adhoc

completed
2026-09-22T16:57:07.135123+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
203.6 s
total steps
181
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 toward the far edge. I’m positioning the left gripper over the left bottle’s neck so I can lift it and let its heavier body swing downward.
move_to
left_x0.4000left_y-0.1400left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7929, 0.6094, -0.3763, -0.0193, -0.0288, 0.9986, -0.0166, 0.7887, 0.6033, -0.3862, -0.0292, -0.0345, 0.9999] state[eef_state]: left_x=0.2958 left_y=0.0011 left_z=0.1835 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2935 right_y=0.0039 right_z=0.1798 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9999 state[joint_eff]: [-0.4034, -1.347, 9.6752, 1.7607, -0.0659, 0.1099, -0.1587, -0.759, -1.0462, 10.2359, 1.8828, 0.0317, 0.2125, -0.0269] 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":0.4,"left_y":-0.14,"left_z":0.15,"left_gripper":1},"note":"All three bottles are lying on their sides, with their caps toward the far edge. I’m positioning the left gripper over the left bottle’s neck so I can lift it and let its heavier body swing downward."})
tool
executing move_to over 13 steps (1.3s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent noteThe left bottle’s neck is left of the jaw centre and farther forward than the current grasp point. I’m shifting toward its cap and lowering to neck height.
move_to
left_x0.4550left_y-0.0950left_z0.0550
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.514, 1.4574, 0.8261, -0.0624, -0.4114, -0.3073, 0.9986, -0.0196, 0.794, 0.6033, -0.4038, -0.0292, -0.0353, 0.9999] state[eef_state]: left_x=0.3864 left_y=-0.1329 left_z=0.13 left_yaw=-0.0168 left_pitch=-0.0667 left_roll=0.0246 left_gripper=0.9986 right_x=0.2915 right_y=0.003 right_z=0.1748 right_yaw=-0.0026 right_pitch=-0.0229 right_roll=-0.0003 right_gripper=0.9999 state[joint_eff]: [-0.5949, -6.5299, 8.9778, 1.7656, -0.3687, 0.1392, -0.1538, 0.1162, -1.6479, 7.0085, 1.8974, -0.0415, -0.0513, -0.0122] camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.455,"left_y":-0.095,"left_z":0.055},"note":"The left bottle’s neck is left of the jaw centre and farther forward than the current grasp point. I’m shifting toward its cap and lowering to neck height."})
tool
executing move_to over 6 steps (0.6s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteThe neck is still toward the upper-left of the wrist view; the bottle body is closer to the fingertips. I’m making a small forward-left adjustment to catch the narrow neck rather than squeeze the body.
move_to
left_x0.4850left_y-0.0550left_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3264, 1.7874, 0.7528, 0.3748, -0.2729, -0.2161, 0.9983, -0.02, 0.7845, 0.5835, -0.4004, -0.0296, -0.0357, 0.9999] state[eef_state]: left_x=0.4364 left_y=-0.0936 left_z=0.0428 left_yaw=0.0078 left_pitch=-0.0717 left_roll=0.0053 left_gripper=0.9983 right_x=0.2888 right_y=0.003 right_z=0.169 right_yaw=-0.0025 right_pitch=-0.0297 right_roll=-0.0002 right_gripper=0.9999 state[joint_eff]: [0.6906, -7.8017, 7.3915, 1.7851, -0.1978, 0.1197, -0.0415, -0.253, -1.7299, 6.8034, 2.0098, -0.0611, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.485,"left_y":-0.055,"left_z":0.035},"note":"The neck is still toward the upper-left of the wrist view; the bottle body is closer to the fingertips. I’m making a small forward-left adjustment to catch the narrow neck rather than squeeze the body."})
tool
executing move_to over 4 steps (0.4s)
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 bottle slid forward during the low approach, and its neck is now farther away. I’m lifting slightly and reaching toward the cap while returning the unused arm to its parked height.
move_to
left_x0.5400left_y-0.0250left_z0.0650right_x0.2935right_y0.0039right_z0.1850
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1928, 1.9327, 0.7986, 0.4992, -0.1932, -0.1577, 0.9983, -0.02, 0.7712, 0.5541, -0.3885, -0.0296, -0.0357, 0.9999] state[eef_state]: left_x=0.4661 left_y=-0.0528 left_z=0.018 left_yaw=0.0431 left_pitch=-0.0616 left_roll=-0.0006 left_gripper=0.9983 right_x=0.2859 right_y=0.0031 right_z=0.1616 right_yaw=-0.0025 right_pitch=-0.0339 right_roll=-0.0002 right_gripper=0.9999 state[joint_eff]: [0.1162, -8.8274, 7.788, 2.0391, -0.0073, 0.1538, -0.0171, -0.3077, -1.7846, 6.9675, 1.9902, -0.0952, -0.0757, -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":0.54,"left_y":-0.025,"left_z":0.065,"right_x":0.2935,"right_y":0.0039,"right_z":0.185},"note":"The bottle slid forward during the low approach, and its neck is now farther away. I’m lifting slightly and reaching toward the cap while returning the unused arm to its parked height."})
tool
executing move_to over 6 steps (0.6s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteThe arm has reached its low-height extension limit before the neck. The jaws are around the bottle body, so I’ll grasp there first and bring the bottle into a more reachable area.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1753, 1.9457, 0.82, 0.5011, -0.1791, -0.1486, 0.9983, -0.0189, 0.7879, 0.5831, -0.4171, -0.0292, -0.0387, 0.9999] state[eef_state]: left_x=0.4731 left_y=-0.0482 left_z=0.0199 left_yaw=0.0438 left_pitch=-0.0535 left_roll=-0.0035 left_gripper=0.9983 right_x=0.2866 right_y=0.0033 right_z=0.1645 right_yaw=0.0 right_pitch=-0.0503 right_roll=-0.0026 right_gripper=0.9999 state[joint_eff]: [-0.5538, -9.2376, 6.9538, 2.0195, 0.0562, 0.232, -0.0171, 0.2256, -0.9094, 10.2632, 1.9512, 0.022, -0.0024, -0.0122] camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The arm has reached its low-height extension limit before the neck. The jaws are around the bottle body, so I’ll grasp there first and bring the bottle into a more reachable area."})
tool
executing move_to over 10 steps (1.0s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteThe gripper stopped at a bottle-sized opening, indicating a body grasp. I’m lifting it a short distance and drawing it back from the reach limit.
move_to
left_x0.4050left_y-0.1000left_z0.1100
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1761, 1.9545, 0.7849, 0.5797, -0.1799, -0.1383, 0.5993, -0.02, 0.7582, 0.5362, -0.3958, -0.0296, -0.0391, 0.9999] state[eef_state]: left_x=0.4714 left_y=-0.0481 left_z=0.0192 left_yaw=0.0379 left_pitch=-0.0195 left_roll=-0.002 left_gripper=0.5993 right_x=0.2818 right_y=0.0032 right_z=0.1554 right_yaw=-0.0006 right_pitch=-0.0461 right_roll=-0.0027 right_gripper=0.9999 state[joint_eff]: [-0.3624, -8.0615, 4.7248, 2.0195, -0.1929, -0.0513, 1.0379, -0.4718, -1.6889, 6.7487, 2.1074, -0.0611, -0.0317, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.405,"left_y":-0.1,"left_z":0.11},"note":"The gripper stopped at a bottle-sized opening, indicating a body grasp. I’m lifting it a short distance and drawing it back from the reach limit."})
tool
executing move_to over 6 steps (0.6s)
step 45
top_cam
camera top_cam step 45
left_cam
camera left_cam step 45
right_cam
camera right_cam step 45
assistant
agent noteThe bottle moved with the gripper, but the grasp is near its base rather than its neck. I’m pulling it farther back so the cap will be comfortably reachable for a second grasp.
