adhoc

completed
2026-09-22T18:12:50.076376+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
268.3 s
total steps
146
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 away from the bases. I will approach the left bottle’s neck so it can be lifted and allowed to hang base-down.
move_to
left_x0.4300left_y-0.1900left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.794, 0.6083, -0.3763, -0.0235, -0.0284, 0.9989, -0.0154, 0.7895, 0.6041, -0.384, -0.0132, -0.025, 0.9998] state[eef_state]: left_x=0.2958 left_y=0.0018 left_z=0.1827 left_yaw=-0.0003 left_pitch=-0.0004 left_roll=-0.0002 left_gripper=0.9989 right_x=0.2939 right_y=0.0014 right_z=0.1804 right_yaw=0.0004 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.4171, -1.4564, 9.7026, 1.7363, -0.022, 0.1148, -0.1294, -0.7316, -1.1829, 10.4137, 1.8046, -0.1099, 0.0806, -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":0.43,"left_y":-0.19,"left_z":0.15,"left_gripper":1},"note":"All three bottles are lying on their sides with their caps pointing away from the bases. I will approach the left bottle’s neck so it can be lifted and allowed to hang base-down."})
tool
executing move_to over 18 steps (1.8s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe left bottle’s cap is left of the jaw center in the wrist view. I am shifting toward that cap and lowering for a neck grasp, leaving the other bottles untouched.
move_to
left_x0.4550left_y-0.1300left_z0.0750
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6025, 1.66, 1.034, -0.0814, -0.4911, -0.3717, 0.9989, -0.0193, 0.794, 0.6033, -0.3985, -0.0231, -0.0288, 0.9998] state[eef_state]: left_x=0.4192 left_y=-0.1828 left_z=0.1334 left_yaw=-0.0108 left_pitch=-0.049 left_roll=0.0201 left_gripper=0.9989 right_x=0.2922 right_y=0.002 right_z=0.1758 right_yaw=0.007 right_pitch=-0.0205 right_roll=0.0027 right_gripper=0.9998 state[joint_eff]: [-0.2256, -8.335, 8.841, 1.746, -0.3443, -0.0562, -0.1294, -0.0205, -1.6342, 7.0085, 1.8535, 0.0415, 0.0024, -0.0122] camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.455,"left_y":-0.13,"left_z":0.075},"note":"The left bottle’s cap is left of the jaw center in the wrist view. I am shifting toward that cap and lowering for a neck grasp, leaving the other bottles untouched."})
tool
executing move_to over 5 steps (0.5s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteThe cap is still to the left of the jaw column and the bottle remains on the table. I am making a smaller sideways correction and bringing the fingertips to cap height.
move_to
left_x0.4750left_y-0.0900left_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4225, 1.7855, 0.8742, 0.2276, -0.3874, -0.2825, 0.9986, -0.0193, 0.7902, 0.5846, -0.3969, -0.0235, -0.0326, 0.9998] state[eef_state]: left_x=0.4438 left_y=-0.1224 left_z=0.0656 left_yaw=0.0381 left_pitch=-0.0636 left_roll=0.0235 left_gripper=0.9986 right_x=0.2898 right_y=0.0021 right_z=0.1687 right_yaw=0.0094 right_pitch=-0.0338 right_roll=0.0001 right_gripper=0.9998 state[joint_eff]: [0.294, -8.3214, 5.4769, 1.9756, -0.0611, 0.315, -0.0513, -0.253, -2.0581, 6.8855, 1.9219, -0.0317, -0.022, -0.0122] camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.475,"left_y":-0.09,"left_z":0.035},"note":"The cap is still to the left of the jaw column and the bottle remains on the table. I am making a smaller sideways correction and bringing the fingertips to cap height."})
tool
executing move_to over 3 steps (0.3s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteThe cap has reached the fingertips’ depth but remains left of center. I am aligning the jaws laterally before closing around it.
move_to
left_x0.4800left_y-0.0550left_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3214, 1.9087, 0.8516, 0.4576, -0.3336, -0.2291, 0.9984, -0.0193, 0.7761, 0.5526, -0.3843, -0.0238, -0.0353, 0.9998] state[eef_state]: left_x=0.471 left_y=-0.0921 left_z=0.0436 left_yaw=0.0655 left_pitch=-0.0008 left_roll=0.0038 left_gripper=0.9984 right_x=0.2865 right_y=0.0023 right_z=0.1604 right_yaw=0.0111 right_pitch=-0.0392 right_roll=-0.0017 right_gripper=0.9998 state[joint_eff]: [0.1162, -8.3214, 5.3402, 1.0867, 0.232, 0.0415, -0.0317, -0.1299, -1.6205, 7.1863, 1.9707, -0.0904, 0.0073, -0.0122] camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.48,"left_y":-0.055,"left_z":0.025},"note":"The cap has reached the fingertips’ depth but remains left of center. I am aligning the jaws laterally before closing around it."})
tool
executing move_to over 4 steps (0.4s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteThe last low sideways move did not track fully, so I will lift clear and realign rather than press against the bottle. I am also restoring the idle arm to its parked height.
move_to
left_x0.4450left_y-0.0500left_z0.1000right_x0.2940right_y0.0010right_z0.1830
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2996, 1.9244, 0.8516, 0.5163, -0.3126, -0.2161, 0.9984, -0.0193, 0.757, 0.5171, -0.366, -0.0246, -0.036, 0.9998] state[eef_state]: left_x=0.4791 left_y=-0.0874 left_z=0.0475 left_yaw=0.0632 left_pitch=0.0351 left_roll=-0.0116 left_gripper=0.9984 right_x=0.2833 right_y=0.0025 right_z=0.153 right_yaw=0.0122 right_pitch=-0.0372 right_roll=-0.002 right_gripper=0.9998 state[joint_eff]: [-0.253, -7.8017, 5.012, 1.619, 0.0415, 0.1001, -0.0171, -0.212, -1.812, 6.9812, 2.0049, -0.1001, -0.0366, -0.0122] camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.445,"left_y":-0.05,"left_z":0.10,"right_x":0.294,"right_y":0.001,"right_z":0.183},"note":"The last low sideways move did not track fully, so I will lift clear and realign rather than press against the bottle. I am also restoring the idle arm to its parked height."})
tool
executing move_to over 4 steps (0.4s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteThe left arm has stopped tracking at the extended low pose. I am pulling back and lifting to a less extended configuration before attempting another approach.
move_to
left_x0.3800left_y-0.0900left_z0.1800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2996, 1.9244, 0.8516, 0.5163, -0.3107, -0.2161, 0.9983, -0.0223, 0.7883, 0.5621, -0.4007, -0.0311, -0.0402, 0.9998] state[eef_state]: left_x=0.4791 left_y=-0.0877 left_z=0.0474 left_yaw=0.0616 left_pitch=0.0347 left_roll=-0.0125 left_gripper=0.9983 right_x=0.2861 right_y=0.0027 right_z=0.1582 right_yaw=0.0169 right_pitch=-0.0581 right_roll=-0.0009 right_gripper=0.9998 state[joint_eff]: [-0.1162, -7.7744, 5.053, 1.58, 0.0513, 0.1099, -0.0171, -0.9094, -1.0051, 10.2906, 1.8877, -0.105, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.09,"left_z":0.18},"note":"The left arm has stopped tracking at the extended low pose. I am pulling back and lifting to a less extended configuration before attempting another approach."})
tool
executing move_to over 9 steps (0.9s)
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 arm is moving normally again and the left bottle’s neck is visible near the jaw column. I will approach slightly behind the cap, where the neck is reachable without fully extending the arm.
move_to
left_x0.4350left_y-0.1100left_z0.0400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4164, 1.3392, 0.8089, -0.0711, -0.3897, -0.2802, 0.9983, -0.0265, 0.7483, 0.5037, -0.3603, -0.0311, -0.0437, 0.9998] state[eef_state]: left_x=0.3887 left_y=-0.0946 left_z=0.1649 left_yaw=0.0438 left_pitch=0.0108 left_roll=-0.0099 left_gripper=0.9983 right_x=0.2819 right_y=0.0016 right_z=0.1504 right_yaw=0.0145 right_pitch=-0.036 right_roll=-0.0046 right_gripper=0.9998 state[joint_eff]: [-0.294, -7.1453, 10.3453, 1.7314, -0.2808, 0.0611, -0.0122, 0.1162, -0.8137, 7.0906, 2.044, -0.0855, -0.0024, -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":0.435,"left_y":-0.11,"left_z":0.04},"note":"The arm is moving normally again and the left bottle’s neck is visible near the jaw column. I will approach slightly behind the cap, where the neck is reachable without fully extending the arm."})
tool
executing move_to over 9 steps (0.9s)
step 52
top_cam
camera top_cam step 52
left_cam
camera left_cam step 52
right_cam
camera right_cam step 52
assistant
agent noteThe wrist view shows the bottle shoulder between the open jaws, with the cap farther forward and left. I will slide the open gripper toward the narrower neck for a pivoting lift.
move_to
left_x0.4650left_y-0.0800left_z0.0450
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3981, 1.7988, 0.728, 0.4225, -0.4099, -0.2871, 0.9983, -0.0269, 0.73, 0.4702, -0.3431, -0.0311, -0.0433, 0.9998] state[eef_state]: left_x=0.4296 left_y=-0.1004 left_z=0.0429 left_yaw=0.0825 left_pitch=-0.0256 left_roll=0.0161 left_gripper=0.9983 right_x=0.2789 right_y=0.0016 right_z=0.1434 right_yaw=0.0139 right_pitch=-0.0341 right_roll=-0.0044 right_gripper=0.9998 state[joint_eff]: [-0.4444, -6.8444, 5.1214, 1.5897, 0.1685, 0.1636, -0.0122, -0.5402, -1.5521, 7.0906, 2.0, -0.105, -0.0024, -0.0122] camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.465,"left_y":-0.08,"left_z":0.045},"note":"The wrist view shows the bottle shoulder between the open jaws, with the cap farther forward and left. I will slide the open gripper toward the narrower neck for a pivoting lift."})
tool
executing move_to over 3 steps (0.3s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent noteThe narrow neck is now centered between the fingertips. I am closing gently around it rather than squeezing the rounded bottle body.
move_to
left_gripper0.2400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3149, 1.8587, 0.7765, 0.4812, -0.355, -0.2684, 0.9983, -0.0277, 0.7128, 0.4397, -0.3286, -0.0311, -0.0433, 0.9998] state[eef_state]: left_x=0.4551 left_y=-0.0799 left_z=0.0438 left_yaw=0.1105 left_pitch=0.0027 left_roll=-0.0178 left_gripper=0.9983 right_x=0.276 right_y=0.0014 right_z=0.1369 right_yaw=0.0132 right_pitch=-0.0329 right_roll=-0.0044 right_gripper=0.9998 state[joint_eff]: [0.0889, -7.0222, 7.241, 1.5702, -0.1929, 0.2711, -0.0122, -0.6222, -1.4701, 6.9949, 2.0049, -0.1245, -0.0122, -0.0122] camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.24},"note":"The narrow neck is now centered between the fingertips. I am closing gently around it rather than squeezing the rounded bottle body."})
tool
executing move_to over 8 steps (0.8s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteThe jaws have closed around the neck and the bottle is partly obscured below them. I will make a short test lift to confirm the bottle follows and starts pivoting base-down.
move_to
left_x0.4450left_z0.1150
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2958, 1.8671, 0.8074, 0.5041, -0.345, -0.2504, 0.2456, -0.0277, 0.6952, 0.4072, -0.3157, -0.0311, -0.0433, 0.9998] state[eef_state]: left_x=0.4682 left_y=-0.0765 left_z=0.0557 left_yaw=0.1122 left_pitch=0.0421 left_roll=-0.0257 left_gripper=0.2456 right_x=0.2726 right_y=0.0015 right_z=0.1292 right_yaw=0.0132 right_pitch=-0.0348 right_roll=-0.0043 right_gripper=0.9998 state[joint_eff]: [-0.4581, -7.788, 6.5299, 1.2821, 0.1245, 0.1392, 0.2662, -0.4718, -1.306, 7.0769, 1.9902, -0.1148, -0.0317, -0.0122] camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.445,"left_z":0.115},"note":"The jaws have closed around the neck and the bottle is partly obscured below them. I will make a short test lift to confirm the bottle follows and starts pivoting base-down."})
tool
executing move_to over 4 steps (0.4s)
step 67
top_cam
camera top_cam step 67
left_cam
camera left_cam step 67
right_cam
camera right_cam step 67
assistant
agent noteThe bottle is still beneath the neck grip, but the arm is struggling at full extension. I will lift while retracting to a stronger configuration so the base can swing underneath.
move_to
left_x0.3900left_z0.2300right_x0.2940right_y0.0010right_z0.1830
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3046, 1.8, 0.8192, 0.3904, -0.3538, -0.2481, 0.2458, -0.0277, 0.6754, 0.3748, -0.2981, -0.0311, -0.0433, 0.9998] state[eef_state]: left_x=0.4603 left_y=-0.0768 left_z=0.0678 left_yaw=0.1091 left_pitch=0.0122 left_roll=-0.0055 left_gripper=0.2458 right_x=0.2698 right_y=0.0016 right_z=0.123 right_yaw=0.0132 right_pitch=-0.0299 right_roll=-0.0046 right_gripper=0.9998 state[joint_eff]: [-0.7453, -13.094, 9.4701, 2.1612, -0.2222, -0.0806, 0.0171, -0.5812, -0.6632, 6.9675, 1.9414, -0.1099, -0.0269, -0.0122] camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_z":0.23,"right_x":0.294,"right_y":0.001,"right_z":0.183},"note":"The bottle is still beneath the neck grip, but the arm is struggling at full extension. I will lift while retracting to a stronger configuration so the base can swing underneath."})
tool
executing move_to over 11 steps (1.1s)
step 78
top_cam
camera top_cam step 78
left_cam
camera left_cam step 78
right_cam
camera right_cam step 78
assistant
agent noteThe test lift left the bottle on the table, so the previous pinch was above or beside the neck. I will re-approach the now-shifted cap lower, with enough jaw opening to surround it.
move_to
left_x0.4250left_y-0.1350left_z0.0200left_gripper0.7000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3801, 1.3396, 1.0054, -0.3031, -0.4057, -0.297, 0.2459, -0.0277, 0.786, 0.5678, -0.4046, -0.0311, -0.0475, 0.9998] state[eef_state]: left_x=0.3963 left_y=-0.0794 left_z=0.2072 left_yaw=0.1021 left_pitch=-0.0169 left_roll=0.0004 left_gripper=0.2459 right_x=0.2862 right_y=0.0012 right_z=0.1606 right_yaw=0.0155 right_pitch=-0.0539 right_roll=-0.007 right_gripper=0.9998 state[joint_eff]: [-0.3761, -7.4188, 9.7162, 1.6972, -0.3492, -0.0513, -0.0024, -0.5538, -0.6769, 10.1402, 1.8926, -0.1343, 0.1343, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.425,"left_y":-0.135,"left_z":0.02,"left_gripper":0.7},"note":"The test lift left the bottle on the table, so the previous pinch was above or beside the neck. I will re-approach the now-shifted cap lower, with enough jaw opening to surround it."})
tool
executing move_to over 13 steps (1.3s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteThe neck is visible forward-left of the jaws, and the arm stopped high over the bottle body. I will move the open jaws onto the narrower cap region and descend to its center.
move_to
left_x0.4600left_y-0.0950left_z0.0050
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5171, 1.8538, 0.7574, 0.5381, -0.5415, -0.3519, 0.6974, -0.0284, 0.7509, 0.5129, -0.3729, -0.0311, -0.0513, 0.9998] state[eef_state]: left_x=0.4353 left_y=-0.1387 left_z=0.0578 left_yaw=0.106 left_pitch=0.0904 left_roll=-0.0235 left_gripper=0.6974 right_x=0.2815 right_y=0.0011 right_z=0.1513 right_yaw=0.0167 right_pitch=-0.0421 right_roll=-0.0106 right_gripper=0.9998 state[joint_eff]: [0.3897, -4.6701, 4.1915, 0.4274, 0.2418, -0.3199, -0.0904, -0.4308, -1.3333, 7.1726, 2.044, -0.105, 0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.46,"left_y":-0.095,"left_z":0.005},"note":"The neck is visible forward-left of the jaws, and the arm stopped high over the bottle body. I will move the open jaws onto the narrower cap region and descend to its center."})
tool
executing move_to over 4 steps (0.4s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
agent noteThe cap is now beneath the fingertip line. I will close fully so the measured jaw gap can distinguish a real grasp from an empty one.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3645, 1.9537, 0.8124, 0.6662, -0.4763, -0.2928, 0.6974, -0.0341, 0.7261, 0.4717, -0.3511, -0.0319, -0.0517, 0.9998] state[eef_state]: left_x=0.4761 left_y=-0.0911 left_z=0.0554 left_yaw=0.1786 left_pitch=0.1427 left_roll=-0.0429 left_gripper=0.6974 right_x=0.2779 right_y=-0.0003 right_z=0.1435 right_yaw=0.0118 right_pitch=-0.0367 right_roll=-0.0107 right_gripper=0.9998 state[joint_eff]: [-0.8684, -5.135, 3.6718, 0.6325, 0.6032, -0.2711, -0.0122, -0.4855, -1.1829, 7.0222, 2.0098, -0.1734, -0.0024, -0.0122] camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The cap is now beneath the fingertip line. I will close fully so the measured jaw gap can distinguish a real grasp from an empty one."})
tool
executing move_to over 7 steps (0.7s)
step 102
top_cam
camera top_cam step 102
left_cam
camera left_cam step 102
right_cam
camera right_cam step 102
assistant
agent noteThe full close was empty, and the extended low pose cannot reach the cap reliably. I will switch to a reachable grasp nearer the left bottle’s shoulder, then use gravity to pivot it during lifting.
