adhoc

completed
2026-09-22T16:25:59.473026+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 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
194.8 s
total steps
160
success_at_end
0
scenes
1
trials
1
errored
0

scene-0

completed

Stand all three bottles upright.

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
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: Stand all three bottles upright.
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 noteAll three bottles are lying on their sides, with their caps pointing toward the far edge. I’m positioning the left gripper over the first bottle’s neck so I can lift it and let the base swing downward.
move_to
left_x0.3800left_y-0.1400left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7929, 0.609, -0.3763, -0.0158, -0.0284, 0.9985, -0.0158, 0.7887, 0.6033, -0.3855, -0.0288, -0.0341, 0.9998] state[eef_state]: left_x=0.2958 left_y=0.0005 left_z=0.1833 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9985 right_x=0.2936 right_y=0.004 right_z=0.18 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.5128, -1.4564, 9.6068, 1.7656, -0.0952, 0.1441, -0.1636, -0.8957, -1.0051, 10.2085, 1.8584, 0.0708, 0.2076, -0.0366] 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":{"left_x":0.38,"left_y":-0.14,"left_z":0.15,"left_gripper":1},"note":"All three bottles are lying on their sides, with their caps pointing toward the far edge. I’m positioning the left gripper over the first bottle’s neck so I can lift it and let the base swing downward."})
tool
executing move_to over 13 steps (1.3s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent noteThe first bottle’s neck is left of the jaw center in the wrist view. I’m shifting toward the cap and lowering with the jaws open to straddle the neck rather than squeeze the rounded body.
move_to
left_x0.4200left_y-0.0850left_z0.0450
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5499, 1.3911, 0.7704, -0.0853, -0.4324, -0.3256, 0.9986, -0.0189, 0.794, 0.6041, -0.4038, -0.0292, -0.0353, 0.9998] state[eef_state]: left_x=0.3667 left_y=-0.1337 left_z=0.1287 left_yaw=-0.0226 left_pitch=-0.07 left_roll=0.0293 left_gripper=0.9986 right_x=0.2916 right_y=0.0032 right_z=0.1751 right_yaw=-0.0021 right_pitch=-0.0229 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.212, -6.0513, 9.2923, 1.6972, -0.3736, -0.0806, -0.1587, 0.0205, -1.6479, 6.9675, 1.917, -0.0562, -0.0366, -0.0122] camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.42,"left_y":-0.085,"left_z":0.045},"note":"The first bottle’s neck is left of the jaw center in the wrist view. I’m shifting toward the cap and lowering with the jaws open to straddle the neck rather than squeeze the rounded body."})
tool
executing move_to over 6 steps (0.6s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteThe jaws are still alongside the lower part of the bottle, while its cap remains ahead and slightly left. I’m advancing to the neck at low height before attempting a gentle pinch.
move_to
left_x0.4850left_y-0.0600left_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3233, 1.6997, 0.6121, 0.4473, -0.2821, -0.2165, 0.9984, -0.0193, 0.7841, 0.5842, -0.4015, -0.0292, -0.0353, 0.9998] state[eef_state]: left_x=0.4086 left_y=-0.0813 left_z=0.0417 left_yaw=0.0214 left_pitch=-0.0511 left_roll=0.0054 left_gripper=0.9984 right_x=0.2888 right_y=0.0032 right_z=0.1692 right_yaw=-0.0025 right_pitch=-0.0305 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [0.253, -6.2564, 5.4359, 1.4676, -0.1783, 0.2222, -0.0366, -0.212, -1.6479, 7.0222, 1.9609, -0.0806, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.485,"left_y":-0.06,"left_z":0.035},"note":"The jaws are still alongside the lower part of the bottle, while its cap remains ahead and slightly left. I’m advancing to the neck at low height before attempting a gentle pinch."})
tool
executing move_to over 6 steps (0.6s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe bottle neck is now nearly centered between the jaws but remains a little forward of the fingertips. I’m making one small forward adjustment to catch the narrow neck.
move_to
left_x0.5200left_y-0.0520left_z0.0320
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2028, 1.919, 0.8158, 0.5571, -0.2089, -0.181, 0.9983, -0.0193, 0.7708, 0.5541, -0.3962, -0.0292, -0.0353, 0.9998] state[eef_state]: left_x=0.48 left_y=-0.0576 left_z=0.0425 left_yaw=0.0614 left_pitch=0.0268 left_roll=-0.0321 left_gripper=0.9983 right_x=0.2848 right_y=0.0033 right_z=0.1601 right_yaw=-0.0025 right_pitch=-0.0419 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [0.2393, -7.7607, 6.2838, 1.4823, 0.0269, 0.398, -0.0171, -0.253, -1.812, 6.9675, 1.9951, -0.0659, -0.0122, -0.0122] camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.52,"left_y":-0.052,"left_z":0.032},"note":"The bottle neck is now nearly centered between the jaws but remains a little forward of the fingertips. I’m making one small forward adjustment to catch the narrow neck."})
tool
executing move_to over 4 steps (0.4s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteThe bottle shifted slightly forward during the approach, so I’m stopping the advance and gently closing around its upper section. I’m also returning the idle arm to its parked height.
move_to
left_gripper0.2800right_x0.2950right_y0.0040right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1818, 2.0212, 0.9726, 0.5011, -0.1986, -0.1635, 0.9983, -0.0193, 0.7486, 0.5167, -0.3775, -0.0296, -0.0353, 0.9998] state[eef_state]: left_x=0.5154 left_y=-0.0557 left_z=0.0408 left_yaw=0.0644 left_pitch=0.0243 left_roll=-0.0218 left_gripper=0.9983 right_x=0.2813 right_y=0.0034 right_z=0.1528 right_yaw=-0.0022 right_pitch=-0.0385 right_roll=0.0001 right_gripper=0.9998 state[joint_eff]: [0.5265, -8.3487, 6.8581, 1.5604, -0.0904, 0.1343, -0.0122, -0.1573, -1.4701, 6.6803, 1.9902, -0.0562, -0.0659, -0.0122] camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.28,"right_x":0.295,"right_y":0.004,"right_z":0.20},"note":"The bottle shifted slightly forward during the approach, so I’m stopping the advance and gently closing around its upper section. I’m also returning the idle arm to its parked height."})
tool
executing move_to over 8 steps (0.8s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteThe jaw opening indicates contact with the bottle rather than an empty grasp. I’m lifting its upper section with a light pinch so gravity can begin swinging the base underneath.
move_to
left_x0.4900left_z0.1300left_gripper0.3800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1791, 2.0308, 0.9962, 0.5262, -0.1986, -0.1829, 0.4564, -0.0189, 0.7998, 0.6437, -0.4572, -0.0292, -0.0391, 0.9998] state[eef_state]: left_x=0.525 left_y=-0.056 left_z=0.0504 left_yaw=0.0779 left_pitch=0.0619 left_roll=-0.0485 left_gripper=0.4564 right_x=0.2893 right_y=0.0033 right_z=0.1808 right_yaw=-0.0 right_pitch=-0.0423 right_roll=-0.0032 right_gripper=0.9998 state[joint_eff]: [0.1436, -8.6496, 6.6667, 1.2332, -0.0562, 0.3736, 0.5104, 0.212, -0.7316, 10.0034, 1.7265, -0.0171, 0.0024, -0.0122] camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_z":0.13,"left_gripper":0.38},"note":"The jaw opening indicates contact with the bottle rather than an empty grasp. I’m lifting its upper section with a light pinch so gravity can begin swinging the base underneath."})
tool
executing move_to over 6 steps (0.6s)
step 43
top_cam
camera top_cam step 43
left_cam
camera left_cam step 43
right_cam
camera right_cam step 43
assistant
agent noteThe first bottle’s upper end has risen while its base remains lower. I’m lifting higher and drawing the grip toward the base, allowing the bottle to rotate toward vertical.
move_to
left_x0.4400left_z0.2400left_gripper0.4000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2047, 1.7596, 1.0157, 0.2298, -0.2268, -0.1829, 0.3815, -0.02, 0.7769, 0.6029, -0.445, -0.0296, -0.0387, 0.9998] state[eef_state]: left_x=0.4999 left_y=-0.0595 left_z=0.1306 left_yaw=0.076 left_pitch=0.0601 left_roll=-0.0336 left_gripper=0.3815 right_x=0.2846 right_y=0.0031 right_z=0.1708 right_yaw=-0.0011 right_pitch=-0.048 right_roll=-0.0025 right_gripper=0.9998 state[joint_eff]: [-0.1573, -8.4718, 8.1846, 1.5604, -0.232, 0.0708, 0.0904, -0.4855, -1.7846, 6.8444, 2.0879, -0.0952, -0.0122, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.44,"left_z":0.24,"left_gripper":0.4},"note":"The first bottle’s upper end has risen while its base remains lower. I’m lifting higher and drawing the grip toward the base, allowing the bottle to rotate toward vertical."})
tool
executing move_to over 8 steps (0.8s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteThe bottle has not followed the lift, so that pinch did not hold it. Its neck is farther forward than the initial estimate; I’m reopening and approaching the upper body from above.
move_to
left_x0.5650left_y-0.0700left_z0.0650left_gripper0.8000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.244, 1.491, 1.1599, -0.2798, -0.2626, -0.2028, 0.3988, -0.02, 0.7498, 0.5556, -0.4194, -0.0296, -0.0391, 0.9998] state[eef_state]: left_x=0.4461 left_y=-0.0601 left_z=0.2144 left_yaw=0.0769 left_pitch=-0.027 left_roll=-0.0036 left_gripper=0.3988 right_x=0.2807 right_y=0.0032 right_z=0.1616 right_yaw=-0.0009 right_pitch=-0.0426 right_roll=-0.0029 right_gripper=0.9998 state[joint_eff]: [-0.8684, -9.0051, 10.0991, 1.7314, -0.1734, 0.105, -0.1148, -0.5538, -1.5521, 6.9538, 2.0342, -0.0855, -0.0513, -0.0122] camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.565,"left_y":-0.07,"left_z":0.065,"left_gripper":0.8},"note":"The bottle has not followed the lift, so that pinch did not hold it. Its neck is farther forward than the initial estimate; I’m reopening and approaching the upper body from above."})
tool
executing move_to over 10 steps (1.0s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent noteThe cap and neck are now immediately in front of the fingertips. I’m lowering the open jaws around the neck without advancing farther.
move_to
left_x0.5600left_y-0.0600left_z0.0150
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.202, 2.0792, 1.2427, 0.1997, -0.2527, -0.1898, 0.7978, -0.02, 0.7242, 0.5171, -0.3996, -0.0296, -0.0391, 0.9998] state[eef_state]: left_x=0.5496 left_y=-0.0638 left_z=0.0577 left_yaw=0.104 left_pitch=-0.0535 left_roll=0.0096 left_gripper=0.7978 right_x=0.2772 right_y=0.0033 right_z=0.1548 right_yaw=-0.0009 right_pitch=-0.0358 right_roll=-0.0031 right_gripper=0.9998 state[joint_eff]: [0.0479, -10.5915, 7.6376, 1.663, 0.0122, 0.1685, -0.1148, -0.5812, -1.4291, 7.0632, 2.0049, -0.0513, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.56,"left_y":-0.06,"left_z":0.015},"note":"The cap and neck are now immediately in front of the fingertips. I’m lowering the open jaws around the neck without advancing farther."})
tool
executing move_to over 3 steps (0.3s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteThe jaws have reached contact height around the bottle’s shoulder, just below the cap. I’m closing enough to secure that upper section for a controlled lift.
move_to
left_gripper0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1947, 2.1601, 1.2186, 0.3943, -0.2634, -0.1833, 0.7979, -0.02, 0.7044, 0.485, -0.3851, -0.0299, -0.0387, 0.9998] state[eef_state]: left_x=0.564 left_y=-0.0607 left_z=0.0437 left_yaw=0.1164 left_pitch=0.0338 left_roll=-0.0065 left_gripper=0.7979 right_x=0.2742 right_y=0.0034 right_z=0.1482 right_yaw=-0.0007 right_pitch=-0.0335 right_roll=-0.0026 right_gripper=0.9998 state[joint_eff]: [0.2256, -7.5692, 4.5744, 1.199, 0.0952, 0.0464, 0.0024, -0.294, -1.388, 6.9265, 2.0098, -0.1294, -0.0464, -0.0122] camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.15},"note":"The jaws have reached contact height around the bottle’s shoulder, just below the cap. I’m closing enough to secure that upper section for a controlled lift."})
tool
executing move_to over 7 steps (0.7s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
agent noteThe jaws have closed around a narrow section near the cap. I’m testing the hold with a short upward-and-back lift while keeping the other arm parked clear.
move_to
left_x0.5300left_z0.1400left_gripper0.1200right_x0.2950right_y0.0040right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1902, 2.1597, 1.2488, 0.4129, -0.2813, -0.1871, 0.1559, -0.02, 0.6857, 0.4553, -0.3737, -0.0296, -0.0387, 0.9998] state[eef_state]: left_x=0.5746 left_y=-0.057 left_z=0.0604 left_yaw=0.139 left_pitch=0.0833 left_roll=-0.0169 left_gripper=0.1559 right_x=0.2712 right_y=0.0034 right_z=0.1417 right_yaw=-0.0011 right_pitch=-0.0331 right_roll=-0.0028 right_gripper=0.9998 state[joint_eff]: [-0.5128, -12.041, 6.4068, 0.9353, 0.1636, 0.0073, 0.2759, -0.5402, -0.9094, 6.9128, 1.9512, -0.0904, -0.0464, -0.0122] camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.53,"left_z":0.14,"left_gripper":0.12,"right_x":0.295,"right_y":0.004,"right_z":0.2},"note":"The jaws have closed around a narrow section near the cap. I’m testing the hold with a short upward-and-back lift while keeping the other arm parked clear."})
tool
executing move_to over 6 steps (0.6s)
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 bottle has not visibly risen with the gripper, so I’m checking whether the jaws actually retained the neck by closing fully before any further lift.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2043, 1.9179, 1.2556, 0.0788, -0.2821, -0.21, 0.1213, -0.0189, 0.7979, 0.6388, -0.4553, -0.0296, -0.0391, 0.9998] state[eef_state]: left_x=0.5396 left_y=-0.0579 left_z=0.125 left_yaw=0.1365 left_pitch=0.0025 left_roll=-0.0083 left_gripper=0.1213 right_x=0.2889 right_y=0.0034 right_z=0.1794 right_yaw=0.0003 right_pitch=-0.0434 right_roll=-0.0029 right_gripper=0.9998 state[joint_eff]: [-0.759, -12.8068, 6.147, 1.7949, -0.2515, -0.0562, 0.0904, 0.0752, -1.0598, 9.6479, 1.7802, -0.0024, 0.0366, -0.0122] 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":{"left_gripper":0},"note":"The bottle has not visibly risen with the gripper, so I’m checking whether the jaws actually retained the neck by closing fully before any further lift."})
tool
executing move_to over 2 steps (0.2s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteThe full-close reading is empty, and the bottle has rolled slightly left. I’m switching to a wider, lower grasp around the body so the next lift can establish a definite hold.
move_to
left_x0.5100left_y-0.0300left_z0.0250left_gripper0.8500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2039, 1.8977, 1.2549, 0.0479, -0.2859, -0.21, 0.0127, -0.0193, 0.7811, 0.6186, -0.4446, -0.0296, -0.0387, 0.9998] state[eef_state]: left_x=0.5351 left_y=-0.0561 left_z=0.1291 left_yaw=0.1401 left_pitch=-0.0076 left_roll=-0.0025 left_gripper=0.0127 right_x=0.2868 right_y=0.0033 right_z=0.1769 right_yaw=-0.0003 right_pitch=-0.0362 right_roll=-0.0028 right_gripper=0.9998 state[joint_eff]: [-0.2393, -8.841, 7.4325, 1.7118, -0.105, 0.0171, 0.5543, -0.4991, -1.3197, 7.0085, 2.1612, -0.0855, -0.022, -0.0122] camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.51,"left_y":-0.03,"left_z":0.025,"left_gripper":0.85},"note":"The full-close reading is empty, and the bottle has rolled slightly left. I’m switching to a wider, lower grasp around the body so the next lift can establish a definite hold."})
tool
executing move_to over 9 steps (0.9s)
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 bottle’s body is centered between the open jaws at table height. I’m closing fully to get a secure body grasp, then I can test whether it lifts.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1505, 2.0163, 0.973, 0.4698, -0.2611, -0.1825, 0.8456, -0.0193, 0.7635, 0.5842, -0.4263, -0.0296, -0.0391, 0.9998] state[eef_state]: left_x=0.5129 left_y=-0.028 left_z=0.0383 left_yaw=0.1582 left_pitch=0.0083 left_roll=0.001 left_gripper=0.8456 right_x=0.2841 right_y=0.0033 right_z=0.1697 right_yaw=-0.0001 right_pitch=-0.0346 right_roll=-0.0031 right_gripper=0.9998 state[joint_eff]: [0.0479, -8.335, 4.6974, 1.5067, -0.0073, 0.0171, -0.0611, -0.5402, -1.853, 7.0632, 2.0293, -0.0757, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). 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":{"left_gripper":0},"note":"The bottle’s body is centered between the open jaws at table height. I’m closing fully to get a secure body grasp, then I can test whether it lifts."})
tool
executing move_to over 9 steps (0.9s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteThe closed jaws retain about four centimeters of bottle width, confirming a body grasp. I’m lifting while drawing the bottle back into the reachable workspace.