move_to
left_x0.2600left_y-0.1200left_z0.0750
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.392, 1.5982, 0.688, 0.1696, -0.2913, -0.242, 0.6008, -0.02, 0.7303, 0.4908, -0.374, -0.0299, -0.0391, 0.9999] state[eef_state]: left_x=0.3919 left_y=-0.1032 left_z=0.0579 left_yaw=-0.0257 left_pitch=-0.1433 left_roll=0.0238 left_gripper=0.6008 right_x=0.2775 right_y=0.0033 right_z=0.1464 right_yaw=-0.0003 right_pitch=-0.0419 right_roll=-0.0026 right_gripper=0.9999 state[joint_eff]: [-0.1709, -10.6325, 8.2667, 2.8987, -0.5299, -0.0464, 0.5299, -0.3624, -1.5111, 7.0085, 2.0733, -0.105, -0.0073, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.26,"left_y":-0.12,"left_z":0.075},"note":"The bottle moved with the gripper, but the grasp is near its base rather than its neck. I’m pulling it farther back so the cap will be comfortably reachable for a second grasp."})
tool
executing move_to over 11 steps (1.1s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteThe left bottle is now well inside the workspace. I’m setting it down and releasing the body so I can reposition at the neck.
move_to
left_z0.0280left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8146, 1.1023, 0.2829, 0.0113, -0.5575, -0.4786, 0.6046, -0.02, 0.7048, 0.4526, -0.3508, -0.0299, -0.0391, 0.9999] state[eef_state]: left_x=0.2517 left_y=-0.1254 left_z=0.0506 left_yaw=-0.1065 left_pitch=-0.1013 left_roll=0.0345 left_gripper=0.6046 right_x=0.2745 right_y=0.0034 right_z=0.1403 right_yaw=-0.0003 right_pitch=-0.0312 right_roll=-0.0028 right_gripper=0.9999 state[joint_eff]: [-0.1709, -3.9726, 6.9402, 2.3565, -0.7595, -0.1832, 0.3834, -0.5265, -0.841, 6.9812, 1.9951, -0.0904, -0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.028,"left_gripper":1},"note":"The left bottle is now well inside the workspace. I’m setting it down and releasing the body so I can reposition at the neck."})
tool
executing move_to over 4 steps (0.4s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteThe cap is now forward of the released body and accessible. I’m moving above the neck with the jaws open, keeping clear of the bottle during the approach.
move_to
left_x0.4000left_y-0.1200left_z0.1200right_x0.2935right_y0.0039right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8383, 1.2457, 0.1265, 0.2996, -0.6075, -0.482, 0.9945, -0.02, 0.6884, 0.4252, -0.3428, -0.0296, -0.0391, 0.9999] state[eef_state]: left_x=0.2404 left_y=-0.1112 left_z=0.0108 left_yaw=-0.0908 left_pitch=-0.0856 left_roll=0.0667 left_gripper=0.9945 right_x=0.2713 right_y=0.0034 right_z=0.1336 right_yaw=-0.0006 right_pitch=-0.0343 right_roll=-0.003 right_gripper=0.9999 state[joint_eff]: [-0.5402, -2.9333, 4.7521, 1.6239, -0.2222, 0.0415, -0.1441, -0.2803, -1.2923, 6.8034, 1.9756, -0.0952, -0.0513, -0.0171] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.12,"left_z":0.12,"right_x":0.2935,"right_y":0.0039,"right_z":0.2},"note":"The cap is now forward of the released body and accessible. I’m moving above the neck with the jaws open, keeping clear of the bottle during the approach."})
tool
executing move_to over 13 steps (1.3s)
step 73
top_cam
camera top_cam step 73
left_cam
camera left_cam step 73
right_cam
camera right_cam step 73
assistant
agent noteThe left cap is centred on the jaw column, with the neck immediately below it. I’m descending vertically to grasp the narrow neck.
move_to
left_x0.4000left_y-0.1200left_z0.0340
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4229, 1.4609, 0.6773, 0.189, -0.3023, -0.2337, 0.9956, -0.0189, 0.7944, 0.6388, -0.4721, -0.0292, -0.0429, 0.9999] state[eef_state]: left_x=0.3922 left_y=-0.1149 left_z=0.1104 left_yaw=-0.0558 left_pitch=-0.0045 left_roll=-0.0154 left_gripper=0.9956 right_x=0.2862 right_y=0.0033 right_z=0.1769 right_yaw=0.0023 right_pitch=-0.056 right_roll=-0.0059 right_gripper=0.9999 state[joint_eff]: [0.4444, -5.8462, 8.0889, 1.6728, -0.0757, 0.3785, 0.1001, -0.0752, -0.759, 10.3453, 1.9658, 0.0024, 0.0269, -0.0122] camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.12,"left_z":0.034},"note":"The left cap is centred on the jaw column, with the neck immediately below it. I’m descending vertically to grasp the narrow neck."})
tool
executing move_to over 5 steps (0.5s)
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 noteAt the lower height, the cap is still ahead of the fingertips and the shoulder lies between the jaws. I’m advancing four centimetres to place the neck at the closing line.
move_to
left_x0.4400left_y-0.1200left_z0.0340
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4335, 1.7203, 0.5797, 0.4973, -0.3119, -0.2188, 0.9957, -0.0212, 0.7582, 0.5827, -0.4454, -0.0299, -0.0429, 0.9999] state[eef_state]: left_x=0.3934 left_y=-0.1184 left_z=0.0327 left_yaw=-0.066 left_pitch=-0.0481 left_roll=0.0197 left_gripper=0.9957 right_x=0.2809 right_y=0.0029 right_z=0.1665 right_yaw=0.0006 right_pitch=-0.0491 right_roll=-0.0056 right_gripper=0.9999 state[joint_eff]: [-0.212, -4.9026, 4.1915, 1.2576, -0.1636, -0.0952, 0.0024, -0.4855, -1.5521, 7.0085, 2.0781, -0.1001, -0.0366, -0.0122] 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":0.44,"left_y":-0.12,"left_z":0.034},"note":"At the lower height, the cap is still ahead of the fingertips and the shoulder lies between the jaws. I’m advancing four centimetres to place the neck at the closing line."})
tool
executing move_to over 4 steps (0.4s)
step 82
top_cam
camera top_cam step 82
left_cam
camera left_cam step 82
right_cam
camera right_cam step 82
assistant
agent noteThe narrow neck is now aligned between the jaws. I’m closing to a neck-sized opening rather than crushing the bottle, aiming to let the body pivot downward when lifted.
