular brick is to the right of the pot. I’m bringing the right gripper above it, keeping the left arm parked clear.\"}",
  "call_id": "call_AyjBTHlzdLdMfmeGjKkpKbo0",
  "id": "fc_05395f7f9929d3c0016aaca6e1abd087d0aa6dbbe43585f0f9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AyjBTHlzdLdMfmeGjKkpKbo0",
  "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]: [-0.0265, 0.7986, 0.6075, -0.3882, -0.0265, -0.0498, 0.9995, 0.5293, 1.3025, 0.7086, -0.1234, 0.4034, 0.252, 0.9978]\nstate[eef_state]: left_x=0.2944 left_y=0.0005 left_z=0.1786 left_yaw=0.0007 left_pitch=-0.0094 left_roll=-0.0051 left_gripper=0.9995 right_x=0.3456 right_y=0.126 right_z=0.1264 right_yaw=0.0473 right_pitch=-0.0831 right_roll=-0.0438 right_gripper=0.9978\nstate[joint_eff]: [-0.4991, -1.5521, 6.8034, 1.8144, -0.105, -0.0415, -0.0171, 0.1436, -5.6547, 9.1145, 1.746, 0.2076, 0.1294, -0.2418]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8dad8b1b14101e975bec1617c7c7d205a15f76c9681635a23d58f7d822df65c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d96b360deafdbcecc0b320f8b3d9ce8ec14e897b72c97f32ec679e6f70734834",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fa8b7023114cad13fb64dea17b1a0e9bba73e6595724c1c33508fada129631c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 8dad8b1b1410
wire blob d96b360deafd
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call 2 attempt 0 · /responses · status 200 · 7.409 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]: [-0.0193, 0.7937, 0.6037, -0.3798, -0.0227, -0.041, 0.9996, -0.0219, 0.7925, 0.6025, -0.3771, -0.0154, -0.0326, 0.9978]\nstate[eef_state]: left_x=0.2948 left_y=0.0019 left_z=0.18 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2949 right_y=-0.0002 right_z=0.1803 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9978\nstate[joint_eff]: [-0.6906, -1.5932, 10.0991, 1.79, -0.0122, 0.2711, -0.0562, -0.2667, -1.4154, 10.1812, 1.8926, -0.0952, 0.1832, -0.2418]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKbqyyy-iwvPq-ItoWwva6M7ozF5bWjYBjSt-XMJO8S9rVXwyDPbhStkU9w2tY43UyXEGiI0wAkseYk51hGUWbzLO_YNyHcMWoi_JssVnV764lovMvpbCFp02tyVAofUCozWRwL--GEwFG8bjIVY7otF83L_TQ1L0mvmXy6Go19pYTaGImiJObQmhusGfznoJAU_bVu1RynMkpeYkcdYnQLCGBk80ieaglOZek02KN1N2SXo902XD-YQphTL_neBg4LB35TRoPBX6Jr3_4yHFRQcTNPlmsDgcYYb0CY2LsP0JFmccrxmlLripBqTpQwJpWg-la-cYm-WvubvvS4Z0gHf5HYi-uNlTInRX04BaUKgO1SBVCJFAK09i_gM9bbcJVnkLtec6jUceGqrcUBbRZOlGHesvbmWihCzJWXwosDGthDHbHGOMLHUZmCcKCY7LFDufwCFCMCiwlJYP8855ZtbPHn_uivM6UB0hsQEBGnNeuBFiufZF6hWK78Gz8ciFZ-JFZycPbDc6LpExkODz5VzPXqPGm6Plj4WL7GJyFE1h9pDu4eQfDZJwigZ4FEIH9wlfulrWwToB4NmjZWGf9erBzXnbg0tI_S86l-8FCh3KLlyIVEAWsz97NqWbZZ9iX0bS0fEBOtad-ZV4PvcazwwGAwc2D13Iy63c5Gb1odRNlzYH-vh4gs3Hd7RYj4IB4N37G6Nz--wxKOIa2Q_F3VYiPdtUH6YadFEZsm0cv2N_FQk4A-FofjoD5tvt5F0GLS7X1vVqDxZT6XO0uUPGstKsJUm_OrR4m5QCUUJpDQ1U1D4U1eJeLrASAmLCWnRfGXgAs73sqHUPKEHWjVt68ntKuN4-vZqa7wQQIHOYwlV48iekVBKffIIhGXW3flkO-J6ZlTQDjWIonFJGcVFHexnFTzjx-WQT9Ghs9AdEsKH2_EUxijF2VTcbVG6nwdqRadpQ4M-fNndweqO_jdVMIHmBOVfwkWEtrsDa1P9U5mOoGrbb1bAME_O4JPua_DNL9NVsiAslulqu4IYAndY83Fyh3eNqr5cHtD_RiX1BQ5pCl6i-cf0f1yVnvoSqfJM434N4QlJ-9KuxbF9ZPvpbxGXkAA4USCyZCxPwKgMWuDZOl7L65A7LsGTuQC8EleJjRqONed774Ie8Zs-rrwdm3i8uJiw7oUEj69HG6fD64_qrsLUDxTWVMG9tSq1mjeDO5zgFVariucOlYu9gGF5zFzsrjlf0S5JQDOY-vd9BD0oZs-5xZcFPPR2p0o_3fqHUS5vTZNM_hgrl20eLgXOhxoYBBa0zHOe_0-CV1wDZ6OPS5_i1kF2FWCECc8Hqb9k71uvnCjIRYBmVJirvFlKZ8RLydpMvvtIEHF-apROU9Tpbm3x9Oyjgn7VRVoDTVKCR3RXVFEWiruAodg_Dlax0RUGW1TNInmG4m48GN6RqaNW6k9b5B90_ifZV5ZlPbpxcrVYjS3iFpR4rP50ulmUCVSZ8QiqA9jMnzpXrOy6GvwJtPiEeyztPCOQ6QVKrIaGkYRJIOpwedCaiIaOX35ZLG-bThz9KrIwGxVdNwqxdPPZ7VEGhNjSGXPPQqTqrqvWPrQ4ta6zO5v6bJpGueA3Gp_QFvwjnbwuPM5G4h31pULOs_w=",
  "id": "rs_05395f7f9929d3c0016aaca6e5e7c087d0b86adc87b755d78a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.40,\"right_y\":0.115,\"right_z\":0.065,\"right_yaw\":0.25},\"note\":\"The brick is visible ahead of the fingertips and slightly right of the jaw centre. I’m advancing and lowering toward its middle, with a small rotation to grip across its narrow width.\"}",
  "call_id": "call_Lnt4cqqMcG8CQDEgfJO4t1Rv",
  "id": "fc_05395f7f9929d3c0016aaca6e921a487d0a54097494c2d3978",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Lnt4cqqMcG8CQDEgfJO4t1Rv",
  "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]: [-0.0265, 0.804, 0.6037, -0.3908, -0.0261, -0.0498, 0.9995, 0.3153, 1.5764, 0.6525, 0.1768, 0.1474, 0.0334, 0.9977]\nstate[eef_state]: left_x=0.2939 left_y=0.0004 left_z=0.1749 left_yaw=0.0004 left_pitch=-0.0213 left_roll=-0.005 left_gripper=0.9995 right_x=0.3841 right_y=0.1018 right_z=0.0504 right_yaw=0.1623 right_pitch=-0.1716 right_roll=-0.0588 right_gripper=0.9977\nstate[joint_eff]: [-0.1162, -1.6752, 7.4735, 1.7753, -0.0366, -0.0317, -0.0122, -0.4308, -6.8991, 6.3521, 1.746, -0.0171, 0.0317, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7115f2877f0f0abe94865a9ee0146a62913051dee672869be95afe55c38da79",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4908acc97d1cd41897549224a50345369e84ad5d779134ac299604998663cf0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:494caa9d323d8d8546b50801b7929c84bf2a96c6b1ab6e805e26f03ea2350d33",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob a7115f2877f0