move_to
left_x0.4700left_z0.1700
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1497, 2.0155, 0.9768, 0.5274, -0.2775, -0.186, 0.4266, -0.02, 0.7456, 0.5507, -0.4187, -0.0296, -0.0387, 0.9998] state[eef_state]: left_x=0.521 left_y=-0.026 left_z=0.0524 left_yaw=0.1753 left_pitch=0.07 left_roll=-0.0133 left_gripper=0.4266 right_x=0.2799 right_y=0.0032 right_z=0.1606 right_yaw=-0.0011 right_pitch=-0.0426 right_roll=-0.0026 right_gripper=0.9998 state[joint_eff]: [-0.0205, -10.1949, 5.6957, 1.033, 0.0611, -0.0415, 0.4127, -0.2256, -1.6342, 6.9402, 2.0586, -0.0806, -0.0366, -0.0122] camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.47,"left_z":0.17},"note":"The closed jaws retain about four centimeters of bottle width, confirming a body grasp. I’m lifting while drawing the bottle back into the reachable workspace."})
tool
executing move_to over 8 steps (0.8s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent noteThe bottle is now clearly lifted with the jaws, but remains tilted. I’m raising it for clearance and easing the grip slightly so its heavier base can rotate downward.
move_to
left_x0.4400left_z0.2800left_gripper0.4600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1638, 1.6447, 1.0218, 0.0158, -0.2783, -0.2096, 0.4264, -0.02, 0.7189, 0.5095, -0.3992, -0.0296, -0.0391, 0.9998] state[eef_state]: left_x=0.4729 left_y=-0.0254 left_z=0.1443 left_yaw=0.1736 left_pitch=-0.0205 left_roll=-0.0021 left_gripper=0.4264 right_x=0.2761 right_y=0.0033 right_z=0.1527 right_yaw=-0.0009 right_pitch=-0.0377 right_roll=-0.003 right_gripper=0.9998 state[joint_eff]: [-0.4718, -9.9624, 9.8393, 1.6825, -0.2759, -0.0269, -0.0366, -0.5675, -1.1556, 6.9538, 2.0244, -0.1001, -0.0513, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.44,"left_z":0.28,"left_gripper":0.46},"note":"The bottle is now clearly lifted with the jaws, but remains tilted. I’m raising it for clearance and easing the grip slightly so its heavier base can rotate downward."})
tool
executing move_to over 9 steps (0.9s)
step 114
top_cam
camera top_cam step 114
left_cam
camera left_cam step 114
right_cam
camera right_cam step 114
assistant
agent noteThe bottle stayed on the table after the grip was eased, so it was not securely retained. I’m making a lower body grasp, placing the fingertips down beside the bottle instead of on its curved upper surface.
move_to
left_x0.5000left_y-0.0450left_z-0.0150left_gripper0.8500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1783, 1.4906, 1.3197, -0.4416, -0.2962, -0.215, 0.4586, -0.02, 0.6979, 0.4728, -0.3801, -0.0296, -0.0391, 0.9998] state[eef_state]: left_x=0.4489 left_y=-0.0249 left_z=0.2554 left_yaw=0.1769 left_pitch=-0.0221 left_roll=0.0049 left_gripper=0.4586 right_x=0.273 right_y=0.0033 right_z=0.1453 right_yaw=-0.0009 right_pitch=-0.0342 right_roll=-0.0031 right_gripper=0.9998 state[joint_eff]: [-0.8547, -9.6889, 9.4701, 1.6874, -0.2027, -0.0366, -0.1587, -0.4034, -1.4017, 7.0359, 1.9805, -0.0757, -0.0513, -0.0122] camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.5,"left_y":-0.045,"left_z":-0.015,"left_gripper":0.85},"note":"The bottle stayed on the table after the grip was eased, so it was not securely retained. I’m making a lower body grasp, placing the fingertips down beside the bottle instead of on its curved upper surface."})
tool
executing move_to over 18 steps (1.8s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteThe open jaws now straddle the lower body, though the arm cannot descend fully at this reach. I’m checking one firm grasp without loosening it during the subsequent lift.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2131, 2.0731, 0.9314, 0.7013, -0.3466, -0.2317, 0.8486, -0.02, 0.6777, 0.4438, -0.366, -0.0296, -0.0387, 0.9998] state[eef_state]: left_x=0.5192 left_y=-0.0473 left_z=0.045 left_yaw=0.1974 left_pitch=0.1467 left_roll=-0.0507 left_gripper=0.8486 right_x=0.2704 right_y=0.0034 right_z=0.14 right_yaw=-0.0011 right_pitch=-0.0289 right_roll=-0.0029 right_gripper=0.9998 state[joint_eff]: [0.0479, -4.7658, 3.4256, 0.2564, 0.1636, -0.0366, -0.0952, -0.5812, -1.1556, 6.694, 1.9512, -0.0757, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The open jaws now straddle the lower body, though the arm cannot descend fully at this reach. I’m checking one firm grasp without loosening it during the subsequent lift."})
tool
executing move_to over 9 steps (0.9s)
step 141
top_cam
camera top_cam step 141
left_cam
camera left_cam step 141
right_cam
camera right_cam step 141
assistant
agent noteThe jaws closed empty again and the first bottle has slid farther toward the back, beyond a reliable low grasp. I’m withdrawing both arms to clear the bottles rather than risk pushing them farther away.
move_to
left_x0.3000left_y0.0000left_z0.2200left_gripper1.0000right_x0.2950right_y0.0040right_z0.2000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2119, 2.0285, 1.0485, 0.4732, -0.3592, -0.2459, 0.013, -0.02, 0.6605, 0.4194, -0.3573, -0.0296, -0.0387, 0.9998] state[eef_state]: left_x=0.531 left_y=-0.0471 left_z=0.0647 left_yaw=0.2135 left_pitch=0.0881 left_roll=-0.0311 left_gripper=0.013 right_x=0.2678 right_y=0.0034 right_z=0.135 right_yaw=-0.0011 right_pitch=-0.0274 right_roll=-0.0029 right_gripper=0.9998 state[joint_eff]: [-0.0752, -10.4137, 5.3538, 0.8571, 0.0611, 0.0171, 0.823, -0.3624, -0.759, 6.8855, 1.9316, -0.1197, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":0,"left_z":0.22,"left_gripper":1,"right_x":0.295,"right_y":0.004,"right_z":0.2,"right_gripper":1},"note":"The jaws closed empty again and the first bottle has slid farther toward the back, beyond a reliable low grasp. I’m withdrawing both arms to clear the bottles rather than risk pushing them farther away."})
tool
executing move_to over 18 steps (1.8s)
step 159
top_cam
camera top_cam step 159
left_cam
camera left_cam step 159
right_cam
camera right_cam step 159
assistant
agent noteI could not establish a secure grasp to stand the bottles. The first bottle repeatedly slipped or slid forward during grasp attempts, and all three remain lying down. Both arms are withdrawn; further attempts from this setup risk pushing the bottles farther out of reach.
give_up
hindsightOn these smooth, lightweight bottles, partial jaw closure and a resisted gripper reading did not establish a retained grasp; verify actual bottle motion on a short lift before proceeding or easing the grip. Low approaches near x=0.50–0.56 stopped at grasp-point heights around 0.04–0.06 m and slid the bottle forward, so do not keep advancing after that mismatch. With pitch and roll pinned, the proposed gravity-assisted pivot was not demonstrated.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2218, 0.8993, 0.7574, -0.4404, -0.3576, -0.2642, 0.9971, -0.0189, 0.8021, 0.6449, -0.4744, -0.0296, -0.0422, 0.9998] state[eef_state]: left_x=0.3106 left_y=-0.003 left_z=0.2141 left_yaw=0.2104 left_pitch=0.0188 left_roll=-0.0164 left_gripper=0.9971 right_x=0.2872 right_y=0.0034 right_z=0.1772 right_yaw=0.002 right_pitch=-0.0605 right_roll=-0.0051 right_gripper=0.9998 state[joint_eff]: [-0.4034, -1.7983, 9.4701, 1.8242, -0.1929, -0.0171, -0.1148, 0.4855, -0.8821, 10.0171, 1.9951, -0.0611, 0.0904, -0.0317] camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not establish a secure grasp to stand the bottles. The first bottle repeatedly slipped or slid forward during grasp attempts, and all three remain lying down. Both arms are withdrawn; further attempts from this setup risk pushing the bottles farther out of reach.","hindsight":"On these smooth, lightweight bottles, partial jaw closure and a resisted gripper reading did not establish a retained grasp; verify actual bottle motion on a short lift before proceeding or easing the grip. Low approaches near x=0.50–0.56 stopped at grasp-point heights around 0.04–0.06 m and slid the bottle forward, so do not keep advancing after that mismatch. With pitch and roll pinned, the proposed gravity-assisted pivot was not demonstrated."})
tool
give_up: I could not establish a secure grasp to stand the bottles. The first bottle repeatedly slipped or slid forward during grasp attempts, and all three remain lying down. Both arms are withdrawn; further attempts from this setup risk pushing the bottles farther out of reach.
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, 0], left_roll: [0, 0], 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, 0], right_roll: [0, 0], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "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 · 10.04 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: Stand all three bottles upright.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7929, 0.609, -0.3763, -0.0158, -0.0284, 0.9985, -0.0158, 0.7887, 0.6033, -0.3855, -0.0288, -0.0341, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0005 left_z=0.1833 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9985 right_x=0.2936 right_y=0.004 right_z=0.18 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5128, -1.4564, 9.6068, 1.7656, -0.0952, 0.1441, -0.1636, -0.8957, -1.0051, 10.2085, 1.8584, 0.0708, 0.2076, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2befa742e08142cca8da4076ede461feea1762cc3770377255eea9ff48f3c5f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54ebca805421906e615c5653a05b07f84ac549c9655b9c8c5ca3e0278a1a7eaf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b45a02dac39bf54738d8501727382209c10c0e243817e1009a576cc0d8f635eb",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 2befa742e081
wire blob 54ebca805421
wire blob b45a02dac39b
call 1 attempt 0 · /responses · status 200 · 8.813 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqsqwuKIOLS3I2QXMHXcowIhJ_YW6tAyKRnKcmZ4m9ZfjuluA8QeXDZv3J4pJA5aCOrpg34R4odpyKKuPYnTMZ96fTThZzM7y-cbdlzyV3J27Ncl78FyLOcDDt9hevGHHelmBwfQB8cfNX0nHvMCdxjui-t6-mMfcuqn_2J5FC6Dt6NiEmsqq_6XpeKxHV9urP8ZORYDm7aJku4COdxv_zrHcB5fdVGGZ-14YsObr4otGQNkv282iabrxr3DYDUtCbwv0vmjWsl3-bjdSOfNhM9-PCYFfOOj2dBHIaPvM4zr2KKQ8gVrlWZxlLF8z1WPhhHEM096X_Bg787jhLC_4ajAGJvtVFAUFtp6GfgPbGPrSBlbUzYEIfDEpqQXJJdVzKP9kMrzeRwpO1JfCs3vEyh7-_RphzfGCNirP1ZAjCNmvmILHkl11WLvYnKw1lWTX4TL2IfjrEVbkGLYI2zhVE6EzzuARrixrxaTAwiEe_PVT1wAHm50qNow9WxOzuXr5YsINT6C8fupoznFHtiJOKBDvP7Nqo0lURRD8ygQIhEbMC8ZXb9xK2L40Ki2istjtULlK5b6ir9IgsRCPdMwSbRWcY7RKh5I8NW8w98L1iidzsyPtZYapynF8MtTSPkE-nKdqSvq8iumc8FHThmFEdC6mEPokM754rZ-J4EZTkC3BfAWLn2kpdaGBC441eTzbyBhw1Jn7dZW2_nZD3BDv9S3SEL_YvtCK_AC52CQ1PmIPASF3sbApum1XE4H5Eipsw_KfWUovGe5lHhUssEMKeKDXJsgXecYMt5tSxwdYwmTBzKboy8itrKFOqE-rZ4e6lgX20OCV6v7Gy9aWpq00O-aMGjdGwDdzReyQ_eczDdm8kFg4-H2U4_mkkoOPZu0u-uH7CEft4j8ePk6tnCZE3GtsHX_ntl_AeNwpX3lOiYrBrZ8uQcUIAm_Jyzm0PQtH7GacP8KQTld63nsAlJxpON4GSEd2SA7IB-ShawMznf7J60rpS1Fb1issvbkHlMN-W7fkrU2XlRI98yixiDAeA2cHHuXKhuObwju057H7bI-oM-_JI1JSqgEbz7L5tf4DrjTzPHu6n-xissrD2WElWNsUQM3Acls3nPWTvyS4m-atx6vpXACGZoTU8iXCh1IyoL7lxqEy666g4S7-iOW_-i2zRNarKZXRnN2LmMCSoIW-EYfugkFKCIPp6d2trFHFTTEWBQ7TVgikWluhVoHJoCVs9tdV-innx9L0BCPRXDMQZsBNmG2WXus9RdsrGQLqLH8pPn6CovB3iTbSDR2oWCcdZK8q_pkzru1V9yxnD3_7TemVSzb9uCZsh7H9YQEVbcggsJ7Lm7kog-UYhAGO5CYYuzgK3EITKF0MulYyMKalz0f3qmLeR9wx_O2nNhmYWs_xjOdtTBxwcsL_-fvxE6oBLNVFXcCxjkj1D9Z5Zj-gh2a4TU_nS4TQB2NCs-NZ1xi5YLs_US4zqOFIausdDB6-BOS7-rkjObu9lp0soFdBZnFNYW6wiFGdrW1mTr5sEueG3dVAzPsuMfPYrRnTXiQ32E5heumlFfRIryFvfuqVvNuodHIKtU9KfSUPVv7dD_VZN7jBFlONP2QZj7Oe2QPYkuVyTX78_YVwCedpqk4x0fAbKKstjztcynWatnTIYdZqT-oJq6HvA2xTUKVZ71oqQdJ_DxdGK2X5wG6pwuIQ7P2wdggSZXE_qah3vmjD5BAQlwUpq0KDW7LTo_aaJomsC0A7RGhtvzOJl6TcwfjHyUnQsJ_kZ41NGjoRORCJggOndNS1ZtY766CwLSFTkfI_GnybePQuNppf7QIvlP9wSaVSLsaY_W-CFo5S58MyDUCqkt6sHp3bZ90I2vDQPZVwF7GoW2ZlUuqQjxX-9iqVBfubXl8XDPl08EACC-NDWpCgcGCLEhLWABLCGvMymBe3a14_JpZha31iJ_2WRtLq2pXUQTQNS31y10uZcLacEBbyOmfZzoVUSCm98b9i02HyU_04XYOgZj8DS0OrtuUfaGYnKTA38MvDV8sA0Xfj6NjoG0bBBgRI3eZlsyt4mNsGjCQdbihUZP6m8_AZSsZP1lWo=",