move_to
left_x0.3500left_y-0.1500left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3473, 1.9747, 0.8135, 0.7292, -0.448, -0.2657, 0.0184, -0.0406, 0.7055, 0.4389, -0.3355, -0.0315, -0.0517, 0.9998] state[eef_state]: left_x=0.4831 left_y=-0.0897 left_z=0.0581 left_yaw=0.161 left_pitch=0.1742 left_roll=-0.0504 left_gripper=0.0184 right_x=0.2747 right_y=-0.002 right_z=0.137 right_yaw=0.005 right_pitch=-0.0333 right_roll=-0.0111 right_gripper=0.9998 state[joint_eff]: [-0.9368, -5.5726, 3.3162, 0.6422, 0.4664, -0.0904, 0.8571, -0.5812, -1.1556, 6.9402, 1.9853, -0.1929, -0.0024, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.15,"left_z":0.15,"left_gripper":1},"note":"The full close was empty, and the extended low pose cannot reach the cap reliably. I will switch to a reachable grasp nearer the left bottle’s shoulder, then use gravity to pivot it during lifting."})
tool
executing move_to over 11 steps (1.1s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteThe bottle’s shoulder is just left of the jaw column in the wrist view. I will lower around that reachable section while keeping the jaws wide.
move_to
left_x0.3850left_y-0.1250left_z0.0150
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7109, 1.4601, 0.8322, -0.1349, -0.6712, -0.5568, 0.9951, -0.0414, 0.6849, 0.4065, -0.3206, -0.0315, -0.0517, 0.9998] state[eef_state]: left_x=0.3583 left_y=-0.1588 left_z=0.1352 left_yaw=0.1171 left_pitch=-0.0101 left_roll=-0.006 left_gripper=0.9951 right_x=0.2716 right_y=-0.0021 right_z=0.1304 right_yaw=0.0043 right_pitch=-0.0303 right_roll=-0.0113 right_gripper=0.9998 state[joint_eff]: [-0.2803, -8.0068, 8.4171, 1.5165, -0.4908, 0.0073, -0.0366, -0.6359, -0.9094, 7.241, 1.9267, -0.1636, -0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.385,"left_y":-0.125,"left_z":0.015},"note":"The bottle’s shoulder is just left of the jaw column in the wrist view. I will lower around that reachable section while keeping the jaws wide."})
tool
executing move_to over 8 steps (0.8s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent noteThe open jaws currently straddle the broad lower body. I am advancing a few centimeters toward the shoulder and correcting the remaining sideways offset before gripping.
move_to
left_x0.4250left_y-0.1100left_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5812, 1.771, 0.606, 0.5007, -0.614, -0.4618, 0.9963, -0.0418, 0.6662, 0.3786, -0.313, -0.0319, -0.0509, 0.9998] state[eef_state]: left_x=0.3866 left_y=-0.1279 left_z=0.0372 left_yaw=0.1539 left_pitch=0.0334 left_roll=-0.0209 left_gripper=0.9963 right_x=0.2682 right_y=-0.002 right_z=0.124 right_yaw=0.0038 right_pitch=-0.0318 right_roll=-0.0103 right_gripper=0.9998 state[joint_eff]: [1.1009, -3.8769, 3.0838, 0.5885, 0.232, 0.3248, 0.1099, -0.7863, -0.9368, 6.9402, 2.0, -0.1734, 0.022, -0.0122] camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.425,"left_y":-0.11,"left_z":0.025},"note":"The open jaws currently straddle the broad lower body. I am advancing a few centimeters toward the shoulder and correcting the remaining sideways offset before gripping."})
tool
executing move_to over 3 steps (0.3s)
step 124
top_cam
camera top_cam step 124
left_cam
camera left_cam step 124
right_cam
camera right_cam step 124
assistant
agent noteThe lower body is centered between the jaws. I will secure this reachable section and check the actual grasp width before lifting.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4843, 1.8477, 0.6983, 0.5575, -0.5552, -0.4225, 0.9964, -0.0418, 0.6472, 0.3515, -0.3023, -0.0315, -0.0513, 0.9998] state[eef_state]: left_x=0.4256 left_y=-0.1146 left_z=0.0442 left_yaw=0.186 left_pitch=0.067 left_roll=-0.0599 left_gripper=0.9964 right_x=0.2654 right_y=-0.0019 right_z=0.1185 right_yaw=0.0037 right_pitch=-0.0291 right_roll=-0.011 right_gripper=0.9998 state[joint_eff]: [0.2393, -6.4752, 5.2718, 1.0965, -0.0122, 0.1587, 0.0024, -1.0325, -0.841, 6.9675, 1.956, -0.1929, -0.0073, -0.0122] camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The lower body is centered between the jaws. I will secure this reachable section and check the actual grasp width before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 134
top_cam
camera top_cam step 134
left_cam
camera left_cam step 134
right_cam
camera right_cam step 134
assistant
agent noteThe latest close was also empty, and contact has slid the left bottle farther away instead of securing it. I will withdraw both grippers to safe parked positions rather than continue pushing the bottles toward the back of the workspace.
move_to
left_x0.3000left_y0.0000left_z0.2000left_gripper1.0000right_x0.2940right_y0.0010right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4633, 1.8568, 0.725, 0.614, -0.5537, -0.3923, 0.0195, -0.0414, 0.6277, 0.3244, -0.2905, -0.0315, -0.0513, 0.9998] state[eef_state]: left_x=0.4408 left_y=-0.1124 left_z=0.0601 left_yaw=0.194 left_pitch=0.1257 left_roll=-0.0793 left_gripper=0.0195 right_x=0.2628 right_y=-0.0017 right_z=0.1133 right_yaw=0.0041 right_pitch=-0.0249 right_roll=-0.0112 right_gripper=0.9998 state[joint_eff]: [0.0615, -6.3248, 4.5333, 0.6178, 0.1978, 0.1148, 0.8376, -0.8547, -0.6769, 6.9812, 1.9072, -0.1783, 0.0073, -0.0122] camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":0,"left_z":0.2,"left_gripper":1,"right_x":0.294,"right_y":0.001,"right_z":0.2},"note":"The latest close was also empty, and contact has slid the left bottle farther away instead of securing it. I will withdraw both grippers to safe parked positions rather than continue pushing the bottles toward the back of the workspace."})
tool
executing move_to over 11 steps (1.1s)
step 145
top_cam
camera top_cam step 145
left_cam
camera left_cam step 145
right_cam
camera right_cam step 145
assistant
agent noteI could not obtain a secure grasp: the full closes were empty, and low approaches slid the left bottle farther away. All three bottles remain on their sides. Both arms have been withdrawn; continuing risks pushing the bottles farther out of reach. Repositioning the bottles closer or enabling wrist tilt would allow a better attempt.
give_up
hindsightThe bottle necks were farther forward than my initial overhead estimate. Approaches at x≈0.43–0.48 m stopped around z≈0.04–0.06 m and pushed the bottle rather than surrounding it; empty full closes confirmed this. Do not treat disappearance below the wrist image as proof of alignment, and do not continue advancing after an empty grasp if the overhead view shows the bottle sliding away.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2314, 0.8898, 0.6617, -0.3496, -0.3885, -0.2855, 0.9953, -0.0311, 0.7929, 0.6334, -0.458, -0.0303, -0.0509, 0.9998] state[eef_state]: left_x=0.3099 left_y=-0.0006 left_z=0.1928 left_yaw=0.231 left_pitch=0.0317 left_roll=-0.0256 left_gripper=0.9953 right_x=0.2875 right_y=0.0 right_z=0.1778 right_yaw=0.0132 right_pitch=-0.0486 right_roll=-0.0105 right_gripper=0.9998 state[joint_eff]: [0.2393, -1.7846, 10.6598, 1.8193, -0.1001, 0.2613, -0.0757, 0.6496, -1.0051, 10.2085, 1.7363, 0.0611, 0.1587, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not obtain a secure grasp: the full closes were empty, and low approaches slid the left bottle farther away. All three bottles remain on their sides. Both arms have been withdrawn; continuing risks pushing the bottles farther out of reach. Repositioning the bottles closer or enabling wrist tilt would allow a better attempt.","hindsight":"The bottle necks were farther forward than my initial overhead estimate. Approaches at x≈0.43–0.48 m stopped around z≈0.04–0.06 m and pushed the bottle rather than surrounding it; empty full closes confirmed this. Do not treat disappearance below the wrist image as proof of alignment, and do not continue advancing after an empty grasp if the overhead view shows the bottle sliding away."})
tool
give_up: I could not obtain a secure grasp: the full closes were empty, and low approaches slid the left bottle farther away. All three bottles remain on their sides. Both arms have been withdrawn; continuing risks pushing the bottles farther out of reach. Repositioning the bottles closer or enabling wrist tilt would allow a better attempt.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [0, 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 · 14.42 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, 0.794, 0.6083, -0.3763, -0.0235, -0.0284, 0.9989, -0.0154, 0.7895, 0.6041, -0.384, -0.0132, -0.025, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0018 left_z=0.1827 left_yaw=-0.0003 left_pitch=-0.0004 left_roll=-0.0002 left_gripper=0.9989 right_x=0.2939 right_y=0.0014 right_z=0.1804 right_yaw=0.0004 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -1.4564, 9.7026, 1.7363, -0.022, 0.1148, -0.1294, -0.7316, -1.1829, 10.4137, 1.8046, -0.1099, 0.0806, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60060997c47dcbdb88537856c8a842a0b028c3486746416c98d59ac2525c1b69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2810b602a1a81d62001e2b92c3cd0deed513c673ad99d656ebd025ba277cd7c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ac5f7ac61765e8da9b6545c3b55563c61a55f8c203d6c5f984e516941a15dbb",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 60060997c47d
wire blob 2810b602a1a8
wire blob 6ac5f7ac6176
call 1 attempt 0 · /responses · status 200 · 7.747 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqssU9ZYO8wKPEPms19iliTIU5WAdCZInJ_FXxMORhVA-RWnjq-Qtz_XFCeX3pMvdcThOsw9WoLR4ZhfGXQ15ECcNer7js8FPikLFTmleQ3D06w-lDih7TRSxdUNVn8btZ_O2yp3uRt6ZpXzNUh5IPaepKR5vbv2eL9gG4HSLuus1nCR888E6vVBBpRVKf7WTIhoCHlHvpv-o6jsoZlRE8IyZC_Jyv5ldRjgQ-Tpwx23Ts99FA4b0wvc09pY2KW8kZ6aaPiRcSDKx5iy-usxe3koSo8DA6zDPrlt1sM5GmelvZ5m8_uu8Xay-VaOym2lDYoZMrkHWxW8jbVJHoRTxaAZu1Y5_JtyjnFkbi6-5Aepeb-K_7azxQbSWrbuQbGTlsniAX-c3jjvNQZQh6W2uDdhohTut-YJ98uxLXotao9gYX2-Ope9KXPpgkqhgxxLSeemTInjxOlo9j9A3gDrEtKX956VtDQQe1nP2J_jq-McnlYv3Wmoc51RPgygcHBcLwRWgg7HjnfcPvVF8jDFNnzzNzXicfmAMhrSfqL0pkfuQ4L8nQsncL4RHuaGsGiHAVXWVwc0OiUP_jdwEC9NmO_wSPIG8_YCoTD2jFm041Z9qVLZKTVk8kEHLDbmstgXOmO8BApAhJgcH1p96PeuFnMgeaj8xOAZ-QdE50Mm5Y3ubXDeySYauI0m5Dk9qoxbdqzFSAJc88Dpokgj-d7Fulhdx-J2JgmL2gFnTf14UWmkhaNUY1J9cKeUnp7jL0iTTbS-_1J5Ocyu1Oy5LByGcCrSTNQVZForDBTBnlyJ7TaePaN73S49-AfENeaJJkybOgVgYfkb2YHo6XppGTBVnQrHoQGhzYNdA6Ep1Fsa7FuwpAuI2UOsfXZx9MFRCqftS6Cib1F3gsbWyHqogzjMfvdrVo3GgPX9W-IeVffAf5lzpaajBrOz6PFrQWKuABm5z1lc5T29APrVZVUcZB_oacBs-75oPgasfZ3q8cShEtbYrJiNNLUyb_gYLd-evLZcDXX5FpZ4XC0mNpvz77DfR_CXSCxy-boxuwFGAzddWzde5EElWR3PkP58WEqR1LJzUwnuBo60RDWsJbUPpqK4M3FzVaPGgrGJCXvCuACbMsRzehSNfyto2RhK_Il-lwU1o8KuX2c6OdGieEsQLKH6Zi_dFfeWLBdSu44uZbfnhfur7Qs-gCzu8TBHmMC9X5N7Gp2nruG6E0zGTXrY3tKUZmslqYgUQiuNSiyRa_kZhnJD3L4qhv7rjYQuArbGHr_1Nun0Z6Y0LW7pLd3cNV9WUT0zHSjLaruTvP-R1Tf77gswh5edQ9EIWm-4JvOZO79Y1PtmU-jiCedyXr--XCNkIBoUy_YGRU_m-E90aOjdVz3AuoR-3LI9_9gTTH6VK3rQ5jLTZen2tfXclUdzQhTLpfi4RFfgVU4dg5LKzdQ6c1au4zaifKoevOgUPuiwkeVou8x-QIxZxmbmjzV3iPCeAkOz8NbPO4tpAPDdA6yiSKgNzrwlzIStRRJXsWuu9VeX6vyl7UKPmw71oP4faIdCOlBhluk6DNbxP6vivHyioaGX6TnUOE_JEL-4cYGn_Mr0KkRUOivPjkMAVolekCIoSzjwtmXruLGO-mDn0YZ255oMQ7s6LvtXBQrJ7ksxsa64bQxWWtyboINWAO-LhTT5xRn-i92wDixD7xETZZg1g4rqZacmvtexFGg8LonfXaHXb1hFjHLRE9yUBnkEx2U-c70y9OtN2PPIbf_PP6uPHjZEQf-uiaDbtY46Ejb9H3rKKPW6j41oJMLJ_7pW9bQ8XpUiSsXBsaz0ga7GusE7Vezhzlzteewjgy8KkF9aVDbSv7d5D8AT2PNwWb2MsBBUgT4FBN6fPO-yTDts28Nb027BuxRWZdfWoY9BpQiyxLPcLI-nN5KqWJ4Px1efykm6epy_y8PHgcZNVFFweGAjeNkDY_OcEyKrSkXQfxA5dvKI7JPHFNj6avrc0BV4CrfOKLnDXY-ygdGs-pGOdAzzQI0TbtOdjhGlU1uzYvT2pZPI3UzOOeNd8gjYajBtjB3QQC61Q8-x9c9tMufGqA96a1quCW2LTpEpL0Wp3M9HtcqJ8o1KOLpYavYcvFR9lhkEFtY_xpj4DRFcPd8rGQwhhS98A5LWagGnVx5GBtVYz-zfTZPpYmEKqImKzwsfmFQvrzHaXIYw==",