wire blob f4908acc97d1
wire blob 494caa9d323d
call 3 attempt 0 · /responses · status 200 · 6.663 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 6 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0265, 0.7986, 0.6075, -0.3882, -0.0265, -0.0498, 0.9995, 0.5293, 1.3025, 0.7086, -0.1234, 0.4034, 0.252, 0.9978]\nstate[eef_state]: left_x=0.2944 left_y=0.0005 left_z=0.1786 left_yaw=0.0007 left_pitch=-0.0094 left_roll=-0.0051 left_gripper=0.9995 right_x=0.3456 right_y=0.126 right_z=0.1264 right_yaw=0.0473 right_pitch=-0.0831 right_roll=-0.0438 right_gripper=0.9978\nstate[joint_eff]: [-0.4991, -1.5521, 6.8034, 1.8144, -0.105, -0.0415, -0.0171, 0.1436, -5.6547, 9.1145, 1.746, 0.2076, 0.1294, -0.2418]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKbyaZQhJ01wmYKI3HVyeDSVeyF3snDNIv_swCmUTP95CtJuE6N7ZyB6jm-xZjMLdNe6unuQ66HML3k7OSGSGLT-s8dnBllHv9_8mUmgRCgUh1ht7FUICy42-o2xKBpuhp95PjcwfR1Ugv8fBmo2TOElJEv-GeAk-K0PVMFyNs9nxYrAxZBSJh9ScIzvrwc1ckjfa6_cRhrugCzmS1Ewf43BeRjYtYuofiufhtN5tMKSUZ7o74aeJ1Fz6e84y2BMgoMmus8tB0_7KhMLzN73FhYaC1ggWLZ_chyDv5uGpHz4hhRDnZhziONjXdxmshMgwXhfdg-osK90Mo_AEgYM3WCOOcRqzGl8j82z7FAE59MCyUIR1yab-OVPHYDSijZ_U8TdaWtfIbw8djAhcQnu-YpgxQmliU7oZ-Ahxt0jhL50XnWrldbgUTJlmGFmlST1suTdzNauamMXCPVkr6kp3v94rFIHWbALd_7tZMf1XYwi972wxojVvUd3Pwsm8-bfOEPFtYu-KsMg9A6zSveDtty_RnsE5SuVty_EOMkwEyxgoFFBPERAjBwBX4IfvaWeLLqsKmR88p4AkmYDWyJtBH1QGT5dpq5o6VvaMc39iiB-krQUat3e2z_wjFPejByAjZ_uvz5LEXXA_gSUAmOUHBELOJFAcQSWUa8wKkxFWcUpMAC9785saLBN-OGMoZUQkWCAQLIFZUDjpveIoGxRogNweVNa1XtQjJtnafy_xleOIQ_IMafUNIo0d-PzdcpBTLPssGg-MJLagwnWFYBBaeaMFs12E610oSTruSXQN_Vy96r4rEywP0tuGC1DvQv9feyucD_d2zBxsmfSlUMMEw76BBMoEthiAzGwlZk35ZQmI4wp0g6xC7M2ZImmp7jClzrD_5cPG9aEsgB5QchPFMgJqAAQW_H12HHzcJdlMM7cvuv1B-5GDEUL3iITIPRLdClCeFq4llFTKT2v48l7PS-nq3CcAwJbbR1YpOvpItUciecncHT1OtQsfvBP-88HwVtsOcFt2OHKQtXrTNZD3JzoYuCH-RQUym3xihqK8cKUw-uRv-26HmcvUqJhGPUSSO6Ft40Ve-0X4PfkfRnG2wNdZNRZMbBG_uGG22cxK1W0RW-HNZ6rZJFsbUZX-MtddwZZrq1I13wDnjrirlDt-1rzp7vvXMX1PufuV0Sl_Dt_oTftrLNo_LZcyxIxOkk_XO-y23H2qKUxNOrFKjNjIo9CZf1JnK6gZJuBDIrBzSLe9sUJ0AjgGLdcw7LEYvQiwfUMCjCVTxCU-RGkIbO79pxz3K4Uc_Atll5yyOxwIh3lRtS9AdqXBI1w9Ftc0cC3TP6qOjR8GWXVUva51nVTsppONQZUC9VhUfSgBtFE81wqxq4YbvHT6TTIHNLIkX_PWCTpqcdjihsdhjAH1ze9r44jPnDgAVG4R390T9-2ClGoIZhGg_LpFef88o9rNcbRvwyhy43XFmBFfxO-vt48gZvsz7yx6Rml9gFJ9XUES9dOom5hpJ70q0sHoKDqj5jSDpTj4UWrGinK_GA2FxCIa0O6vZXua9KTbf6vMZgtoce26gnV43NEGSQowJxCwURJNwpyKiM2nMfX9MJ36j2T5dDUZeBC8WkBrOyEtoo9yNxa25K_8G2gG87GDPji4-oJGaQ_cqpK8SvON8sKBqnw_NOrZXTAoMCWFmDExiZysDDvJzpW9Oii6iuXlSQdjd8ICMyuP7w5CwiXgXD95yeKOjeeOZWOX4VINa6qtpViTTHYxfitxfqlyF_uy_R5oui5o7wj",
  "id": "rs_05395f7f9929d3c0016aaca6ed76cc87d0ac56cd5c2c0bdff1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.10,\"right_z\":0.015,\"right_yaw\":-0.25},\"note\":\"The brick’s near end is approaching the fingertips, but its long axis is angled the other way. I’m correcting the gripper angle and moving a little farther forward to grasp the body rather than the end.\"}",
  "call_id": "call_FIQPsIFAamd6E5QytJhF1k28",
  "id": "fc_05395f7f9929d3c0016aaca6f1327087d08058c24ade41f3d5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FIQPsIFAamd6E5QytJhF1k28",
  "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]: [-0.0265, 0.8085, 0.6037, -0.4015, -0.0265, -0.0498, 0.9995, 0.4156, 1.8717, 0.8719, 0.1829, 0.3962, 0.2779, 0.9972]\nstate[eef_state]: left_x=0.2927 left_y=0.0005 left_z=0.1714 left_yaw=0.0007 left_pitch=-0.0365 left_roll=-0.0043 left_gripper=0.9995 right_x=0.4293 right_y=0.1189 right_z=0.0207 right_yaw=-0.0806 right_pitch=-0.1726 right_roll=-0.0664 right_gripper=0.9972\nstate[joint_eff]: [-0.1162, -1.4701, 7.0769, 1.8828, -0.0513, -0.0464, -0.0122, -0.4171, -8.1846, 5.5043, 0.906, 0.1343, 0.315, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39c3fb9fedc7501a0b43fbe1c927f0f0bee3cfe1dd7f300e29b95ae8925bb3f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1c020bf8f60c5ff086d6649cf522c33f5e7f5a38539b3c13192b6a7b32d8743",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13de10d0fbecae659362b6df205ba58a0d1b884b0e857a9d805a4f730e276eb6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 39c3fb9fedc7
wire blob a1c020bf8f60
wire blob 13de10d0fbec
call 4 attempt 0 · /responses · status 200 · 3.312 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]: [-0.0265, 0.804, 0.6037, -0.3908, -0.0261, -0.0498, 0.9995, 0.3153, 1.5764, 0.6525, 0.1768, 0.1474, 0.0334, 0.9977]\nstate[eef_state]: left_x=0.2939 left_y=0.0004 left_z=0.1749 left_yaw=0.0004 left_pitch=-0.0213 left_roll=-0.005 left_gripper=0.9995 right_x=0.3841 right_y=0.1018 right_z=0.0504 right_yaw=0.1623 right_pitch=-0.1716 right_roll=-0.0588 right_gripper=0.9977\nstate[joint_eff]: [-0.1162, -1.6752, 7.4735, 1.7753, -0.0366, -0.0317, -0.0122, -0.4308, -6.8991, 6.3521, 1.746, -0.0171, 