  "id": "rs_0c52ee319deca4da016ab2ac26357487d0b41d345431ab42bd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.14,\"left_z\":0.15,\"left_gripper\":1},\"note\":\"All three bottles are lying on their sides, with their caps pointing toward the far edge. I’m positioning the left gripper over the first bottle’s neck so I can lift it and let the base swing downward.\"}",
  "call_id": "call_Czqd3icIgCs9ynpa74h5WvlX",
  "id": "fc_0c52ee319deca4da016ab2ac2c2e9087d08def935fc1d15d43",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Czqd3icIgCs9ynpa74h5WvlX",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5499, 1.3911, 0.7704, -0.0853, -0.4324, -0.3256, 0.9986, -0.0189, 0.794, 0.6041, -0.4038, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3667 left_y=-0.1337 left_z=0.1287 left_yaw=-0.0226 left_pitch=-0.07 left_roll=0.0293 left_gripper=0.9986 right_x=0.2916 right_y=0.0032 right_z=0.1751 right_yaw=-0.0021 right_pitch=-0.0229 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -6.0513, 9.2923, 1.6972, -0.3736, -0.0806, -0.1587, 0.0205, -1.6479, 6.9675, 1.917, -0.0562, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0c2c816d0c5ff188755bb7d6ea458ed911f6187f5e7bd8816ca2cf68fd5e588",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ee9d7b60f76d361979ef34246c2f8efa941fd4d86c4299f4e21448e2adb82ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f903071f307d3d6c26a9419f733bca1c00e3d8a147fe7e407b9cb1c74f5b5aed",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob b0c2c816d0c5
wire blob 2ee9d7b60f76
wire blob f903071f307d
call 2 attempt 0 · /responses · status 200 · 10.77 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: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7929, 0.609, -0.3763, -0.0158, -0.0284, 0.9985, -0.0158, 0.7887, 0.6033, -0.3855, -0.0288, -0.0341, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0005 left_z=0.1833 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9985 right_x=0.2936 right_y=0.004 right_z=0.18 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5128, -1.4564, 9.6068, 1.7656, -0.0952, 0.1441, -0.1636, -0.8957, -1.0051, 10.2085, 1.8584, 0.0708, 0.2076, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqw4yOzhgHG4yHUQ5UdW1cT4fSqPScfHwYbt2pu6x1yqQX9JQDOibXw3iur3fIw95zsVO-PX7x1YAxHKqUBCkjmmanyd2kpHHm7n_b9knIOplfEXABHJrPikWx92PcMWplbuH0Wzke3q9uK90eGLULlSq4x4gDnG6grR6KtItUUrWgIww3ZXJiBHa3vXXDcavbrNbpOe1yz_kWDt7Jwfs2T4xIpm3MB83EgyqSByiCNhBkn907rimghLgsJds3HmuKW9v3qLlAmjtAX0SMQGsfY9asdLL-xlV_K7Be1IBGjFMdErq9ym6X9bhVCM0lfPivjQPo0joiUd10TmQM_8zkyJSBCO3-R3KD4lcCBjXazDGqM-d6mwCctL3UCZytI53gHYmi1twWL6PA-YNOdoXNwldI_64JjND_rlMz7bjlBholtIVjHkFw_y0NpVWmGt7dupwSpyXDSfP04M_ugcCUQaBixtOPh3Veq5GVTBO3R4fumi3BQ8gNshsJb8viKDN59ZcxPRNgIXF37vJpLohORv7IXXUh0EFDBAv04mO7OwkntbFvNn0KlkrLlOTWzE_S-mDGM4ZoIjcdbZp7ASgzZh7ZiAgndPHtElDcNEY_Aju1idAXd4hLZNxFVkH-_fLVGgovWfJakDgidWxmJ9Yh-lkYaa2gYDRXDvi_yajW4729bFaLbnsnSPvgvJW5gzrjbfMtARHsaKM7-aXmCKFojlu06hJhaAvuLLtgAFKthW-dQOQLVqP7mkMhs7g3DG42-DW9J4Z8Hq6FqMsiRucoivL2mxHV9KaxhxpYQG3JZSKbpqX6wkG6DitWekr2dMm9JOM2hySf8C0hD0YvPP6grwGhT4htcmrB2CPfkQ1wxwxO1MuN-EIUZe3SqyfUFYV3D5ALlk-tx9xFEABrS0aIm1DWzLaHX8K_u548uC_p7DUBL5zk7jckYj2fQZpy_mraHJlNIfP98xndWGt3vxFY2PBesVsR9SkuWxBwVs6s3m2KTevl7pLUAc6As_GXWVJSGYSdHFEy0bskhj7kSNWWDW6Ajk3ImwEGkmlKXN_AxichUaXkAY-bTmb4Ic2JkkMbWo92aIe6UsMHDtIbaVWdmOGWMReK5VRTcn1phKUCzYmQ1rZtrGIrgdHTpysNGOwV79kBq-SBP5D5OlX7PKgxS6jhRK2FN_oFiGFBojwzhuX7IUNQmcTg308-IVZqsQ5kjwvxwaHFTDO8t0tNXKE1JWsb7cooAsmCaNc_Frno8Fy9tK_iJ9NcGZvLG5VqczyhZRWDBX66QDg9BGkbqPSUS8uwSi0NexpZr3pSna7hdkpKEiQBwBAEus3PPZXXDk-Jnz_PIhckq-bdshK56yuYwrDYJYgKO8dduSDNwI_sp-Iz9SYMch8mXqwXKXwNe4kRSDy5IarsdW503R9QfzZ2y9-ZpIOjtLrZbvWSSlvx8aFE19xbfPh1NphAhbSKLxS5DrCkjDySEM3buWacYmJnymQXA91TmE28EmgTYUt-ZijcFRYUfOtAxsASypImDVik51BNTiUEwstkND_Xl3Mapez2Mn3hKeowcs893bMxaObMbLr83kG1j2QvIpyIgr6rkiDmSoedq5hpoMc5Bh8Bn3vRw2TB3C0AToUyPeFtGbqA75YrQyeJ37zwC3nQsIYS6FH-V6bToaSPGUoU-u0ui02O_g7-UOJ8K1lDpjXim3fvl9QopZT7lIbGZjio55LJR7",
  "id": "rs_0c52ee319deca4da016ab2ac32244087d083709954f8d303f9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.085,\"left_z\":0.045},\"note\":\"The first bottle’s neck is left of the jaw center in the wrist view. I’m shifting toward the cap and lowering with the jaws open to straddle the neck rather than squeeze the rounded body.\"}",
  "call_id": "call_Tio2GcRUwOZaE0X6N5gYTpvO",
  "id": "fc_0c52ee319deca4da016ab2ac36484887d0a997e19e34d3befa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Tio2GcRUwOZaE0X6N5gYTpvO",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3233, 1.6997, 0.6121, 0.4473, -0.2821, -0.2165, 0.9984, -0.0193, 0.7841, 0.5842, -0.4015, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4086 left_y=-0.0813 left_z=0.0417 left_yaw=0.0214 left_pitch=-0.0511 left_roll=0.0054 left_gripper=0.9984 right_x=0.2888 right_y=0.0032 right_z=0.1692 right_yaw=-0.0025 right_pitch=-0.0305 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.253, -6.2564, 5.4359, 1.4676, -0.1783, 0.2222, -0.0366, -0.212, -1.6479, 7.0222, 1.9609, -0.0806, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bc2f1e383bbd9a4bb85215b147ac8603b4fdb89361de7527ec8dca8ec1a8ca2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c775f1b33c6cae909346a68b77edcb7c280a4ae126fe2ef04a7cdf1752fd120",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4464b063e6d8a16171aa2a3972ec0d285b06c0086e2b96af7b85611582497ccd",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 5bc2f1e383bb
wire blob 2c775f1b33c6
wire blob 4464b063e6d8
call 3 attempt 0 · /responses · status 200 · 6.279 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: Stand all three bottles upright.\nstate[joint_pos]: [-0.5499, 1.3911, 0.7704, -0.0853, -0.4324, -0.3256, 0.9986, -0.0189, 0.794, 0.6041, -0.4038, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3667 left_y=-0.1337 left_z=0.1287 left_yaw=-0.0226 left_pitch=-0.07 left_roll=0.0293 left_gripper=0.9986 right_x=0.2916 right_y=0.0032 right_z=0.1751 right_yaw=-0.0021 right_pitch=-0.0229 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -6.0513, 9.2923, 1.6972, -0.3736, -0.0806, -0.1587, 0.0205, -1.6479, 6.9675, 1.917, -0.0562, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqxDPjfxcW0iptLj9pk1MCD65dAYAof8iHI5d1HS-Z4yWop3FobTyEfSS7LgLMHsQbjZEbfAjvgIIGU3KBKpBtZ8994D1PBBy9kQl8nIiY3sUyCNUPrKc5WevgfAaOg_rVr8dqNflxjbeNxH3P7maM5UdvjCL4BwnDlBb3iozaUXsZ0FVAw1-_bNlHK2FqUz2Jtlthit4ZQQqwJYw_1mCWqGi0WaynQEH5y1QLIGVMX7MGwZPE4q99Pab9XGjeSSOLJ-kizSSEIqfHgKoFp_e7amfJp97HllIwDPDg-04BkibdlPcEFjsgtucfNHOEwi7MmW_3el6vvUI8AD_bgTWIrtq-9Y7rnQWHrxHD3y0hPTbvkN1hEOoQhjmDBD0tJNDI3ZEV76fWtWB5a6gLaKDLppC-vBLQZ88eZBfgVJZwbFDUkVRgytiY7K1rUnWFQ3YgOK0-N9Oz6_87nY7mbyHwNz7jemW54O0XCtDJ6KlY81rQjy6YcfDg36RvHPDcq5Of6GfLwLvEkpDeKY1z9nOLLtcxGILICHSoSfjGARm7Uj7dMWo-0gDEUZVnylloHjgU_8bo3-H9UQlxVMurPYpO186Nnwsnl919Fl6LZEWyQGOLDQ2hclHqkGZLjxa0zBPbLjd7WXGu3BTRRKbHjTU_x0kY4StNsI01cnd9Of-ESU9JbV2wND1vkTaDXDqFpalqVPk78krlteDwg8WxBlUkchDZJi6HdSVYzzmLnCGHLTUoW_YQROUElU0Clo_Orzkv_90eeg7osJRTiyJUuvcrRHqBbo-XnF8s97G8rTU13AOxcvywX5NSYBsZlsNDYG3R_Gn9vGO6DDx7Cc7gUiZY5zMTl2hA9IAQtecxwWq-IpPQYk9PDAtvpLMiplXA_oviD2Qhy9PWebguU5PxlY8fHlcnMy0EU5I4PRxAvXTy4tVgNt-auvl2c3KDKmwBuzZzqI2ASlPCAQ2s0SBHcLoEULaasq2xpzxBp8nSWQnvlG0u0RmwVfvU_6tjWQz-3Os3jlMV-v0KSFYun9elHeaT4oIz32qBKrmJ0bzpSX2pe8KeVZEqAyZLQYOPsi0PGgo8DgC-8HUojTXuqYNz4QDZZcK-eYHHoVbCRdAzwruRuSfLsBz8tEGZn3lNVjVjdLrW5_MXpZbCWK20IUNLpTMgzxkp46A5Z4OrTZKxpvA0HNrNv6G2HLNTMveBaEbzIFHOmOTwuAgLnGwqTSc6JRrNTEywD4FR0aEHm5fQtJmjk458nrZE-0ZfqjTV1OPFXv4JP3G2SaswOL_8ZVFiNMtIS1HHOJWGrULvH1REltztf-jaycoEO08rQiJ2y_68Hx6U-UNZtnICSv6bDvxfj03UAj_Xw03T9XqXTC1xbHglBvxr39xjzOlaZ6xTe90zSqi9X9n4Y765amWXKIvNbd25T70grsdBUMKwXMMnh-NZz1d-ofZgqhuTZbPHaGnaOpboiVk9fNpH_OU6IA2GM6yW-lH9u5u_3uqz-zJ1BsBSssqLu410R_grJaZR6gaOAUltkU1c8V0FdNwZHCutHrewPIhghRKkHoPX4NJuKtKuhzW5qNg58KxBmVo_pM6LBlNseg5mDO0qqK9jzGI3mBWbjuZs81YEGDL67a86eMrt4T3wslngJUphTeUA82iAtXy2sNK_Kvbq2q1un-jsY7X6tG_DHLWIk7zMUqX06refmHJFM2WkxrMr04Uck3TJeMOUSPg1b6f9jHbrkEHn3aZHCFYdUcUJBMePjrCdhJtVLSRvOtObIALx02lXxup6BspQDN4tsuJpcLD_vsYs8QfW1DHzsBbfjoxr4DyxTnaLwEhJE_U2yEDrIzUxYjYESFcgnNDPR9oXtmIEa-pMlRmbC3AnrAi-VQqUs2JtajCq5xKc4YugL8psHfiqEUVJ-tOk7v",
  "id": "rs_0c52ee319deca4da016ab2ac3bee1487d0a8bc1c6b04b220b4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.485,\"left_y\":-0.06,\"left_z\":0.035},\"note\":\"The jaws are still alongside the lower part of the bottle, while its cap remains ahead and slightly left. I’m advancing to the neck at low height before attempting a gentle pinch.\"}",
  "call_id": "call_mGHEekvhUvIBjgvu7LqdWnwV",
  "id": "fc_0c52ee319deca4da016ab2ac41ec6487d087a4d1f7b81e6ded",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mGHEekvhUvIBjgvu7LqdWnwV",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2028, 1.919, 0.8158, 0.5571, -0.2089, -0.181, 0.9983, -0.0193, 0.7708, 0.5541, -0.3962, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.48 left_y=-0.0576 left_z=0.0425 left_yaw=0.0614 left_pitch=0.0268 left_roll=-0.0321 left_gripper=0.9983 right_x=0.2848 right_y=0.0033 right_z=0.1601 right_yaw=-0.0025 right_pitch=-0.0419 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -7.7607, 6.2838, 1.4823, 0.0269, 0.398, -0.0171, -0.253, -1.812, 6.9675, 1.9951, -0.0659, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55e01aaf710d85ba5012502c0672cf8bc969023f392cc9ce5e3b939118ab4e26",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2c20905dd279842ac9c110050f63d24bfe6efcf42601a64ccff96fa2247844b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2d1c897b73b0f48f460629cba989ed10c079b7e1e9bf12c421ce51839b34337",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 55e01aaf710d
wire blob e2c20905dd27
wire blob d2d1c897b73b
call 4 attempt 0 · /responses · status 200 · 6.858 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: Stand all three bottles upright.\nstate[joint_pos]: [-0.3233, 1.6997, 0.6121, 0.4473, -0.2821, -0.2165, 0.9984, -0.0193, 0.7841, 0.5842, -0.4015, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4086 left_y=-0.0813 left_z=0.0417 left_yaw=0.0214 left_pitch=-0.0511 left_roll=0.0054 left_gripper=0.9984 right_x=0.2888 right_y=0.0032 right_z=0.1692 right_yaw=-0.0025 right_pitch=-0.0305 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.253, -6.2564, 5.4359, 1.4676, -0.1783, 0.2222, -0.0366, -0.212, -1.6479, 7.0222, 1.9609, -0.0806, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqxK9oogoM4tYptOiqgPlwIlmajYLzcHFkPg8RPOQmV106m03ErCu0Xt-T4oiT65apWhikU7HWWDx1efSsvV0xjBLJvIJMrvaQSN2J5vDOgPtA5tjBasvbsTP9jOsclGwg5fslmIVUrZDj0kLSp-9Sy0nDSeN-ojNp_IoSfKVvCvpqm8eY30TAgTlcjUX9GGMW0jadnwWZ0G8PdjkeehfqqV3fCXB5qlICNMkVTo0LBiB3sYRmQc00K1Es1wB537eI_oQ_3x3JZ--Usu5SM8zNKcCpTUyjK0ViE3o_rdEKvDmfPHsjDCEysvds1yVxL49MQJywIbU03tWiD1GHH-uZsVE7bOojDXUEw9MjKpP0E28JbJ6ug9kXkJ5rT8sO6pi221Hv6H3TIGqi2xdgkIb4iNRPVjG3VJR1Z_Ti-oq9pdxvBL5-4YgRR9CO6zYKCMfZYZSLRfy1yXlWvIvagwPfiWYTbOEH2t9BBcS2jfQJqa0U8ZcLUH95BRT0MUGVXFdNNDx6nSex1KFD12poohEgSlVz8c-99v13D3SGPQd-q-V6gw_3ruHD37vcnqhWLT98fan8Ktq2X3ksoebnfHkmZhZ_bP_gjB4D2CBRTEJc2WHW0bofO0Vw5CyCXPSNRyHOeVRvzRzglj3naCpyWU44DZNp_oZWB6-5Qa5H3ZXqR5eveh8Tk6G7zCPeDTiMc-l6oS96AxGNudXshPmVK0_7U-_gFjo3kxMmCXHijT_YMm5t_SVUmHqsn0M084SXdQk34b3GBMDZnODFnOPw5Bg8tZnhkiHnvuI-xUl9Nhp8I-_8myhk8z_9Kn4bF3ASKNF4W9XMZbAIrK7KkPS_lslZZAoBbVgt7DdyfxrlVeeGIX9E1ao-XvY13d0HVtMkxQjFTStQJsUycs0mpp5pLqGgzAFhrnbNB2GxyFfaQteSMbwsaCCCxXZeIgx-eKXUpnNEB7ehDRNvhjS2JNP6_1ytYb_0YaxU8viRDpLkmGVKmM1L-hmMivDzUQfHqE_SNPr68a6bNFMZMWJeYUYrxv4jqFBSOJW2mryvWj-0ntqKH-_aH4Q_gX6KPHYBztWTghY7NMDta6oNfLnBPC0jc4kCBwlzColwfKP0je4CIqS95VY1ntouhlFYWgN_fL9cSJF0TxvHQqk4Vy3CUPFR53rotQWiWZj96O9elGbblbk0zRM0hdK-EfRCvHTG8UfaXiMqhMfi_MsUeiCQVQE8iMoEXLTcW5F4KUT56Nvut0QlFduo-KUqe6vl8YJP5fdjRp4cZjHLPmG02QgWGLIKfuUed9jjWqwAX4eQPQNdjovgGg_9g5bRP21jujhml46Y20noJ-VQobN51SaVHV-HYECIw7WTsoaScbErW50DsGhvx7RNCIwe85bVyKiBB1Siz7eBik_cRA1Xs2AQK-uM9wld1sD6x_ppgKu5s3aaEw3c4jWXg=",