  "id": "rs_01ac8450c6246f4e016ab2c5329ac887d08f03d8850191d3ac",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.19,\"left_z\":0.15,\"left_gripper\":1},\"note\":\"All three bottles are lying on their sides with their caps pointing away from the bases. I will approach the left bottle’s neck so it can be lifted and allowed to hang base-down.\"}",
  "call_id": "call_cFWAZLh7zArZAFkRyiYxCVAN",
  "id": "fc_01ac8450c6246f4e016ab2c53b146087d08eb0d1e9d3527f73",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cFWAZLh7zArZAFkRyiYxCVAN",
  "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]: [-0.6025, 1.66, 1.034, -0.0814, -0.4911, -0.3717, 0.9989, -0.0193, 0.794, 0.6033, -0.3985, -0.0231, -0.0288, 0.9998]\nstate[eef_state]: left_x=0.4192 left_y=-0.1828 left_z=0.1334 left_yaw=-0.0108 left_pitch=-0.049 left_roll=0.0201 left_gripper=0.9989 right_x=0.2922 right_y=0.002 right_z=0.1758 right_yaw=0.007 right_pitch=-0.0205 right_roll=0.0027 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -8.335, 8.841, 1.746, -0.3443, -0.0562, -0.1294, -0.0205, -1.6342, 7.0085, 1.8535, 0.0415, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6664d9f7c1d4c0690854cb47d96508874fc37be3646e604980c350f70f8ddfaf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bb8ce95b2b146ea63f5f566a77caa50fe0464b6497ce3a521c176ec369e38db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:526573a475820a3434ffb243fb399b7c48b60570b93d9b94bc5fa78aa3ae3f6d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 6664d9f7c1d4
wire blob 4bb8ce95b2b1
wire blob 526573a47582
call 2 attempt 0 · /responses · status 200 · 13.46 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, 0.794, 0.6083, -0.3763, -0.0235, -0.0284, 0.9989, -0.0154, 0.7895, 0.6041, -0.384, -0.0132, -0.025, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0018 left_z=0.1827 left_yaw=-0.0003 left_pitch=-0.0004 left_roll=-0.0002 left_gripper=0.9989 right_x=0.2939 right_y=0.0014 right_z=0.1804 right_yaw=0.0004 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -1.4564, 9.7026, 1.7363, -0.022, 0.1148, -0.1294, -0.7316, -1.1829, 10.4137, 1.8046, -0.1099, 0.0806, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssVGVetVIVc8wVHgeZc_hV-29qF5ewlAg5aptcn7oeq3IglEuB1PCwpJoOLj_upKeYIp-VvDuD2flRlBAcICphwzt-CINNHryM7hBm9VtLsqAqCykbj-C83UEb7YgIYdwEyv6Hiq1ifBqLlupji2eruUvcMY0UXQEbzsv-Ott6ytd4O6egB3Kd3usuDLdntgXvyI8TUN3PgUQIXbW79TSgh-sbWi6GQS3moE_CDjFASNiZfTs3_UzvgknoJc6lvY11tRM1du9W6g5-r69JIlrBErsvqud3UVgimXfyJK-I9uUNwPMXY_gK-LkpNWM68o3d4cGS_nmxypAb3n_fJMvMWwOwdm2WgDd9jAosDg5b75jX4ay7U7qfcjocusZ3Ja9VJkzjFD-TY-Zi7bHLAcwPwQY_W8I75gsn91_Ecb5C97sDEBXhXDHOiV3ptHqwTxbyUZT6IKo-zcZmOuRVHSCAp6_ca-PdaO0a-fwhf69x5orDpZwWbs-MBsphXZbwMHeza70jrEZeVqVPtgQxOJ1Xs5XMWNNMdibADdtFB8TDho7wO6gkNxsj1IClETfDhmp-9Tws2Lqn-2-7UmnwlfUU9Js75Gshk-7dIH_tK_uKzznohcTH1nOpOuKyFWebRWofMuJ04_a3KbbAVSnht2cZbm1BSW9cWw9pT3irQTv4SQWN_b0wOZ0t9QjOy9OGkT8o4YR2NPBwJHniav7rWhh_ZO81M2zyluTtJkqV0Ab5Xme2X0WL5HZiHQVnp4wTEbTaWooXgXxjkwK-N216GTBcUTBGSImr_BWtRodJycvQhEya5106-i5rn0a0iiD_UFv7aTiwR-L6DFJcajCmWdaaV2wEar3tBuCQkHySyc7nB_c6Hl9EI-samE8EuPlH0fYHrUiqSwSZp_3wr_pczc2p7pLeH9ExfcbBoedGACfgbUS8Wxl4L1_26RJHW9ZbVVeGjggNjQvw26x-UdBCrLKdJn4vbYF4gTgWwBrdxyEFKoEWzZS0mFoZGmBJbXelau1rhqb6PGVrg2ucA9N-eHWM4sVcydXcWvzkn8xBrHy_KI2ispuyeshshvHJD9NQ8_EUDz8R9chAycbVG4HQu-LOiiaOOqB5VWs0IUyay4B4TtNYXoNAA-947czDdGV6xj1n0CjAOydgjVcEGHuCCXbzirJy85f1HjMH6-RsDIo8FIrfkFhYteTfXlB5kb8jHmKHN2b8cPiIUuipqV8nNBlDEDHylZnQSTzMa139hEtkQ3Uv1IhP63XRYTlN__kpTKi9BdWMYCuAT5ACYyQFSBxtRp3Exk-HQzju5ybswZSw8Vo4nZ-uXOEyJL4JHAUPyRcsktTzrlfATtPQUodlArZAeZ-FjolXQQuQImNw14TA_z8kXVxiVu8roqNlsOTe43niVFn6EbsOXMa6ZRE4v7vnZJEYtC2ayjg7_sbh0ykZoLQ7hGtmEIHOP18hqIz-uPQqk-FisGWU_VcDU3OzcNOWTsfg==",
  "id": "rs_01ac8450c6246f4e016ab2c54283e087d0b1a603283f7fe056",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.455,\"left_y\":-0.13,\"left_z\":0.075},\"note\":\"The left bottle’s cap is left of the jaw center in the wrist view. I am shifting toward that cap and lowering for a neck grasp, leaving the other bottles untouched.\"}",
  "call_id": "call_NumZcIXQbalB7vWNad74LzdU",
  "id": "fc_01ac8450c6246f4e016ab2c54550a487d0892680ea20e66818",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NumZcIXQbalB7vWNad74LzdU",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4225, 1.7855, 0.8742, 0.2276, -0.3874, -0.2825, 0.9986, -0.0193, 0.7902, 0.5846, -0.3969, -0.0235, -0.0326, 0.9998]\nstate[eef_state]: left_x=0.4438 left_y=-0.1224 left_z=0.0656 left_yaw=0.0381 left_pitch=-0.0636 left_roll=0.0235 left_gripper=0.9986 right_x=0.2898 right_y=0.0021 right_z=0.1687 right_yaw=0.0094 right_pitch=-0.0338 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.294, -8.3214, 5.4769, 1.9756, -0.0611, 0.315, -0.0513, -0.253, -2.0581, 6.8855, 1.9219, -0.0317, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:593347fda0b2cdff9956cd457f44d226dbd643ef57c642c329862ae5db5edbb3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3c9d086a6dc3a28312b2ade28e257d78e437c2ece2d8bd4fcb01bdbb172f441",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a3ce143320997afcaca2d41851ee48d008a89fc33603e8bd5d9984ad837876a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 593347fda0b2
wire blob d3c9d086a6dc
wire blob 7a3ce1433209
call 3 attempt 0 · /responses · status 200 · 6.735 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]: [-0.6025, 1.66, 1.034, -0.0814, -0.4911, -0.3717, 0.9989, -0.0193, 0.794, 0.6033, -0.3985, -0.0231, -0.0288, 0.9998]\nstate[eef_state]: left_x=0.4192 left_y=-0.1828 left_z=0.1334 left_yaw=-0.0108 left_pitch=-0.049 left_roll=0.0201 left_gripper=0.9989 right_x=0.2922 right_y=0.002 right_z=0.1758 right_yaw=0.007 right_pitch=-0.0205 right_roll=0.0027 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -8.335, 8.841, 1.746, -0.3443, -0.0562, -0.1294, -0.0205, -1.6342, 7.0085, 1.8535, 0.0415, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssVU-6D6yrSMbd6QDrMDDlHFevP5VVC60CA2trTOybMGP62EUNRzU0vrn7QZz0olOiwdxLVD7Et6xYJvQK0rRS4rUKbnodUi02m9E0x15uTkCTQL_sOTtkHAuDJNBKyEBDX0znz-PbEbpU-r3qYdAtvxMVlkdmzqmocXhATewFOGq6U6j_1N2-3aN0MBCpFtU9Y-XV8akPSZSETtxQsoOVRPbCzF0YaXWrfP8X44uD8XdEyahBwR8BA-MqDFIqAV3JiSX41gZJbZFZgVGm4BfGO5z8n25aQmlAj8VseByyDIwxu0ORZAqaIqYz33lOXsddZBUeLsydlbvbtutH8xvNxHvAF0ny9TrjYaXU5GHMf5w2GQEZXG4LUf6bFqvcoUjAtlwvTqU3VZA0Jx_z-LuaDWsPpIwcenqmK5OUCbzjPHGTpwBKOu7vgW6HRbRmn-4zD76l1mGRiUmmx9nyBXpvjsdRbRYGvmf_oFGwrtenPwgPG_PUCsBsXa7WfSidOFAQCob7sQOUIQzeW-bdhj2RgmgRGdWFnrIs1LLnoFjdvDk8xq9_1KTgNeYJu8h2vyDBvRBC7wUDYLzHHd4xgCLg6FEA-OSoykxFEEXeuuAOihVIMAnzxzooGPkHvSk05a_NOWxS7nQmUQuC00vcJDWLqPEGg-6qWvU1r7FhiRANlhJV0to8PhOkGucFQFPt1Iw-J5ZETqzvO67nuTet26hngKZeFWhZby33s7X94rUC4igOy3HgUm4ptQBtRNs38UI_jKPQCx89gVg9_uiWVwHI8bPW3zg1jt8U43uKxkY_dCUViiHdOFNp10k7qsU_gIR_MYCVHZfyYJnhVEnBjzVPVweIHIP8H-nh8izsoWuVnq5VlZsmKrTXrGd4DYrtn16Dw62Elt1K-map4BHQv8Frg9FltuLqQ3FzT6qPqG3QcjGHVAgzrFYarQSv9uwxQKaDYQrm7GqfvCVo6jz8UA5-VackcnBz3-HWybvemvXl_DAcRQG7WxqOFD3KRoFzN12jrpizp-Nqbt1PMEpLXEG1G-Hf9Ze0twlCWw_cKLg_LhWetZABZEuDV_3lQ5ly84ntczPzTxmSmy59abp6Wd3H_kANiVozmNtErkJXLiPwG6Mioi8AyvZs7BBlHc3b_Z6i35nAGPZCN5lr3hbGDSDci1hTGL5ADz_NOXn98psnTbswK7SfAb2HahUeyneWzRrmQTNiZrYbCVmPda1thqrrkTftrqtFxMmOabE60vcnkuBc-eY03agp8CKVHp2KqaxYtn9FMAYvg6UCVWX6y7UVVA5gjT4_CM0Hua9WwpQ0ve0Eta_h_DG2S-n-P-CiLyWKRalHp7j3rexl9DqDaW2f_rwDEHNP7uoawZjJf6RGu3AISQCH3D4RoYoC0pRe5BkTeiFBTp62FbbQ-I2xYvbzBDcmoVWo3IBH-Cc4BUDb_DOm_XPoZ94oeEZHCg7U8JgmZIdcm1pPH-GWY_m9wYgjb54rCD4162v90QGEsDGjs0oyV88yqXKzR8knTnx_JZU0eP0pHqJBS3dqCxR5sj_U2g4aTbt-ZdMtQgrJPX7zPAQcpvEZfeyJrUYh90wsITjP18CCvcB9KO7mcDDd0XvO2Z1-YWbWES1-1-J6wYR4741xyqfGdOakcFJPdhcLnS-bgq7CMw8GBElrs47pF59xo7W40dgNHs5PXRWZhnOEgeAhJXKu6C8ZpOMK-xR84hcTWfUzWcDlxqp_J0eRj5htkK8O74nUAr_pLXh6eQaIINM5hFE0koOWOCaZ-arwKu6ho_uNem-dFqAmjqxkksGZGX4dfelRs0WzXiDVPebpQTjP8D5uKT_Vnv0-Xmv3E1AuI2uBDoRuCIRadGOLCdDdUerfqXIvJMMlRrbamivmr7nAK5y0X16AfahYe7vzMGNj9W",
  "id": "rs_01ac8450c6246f4e016ab2c54a3ed887d09b3646cdc4b4e295",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.475,\"left_y\":-0.09,\"left_z\":0.035},\"note\":\"The cap is still to the left of the jaw column and the bottle remains on the table. I am making a smaller sideways correction and bringing the fingertips to cap height.\"}",
  "call_id": "call_BVgdhpVeG6sQXZv6ajxNfl18",
  "id": "fc_01ac8450c6246f4e016ab2c552766087d0a88d7ae8f9d1e368",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BVgdhpVeG6sQXZv6ajxNfl18",
  "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]: [-0.3214, 1.9087, 0.8516, 0.4576, -0.3336, -0.2291, 0.9984, -0.0193, 0.7761, 0.5526, -0.3843, -0.0238, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.471 left_y=-0.0921 left_z=0.0436 left_yaw=0.0655 left_pitch=-0.0008 left_roll=0.0038 left_gripper=0.9984 right_x=0.2865 right_y=0.0023 right_z=0.1604 right_yaw=0.0111 right_pitch=-0.0392 right_roll=-0.0017 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -8.3214, 5.3402, 1.0867, 0.232, 0.0415, -0.0317, -0.1299, -1.6205, 7.1863, 1.9707, -0.0904, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:409d25c0860ea48c616a1c43a028864d755c1a94ac3c7d10e6f58d7bd94a393b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9970202bf6eb4195734f736839889baf75dc74c3b467d16f31b944fe4d240c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f83805400b3eabe478151eb2eabacedb1d06a83f6a310a39852876b4d6283bfc",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 409d25c0860e
wire blob d9970202bf6e
wire blob f83805400b3e
call 4 attempt 0 · /responses · status 200 · 10.1 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]: [-0.4225, 1.7855, 0.8742, 0.2276, -0.3874, -0.2825, 0.9986, -0.0193, 0.7902, 0.5846, -0.3969, -0.0235, -0.0326, 0.9998]\nstate[eef_state]: left_x=0.4438 left_y=-0.1224 left_z=0.0656 left_yaw=0.0381 left_pitch=-0.0636 left_roll=0.0235 left_gripper=0.9986 right_x=0.2898 right_y=0.0021 right_z=0.1687 right_yaw=0.0094 right_pitch=-0.0338 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.294, -8.3214, 5.4769, 1.9756, -0.0611, 0.315, -0.0513, -0.253, -2.0581, 6.8855, 1.9219, -0.0317, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssVbt36xn1V6zqcKAAFTnl_yjOgwwcOCt0-G1dh_NUNh0d4X3ipX-zFnb7c90iSoEZxqm2ZJ_IgqXyW_OCQEN0qu4rA82-3IYcmchDk_TorrFsG-uXJoVJ0l9HxpC0TSs26XOTp5PYAIgult1GU1Q221HKb1iSlwPZcN72AJ1TJRif9kXztOclJxsPzMTmndULxPGYZkZhStKsJ6kLkVgnSyCRr-vW3K_Fu3wdWpC3DYKwkq0uabxvmewxeLToUtDaoieuVRlWOVSvrNUkCpHMAbDqqVGJILNid7Z6NkIyMCMsaCrBYkUhSeh8SttGXtMby5TZ4yNpCrFfMA9q-IhiPEuqep6PTj2q3YUBfYIX7XHK5qDFn3wuaSEnPksfpf3fZ1Dm68F9tSsYIjLbSL5Him_wjjbUAIVnIzngXf2CLnXMM47HjDOv7Zv2f4gNbLMXSy06un0Z3mgwacaFJnO-6ojbTJpvYG-RF2uTiYpVxvY5yI7PJdnk_5-XtOxfQhjMzn9BhaVkT6ZrtR1u0GyMrOffa_4ZuC3Hkw_ksOX7wLjd-53S4SZDteOGkX06aw_TJ2ih_R-EAM9n4-H7llcEH-GO6aA9iSfpBX53fC03FbnwlOfvSpQCgh6jqHMJdfpBGPShY-B2BJ7DQTk9P14L7vLgk8_SS6rLAncjMoptzEtEE-KDeJGMuUD3dI0yYtcs5DskxnYPkHg4jlNyxjcAAzgacTvN7AXYCWx2wbZyYnTxlV8KhxVP1NH6-ah3t9EqYUcG1oagPejg28Z_7jR7vKciwp_x_Kzk-0MxRtV1FabFfuj8cfaDp7lM956pqRO4X4PLQGNwm2wZPvW2FGmtlhlepdoLmxEoasTcsEJdpoUGp7XxnB7yNi7TLrbEDRQA7tp1xkr2hU_MSmPBCPD_L1oCZvUoI_uTTrOTXXACaGfA9gdFR6tZ8U0J2E2ufVJrTIVAEcB-VX7-NcCwuhrlNmtXDh0elpS3SMidv7RFvBwhAuF7IMPupvaew1lnboUIDY_nQ78znfvuZgQAbbiutpa08Dnfdgl0uiDyJe-jrEJCamrz0eoyABe2_npOQkTD6VaolgGZw3rvEBXVtn0ISz-JHTU1LNZ_Gd2ncfpbcnBnZajnnCYVBSBDQWwvbfCrhCxv6Cz86Xgs47sSNHcAi0YPYVEiE7uO9EfVQnKa-tbt3szh9Yu79awydb8qwkvScCXn8oIRaDutf2xBZANPOHIPY-M0THHuEa2X1ppSeGS7a-aHzfA4Amp23rHtqjgZWPfXzPF7x3LvdxSipay3mwhDgqbPHAY-t5FcCHlfFJrV-qjOAAJoTgVhXZMdW9W3zQCHZT-wDGi1FZhr6QLjwuHbDazELv1ID0uqP0ddQezeMV7YsHJYMjWXYqWFR3Oj8lllr8-FkBhtDRuGAuzUgJvg==",