0.0317, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKb5RtomYUBZtgXnp_zOBHuVyEfqH1ayHUGWBaUrYzG8ydPKFe3GdmxVfPIlcou32W0MEmIQE6p5EJ_vZOJ5VU2-Y4JWxnDLOhP9ZFnj4epFdRcTJEHK6ZuZhO1gGCm4s8ciCkqweIK0q6otJwsnQ1t1yNJI5gUtcPeENrmenjLM9fndwL2a1gWYPAvAS4k_CJ5q92STKKDBeCUyGVoGGGvn-G-5cEsrsc2etBCCbUS6YfpYSEaQM7s8EmvAVIJsLvDi8EO-aD5PTQGin_aurURC8QN6CWcw9ghHFvd6r9f5WRTGeY-j031QBlEF8tNtcljwTFXp7EaHS6UJZz-4boxNf1cPbSe4_Lr8wXCL-gsi7kfDvyFPRBb-vzbt_W-f0so7SvBY-9hKX7JdJUS12Dg5QbvyIk-WZBLuk5oKOcdUr-xCLvt4SI4AmxjaLabu20YAgXfVU19pyWIvClQ_mIODBCo1dR9CqcGoBCicjqgLbp4t6km9EAHktsOcPA41d8l53QaYlk8qqlPpOY2hr0Xl1GaWyU0dals36WUr2G9e_4uPCWXs8W7yeJOHc2tenZSg1kSyqlrJpY1PVQvL2WIevmv_hcQjGqPqb2e9w6gNHGjHIIAj_uhYU5tqqVhZHcKRRIuDjL7q6VIYgpid7_Sy_glC6uoNFxlyqS-4Jn3ekbbEVIcypYgyi0VblO7XSS35lqYXcmRwa64SNV-66zvtvWw_zWAWcGs914YUkbofe23N-YjVPJ-lErQeJ71TnBMwpNV-w4R-YvD2ssYcKFQm49HAdGHRNJ7DgHNhwRAHlDWw3FyZlTQboufoZFwom4t8ogIe4Klml6-ZCzqUu0xP0tP4sK6LNBFQbhJErUVH4vyYqThSJuWXlOErmwAmWIJc1sUDNtW8bYBGbADX4WG91B4AIjHVSQK4fAYndN2nq-qINtM5X6eLx-Yg_utsQ48f7TFBUC6yXXGrEFlMpKCkNxV48sa2iQ7ad1yUp6SFPeqzAPDgp0O9tpoTbzfA9kHbPIWQ8ZYb1_9ExTsDpIwQrK8RxpqNmDHcmrJmHoevffKvYahjXzfUDx7qWp0v7D9-HXCet5Mr-UCiy7zNRbwtJRqO6_F_scZ4ZUMUCSWaO_MBKc20almDM9i--QEHKFbwWNiD_WHPC45dpnecJJ4_iGGSt3_ZHIPSnSptwz34fZ7Zz_29tnA3-qbsXVZAiSaI_qmrOK3EjnT0xFUF6AGLEWqLpaIoXJW-vGC_JwwVA5wtepXRdzScy3SJChfCbrkvzglGQvxqBVNPvgksRhhiScqeFMOOZJcoJQ2_ma9pvf2IDx1Z2NOYT3ZhidRDghF0VRCsLwrmkVt4oOK4C0AT5P1gYet7fjLce-74RURInl3KFXmnASWNzKvB1uviZZ4X9tK-IhmGtEPsFcqb7N7db3vhHYlnOD-jTiZdrphbFpyX8NvzxN8tzGhYWJFBpnbk4GR6cn22pMyvC0AxNUaxiQlHRRLkIUg6rVUNl7Al3T47K6tSlWy1K34MFW8bOY2g-8gU9A28hGHgKyufcQOnOg==",
  "id": "rs_05395f7f9929d3c0016aaca6f4b12087d08fcf1cc97ec41a60",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.1,\"right_z\":0.005,\"right_yaw\":-0.25},\"note\":\"The brick now extends between the open jaws, slightly to their right. I’m making a small final alignment at table height before closing.\"}",
  "call_id": "call_k7drCuKHhywBzPKM3kYKDlsf",
  "id": "fc_05395f7f9929d3c0016aaca6f7b2e087d0acc4eb02417938e2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_k7drCuKHhywBzPKM3kYKDlsf",
  "output": "executing move_to over 2 steps (0.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8101, 0.6037, -0.4068, -0.0265, -0.0498, 0.9995, 0.4088, 1.9015, 0.9016, 0.1383, 0.4889, 0.3664, 0.9972]\nstate[eef_state]: left_x=0.2921 left_y=0.0006 left_z=0.1699 left_yaw=0.0011 left_pitch=-0.0434 left_roll=-0.0041 left_gripper=0.9995 right_x=0.4315 right_y=0.1004 right_z=0.0166 right_yaw=-0.2118 right_pitch=-0.17 right_roll=-0.0833 right_gripper=0.9972\nstate[joint_eff]: [-0.1436, -1.4291, 7.0222, 1.7411, -0.0855, -0.0464, -0.0122, -0.4171, -6.4615, 6.9402, 1.5018, 0.0708, 0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:816cc81289b86cc3f72e649a4d75783a90e8ce4cc3bc380624bfbbbf239ba833",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86847e400ce09af444f36a136fe98319d8fefb92f744dd03dfc01c35316c83d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7631f8d30375148922ab274129bdf17322e734b611c9c6c38788684719ca703f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 816cc81289b8
wire blob 86847e400ce0
wire blob 7631f8d30375
call 5 attempt 0 · /responses · status 200 · 3.173 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]: [-0.0265, 0.8085, 0.6037, -0.4015, -0.0265, -0.0498, 0.9995, 0.4156, 1.8717, 0.8719, 0.1829, 0.3962, 0.2779, 0.9972]\nstate[eef_state]: left_x=0.2927 left_y=0.0005 left_z=0.1714 left_yaw=0.0007 left_pitch=-0.0365 left_roll=-0.0043 left_gripper=0.9995 right_x=0.4293 right_y=0.1189 right_z=0.0207 right_yaw=-0.0806 right_pitch=-0.1726 right_roll=-0.0664 right_gripper=0.9972\nstate[joint_eff]: [-0.1162, -1.4701, 7.0769, 1.8828, -0.0513, -0.0464, -0.0122, -0.4171, -8.1846, 5.5043, 0.906, 0.1343, 0.315, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The brick’s narrow width is aligned between the jaws. I’m closing the gripper to secure it before a short test lift.\"}",
  "call_id": "call_8bLMXlsc6jPeYoyIsv785i0M",
  "id": "fc_05395f7f9929d3c0016aaca6fbec2487d0952041c0021d08c5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8bLMXlsc6jPeYoyIsv785i0M",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8101, 0.6037, -0.4076, -0.0265, -0.0498, 0.9995, 0.4046, 1.9247, 0.9016, 0.1547, 0.448, 0.3332, 0.7373]\nstate[eef_state]: left_x=0.2919 left_y=0.0006 left_z=0.1698 left_yaw=0.0011 left_pitch=-0.0441 left_roll=-0.0041 left_gripper=0.9995 right_x=0.4318 right_y=0.1055 right_z=0.0068 right_yaw=-0.1674 right_pitch=-0.1947 right_roll=-0.0858 right_gripper=0.7373\nstate[joint_eff]: [-0.1026, -1.347, 7.0085, 1.7167, -0.0611, -0.0855, -0.0122, 0.0615, -8.7179, 6.8171, 1.5409, 0.1001, 0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8343f0d1ee4d46b80c1fc609451f826e678a7d8318e55cf64bf71a0cb487e19",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaa02eea9a60befdf5007a405c4781a5185b5cdf48fa2e22c38d6633906f52db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2580670e7035ee33d92fc5e67fec2581253cad573eb4bc6024ca0cd9f567ca4d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob d8343f0d1ee4
wire blob aaa02eea9a60
wire blob 2580670e7035