  "id": "rs_0c52ee319deca4da016ab2ac46db5c87d0b77148da023cf1a5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.52,\"left_y\":-0.052,\"left_z\":0.032},\"note\":\"The bottle neck is now nearly centered between the jaws but remains a little forward of the fingertips. I’m making one small forward adjustment to catch the narrow neck.\"}",
  "call_id": "call_i0ckNIhY35E5Dd37mU5YkMHY",
  "id": "fc_0c52ee319deca4da016ab2ac48fdcc87d0ab184f56fcfe1aa2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_i0ckNIhY35E5Dd37mU5YkMHY",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1818, 2.0212, 0.9726, 0.5011, -0.1986, -0.1635, 0.9983, -0.0193, 0.7486, 0.5167, -0.3775, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.5154 left_y=-0.0557 left_z=0.0408 left_yaw=0.0644 left_pitch=0.0243 left_roll=-0.0218 left_gripper=0.9983 right_x=0.2813 right_y=0.0034 right_z=0.1528 right_yaw=-0.0022 right_pitch=-0.0385 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.5265, -8.3487, 6.8581, 1.5604, -0.0904, 0.1343, -0.0122, -0.1573, -1.4701, 6.6803, 1.9902, -0.0562, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80a4912b3496520023041801aefdc7c6f48d369da97124c1df2f10175132d077",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:801ef948a22c096ccc4e11f3558eee1200e479f8abc0a1b9217110c5334c5247",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42f3b681f58a9a5fea9e666090f475eebc5db26dac1f9b767981a7b44b34bc5d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 4.927 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: Stand all three bottles upright.\nstate[joint_pos]: [-0.2028, 1.919, 0.8158, 0.5571, -0.2089, -0.181, 0.9983, -0.0193, 0.7708, 0.5541, -0.3962, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.48 left_y=-0.0576 left_z=0.0425 left_yaw=0.0614 left_pitch=0.0268 left_roll=-0.0321 left_gripper=0.9983 right_x=0.2848 right_y=0.0033 right_z=0.1601 right_yaw=-0.0025 right_pitch=-0.0419 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -7.7607, 6.2838, 1.4823, 0.0269, 0.398, -0.0171, -0.253, -1.812, 6.9675, 1.9951, -0.0659, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqxRvNgJp22zsiNe5cs3e_Y7v-9Yqne1aDrDHV90oP1YvNIHFoTw0tb-Qiod44GMs3Ia2vEOKoP3DZMg9jyWVb36SnokvCryDxPSuDjMgaP_1x9EGUgy48C9oNatlHuh-L99W5AJ57wb_fu3kBFtx_APfupkmnoOjAwHDf06EYZJg7g8AjreVpcOcpsn44spNUOc-WzzU7_tWWWqbQyPPifFEWelIBJHjlelJLhAIPO9M1jDYWzkS2PrcKo4Qi03OrGdiw-t32xKAwmFMuPi7ihPlI8RoPrlNfTGv_GCwC4N06mXdqN2NjuvaZef3aVkBq4PNOIbHTZr83dzsYLPSXj2MRj_9op6pOASkxeC17DwsxgsGMC8KZy91U7_bmdPGt2qVDuP_EAFFf-dfRwX0Ne1qXCZFwLegluxekK75R3lr_cvKprxI2RIgJ8kBYpl7E_0BtA0RMwQItaK8csW3YnYg3q7X-TvxwC2bYFoWcvn1dN_1GgP2EevBbxm8KTXY57imZOdm_89lIK44xXKkj8KRF4uky2A9D_LYtbd_HVprI2qBoNmIzNj-0cYnwCca88-pU-MB35-a3OeUOSnxbjJ4ouqBs23D_Kbpb4bCqd-mX_Q7xa4heWQdds8njn-ZAhPwGboRjlYL4FSmaPcaYbUU-5IG_v3XMASpCBcxX9fGlw3UNxTRRqge4vJqbVrD041RYsUZoOYpdAGP-RTi9bP0VB1bjkfsu-LkzwlyplE85IyqApISyZ1E0kmxtUgLAJWQuWwYApZUTfp4EiiToii9jy6Zizlb6xBPcPPzTxDvyxK_MtcjwRQZUzvvRNbdzmKuGMkwCKnGIWDvlfrcSkx_RN1A8pd6PqFSOkgjdZOu3LsImDasz-m1cTlztwdoj9XQk6sMTaEPeRvOFq2w-uPO3Se7MuDR0umMvvOlmMgWvVyTm7UyrK_jC27hSyWonocyD2eeVkJjwUWlnrYajbGQRhPkcc0aO04UR6DT_B2DMENrTMAIne2-k7s0aoNi1cN281BMM7TnKto59e_qYJFWoiD6NW2fdytT_Q5cCgKCsjOg-XeEiONGj_ky9tatE3Gxo6I1reN8fjKINowjoQquE0eo5s-ECAUEav4IyD9BY2hZmA-8hmkBSy9qOt0PsK3QIUPEzV9DUuAeINSztl39LfjX0RThItO2W1Q0_-hXZErE-CTPh5Pc2uRNXaadVB-AmaVp55RNQ2pvJrvjgkpu8-NpsGDSs9mfjqin-CHL0FA_0XQ91WMsvy1BHGokpCdSqyn8CTfKNFKXLgAwW90RDxBeX-YDZChrkUZJ4_iKx4O4-hvRdIrZTMUMuxYFgW_fnwAlZlBgqiG7d-gRPMnyNYTVU8vHadSIYhA8cMvtoRRDq_2zyeZphhazBgGILEbDd1RHy_2rh1_rAcmhtr0Mem1r5L-8Z2bkb8wP3WMtDUlxfuSS4aIc56Zf2371-zL",
  "id": "rs_0c52ee319deca4da016ab2ac4d8f9087d0a2ccc4c3f3bf5e38",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.28,\"right_x\":0.295,\"right_y\":0.004,\"right_z\":0.20},\"note\":\"The bottle shifted slightly forward during the approach, so I’m stopping the advance and gently closing around its upper section. I’m also returning the idle arm to its parked height.\"}",
  "call_id": "call_DwgImewwsynxoVwUN3fsdUQm",
  "id": "fc_0c52ee319deca4da016ab2ac4f622087d08b96be454b74f073",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DwgImewwsynxoVwUN3fsdUQm",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1791, 2.0308, 0.9962, 0.5262, -0.1986, -0.1829, 0.4564, -0.0189, 0.7998, 0.6437, -0.4572, -0.0292, -0.0391, 0.9998]\nstate[eef_state]: left_x=0.525 left_y=-0.056 left_z=0.0504 left_yaw=0.0779 left_pitch=0.0619 left_roll=-0.0485 left_gripper=0.4564 right_x=0.2893 right_y=0.0033 right_z=0.1808 right_yaw=-0.0 right_pitch=-0.0423 right_roll=-0.0032 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -8.6496, 6.6667, 1.2332, -0.0562, 0.3736, 0.5104, 0.212, -0.7316, 10.0034, 1.7265, -0.0171, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e45998d513178edeeb2ebda984ed1f1ea92daf8bad6ad34af02b4c72c4e7d56a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8e7ee5f21f57f3f1d8199849ff6f9c64a26a781b19db433bd508fc46e8fbde1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c3b9c71f4eeb8cf613e5e954225f75dd18179210093782649e90f800ef44445",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 6.513 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: Stand all three bottles upright.\nstate[joint_pos]: [-0.1818, 2.0212, 0.9726, 0.5011, -0.1986, -0.1635, 0.9983, -0.0193, 0.7486, 0.5167, -0.3775, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.5154 left_y=-0.0557 left_z=0.0408 left_yaw=0.0644 left_pitch=0.0243 left_roll=-0.0218 left_gripper=0.9983 right_x=0.2813 right_y=0.0034 right_z=0.1528 right_yaw=-0.0022 right_pitch=-0.0385 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.5265, -8.3487, 6.8581, 1.5604, -0.0904, 0.1343, -0.0122, -0.1573, -1.4701, 6.6803, 1.9902, -0.0562, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqxX1QZ9ifcLFm5ThABbNQ8Y-SkiaFqToE5s_JEoNbng3hfqg6uWvAigiUJhfDd2o_9rI_lU__I8Qq1ykbYQtJ6BmkJhYqfHioiZopqpqEdKz3Zc4EVCsso1khW7FS1xmECQEtitK9tKpib_C6NgYHJr7ERgUFEsFlaqv0fPykERbKWfH0C4-KGTKG0XJBoU8ouNZsxrG54kVWWDILmfMMkrTXJCfB1ehhzsRkjmpvlR_TBCvRs9ro_67qlughoIMcotbkwrMW5GGKGsOcyt7me2bnx_Xed2OUPSoavvFlxjvSE3GTm_88rRDUk-IHWSdfVuAr7DHnIN6PAng6DFguAIH6wdAnO0J0M8HrPyEUTang32hEfTfip9InwJjt_1RKmF1MC1qwMXmdG9tlWCaGkGfhSIB2W1v6TKkcTfVg-A--NFLLJmawjRfyyDdu-YV2qL5wWsA34wlBGyxD-EvRCzMFtCP5qSZ14uyJqydpRu-6TgL3lIBULOh8sxlMyrOBsj_yf5Hsq0vVdXFLBXXVE8L-iPYVaaFYEjuWTHrzYiR9syIDthORhkQ8WFz1AW_57LraMrwqKBuNQatK1uZD0OdTRAp_OOsmM3R7RiNiqDDUlRFjOSfA49Px3PE0GhbH0FMS4hsdi2LpS3DhV8UBEL8JzOXOpjdt5TDUwpykDWgQ7g0zFIm8ima3xR0jVwYRw2GJMjExRdkdZuKTLrdUdFnoMxo8Bkjm5sS5g5NzC-1a_M5bhhlXP0V3enP9AxEejTXSQeiIeGtX8q4y-SxGIarBxlKDVGBhfdx0KbnThYkJkYx_vrpP_WNY6MIKM7TWEB1MAhVOnN-wb5IvwxxNr-BeIRogsPm7kb4RG23b7fTy4hSRPXYvqCLbQTF9ZcDa9fnoJXlV5P2UP-YP5LiNckL_GVE4Fat-WWijnUchEY3Fm-JxKgFy5HqAWMiYy0nTrD6eeYushaCAq1LfFWVuecOD65ZtZWifxlnYn6sjvpZkpE54Ks9cdNN9T3aK0NfGwSTj2mR8fLck5JQw86p0HqnHaHmGC0L9zvkXsO4Goh67fdF6L4ipsngOr5ySvL42X46Ly4Rxc0AxGrnpTMfYo5SR60SsqUp56G4f-JqrC3_tw07hogWSYrPSv1ORWHO7vJ__ll3JOjpgkrZHDBMUk9hABx5LfSPK9ODu3-xyN0URSwYVLaS7A9sTG0qYhpzZfG2qLeicOUda1xSNWhZfkGHg==",
  "id": "rs_0c52ee319deca4da016ab2ac54a0fc87d0921ca926022b459c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_z\":0.13,\"left_gripper\":0.38},\"note\":\"The jaw opening indicates contact with the bottle rather than an empty grasp. I’m lifting its upper section with a light pinch so gravity can begin swinging the base underneath.\"}",
  "call_id": "call_8mPiZKS8dWmSu3zDmq6FnWfy",
  "id": "fc_0c52ee319deca4da016ab2ac55269c87d09e536800472295fa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8mPiZKS8dWmSu3zDmq6FnWfy",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2047, 1.7596, 1.0157, 0.2298, -0.2268, -0.1829, 0.3815, -0.02, 0.7769, 0.6029, -0.445, -0.0296, -0.0387, 0.9998]\nstate[eef_state]: left_x=0.4999 left_y=-0.0595 left_z=0.1306 left_yaw=0.076 left_pitch=0.0601 left_roll=-0.0336 left_gripper=0.3815 right_x=0.2846 right_y=0.0031 right_z=0.1708 right_yaw=-0.0011 right_pitch=-0.048 right_roll=-0.0025 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -8.4718, 8.1846, 1.5604, -0.232, 0.0708, 0.0904, -0.4855, -1.7846, 6.8444, 2.0879, -0.0952, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d662c9b8d6fd564516196bc6c92f32ea3290603cbaaf0843c700d4095975246c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:363f2d037c75441fe6c12974025366bb6d2d583db099d3205dca9643882cf4ae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:206943b356790b80dfa400db6b9acb97a8f41449163113dfc493a6c194fe74f3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /responses · status 200 · 16.28 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1791, 2.0308, 0.9962, 0.5262, -0.1986, -0.1829, 0.4564, -0.0189, 0.7998, 0.6437, -0.4572, -0.0292, -0.0391, 0.9998]\nstate[eef_state]: left_x=0.525 left_y=-0.056 left_z=0.0504 left_yaw=0.0779 left_pitch=0.0619 left_roll=-0.0485 left_gripper=0.4564 right_x=0.2893 right_y=0.0033 right_z=0.1808 right_yaw=-0.0 right_pitch=-0.0423 right_roll=-0.0032 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -8.6496, 6.6667, 1.2332, -0.0562, 0.3736, 0.5104, 0.212, -0.7316, 10.0034, 1.7265, -0.0171, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqxebXe7wbPM6MR-OYQb0ZACog2-Rs3z0jwKCuPq-N4jE4ToxRWFVlew6ro3JP0wpc66FBfr2WMk4SS7BbMIRYrVp9-DQpHccJR46wssUEFt24qMX3Sq_cW6wh74xGTKUe2qWPBXMRWoLhoWuwF66U8P-mE47SiDRhPgKLd8leLbJnA7GfFJPZIhJcKCF8Cmoy93ptaOpcLZaQy-ds1CVIip0iCuidLq35jkToP-o6c7WtnBSkvG8Sp511EUCP9P5eMT_y0YpgQJVHJVAVRGUVhUo_qeeoruQen57ZWS5gEITVK3w5Ty0ECdmBFyMeY9Iq6pk7SbJ53mNnzDZovgFQSq0oTtStR4wnwm8HIIH_zomiaw-Yzpz_L2WwHkXa4rWmJA6sUVrmqcYE_ZJjB3C7vOQKpb_8GYKpv-IrURBv7UA8QaatHKqgD2A-5zG06F07TmdqOjmmaG8tLCYuaYBqn03PgbZb7MR-xacRYTI4av-N5Vt3tMAyW2KQM48_w9C5Lssinj2Mtxs6FdFfAG1vH9YUZCkfLic6Vf9-F-2Og97Fn_goGlN_0hUSBhhI7C1sVUuLE6Oq4PhT3I0EKbV0AdnTsjg-xpFC6nKF1zd8eKonP_nyC9foVtxeaaUnVZtoU6511I1d-k12qSkCwgCBrHkxNWETHdPpvUgv2GfCY37LSRn6_XqfqTBiP4ee6Mr1LQjL88yf0O-BgKyqIa5ro-DvMeVqaxuqszSTSNsvYtGPGAzYQe1PmWgy78ogWI5ZNkacW72Wsmv6UfJvI4ReGGiuAwL6tTj8H-XrwODIFVND3mZiTbZLhBL2_2_BJDY2OSfQQUQ8WrXCJBj61X2j1fc2rDv1MmT2OIYNIfFr3VPMWjE1sPY4_5styUf0-BoR4QgG1OEsDHr8gxHWayAIk2Jpn0yELgVeTBfmO4_fSN4K6exYuaHOKXP4kTSBT7QNpbIP9gVesEr2Q9xoUcBAQb4ZrkiQUbC3SyqUkoVXIAy3ulhc0FFEfT26qrNDHuGGfVTsRO6pmTzkZbG32Xw2YkN3xs2o8BdLETvetuNcVaxPYDly1mRZksaNSDdba7wmT74g1pPxbH6Y7WwAHxYw8WoJ9sZ8Bf00oP5tnox5dRoPWafZMJ-jFsps5ZkZxYhYIfI4eJjXr8Avfz0bJWNfU8g0Q9BgrSAJyTRJF5ZxlTHqC6uUAHnigDtSIP3NBwun-_mIo0QTDfRCOyR5xeghKdhyDQ4K55hq1vIpZpeJbE2Q9XVpa56u--NcVQfg2lGEVGK1RRQHwndIgOc80tsOdXvGEo_HemmDNen5jX9R5Xdtc3ZgfVUOkHVGiKb2W6oKFx4eFDReItgzElmtln5OA1GydGLTD0eP-NCT4rZiifjvUfPbC-w6rfREdNflIENetJ",