  "id": "rs_01ac8450c6246f4e016ab2c557dbcc87d082af6852bf57ddbf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.055,\"left_z\":0.025},\"note\":\"The cap has reached the fingertips’ depth but remains left of center. I am aligning the jaws laterally before closing around it.\"}",
  "call_id": "call_3J8eqW7jJDvlZ0vFgSFgl9LZ",
  "id": "fc_01ac8450c6246f4e016ab2c55a514087d0a4acca60e4ba7a81",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3J8eqW7jJDvlZ0vFgSFgl9LZ",
  "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]: [-0.2996, 1.9244, 0.8516, 0.5163, -0.3126, -0.2161, 0.9984, -0.0193, 0.757, 0.5171, -0.366, -0.0246, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4791 left_y=-0.0874 left_z=0.0475 left_yaw=0.0632 left_pitch=0.0351 left_roll=-0.0116 left_gripper=0.9984 right_x=0.2833 right_y=0.0025 right_z=0.153 right_yaw=0.0122 right_pitch=-0.0372 right_roll=-0.002 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -7.8017, 5.012, 1.619, 0.0415, 0.1001, -0.0171, -0.212, -1.812, 6.9812, 2.0049, -0.1001, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49b0e936feb689f1621ed3e0c0b90ce660c2b410bc7ffb80ed305ea0a56b4356",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:510f01f18c1011dc4861b720f2d11007af5c1aec125791d7eb7a12161b7cd9fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f3a1f73d2e70122bc99215e114c86a8eaed56265b86224f75ded42bc8e540e7",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 5.772 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]: [-0.3214, 1.9087, 0.8516, 0.4576, -0.3336, -0.2291, 0.9984, -0.0193, 0.7761, 0.5526, -0.3843, -0.0238, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.471 left_y=-0.0921 left_z=0.0436 left_yaw=0.0655 left_pitch=-0.0008 left_roll=0.0038 left_gripper=0.9984 right_x=0.2865 right_y=0.0023 right_z=0.1604 right_yaw=0.0111 right_pitch=-0.0392 right_roll=-0.0017 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -8.3214, 5.3402, 1.0867, 0.232, 0.0415, -0.0317, -0.1299, -1.6205, 7.1863, 1.9707, -0.0904, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssVmOoXVuft8AhNLbSmCTDMXB1OdR_R0wt01W4RqIjbsKtYi7zgp1JICUDEJ9nQ7cerKNRjPEHNDvooOmBF4erjreuGOk9cANypZaV0SQpHI94EZRTSIcBWPSneHoMc24-xM9-qh2p2amcqhvmkGuvqFCQpOXYyf4VN_1DMe-519Mc4o7lNQf5gHnDHKk4nZ_CrXsFBpHIM2XoZ5huyai_vrQJPbft3_CG_q6KeoK3yprfP1nMNsLufJOigAINTfu96kyu_I9pgj54T47mTSpJ-Dp-YcTXu6Gg_llxEPiIyqDDchR0xWTUaEDGidFgvbXPHY3wnRHBkHfeVWacJmXJ-vqSL4pyt8ICrdq4MQ3Ps2QQTVdkbmqB_XAy2UoiDVs_FymVPuVK7FT8PZEu88xejiO_2gM05qwhKKYe-V-PYRqV_pyFZISQHZmFUmvsZUbOkfd0CGueXOLXQPfGF9WATLsHE2ueADQ-YMNTMmGqkzLgMMcey-K88Dqcoq-KRQuhfWcOcafsnjm3TnqKOhIvp656aXQrN4ZIB30xImSZLiuQPZhdtZ59lVarSMjQ_ikJYEqk1WHn_ndoH_5_yiLAkOjeN4hZUG1c5tWS1H9em3nhBOjwddCM0jRaQ1aAE1suc_JrqL0cLXrhoK9naAmadkuaiJf_5sJd5eGNPfzMvsRmqLQnYYFBSLOM7a_txGYQtJsCUIO7fEtaFLAcLS0FgzB0h3Inls-S3seB1TnXRk2x4cOmlypHy6oyVCohyug7ksyx9CyCsNHh2VkP8NnLTSdHbhBSyjQAV5NgEmR1_9ITKTfhvVj8X4ytb8_qNK6LGgSMGITkXTpwbf8WAKDd0jVwFg6MCq8gueMma-feN1P00OctwfXFcnqloHWhb0HDBxNMxbDQRVBWPNdQEjDJ5c6mPpcwf9-Ao7huofCyWaoMdvrqKM0tH5jLRsWDkm1mSG0hdlGbXxjjFiM6uDl3i4GBDdoh00Z1DeNjTxU1vIFH5vMWHMnbp2KkrfmeUGtsXsfOyDpBLAsWCF3n8faijjfPg1cCFCPalYKI9kHS2vX4Y4EUC-HHc172E2xXPVS_WZ9EpbX9XBWWj1v5GPEMMxZtaw8jlEAhcYQlMeL2qc3_3SRA19dSpCor8NzMf5sqSjUWuMmGFJkSNsGuxhc2BPb7Mtg82dqRF_kNrd_1WNpiJJV1vCQEfBcvqrb_ausKSlT4R6ExJDbav1MsY7lsqRTgpcNTem-E9YBqo5CI0nzNCps6wA7BFRJhXYvaarB2PTVYRXwjNK4x3KXTRc_7B7d10eUhHIN-17o3Mgc2BXDOsbWYHsubNCb9EYP3BXWnV8V8rXE8up0mix-MoQMBoh8R3GvzCyuyc7hqEuEZ8IQWvpUPes8xapqlirsNtptRgBVHLEa5bbF0cxGxw9nQpnf-Dx72v9IK-LnKkyTaRWpxSPpSvAah0szPpbNPx3hOM59UaZFD6KS7TDqrbNExinOJw54HVl7SsA3znTU0TcEf9mubGNAcKMpGokr5Kk44IIHwkF7CppqNaQMDFnT0WZoYSUWvFMX2-Tk3csG6WHv3qf0RITqZHe3V6AJKx_Lr49",
  "id": "rs_01ac8450c6246f4e016ab2c560983c87d0b4ce423b320bba8a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":-0.05,\"left_z\":0.10,\"right_x\":0.294,\"right_y\":0.001,\"right_z\":0.183},\"note\":\"The last low sideways move did not track fully, so I will lift clear and realign rather than press against the bottle. I am also restoring the idle arm to its parked height.\"}",
  "call_id": "call_E4gtIcxS6iMQ5wl8hyy7Sapj",
  "id": "fc_01ac8450c6246f4e016ab2c563ec1c87d0b234ab4724fe231c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_E4gtIcxS6iMQ5wl8hyy7Sapj",
  "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]: [-0.2996, 1.9244, 0.8516, 0.5163, -0.3107, -0.2161, 0.9983, -0.0223, 0.7883, 0.5621, -0.4007, -0.0311, -0.0402, 0.9998]\nstate[eef_state]: left_x=0.4791 left_y=-0.0877 left_z=0.0474 left_yaw=0.0616 left_pitch=0.0347 left_roll=-0.0125 left_gripper=0.9983 right_x=0.2861 right_y=0.0027 right_z=0.1582 right_yaw=0.0169 right_pitch=-0.0581 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -7.7744, 5.053, 1.58, 0.0513, 0.1099, -0.0171, -0.9094, -1.0051, 10.2906, 1.8877, -0.105, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e46049a2c2f342355d87edf8c8f1d6e6b8f849b2390244bd7bcc52ea4f9ba49b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89953e6a219c104ee0db92b10c763927f4be8eb508c8a66ebb25915a34d7a8e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e9e567d239325faca0dcfbcf572b41b8e793e35769f4d9f51b64664248fc2a9",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 16.31 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]: [-0.2996, 1.9244, 0.8516, 0.5163, -0.3126, -0.2161, 0.9984, -0.0193, 0.757, 0.5171, -0.366, -0.0246, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4791 left_y=-0.0874 left_z=0.0475 left_yaw=0.0632 left_pitch=0.0351 left_roll=-0.0116 left_gripper=0.9984 right_x=0.2833 right_y=0.0025 right_z=0.153 right_yaw=0.0122 right_pitch=-0.0372 right_roll=-0.002 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -7.8017, 5.012, 1.619, 0.0415, 0.1001, -0.0171, -0.212, -1.812, 6.9812, 2.0049, -0.1001, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssVsn_UobfuMwOrkia2hu5CVu_0zrBQdgnqWWUUQ5UukJ7wiOazfOr8pBcSaHavjdgib6Jf1B1M3SaceWQo8FrAv9yhtVK3WFhlbnyTO0_E97fzZqxw0WZ7jHfULN03OQBK5_VpTJ02vaqjnx17znILfSujOOJppMQx9eaRR0RCHXvWQa9KQ8h5fmXHtJVTBqBEfdaE11pmwXtZFz751unWguuUjfPWdaMaDc4QSkC5HLyt57eaIDawvtjwYb6KSBcEVwZ63aNd95NQUdNB1bY3x1llsgYOL7mvGryt-XPpG_1SBrJ4xIaI2jC1mgTPHE4fQCJz1g5CZV0LyJW35USUV1JDK7HPv-M5qGemIJets70bjD2Ri0qmDbEeL_rIR40J-WxqAqK2crlVpVt-Eu74GQMs8xbjb2ODWN_AP-5R7yRPMP2p9w0tJ4Wo1SlhAoJG-V-r9_Fx-cpysA3i9zN8ZqmbBq_XgR9EjIK7rqnDG9thoN1WZ5MxjtYl1hXzbzz4DVNCUBUvoDL-HzkB2pfwQQlwBSP90xDwLjBdPEd2sBGXJtHkzlW6MXrIVsiMwyw56UnckVOya1ovtlVXmiXbnyKnjEk3nwj6WRHXpBP9yle_SakWN0ZzdVvSHvROPJnpIs6BNi49yYcYtTr3IW3AVnXCv7BWc70cBX5EF1SxXlwnwJgveF-ODzbTGE_-SOWP0T5kMBdu2wPhNI9f_sNgSOczv0qCIJvvhRUDczFlDJPrl6sJTmKMgiqfipOa7QeM4nBjYT70ICnKBoIkEa-3aylmofyNIrTg7sJgduvkXit94DSso9a_urgN5oVe6mJpaxe1fhOKK6oUVHuN_fIseV0KzmzViI8ZnqC5Q6z2EuJ7BcKEuD_6mXnK8bBqgjQs037tbCFKvPH6Axgl-vdcMEzKB8QlshXmh3icBaWK9Qce2KUiGE5XSuwCmzB5Is_hXFnZFNdfTNll4mCgw3N6DginQXFxssTDf2xSw_ag22ABDH8-dHxqGdGYlBQCR80cKRBEjr6jhzDNomjyzONHS1eIL45zHeycH9wFLB7lvHFiUSJiejgd7OQxvO4whsIhPuusDpbApc4U87uIKsBebl7tDjU89GnUYRHu4FLF1yvK0pOC-9_9KVUrNdtXWZUCzKJZ3DlI1XAFU_3yDdnwTUWBYzafSIo1jT2BHiJZO-FjK8J4-QjBxfTr6Bp30sFXueEccoXRdw4o8bfSOlOM9Sl24NSqjZxxp-7qMqT8030TBJlyv2SIw0Brs2Q8HDSanQaqKzdHMr26Rpm7kBSGWY6f7mhI3P8xdMTOOcpszDUU=",
  "id": "rs_01ac8450c6246f4e016ab2c569346087d0ae2c88383fb2ea3c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.09,\"left_z\":0.18},\"note\":\"The left arm has stopped tracking at the extended low pose. I am pulling back and lifting to a less extended configuration before attempting another approach.\"}",
  "call_id": "call_4Ip9jeXZ2WIh4Vc9JjzOw2HM",
  "id": "fc_01ac8450c6246f4e016ab2c56aab1487d0bc119fe89df6e37c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4Ip9jeXZ2WIh4Vc9JjzOw2HM",
  "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]: [-0.4164, 1.3392, 0.8089, -0.0711, -0.3897, -0.2802, 0.9983, -0.0265, 0.7483, 0.5037, -0.3603, -0.0311, -0.0437, 0.9998]\nstate[eef_state]: left_x=0.3887 left_y=-0.0946 left_z=0.1649 left_yaw=0.0438 left_pitch=0.0108 left_roll=-0.0099 left_gripper=0.9983 right_x=0.2819 right_y=0.0016 right_z=0.1504 right_yaw=0.0145 right_pitch=-0.036 right_roll=-0.0046 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -7.1453, 10.3453, 1.7314, -0.2808, 0.0611, -0.0122, 0.1162, -0.8137, 7.0906, 2.044, -0.0855, -0.0024, -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,$blob:2631594d1f6934dc95ec48355024b06d8ebcb6c539fc218a3f38118ee849123d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87b5246c2b990f94e45da3dd87473b2e6fc1297e15a37088b6f8eada7e914596",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afdd8dc97fddbaf088ccb5d312d71220465fc726da21f86e094bb0539fd9f37c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 7.602 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]: [-0.2996, 1.9244, 0.8516, 0.5163, -0.3107, -0.2161, 0.9983, -0.0223, 0.7883, 0.5621, -0.4007, -0.0311, -0.0402, 0.9998]\nstate[eef_state]: left_x=0.4791 left_y=-0.0877 left_z=0.0474 left_yaw=0.0616 left_pitch=0.0347 left_roll=-0.0125 left_gripper=0.9983 right_x=0.2861 right_y=0.0027 right_z=0.1582 right_yaw=0.0169 right_pitch=-0.0581 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -7.7744, 5.053, 1.58, 0.0513, 0.1099, -0.0171, -0.9094, -1.0051, 10.2906, 