move_to
left_gripper0.2500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3824, 1.8427, 0.6907, 0.5869, -0.2909, -0.2188, 0.9962, -0.0212, 0.7284, 0.5373, -0.4217, -0.0299, -0.0429, 0.9999] state[eef_state]: left_x=0.4355 left_y=-0.1167 left_z=0.0389 left_yaw=-0.0327 left_pitch=0.0209 left_roll=-0.019 left_gripper=0.9962 right_x=0.277 right_y=0.003 right_z=0.1584 right_yaw=0.0006 right_pitch=-0.0411 right_roll=-0.0057 right_gripper=0.9999 state[joint_eff]: [0.4171, -7.2957, 6.0923, 1.5165, 0.1685, 0.1099, 0.0317, -0.7453, -1.2786, 6.9675, 2.1026, -0.1294, -0.0171, -0.0122] camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.25},"note":"The narrow neck is now aligned between the jaws. I’m closing to a neck-sized opening rather than crushing the bottle, aiming to let the body pivot downward when lifted."})
tool
executing move_to over 8 steps (0.8s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteThe jaws have closed at roughly the neck width. I’m lifting the neck high enough for the bottle body to swing below it and clear the table.
move_to
left_x0.4000left_y-0.1200left_z0.2900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3847, 1.832, 0.7074, 0.6029, -0.3229, -0.2127, 0.2561, -0.0212, 0.7048, 0.498, -0.4023, -0.0299, -0.0425, 0.9999] state[eef_state]: left_x=0.4434 left_y=-0.1152 left_z=0.0537 left_yaw=-0.0108 left_pitch=0.0675 left_roll=-0.0135 left_gripper=0.2561 right_x=0.2736 right_y=0.0031 right_z=0.1505 right_yaw=0.0004 right_pitch=-0.0373 right_roll=-0.0055 right_gripper=0.9999 state[joint_eff]: [-0.3624, -7.8838, 5.3812, 1.1111, 0.1099, -0.0171, 0.2906, -0.7726, -1.347, 7.2684, 1.956, -0.1245, 0.0024, -0.0122] camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.12,"left_z":0.29},"note":"The jaws have closed at roughly the neck width. I’m lifting the neck high enough for the bottle body to swing below it and clear the table."})
tool
executing move_to over 16 steps (1.6s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteThe bottle stayed on the table, so the partial close did not hold its neck. I’m returning with a wider opening and correcting toward the cap’s new position for a firm grasp.
move_to
left_x0.4400left_y-0.1500left_z0.0320left_gripper0.6500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4511, 1.4174, 1.2968, -0.5148, -0.3599, -0.2695, 0.256, -0.0212, 0.6823, 0.4641, -0.3874, -0.0299, -0.0425, 0.9999] state[eef_state]: left_x=0.4064 left_y=-0.1237 left_z=0.2635 left_yaw=-0.0171 left_pitch=-0.0292 left_roll=0.001 left_gripper=0.256 right_x=0.2703 right_y=0.0032 right_z=0.1438 right_yaw=0.0004 right_pitch=-0.0338 right_roll=-0.0056 right_gripper=0.9999 state[joint_eff]: [-0.3761, -8.253, 9.6479, 1.6532, -0.3346, -0.022, -0.0171, -0.4855, -1.1419, 6.8171, 1.9609, -0.1148, 0.0171, -0.0122] camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.44,"left_y":-0.15,"left_z":0.032,"left_gripper":0.65},"note":"The bottle stayed on the table, so the partial close did not hold its neck. I’m returning with a wider opening and correcting toward the cap’s new position for a firm grasp."})
tool
executing move_to over 15 steps (1.5s)
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 cap is centred just ahead of the jaw tips. I’m lowering a little farther and closing fully around the neck to establish a secure grasp.
move_to
left_z0.0080left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4721, 1.8648, 0.8066, 0.477, -0.4099, -0.2657, 0.6488, -0.0212, 0.6605, 0.4362, -0.3763, -0.0296, -0.0429, 0.9999] state[eef_state]: left_x=0.4461 left_y=-0.1447 left_z=0.0533 left_yaw=0.0009 left_pitch=0.032 left_roll=0.0062 left_gripper=0.6488 right_x=0.2675 right_y=0.0031 right_z=0.1387 right_yaw=0.0003 right_pitch=-0.0289 right_roll=-0.0062 right_gripper=0.9999 state[joint_eff]: [-1.1282, -6.2427, 4.1094, 1.0379, 0.1636, -0.1783, -0.0073, -0.6085, -0.9094, 6.6393, 1.9951, -0.1197, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). 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_z":0.008,"left_gripper":0},"note":"The cap is centred just ahead of the jaw tips. I’m lowering a little farther and closing fully around the neck to establish a secure grasp."})
tool
executing move_to over 7 steps (0.7s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteThe fully closed reading is empty, and the arm stopped above the requested height at this reach. I’m backing off toward the base, where the arm can lower farther, and reopening over the neck.
move_to
left_x0.3950left_y-0.1450left_z0.0150left_gripper0.7000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4637, 1.9526, 0.8078, 0.6704, -0.4278, -0.2687, 0.0148, -0.0212, 0.6437, 0.4118, -0.3687, -0.0296, -0.0429, 0.9999] state[eef_state]: left_x=0.4635 left_y=-0.1458 left_z=0.0534 left_yaw=0.0298 left_pitch=0.1308 left_roll=-0.0383 left_gripper=0.0148 right_x=0.2648 right_y=0.0032 right_z=0.1333 right_yaw=0.0003 right_pitch=-0.0289 right_roll=-0.0062 right_gripper=0.9999 state[joint_eff]: [-0.3897, -5.094, 3.6991, 0.7057, 0.2662, -0.105, 0.7106, -0.4718, -0.8957, 6.7761, 1.9756, -0.0855, -0.0366, -0.0122] camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.395,"left_y":-0.145,"left_z":0.015,"left_gripper":0.7},"note":"The fully closed reading is empty, and the arm stopped above the requested height at this reach. I’m backing off toward the base, where the arm can lower farther, and reopening over the neck."})
tool
executing move_to over 7 steps (0.7s)
step 135
top_cam
camera top_cam step 135
left_cam
camera left_cam step 135
right_cam
camera right_cam step 135
assistant
agent noteThe bottle is hidden directly beneath the gripper, and the low target is still not tracking. I’m moving back and up to expose its cap in the wrist view before another approach.
move_to
left_x0.3100left_y-0.1400left_z0.1100
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5575, 1.8503, 0.6678, 0.6792, -0.4881, -0.3199, 0.6945, -0.0212, 0.6262, 0.3878, -0.3584, -0.0299, -0.0429, 0.9999] state[eef_state]: left_x=0.4185 left_y=-0.1591 left_z=0.0528 left_yaw=0.0116 left_pitch=0.1191 left_roll=-0.0456 left_gripper=0.6945 right_x=0.2626 right_y=0.0033 right_z=0.1287 right_yaw=0.0006 right_pitch=-0.0251 right_roll=-0.0061 right_gripper=0.9999 state[joint_eff]: [-0.1162, -6.5573, 2.5094, 0.6032, -0.0611, -0.3932, 0.1148, -0.5538, -0.841, 7.0222, 1.956, -0.1148, -0.0366, -0.0122] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.31,"left_y":-0.14,"left_z":0.11},"note":"The bottle is hidden directly beneath the gripper, and the low target is still not tracking. I’m moving back and up to expose its cap in the wrist view before another approach."})
tool
executing move_to over 9 steps (0.9s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent noteWith the arm clear, I can see the left bottle has slipped sideways toward the left edge. I’m approaching its visible cap from above without pushing against the fence.