call 6 attempt 0 · /responses · status 200 · 6.844 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 18 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8101, 0.6037, -0.4068, -0.0265, -0.0498, 0.9995, 0.4088, 1.9015, 0.9016, 0.1383, 0.4889, 0.3664, 0.9972]\nstate[eef_state]: left_x=0.2921 left_y=0.0006 left_z=0.1699 left_yaw=0.0011 left_pitch=-0.0434 left_roll=-0.0041 left_gripper=0.9995 right_x=0.4315 right_y=0.1004 right_z=0.0166 right_yaw=-0.2118 right_pitch=-0.17 right_roll=-0.0833 right_gripper=0.9972\nstate[joint_eff]: [-0.1436, -1.4291, 7.0222, 1.7411, -0.0855, -0.0464, -0.0122, -0.4171, -6.4615, 6.9402, 1.5018, 0.0708, 0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.105,\"right_z\":0.085,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18},\"note\":\"The gripper stopped at a substantial opening, consistent with holding the brick. I’m lifting a few centimetres to verify that it comes off the table.\"}",
  "call_id": "call_HwWtdSQe68YNgguWpwbjCgLt",
  "id": "fc_05395f7f9929d3c0016aaca6ff8d3c87d08ec39cab4f6ad54f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HwWtdSQe68YNgguWpwbjCgLt",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0265, 0.8265, 0.6102, -0.4397, -0.0261, -0.0505, 0.9995, 0.4046, 1.8015, 0.9661, -0.1665, 0.4129, 0.3325, 0.7373]\nstate[eef_state]: left_x=0.289 left_y=0.0005 left_z=0.1619 left_yaw=0.0009 left_pitch=-0.0861 left_roll=-0.0038 left_gripper=0.9995 right_x=0.4072 right_y=0.1011 right_z=0.0323 right_yaw=-0.1588 right_pitch=-0.3226 right_roll=-0.1359 right_gripper=0.7373\nstate[joint_eff]: [-0.4991, -1.0325, 10.3726, 1.7998, -0.0464, -0.0806, -0.0122, -0.0342, -12.7932, 10.6735, 1.9414, 0.5495, -0.0073, 1.0281]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90a063686c0b35432483dc394ccb605a383324cf279315b82b3ab36d55dcdc3c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e1e5ee9ec250ef88418438f2ec7f003c304547cfaafd079ccbbcf70026ac073",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:117769c78d6a8a31ddd616517afd9e57aa722a57ef3c71ef14bd04c53cff80a8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 90a063686c0b
wire blob 2e1e5ee9ec25
wire blob 117769c78d6a
call 7 attempt 0 · /responses · status 200 · 7.424 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 21 changed as sent

message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8101, 0.6037, -0.4076, -0.0265, -0.0498, 0.9995, 0.4046, 1.9247, 0.9016, 0.1547, 0.448, 0.3332, 0.7373]\nstate[eef_state]: left_x=0.2919 left_y=0.0006 left_z=0.1698 left_yaw=0.0011 left_pitch=-0.0441 left_roll=-0.0041 left_gripper=0.9995 right_x=0.4318 right_y=0.1055 right_z=0.0068 right_yaw=-0.1674 right_pitch=-0.1947 right_roll=-0.0858 right_gripper=0.7373\nstate[joint_eff]: [-0.1026, -1.347, 7.0085, 1.7167, -0.0611, -0.0855, -0.0122, 0.0615, -8.7179, 6.8171, 1.5409, 0.1001, 0.0171, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKcICb3XqcUl--H6RkzOMC5DEDNpbjYGKcVIxcwtxhdOg28ko5g1ZsKWhWpWmqwwPjXOu9r93U0lTg7HxQK-2KfqU_QqA3iryNrpa2HVYSvpk657x3mBd0cdNbBA_y_j7lHR0rR9Rd1xOozqCwx2rmLYsu0s9oO_oxnP8n8-y5Prlzs_MVu4r5o6hZMq_Qi9MOt4MIgmwTbwFm8Q9-kNQRm3R04iDy3nqVqx4IJm4ebiFGWSGICl0BZ27kdv1q6XDblCWJYdCLTKZBvF2gMdvvFx1U_psfee4thcEnxqb_NNod-hUSyAKXem2NkJfRwYK2UVPj53S72eOXWUDoKbrf6VSScu4TGPPM20QlIjCY7vsU8rcrigvapyIQaGBH0M5e1W82PwaMY7_dPG2QljpLA4hUyHyiCU0f8pvsIpv8L-TAGOT7u8gKGoXHD7t0x-SW2YnzWBtQnw9iAzxOMEr34KmL5fAQW3Eoowin3CxDyk0B8ycxWXHv_TJW4r_kuo_q0favDnFuOO8OdIujP40gGbX83XaDzGCzh9ftt0Pg1PiQJhzvsayksXklPrf7oOmiyzeQ6AYIWCdTFwIyAf9wMGoZODkZBWBRXWFpKXSTFWNlFR0uzmsxXx9cZSNVJGY1LyAntT3rxfbSXyfud82YOXjOX2Xxv3uLLDP3DmLngI6S4za2k22rCXazKHvTk-9QAuZmAR1pS49e-32sHcPErJTmo55T38TFIG1U52g-jt0yrJygrd91B3WwXQP8jCROnkBFK3aaMG5rUMslOADiQd2nBuy3qwSxuwJhVu2w0PqNowlnKRVr_o6v04svWArqJpRaJfQbqMa2YVJAzSAq4_EaK84jpDR5REYBROpLHj5z_3wMG4WxOaJmTGsDQYTmc0WZXj1N5a0Rx4MT9NRvyLQ-EAeFHRBBCQW4PJMAAC4Vw_o5i1nkwQ3TQ_-VLENmRps-Lj5XaMS4S6wY0FggN67N3xXGuGTuEP0fgAtqsa5ZIIUcncrE7YBdQPdtJ6k2IvklCZSHOQrySSHWBKUAlxZLkizoU61vzEg8EsNPmiW82fS_-l-HQHmz--pMoGyyUwBL0SsCZe2G5jjwQgmXx-oLiIDJnwPQ2xytxJx9Gl5toX4fv-ZCNF1kfDR5SEw4Yk7JATYI5xF2ez7exZ6UcoYir0Z03yYoBvL4GJxPAULml3AGA1iXdVBilt4Z5gn3Qi3CnlOcMByiXgIWDMK4TMTUnsZDUzfOOo0msS3RpTT2nIOj_VRAt3ftlceygW5GcM-no4vfkQC0pP7B5tby4pNSUN9FonVj8paCQoHEi1ceNbvhblCy4pIuS2eyRwnvRz",
  "id": "rs_05395f7f9929d3c0016aaca704e7f087d0ad212187fec246a2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.105,\"right_z\":0.18,\"right_pitch\":0.15},\"note\":\"The brick remains clamped, but the loaded arm rose less than requested. I’m shortening the reach and lifting higher to get clear of the tabletop before moving toward the pot.\"}",
  "call_id": "call_itThgUWyiIGnDik1qNtQj8zS",
  "id": "fc_05395f7f9929d3c0016aaca7066e4487d0b93ddb2d220108f4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_itThgUWyiIGnDik1qNtQj8zS",
  "output": "executing move_to over 16 steps (1.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8288, 0.614, -0.4458, -0.0261, -0.0525, 0.9995, 0.5362, 1.4551, 0.8131, -0.0799, 0.6296, 0.2176, 0.7373]\nstate[eef_state]: left_x=0.2888 left_y=0.0007 left_z=0.1618 left_yaw=0.0023 left_pitch=-0.0907 left_roll=-0.0052 left_gripper=0.9995 right_x=0.3793 right_y=0.1086 right_z=0.1351 right_yaw=-0.1039 right_pitch=-0.01 right_roll=-0.2006 right_gripper=0.7373\nstate[joint_eff]: [-0.1983, -1.5658, 6.6803, 1.7021, -0.0269, -0.0317, -0.0122, 0.2667, -9.388, 7.2821, 2.3956, 0.7888, 0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db6dbaad26053fac74a836034fcf9bf73b300cb3f634c970d10456d3b394e237",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5aa49487550d401e088d086be1b18e785a6ec8a05b0e2a1ac396bd251372a14e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d5b990b6355d269f6fad19100ae0c0cf74d9e12de557a312e98330ce40ec491",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob db6dbaad2605