1.8877, -0.105, -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"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssV9M6lFSl5rgWsCLRzVaCFDVxF9LM34g35FRcpm-pkbhN_j4Pu1F4NdT5UfwQfSPXm7whjhvvY2EylCcJK5xoRVs8b6kt0198yiZmRVFogNOpzSIUMaIXPIQIpD_NAenbFFQjIqnotFIZspufvprfEgy_jG0Qr4_0vK9fUWm8jWmsXwESeF-6ONUvmVq9z3xnt8-W1z1Ez0_m9wPf6goBbJgA20hEwNiK_QuBh84CkVQjN7wpU36y__yvdVHuHGCRYuzhs00Dx8wIPLB8Area5e3NHF6ZQSWvs_y_J_0gPrYls0VIanEFTrYntYzI06MfnWN7Qf27yV-zgwbHOwSVno3nbpvnJnmV1moduGA2YGLvDgwqBzCKqvQEMp6KJKlQMEvMIHy2e_SpRpzO2SfplAgkViNx3rTOzpny_Hlz1Ndy01Cy6i5E-ZPXe5mZxoWgRGV39WPghw1A7RbA6WD53vrDDMeKsDz-XEIjcB7s_2mLr8Zi3CjrXHk6KjJRwkfMzJGo9LQHOSVCpmTkfyrLP4TJw8WfUMDk_UooB4Cr_QRGVrT7ACZoaz0dOQrK_z31MbPZTj_ItKfxawxmivduSW_aecCh2dchNKQM5KkyeTJ2PRI2D3L0i83dYkij8bcai2kazDmgWUGuyxPWpBHrpFrW5a4kww5_P82WuWtWX6mNGy-bdhScO1o-T5HyrWxzgA9G7Izm-4W7OEM11mxulJ6foxICH6hQEKhGJp105Cp-VytzZRgc4nfWn8adPu2HYGuOuyycFMl0vqU-3XuvnfsZO0XZLsuExYjl44Qa4N57vZwHfZb-w9g2QVZzZjh7dlPD2FFguGS-R1tJBrHDLohLTwTBLlRcgBzev_7MzDJIGWjrQn5jQJMghQE3jZA4vyStF-DU3hXAiwg8ydDrjeymroXsbfo48fbGIEWmS_OVkrxJ9HFb0ieKPu0G-ikrj322E82AGH18Hwh9BwBM8htjwHQ4ihC-h3HTqsxpxnSevCGU5UN-ozDWQYe7Hag1e1chk0CAvkbImkqIWTO6oU8alBxIXwEWZK6zybAeSlTIA9OceR1ijOIuu2lbjPX63Rf7MwElwoYZgSj3OtyALarY4JK2l6ZV6ULEUNrzV_RVV9rbANXqCxrk8SZZeiDbst4SjGUPOt0hwBRVLblNXPlF_Qj4qGx9Ah2yCu1s1E9K4AGAY2LHUHPQjhxDmKD0fi7KzJMeXMghCzRQTuL_0PTESJUTsAkS5Coq713ENsbgfnNiMdxJmIVdEP2mjv-pckrkMJ_aSIzPWgpyfMnp3uJq-y2GsYnVJ2FFPkcnzt0wh9FOLdwZyywbvv236y5lVwHQUjZ5ejo3U0epL65oo0VZmRI0N9CfJhQ7fi_0vjNb6ybm9KwKJAXEhthf77qdBDhklqtn_p5Ew_4qcj0hsHqmKgq8XfhDT7qTWPnGNDBgkVRca4VrO7-vnY2h9GqG40HeWbyDrNZOo43dUsHdPgfzR0DKqcCp0jdnvDcvP31EiZazqcTmA6ecAZ2v6p2pi4EYOr2-1ygaPmjWa2tjiuc950Fl0Qg26RAeVxxS0WdQnwfLXVyD_nIcC2XSsoyuWCDiku-e2Kpo9aLGXLA_38ddgiR64eFPSfwX3mBR7Q-KaVS6gr8BsNJe17OIAfveGX3_Vy0kCHubADQN1GSwqno-O7wdfc8CFM9Hkht8yNv19zhLv3SLBH2Qfg60hVMOV2knj-wo06iKXDKjW8pzIcHJQddp3n5ZjTZsTeDjnFRc3Fc2qh79IU9adVoh5YgISo0Ju6fg83AYTm1L-X1Btqd9qz5bdr3MpYDNOwT4XevIqUV69x9mEHmcPgS6-T9IePDxobwh41a46TRjaGvF0yOILXTqxD7X7e94IbCpMXOI02nmmWfn1gIvqvuHUBA21xMtWym8Y220oRdkm_7JPY0SDjYU9sZwURr7wf3jujLV-xmtq8StltC9C-u-tewlYlBDNFW0umqpMQt5vAclaMGOseZRia5D1WKYzfOJD5lF2iRQvVNutMwfvydsT5TsOUIS-9t92yMF75QefH-N0fd_xgI1kxtW0OIMTlRAqmXWbTuD2tgbSJnq34vihMqiAB0nyxrWqp3NYPFyTby38X884LkR9NGCUXuGeoka3iEUTDxvjOr74mFmDpYYO0kUo8WjE24B23dRT36O9Igef6QIcm0OSwimFDq1wh_mfsxUaVyegjBEy1RaFuBOtarr3mQkDWGWpbOa0es4q-Sf3RAVBEgyfqpUu9btT411LuKt620xgl9PckwXQ5H_FLEh3dBbxzyEmeRt5wmwzyuSPldGyQEee_eDFBdpRNR5-UPX1NWd01pqHqxxh2DVyiiH8_dhmqZyTVuOPnQd3AzsAg36LB57e1HhphdJ1SCb2oydBeqVFIu_fKRNA_ufnW1-Re-Fj9TBTOmx99Uj9hBjUNeNeah0kTmRDBBTiVHxed3dM=",
  "id": "rs_01ac8450c6246f4e016ab2c56f617887d0ac5e70eefe03d0b4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_y\":-0.11,\"left_z\":0.04},\"note\":\"The arm is moving normally again and the left bottle’s neck is visible near the jaw column. I will approach slightly behind the cap, where the neck is reachable without fully extending the arm.\"}",
  "call_id": "call_6YZjg9ayDTeLWqqCSd4e7gnX",
  "id": "fc_01ac8450c6246f4e016ab2c57b543887d0a7950d1f731f3129",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6YZjg9ayDTeLWqqCSd4e7gnX",
  "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]: [-0.3981, 1.7988, 0.728, 0.4225, -0.4099, -0.2871, 0.9983, -0.0269, 0.73, 0.4702, -0.3431, -0.0311, -0.0433, 0.9998]\nstate[eef_state]: left_x=0.4296 left_y=-0.1004 left_z=0.0429 left_yaw=0.0825 left_pitch=-0.0256 left_roll=0.0161 left_gripper=0.9983 right_x=0.2789 right_y=0.0016 right_z=0.1434 right_yaw=0.0139 right_pitch=-0.0341 right_roll=-0.0044 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -6.8444, 5.1214, 1.5897, 0.1685, 0.1636, -0.0122, -0.5402, -1.5521, 7.0906, 2.0, -0.105, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6681bb9300dfa3af13b0433b9abe0f65177ef2ce22c899c1e4bb51864771b38",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85c81ead8d12f559dd9e58f71d02f7a2b98cc1077ce41a30e42b684db8351d84",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c76174bebcdfce559c1222080ce90f5f528be18887a84456937d27215a1becbc",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 7.437 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]: [-0.4164, 1.3392, 0.8089, -0.0711, -0.3897, -0.2802, 0.9983, -0.0265, 0.7483, 0.5037, -0.3603, -0.0311, -0.0437, 0.9998]\nstate[eef_state]: left_x=0.3887 left_y=-0.0946 left_z=0.1649 left_yaw=0.0438 left_pitch=0.0108 left_roll=-0.0099 left_gripper=0.9983 right_x=0.2819 right_y=0.0016 right_z=0.1504 right_yaw=0.0145 right_pitch=-0.036 right_roll=-0.0046 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -7.1453, 10.3453, 1.7314, -0.2808, 0.0611, -0.0122, 0.1162, -0.8137, 7.0906, 2.044, -0.0855, -0.0024, -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": "gAAAAABqssWFJcQvxb9NiBlj-Gd7U0b1SxBFOeLxbdQBSL0-HPkvQuR3x6Qxw9H1_HWgUAB8MiEqTCDniZ9CI7d_J3OPlO7wVHxT6OpZ-4xYhxPN0h7jdR5zxRhNqmZsvcYZvjufybgk3n9h6-nbzxwTpg-iKOsW8GyAxv7YFtsjfFQCesoTYJZ9yDuXsLaSUxs9cPtDbzvk9iwuDXtBeQ_hlA-jyxoxAUSen91MBgA3JNDD_Oo6pe1nkSFx3zUOgndTtV07rCD5BG2uxddOV6XxFpxXfPVouYiTZvZ6l0C07UnytVkDuwkLMn4N2Hti3txU4VAHqHJcK7kPK0kxIX52nJ4vsg5Fr4HipAYcLFID6ObStGzMN8YnxRGJGXQQncBANTdcaQ83-WgTcKrMczk5O1X_cCYw43rhDQwIeN7h4fzaSQd14KY_X6m4MX23OZqcKC0yEB0TuCcq_UJoCSd2LnFGd6SosYYAoNqb6cYgeOHTYlMbvAnRcLXuH6K5gCyk7iHzWpv7yU7stadnMrfJfp2QOr9HVhG01In31ZClQ97p2Bc-XD_GOjLgUIjdT9_Fc6Hs_gknnTmpDiB-uE0Hn5uAkoUtIRkLm8-OGOMXSKiIIgmLGZQkASvGElcgx8FdBc9zhXXuUz5gSss-BSA7186h5gduycxtnpkzXKdaio0bSFisd48_G_dFd7ij4gdxim-2PeFeJWkom1g7FCIAF2Hxa3cWeEWSF-geGer5WrdiW24fXlVIr1NkKfaSdQ-I2rU-NIf4pspFsgxlG2s16Or0E_a_uSrg0dpCTvYZV90go8OyjPb1dCLJEnK-MEdxQliTPKtA7X9g_PMojIyjyx0Gzn3U6Vkjtg3Ux-X_0MxkRscNP9hzjCLzt2WHR8KDW8QJozo1kdcYWDKgO5TXTzT20c-rKw8ZQurPGYiADDMdpzlNbZ4acB8HHCtdPmJ74y3c5Ds4OifRlYs_JV-TlnVpykRIqpY_eDad2QTNQmj7OBYmTqMDPzbQlsWIQ4cOEx9zUKpwjgMFrRuNv3Q58qn7rK110V34W2eLaS2NcnjFVF8wiBXDRgbR1B6GyiMCYtUew-aUiiXpt24FD8sq7VCRjJT9yPQmjR7nN0AOQ-NDwNSn8waWPTtmUFihh_LFHHdQWToefzECrQH_IrdJDPr250Dxo-mN7pxvNsNavoc8U4qPvFcMUBeZ6GvXzcdD56FQdgVgokBO_9iPz4ArsW68xsEeKRuiBTzXUlsrC5oY6t7OsYfKUhtgLyKA3GYH2kfnD4HpF5qMf9pbecbTYXKTCEAopVJ4qxl4nrd-dBRq747TGCfVc2WErPlCQlER9qnAQpfjeOhP38VBjMllI3pe-P8M8XQXPIQ7846GnKBJaG6jePPB46Na36h2F1kYZR1WAe12",
  "id": "rs_01ac8450c6246f4e016ab2c580d92487d0b689e4021aaaa6d2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.465,\"left_y\":-0.08,\"left_z\":0.045},\"note\":\"The wrist view shows the bottle shoulder between the open jaws, with the cap farther forward and left. I will slide the open gripper toward the narrower neck for a pivoting lift.\"}",
  "call_id": "call_Ipu8l97NV7OhnJvEt9dIcoIm",
  "id": "fc_01ac8450c6246f4e016ab2c5834b1487d0800646e591895aaa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ipu8l97NV7OhnJvEt9dIcoIm",
  "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]: [-0.3149, 1.8587, 0.7765, 0.4812, -0.355, -0.2684, 0.9983, -0.0277, 0.7128, 0.4397, -0.3286, -0.0311, -0.0433, 0.9998]\nstate[eef_state]: left_x=0.4551 left_y=-0.0799 left_z=0.0438 left_yaw=0.1105 left_pitch=0.0027 left_roll=-0.0178 left_gripper=0.9983 right_x=0.276 right_y=0.0014 right_z=0.1369 right_yaw=0.0132 right_pitch=-0.0329 right_roll=-0.0044 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -7.0222, 7.241, 1.5702, -0.1929, 0.2711, -0.0122, -0.6222, -1.4701, 6.9949, 2.0049, -0.1245, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d9e8fbdce72a9c097a06abd5e2942dc4caef903134fb445b37f895c13c72e17",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:838a3c0460da7551306e6e8913016034fe3d13670332ea9ce36dfd28e50020a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fae9f5527cc36f4370fbf1e4fc3fe3669ed89ae000d1ddcddbc0661b726b003",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 12.58 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]: [-0.3981, 1.7988, 0.728, 0.4225, -0.4099, -0.2871, 0.9983, -0.0269, 0.73, 0.4702, -0.3431, -0.0311, -0.0433, 0.9998]\nstate[eef_state]: left_x=0.4296 left_y=-0.1004 left_z=0.0429 left_yaw=0.0825 left_pitch=-0.0256 left_roll=0.0161 left_gripper=0.9983 right_x=0.2789 right_y=0.0016 right_z=0.1434 right_yaw=0.0139 right_pitch=-0.0341 right_roll=-0.0044 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -6.8444, 5.1214, 1.5897, 0.1685, 0.1636, -0.0122, -0.5402, -1.5521, 7.0906, 2.0, -0.105, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssWNKad7qihUfAbF43aZuYcT0M-2GJPNvqrLvA_SkFMv64dptakuHdNo1WNJUrqYXtt_FQX3oApGdM02TMtyTVE2nw_dcfqahb6RuiAdJ4dBWX3raxPkKdOakmB9O5ZXGugNAEApz5sYEPjK0JLrsWJ73T2E20xXsApSvFBMndSWCk0gx40Gz14mZatDnkZtJI8NuejTm5BboMnXB0oAPn7AHT2KEibgn0B5Vn29iNJJ-UcxYsbrSHirUVITqSkigmvMIyMx7pfQGNKXsYlmidpcwfWYTNMxVVrlRQsrK5YOPbwLEcg9TPTMor-BJgljjAtjWZEf_BG4ZlmwDeZ5eQP-NsB5HZ1rznquHR7ojSUaIQQkL9RPzYV5rXy_ZVI6m5njpj8q5-_OFxHhw5C-nzjxZ57lGzsmQN1uYQ4wrwaAU-imVQHIq0HNSaX--3TLSEAgEHyQ9pz5dzgmm44ptCZK3scvk8h7uW8uZ1XUKg8QKy5dCJr1TtHUtMQFePtwTsDmvrD8Nq5K4ZoAcA3uj91L2hZyOz20Vy2xeVxd9CQ0LPsn6tu4U4P3jwXnFXfV11UVCChuO0Kpd9A86_mKVrmpaktkM8QoM3-TRiUiWuq1G7Yk_wGjAi_Nh9xMhk1osjGi1o_NQBxN4GkiEviB75VZJA7eCRxR9_wes4r6Y1I4AHV0RrmiSaFTnfWljQiVMV0jg3GnXY4HA5R3BaNWQNG7o1zkPmPKCW9aJnlZXK0F_7M6sWxZmnRCPj6rlLNf9leuOieDDYpTcC-fWL55yzX4HM_QSosc6r_PQN3mYZdFGSBz4NhM5u27-ShyQUazkc8M5maWIu56ZjtMZfRnH4GhPyqSTKPPFclnfkKEPA9oYk7tfduF7-C7R-WLMcnuFuxMqqWki5-aJoBo--FgAdZXFYFIDDVu26J_pmEoPa_t5_zc9LQwFNrsNaAilrKTBcMea1OD_whqdWx9Ur1tX16h35GIXlzwHqsjE-X6I302vMduD0tt12IsB-TgSWFG4GO8TWWjD-K-VRnNmtzzu2Gdu5PrVuzQN_XtakdFSYsPA-Yv5syBjFFbO24y8hWisODWVFUbS17oKqJR-0wZcleG8zXvkkyEAeYBI2dKLj6EWkicbycrR26GKRLb6zG7b8yciq6gSBktObuKhEdrKQqP89ZLWq06fXS_zBbIap18fnd30n_-pg_uvO3YgpCGX4DMW2edpe8ohqtUax0XyYULeK2ziujd7ZG9JnA3B3B4WxA=",
  "id": "rs_01ac8450c6246f4e016ab2c58b6a9487d09ba62c0707d3dfe1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.24},\"note\":\"The narrow neck is now centered between the fingertips. I am closing gently around it rather than squeezing the rounded bottle body.\"}",
  "call_id": "call_GUASwWNWb1EHkSQorf6lsIsI",
  "id": "fc_01ac8450c6246f4e016ab2c58c1bd487d08266f607cba755cf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GUASwWNWb1EHkSQorf6lsIsI",
  "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]: [-0.2958, 1.8671, 0.8074, 0.5041, -0.345, -0.2504, 0.2456, -0.0277, 0.6952, 0.4072, -0.3157, -0.0311, -0.0433, 0.9998]\nstate[eef_state]: left_x=0.4682 left_y=-0.0765 left_z=0.0557 left_yaw=0.1122 left_pitch=0.0421 left_roll=-0.0257 left_gripper=0.2456 right_x=0.2726 right_y=0.0015 right_z=0.1292 right_yaw=0.0132 right_pitch=-0.0348 right_roll=-0.0043 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -7.788, 6.5299, 1.2821, 0.1245, 0.1392, 0.2662, -0.4718, -1.306, 7.0769, 1.9902, -0.1148, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da2895fc860ea16fc9e40c00b3e8ae12ecc73e2dc61d4d238a0046c2ce00b2c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d92304c42b975176aff4175d48160ac26a35d7c9de7f5732d167948f99343529",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08c70e6381a28efa9421c0d6a4d3764b4056ddc2557e7e8e6c4ec13564fbca2e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 6.17 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]: [-0.3149, 1.8587, 0.7765, 0.4812, -0.355, -0.2684, 0.9983, -0.0277, 0.7128, 0.4397, -0.3286, -0.0311, -0.0433, 0.9998]\nstate[eef_state]: left_x=0.4551 left_y=-0.0799 left_z=0.0438 left_yaw=0.1105 left_pitch=0.0027 left_roll=-0.0178 left_gripper=0.9983 right_x=0.276 right_y=0.0014 right_z=0.1369 right_yaw=0.0132 right_pitch=-0.0329 right_roll=-0.0044 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -7.0222, 7.241, 1.5702, -0.1929, 0.2711, -0.0122, -0.6222, -1.4701, 6.9949, 2.0049, -0.1245, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_z\":0.115},\"note\":\"The jaws have closed around the neck and the bottle is partly obscured below them. I will make a short test lift to confirm the bottle follows and starts pivoting base-down.\"}",
  "call_id": "call_XyCjNkmuQxTjDIcTM0e8oGJ3",