move_to
left_x0.4000left_y0.0350left_z0.1200left_gripper0.6500right_x0.2935right_y0.0039right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7311, 1.2831, 0.5522, 0.0692, -0.5865, -0.4549, 0.6946, -0.0212, 0.6132, 0.3672, -0.35, -0.0299, -0.0429, 0.9999] state[eef_state]: left_x=0.3201 left_y=-0.1509 left_z=0.113 left_yaw=-0.0172 left_pitch=0.0223 left_roll=-0.0268 left_gripper=0.6946 right_x=0.2607 right_y=0.0034 right_z=0.1241 right_yaw=0.0006 right_pitch=-0.0243 right_roll=-0.0061 right_gripper=0.9999 state[joint_eff]: [-0.2667, -4.5197, 5.9692, 1.5604, -0.4274, -0.1245, -0.0073, -0.4581, -0.5538, 6.7897, 1.9512, -0.1001, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":0.035,"left_z":0.12,"left_gripper":0.65,"right_x":0.2935,"right_y":0.0039,"right_z":0.2},"note":"With the arm clear, I can see the left bottle has slipped sideways toward the left edge. I’m approaching its visible cap from above without pushing against the fence."})
tool
executing move_to over 17 steps (1.7s)
step 161
top_cam
camera top_cam step 161
left_cam
camera left_cam step 161
right_cam
camera right_cam step 161
assistant
agent noteThe cap is visible ahead of the fingers, and the neck is just left of the jaw centre. I’m advancing slightly and lowering around the neck while staying within the side boundary.
move_to
left_x0.4400left_y0.0450left_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.1184, 1.38, 0.6144, 0.144, 0.0696, 0.0139, 0.6507, -0.0196, 0.7948, 0.6415, -0.4797, -0.0296, -0.0429, 0.9999] state[eef_state]: left_x=0.3868 left_y=0.0373 left_z=0.1014 left_yaw=0.0403 left_pitch=-0.0602 left_roll=-0.0158 left_gripper=0.6507 right_x=0.2855 right_y=0.0032 right_z=0.1765 right_yaw=0.0018 right_pitch=-0.0613 right_roll=-0.0055 right_gripper=0.9999 state[joint_eff]: [0.1436, -5.1487, 8.7316, 1.9414, 0.149, 0.232, 0.0171, 0.1573, -0.7179, 10.3726, 1.9072, -0.0269, 0.0122, -0.0122] camera 'top_cam' (step 161): [image omitted: streamed camera frame] camera 'left_cam' (step 161): [image omitted: streamed camera frame] camera 'right_cam' (step 161): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.44,"left_y":0.045,"left_z":0.03},"note":"The cap is visible ahead of the fingers, and the neck is just left of the jaw centre. I’m advancing slightly and lowering around the neck while staying within the side boundary."})
tool
executing move_to over 5 steps (0.5s)
step 166
top_cam
camera top_cam step 166
left_cam
camera left_cam step 166
right_cam
camera right_cam step 166
assistant
agent noteThe cap is now close to the finger line, but the height readback is still above the neck. I’m easing back toward the narrower section and lowering before closing.
move_to
left_x0.4150left_y0.0450left_z-0.0080
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.1192, 1.7733, 0.6331, 0.6239, 0.0525, 0.0269, 0.6504, -0.0212, 0.754, 0.5785, -0.4454, -0.0296, -0.0429, 0.9999] state[eef_state]: left_x=0.4419 left_y=0.0472 left_z=0.0515 left_yaw=0.0488 left_pitch=0.0441 left_roll=0.0122 left_gripper=0.6504 right_x=0.2801 right_y=0.0029 right_z=0.1657 right_yaw=0.0003 right_pitch=-0.0491 right_roll=-0.0058 right_gripper=0.9999 state[joint_eff]: [-0.2803, -5.6821, 4.1641, 0.6911, 0.2222, -0.0611, -0.0464, -0.4581, -1.4974, 7.1453, 2.0586, -0.0855, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.415,"left_y":0.045,"left_z":-0.008},"note":"The cap is now close to the finger line, but the height readback is still above the neck. I’m easing back toward the narrower section and lowering before closing."})
tool
executing move_to over 4 steps (0.4s)
step 170
top_cam
camera top_cam step 170
left_cam
camera left_cam step 170
right_cam
camera right_cam step 170
assistant
agent noteThe left bottle is now against the side fence, and the gripper cannot reach neck height without contact. I’m backing the arm up and inward rather than pressing further against the edge.
move_to
left_x0.3400left_y-0.0400left_z0.2000left_gripper1.0000right_x0.2935right_y0.0039right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.1192, 1.8072, 0.6464, 0.6815, 0.0444, 0.0261, 0.6504, -0.0212, 0.7242, 0.5312, -0.4206, -0.0299, -0.0425, 0.9999] state[eef_state]: left_x=0.4508 left_y=0.0497 left_z=0.0543 left_yaw=0.0559 left_pitch=0.0807 left_roll=0.0178 left_gripper=0.6504 right_x=0.2761 right_y=0.003 right_z=0.1569 right_yaw=0.0004 right_pitch=-0.0418 right_roll=-0.0054 right_gripper=0.9999 state[joint_eff]: [-0.2667, -5.7778, 4.0821, 1.326, 0.1978, -0.105, -0.0171, -0.5128, -1.5521, 6.9402, 2.0147, -0.105, -0.0317, -0.0122] camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.04,"left_z":0.2,"left_gripper":1,"right_x":0.2935,"right_y":0.0039,"right_z":0.2},"note":"The left bottle is now against the side fence, and the gripper cannot reach neck height without contact. I’m backing the arm up and inward rather than pressing further against the edge."})
tool
executing move_to over 10 steps (1.0s)
step 180
top_cam
camera top_cam step 180
left_cam
camera left_cam step 180
right_cam
camera right_cam step 180
assistant
agent noteI could not stand the bottles reliably. The left bottle slipped toward the outer fence, where the gripper could not reach its neck without contact; I backed away rather than force it. All three remain down. Please reposition the left bottle inward before another attempt.