wire blob 5aa49487550d
wire blob 1d5b990b6355
call 8 attempt 0 · /responses · status 200 · 5.861 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 24 changed as sent

message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0265, 0.8265, 0.6102, -0.4397, -0.0261, -0.0505, 0.9995, 0.4046, 1.8015, 0.9661, -0.1665, 0.4129, 0.3325, 0.7373]\nstate[eef_state]: left_x=0.289 left_y=0.0005 left_z=0.1619 left_yaw=0.0009 left_pitch=-0.0861 left_roll=-0.0038 left_gripper=0.9995 right_x=0.4072 right_y=0.1011 right_z=0.0323 right_yaw=-0.1588 right_pitch=-0.3226 right_roll=-0.1359 right_gripper=0.7373\nstate[joint_eff]: [-0.4991, -1.0325, 10.3726, 1.7998, -0.0464, -0.0806, -0.0122, -0.0342, -12.7932, 10.6735, 1.9414, 0.5495, -0.0073, 1.0281]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKcR1RWLcK2-6YwIfO-qETeQFyEeJyyX2qmEYbSfASwNsyr1iwmiPJdrVIvt3JorRho7esT41obF6-2RcGzOxYJGKUy4HaQYSYV6fD7_oxQr_JdYuh76CbrcHANO3GNWxu20sNapEeaoZYzfk_TSCashPVoZysjZA1Puh4s056IP-iV98Lte0SwhzqHy31hHVNGZBp52A45kJR9xHuqs0rPBoR1yEA9OfoR2ve97q_GF1wNKkVZETIcp7kOtzeywXrhyiIHsvB4xR3a81mCanPpJkrifSsWvXQ7HWiYywHAaP8nKXebaUkNbtHv7MwA1N9779979-Ch_hahe6O8IDxyhpw_khHDwGXyQfFBZ2VQpPkiIumNHnMQPvA9ZDa728PwjSv14IZRHnem28wiBipLBEbntJXUQIzHNi4BV6o6TRtr6PbPN7w_d1gz_Ys4CoHzUcJHWvzmIVu-9YvjI1P1uCGM00-GsvZPRcGlwZITc8zsmccepmXhHM4IGpushoN-m8qbEieN-4OAIDgPweOUoQEKr4nzWth5oo0mN3dtXzmU-whBHd64woyTzYEYt9Si5dB12iwO-BEbKdj-j00fMsGM8nEw6ljgLpB38HSdy2-rwp9DWtZJi3mnT0y-fAzynqQC_gcRqM8PPqjpJdIBUIbiYk8Az0hckVz0_YHvgomJ8S8pVdUiWfk-kj666CmWbx1Sm2-kj6NXTY8G6B5v5PaMGslIZGM2FzdbbgKmgdeYlu6_1rSsHupMB4B3y1eOlzuTVHPL6AcjyE-T1y8ejmRP1ickUodSuBK2ifpLHA8gC7WoiDOVaZ1wonLZgvMcv7CqhU3etU8TSoLs1GFN4uxwB4TmVBJo0YH31TvSZ_0A5gZsj0IRXYlvItOcN_vs9oZTwR53eGdCG7t19vOsONp-rNLtgGu69_v8LA4jA2BrlO7iGd3Kc992RR-pJ_DzO3tvAQ1EzCrUaEFoPUiimHMygLH8keO45Fnhc6Eeu_afydWFFGcAjoFUjYys-VYKIWkyB_NIeajIu2N7bnMOu8hIKMOd1wglNNMFj-wD6U-yEhegcQnoCaWdgH_cq3KoWgYNkDtlWNL38kA17ZRyuvBLoLbCUVlgMpBM46n-jLIrlidkeX4Ke0Qj_2tB8ETLaizsqh282y-F4iwJA90UAIwFppAub24iz9C1QTr--cy5H6M84BLqp_4e9ZhVMvkZS2rNT8o5WzbzdLy61vZ7JSCW_AeLl64VvZJXPIM3lRkzwro1q6LlJT8dAoWD2QUaKbglnmcvgcuBGfEf5FyLO2JtBj8fRZPhP8zs2Kyehj6YHLVyRbr40ectwmxy_b_MH4Qb6r5c8x3my-rrPw_bbejndcPolK41O6_VyroqHJDiHLmPIV6gd5BSjT9ADTt6ujMKuoS50w2-eZwShyl4--sP6LuJDd5Ww1bGaHskGOmXNp0pF1yJfsg9IDJ3rfyGKYOkjCLkqTZ6qnGf26RLVKRWJL0RqWaYAI9eyK1C9t2Z2ZlpucV0rFmnNLGYI6T_qiQG-ZHRSmu5ESi9FpLs9ijPsmG0_k_OZGiq2BfUImfBceBqmyxH4BJiD4qdBVO9QFMieyVOPSQoPq4uTjMdGeq_K2ecZgIQSmkovdch-BmSflwsNThJ1zypy1tAK4QREeg25kz-0SiZJ2oPCLqjkxEPR2-MMRTIXKuTxvaAg2Lk=",
  "id": "rs_05395f7f9929d3c0016aaca70c99bc87d08d389f7f3d5f1bf8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.24,\"right_z\":0.28,\"right_pitch\":0.15},\"note\":\"The brick has lifted with the gripper. I’m raising it above the pot’s rim while moving partway toward the opening.\"}",
  "call_id": "call_S0WutNJStPV3TLM9Ezwbwb8C",
  "id": "fc_05395f7f9929d3c0016aaca70ff96c87d08debbf4c6e907d95",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_S0WutNJStPV3TLM9Ezwbwb8C",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8322, 0.614, -0.453, -0.0261, -0.0525, 0.9995, 0.8337, 1.7443, 1.5093, -0.5987, 0.8394, 0.3489, 0.7417]\nstate[eef_state]: left_x=0.2878 left_y=0.0007 left_z=0.1595 left_yaw=0.0023 left_pitch=-0.1013 left_roll=-0.0049 left_gripper=0.9995 right_x=0.3933 right_y=0.243 right_z=0.2342 right_yaw=-0.0236 right_pitch=0.0257 right_roll=-0.2729 right_gripper=0.7417\nstate[joint_eff]: [-0.0752, -1.3607, 6.9538, 1.6923, -0.0464, -0.0513, -0.0122, 0.3487, -10.6051, 10.2359, 1.6337, 1.072, 0.315, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc2f4ae8e4deff4fb0602977d34155d13722091a49b8490086aed6ddec767e88",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:409a5d0beece0d4169c2f0e0c541325183703474aca09a711ba0c5b9d464db19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1fc74820b55c08922b7708d9e821bb27edf5c6e27da1f3470241858a17bbba5",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob bc2f4ae8e4de
wire blob 409a5d0beece
wire blob f1fc74820b55