  "id": "fc_01ac8450c6246f4e016ab2c598b75487d0b9ef0878036113a0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XyCjNkmuQxTjDIcTM0e8oGJ3",
  "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]: [-0.3046, 1.8, 0.8192, 0.3904, -0.3538, -0.2481, 0.2458, -0.0277, 0.6754, 0.3748, -0.2981, -0.0311, -0.0433, 0.9998]\nstate[eef_state]: left_x=0.4603 left_y=-0.0768 left_z=0.0678 left_yaw=0.1091 left_pitch=0.0122 left_roll=-0.0055 left_gripper=0.2458 right_x=0.2698 right_y=0.0016 right_z=0.123 right_yaw=0.0132 right_pitch=-0.0299 right_roll=-0.0046 right_gripper=0.9998\nstate[joint_eff]: [-0.7453, -13.094, 9.4701, 2.1612, -0.2222, -0.0806, 0.0171, -0.5812, -0.6632, 6.9675, 1.9414, -0.1099, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a1491e04570b8d67282bbdbc4ff1ace49640db88b82a5d3b73628eda11fbd8d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1181c3a9d438861b6f16b34629ba4c165b4ded2c9f1daa36adf1535a9bdfe23",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4b1d9e7f9bb1633347a03fc779439c70e35e5a300b89342403e1a0191e305aa",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 13.67 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]: [-0.2958, 1.8671, 0.8074, 0.5041, -0.345, -0.2504, 0.2456, -0.0277, 0.6952, 0.4072, -0.3157, -0.0311, -0.0433, 0.9998]\nstate[eef_state]: left_x=0.4682 left_y=-0.0765 left_z=0.0557 left_yaw=0.1122 left_pitch=0.0421 left_roll=-0.0257 left_gripper=0.2456 right_x=0.2726 right_y=0.0015 right_z=0.1292 right_yaw=0.0132 right_pitch=-0.0348 right_roll=-0.0043 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -7.788, 6.5299, 1.2821, 0.1245, 0.1392, 0.2662, -0.4718, -1.306, 7.0769, 1.9902, -0.1148, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssWhg8HVyvRVqqMntgtD2gtn_lY8Q70o85ykvtiYMF3omKTZOycY21bKFmMV5aHM2HXO4foWZdsM_eCvaECr7TphpN7jwhkcCVR7L7FA07CpSWldLHUifgC4QjvtR081y0BI98SNnF3h4RpqXmha8BrJg4WtH-TUQ6TX9jIPHmO34V66HP70UQWIDq-sZsLxCBG6AAJDicI7Pj06uvRF9eUPPMfXO25ftO2sqdL6Q6tnSXGN_6r0RX8ici2_qrmK3F68Gi9yacdi2kNvspBUPSHDsAYhdKDhhXCBieNwVKFWW7_b3XiP5kKISxgjvvTLxPl0UlvyDt3qRT4VT2j38WZHpP0qGJA9OYKZohOSSEBT1Ulg9vPpgoBLMCPy00ZTd7oVOMXvlPuvLK01SkDVw4wjDAQzzIP5Dxc2yCdciGLk_4ukJY4F2zIC8aE4ZX0fGeU40RkSXoogZ78Vzpc60DnHxVMAiCqCYHXewU30Vra4qiIfQvaVPDMntzK-BBWldAI-KAK8lrytfEOaw76RMCjD5wQGovW2iYWdAkOEgFaSlGa-pd4wBkwhAhF7zhHv4zjSPEHQxefeHy8SmvbyUyo0JZJH1kSuTx6EsGpeglEcJjNM00yBqWLzT39FrBJBflrAK1ySTMRL0mR2oqCRKLAH-X-leLiC-5EJfRc_ksZeYPVPEMDTMO44GRxMpPOZauMRO9MyfkaiU0CmO-AF8F5dmiwUNz6C0mYFYXPz9QE3QfldY9uDpyRw7sNJA3U8tB0Aw9OAhmI3kf6FvPeCkyVHMaJz8YEgxoi4HDc7DSm-UB-uta5WDxwe6T3_DJv102jnlQrvDsT8_vC3ogYJni_HWsyzRrwLybamDuQ9LndWzi-TwiYUaNi5RcA7vZCISfesTXiIVx-qikSxqhoK1oddlITGb2a3TOF9dLPiusr9AOX5N89aIvnuR12v7_FYxcO9maUN05hU3EKZhC0DPobZYUPCM2jD5PIiIX5qfDorIGcQ_ypQtjh-z60ZFgTdgOpBn1n3GV8g66cYaOP9zDEleXllUFbXlrIRiPSYeyEvkeZBQwAghK6KpblzbstW0jDZFEiio1IJI1d2lQ-eUvif0gPlEfzMfQ0PwtW9NBY__NyXpmHdsWAVmJu2CfH913otDCRup5S6dAiU8qhErGFeEjvdQEBKALOgiMCZE8OlB9OZsZZRSsn8mvcoIyquagW51IlVeD_keg2Y65UM8hcOV3FlZQ2ZC9UuIz5CjuB6J-M=",
  "id": "rs_01ac8450c6246f4e016ab2c59e65a487d0abfd83cd118e84c0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_z\":0.23,\"right_x\":0.294,\"right_y\":0.001,\"right_z\":0.183},\"note\":\"The bottle is still beneath the neck grip, but the arm is struggling at full extension. I will lift while retracting to a stronger configuration so the base can swing underneath.\"}",
  "call_id": "call_SFJVSFwkiu6N2i7dcl4biEik",
  "id": "fc_01ac8450c6246f4e016ab2c59eedc487d0bc8f7ad3baa10922",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SFJVSFwkiu6N2i7dcl4biEik",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3801, 1.3396, 1.0054, -0.3031, -0.4057, -0.297, 0.2459, -0.0277, 0.786, 0.5678, -0.4046, -0.0311, -0.0475, 0.9998]\nstate[eef_state]: left_x=0.3963 left_y=-0.0794 left_z=0.2072 left_yaw=0.1021 left_pitch=-0.0169 left_roll=0.0004 left_gripper=0.2459 right_x=0.2862 right_y=0.0012 right_z=0.1606 right_yaw=0.0155 right_pitch=-0.0539 right_roll=-0.007 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -7.4188, 9.7162, 1.6972, -0.3492, -0.0513, -0.0024, -0.5538, -0.6769, 10.1402, 1.8926, -0.1343, 0.1343, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1fc8e80576c9330960eeff9d8e2eca63cff10b2aa100d10df388db8b869b00b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acf0a0584e80a4bd84a4728e3a9883915034d42da715d1db3ac4d1656fdebbcf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:660997937c5d7594c36b2c96f08bf39475314b7760212ede8650c78e20397ff0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 11.93 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]: [-0.3046, 1.8, 0.8192, 0.3904, -0.3538, -0.2481, 0.2458, -0.0277, 0.6754, 0.3748, -0.2981, -0.0311, -0.0433, 0.9998]\nstate[eef_state]: left_x=0.4603 left_y=-0.0768 left_z=0.0678 left_yaw=0.1091 left_pitch=0.0122 left_roll=-0.0055 left_gripper=0.2458 right_x=0.2698 right_y=0.0016 right_z=0.123 right_yaw=0.0132 right_pitch=-0.0299 right_roll=-0.0046 right_gripper=0.9998\nstate[joint_eff]: [-0.7453, -13.094, 9.4701, 2.1612, -0.2222, -0.0806, 0.0171, -0.5812, -0.6632, 6.9675, 1.9414, -0.1099, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssWv3adsbzqZpPHE84xfCVcqCCQNrAk-DvNWuGwQCLTfYIW4EKhVbh7C82TQL3joRdRqmK9VC302iIsnIBto-yremNUCcjVq4hAiNK1RbyFfE_ydQh-Gjm17i2GXFo5igXREjGu25wwS5AW0aSs4uID4B5hKUUsrRZdiOJcEB66B0emffTR22tyNlcEhsqiSVqu8QIEgeN9JhcKskwS0uY-XbkCYF2-vH5m9kU7zkyf7V0Gs_RvcY_-YZeqRY_016jwpgOPwMtqYp3xJPPm6CmTwoMMkjDFFqcXTcOvIImwqeI2CdHFskjM_qkRt3jzw0TfWGVnPS4Jjm9PV4NvADWVKOSM7L8waafnSaqv55ZTyxC6bSt339r7iOGp6mLHyWgKTUi2VaF9CNNBK0-W95gpTWGJgrwwH8x48PvbA-29V2RaopicAZ10IyK8H7QrvQgbQmUAbqW170Cxdh9XnDnHcLkNZgCl4xTLMKUS78O8JDHm0MKE_ryZrvFk8-EmG0lSVdmXY6MFN34grpC8l74K8998C-827zhPyX2mNSFNWNy8PI3nxTG-Zc3tKj-x7l02yAbi0zW_oVoyniSZZ4eNTrN3id3_NRKo75iABoZGmg4BundOwYZpgZbrqLFpMZTrvgONsGn51QgjDyc0OXoBhq-GiPScwER8LGpfOJ9VODgN-YZJie43xZhvgp1qPCiEcx2NhOhp2zKVJz48oxTLB1M8yxareoGZETIQEqrw1zJDGHd1HSFqADhd-Cbp2_3tf_HO7vXikpMpv5LDoZQPwfwqE6TwioabiEs62svXoHN0Z6Fk7uvszHlErCOqkvsDR176rr8v-VY5_6WP8WvkoQH-AwLzutFe8bB4raapPqII-sDEjXztTkt4dF4WxJFaR8LkLX2h5skdnnMO_DGQp393fMhe9CMruPtVCazmF1-A9gxUiW4AhOboPip9DMsFuN_PFJN_aIbwyiEyiw-ujQH5jntRlcjcZKVTz5qaxi4B1-DahfVprgHcoFpVObjqwjaVUHqA7Xuj0jFsV7PBhiqWtsnOUD_D-bP0WJ_CoEfhPRLNwAkKkHLPNZsLWmAL9iGrvxNFAwjcjRphsEq8q6PfUJtZfFdzYx6qJlbijuNqOzpWiQjHUOGI7toOpqSKfvZqo4OylcrDU3xRetHifi7RGSDO8b_5DVbyeewoUN6lyDDqbeQDktWC_O2s0poXHsuHfC0PuA4K8xNkV_Dcs3RpLEj2fOUTnSHAqUtk6t3haXWnN-6Q2bIuI4Vj5WfhZSc5Xiy-XLEt8C8eWVOwb225qLIAV-k_-m9jeqIola98DMHV7tYt9b1VUQroq48z-sonAogm99WYCebEWcU5wG1SkGnySAq3CbElp2W8ybc-xblpjazn60EobNXU710tT7LsFX99nJk3fl0ZP7w-yTPJQ4uQVAMKmLCTTKvUM4iEYUUwK1wkyRr5Zqn34aarTcWbog0a6EtxNtxyPFKnw-NqCk5BzF-LOWg7j8IS2g11tCCl4r0gpJI36e0qPW8QBtKse4sm8ZXEJJed0SAaHbolKcjVeZKoabh7g27H_HE6pFX-tIE9VT14z-LxBjbEndzcLPRoGBSaM5lI4N5iSZSA6lil1sVcNj2sttKC9iXKaZJg8-ZgXurlm_lNUuq8gHcFkbXZ3cfAja8WzzAr_Mla_0wvbsYRQkOC0XjFU2SRx7bnWZg0MMexhSv3SgLCqP4xoe1XBBVe25zxJzDvyIgai6x8GptL6gtio8GP3pJDoSpexBv3EgJ-7l_sKXMgOmwdK3e4l-vCVxgQrybApZOjNwGbufxE3kmuzxOyO1T1Etz5a7ONBy41np0CEybcmocOFKDAiQ4ngFygOSIdqzSdwyMgxTwatw9uewHFY07hRHVTdJ0Bt98KyCUuFDNvFehHhPBR56Bf5LnJ8d2sXb8omBhszfubuKubMpIHmUHLLL0FiXyH_YfCnxaWIBAusYZyvlUXAYBEHWtet1vW8grVDMDSB5wrMsMb7hr3FdkPOp4NngTWLowbmy4DC0YGmBKeoyFj-lAFDJbvDzsnXu2K1zmktxsV0sFWwqZYaE17YETN4vyZkHmyjPFbU8wgtm61D1WoyBv5003ep5f6vvR-5ErUPc07aPfujqTGH6pC_GiafD-R3wzZLhCKZKtHRatNQeB_VjVClj55bTiwGg4caCBLy5MsgikgCRLQtvX1WVZ1CDCU-Fcq7umzeFIfP",
  "id": "rs_01ac8450c6246f4e016ab2c5a5e1c487d0acc75d52fce68c50",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.135,\"left_z\":0.02,\"left_gripper\":0.7},\"note\":\"The test lift left the bottle on the table, so the previous pinch was above or beside the neck. I will re-approach the now-shifted cap lower, with enough jaw opening to surround it.\"}",
  "call_id": "call_XeGRxVwgJFPRYqFuQmLuUxiE",
  "id": "fc_01ac8450c6246f4e016ab2c5ad7bd487d0ae6fb0f3f240d978",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XeGRxVwgJFPRYqFuQmLuUxiE",
  "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]: [-0.5171, 1.8538, 0.7574, 0.5381, -0.5415, -0.3519, 0.6974, -0.0284, 0.7509, 0.5129, -0.3729, -0.0311, -0.0513, 0.9998]\nstate[eef_state]: left_x=0.4353 left_y=-0.1387 left_z=0.0578 left_yaw=0.106 left_pitch=0.0904 left_roll=-0.0235 left_gripper=0.6974 right_x=0.2815 right_y=0.0011 right_z=0.1513 right_yaw=0.0167 right_pitch=-0.0421 right_roll=-0.0106 right_gripper=0.9998\nstate[joint_eff]: [0.3897, -4.6701, 4.1915, 0.4274, 0.2418, -0.3199, -0.0904, -0.4308, -1.3333, 7.1726, 2.044, -0.105, 0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:954f2fb71aa52c7b27fe437c606be0be4b1e9d8abe4a5dd6ce675b92884bc944",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f7dc6b226d09237d0bcb4c4982157b1d79c4bc43c9d457adc595db516fb84f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c5c19f79635cbb93b270aeba8454cba6a87df7e955366b247bae1688c99fde1",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 8.023 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]: [-0.3801, 1.3396, 1.0054, -0.3031, -0.4057, -0.297, 0.2459, -0.0277, 0.786, 0.5678, -0.4046, -0.0311, -0.0475, 0.9998]\nstate[eef_state]: left_x=0.3963 left_y=-0.0794 left_z=0.2072 left_yaw=0.1021 left_pitch=-0.0169 left_roll=0.0004 left_gripper=0.2459 right_x=0.2862 right_y=0.0012 right_z=0.1606 right_yaw=0.0155 right_pitch=-0.0539 right_roll=-0.007 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -7.4188, 9.7162, 1.6972, -0.3492, -0.0513, -0.0024, -0.5538, -0.6769, 10.1402, 1.8926, -0.1343, 0.1343, -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": "gAAAAABqssW9gYtQ16_8iRaRA60Bb3l7po82mhYMNdCfAUxj8fQIJdlevkt0xr_Vw7iz5xp0ciur9AD0l5PUA6JVh7C1ekihrr1orwF5zInQNQR0RI_UMRJ7RwQ76hWBEVSLFpbsqW_4fZx2GIiUBLMHrqeff10Ooyy_pqDKX9ky2XSQtOEgBdBSvPCzURr9M_44BCjXAxr8OHRNuar8-LW7XAoBeaLhELvtRmEY7QzBbysSBgWdenrQJeqXKtJZJTUcvIOHypXoM6C9psSbD6o09rO_6T9D1PXUftVfLPrqObi3WbAi9hvJkI7BKAFuCX0rDdxQFpqtLMRfwL2dZoyW6jkMMGUGZeQwcWKQRPTE4H9Do6nFljVhhHiWZVFFJlBCAH7MbkFbrjbp_cxRhh7dS91fDbtb9ppWwlUtNF460VOeM7ikqr9MajrU7tfMZe2n-D_497kXhpNBvxEwx6UOTzkeXQb7sR-a9NjM0ADGZfn0xM_BUQCQKNNijo83RJkVxdST-_Je_rqIx2mioPxG8F33W-qKQnnkRZgGTs7nICD0w4Mn8j8lJZgmN9muG_34U3VAyQOeu19iYQfp388DmL7TlJVkqCdRGMWiitQb_eY24qN27kqryk2AFhA2P_W36Ot0OAK7-0SoLlhm3iisAXwa0hy_kq7wdEVjNAttMmdcq5ugjm8VPVToJEGIWiaIU_1dXYPPVev7ETTv9wyoy9pM2PqaDEoMQYjLcyv9EeDObonyNvKDWrGimo4NTEJ7bjvcBTqqoAMJfGHJrjVziilmgxD_ZltTdTsurkhI6gwcvC_-A9vdM5QOw7wNLEpBGkxVQAiaFsTE_-8p1E-3UU7Wa9zhi4tYc0VTGr4zvgqC9unHTXwzzfXso3a-BFtiBfvmvIMWmIN0SrCe2w6YqInQZ05XH00vkjkibJaciRtUzeoczcSH898G8ZXr8Ou6bRhNd82U1n_7UYKHWzQH8nTIc5U3voYefeSlHZXaajRj1giVr_oDfDDz3TcNzT0C3xDiHiFP0Uqa8joXbux9nvsBDX5jeb0yle2TxmIt2U3X7xC5WW58xtabgJ5tPiCtl6iZ-c9PR8DsWXKerXstwtzO15Xqm-aV8BB2GoO-3rGudezY6pNfn33ymbmb5lWBBDrlVKVfQkjGSuN6iJeLUDpZihPdW7rye8B8ZbIQYkleNaCHCCl0WHZ-0TPtd0hfkPtSJl9fQ_mCwiksphaYfDOlE632p5KoPr2IjLQ6ed-9PQFC2KcSQgMsmVZHwlSw_gMmphhmn9BYPiZwvqUmPUK6jM70pCMPpzW9pXr5XmbN9vx_T5WatS9Gm-Vi3LscbJW9BoUZYqCIZxj8qfKW0RmBQM_vpOOML5VFRkcjJ2hHvYwfRH30fdO8rcC7Kk56Hr3JLsfj3goh22ZwujWHuWORx3MgocjAK9uOLm9zQR8gDQDyK5U=",