give_up
hindsightThese bottles require a secure neck grasp to pivot upright because tool pitch and roll are pinned. A body grasp successfully moved a bottle inward, but a partial neck close at 0.25 did not hold it; verify a grasp with a full-close reading and a short lift. Low approaches near the outer fence stopped around z=0.05 despite lower targets, so retreat rather than continue descending there. Leave ample lateral clearance: an off-centre neck close can eject a bottle sideways toward the fence.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2771, 1.327, 0.728, 0.2161, -0.1791, -0.1482, 0.9978, -0.0189, 0.7952, 0.6415, -0.4793, -0.0296, -0.0433, 0.9999] state[eef_state]: left_x=0.4125 left_y=-0.0809 left_z=0.1887 left_yaw=-0.0548 left_pitch=0.1826 left_roll=-0.0561 left_gripper=0.9978 right_x=0.2856 right_y=0.0034 right_z=0.1765 right_yaw=0.0028 right_pitch=-0.0613 right_roll=-0.0058 right_gripper=0.9999 state[joint_eff]: [2.7145, -3.453, 8.6222, 1.7021, -0.5446, -0.0171, -0.1392, -0.1026, -0.9231, 10.2632, 1.8926, -0.0415, 0.0611, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 180): [image omitted: streamed camera frame] camera 'left_cam' (step 180): [image omitted: streamed camera frame] camera 'right_cam' (step 180): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not stand the bottles reliably. The left bottle slipped toward the outer fence, where the gripper could not reach its neck without contact; I backed away rather than force it. All three remain down. Please reposition the left bottle inward before another attempt.","hindsight":"These bottles require a secure neck grasp to pivot upright because tool pitch and roll are pinned. A body grasp successfully moved a bottle inward, but a partial neck close at 0.25 did not hold it; verify a grasp with a full-close reading and a short lift. Low approaches near the outer fence stopped around z=0.05 despite lower targets, so retreat rather than continue descending there. Leave ample lateral clearance: an off-centre neck close can eject a bottle sideways toward the fence."})
tool
give_up: I could not stand the bottles reliably. The left bottle slipped toward the outer fence, where the gripper could not reach its neck without contact; I backed away rather than force it. All three remain down. Please reposition the left bottle inward before another attempt.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [0, 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 · 9.056 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
  "role": "system"
}
{
  "content": "Goal: Stand all three bottles upright.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7929, 0.6094, -0.3763, -0.0193, -0.0288, 0.9986, -0.0166, 0.7887, 0.6033, -0.3862, -0.0292, -0.0345, 0.9999]\nstate[eef_state]: left_x=0.2958 left_y=0.0011 left_z=0.1835 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2935 right_y=0.0039 right_z=0.1798 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9999\nstate[joint_eff]: [-0.4034, -1.347, 9.6752, 1.7607, -0.0659, 0.1099, -0.1587, -0.759, -1.0462, 10.2359, 1.8828, 0.0317, 0.2125, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ce57b62f218de01b0848b1184d16082119fb432fffb65fb9c12c415d0abdf8c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88f96a2736277440bbdcb3fe0fa9d889feb05206808c1fb0647a057314fcdb21",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af425e7ff025b4a1777c87d0374e1fb3efb3c1e1f14eedc597d871b2bc75617d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 7ce57b62f218
wire blob 88f96a273627
wire blob af425e7ff025
call 1 attempt 0 · /responses · status 200 · 7.665 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqsrN5tz2Exwj_M-G_I7ZTjgRaO45gLeHVWu3tXvpVhSUSfbtSVcyNxPNDtCxGhi225-Kqr8XGfGpjuRGDUDmo6JtJflyLzuCMDczKibJv_FSkGe-HOH5-Z5IaeeSWmHYR08N9LzIUI9EIns5iOJD_psh4fvWoEQbiSW9aRGWiB20dvwnZWOvKuqTsMWECCWoL_5R3RXxzdud_KyJuMrwFINbpc9S3NO3cgyJixtaSbsXMbUKlqx5TPZQbFrteCkX_yBYfdYGIWwGTN0Kzdr0IM0lVs6PADuEtBzhofPwyFk7Bx3RDoQntJFPHe7OwywErLOxw-3ECS2qHbm4eLFJHdWtyCQB86xRccTFkPnAjelaj-88ntnTHpvDPhbqNrpgYMqHleyaKBox4a_ttvgv7Gqu5I4wm8WYumEAmWpClBwmMA7uRuauEgoa0-aW4hJpWq-BUac5fffmlpUuGmvwhuglzhLX7TdlKxDlzWh4h94ruZvDlryZCCI40kcsWTIvN1toK1EG-l7V0DH7WxFuo0Pes4uslKvL3Aw2D5bEEgrCNe76Pos7I3nI9xqEXVpCTt8J_2cNjbPVvOOBG0uaVEU63xqcAqzSACEZ8ZlC_rufmY1yXaex5nvJkDkdu9eOKR9RG8W7AbjVbeekqCWKW82uKi_dA3IOMcjG9xbJeUXobblzxJrOzSdqOdnZacCzizdGWgSVry8I5JiN3Lsq19h2lBgfkqwOHkB4PpU2CQa-88oY4bu5Bd9CbEXucxx1cjlYmkJzDLVxTu65i3V2uQCXqrFab2DgQpeoB1KINsmEdQzu82PKANJ3VVxzPD3KelcIAQplm2pVUJx2A30fZderIrd337m56RVjC8s9aWqjnLlRxjdGJeX9E-ETDv-bKFJxTMjzGdLr-1NxamwoQ50tXCQFH8frH4Zxut7qMtkreYLHbliacs8Ye8ght9ZC5eDlhlr0nmQvMwC4AieCsN-n3jacOHceMYyxeJzjVoHzQ8oP9muc330e7VrCinPCyp_Kxlq3Pf2RoUDluVbqwyaIqxtdXp4YAVKqq25zbTiGyJnh_4M5fzje4wuIwAsGNaiJPtTWrnNpk81q_GRT1QtMt7tGleuSggvMsOlipjI9VZ0J18LRUx1UMkFFtI5oU56CMEmXZ3oQD4CQJ3R-Q90aGWUOsW1ldImwxqGTyoZJrCsRIVUSfJg2U2ToZoPYhm698bNu2e_-AMuLG-RA2hD7bS_gp4gqsW91zk9ZNCmT7BXLVtX3iQe8SrCxkLwU9etG3tqrRa5f6ZDKq-aFJbDxTihMakWr7GGxLij-REHEjPV1nKPqwM9WYkQATPKqMbkFM-kxCvDT_GoKxPBedrfrJQ3g8fv5r5J5cOxZfQprmJZ-TjihZ_sMKQU303wSDZ7jkstzK0UVFJbTMfnOZlkbUA7qU_75x3eIRQ7Vk-g-Bdp91B14hDdKKb2H9UzcLnZVie91Se4uMZzu25vyubIHS2_GgR3BZou78XXi1OHEyhP7h0fOU--nqoY2_3OM04IKOHQ93TcrPMRxQnIY2swosJM9lC6pUpUurZiR5vkNkqTgK6STXipqqvddDxwwkoSpYDAS__z-lmSlEVQoQClejUoMhLKdzdaGBMEE4tte1VZGLVI52dzcT3NytuDMyJS853_Ov_LNJCRaX1Ihgf1AEgsf8UlsSS0PJAhjhAjWTKu6lgTt3KNj7yNQJ0uo0DEBe",