call 9 attempt 0 · /responses · status 200 · 6.373 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8288, 0.614, -0.4458, -0.0261, -0.0525, 0.9995, 0.5362, 1.4551, 0.8131, -0.0799, 0.6296, 0.2176, 0.7373]\nstate[eef_state]: left_x=0.2888 left_y=0.0007 left_z=0.1618 left_yaw=0.0023 left_pitch=-0.0907 left_roll=-0.0052 left_gripper=0.9995 right_x=0.3793 right_y=0.1086 right_z=0.1351 right_yaw=-0.1039 right_pitch=-0.01 right_roll=-0.2006 right_gripper=0.7373\nstate[joint_eff]: [-0.1983, -1.5658, 6.6803, 1.7021, -0.0269, -0.0317, -0.0122, 0.2667, -9.388, 7.2821, 2.3956, 0.7888, 0.0464, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKcYuuUmnd9SQOCNw8iNFftdWAC8e3IKfwuvRQmJ0WPhNE9_g52VJLvJXjtnvAUcroFoHiAlf0s5fCgaIbJkKllTVS2RSX_vI7fBRtZg27jd6RshwMBjKD9X7gApf0bhq5cjEOO1azpsgSylsx67KDRm54qEvBfbc8-bw1-hhhF8Ga3nF2_DoxGab6jk-XWWhPIPspvUG62iroC255olS0VCPol1Q4Zfgq8wvzosYX4rc87LhJqBCcPqNG7elqidUkCTujDgHgAbABNQuddwm5TrHeBJGkLCse5_v9avJE4NWWwNhisfPvZgf27ZLVc3ZHXiW7kVyFe4xEHulyWjFCnvCQGGlXKR-rjyWfy4CmeNBvESI7e5_z7jTQ5V_-NidK-6RyLcPc54ONx8hV028P7KTk0OKz5ZPcyBzNKygtmrRzb-dc_3ljnz4W7OGDiK0_AKZ356BMjVHn9FlGcZUKxZUH9ECrktgTHXXWrxWxbN-Xy7RrRxvgJD1eI5V-FBOXNLoJLb99YNjzaP2bxgBgSEDXFL76MAn2GXmIFPEEx3Sy2BuISs-76QIVwDuKli6AxLgkn17u2XS68VXudHsE_jjpmDBNos5u2AlsFxHQ0bwiEiwdNi-4XWk05_GvjY-7aGDWpAYzD3QC2DqJE7kjV7y5MyKaD5xYXiJbUkb137URVd4q_8LWOVB7vtSqmNP0o8nxoX3c2rALSsg8NzBDaSVBAd6gPG-X73hgpY5xRqH5eGdxP_i274V4Zvka77OfaKJOPDdcRXP09EjBZQZtL75eWwF_Gqesy2ihpJjPNU9EM3CBx1EPilakfWK4Y9_FnXwlEmX61CeaDxm3MBLbtMbLWHMduh2ZmpZmMkhWkc2LKGXzSGh5U7nkbWXbUSIkXEis1f44bPuPYgZ_con9D-pSl3mD1VojlXOb1kAGr8gUzX8uFhwMmfx0jgM_4Zm-thWhHG9f367RP7IHUk-dAC4ggLLLFAcL2O8TBU6n3zAbOJ47H2TN7JtccdtwEQxsdndmOUJCgAS1RNnoSm-0OxZZTB67HP0aCMMHBzEdQV8LQjZJNEZvc1VwwukVsYpVBH2bxRprN4Khgggi8SX-aykbJmlTXmSBdlunhMmQ-LDI8ejoWyenuhEuOEwnTGkFhE9lh34HC9ktr2_eEh4T7XzK3H8AclqBj8cH9ln7NWxxU6LP2Guh1f9NoaNtMEoEL3Czdw0wgGlqZBCux7uPG1uLGK20UsEAanXtIKEp_61KDh4gwbPzTIA_0tbl_a3k7as0pdSW80q22TRnOzog2Dx0W3BSejBf6LmoTdiLnynmfchVxommuZ9kCbGG-0bZZgO8ErvH_PvGy9t2Ty_y78AiI9QJNp3FKVVQX_Sc0WZTXwHWo2JQ1sfZFkFpzHKySJnQfDBsdhhkwyILTARK04JmRvWq0nFNgIJthj224lmLc6p7y268MfmE25zmTEWERVmpG9ZeDA1kJt9omA5pCONz2d57p8Mw9pwpz8326KAaCwH8mIifUMkM6js1A3JEhZjvMmU7azEDR1E54n2tuX-XHd4Q3uKMXZCmTPjxfUZ5zotGQcxKsJxeQO4zSwbjb8jk3pno--tc1WxfSd3MZK6Pe8X6Ylit67kaSic7TRt78=",
  "id": "rs_05395f7f9929d3c0016aaca7143ae087d0baa0ab1af64428e5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.38,\"right_z\":0.29,\"right_pitch\":0.15},\"note\":\"The brick is above rim height and still to the right of the pot. I’m moving it left over the opening while maintaining clearance.\"}",
  "call_id": "call_hQuVXQCWOSfQoqGlffvkDC6l",
  "id": "fc_05395f7f9929d3c0016aaca717507487d0981ee2e357b4f2d3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hQuVXQCWOSfQoqGlffvkDC6l",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8371, 0.614, -0.4603, -0.0265, -0.0528, 0.9995, 1.029, 2.3421, 2.4458, -1.0714, 0.9508, 0.4572, 0.745]\nstate[eef_state]: left_x=0.2869 left_y=0.0008 left_z=0.1568 left_yaw=0.0029 left_pitch=-0.1135 left_roll=-0.0046 left_gripper=0.9995 right_x=0.3983 right_y=0.3899 right_z=0.2442 right_yaw=0.0514 right_pitch=0.0317 right_roll=-0.3394 right_gripper=0.745\nstate[joint_eff]: [-0.1162, -1.8393, 6.9402, 1.7021, -0.0806, -0.0562, -0.0122, 0.4444, -16.0068, 9.3607, 1.0525, 1.2772, 0.3639, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6740e6ec5fb5ae3278ef6ba2761826a764d6e53e3389a0fde638c8bd414d372c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9faf3661245c0c777617312ad1a85cddd47640c3f7127b32380485dbd478ea99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6b311adf69b563274198d196c8e2991a53edae0733d186df4924dbb5b1fd59f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 6740e6ec5fb5
wire blob 9faf3661245c
wire blob e6b311adf69b
call 10 attempt 0 · /responses · status 200 · 7.915 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 32 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8322, 0.614, -0.453, -0.0261, -0.0525, 0.9995, 0.8337, 1.7443, 1.5093, -0.5987, 0.8394, 0.3489, 0.7417]\nstate[eef_state]: left_x=0.2878 left_y=0.0007 left_z=0.1595 left_yaw=0.0023 left_pitch=-0.1013 left_roll=-0.0049 left_gripper=0.9995 right_x=0.3933 right_y=0.243 right_z=0.2342 right_yaw=-0.0236 right_pitch=0.0257 right_roll=-0.2729 right_gripper=0.7417\nstate[joint_eff]: [-0.0752, -1.3607, 6.9538, 1.6923, -0.0464, -0.0513, -0.0122, 0.3487, -10.6051, 10.2359, 1.6337, 1.072, 0.315, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKcfOSQfeffs30WNDKAJ94M08YqhrobPIh9QWSG8aA7hEaD5XaBcZUYnbEPahmue5paCbqDodcvzKLwfmQqMZPCWasywKh77AKjvVPNGfCbvubwLJIf5dXSAdkqvbX3fiznZmZTUe7if1m-MK_YRECOpfRh9H0cl7aalh9e7FrRIzyGnwg_oPkeIWNUhn1-IhiW4qffvxyMvpGXFX8jDXtJ5GGnzUzEipPmBsD3iQ3vmMw-hu76pasV-ogoIz1zMUBA2PKbU2y7tJLV4knAw1KTfSUFNPOnx5DJlzCYx_jlYlsXsfxuiMyTQgbcRvMy4_fBBg6Tg-rZhhgZwXzIdGFlUQy9H2_dpYuqlNY0EeMgyP_K8UkjnKLr3xSwbVetEVgb9OW40Pr663L-nwfxNNmY1erpY_P6QOEDj8jILTzwqHwwhgIKEDano_xRGsCVt1UEE8s0FbRJUVO2eUIERZ50u3nHE56Wf9wilS33-QZyRYcaeE0DBP7OKzonokNH8wFxom2sM-W-DOSU1mlhJjqxVsDWwR55TlP4lzcOhJskP5WFlP9_QPpRzZ0UFHJ7iBL4H3INkViKPPhkTQ421Tm9tgyb3wT7Rt3q_bDv2YOTK85oxxpJf-MT9myU2flHqxgDFYw0Lhw0nhLmYD0vwQjJ_bs8kKZueeIAHXmoOy5YCktE4FNKgOb3z9nwrckZMdLPSU0d4GxRYprMI4ypMz3eNQna1zxO3qhstZ58r6saYj5m8HvSFN7fcQLw-j8tQomI5BAYGNO5fZg9bgTJWPSurBGMGZSzwntN7Ahfo2CkH_HgUHPMEcds0RKYP_PRAnLxvDHiKHjK0W0KFZHZr2g9J-EkFRumXh3XzgDW23RqnvmIWUSGQn8ZhdSPyLRDB-d6v9dcAzIpI3U4W6dUg46NqA1EPUUk84uqWHXQ57yIjpg9o4LOTeEGJRlMenjhLjWpz0bskMhfvv4UnS5ZBQjBdcMaoQsWYQrayI0S7ZkdvcEtN3Y8h2kv0w5bm5_GhqNes5yznRxT-0KAIV3NoIp0kYi90p8aMEkw3EUzmhnKp6dnJikAWmux3JfNlFjnl9Gp2N9E1ROR5eh8RyRepplbLLCAIYuSEq4lmMF6Jww6T5Bk5odzjOKlfm_Zql-WQjEbtqS7JS0cF-7uCUYXWPsVyLGo75txt25qWpLStRFljHl4uKhsmWcJLZOqsRGdr-RNpOXTNJ7MDm-rniz1L0l41Fbt0rdphiLAmD4ANGTrCrK_g8GPDFILCcuSR7cLIAFTvtiPfPH8hd60W7UeLeA8XA4xMEmXvSTtg_VcqL1iCroXXbKfxi10qDU5kLD3FFdx2ywWvgSsPSwmZvpQyZCJcHdbORrZ0nRkVXd4_g5Den_fN4rLjvcwQt9ZTQOTA-UikZqwbJKTxwdOyJ6V95ZL7NdMCIIRVeBNRky56Qj8EAHTG3MJn0SGmV5YNYqI9_4q3p9Q9zAby6N-ugWaXbMbfsNrQAuTnU6VqKR6Sv0W5KQ5RXH7FtqM19ULuseCTMYJRRrX6YBXEX9Ao_iA0uTE-xvfy6vyoswAR48TTgV2B60sQNx193NXyG05rjO9iRwvhc90jD-bfsnX_9u1YVt0mznCBfkxKpAe6dwSZhGiG6ixZH_A5tnTXSQvYHT4soY48OAIQ38ih1mjAoikZfJ81ifqv2g6uZYycjAo7FoKDL8jemTgMZ9035krlimVEumQK",