  "id": "rs_01ac8450c6246f4e016ab2c5b82de087d0bd2d33e20b257c06",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.095,\"left_z\":0.005},\"note\":\"The neck is visible forward-left of the jaws, and the arm stopped high over the bottle body. I will move the open jaws onto the narrower cap region and descend to its center.\"}",
  "call_id": "call_i7rRnnK4HkE1wRaMxvUZWSZo",
  "id": "fc_01ac8450c6246f4e016ab2c5bb10ec87d0aaf408a27d89514f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_i7rRnnK4HkE1wRaMxvUZWSZo",
  "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]: [-0.3645, 1.9537, 0.8124, 0.6662, -0.4763, -0.2928, 0.6974, -0.0341, 0.7261, 0.4717, -0.3511, -0.0319, -0.0517, 0.9998]\nstate[eef_state]: left_x=0.4761 left_y=-0.0911 left_z=0.0554 left_yaw=0.1786 left_pitch=0.1427 left_roll=-0.0429 left_gripper=0.6974 right_x=0.2779 right_y=-0.0003 right_z=0.1435 right_yaw=0.0118 right_pitch=-0.0367 right_roll=-0.0107 right_gripper=0.9998\nstate[joint_eff]: [-0.8684, -5.135, 3.6718, 0.6325, 0.6032, -0.2711, -0.0122, -0.4855, -1.1829, 7.0222, 2.0098, -0.1734, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5aeba4394d47b1af3b134af24bbf39171e2c7f31fc32730d8edadc6478ec5d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8071dcdedb6af9e895e8ee20419c3fa786f27d96d68854dd41a991da5e28e85d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94829bd78249f3890b56947a596b5ab5994c1408a07424df20db1e45cf210225",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 22.02 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]: [-0.5171, 1.8538, 0.7574, 0.5381, -0.5415, -0.3519, 0.6974, -0.0284, 0.7509, 0.5129, -0.3729, -0.0311, -0.0513, 0.9998]\nstate[eef_state]: left_x=0.4353 left_y=-0.1387 left_z=0.0578 left_yaw=0.106 left_pitch=0.0904 left_roll=-0.0235 left_gripper=0.6974 right_x=0.2815 right_y=0.0011 right_z=0.1513 right_yaw=0.0167 right_pitch=-0.0421 right_roll=-0.0106 right_gripper=0.9998\nstate[joint_eff]: [0.3897, -4.6701, 4.1915, 0.4274, 0.2418, -0.3199, -0.0904, -0.4308, -1.3333, 7.1726, 2.044, -0.105, 0.0366, -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": "gAAAAABqssXF8bxkDGTmyBmI39XiFVGXz98mSmwavi9qGbUGwTFCDtWmb2gpZjASI0EL-58Lb8rXJINpPuh88XdrpskUqYnhiOLWg7UDjE--0FPHJUZEnNYmRWqkfTz9oAyaOPC_9QZOIFhhTA9EDWcLsfqwSBq0VDr5ibsVKVMRmCT1AZvShvtsiavSMW5CymdIkdqAyBxpSPFV_rHAE07R_nOjk7fIwcl3qjamkYiZxVg_cU35nozUtAsgkbEpmEVsmXFkJCYezcjz-WQzz6j0YMiZIWXIS4Zpn3X0n5xjWrpeYyt8qEO5M0CfBzakYdQrexq0u74k0vfzGN0z4rpDy7khq-ASjwbAdFiLS-Isld4wBJzjZuvKzk6lHoqD6IiSJdsrdUUtAZc64EWwgRA4hFP33ZcHDagzBwmnAIXUbby-gElqaAs1P-RybDZwoUUDm761sDIWv8Jv3LTjn68T7ScugMitsds-fsQ3nJ1H_O_OEMyWFFr9Oe8DinKfnKSJrVOrcpj5dgz8nC4-nt4oWZlX2jaPLzb7gdTiu_5RuOnTnQMCjol5oxDjPHGV6ZmMkKMw51CY81E3UrGrakGJg-qukkHtcdNCllo4ZfPfG0DyJjNeSnnVmrf4lCCt8NH6HAHSN5r8m-pggx-M2jrGZIyc8zW917FjJV62z42zkRoS7hL3U-kL_ju6rcV1RHSdA6ASicbDyqZiMbdy1kgGPi1_UuflaNDOCeDJO7Ip7Spau9ibSr3IsbEYagrP7yA6s0TVx7efQVmNkHNUtvtbo8kGAuHVVGqokpe_ttqs91tLMV5t17UQtl7F6WfO_46BhYILPleHyag4nX04xYSOKfN3rkqGAyRMvOyWZH2t89qI12FNXMAXnmGwXvJVZ7_lKrBvZENROezX5DuRKmcVF1PetAJtyb35vLNvoZGafNcF8WDF__7N0As2OWeC1NipvHhIkeSCXke7pgiwPZkqkL9zIcncmFcD2O9cpKam7GO3R3i2rfexw4UQlV7dcDfIelmGvzJmkgdFoLUyWBJOr7BeuzHXKwMlkGeWudKvFqQvXqLIh1TWHagrsOKOdh9HKUvSHHTw33evh6mjLbjdzeI2EFmgAO-qCFRjX9qMRMBe6TqRVgnl1o6Y9eYsNFT_7Z8mAeNtSrn88ewQAHu_8s0mQb3qOEUmA-3_upZL689D0eK6xaktNkkOyGMK_4ICVmkpQgN_BdC0pc0jkiV7okwgYFKFG7WB0E63FhL0enO1wI9o41Hp9YxLYzjL617bRvmJzAYqWjyQ1tNe16GcHIDuNT-deJ0ArzYyeRrv9yRyEIOcEo19mhDF3e9OaCe0V5bD-8R02tPUeRXNDlUJ8446IkQXs1gNPp657-eaUN15O9xetx6VKg_pJhwRgXKwB-OlEKbY2_ZVQ4nwUEvyl0ABw6MbGQ==",
  "id": "rs_01ac8450c6246f4e016ab2c5c298e087d082d545d64eaf30b1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap is now beneath the fingertip line. I will close fully so the measured jaw gap can distinguish a real grasp from an empty one.\"}",
  "call_id": "call_oPzLtrAHUp3cpbcdjQ7gDwTr",
  "id": "fc_01ac8450c6246f4e016ab2c5c435f887d0906da69f8cea4780",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oPzLtrAHUp3cpbcdjQ7gDwTr",
  "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]: [-0.3473, 1.9747, 0.8135, 0.7292, -0.448, -0.2657, 0.0184, -0.0406, 0.7055, 0.4389, -0.3355, -0.0315, -0.0517, 0.9998]\nstate[eef_state]: left_x=0.4831 left_y=-0.0897 left_z=0.0581 left_yaw=0.161 left_pitch=0.1742 left_roll=-0.0504 left_gripper=0.0184 right_x=0.2747 right_y=-0.002 right_z=0.137 right_yaw=0.005 right_pitch=-0.0333 right_roll=-0.0111 right_gripper=0.9998\nstate[joint_eff]: [-0.9368, -5.5726, 3.3162, 0.6422, 0.4664, -0.0904, 0.8571, -0.5812, -1.1556, 6.9402, 1.9853, -0.1929, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:102b80816910994f0c59c49ae5f3f109d6d87c840ff1cc296c770dbaf6f39a2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caa93d5cfd079e869246ffadd145b92be3aac57b8d13696980cf36f614b5b601",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8212eb6660a25aea6eb2c5baa8e9d25a35dc12f74d5cc8b50853e28ceb1d7283",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 28.76 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]: [-0.3645, 1.9537, 0.8124, 0.6662, -0.4763, -0.2928, 0.6974, -0.0341, 0.7261, 0.4717, -0.3511, -0.0319, -0.0517, 0.9998]\nstate[eef_state]: left_x=0.4761 left_y=-0.0911 left_z=0.0554 left_yaw=0.1786 left_pitch=0.1427 left_roll=-0.0429 left_gripper=0.6974 right_x=0.2779 right_y=-0.0003 right_z=0.1435 right_yaw=0.0118 right_pitch=-0.0367 right_roll=-0.0107 right_gripper=0.9998\nstate[joint_eff]: [-0.8684, -5.135, 3.6718, 0.6325, 0.6032, -0.2711, -0.0122, -0.4855, -1.1829, 7.0222, 2.0098, -0.1734, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssXc86HaJE1LBHzrbj597nfYFkZM4CspRNhJj8AZKbaFJHvDF3LUY-6o-4lkb7wjk3pVG3fsYpYV0wFK4U0WaKxca69xayuYL0yNjXVddrcq8CU3yelOuzGUj88x7USwFb7YM_GyGQMexOUdWDllxpzZltGjTKRcIYQWA_JBr80PwzD06-O7DI1zVtZHHeNH2vRNqnYHFmKqS-a3xU6yyE8xgY6OULBec5wFu9n4CY9nWcRdp6nrrJyAl0B0TTMFGeFodeZm6b5YblPxYPoUE_t8fuzRDEXhJEqAMYfgeIA038ITwCPwCgLOE5A-tGI0KxdJBX6v3u8j3fVlz0JzhgsI8D_0gEYQbuadMNrDEXDXD4TWnSoX0rkBNoxecPOioucA-k44dC06fpfZfYi1eAJKMCyQvGkeukWsqYn63SUDkhd_q44W7nnwPNLjo--YxjUI3TlB71mZXrmGxYvD14HHV9FdB0OFL6CDJYEHmGt-tgjQo8G93VsYJv0V9KoK0XasaMjh15uSw0UR25i-IgWUsVnrM51OSlKuIm6a4e1E0KKICrCsVAO0Jf1c2hcyVogP1cEgs1mKLQKTTY88VHlJes8GY6AOHXPZ18jWI3jdNKqHA0KC-DjJlSK6Lvlj5D3XRtcJk-qpRuqesT6fYEMmoO7H3Yzh03Skka-_u0H6HNuYQSe974VwCWZLCxuQIgyOypRK_fpt5H8WY3q13p2-w4O-BB3AN3VCqi_CFkIgvjuQEEUrVNJy0M4dxW_nlSMSx5faeOPsUck2YJ7R0C2fdHVh8UUJBRO320rS1gZZpqAztERN2CSHPUKFxdcVJROKzr8k_v-w5I05_dVK2eJ9k1-PENmWsn5JCvcPR1o-EjbsGY-T76f7djuzqqPPWs_G7oFKLWUn6auXrfWoBz9DLq8577PtNUa_9dPM48DwYhbZq9KBGnSBdu7LNsS9Bht5WpAyThzoQzBJ2cr0ZyGuKCkIYJFIFy4TpCryvk-ZItDKHcRFpNG50MkBXmK9MIfbnP5sd9cjX47u-8wJgPcaP_pgZ8EtEDFHc7sXeXdOf6pGzg_OFIc__X47ZyEsSIQ3s__W-R9HBYnucOk9kE6xoxs3y22KqMmk4lO4QK9P5SGqNkbqvYhemvwHVLbZbNYElWFCKAH7Z8V6PEuvBrWSfRpyYGtYpiI7PCtRF0w67th-1iVXz1xP6K63rLp776ROQnVcv3CJJR8yNp3GOETMxUQ1Z0GDwz4vFhTm4gSIrE_TCsNbXoJ1Cc2XS1WuYmio-t8FY2BhRXMJxFr50CB4Plmxhy0FLWy8wsRFkg0j3mMwdZiirKHd-BSqwvkgEUAuu7tlQJP42X1Alq5sXBV9p5eWSoZ09zb0As-aLhhA1LxYoxJPvp5KEAmynE9aluaeF04c_8FVNL2wg7-PTQsyyr-6Y-8LWE8WpetQ1uctSaCDRicieMqSJxmVwN6Z2uV2dOf8VP37NyRO40KkaG24yu_Ne8oa-ZLWkKpY1SRWA6GJhqfQzp3e1I4L1_AIXZW6glWg_agidTuksU_Ml7hEc3iNmGt2vkizBT8kMNL5EwXiNMSJQhAIL_QXkr3sbUTg9crulV8AQshzphiC2nPtLezgV_NQ9DSdttBXATRMUWjbdkMAlmKjEquKRs4l9hz02xVJV0acgEdgghNvAi1BU2r6QUk-iLeZb8aOSa6fnFp5hHlcZGvb-3vBG-BbleHv7UgLD990Bm4pkMBzE_Txi8N2Y_btbc5BYTx_Jwn0QzVYelWJGZ579ACxE5mVP_HZ-i6YkS8bnXnvlxsoagkgKSPaBFQpXmC5F9W5s8gAAEihwfLkuhwnxiO9G-A0_a9v-XyvuK4yCHkkivgxzJ-ReC_ciPqcR3lRK_4uThVbkhg0DuFN2NSMfynmiWx7gPl3iS-1rdoNaBC-JsLACTC3IeFIKVpyHJFanWYk8aDN-NvC3xKpMzRE1TYqswon-PP7",
  "id": "rs_01ac8450c6246f4e016ab2c5d290d487d08b13ca4214492618",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.15,\"left_z\":0.15,\"left_gripper\":1},\"note\":\"The full close was empty, and the extended low pose cannot reach the cap reliably. I will switch to a reachable grasp nearer the left bottle’s shoulder, then use gravity to pivot it during lifting.\"}",
  "call_id": "call_woxoKYzRCI41fJP1WhNXT9yZ",
  "id": "fc_01ac8450c6246f4e016ab2c5d9dc0087d080eacddc7262b86f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_woxoKYzRCI41fJP1WhNXT9yZ",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7109, 1.4601, 0.8322, -0.1349, -0.6712, -0.5568, 0.9951, -0.0414, 0.6849, 0.4065, -0.3206, -0.0315, -0.0517, 0.9998]\nstate[eef_state]: left_x=0.3583 left_y=-0.1588 left_z=0.1352 left_yaw=0.1171 left_pitch=-0.0101 left_roll=-0.006 left_gripper=0.9951 right_x=0.2716 right_y=-0.0021 right_z=0.1304 right_yaw=0.0043 right_pitch=-0.0303 right_roll=-0.0113 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -8.0068, 8.4171, 1.5165, -0.4908, 0.0073, -0.0366, -0.6359, -0.9094, 7.241, 1.9267, -0.1636, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d005353802e028d47923fd86fe66f3abfddd0401752a79c9c3bbd2bedeec16a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46622e458c857763587f5e532d9bf872eb562769da0835e126050766a8042f8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2cfa0f7577a2c860af1055aa13fff276c3689b578dcdecc9d49968dd52aea2e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 10.16 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 57 changed as sent

message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3473, 1.9747, 0.8135, 0.7292, -0.448, -0.2657, 0.0184, -0.0406, 0.7055, 0.4389, -0.3355, -0.0315, -0.0517, 0.9998]\nstate[eef_state]: left_x=0.4831 left_y=-0.0897 left_z=0.0581 left_yaw=0.161 left_pitch=0.1742 left_roll=-0.0504 left_gripper=0.0184 right_x=0.2747 right_y=-0.002 right_z=0.137 right_yaw=0.005 right_pitch=-0.0333 right_roll=-0.0111 right_gripper=0.9998\nstate[joint_eff]: [-0.9368, -5.5726, 3.3162, 0.6422, 0.4664, -0.0904, 0.8571, -0.5812, -1.1556, 6.9402, 1.9853, -0.1929, -0.0024, -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": "gAAAAABqssX5Qi7vHnQUifk03V9onhC3gV5plnG3XlHBX8qj46Witr2o8MYKGPEhL-vcGFKfxDzjazY98XDQAo6-xInGmK5F2mUmou-PfhXR0RzpEVeqL4glJA6zP2BbrLUFC4jSlFtfZVUh-lPDnSRl7kj4AK8iVDgYLF3eeUGPDacUzVk6opB_Ej9ymv11ageka34RCStwShgq8M8xo9MYvqCL35viUivHhrSI7EAfkcEXckLN_d_BBriXTfACtKjEtMQtAN4_ouJGAXyABElTrtjTNxCDXuyVn_pJrjdd36XA42hYU-KUkvw4Dz7KDvfiknc7cW7bobReG4vDzSfRkaCvQfzXVyDf1MLWlCAE0d2o5TfctSmY8K7DRLKh2g6vnBXdxGg6wQh5zFdBnMPqNrJJ3zYpw37eu2LPTJAj1UdKxPkXJaLWlr_DK4aUakT_5m811hvZPbCPF82WFtYTlKManLqiKeBGG0pVZwqW0-uuro9eJT-JQ5OpRq842r--ZJ97NZ08qvetG-9lligVIF2pC09hJKFosiISzRkyKYbwRVdqLmbfWNcWTfLMFButnzvPmDOZq4SFCOLEd0wxxnzQxMvbz4L41O3tN3IuApyn_JzsB72RfMk1FFtd01POdvcCFhAYDD-CVQLyB1UXMDtjr3VBiz0vkHM2xq4nDmOgmZlGJfeDt5lWYZEujPuXCgzwVYrY3aO2889IJ4n-cpRwmBsIJrl5AtxV4RPX_Hj7SCku90fL6D9_W41IjI106nTmOtdWi49DQ-Z_guin17itteHsjDaPE67dI2_l2BHZSfKoNECCxV88PbioxjNU8J3iW8DSTVWWF3eAOcK8Cocgu_d3e4tC-yiK583uAmVIYGWeJ6zscmbJnG9hwFmktmOpvfRruw-DhJODGzNPKTDI0mgTTsQi04VzT-3IDrjYfmusY4he6wt2l_yi4SwolnsBCJYWkJogejaVFVNL66ymURBQIusjr_NNlpLfzGjYyuHPz-TzeQyAJL5TjuuVe0CPLB37ePmMtjfXnKg6SG9vi6krMPCLaYUrcmA5JWtbjfVpVfcRnyNmRRVvSkHp4WW0BMo3uexY5QQuR9kbNw_fs4m8C5J3tZ-xkEYVfJh4mJ1KVijT7aLyNHFdlnEHthvVx7goeXSenYOkiTx3WNtd1oXTNV3puYiInP-Bnixt2h176L-7DRnEPYWVxuCFRNOrrhF4Ydhhhva_Acx9-w3AR5iNu97CG7J_d_fjfeQJe2VeqFvg5jdPBi90tsEEispStAnriVwzAjhFhw6WumaCIkrscKRscuBwm40bTT4imrlhLs8=",