  "id": "rs_0b560f5eadff54b0016ab2b37271c887d0a7762c7b302c2f9c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.14,\"left_z\":0.15,\"left_gripper\":1},\"note\":\"All three bottles are lying on their sides, with their caps toward the far edge. I’m positioning the left gripper over the left bottle’s neck so I can lift it and let its heavier body swing downward.\"}",
  "call_id": "call_VnzxjFXzDfzBFWvazJiv8RQa",
  "id": "fc_0b560f5eadff54b0016ab2b37660b887d08d3c75602e481c85",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VnzxjFXzDfzBFWvazJiv8RQa",
  "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]: [-0.514, 1.4574, 0.8261, -0.0624, -0.4114, -0.3073, 0.9986, -0.0196, 0.794, 0.6033, -0.4038, -0.0292, -0.0353, 0.9999]\nstate[eef_state]: left_x=0.3864 left_y=-0.1329 left_z=0.13 left_yaw=-0.0168 left_pitch=-0.0667 left_roll=0.0246 left_gripper=0.9986 right_x=0.2915 right_y=0.003 right_z=0.1748 right_yaw=-0.0026 right_pitch=-0.0229 right_roll=-0.0003 right_gripper=0.9999\nstate[joint_eff]: [-0.5949, -6.5299, 8.9778, 1.7656, -0.3687, 0.1392, -0.1538, 0.1162, -1.6479, 7.0085, 1.8974, -0.0415, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3892df7e23183cb9fc06d279d07840f72b8309a9bf3571b504cc56389313ee2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d1090f7e70c0db3a02107ac1e2845586f4c010d3efb7dc30fa5b28762d54562",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4851a1ddc2338267d448e8951d8ef66f3707f45b5a81fed8037ece3bf4c653e9",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 3892df7e2318
wire blob 3d1090f7e70c
wire blob 4851a1ddc233
call 2 attempt 0 · /responses · status 200 · 13.44 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 2 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7929, 0.6094, -0.3763, -0.0193, -0.0288, 0.9986, -0.0166, 0.7887, 0.6033, -0.3862, -0.0292, -0.0345, 0.9999]\nstate[eef_state]: left_x=0.2958 left_y=0.0011 left_z=0.1835 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2935 right_y=0.0039 right_z=0.1798 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9999\nstate[joint_eff]: [-0.4034, -1.347, 9.6752, 1.7607, -0.0659, 0.1099, -0.1587, -0.759, -1.0462, 10.2359, 1.8828, 0.0317, 0.2125, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrOCAcC3VNGpd5i79xlCyOVML_iVtLZl6ldRS_ojLoaidaZTu186jBfPWwJUpseeWMmZ1jUIQSSZxAL69Me9KEKIjMpnyfzguMR41vPEhKQxWqhoClXu3pPZPA0wxyKwu6NmcI4kXjhk04FvQtIcw9yvzwd58bnEyaixDMvTtfuhlrhIfeeO3uSEsT4VV-EHr5EuUhkevpMyZONFaKoBMK2u5-8k1UrYqoAVOKeQuopyC7g6300NBd9xouHnC-tYjdvHn1jmd0EgFV4LqctlePWKMWQ1RIH6FPmCeTgCdAaRQ7pc33lBe2Wu8eb5kd6jJa2aYDv_6IVFRxX95FcBGA7d1C5XBFXttjksH_pst_wZ6GTAb1cPIiPo4-HJeG_kH3ZZwihVQk3F4lrYMMALmyW1TrNnIwZR90Glb7StPYCWWA5yfUHXrECwGiCxYk0-sNU60Dvf0U1c4wsqKkO1bzB_53vxUrUekEvG6251s7xZ9p86GfIZ1AQp62VAYHpPR4Kajyl9xFDYU5RVvfc1qSFdHfHG4qSzbst5dpGNwE97VYh7eBVgyk-q_N1nmdPc9JVMmIB2-QWhPWNTqSdT0rXt2JogC7m5jbZqpap56OlbBOj020-Gu7u44-gpo03e4deePNwdUDh8u7U4ay1dvttMm4xjACU0Fez99nKpfyH40KHfD2fFBgeLgoI6PGxoY-SH8x-meto8wltq-zUdlpp0lFMe7iIsSeXIocnIkZK0n-wgH_F2w6jth0hRvQKsVW1gIRyiF2lqOW9VZYX3aoM_QbEnFtG8eC2D0sxJcIW1gjxbeTIN1HSrU3q2xpt-yirGZxulddQ87D6ERiux9StTQOvJ0WMMugnM6bKlviKknfeVSwXZsKNyGp3Q19l1maxjutF9qGYXZ1tpDcgL0wsdH6Dm8wxOCUe_DUFeHLUWtza2-1THHBUb0QBWWtXzUg4caWTlXB9PGLPTlNSypM7J0HnmW-6X60fyh5oxNd4QTOB44XcVE2Pk2grbZcqOdBEa0WKuAiOsnF9F2mWfBCXcRmnly2jvF5jkL_DcsmjH9Q51NHmEVXdZcZDvbClVza_n-l4ybNCg6PnoAc3l6Sr2SPSmsP-IIBwrddIDmBQNYuQ8kCzpoOvLy-GdytX-wbIdWAczIabFYjwvrDGSNxA9rfdXFftoF7ZjHqKraiZPTuWh_upLxEFbsfqvz39xqQd4Gj_AIrXVYgT4NqG77shvoELek-2ddtY4DS5zFIXpYaxymcHxGn7qoi-80uGHfFmYjKN0iVJhZZojr35NEEVAusFiNSrqjg3ZzPEHcHn_qYdd5ixYTvN2agxtYqzTqDEqbWBKkDsHuKybsatT6hKIwZthiKquvC474swNbJA-RGVR_F7ldrvyifqcigujD_xImGSurwp2SVsrFJWiWg1pZPKIfdQP7iXJN0Ndkj5puYNuYCfShe0ciGS4bH6Mlj5kELm5GltQeSoTrxNw5R8L3g==",
  "id": "rs_0b560f5eadff54b0016ab2b37da01487d0a94146c2d3d69ee6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.455,\"left_y\":-0.095,\"left_z\":0.055},\"note\":\"The left bottle’s neck is left of the jaw centre and farther forward than the current grasp point. I’m shifting toward its cap and lowering to neck height.\"}",
  "call_id": "call_oN3K3Uyr1YjE4UvkITmEDIif",