  "id": "rs_05395f7f9929d3c0016aaca71ad1a487d0a62b319635190d7a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.4,\"right_z\":0.21,\"right_pitch\":0.15},\"note\":\"The brick is now over the pot, though toward the right side of its opening. I’m shifting the last two centimetres inward and lowering toward the rim before release.\"}",
  "call_id": "call_fobyOTZ4rO81DfrAAWlpqfhI",
  "id": "fc_05395f7f9929d3c0016aaca71e64fc87d0a9e8a9721f575449",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fobyOTZ4rO81DfrAAWlpqfhI",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8379, 0.614, -0.4603, -0.0265, -0.0525, 0.9995, 1.0435, 2.307, 2.051, -0.8238, 0.9516, 0.3981, 0.7451]\nstate[eef_state]: left_x=0.287 left_y=0.0008 left_z=0.1566 left_yaw=0.0027 left_pitch=-0.1143 left_roll=-0.0043 left_gripper=0.9995 right_x=0.3883 right_y=0.3882 right_z=0.1516 right_yaw=0.094 right_pitch=-0.0447 right_roll=-0.4815 right_gripper=0.7451\nstate[joint_eff]: [0.0068, -1.4291, 6.9402, 1.6825, -0.0708, -0.0611, -0.0122, 0.7179, -16.9368, 10.9333, 2.044, 1.3895, 0.0904, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43816b57f6025abdfc46b4048349a169dff55aaff6c679f199bb50b88d5b5ae8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ae12d6cd406afe1672b689d66069618e0550a85efd9816541e1d5748660e4d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9f17d85c7d9cfcb481c2ddfb8a2e8f263b3170f98d1ef91aa90ada6aaebec90",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 43816b57f602
wire blob 1ae12d6cd406
wire blob f9f17d85c7d9
call 11 attempt 0 · /responses · status 200 · 2.919 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 36 changed as sent

message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8371, 0.614, -0.4603, -0.0265, -0.0528, 0.9995, 1.029, 2.3421, 2.4458, -1.0714, 0.9508, 0.4572, 0.745]\nstate[eef_state]: left_x=0.2869 left_y=0.0008 left_z=0.1568 left_yaw=0.0029 left_pitch=-0.1135 left_roll=-0.0046 left_gripper=0.9995 right_x=0.3983 right_y=0.3899 right_z=0.2442 right_yaw=0.0514 right_pitch=0.0317 right_roll=-0.3394 right_gripper=0.745\nstate[joint_eff]: [-0.1162, -1.8393, 6.9402, 1.7021, -0.0806, -0.0562, -0.0122, 0.4444, -16.0068, 9.3607, 1.0525, 1.2772, 0.3639, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKco8drGhU4DXRE6Ihxe5xdjb-jdfJIQ1f7c7xMGUtI70SPMTXbIJFF4jG8rF3bv-cqV2NuNYHSbOL10jySLys73iQr79oY3k9fCLnF6oiKfqenEUwzAE8rzscLu8LoXXesg6Pej3hgcY0lSNnVyw0BmfWYAXRuzh5bX9LgjSFDfzEW3-bs9VNkDV_vI5djCBSu3HgxHVHIW_PgsIGW8DIP1D45IPhLtNR6g0DOnG6fUfkeYial2VbjsBM2SzDAY4XSUxYHosldvsFP7vZHcBa_EfxcYsFkV_rjcXrx3_-hGaAmUQLvZG9Rs-HjN6naLfYXltyaNGVo4eje2HBUksfwDBllrD7fsfVpm6O0NWz2tdKJnbMbjCv6i596t6PQmX9OkxL0UjPzLtMi4sWQRWjw-ZH4JdfkKK8NfAJQNZ0N6U1TW4rmZBq7NFezGmTYMgb_gVB5bV_0eMEekDRTIs4UBBIqyWgD6uQ680jMFmczUjLBcKqQf8VNMxUs6FdEojvdYrP0fwRTmx8XdlAbZo5zPq7WYJyyFemsWHIkphMHMc2j85XyGAJRKPJr_dZ7c-KfEBz9CBR4Xom42VoxluqGJiM1dXGDHYA-EtlztMR8BPCiT_aHCz5nsRBurIEf0hfH23VRqHuXcKTSOR-nZN-mT3NhPbw4lPjMqRJLovC92j1xMGGMtPXPa0VJTg1SgUUx5Az_u2yUUNG8vQhS4DX5yhnBBb_NKvXWHaf0ZdzZqLFSTIfiYOaGXqtJp9woh2J4N6qMqK-xwSvJlz0NT3lETRNDLZzHKB566PaBSOolXYvWr1Qv0qcOI10AJmKow9PVpSYqikfdFJ7cpbgNcujt8z7niSu1FRcZMUL3JCvaNAcA_iSSTmaDH0xvEBEmaw9yhtmV3otQlvHcIZB2hp6vaS7bxje9QKBCRN90rdAr6CDLFAO8W-L0l6-Bs_mfcQEQlDsH2x6_bCR_tjts8mysloFnVy5hebtdVAh5_n5D8Lull6uASRTc3EHfEsqJnH2CEDvXpSwcblab4eoZCRTZG16kunW7yefLaFzK55bD3gA0xZTZ1rACHgEo0u6iRKIXBncnyzdvqqKZjm1sMmYPOydZG908KCzGNDJiiZ7hATaT4_7F6ORFEQmlkCvF4paUCouKrhuyFzEqMSspx3nBwOEZc6ck_mW43_UnPhzjXnvL1RRoL2gvhYm1XTO8-fRc7PKBFQDRpOVqO8kTzCHxYfN7gwjNdps67lAtCjEaUyIgUwxzS1KJUu29prvhYIzUj38wkAHDsHSgcoEC6s65CtIBZVBKPGP5EdOtu4k-TWXril0JVGjMNpikXTVO3EsZwGZ2laOMi1P-Z9BK6wURgarF8bgfaKJ_vnaaYhrKIBMKRULHRm_l-Emwr9UO05CP7K4rpmlckCJyPr9kBZMnXtMHJprBRAtw7p16dbZGhGblvdP9HwdRo8gbp0nwLGObp69KgzZDlxi-fZdajoabba7HLtIG1NMYByAPgbz6W6YO_Vhic1DCdMBPABCtKhwwUoRi6QunZNL5Lnhkg_KT_QECCIEMuiFueaItlk9tVeXxnNCc3BRqAKJcbvRhLuMNUfzJF07jzqRGQ2Mq0AagZGMAyEdFFRKCUFVd_7FJ1uIr55ri1EAEjhWj6LsX8-3BFNc5NXNyvKudeliDm7qg-OLpKdj3-KynxBFN7398DuQd9jcB6TaV3cm3ALqp0aB5t9X1pIxBkFXQU5f6pKORLPht7I5IDCG5ejNCSA1OESKpYx6QK6EV3yx7qHtPngXSudf9viz2lZ7IcNgkIWe47Qf77aOKsvqbs3PMzAzd3xiDXf0R1PIlth4cFeJJ2jS-D1u9E6WWVpm6KdyvuadR5s9O6Ge3YJujrETfSARfk0ra3aLEW2uJG1-LjmcbqOPPW_5s6LNlFELJoSFy2jwDBfykAkjlaATTNETxwgYqvrk4rKY2IOwaXrtGqWxmuJFLm",
  "id": "rs_05395f7f9929d3c0016aaca72203d887d09e7a3e851435bbb0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.4,\"right_z\":0.2,\"right_pitch\":0.15},\"note\":\"The brick is close to the rim, with its near end still toward the front edge. I’m nudging it forward so the whole brick is over the water before opening the jaws.\"}",
  "call_id": "call_a1O3nlkY1UJhsAtx7ouvYzVk",