  "id": "rs_01ac8450c6246f4e016ab2c5f7597887d0808936616fe379b1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.125,\"left_z\":0.015},\"note\":\"The bottle’s shoulder is just left of the jaw column in the wrist view. I will lower around that reachable section while keeping the jaws wide.\"}",
  "call_id": "call_JV0QcPymiU3prHrgWvovFKZJ",
  "id": "fc_01ac8450c6246f4e016ab2c5f865c087d0a45e5edadb3e6d8e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JV0QcPymiU3prHrgWvovFKZJ",
  "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]: [-0.5812, 1.771, 0.606, 0.5007, -0.614, -0.4618, 0.9963, -0.0418, 0.6662, 0.3786, -0.313, -0.0319, -0.0509, 0.9998]\nstate[eef_state]: left_x=0.3866 left_y=-0.1279 left_z=0.0372 left_yaw=0.1539 left_pitch=0.0334 left_roll=-0.0209 left_gripper=0.9963 right_x=0.2682 right_y=-0.002 right_z=0.124 right_yaw=0.0038 right_pitch=-0.0318 right_roll=-0.0103 right_gripper=0.9998\nstate[joint_eff]: [1.1009, -3.8769, 3.0838, 0.5885, 0.232, 0.3248, 0.1099, -0.7863, -0.9368, 6.9402, 2.0, -0.1734, 0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c45775201e9babca6311026b314cca6ffb7e3f5d9ab36e66a21b9c897ab290e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29b4267edab7fcb9dec4110e0aa25507e0ef9027b11e9eb71e6e4d2bafc9a7bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc36a25bff80248e0f1865bb71ddbabc4c09e4546e81871509dabff6b2a4813a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 7.788 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7109, 1.4601, 0.8322, -0.1349, -0.6712, -0.5568, 0.9951, -0.0414, 0.6849, 0.4065, -0.3206, -0.0315, -0.0517, 0.9998]\nstate[eef_state]: left_x=0.3583 left_y=-0.1588 left_z=0.1352 left_yaw=0.1171 left_pitch=-0.0101 left_roll=-0.006 left_gripper=0.9951 right_x=0.2716 right_y=-0.0021 right_z=0.1304 right_yaw=0.0043 right_pitch=-0.0303 right_roll=-0.0113 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -8.0068, 8.4171, 1.5165, -0.4908, 0.0073, -0.0366, -0.6359, -0.9094, 7.241, 1.9267, -0.1636, -0.022, -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": "gAAAAABqssYE62pqae2vsy8Mu23fJTTw2P66crRF6nzg7yvMCXwBSWqBUOIoSeoPM7X1rE-Y2rZ4mdlrS4fhifLXejEjVDgEcospWVVGnFi5Eunn60I25mdMqLAAbTkRaTaL4bCI1dsYcvDnpZtZbzNoHQDSsYp_XPr-4Q52p9pLusClXb7xIOBuT3apFr9DIiqJIVV1E74YLJWK0so_RZ8cYrVXa8TffVaVmV4Q4aKsqgm58pOJyqdMyOBKlZA9shqhWen0z72NOSBSisARNkXhLwsygs2--2-BZO-hTUk2dBVf_HYeDWADqhSkgDKdBLV26YkCj7EPvZQ1kbwt-DkcmHIrP5NIne4CAhr6xqqaDz9_4N4U5R52FewMQA-pDwh_7-s3t-cZgdr1ynpTIAyWXaz98tBGY9BN3Ltd5fPSwHsmFCpyfuj-usgUoGZOkPhckJn-JVvzqOMMqOJTw2joOLZWpffr_-WBz1MNOGsNPUEuZhVEJfRXSL56WzsynzyFiCZITfr8aXzR9E66Kd2w1zCGZN8SZOHbYKAOW8uvNcJHDmzxife13nJRYKrlmSVF0l_TI086JvhXgziZKaL4kEVmfU1e4bxKhLoG8kC7d0oZf8A1tO4SyQLifXr79MIH-tNlWe_1ZlHjj4sPpBrIWMw59a3YfX9I6Mb4viwLur16NM6DGPJdPWOxUZQxlN5_7iJTYzlEP51pH5jzgF3ubcwISXXffjMEyG12x9JD9UbPdrAmrIid8luUpxYSUX8skjjOOpyHrOmXZLaDhmlZ1ncaA1-o8grJRYSDwzbIUCMXv6uogdvyUlSVzAfm-U8fCCgx4L0f2Qk1j4XNAVaU14FfhM184yD8VgnlMS1zrKManu6AztM_TsEzrD4oeBcTsSzBBRNLNUfb-VWKrfTaB__0Dvhkoe-X4AXCLRVqWjAs-EklX8T9LwfO2wLQodMFvYu2uxf1utydaGq_vYeVJwX60pe3l_ziRhX8zfc6YTOLTJEjZ6TUkIbfoDfZDpIPK3GHeq_NOIJ17Kw8d-usqQRSsVCvAUYf96UqAC7UvQCAxgcx17rALWPN-c3GmioshBSbszi2L9GvkoVCYS_mGyvEUPILJuxfVaXUrFNKn5GdchmIuTVV-Tz1HwSjmTQlA0Wp6erK-RBYEcB7anczPSlrCay5RHoEiA3ZVPr5xPie7goN21a7A5i87gF5ntUCS34T5S4mIgMDfqjcD2JVoVEeh9NEMU6R5WyWKnBQl4SGMTa17_1aXo3qUlCAzlV_LGM1pcpoGY0_aXyzLKOlsusSlLOE8xkC99_Ph94Icksf-6MzZdc2sxskaizCPsRtIfv_15qCSAOyDB-oz-kIOZdHvFLiEKyme60uy69jVmwsxTa12YX70ogDMBuEVAUd9LTRduo724k15zMemYL-MVVJo9bIGe6tkB2lCSdrn2R3HnhgPRpZHfbFAIvKjucodoV8k3rMIdUWV4zTLrKRLIIlEuEGQOGtQF1-0D14m9s12pE6rCCakNtlScMAoQyK1uCez0SJf69KQGBbgIJXI75dODApbko3tTHbFVtiQxgjW-bypAhE8KhwDmqW1RhOQxx6_Fsi",
  "id": "rs_01ac8450c6246f4e016ab2c5ff549087d0b98b7c8990826b3f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.11,\"left_z\":0.025},\"note\":\"The open jaws currently straddle the broad lower body. I am advancing a few centimeters toward the shoulder and correcting the remaining sideways offset before gripping.\"}",
  "call_id": "call_yUbThWpsmKOcUD2pg9EL0t8V",
  "id": "fc_01ac8450c6246f4e016ab2c603306887d0b22e90c55f3a6437",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yUbThWpsmKOcUD2pg9EL0t8V",
  "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]: [-0.4843, 1.8477, 0.6983, 0.5575, -0.5552, -0.4225, 0.9964, -0.0418, 0.6472, 0.3515, -0.3023, -0.0315, -0.0513, 0.9998]\nstate[eef_state]: left_x=0.4256 left_y=-0.1146 left_z=0.0442 left_yaw=0.186 left_pitch=0.067 left_roll=-0.0599 left_gripper=0.9964 right_x=0.2654 right_y=-0.0019 right_z=0.1185 right_yaw=0.0037 right_pitch=-0.0291 right_roll=-0.011 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -6.4752, 5.2718, 1.0965, -0.0122, 0.1587, 0.0024, -1.0325, -0.841, 6.9675, 1.956, -0.1929, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:398ffffb17ec2a8131324e934ac322e230f17fdbdbd06cfad6e64d776ebb65d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfb1c9964f24d16c136dbdbfdeb0402ed4e8989d28dbff2151a97012249b8f6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b445c3233c7dc3b057268b679a800311b06167f46487781e5609bb20302bb0f7",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 28.03 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 65 changed as sent

message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5812, 1.771, 0.606, 0.5007, -0.614, -0.4618, 0.9963, -0.0418, 0.6662, 0.3786, -0.313, -0.0319, -0.0509, 0.9998]\nstate[eef_state]: left_x=0.3866 left_y=-0.1279 left_z=0.0372 left_yaw=0.1539 left_pitch=0.0334 left_roll=-0.0209 left_gripper=0.9963 right_x=0.2682 right_y=-0.002 right_z=0.124 right_yaw=0.0038 right_pitch=-0.0318 right_roll=-0.0103 right_gripper=0.9998\nstate[joint_eff]: [1.1009, -3.8769, 3.0838, 0.5885, 0.232, 0.3248, 0.1099, -0.7863, -0.9368, 6.9402, 2.0, -0.1734, 0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssYMioyMuaViL4114irrVP6TEs2kW66-G0yUZXrSavp0-THl7B4480j4oP_5mwu6zaeZhriAkfdzOnPKBNMUUcVbZB0qcP_xwX7o7GzHISkqyIKuKjDahdHm4sVClBzMIi_zPPTEl0_1RDufdVlBvIZFbvdI8ehPPUnE8BguMhiOeaPqpW_OjDCUAjnrKcNQ73RGZVwkylKYBH90VVHTewTMt1txMgOgUQl8xwAtK0SD-8Ddlml4C0SckBpyRI2ey4S_XsQUCFv1JXXxIf141qdSOHHXN4HEHQXhc-cUG3krkLj3CeLdntOipZhAaroTSUZrveEHy-PRvb4dRcTQXCoqYLdKCeWK5qaLSO3GFbCgQyj1MHC1jQIg1fr8BAAabBaDl3pSqvD-m-qEaw4pH0KMKHsM5VFfYUeovhn5u-BpBuqDHlyzybWfJ__Acpiqk66B0fXKcrbRoX_kuZzULLvvK8xSn1_qOsQK7Yb7ko7mGA5fTvmehrz-BYKhBTYWJzregCWhMusJJTC4SSO6yrAIJHgXDifzXDsLg-sjAnJHT0S6azsk8xotayXKHdRAtyLlg4icW_FHGmN5C7rRjSpYaYDmk6TWvMQLOlevOLGvH0oecQAdFzBhqrXgBu0teYmSO8G6PFjwGVPAUkrgI1FVGwavhaahjnj5qm9UWRw19O3dbor0328BD0sQdW5uEI-homUdrbBh6KvmXVRBXLV4khZWo72ZXGvdSyqQcHyCjJ0CCWwgh8anu5CoOkeA_bFc4xpWKcStrQ-4C7VTY11bCAKJFW4TcheXQqFjcFR0FUP8YhJFk0smW_tMNFxHwFYkZuoRSGRNyOW_l4jjRdJUY6maEBFQGUTRxgGGzeiSUJEiF2pWUIOeJ_jgf79mAF2M4Wf-AdLxrLTvPbqGWgc1DAxuoySNPyJEYYVhjBqhdr_41nxeKqf7uqMnyOyHNqyjiNL8MDLC_GLZFO5hQ_eezclb83u5PkRob5fBdOmIeYAZtkLjhsKbXV9Z6buVJCG1e_azHNQ7nLq087_vrWvnvNN_rQ6VGFYgV3NkXhHLOpkU2YLRbherYTzE00JYJoY_bNbMEl4drm3S1xDJdOpxCjcFu9rs4CLTsahL5O8PXdJQqNw0MFqi4FPqRbPP3p_Vb1doeT85LOwvx7H3hbIR4-svbDvzoCCHeVGKy674zCU2Yzl6IfM9Q0y_-rh_d3kbMRbzcg7IZYajwx4NUAQyS41FhMKRUZ-FvY8TiIbfcR1ZnRujpg6W25DbQ0pgfdwO18_OX2q17Xjw-uvH1E5Rjh5nzFh4NP-OrXpZGgO9CoDNorjDpMPTsaERh1JT0bF19qtBvwso6-oL2V2c0EzEhF0qs9Uiav-UFIi3dDJmrkk=",
  "id": "rs_01ac8450c6246f4e016ab2c609e00487d0b56e40a58c1cbe0d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The lower body is centered between the jaws. I will secure this reachable section and check the actual grasp width before lifting.\"}",
  "call_id": "call_gl154kWn2wXofZxRtifrkuXd",
  "id": "fc_01ac8450c6246f4e016ab2c60baa8887d0bea449361e56f327",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gl154kWn2wXofZxRtifrkuXd",
  "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]: [-0.4633, 1.8568, 0.725, 0.614, -0.5537, -0.3923, 0.0195, -0.0414, 0.6277, 0.3244, -0.2905, -0.0315, -0.0513, 0.9998]\nstate[eef_state]: left_x=0.4408 left_y=-0.1124 left_z=0.0601 left_yaw=0.194 left_pitch=0.1257 left_roll=-0.0793 left_gripper=0.0195 right_x=0.2628 right_y=-0.0017 right_z=0.1133 right_yaw=0.0041 right_pitch=-0.0249 right_roll=-0.0112 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -6.3248, 4.5333, 0.6178, 0.1978, 0.1148, 0.8376, -0.8547, -0.6769, 6.9812, 1.9072, -0.1783, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e10495ab413f9de47bbb54e9d0b0f60067eb2f9eae6555d9e5d4351173820313",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4391bed02cb5e9a1841051d6f47f21e1eb4dcdb55316b628e3f41c1b0fcf60a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6037ad69ab8f9a5af5d1e69e329f100c9df09e7fb0ce1bd93cd19624b717b75c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 8.518 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 69 changed as sent

message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4843, 1.8477, 0.6983, 0.5575, -0.5552, -0.4225, 0.9964, -0.0418, 0.6472, 0.3515, -0.3023, -0.0315, -0.0513, 0.9998]\nstate[eef_state]: left_x=0.4256 left_y=-0.1146 left_z=0.0442 left_yaw=0.186 left_pitch=0.067 left_roll=-0.0599 left_gripper=0.9964 right_x=0.2654 right_y=-0.0019 right_z=0.1185 right_yaw=0.0037 right_pitch=-0.0291 right_roll=-0.011 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -6.4752, 5.2718, 1.0965, -0.0122, 0.1587, 0.0024, -1.0325, -0.841, 6.9675, 1.956, -0.1929, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
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  "id": "rs_01ac8450c6246f4e016ab2c60fd82887d0b3bc3e764839e05a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0,\"left_z\":0.2,\"left_gripper\":1,\"right_x\":0.294,\"right_y\":0.001,\"right_z\":0.2},\"note\":\"The latest close was also empty, and contact has slid the left bottle farther away instead of securing it. I will withdraw both grippers to safe parked positions rather than continue pushing the bottles toward the back of the workspace.\"}",
  "call_id": "call_G3xnMEZMLbV5lxaICRowsIet",
  "id": "fc_01ac8450c6246f4e016ab2c626417087d0a86deec53f5bbc8c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_G3xnMEZMLbV5lxaICRowsIet",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2314, 0.8898, 0.6617, -0.3496, -0.3885, -0.2855, 0.9953, -0.0311, 0.7929, 0.6334, -0.458, -0.0303, -0.0509, 0.9998]\nstate[eef_state]: left_x=0.3099 left_y=-0.0006 left_z=0.1928 left_yaw=0.231 left_pitch=0.0317 left_roll=-0.0256 left_gripper=0.9953 right_x=0.2875 right_y=0.0 right_z=0.1778 right_yaw=0.0132 right_pitch=-0.0486 right_roll=-0.0105 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -1.7846, 10.6598, 1.8193, -0.1001, 0.2613, -0.0757, 0.6496, -1.0051, 10.2085, 1.7363, 0.0611, 0.1587, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f806e04997734ed1f30abe1cc32d8a2efaf788f3366c5624d71f4cce5f53193c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79d2c34d17f2cd90c267bf2f11dc3c3595bcd5c4b804d8e11f9f968fcf733786",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3610581b4311d91d88d7c09ad2c361fef65683477219e5bafe834a58536475a0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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