  "id": "fc_0b560f5eadff54b0016ab2b38066f087d0b568ec39861dbd49",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oN3K3Uyr1YjE4UvkITmEDIif",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3264, 1.7874, 0.7528, 0.3748, -0.2729, -0.2161, 0.9983, -0.02, 0.7845, 0.5835, -0.4004, -0.0296, -0.0357, 0.9999]\nstate[eef_state]: left_x=0.4364 left_y=-0.0936 left_z=0.0428 left_yaw=0.0078 left_pitch=-0.0717 left_roll=0.0053 left_gripper=0.9983 right_x=0.2888 right_y=0.003 right_z=0.169 right_yaw=-0.0025 right_pitch=-0.0297 right_roll=-0.0002 right_gripper=0.9999\nstate[joint_eff]: [0.6906, -7.8017, 7.3915, 1.7851, -0.1978, 0.1197, -0.0415, -0.253, -1.7299, 6.8034, 2.0098, -0.0611, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ba49bc6728b19597367d7c2e285c40272c19aa481128433d3004544fee7054e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9abd0d31728990e0215ea9e12dfd2f343067b0272a4957d557c9d8330b5f63df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9acc7faa175d86a013e225d27033af1847697783dd76f28815edc35a4865dab8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 9.779 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]: [-0.514, 1.4574, 0.8261, -0.0624, -0.4114, -0.3073, 0.9986, -0.0196, 0.794, 0.6033, -0.4038, -0.0292, -0.0353, 0.9999]\nstate[eef_state]: left_x=0.3864 left_y=-0.1329 left_z=0.13 left_yaw=-0.0168 left_pitch=-0.0667 left_roll=0.0246 left_gripper=0.9986 right_x=0.2915 right_y=0.003 right_z=0.1748 right_yaw=-0.0026 right_pitch=-0.0229 right_roll=-0.0003 right_gripper=0.9999\nstate[joint_eff]: [-0.5949, -6.5299, 8.9778, 1.7656, -0.3687, 0.1392, -0.1538, 0.1162, -1.6479, 7.0085, 1.8974, -0.0415, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrOQLPbqCMkTzweQ33a7UiGXELIcM3OWGb5e0V__GNUSKTAbjmKr3D9SoINURLhbJMfo_-Z9hEkalXuc0jbW3VL60ERaDUi3V3bvtU73N-UMUh3adRGGe8Jcdc9eZhnXHrfcbM7OiqAOBg5y5A3WOfV7mG47E6PkAID_jbkCPR9I1_9NJKXkeP4gAu1hZVq7QpWi-JD0NfTsir5M4QlAgIRAYurlQh57WE2WMIS9_QhesxRcr1oKYwWWzlEh3kMTDlTavAo5GGJfUtKOMVdOtLLEjCIPxfrHgenLjtH2Rwi2D6CN8UVSwebBjpzCTNQX8cFTmYpb97IpYTTI6Txt6Lhw6InmRD3xytPto7KOpW6X-E3m0kq5lrED0V6jlI-J_xMMYmgr4I2JC7_dCXow87xx1JjN7HYEmSIIQpKYtlb1LYM5eJpbpZvi_mmPIxakQVtuqjRfOV7qeH6r2T4e0LtGB5bJUaBCutsp0QQOGkTCl22LkGKslK120I4gCvaQaMZ4FI4mq1Ac11pfi2iT4-336T8-Now1DU8gAeMtniw1C_5sq7VNvWeNN6c-36LGKrc_KaEIYcWqrjN8-gP3s_tGERPRQ8hCQZsjfRskjSEy11pfYqDISL-CuvK2ItG0Nsr57eXjMULU9O7XDRsJUqhW0S0vu1k0sY8YxpOyo3Bp33JsXKVs0WvS0hMG9QUzzb22ldZM8FV6MmJyYS-Z_EoMe-l7NCO_8M3RXxGLY41goP68hEFQ0iwrpd9ulMQwTP5pf4X5Wwez6df-hmDq7bKLbA36xSyIVH6DOhx2IBBMCbwcly7bMIpQuiGbg2ielXwS89F4na8vj7FIcKg9jwzZUvJ5UXGHmer_IsySuhF_wz5viYMz-AT0DQaSizuhFHxAbPdU0GEvQ-g1A93Wm8lJSP--nMpmkTbuMLVibmG6VXRk8zaFyPPdOAHm07DvQ-6mfTYENr2O8suv4wHyMME41fgcLxHq19itasH9DeoJxQvGGMOhIGIXdejpYKNLmpIbDpIIZO9ZwVfJvi0x1fGM2I8vIna1410p3fSbydAlbjStgClgfjuz91y_62qDcLhd9xKYKOS683D4NeVOzZJ9To1hsJizyhhfjWMPhBcQDqrZ65q9MReV5x-yNwunVP1HDo4PlEk2-NtgzLhS06Z464jSo7e8XKnVlmTRB43XQldcZPMMm9RwLQ_S1MXSX6taegey95ZNS-6hUDvMnLe2rxu5r7w6D-NAmZqTDWWksWdfQifIVMfCt0H1MmW3a0BNqywoj5ybhd9intOv5htVbfnfP4mOa3yLcr-dr50xTTITcS_RPoyXaJQFt39uhdV2pYZ_Ay4V-ut7Z3wRvLNRy7OEvQHZkqTQrtTW_r_N1iLdoUrVjFFx0JmR6A6-S2nMK1EVM-GpVhLDKT4nnvZIjYlVHFDWkSSsblsMbKMBzydD8VXsewk4ewclQ_1dJvtLHr9ArKEmqxRSmrF9KBWMOkzZQoHhUS2U0t_v2nBmmBfseO0Lte6CeWGBGmmdqDP_vcOLTraNf2K5b_hHfHs_rLAD2egbZBqPXY96he1temc2HjPPBpa4nraoE6KpKBsapBvcLiE-mSaEA3WpfyRK1gSM-OMaosWbDNBv4ZY5rSROwFP2JPkgH3o19gVq99g_aHy-rvb1rny_CYLVzLT0_BLisizfMl1V5V-J9wDH6ugY04YNThFTu79lO9r-9Pzj2y6GH1R6ds5aeQ4XZnh7ldZLgUPLFsxbp3R2eHWP4wodY6bXY2jqcsSYnedDKLWwCr1OR1Bk6hj80hh8KweVa3E_UcXkz2x1ZibeBKIHpwCZh_HRHGaTPnpoSaLamdl3zofiTOjLQe6Ry9x7_A802vaG7KpupB5tjn0uWcgIV_9kzdPW7dmcFc8AXGw-S5DKqzCq0_-QBNvBH4HvVzVuizbe_aOp_UnbqHetpK-p6RWhKSUYsvu6A7Y1gK7JKuP2C3CxoPdMRbHkw_s0CjGUOCEWHltTDXC1EL5BvFK8_x8qJkv-9488ZNegkAEMgRAaFVwoOVmnSAtH9b7_085MvEE2SZJnbsZi7GqWGL2GPqEWD7kT_ODBufRrUjtECg53uNlnrSqXdDlY-QJQMOUo66cvhHsdoxLCewh1Iewv5NiQBYojT07ftjNjcD0kQpHvQ8I7i15DFBxM-hoUE0ttog==",
  "id": "rs_0b560f5eadff54b0016ab2b386192487d093bfbbd1f7265dca",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.485,\"left_y\":-0.055,\"left_z\":0.035},\"note\":\"The neck is still toward the upper-left of the wrist view; the bottle body is closer to the fingertips. I’m making a small forward-left adjustment to catch the narrow neck rather than squeeze the body.\"}",
  "call_id": "call_tssiT61HYMoWBnbfTGcNF0hR",
  "id": "fc_0b560f5eadff54b0016ab2b38e1b4c87d08be3f4bb662e9dca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tssiT61HYMoWBnbfTGcNF0hR",
  "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]: [-0.1928, 1.9327, 0.7986, 0.4992, -0.1932, -0.1577, 0.9983, -0.02, 0.7712, 0.5541, -0.3885, -0.0296, -0.0357, 0.9999]\nstate[eef_state]: left_x=0.4661 left_y=-0.0528 left_z=0.018 left_yaw=0.0431 left_pitch=-0.0616 left_roll=-0.0006 left_gripper=0.9983 right_x=0.2859 right_y=0.0031 right_z=0.1616 right_yaw=-0.0025 right_pitch=-0.0339 right_roll=-0.0002 right_gripper=0.9999\nstate[joint_eff]: [0.1162, -8.8274, 7.788, 2.0391, -0.0073, 0.1538, -0.0171, -0.3077, -1.7846, 6.9675, 1.9902, -0.0952, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dd78513b751e2ab1eef3aea5d41ec6157cb74dfe266488fffeda8c22917b0b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eea8a9c49d1538f15c26ce8f2da99ad161c1f1d483d1a4cec4509af86d0ea813",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7fe4d5290abcef6f1052cf86c2f330db05e3c1d7cac9efe55b0388c62a7d6f0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 