  "id": "rs_0c52ee319deca4da016ab2ac5a3b8087d0a16afbdf7969e8e0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_z\":0.24,\"left_gripper\":0.4},\"note\":\"The first bottle’s upper end has risen while its base remains lower. I’m lifting higher and drawing the grip toward the base, allowing the bottle to rotate toward vertical.\"}",
  "call_id": "call_YS00mz9e3ujNTv1Gy5kmXBkY",
  "id": "fc_0c52ee319deca4da016ab2ac5c79f487d08aeb02a7b997d8e3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YS00mz9e3ujNTv1Gy5kmXBkY",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.244, 1.491, 1.1599, -0.2798, -0.2626, -0.2028, 0.3988, -0.02, 0.7498, 0.5556, -0.4194, -0.0296, -0.0391, 0.9998]\nstate[eef_state]: left_x=0.4461 left_y=-0.0601 left_z=0.2144 left_yaw=0.0769 left_pitch=-0.027 left_roll=-0.0036 left_gripper=0.3988 right_x=0.2807 right_y=0.0032 right_z=0.1616 right_yaw=-0.0009 right_pitch=-0.0426 right_roll=-0.0029 right_gripper=0.9998\nstate[joint_eff]: [-0.8684, -9.0051, 10.0991, 1.7314, -0.1734, 0.105, -0.1148, -0.5538, -1.5521, 6.9538, 2.0342, -0.0855, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aff8e2524082806f7b842c6c1f8fe55c433ec5a0b80b5fdf74469b53f4611728",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d04a91ff854feba701d493634230dd5efb2e5526717e26565446d2cec30e7256",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:148f86a9f2d776ed1e7c82d78f2c1d2d110f8056f6dee3b5eb3e79789ef439a8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 8.782 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 26 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2047, 1.7596, 1.0157, 0.2298, -0.2268, -0.1829, 0.3815, -0.02, 0.7769, 0.6029, -0.445, -0.0296, -0.0387, 0.9998]\nstate[eef_state]: left_x=0.4999 left_y=-0.0595 left_z=0.1306 left_yaw=0.076 left_pitch=0.0601 left_roll=-0.0336 left_gripper=0.3815 right_x=0.2846 right_y=0.0031 right_z=0.1708 right_yaw=-0.0011 right_pitch=-0.048 right_roll=-0.0025 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -8.4718, 8.1846, 1.5604, -0.232, 0.0708, 0.0904, -0.4855, -1.7846, 6.8444, 2.0879, -0.0952, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqxvhWQAOhemrnjYcn4a_juhX8EtDP23KB4FBUz7g7jWCruiIbwbw67NnEPvOoqfU12cbPjo7ugfxXgijmEevIzRH_0mFd1L4zVdHUJQWcENlWi70-tAA1O7KA1Nzyae_YY5I0QtrpeP4CVHTvKRaRhmWBMBazCbMrmm7S8E7Ri_1sS7-9s7S0OxW7ZQLAeSoS8kBWHKodsa8YFX-URVILBbB7ckKEyjRJvGagwfWJlWOe0NeOWZ-hDWr3sLSZKfBvYSbLc_DaDSBrALpXdGRLCkiGhqaTbjqSFx5noxdVo9MpnN82Mq2sCbDA1Ase-keyA6CjRWkE86OKwzyXp4Aajg3FqVk0_WgGNnYtJH54pRjPhnzGd08hjw62HUC8Ra6IYm4eTLf4xf4IVMlQWi6MJIre0ij0P781tAePSnWpm4G6PZnjQ-qB6_QiDkuwIn_wU1iiY9wnFPpslG4I6w93ch1xlORQv8Bfj90irrIl_srop71EYaAEiHRUXXITwUIbzW3n4nWh87QxvxOKrgPNgBsmPrGoWnSRCGixqUiJmD4hkDoy1t1wAJ7mQ_es9dz2QVDfHOQtxP3f42DYPoAEcfY6Lz5cVvSHitiaozXPPD2ln77-LGuyaa3SeSuB2Y8J7aP6SSz8zRVefCTfp94O7Z2K59Gmv8nGXrrsKwDnLijhxPhvk0BlyACro-eWsQb1wlOl3VcKMYCUQl7rHBCDfW0d0dWJJY7lJGaPRAh2yhiI-fBPCfP2G__uuQcRcgQ26VewW3wbPOAJaEocgmT_v4gfHP3MQFVTuzr3RVwZhCdHGGnAbEyxolDNk3A77fL-ec3At0dv9z6zURDvoaHPp_gZ3hJPOlnwApbat_rKmBvpdTxG6zaJAvobTZH-qNXXRcPjCC7rfSdhsFStMiKuZFCCRYBYByWAup8LLS-8HZslgCBM8DaxUSJ6Hn0HEPVCvCxQ6UAYUYfQomu_pcFrLhL7mwDDvK5Evys_AmBzKLvRuKaQSy_lA1_S8YRun0bFVGKu83kfIQ6ljPwinHZQ13Y0GVmwpe11E23TpzRM7LFevtjYvLMkKjqTdtiand0-AOcZSKdif9IDaocyC93UJrp2FpQUY8Q597wJpPk_fkYjiCC_KuTt39fMhTRp2lCUiVKuzYkF4ts7gn-jXu9wLNN01FWF61hve6iSbX4r3XwVApYI7C0EI4EnxHT7DlGze4dq8aGbAuHxlInPkDzuorXSboECgUc40-Bcx8wdBcYjVYSeHarKbXP2n__VZtuxfQA1esrxEU2NWomzLkVju7WX1DDLn7KrKOcqnz2ZZXnKJvJtQJ4M_kRsYJ4JAtKyA9mOj_3Tpq04nza6nMRKs6fTyh583R6Zeypg_H07NxHV44orsXuJsk_jhoyQ0-mv6pw4daeGu39bUqFO9Kitpz37PD-AbIn2tv8RTQV6sZ41ZlWtom9LRF9JNEVXjDLj-gF7t3gVv3UytLp1e6jPRmVpuQOLdYbgFhw8bO0pINgC4C2ulCSfyZGCA7Czy8BQX1Qy7Sy8KCZVuLKP0PTlLen5UKiBjqXRpjO7SpSMMZnFc0D2HYBQqic9DG-Ayxj6mTnZZKyJAWmx22oZqbGuauyWTtsL7CAqA7Ywp425DFmZgCBVQuedpzG2L6vewDn-HfUeTgnMmBCVyxvgHwvY8ZlCMmn4CN_SHGIidrRjOn1dswkR_eIYvH37ewmZVvm8pvoFIQ5o0OA6MIKctRrFa55c4eHrPwv6W7rDjrepG5Uo1pubAlGGqekjYQ9I3laawPqzJYL-wDQljtW0dxxcoxzJjffcfpmAdTUzkUvsZyRwZCBiFhgCJVNtQaF8obpi6zn4QUWUa4Vmd8hb0ektVnbYWnhi2y_J8r3x0w-ZqlZ85IqjDz4h7PpuMVy3a9Lm8iGRpihWclU9RW9H-62BobB2bft0fU_TeD7iyWc6awdvo5yyXhkiHvOe_tvTvFiuh-Z-h1AkKfCScR7HyzJfGiKRmpdnHx9OSJhXQ_IeH4ibDcIzLQPBD7m7mVBxuMn7WCA9j6aIDynwF6V39F8IaWT7pwZk9v6tWNF-nLAt7b90u_GETMRKy_X1aLs97VLp93UEYZyzW8JOIH7_pe4lOT6niwY3VUAntkQJx9BCGH06MXxVXqFFLtOZpu6hOh6WGw2x0l5lG6Rw28hwOEtQ29GD1F_VTxkA8zdiLeYvsP9Je7TD8n_dWgsZAYmfDSdBJ4kn6xpXNzH48SlMY_pZhEZwBXKmVUXbhyJEvHGlepoehhWPNoKy4EBwOq15iDZeR7XW_XGLGGtg7ObK7kQ1cY0JQJnTISdIqZDz2hArwyI9SiIGRJoJI5GERRsOTgm4_VMvDOyIYzQRXOkKm8tuB3JiKzSCJhI2ZlJlsDLvZMV877ISypcGJQgys_c7C7kuTsj-7K5WJ4Afrc6W8y_-Qki-E84V5wkJfk5q-nQt_HstqkTnucRjobwRUuKryb1QZfzKpAoQMrFsYvh0kvYBsQ47q--7Dtzv5DVhlFAyLFA8QV-cqCDzTF_k-8uWX6onXRLHnng7VIu--MRIEVLH62CAMQRUWGr4W7TSNKS8LQjA3uttpN_tDWbdRlV8ACSxkx2GC5kbSO11hA1lSjEovuQNpGleY-7h7hr6SS6MKaa2fQ_STytNgNebIYlLi6cyA5",
  "id": "rs_0c52ee319deca4da016ab2ac6129ac87d08000e997e521550b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.565,\"left_y\":-0.07,\"left_z\":0.065,\"left_gripper\":0.8},\"note\":\"The bottle has not followed the lift, so that pinch did not hold it. Its neck is farther forward than the initial estimate; I’m reopening and approaching the upper body from above.\"}",
  "call_id": "call_XFAUfOlREvrrcWfXkXhwGLNS",
  "id": "fc_0c52ee319deca4da016ab2ac6d3a9087d0afd146c37f0a2c3a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XFAUfOlREvrrcWfXkXhwGLNS",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.202, 2.0792, 1.2427, 0.1997, -0.2527, -0.1898, 0.7978, -0.02, 0.7242, 0.5171, -0.3996, -0.0296, -0.0391, 0.9998]\nstate[eef_state]: left_x=0.5496 left_y=-0.0638 left_z=0.0577 left_yaw=0.104 left_pitch=-0.0535 left_roll=0.0096 left_gripper=0.7978 right_x=0.2772 right_y=0.0033 right_z=0.1548 right_yaw=-0.0009 right_pitch=-0.0358 right_roll=-0.0031 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -10.5915, 7.6376, 1.663, 0.0122, 0.1685, -0.1148, -0.5812, -1.4291, 7.0632, 2.0049, -0.0513, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:696ef5acc7c96f1adf9042297c80b83e2d1181e272e1f34679b6a3c276c89271",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7e8d6e268f24c8a30ad78cec16a54f6e791586d5822bbd7630ca1df2a9b3ea0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3190712a0476a714836a1a5f210608cef97206817639b1d58a532b01c59bcc2",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 4.756 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 30 changed as sent

message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.244, 1.491, 1.1599, -0.2798, -0.2626, -0.2028, 0.3988, -0.02, 0.7498, 0.5556, -0.4194, -0.0296, -0.0391, 0.9998]\nstate[eef_state]: left_x=0.4461 left_y=-0.0601 left_z=0.2144 left_yaw=0.0769 left_pitch=-0.027 left_roll=-0.0036 left_gripper=0.3988 right_x=0.2807 right_y=0.0032 right_z=0.1616 right_yaw=-0.0009 right_pitch=-0.0426 right_roll=-0.0029 right_gripper=0.9998\nstate[joint_eff]: [-0.8684, -9.0051, 10.0991, 1.7314, -0.1734, 0.105, -0.1148, -0.5538, -1.5521, 6.9538, 2.0342, -0.0855, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqx50ix4FLh8vMWlcoUNiDmrgtl9GhAGWwdE-P2LtwC8IEwVkqXf6Rw_ZsodQsQagHRbpkbw__Qe4m_LJgq060MnqI68DKC3qQbbIJ_2ka5d1knAGphQtVXn5DTf6oScXkIlo1Cv9tmijetQ8fVRhWbfgr7ABTTfSZr5S2ohg1_hLoOUYt6spPk8tTnAo5x3J-Z8hC5g-vK7lyvMcbFTzCpi8yBQazoNG2hK3T4Mf4KRbfJUd2lXNhhWg4dn58LsYqh_lYW_ufQoxaKdEdZYUBcXtkokJzhxJASsY5wza-nWJ0uARQUiuuawOMIU9QCwD31Awhhwshj9TQNgv9I5P0eoaGVpOujwqAvdB-_DcI_PWiqaTx4CbviOVsyzzFoSjx2jNEyUZwGIVXHy0Mu9qXpMUP-LIWj3iy2PuGJWSxg8dFVYORGxNybvtWfTk9VTj-6OY5Y4-rjoW61DFFndjWmPUSf-mhqKi_l-C-AOaGZr5xeIqcQQTJeGvGIPTeE07ol62uNSXvpa_3fx8KUBvTkt58dXKvL7TeZj_34H96YgkquKGyaEblkUmLAJiAuNzBNJ6q0uFxt1AS2gTxWUus4b0T0-06qMakmRHWotQdLLJOheQXPBA40KZdsITBKtQvz94ioq3tLD6Qa3UTFLCbvKBPw8nZg2cL3xN6ErrQ-W_RRpAOUbK8cDRC03EoZWPmkqzll5HzGKL_gkX7kl1Ldp5A8HfijgCVF9SMbPPYiMUJSkiGgG5W-bEZ9mUr67vTFHmOHFbsky4NJNRXg3XRdORt8V1L8Qehh_qyHQD1pd70rtoAz904R-6EScKX-3j7ZT_8_NETeUTAjFavdtJUC68j5U8SVNuRwHOFckam7WsWtBKoXNooRm4dddtMuIvOILTmOFKRKkWZqjlh7tznxxF4I9QOQGUEhA-eudqfi_5uFggt_Syt3BMh42gUzrFW7id_l_nAn67NHg5cgu77zTTQ-VJSSmd6QYCRaXSzlsbKeo1ypLM5qQEJBv9o78RfNr9l2wAEKaWVEp_ghA1zEFHVdsmaCwyQcX4BKh7wL7ZUvqhf-GfhIkLygtxA69VrIdRDlv16z7cwv9UC2GzZJfZeGBqgSjwlIVTyJt5uNUBPxxexTo1K2CPTnD7pcYyo1ltR7Q3In0fsNZIdWv1XB9ySMiQj4Vpm92J7TVWGac4HuRoXtBStht4OFk6PhmSAQdPGyGYsFqKP5obUcNVVCz5KRPKWuPYs8JMeqeHvq6Mc5Wnjz5XdXzO3B4bOH5NJ5IopRndaskMZKfwtXJpVcvACKf5qnFTmSYhkgqDyJaDtfh_2r78Ub-16uveP5Z0Sto1_ac5rWCJFbsM1_eZoF68I9dfRSs2TsPoa4vj_AidIBM5JlSP8VJl-6NicjpHFKGA1Ml0qCvlI68hfWkaUSUnQ==",
  "id": "rs_0c52ee319deca4da016ab2ac7270ec87d08ff323c2522675a3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.56,\"left_y\":-0.06,\"left_z\":0.015},\"note\":\"The cap and neck are now immediately in front of the fingertips. I’m lowering the open jaws around the neck without advancing farther.\"}",
  "call_id": "call_Qzm1c98OMS4vQrbxPhKp0KTb",
  "id": "fc_0c52ee319deca4da016ab2ac7469f887d08f974b33ca358ff5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Qzm1c98OMS4vQrbxPhKp0KTb",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1947, 2.1601, 1.2186, 0.3943, -0.2634, -0.1833, 0.7979, -0.02, 0.7044, 0.485, -0.3851, -0.0299, -0.0387, 0.9998]\nstate[eef_state]: left_x=0.564 left_y=-0.0607 left_z=0.0437 left_yaw=0.1164 left_pitch=0.0338 left_roll=-0.0065 left_gripper=0.7979 right_x=0.2742 right_y=0.0034 right_z=0.1482 right_yaw=-0.0007 right_pitch=-0.0335 right_roll=-0.0026 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -7.5692, 4.5744, 1.199, 0.0952, 0.0464, 0.0024, -0.294, -1.388, 6.9265, 2.0098, -0.1294, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3fc4f774efb40d22cee0be45a63888c0567a45c0f66e08fcc721db41ea0aacb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca8c2d5cf3d9e2f54fa0b7db27c2be45bee169d6a299f2aabb926738554eb71a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3225a0964c6939d5eb81ed595b5534961350c1be9ec05c235722c637b4f1bda8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 6.36 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.202, 2.0792, 1.2427, 0.1997, -0.2527, -0.1898, 0.7978, -0.02, 0.7242, 0.5171, -0.3996, -0.0296, -0.0391, 0.9998]\nstate[eef_state]: left_x=0.5496 left_y=-0.0638 left_z=0.0577 left_yaw=0.104 left_pitch=-0.0535 left_roll=0.0096 left_gripper=0.7978 right_x=0.2772 right_y=0.0033 right_z=0.1548 right_yaw=-0.0009 right_pitch=-0.0358 right_roll=-0.0031 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -10.5915, 7.6376, 1.663, 0.0122, 0.1685, -0.1148, -0.5812, -1.4291, 7.0632, 2.0049, -0.0513, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.15},\"note\":\"The jaws have reached contact height around the bottle’s shoulder, just below the cap. I’m closing enough to secure that upper section for a controlled lift.\"}",
  "call_id": "call_zNR3zjPIjlEVGQSbrgiYba3N",