  "id": "fc_05395f7f9929d3c0016aaca72670e087d096aaaa143f568e19",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_a1O3nlkY1UJhsAtx7ouvYzVk",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8398, 0.614, -0.4606, -0.0261, -0.0525, 0.9995, 1.0233, 2.3367, 2.0441, -0.6811, 0.9657, 0.2111, 0.7451]\nstate[eef_state]: left_x=0.287 left_y=0.0007 left_z=0.156 left_yaw=0.0024 left_pitch=-0.1166 left_roll=-0.0045 left_gripper=0.9995 right_x=0.4077 right_y=0.3965 right_z=0.1481 right_yaw=0.1558 right_pitch=-0.0203 right_roll=-0.5602 right_gripper=0.7451\nstate[joint_eff]: [-0.1162, -1.5521, 6.9402, 1.5995, -0.0513, -0.0122, -0.0122, -0.7179, -14.653, 11.7538, 1.8388, 1.3211, 0.0757, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c632601ef2bf0a00af7e4a7f51f8d15043a936b9e2e50f8571d164ccf974fb5b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09ea15f4aa177ae12d67772e07fcbf076d7c91db5e2dc7bc6695e7aef0789508",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4af96b1a845ee87e861deb48c3cda279558dc2ed4275527b427c71a3dc4eb5ab",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob c632601ef2bf
wire blob 09ea15f4aa17
wire blob 4af96b1a845e
call 12 attempt 0 · /responses · status 200 · 3.224 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8379, 0.614, -0.4603, -0.0265, -0.0525, 0.9995, 1.0435, 2.307, 2.051, -0.8238, 0.9516, 0.3981, 0.7451]\nstate[eef_state]: left_x=0.287 left_y=0.0008 left_z=0.1566 left_yaw=0.0027 left_pitch=-0.1143 left_roll=-0.0043 left_gripper=0.9995 right_x=0.3883 right_y=0.3882 right_z=0.1516 right_yaw=0.094 right_pitch=-0.0447 right_roll=-0.4815 right_gripper=0.7451\nstate[joint_eff]: [0.0068, -1.4291, 6.9402, 1.6825, -0.0708, -0.0611, -0.0122, 0.7179, -16.9368, 10.9333, 2.044, 1.3895, 0.0904, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The brick is positioned within the pot’s opening, just above the water. I’m opening the gripper to let it settle into the pot.\"}",
  "call_id": "call_lHmYZTSE6YAV4L3rWzeTLzHi",
  "id": "fc_05395f7f9929d3c0016aaca72aa45487d0a35ddf412c2adb03",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lHmYZTSE6YAV4L3rWzeTLzHi",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.844, 0.614, -0.4606, -0.0261, -0.0525, 0.9995, 1.0275, 2.3348, 1.9976, -0.6392, 0.9768, 0.1856, 0.9954]\nstate[eef_state]: left_x=0.2872 left_y=0.0007 left_z=0.1549 left_yaw=0.0024 left_pitch=-0.1208 left_roll=-0.0043 left_gripper=0.9995 right_x=0.4057 right_y=0.3955 right_z=0.1383 right_yaw=0.1651 right_pitch=-0.0226 right_roll=-0.5895 right_gripper=0.9954\nstate[joint_eff]: [-0.0615, -1.8667, 6.9265, 1.5849, -0.0611, -0.0708, -0.0122, -0.4718, -12.9709, 9.388, 1.1013, 0.4908, 0.1929, -0.0024]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b236c912ae366ed2ffd8b262fe1049404629a34ae7b13de311250b8acfb107c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28754141b69b02c712fc926a67b546a6f414a2ed8b2a284a3cf96e582ba5bdc3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e21815f99cd24addf43894e93aa62f55e486fe94ec963ad303f7d9e7c36823d1",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob b236c912ae36
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call 13 attempt 0 · /responses · status 200 · 4.527 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 44 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8398, 0.614, -0.4606, -0.0261, -0.0525, 0.9995, 1.0233, 2.3367, 2.0441, -0.6811, 0.9657, 0.2111, 0.7451]\nstate[eef_state]: left_x=0.287 left_y=0.0007 left_z=0.156 left_yaw=0.0024 left_pitch=-0.1166 left_roll=-0.0045 left_gripper=0.9995 right_x=0.4077 right_y=0.3965 right_z=0.1481 right_yaw=0.1558 right_pitch=-0.0203 right_roll=-0.5602 right_gripper=0.7451\nstate[joint_eff]: [-0.1162, -1.5521, 6.9402, 1.5995, -0.0513, -0.0122, -0.0122, -0.7179, -14.653, 11.7538, 1.8388, 1.3211, 0.0757, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.32,\"right_z\":0.3,\"right_pitch\":0,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18},\"note\":\"The brick has left the jaws and is visible inside the pot. I’m lifting the gripper away to clear the rim and confirm the placement.\"}",
  "call_id": "call_kQA7LFunyCYIqtnSplE9Ccit",
  "id": "fc_05395f7f9929d3c0016aaca72d931887d0894add2ca0fd8eb0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kQA7LFunyCYIqtnSplE9Ccit",
  "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]: [-0.0265, 0.8825, 0.693, -0.5369, -0.0265, -0.0528, 0.9995, 1.0256, 2.3348, 2.0125, -0.6804, 0.9604, 0.1905, 0.9964]\nstate[eef_state]: left_x=0.2888 left_y=0.0006 left_z=0.1649 left_yaw=0.0027 left_pitch=-0.1566 left_roll=-0.0033 left_gripper=0.9995 right_x=0.404 right_y=0.3938 right_z=0.1376 right_yaw=0.1696 right_pitch=-0.0487 right_roll=-0.5964 right_gripper=0.9964\nstate[joint_eff]: [-0.5812, -1.0735, 9.7709, 1.7558, -0.0855, -0.0366, -0.0122, -0.294, -13.3949, 9.1145, 1.0769, 0.4078, 0.2027, 0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9573ce0dfedf3c05f8cf12d476e42f73316f4333266a25d9e523f7ac7c011e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d25c269848062aa54e6eaf4b0e30005399f602ac242258dbd184a2d23dd932d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0e0cbac880cd7394035d761da59656e2bff72935e9f4f6edd74f43584cb56c4",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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