  "id": "fc_0c52ee319deca4da016ab2ac7ca25887d083f2174f21138279",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zNR3zjPIjlEVGQSbrgiYba3N",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1902, 2.1597, 1.2488, 0.4129, -0.2813, -0.1871, 0.1559, -0.02, 0.6857, 0.4553, -0.3737, -0.0296, -0.0387, 0.9998]\nstate[eef_state]: left_x=0.5746 left_y=-0.057 left_z=0.0604 left_yaw=0.139 left_pitch=0.0833 left_roll=-0.0169 left_gripper=0.1559 right_x=0.2712 right_y=0.0034 right_z=0.1417 right_yaw=-0.0011 right_pitch=-0.0331 right_roll=-0.0028 right_gripper=0.9998\nstate[joint_eff]: [-0.5128, -12.041, 6.4068, 0.9353, 0.1636, 0.0073, 0.2759, -0.5402, -0.9094, 6.9128, 1.9512, -0.0904, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:614f63d52cf6994e16540656a71620fd5f42d305caeecdbc7d796b5f578f50a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cc48b2d44dcfcc8dc7de46da5c8ae56e37920ab12d26a55722a72cabb0a8ca7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd05f0cd857da8fbefee1d22e7161740ed74cee30c901f153ab2cd3013379e1e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 7.42 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 38 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1947, 2.1601, 1.2186, 0.3943, -0.2634, -0.1833, 0.7979, -0.02, 0.7044, 0.485, -0.3851, -0.0299, -0.0387, 0.9998]\nstate[eef_state]: left_x=0.564 left_y=-0.0607 left_z=0.0437 left_yaw=0.1164 left_pitch=0.0338 left_roll=-0.0065 left_gripper=0.7979 right_x=0.2742 right_y=0.0034 right_z=0.1482 right_yaw=-0.0007 right_pitch=-0.0335 right_roll=-0.0026 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -7.5692, 4.5744, 1.199, 0.0952, 0.0464, 0.0024, -0.294, -1.388, 6.9265, 2.0098, -0.1294, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqyFRRizwJAuZUgllfnnbIA6e9S9pPiF0ligjSw3zEqajvomPb2lfkuMsfuzZ95xv4BByW0fvJvvF8cThSdw-CNNbsLUI3ac2k3q09gm6QVUP5aWzk0p3coPH2F2JhSzIOImLYpNXmXKuaNVqh98eIEQu6fMamosF4tNuBzHAT_LEV0dd8xsfAck33FhYBdtvxlRTX_AHeKuKT1Fnk4ZCcxR_Sd5PDZoUJMfRqPgEyVicbJ4kHoGXHKVmuRlQLc6nr4umxgyR6HSoLulnFZrRTh5Mc4I1SC1awrmpj0K6K2pxRDeTwxXjTsFSkcnfvgKMNLqr3VRhw2hXarbo-4J-rp3O5f5GT0nYvVPx1SJUzsGiI90Ue8X3hT4QEeY8REFIKFtBKmCsZI6R652X6NrgjViYamQMq5R3_rur2Cj-0rjOlemNd5YLKWJUL17nNnlbAOWjTKYehlt0dP5AUyOr2sv0ghoIKoQ2k5eV4nuNwlsToR37tBrVVH9Vnm1P8UeQ_96ANkM9hRUX_ooYHbEMclPB49oSwz_j7631uEizK9i7bUacoyu54q5Sc4txtU2eo5EI8UjeiN-KRxz8bN2V-Bkv0VHYELQp8jOsQw8zX_e99o6TToqg_s9Meh1AFZA5kiB5zR8NFFecVYgvIBrj0aZktWT2ndDPbbXPM_rFyNsKPOa0Xd4gAnUmVteQzVlMKzUbfA2Q1mHiDzXJshGOv9eEmU0iC5U2K04cqZc0Rg5ubEUu1jYzo2ulb5_SkeGd3S56i9SvJkca0FaHDUHvselLlUXnF3SqsLngEYw_IStOmvwhmM1uRzL8mGTvKfjFeo5JdEzPjO8_KNhkdx7UjmSY7WtLa5FggIGsjUYB3YhOaNL4b463ORySyhwl589qSCfUJ0hVtdqiZj-eb07QFP0Ivvs7esCE5hkLOz_DRxgOCUkFewQo6JWvVA7NolFdF0odIeEcBFd7NbjLuoXwcw90vrbvqtJz-PLuFjSEd1MgvUR209yXq_xrCwBmXTLeh-kRA85D6aUgSlK2mqjPqn_KyKJN4GnT9suSQ0BAZREU45AyUN1pXHenKwi02vytD7BM5SCEUFDOnM8sgVoYpeZS-MYvlnY9JFjJqXTbs9iKqCga6cqnIuAbomOX8dJ54e9TX07ryneQJRw9kbTK1lpdjT-nSj0t8gfScIxylZyQxU4wY1vucAONFjtRMCL--F2u6eHdGqql_tULAdsRzsYRGxfnNikIiLccj-BLgvW7UQ=",
  "id": "rs_0c52ee319deca4da016ab2ac81ea1487d0b553b0c15d928531",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.53,\"left_z\":0.14,\"left_gripper\":0.12,\"right_x\":0.295,\"right_y\":0.004,\"right_z\":0.2},\"note\":\"The jaws have closed around a narrow section near the cap. I’m testing the hold with a short upward-and-back lift while keeping the other arm parked clear.\"}",
  "call_id": "call_64Nm7iOtvheC761pPyX9zr54",
  "id": "fc_0c52ee319deca4da016ab2ac82eb4c87d085f06fb97173aa0c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_64Nm7iOtvheC761pPyX9zr54",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2043, 1.9179, 1.2556, 0.0788, -0.2821, -0.21, 0.1213, -0.0189, 0.7979, 0.6388, -0.4553, -0.0296, -0.0391, 0.9998]\nstate[eef_state]: left_x=0.5396 left_y=-0.0579 left_z=0.125 left_yaw=0.1365 left_pitch=0.0025 left_roll=-0.0083 left_gripper=0.1213 right_x=0.2889 right_y=0.0034 right_z=0.1794 right_yaw=0.0003 right_pitch=-0.0434 right_roll=-0.0029 right_gripper=0.9998\nstate[joint_eff]: [-0.759, -12.8068, 6.147, 1.7949, -0.2515, -0.0562, 0.0904, 0.0752, -1.0598, 9.6479, 1.7802, -0.0024, 0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c358f117dd9b979e3d495f962c56d52335d35ce785224290db33e432ab0e185",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c9f78756703f9dcb2b9ceb4d00f96b7d8427ffa83c9d75c8748d378f784991d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0073c66c204eaaba00e91745a8813df01628b8045b972ff130550f2e5631a792",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 11.46 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 41 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1902, 2.1597, 1.2488, 0.4129, -0.2813, -0.1871, 0.1559, -0.02, 0.6857, 0.4553, -0.3737, -0.0296, -0.0387, 0.9998]\nstate[eef_state]: left_x=0.5746 left_y=-0.057 left_z=0.0604 left_yaw=0.139 left_pitch=0.0833 left_roll=-0.0169 left_gripper=0.1559 right_x=0.2712 right_y=0.0034 right_z=0.1417 right_yaw=-0.0011 right_pitch=-0.0331 right_roll=-0.0028 right_gripper=0.9998\nstate[joint_eff]: [-0.5128, -12.041, 6.4068, 0.9353, 0.1636, 0.0073, 0.2759, -0.5402, -0.9094, 6.9128, 1.9512, -0.0904, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqyMBxmbMc0jonynETlyp-dL5TV9Zh7Rcb6nlMBPWxIKL_jQOBgHSnrZzzErBmdfFbKdq27tE99mMuWvCQAoc2wybjh5xPt3RSGErCCj4gQT6dkmlHpI8dlO0RZVC5SMg8Dyp-pQSQasDhmN842NBHj3j2HJrNT1FA9KGkXNB5p9aqiGQo3Sr7OfNskEKSF3kwEp62u32n24GzY8fk0UazlFOh91NCmg3YwK8g52Y2KEQ3j3saFhMhoenPCbrqsTEjVr6-Wrj7kEv3kQY2OXKI1JyRI3sEcSwc6Y3K-63-vz-ekI59HoasSEDF7SPC4RqHbPXMHHjpdSUk0plrNnC1WJr6oapnGjEjykBhSMlyvHUqRLEbJxPKd0DUHzTahsKFnsTOwjxkCQ9MwEne_HQPsrvzTJPSNLfc7Q2QZdy5xSm0jok9QFRbXHynkynfpNrlmXuXofvOMCvb3Fxy2wdynFDVnwz04dNKOx812iMhOo6QSF1LWpdOM2ORmUjh2wxY7fq_L5I75L2vNrIN4dj3IFJbDNI67EZOIsMt0HTJQQ5b8dODMR-7fjl0Shukls-k3cISodDHHbnmTOq5iLpdLMELx5bAdZBwgjuyu4JYA9FFpXLMNjOkKdEJgMIpcUh2_BBssDmLzmJ0FzoEEdDLelVo3LhnGPJjqFU4FnS14k6S8R16Iv4B6NM-lo-qrYD0brVtV7-YiJUDMQBtJJrgEIshRY7NFjfCCXtUkyEeM9fKBgEK4rTrPZTdbUq3XjdGSE7NcC80phf_AVfQprg4GYnQLqwKD1h-pQPy5E3DDy9f6_zNIBmO7_Ag8wDiyV3GVckWJ-IqdTQdxAyqLOmEEZm_q1iZfDR7Yw0I3M-S4xk6IEGKo8jg7Hu_DlM9gAYd5COhe0Ci86qE_CBeZGMw8ko7ui3ZMyzSHX1TeDdSlOs1dNhOYXawZrYeokzlKYM3T-0F9XnqccO74VOeiTKFdYCjrqXxEuhWc9wuXn3CKNpxL1oeaPbo-erKI-PW5eMOMapx_xGpLGt5UMItx1rd3wp0rhqFEtb-BXzHDXP1Nqw6lhuzcewWQzeReqPFGSYCUKYKVKYu2OOBxu11nW7lg7JqrJwJtRztHTbLlW5H-WXbUYN5Q891difpKinZtlTJfTpbD-XJRu-OMw1Q-Klx8_oBlqX5cG8ZyzDjqOth5fy5D3YIOURwXoA4Oqi2IG_TOsVZ6WtXOhQAI_OpKwl59KPRBqy0FCH-eGQe4s-uCk1pNPYdvTbhYsrqs-HUd1VXrxtROd55mdmWNNiGUMbCI82SPMtN8aODHF6i0KGjK_KSxN_0tpwArJaFoGF0H7uMp1VEHkzGkKHHDVxHxvIOxItvYQk7CgNneJaV4EvMV-Y_8=",
  "id": "rs_0c52ee319deca4da016ab2ac884bd887d0ad9574017897f7f6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The bottle has not visibly risen with the gripper, so I’m checking whether the jaws actually retained the neck by closing fully before any further lift.\"}",
  "call_id": "call_vjiZd8t24EerCXmblcAewft7",
  "id": "fc_0c52ee319deca4da016ab2ac8a372487d0ae4da71f90624830",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vjiZd8t24EerCXmblcAewft7",
  "output": "executing move_to over 2 steps (0.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2039, 1.8977, 1.2549, 0.0479, -0.2859, -0.21, 0.0127, -0.0193, 0.7811, 0.6186, -0.4446, -0.0296, -0.0387, 0.9998]\nstate[eef_state]: left_x=0.5351 left_y=-0.0561 left_z=0.1291 left_yaw=0.1401 left_pitch=-0.0076 left_roll=-0.0025 left_gripper=0.0127 right_x=0.2868 right_y=0.0033 right_z=0.1769 right_yaw=-0.0003 right_pitch=-0.0362 right_roll=-0.0028 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -8.841, 7.4325, 1.7118, -0.105, 0.0171, 0.5543, -0.4991, -1.3197, 7.0085, 2.1612, -0.0855, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1eb041be14dae7c6f2f707c1f566f7f041e0f227bf8a03c7b583ea6565452bf8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c384eb547f738a6912bb652ae59a47f944d91134ff73baf3a9ce2f2ab26f91c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c508551ba55625ef3b1d0be21bde8c71259e39a3467df5f2c7624b3474df09f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /responses · status 200 · 5.386 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 45 changed as sent

message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2043, 1.9179, 1.2556, 0.0788, -0.2821, -0.21, 0.1213, -0.0189, 0.7979, 0.6388, -0.4553, -0.0296, -0.0391, 0.9998]\nstate[eef_state]: left_x=0.5396 left_y=-0.0579 left_z=0.125 left_yaw=0.1365 left_pitch=0.0025 left_roll=-0.0083 left_gripper=0.1213 right_x=0.2889 right_y=0.0034 right_z=0.1794 right_yaw=0.0003 right_pitch=-0.0434 right_roll=-0.0029 right_gripper=0.9998\nstate[joint_eff]: [-0.759, -12.8068, 6.147, 1.7949, -0.2515, -0.0562, 0.0904, 0.0752, -1.0598, 9.6479, 1.7802, -0.0024, 0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqyYWls-WaBjLTQfeX2yBWk9MYapvsujOBG0i2jube5w3fYVUdVtyw2nNcMHBAR1f-q0U6KGKD_LWcourhFCgQRsFAYItjaon3wXlI5i3rGlxayw24nMM3y3WrrL6BQeAG_gRRXoW_AvXjwe9Ya1veXK1DgwXGd5gGjFa3YImV9gwnTQfTetzRT3kuXMcqjXKepbKf42WIESWr1_q1-9VYNM23b2QSy7nAH9Gamo8LFU0JS1H11XckmPm8tSj7fv2lXrc5f5qicSTc303BEqDz4wSkvuuNff47RaG8v9l9aU5f6gZf-5Vqr9ksffhy-5vDEwGPXwCASYVqEtCvFAPKkGuXAL6zQfLy8Z0tqjkAfQH-BcEn0oxuIiy0ZWTImbukoVEq5jY09QE3lyKEK1THcAJNgayLN-q0XdSVi1hB8xgLdCulYPaPltpmJwjYIz-BPnoFUFy_xbtFnFF876MxI2d1FOlYMwq9pjXGr9cWoPAJJjZBmWlzpQcRNkA6ieeRtYFG5ygoYjgTWKxhir3i5QElwNy4OZG2zWyFBDKmKlsgz3pCf2munExUikWo0Z53VylJS6UCwbOyy49R3RVefQqmVXuH3q5Tz46oXVT1qVdNeJn3Aag4bZmcX0vmSzp8dRInKBBzkvYWMztUpqH_lCmKi0lAl54N6QypGIVlHMduHZjzxJBlPrheI7XfWixM2vd_ckfbw3RStcWdo1pU45RjOG_8q98HJoPnv0KUs-W8RzDRzR8-qGSRA9UHdvA2BVjyNhVHe7eVMZBjADdHBLwlDCqhwUFWhJC6Negy0LfsW3M6uIvqA1IfW0HJAOoko8-pMRkc-COZJXo5PLMsGcEJfWd1yjrSG7po_lBaAKg0m0M1lV3QdWVmAPYoYpKqahNwfoKEhj_A29Fi3GBnDXJMljFdoJuu8DQ8pi5AXmOwJ1rKTJQYafitZMu-oW2Gw0svrKiC-NoJlmu_pmrWCPX7xyGPtIrNkmGA5XIwmkT76xruU7eZMWUMtXqcHHctXG7qiyKnHnsX87OZozwySFbmo6ah-ZGIg90SsoyeCIVRcndbjHcBaeACpo0QJT_Y3UsQig1WJU4FLbFGjrbUnC288O7oEG4DjlyAhDO1qNqp7vUeyKGfPUtDxsZJZL3HvkIf-EbYFHVHvmdRL3obuNBWcMAvSTX0xFX1sD-gPUTLWEjIcVAvXN1ruinsS5ztg7aLq2sp6ZjUMyiUOb4frZwQMasNzG8gy13wHWKisczpVO02JvPJgdjQQPaSXGwBv1pI6A2QRhTmP2hq6Wp8TeLkxacPhswRDzM7Hgch9r_K12KJVXEXzQZleW25xo89FHb68aO1LisSCdLdMvU7g2BLPjHlK3u0mqTPkmp7V3J3p5GTqc_O0D2eQtSzn9XwA_UvJNg2RP2wvdQhosWYdj3HgGXh87aHgyvaUEUbjAHmRE2HZRnDA9bSnbvANQsP6WyKXGPhWYQ8MpBgjKJGClBS1lWKPqrxHkek6QnH5SZvBVZ-I3lTJidAv9vENKTg28aTGEX3XxZCOiFITNDLj59O47-Ja1OMLXqGozE2lpFF-ftmMYQxAnZxtNq-RJLETR01FtLOIrIRH7das8v49uk43Prrhk2CXMgyClyXEt_qwvRb_qt-JlyKc4EP_OBGWr7uKwfzONYDJi0swVNcbKUDMNJs3SQHBXuNqo471Oqoka3gNhIQEYhSOsxiCPgzQ6yZmUT9DBvbaWTv9FdHLXrrHzKhacDxSy4ow__JDPRStn3aYmF3CjP7_zNtmjJgYv6GZKlq_qtPrHEyeidW0JbST0Cu3T8F7rU7sdKPwI_CcGIGaP_NcBlTKXOM5dp8EBBreTlGWZ6OJcsQ4_8eWQ6-xUzNbjUJ1R6WZe_WTvlt_kY00oTlEDiK1-BLRUr4dzbWXWmwJxnCW25t9_p0HtFD4GSKOIqsFJI8zRX8kAcU3i3RDt-LvlYMu817sAwAHn1BcZLVH6V1p5e4tFh_gV31h5ChcZ4QaaeshpmlB7yActcpzEvb1miv_FxIUDR1pEqy00AD_Utk41JvtbtHAXdKwULRyalxlPYSgSgY2g-VHShL9HCOqeWXQ4NDDD7T9bXmi2dmb2yaFEDQhV_k-tzrHc8YehpdWwbgPfJ6lQlN3Ay0KvlaVOlRhBpXMoh4_8HtbyJFS5j4gVQ5n0mPmTS3yVmrenikOs9jUm1KhbyltQxTUtsZAFChuzfXIjju_G9Sq47lakE5JxMxaWMkOhd56egDyumWhcH5AIIEGGRJMmSYHuz-enFVOupMTH_fxeEesqK89xRpvESCdZwU1PacKq4LBZWPJrx14CPgfhF-A=",
  "id": "rs_0c52ee319deca4da016ab2ac8feae087d0942e1bc8121c7534",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.51,\"left_y\":-0.03,\"left_z\":0.025,\"left_gripper\":0.85},\"note\":\"The full-close reading is empty, and the bottle has rolled slightly left. I’m switching to a wider, lower grasp around the body so the next lift can establish a definite hold.\"}",
  "call_id": "call_amPnVzGTqmf8NkMivZ7bGCes",
  "id": "fc_0c52ee319deca4da016ab2ac96bd1c87d0a2de4a0ca63c002a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_amPnVzGTqmf8NkMivZ7bGCes",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1505, 2.0163, 0.973, 0.4698, -0.2611, -0.1825, 0.8456, -0.0193, 0.7635, 0.5842, -0.4263, -0.0296, -0.0391, 0.9998]\nstate[eef_state]: left_x=0.5129 left_y=-0.028 left_z=0.0383 left_yaw=0.1582 left_pitch=0.0083 left_roll=0.001 left_gripper=0.8456 right_x=0.2841 right_y=0.0033 right_z=0.1697 right_yaw=-0.0001 right_pitch=-0.0346 right_roll=-0.0031 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -8.335, 4.6974, 1.5067, -0.0073, 0.0171, -0.0611, -0.5402, -1.853, 7.0632, 2.0293, -0.0757, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6a992001990a9b82fa36afaf56a98a90ad5a2ee1f7a816173618896d116a15b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66ac95b97bef5db38f26b0093e11d3482c2102462dec725252c74bcbe8c9d93c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea9ece67f30a29e973d7e01ffbdd43c29b7de4e50233da8bc5a5496391998363",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 3.794 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2039, 1.8977, 1.2549, 0.0479, -0.2859, -0.21, 0.0127, -0.0193, 0.7811, 0.6186, -0.4446, -0.0296, -0.0387, 0.9998]\nstate[eef_state]: left_x=0.5351 left_y=-0.0561 left_z=0.1291 left_yaw=0.1401 left_pitch=-0.0076 left_roll=-0.0025 left_gripper=0.0127 right_x=0.2868 right_y=0.0033 right_z=0.1769 right_yaw=-0.0003 right_pitch=-0.0362 right_roll=-0.0028 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -8.841, 7.4325, 1.7118, -0.105, 0.0171, 0.5543, -0.4991, -1.3197, 7.0085, 2.1612, -0.0855, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The bottle’s body is centered between the open jaws at table height. I’m closing fully to get a secure body grasp, then I can test whether it lifts.\"}",
  "call_id": "call_Zrf3An2pUoPEWGoInDhnYMdx",
  "id": "fc_0c52ee319deca4da016ab2ac9cb95887d0a7eca82d17c79d11",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Zrf3An2pUoPEWGoInDhnYMdx",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1497, 2.0155, 0.9768, 0.5274, -0.2775, -0.186, 0.4266, -0.02, 0.7456, 0.5507, -0.4187, -0.0296, -0.0387, 0.9998]\nstate[eef_state]: left_x=0.521 left_y=-0.026 left_z=0.0524 left_yaw=0.1753 left_pitch=0.07 left_roll=-0.0133 left_gripper=0.4266 right_x=0.2799 right_y=0.0032 right_z=0.1606 right_yaw=-0.0011 right_pitch=-0.0426 right_roll=-0.0026 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -10.1949, 5.6957, 1.033, 0.0611, -0.0415, 0.4127, -0.2256, -1.6342, 6.9402, 2.0586, -0.0806, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca364f0b37a92872ce3add18def117c9a6828cf67ad646c6b68be160f7d2d70e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:603d9b1f863cb84224775ad9f3e93e6409e3a788ed2748861384541b5dd6a62d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:301b2899dbd4afe329d199e0b0f990a6ee2515892bbd2c26c446c785705a50c8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 5.617 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 53 changed as sent

message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1505, 2.0163, 0.973, 0.4698, -0.2611, -0.1825, 0.8456, -0.0193, 0.7635, 0.5842, -0.4263, -0.0296, -0.0391, 0.9998]\nstate[eef_state]: left_x=0.5129 left_y=-0.028 left_z=0.0383 left_yaw=0.1582 left_pitch=0.0083 left_roll=0.001 left_gripper=0.8456 right_x=0.2841 right_y=0.0033 right_z=0.1697 right_yaw=-0.0001 right_pitch=-0.0346 right_roll=-0.0031 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -8.335, 4.6974, 1.5067, -0.0073, 0.0171, -0.0611, -0.5402, -1.853, 7.0632, 2.0293, -0.0757, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_z\":0.17},\"note\":\"The closed jaws retain about four centimeters of bottle width, confirming a body grasp. I’m lifting while drawing the bottle back into the reachable workspace.\"}",
  "call_id": "call_Ri5j0PtEeHFkvhhQHW9Q9bKZ",
  "id": "fc_0c52ee319deca4da016ab2aca21a8087d090fea55d7d665eeb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ri5j0PtEeHFkvhhQHW9Q9bKZ",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1638, 1.6447, 1.0218, 0.0158, -0.2783, -0.2096, 0.4264, -0.02, 0.7189, 0.5095, -0.3992, -0.0296, -0.0391, 0.9998]\nstate[eef_state]: left_x=0.4729 left_y=-0.0254 left_z=0.1443 left_yaw=0.1736 left_pitch=-0.0205 left_roll=-0.0021 left_gripper=0.4264 right_x=0.2761 right_y=0.0033 right_z=0.1527 right_yaw=-0.0009 right_pitch=-0.0377 right_roll=-0.003 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -9.9624, 9.8393, 1.6825, -0.2759, -0.0269, -0.0366, -0.5675, -1.1556, 6.9538, 2.0244, -0.1001, -0.0513, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09fcefa53879be394c2bb90554e0ae0105040d94f999026cfab4ce2572a9e263",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5903a9f608c6059f19599b3dec366240e91a8f246cfec56ddb18e05fcefca7bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:581007dccfb60be7de866bf62e8f92828983b82c90922121bba37fafd5d0590d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 13.31 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 56 changed as sent

message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1497, 2.0155, 0.9768, 0.5274, -0.2775, -0.186, 0.4266, -0.02, 0.7456, 0.5507, -0.4187, -0.0296, -0.0387, 0.9998]\nstate[eef_state]: left_x=0.521 left_y=-0.026 left_z=0.0524 left_yaw=0.1753 left_pitch=0.07 left_roll=-0.0133 left_gripper=0.4266 right_x=0.2799 right_y=0.0032 right_z=0.1606 right_yaw=-0.0011 right_pitch=-0.0426 right_roll=-0.0026 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -10.1949, 5.6957, 1.033, 0.0611, -0.0415, 0.4127, -0.2256, -1.6342, 6.9402, 2.0586, -0.0806, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqyppkXah5v5ksPNfcZx3m9fo7ZfPeFyJXc2qYjoz2Dpb_LL3jubzheaDBZ13ky3EAZ3EhB-gWQTtHuIw_drLfqbJczQECqOXTsLQvU-fmt-02cNMU1o-ytyLZ_x_9JJZPC95X1L-gUNTsZAGbuZfY10vdPxr1VNkqI1UbIz7KidYs1GrNx04gl6goNgmz8WBEbLSBBlPlXLFaO_WAKW1W8m4stR6WlrwFYQuC26cpHHTeb4cNCgDw2QB5y0rXl9M-Bcq_Dv0U2_NnqAA-mnrZvXgebJA9xVx17SG1FkWh4tpY6TrYoXIa3i7XzLKE7FPkh7_y-erYXsk2lZUr42EfheujnjtZmfxRTwRJ7k-ZV39HhQzdStW31EHnhmyhNQ9uMyXe0bPzYnVjPvCACBqSyp-TTMhOjwB6QX2n3poJwA3w38-YiKDMSNH0X0csnjxiAe2Sk7WyvUbGXRTJg2Bjv7UJ3OTzZnSMphJzCmxGg18_zQC8SUMxfpW8CISB5DplTwJhbjPrc_ZXO67eCDp3tv1DvB8Zmct5td9nUDb9wWbvvrTxqZnCB3nXfbxv-oJaAnrVa9BvNry91YJCwjMTsy1MIRUEpZ4oQoz110y_l8ZamLLjvV4Jc1lyCUUYA_npEw97Z82UPKQAv1D12Sya1TtXvVxzeqsRv2Sqk5R08SCJZoWZN8RG0ASFFzBzVhB9JYhdcs6Ng5ZloPAkEXHPZZ0LlC567aNRawC51zApjHK9nwGm9sk8B3hYcwK_5Ydmyrq-VAu2VTROwyUb4a1lsSfU85SzR5zIhbGWu3rz9FdrtZKvnWOlPfzkiMKchg8YeXOJw6o4n2tp-dij1N1Cqh_hWcpVIk6Ufn6_HSPMsY5e4SHgBiCk63KcfuNcuzuee7nbs9uY9uOidmmDLvGglaFDczPJGcPYCDFRBbkPUMwvOjr6-vO8ADTfz_WmcNtXVT5dwMAH3KDyGWGuwZxVTxw7eBNgoz0GV-hhvmzOz7lYJ0oYK0Miz3CQu3uQ8kTyba3UIvhioLgehggtj1t5scKkkSM6YY0ClGYxzoH89EIcipeZ74soPlfDo-GRyiCLC2BjyKF3HKmmtGu-NB3QXb9uEULuu6_tryiyv1ZmyTWQFhg8Yk4ba8lznOdMwWpsddw2Ep3W9I98CX2wzlUkFeg2fMtIEEnBKPTPfGDhdnD1mBfCDHYYvm4vpfviSUwCl2AMh8iWj6bQSgjYkBlFyVC5pxwP9-nfFyKagt2G__bTJnW1wyYoq6BSqLS9ECtdBVdbCtTLlHl5xflcxQXxRGpPuPT6EogsYayPBXu2gfZiHqLkWgI6cSoHp7FzzFB6Vun5wT2pyOQz7RnXS82lqYz7fsZyoIdGTEuFGOjrZ7hpTVdmKlyExo9Ng5Uw5bSPVnn-yBVUKoOaVxgyzYorwKDruptd_Bd5bmkW4y1Ee9HAwb1jtFqPzqT1lPJoxhGznok_JM6h-E2DKoZbareGzcxeVBBg_z5fOSqN75m6sRJF4=",
  "id": "rs_0c52ee319deca4da016ab2aca64c8c87d09fbfaae24e03fbeb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_z\":0.28,\"left_gripper\":0.46},\"note\":\"The bottle is now clearly lifted with the jaws, but remains tilted. I’m raising it for clearance and easing the grip slightly so its heavier base can rotate downward.\"}",
  "call_id": "call_WrNLpjH6mPVYVWGhT1nuqrbt",
  "id": "fc_0c52ee319deca4da016ab2aca8334087d09aab0808a427e6e6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WrNLpjH6mPVYVWGhT1nuqrbt",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1783, 1.4906, 1.3197, -0.4416, -0.2962, -0.215, 0.4586, -0.02, 0.6979, 0.4728, -0.3801, -0.0296, -0.0391, 0.9998]\nstate[eef_state]: left_x=0.4489 left_y=-0.0249 left_z=0.2554 left_yaw=0.1769 left_pitch=-0.0221 left_roll=0.0049 left_gripper=0.4586 right_x=0.273 right_y=0.0033 right_z=0.1453 right_yaw=-0.0009 right_pitch=-0.0342 right_roll=-0.0031 right_gripper=0.9998\nstate[joint_eff]: [-0.8547, -9.6889, 9.4701, 1.6874, -0.2027, -0.0366, -0.1587, -0.4034, -1.4017, 7.0359, 1.9805, -0.0757, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:838f52d2c590063296301dcea0e571344a8114ff899c5fae8ae9529eb2163292",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc83aaf9e4200d661b77a0f0e1a421f5b12ec13e4c1246d0211e0568d5148740",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3392007d903b5ea353a84ecf2e7554c98b4faf852adfd6e90d5efb01fc6490ee",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 18.83 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 59 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1638, 1.6447, 1.0218, 0.0158, -0.2783, -0.2096, 0.4264, -0.02, 0.7189, 0.5095, -0.3992, -0.0296, -0.0391, 0.9998]\nstate[eef_state]: left_x=0.4729 left_y=-0.0254 left_z=0.1443 left_yaw=0.1736 left_pitch=-0.0205 left_roll=-0.0021 left_gripper=0.4264 right_x=0.2761 right_y=0.0033 right_z=0.1527 right_yaw=-0.0009 right_pitch=-0.0377 right_roll=-0.003 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -9.9624, 9.8393, 1.6825, -0.2759, -0.0269, -0.0366, -0.5675, -1.1556, 6.9538, 2.0244, -0.1001, -0.0513, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqy358AJfbvzv5oC11Nh7ViypThx3vNdNBTKogIRIP_HUhitb24jR8y-Xr9yGr7Ng8G3EMWWK4U9Z9TlPFftPtkwCJolAvbmJPPPobCr9eGZijp7RWVrMtBbIXsGqictM1SxLhwr1PGgxLGRUdm8VzoDzpZOphIbYwAWiYQAgVxh5rXkKVJIww_bVVdzDOgW5ucLYHbnO6zI_fTZM4_cU3N13JXBRvJTnhxn1X-BDVYOm7ma9qDFv_K_R-PhKk55Y3NpebVmK1QQkQkF0v68i5s204QqXTTEvKh7JYnWZHouPExW-_UQn1jJgxqtnExRXxrzUfyxutBu6BeaVk8swapZh883cRxT_DKG1gMbCx0Nc_1FJPlO3G0AzTFjPIYsVw09P8rlUe1GQ7I1eovawSqUTCwxU-cKW1OHDZxc9fsJ0-frLRxwWNczb9iQWdRQnCzY3K3z2_Tf9HMFOUbHK48kQUf6X-2qYVxz19tJ7SYbehx2PUDxjOXQRefqbBdkODn3rDZwJfKO_dF7EYtmbNOpwzhvHEZDg2iJFd5bHsT9xCQfJo-a77X2H7Yhrf8Cwz8mPfHfaSri7EywQy01i4ro6fVCB-VezjVijsY-SEiOCV3SgQd58dC6CwY4UPeoHWV97gbB1e003q0Dy8R7USEIquhR04LnfPAJyUs73M2LxKjwrIHx-UhV8xLN7esp4JyH-5AvNp4Qd923mu5chfp74ZBtXmsgAiEYNHdiV-dQ4yYDwL3opXOCO5YSrcNpkEX4qT7VsIe0LIocoVCs0uvLRR7DjbqbLCxnTup6nBWsDlQcZrJx34ZmFYdntW02biL3cvK2UswZSOGLxwBAzoylExBN-JRr1jXuU34okQATb8Y93B_sFYpP_nIdW1MRoOri6WrKrmmkPteCwRMGhsCdPKLcT1e-Pwy950cceAwbEDvFNzSwFeqZx9lkDaZSwbIMIiv7qfhIH9nhr0_2KGJrpqgek_jqFannMAEhPjMdDYhZ1PqCsQs8TVsYUbIq9SAq7Yc53JfRgDsGV0Pn1nHr2HBWqw5-7rdeq8dfV_zm_rgSpiEHAosXj5UTDLnHGn26_MOjlJIDEY3LZ8Zx8obDzjehexyCJege6fBF-tTxFNfvQx_51CQYVhppExBZYsZEvV-dBOUpmQOglr_BFchsT_DuYxUVimXqJw4BMEyVeVorOLqImk3f1D0Y_82LF5t37rUUc4u3lyMYlbhYia-dltwv0RV_IRWHKZO0BYfVQFs_5eWzG1LOk4vyDgbV3EwRU9FCjU0OrTW1RZJ9sMFjBbdSVpY5INZf3J16bj2KXs-PIrrud9K8Hx1z9tXvoWrj8a6HpKHXV_uT3yE44wAmfIQrH_LKmC2b_wsPG5MXuKXLoUkPNYpH-2fkXt6f9uwU6-hNxz_pAjxgI3KGMaaSP1cT7I55W2n1zg7ggK5suWDgIWNMNOoMUlUTTXdmtKPb_wMRhgbgtphW2bEcUagyuqNHw8YORkHb7dATdKFpzKocamIts1_ILsLubQQ8di6VQ1XNyQaIdo4QqkBTlHbw9b7qJ3DcVwRcuugk0L_9MV_pN1m2EYEA119ub2cysa29RdywkBi9CRpSgFwDcmbTNEDZ7KznPDERD3NEpQLbBBFMCrcreqZ9DFEALwj313sY8FVsq1eX6at2MPCy0DMp9aEm83fj_NCbEuQrf9wZajiqHq0FHOH6agrcM-U0IePazQPEFUI7EwILLDdCgFlwr-4nnGMRvXP-qb3TIMMCkEzxQN4PLpkbAJmXBF6l-XUuiKeQ_5CdCionn3aJioeTp-aUVHvpQk1g95aQa_MzwCkuNcuh1TCiftLXwf2iPsmgZvIfYyQUHVko59nGcGheJspzzKqpBEppwuVvZDtB7_bfG0XhZBWC9W6Jmfppn3QMbr5CvTQQwMwZ5DkBV0BwvAsOuYuvWfLHaRin23ZSD3NN6SZnmGcPG9IA7Mp49B42gfuLKP_KLyPilerrkSn41Bh3o38E3JXfGOCDGWi7pOw5y_LJs6Vep8haUklXJEbGVpSSmvXb_Ot7rjeNC9SXFhpiqIMiaLchk12le7Cm8GlveliE9J7Yl7zhPmP85jsvc5VqtjHxSuTznG9q1dHbPBRabc0XhmoBxnjEP2ueBb6AwB56fHBEI_zXdF42DV5K",
  "id": "rs_0c52ee319deca4da016ab2acadd76487d0851a406584b9cbee",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.5,\"left_y\":-0.045,\"left_z\":-0.015,\"left_gripper\":0.85},\"note\":\"The bottle stayed on the table after the grip was eased, so it was not securely retained. I’m making a lower body grasp, placing the fingertips down beside the bottle instead of on its curved upper surface.\"}",
  "call_id": "call_ZEKD4xSwnVjXIazl8EhzzUhK",
  "id": "fc_0c52ee319deca4da016ab2acb5b75c87d0bb4125b9273fe5f4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZEKD4xSwnVjXIazl8EhzzUhK",
  "output": "executing move_to over 18 steps (1.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2131, 2.0731, 0.9314, 0.7013, -0.3466, -0.2317, 0.8486, -0.02, 0.6777, 0.4438, -0.366, -0.0296, -0.0387, 0.9998]\nstate[eef_state]: left_x=0.5192 left_y=-0.0473 left_z=0.045 left_yaw=0.1974 left_pitch=0.1467 left_roll=-0.0507 left_gripper=0.8486 right_x=0.2704 right_y=0.0034 right_z=0.14 right_yaw=-0.0011 right_pitch=-0.0289 right_roll=-0.0029 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -4.7658, 3.4256, 0.2564, 0.1636, -0.0366, -0.0952, -0.5812, -1.1556, 6.694, 1.9512, -0.0757, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af2b1942745f7129e80290ecc9bec7b446a062aeed051c49bcced6838637f881",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a014732a62e46fe913d7142852c4084221a868ff741da7a008a610438fa145c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:094a6802e7fc599cbcec87eedbff9dc0f1820ca9aa889ff0dcc0a3f30c84beca",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 6.786 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 63 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1783, 1.4906, 1.3197, -0.4416, -0.2962, -0.215, 0.4586, -0.02, 0.6979, 0.4728, -0.3801, -0.0296, -0.0391, 0.9998]\nstate[eef_state]: left_x=0.4489 left_y=-0.0249 left_z=0.2554 left_yaw=0.1769 left_pitch=-0.0221 left_roll=0.0049 left_gripper=0.4586 right_x=0.273 right_y=0.0033 right_z=0.1453 right_yaw=-0.0009 right_pitch=-0.0342 right_roll=-0.0031 right_gripper=0.9998\nstate[joint_eff]: [-0.8547, -9.6889, 9.4701, 1.6874, -0.2027, -0.0366, -0.1587, -0.4034, -1.4017, 7.0359, 1.9805, -0.0757, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqzMMrHtADtNAMPCcoO_szQF6FCaC6Gnc30wDcGe-cSycJFTpbChxMwRfqg49CfXDc-0WA05oZcyFlRkNv18JSc9oONZIRny-q35lpCO3lRy0yLxjgsqiKPQIVsihOU5NRog9L6PYIeuNo-k5HQ4aNqOeN8cIxzemwQ7r55opwP6WTz0t6tPzpwMCs-dVOZA4RGV1J5CEveHnlluSO289bY9tCv9cMlyoE_f6yg2k___TwhFMQC2Os8AfnDpRxqHHBDTDvK832wrg7SsmWmrecAe_q0CliddN3hcgiZF_UFj3xSkQ_U_wCMYmtOLClheY7l3-opHsQVC4Eg6iuLp8ghLb3b0rYsb0irgklX2yWY16loFDQdqX7_-UIhZ6-5qtQyCDRgHTmVtUGEwGNfywHTiglSs3UZgMVA2cL6COtxzyTMY5nJH78W7C27TLxVFlvM01AcyR_NKtlPv3o0dtME9TvxjVMhAkTCyimejHxrmIn1eTHRl6WeVgDWvun85DcMKl8_09x0GLku5jDzxZUhmSqfa8OJv_inL_1njq6pfIW2CqQgkaKBaA6lsFFA5E7hmjI0fxrOffVnH_LRcJDJwONAv8JdoIBu1CJwj4QGrJaaDmzUufNF9mPolEgzMdaS5rZIX0q2SK5EZsY6Oz40vkleFE3o_CxkJe6rUuFMHz1vPzZwQIAe0jsB2k3rCWao_BkrNHmsV_88VvNwFpzXpsViSPUbWFaXJjrzS35omcljjaNw6e31MQPJrhEW6vENnN8HvsJdvewIJKk-HFuU6bvUVfJlXlJvDB2On7vFmtlyJWCcZ_WOWQKDr2qIDWPsLQvtP2zZtHnP3a8lh1CNoCQSF6fKk1JHNlXvHmsxRbfwLbPSGXzOMFzrN7useEOmRiSorv_FjF-Rmq_udwtWSoKNuoJnpXJHRk9pt19Lh9Fi10PKe042yirIuititV47pvzAgq0QbkoAy1WwZsTzfbKNf-G4knk0h1EfVFSLla1ap7v3LrYPcyW7jYNqiLDr_G4Fd_XJbRPetdTEnrzDBbNxLf599KZKE3WWH1deJ5-IiekimXqv4_jzXggAjll5F6-xqlyZbfYXqEHt8S7VVPtJzttNy7h6z-S4UJ5o1gIG8k-jNZWVuuiJaT181Kb8J9zFFht7P3nOAt8IcNl6UEKM-FV2TETmWOgym7uBSO0wpHCtbQDYfARLyPqxBVdNRKMvYZMoj9jMek-q1kmQbP5n5Lbf5bQBjGTJXviV95q_Saj_ANhF0ABRSCX3c_nPhEcquRcNLlNdnHIG_y8Vm9r8Xe3GL19b8dcDqWO_tQV6rddRq4z8fAx2CoHqvQQHq66brPq537f4UhjwuSOxvUN83_sj3icWRwOJetGU8m8kYAAEe5-QhyvSOgCg-rs-y62d_ubdaZvgjShRy-Gp6Y4lxfy7yLYKyhn-1nv2YwuspP0Pn5A6jiS8_imkwYdxbSuJX2hu6Nzut7VZDLZ_k-CDsMbJ9lRO41_czmojVpcUVB4OqTEoG6sBAF9M290_4jZUbpqcXG0dXEYwSTsB_i5QKoSr3EXNuog39IEv8J3NEDbiRqcI-GpK9zhMIYcTlp1RWCO2dk1YyuEhoDsOMfqPWLyD9YGLxkw758Drpnq3RyL4Iolfvwt6D_hzboRYW4ERB9q5TthAuhKRK0MjBUXkT9AEV8a83j6qjmSZzALjsFym_2Ja9fRdj0cuaxRV4dIrQTNUDRjX_Vu2qhDnld-gy6R2wVSVqFgNpZW-IVEp5poCm56Jpz62hDtMXS3NW9BhCfUhCm3K29azzOd4N2IaJL3IjLt0PjV60Rkz2WT3IhyQTW13Rg1yMD4Ce-GyjnGqIOBd8OLuW_rediZUhnKFXBm2RUQhaKtKs7RUl1H5RD24QEbXZ-XaNWgxG46Vz8RCz8MI1aF74NGXe_o1pDX0pEA9E3NG2u63eZ7MYwFVCF8NkzaqVVX3rIsHextJ0KYef8oZJKSpNK1c8ipuovuUE1qZbCugQ54Ux3tIot1KExiHp3T6N2cZ17kPd4OiXCpx9dbVnSfW3RVxyylUERyXCwoLlr1sj1jJPN_7BKhkPP7D7lKPPTpckO7C5BDyM8fzPTmrpvYxkOovBSq6-1s_i8UdBw1oiGtGxcEBlft00JVOMHMMMF-DggTxvBPZIauSpA0pf8gK2jh8zb1kPllEpST64-URYIOkRkCNgN88FkaTxnRQY_MRU88V3L2swuhS7g5G7xXCFEuYM03isLWUISlwWW23kLZysSglowQsqow-XckiU89JkG2OxiY6i_ZlQ8hNPfSvWq85mnFKVYCsxMmdvzK9witIASpuq5JBhS0H8tg0qAUQM5C-z9z0lPjx1n2eywtkRAgXVI8P9uApSTBrA_ZzBqH17mWNuAygcCMMNxobwf1MwizHWKE6fK1qbtN1jBrX2bELsFO2qRude83dPPlkSzVlh3MbPgqGyp6YyhGesiDeDCK3gLxiZyajb-JDHv4puJgPlkOnIz2tIBK6Zb_jZ0M30OXXoPQ5aCDrvM0epexbSGvNYrk1gn3Fr7qOBOzYKnJ5WZJO-_QXhGM4H8J31BctNXE980QCN65ddsUQdyZ3a49lzi9tl-oH9jr4Gmz07qFlCm1_SPMa4LGaB74A3TmUDhpxknQcZGorFcOOPHKinf2BfGqMureQb9scGiiCLYRhQFOYlyr45ffGD4lE1GeWusqjx3quUL7GKmU1aMXT4iv_YCfDpvGD1O1Nuwv3DaZP9L7In28sipz3EVsHUreTlhUFHhi9uiaWlIh0XYIr65jx5BMf0rIYrJc6LziPT4QVjMoal1OuXzQXCXN2AEMj3-rMK06XACDeCIV-RJAvxLUXbqUGTRAOuMEm4RxHfERyD3kAPy3tO-PQnIq5U6n7Hua7Hpkd2Sh45tetbzyuJgJc8kUONJKtRxE_fxbTn6a0h6iVrfBmP66uO0pfNgijnDdmLMAcyzQAd7q3adXJIbvJPG3K4uzUgYSdeTMI3yDZIwWNLGxvcXDD5_qcArnx4-AyRXOtITIyJwXuqGnLD0SMzAeL6A7-w1ETqwO_qy2nERId7sZvlZWEp9BQ_VYrGeY5uAtCiW5h0AaNn6PahHEk1R3Xx5rtPLKjffxO7HWJKIXd6outs6nHiHBk3ie25VckmTrKaFXUl6RapfCnPTVl2J_OeElb2FgMBOLcqmDYm4XJ6hYHPSJud9OXGXGIM3QvQLIwVFCELwMp31s0heZgK3ay3aGbd6xNtW5ZRFCJLctLtUoE-PLsPzIt2JM_m0pNDUAm-ZKv51JP_EclmMHe2C5456WJsjcvKoZ1nRKG_4VPXslF8AYVS-i1zHQ9NG45ieQaL7Bbpz8dGEYSXXZzOSsSkvjqwVRQpYP4DaOcSjBW5z4pGimWAYOqkYfNGaKj8MsUm9hkjTyyvr4IbIVOpng634vs5PPyVDi3fZ5xmTZp8OQ==",
  "id": "rs_0c52ee319deca4da016ab2acbc3fbc87d0bd24203b80ea9f19",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The open jaws now straddle the lower body, though the arm cannot descend fully at this reach. I’m checking one firm grasp without loosening it during the subsequent lift.\"}",
  "call_id": "call_xNVHM1Xest3Ep8lfjLV7CDW6",
  "id": "fc_0c52ee319deca4da016ab2acca711487d0a00067a007331ead",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xNVHM1Xest3Ep8lfjLV7CDW6",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2119, 2.0285, 1.0485, 0.4732, -0.3592, -0.2459, 0.013, -0.02, 0.6605, 0.4194, -0.3573, -0.0296, -0.0387, 0.9998]\nstate[eef_state]: left_x=0.531 left_y=-0.0471 left_z=0.0647 left_yaw=0.2135 left_pitch=0.0881 left_roll=-0.0311 left_gripper=0.013 right_x=0.2678 right_y=0.0034 right_z=0.135 right_yaw=-0.0011 right_pitch=-0.0274 right_roll=-0.0029 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -10.4137, 5.3538, 0.8571, 0.0611, 0.0171, 0.823, -0.3624, -0.759, 6.8855, 1.9316, -0.1197, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c895dfe3f27cacefca448b69f290cc3686d2f19c2a311d77e1d2d9b7fac3dafd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e8197b07785a091a90280b8f57456afd083e52d6fe86c560837e2fefae11135",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b1aa53ed3003ff5e86f87d21034b869dafb73b6899385a21443615eb0f668ef",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 9.389 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2131, 2.0731, 0.9314, 0.7013, -0.3466, -0.2317, 0.8486, -0.02, 0.6777, 0.4438, -0.366, -0.0296, -0.0387, 0.9998]\nstate[eef_state]: left_x=0.5192 left_y=-0.0473 left_z=0.045 left_yaw=0.1974 left_pitch=0.1467 left_roll=-0.0507 left_gripper=0.8486 right_x=0.2704 right_y=0.0034 right_z=0.14 right_yaw=-0.0011 right_pitch=-0.0289 right_roll=-0.0029 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -4.7658, 3.4256, 0.2564, 0.1636, -0.0366, -0.0952, -0.5812, -1.1556, 6.694, 1.9512, -0.0757, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqzUvezREtAJl9CG_LatUHSBnNXBvlnBQlzh3j6orKf8Iq73Bozqiyp9C4yASqeGBdhmI1qPzrnIJKLAXZsr0uNNcKyzS67szreZV_Pde7_0MIHwJEHo9nGsrgu127F3s_Va5xvEGSftISxLSVNbNEFj1sn1HsdhTaQB8y3okl-ZY9X00LLayhWQwA4mmUHv3XRodsoqugsfvsVsxZJvrDYjnpieXTORVekYbTifEdB-seXH83d0KQ4oJVvRSFT6vbwDuKTvSWynTKslnaulBtawcS1jj0uDEf-lOAbyG_B_eaDZPAbhILBIxfJ4BF-Bv9I-SzCKcBjJ5HHXPh1p4bC-L_i1P18puyzg4DSjZaRv4uueksKCNZqK1UslVo6hJWmL0n1YZlgY0f783TNV1Z5cYbVJUCq7zhHMRYAGBYMI67CAwtp9E7xEkLxSYOoHqhHz4PPrZTAaPvwrHS_MaahTEvGSv76quCm4BXCzz7sdx0YU92QVQRaTz4PJs6J0ovFp3YR0LcwlvfqTuTam3yv6yGVI7gOVTyGk8kSFTjzoI2JoaKcKMotfXB7EptALwiiGyNKFxZxadAWEaCZoDiV3CqYfQM3jhC-RZ1RZ5lcICs_wacT1xJ3mAi5qk8HUxk99rLmj85LeCMmcCL7Oleikq-QkcIsX9790MTJfz8flFxCQ1f76VAQajlz3bBOQfQwzHT33FUUZvFOSkY1IHikXSy5cK_pM2lEnSuedRpWS5K7TZqfKPqzeYSt5VgbWFEY9FGg_PoJBdaxbNX2OtD9nfT5WtbsEaGkmYZcsMXQZ6jFCE7qUEp_NNwTUzLptJdVyCekTnVrlTx4Lmdvdu7XTB6FakrM4BdEDwB8HZl4LZt6P6fbHa4rGz1L8iA5xndY9ZZuGfA2_H2jucbjmfc8DvbZycK4qb0g01ohiW4HAKIxWvGTwJZLGYkzSzT6zcAGi0gVbf8-jnYsQyD0hKM3yi9g2J4YUcg9xLQlP-p1FeEytoGDOUwRdN1aWWzpDg_jRBC74h-sV8ZzPEkE7y6e6Vv9z04QTALiOUhfp4kZeRjeNCVsT3W0b6JJWhtEl34_orZ8y6IZWW760353FIi8DYet6cHujEC0Sywlld9qOW8LiNR7C1GBGKEWMrLhotqKcDe9WDGhSARrNp0GL4VKCuVGzrSPSg58MS618CWdiEKe2pjL1vcvzZ4DSgPzCFqu2FtZpXVSxdOze_Lz_u5hxLUVZLX9o6yLPzrcovmxahxzhSWc13koz4gvO_ppbHAsRcou-BqE0Rj7zotBsb3iWksuaGxYltBXKVn6uv8orKCvb38rCmX2qLXlP1_DhLcCElCFGRFK1gQd29hj99cMrXp4mMfpZeuSwU0Uy0vxGVl7i26xWidKS5j1vJHyyyWuX6D3_ogGxaGMcL9UVjQXSsDF0AWmW0ReYKUUH9DhJOxuRydK5EKFMDMgyDqlU-U2FOnSkTyC7fagnRSuM0lXtBhWvXO6ve5TDbB_ZBZ2oKrI=",
  "id": "rs_0c52ee319deca4da016ab2accfc01c87d081bcbd2d917af4ab",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0,\"left_z\":0.22,\"left_gripper\":1,\"right_x\":0.295,\"right_y\":0.004,\"right_z\":0.2,\"right_gripper\":1},\"note\":\"The jaws closed empty again and the first bottle has slid farther toward the back, beyond a reliable low grasp. I’m withdrawing both arms to clear the bottles rather than risk pushing them farther away.\"}",
  "call_id": "call_UP31XlguDEXfDjoKbSsJsd4X",
  "id": "fc_0c52ee319deca4da016ab2acd1859487d0901a520dda8ea07b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UP31XlguDEXfDjoKbSsJsd4X",
  "output": "executing move_to over 18 steps (1.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2218, 0.8993, 0.7574, -0.4404, -0.3576, -0.2642, 0.9971, -0.0189, 0.8021, 0.6449, -0.4744, -0.0296, -0.0422, 0.9998]\nstate[eef_state]: left_x=0.3106 left_y=-0.003 left_z=0.2141 left_yaw=0.2104 left_pitch=0.0188 left_roll=-0.0164 left_gripper=0.9971 right_x=0.2872 right_y=0.0034 right_z=0.1772 right_yaw=0.002 right_pitch=-0.0605 right_roll=-0.0051 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -1.7983, 9.4701, 1.8242, -0.1929, -0.0171, -0.1148, 0.4855, -0.8821, 10.0171, 1.9951, -0.0611, 0.0904, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:670bb5d2afad6a03b3dc21e9ea08cd37498e5b93b85d315017fb3a6960e1227c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1937d8e365cc06a9b23053fbd37e3e52c45faf129975355b25f6e623b104e998",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7ef7b78cb4b5fbdee86fb32f32fe69efc6d636079aceed52ad629c6a6a89758",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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