6.579 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]: [-0.3264, 1.7874, 0.7528, 0.3748, -0.2729, -0.2161, 0.9983, -0.02, 0.7845, 0.5835, -0.4004, -0.0296, -0.0357, 0.9999]\nstate[eef_state]: left_x=0.4364 left_y=-0.0936 left_z=0.0428 left_yaw=0.0078 left_pitch=-0.0717 left_roll=0.0053 left_gripper=0.9983 right_x=0.2888 right_y=0.003 right_z=0.169 right_yaw=-0.0025 right_pitch=-0.0297 right_roll=-0.0002 right_gripper=0.9999\nstate[joint_eff]: [0.6906, -7.8017, 7.3915, 1.7851, -0.1978, 0.1197, -0.0415, -0.253, -1.7299, 6.8034, 2.0098, -0.0611, -0.0708, -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": "gAAAAABqsrOab-OUft82MDrojwl1pl7HONVzLo0LvhZ163OAV-H7vXxUH1B1A8BBMPgjhHJRBK8Z5wXRt-LSZVu5MjaiVQC9MPJfyiNwdzgFOI_p_hzpAkqgsJ62Q7TEK_lI5x33zXh74tJnunwS_aqG1y5KZi30yiivKJzmc0b494aKHlJHAGbjZqwA8J2DFMxcx4dJlpRh7BEZBsOxmHZwOi0flsdMLXiV2kv99XRg1A17Fty5x7o8RC72rXRS0nxBwwFljg_BV2pBYOsSl_OitcH0fhlTtbElZtGYJXP0eLF6lVi2CjszJeFEbnq1ZAriJwFEgC19VBm3PEV6mixGvMRUaGPLVz4hzO3lINlWSedUWTK57DmI_6DpiHyiLz-i_o6W2AsHcGRmDjWwIIJ_dCMylbZoBeGS4gyYQYHdiBt4GIWnMMzHbfNWydxUh5JPSINcS--dtv8dpALIDo3NJEgXqZtVvRj1P8K6SA1mcSO2wC8UbmIeGj_yS7XW9XmC7M67oNdb11_Yz_y1QZd100qoqM3lCqdG7tuwxVYmrVZNrGLSxnxk1eIrUry-ofx0v0yepqfTv2qvO-HUOqR8V9anM0C7-kHUF8j-fXXe91i7hMhUqG_-ZLNM51wjF0g7JkujRDqYRJQn4YvHCsa4G3VtV4yHIyz0SPQXkZQXQrIhnQKp-XaYBEC8pMMFoH2ZIk0hLx74FESWhXjgm4sJV3btuCm4foiz86P6n72omv6I31aZcjR_Aw-oL12yVMMDFhVOOwV6zuHVuMzpD1QAobT07p0pFdTtBhUl2SDUaL_SX9tK0NjxGq94Gl3EIda3Xs_a3_pObDr1YZq1FfyAtMHA0RYBkbsbWT_Cly_umjNUf2PzKSWIHV13foid_01I5CUPbTp2upddA3YRv47G8fdIPW0gTGBG_1_sQdtPk4kAfP-iUFdDfmmcvdns_0PXJKiUD_VwHwLtc2IG8O2bgXAxHrFj2OfXal0wxBG8LWW9VUvOczZwvolP9nJ5Znqb0_leGpylJuvzeY2d0-ZevuHGOO3_6AY5Ot-dYBX-OVZ4xf5VPWOmHhmuRz-Kj42SUy7nYcxbkN_VTOkcdcYVQ3s4lj8l_votjYE49YF8Qh8Fc4p3A_qS1nfzxG06nVed9QuMQjFiLH49jIzvFig0XFg5qkxAIXBF17xWqcHoyhpPR7yHoTX6G0cpYwqvR92b_B35z68_pzila5h69kmG_kVpfiL9R5KsHSEXPiSxHWAORG_JD88-co-3UFNkc3xJ-huqc6X-3iNMaI0-zFy4eba3_wKUxkDRqdKk6jwlYrdIoV8-oe3m656zPiptowP797q2odKBw64YNUHGOw7qwcJ2yA7CCwIdAAopVDYsGwBPXlQ8XYot9Z53z_iQiGn6Wis_b3qBlZv4b5oh_9mfqa46vOjqzlLcm8LThvzW7-L8YDN8KjptPEFgP5DhKRHpanssRKLXIxurPobiUfz0YhaFFQJANbrV3QUQogUgd6sL7777s-2BTChrS2W6z2xGTbvM914aJCAi9I6ouWRcIrL2_lU3jq3EeajFD5IOMI9uEV-9HKSHdWJ9wc3O43XyY1v_HluUq-Sx2JUv1j9eLnJxRWifvfJGewDinUNyzO_hh-iBsmhwSVNe2kApdlMBx3Ww_StqH0fpKgmEocOGB04SpfwrPSr1QB-gCSojz-q-SscylLo=",
  "id": "rs_0b560f5eadff54b0016ab2b393931887d08241b446b28cc352",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.54,\"left_y\":-0.025,\"left_z\":0.065,\"right_x\":0.2935,\"right_y\":0.0039,\"right_z\":0.185},\"note\":\"The bottle slid forward during the low approach, and its neck is now farther away. I’m lifting slightly and reaching toward the cap while returning the unused arm to its parked height.\"}",
  "call_id": "call_FClT4TgUy9Ciz6tiNgtGtg1G",
  "id": "fc_0b560f5eadff54b0016ab2b39790cc87d0b6e098ad4b57dd88",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FClT4TgUy9Ciz6tiNgtGtg1G",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1753, 1.9457, 0.82, 0.5011, -0.1791, -0.1486, 0.9983, -0.0189, 0.7879, 0.5831, -0.4171, -0.0292, -0.0387, 0.9999]\nstate[eef_state]: left_x=0.4731 left_y=-0.0482 left_z=0.0199 left_yaw=0.0438 left_pitch=-0.0535 left_roll=-0.0035 left_gripper=0.9983 right_x=0.2866 right_y=0.0033 right_z=0.1645 right_yaw=0.0 right_pitch=-0.0503 right_roll=-0.0026 right_gripper=0.9999\nstate[joint_eff]: [-0.5538, -9.2376, 6.9538, 2.0195, 0.0562, 0.232, -0.0171, 0.2256, -0.9094, 10.2632, 1.9512, 0.022, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41c949bbc21f64faa9f427b98e3f3fed02631cb930c04636f8d329254a445085",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4abf0746ae0691e4080b7d759e2fdaeeda2f88b30a5ab229c9f41d4b8e2da552",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2ab02c4a25c31fcadbd54fab5cf833ac5a6fbeb77ca89dc92098e385b7b8706",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 4.128 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]: [-0.1928, 1.9327, 0.7986, 0.4992, -0.1932, -0.1577, 0.9983, -0.02, 0.7712, 0.5541, -0.3885, -0.0296, -0.0357, 0.9999]\nstate[eef_state]: left_x=0.4661 left_y=-0.0528 left_z=0.018 left_yaw=0.0431 left_pitch=-0.0616 left_roll=-0.0006 left_gripper=0.9983 right_x=0.2859 right_y=0.0031 right_z=0.1616 right_yaw=-0.0025 right_pitch=-0.0339 right_roll=-0.0002 right_gripper=0.9999\nstate[joint_eff]: [0.1162, -8.8274, 7.788, 2.0391, -0.0073, 0.1538, -0.0171, -0.3077, -1.7846, 6.9675, 1.9902, -0.0952, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrOh-ZaZH7qggXwXB_nmavpqyQ3DK5GjuvndI-ISI6utYeWtLNsDWuBcbwCgVdSn-sfVfecOHlPCp7qV3A_lOzqPe1filV5UQXVU85TDJ5XE7vhFnHvYd6PW6zGZm3mwqhRgjv7Tpp3-IuDYdYaMjkwFtvm7C8XotZrC59e-pHfmI5eOu-V5dcoz16usC5hX1HbNNNPXLbU5_xXXZnKWMbOuMhr-F23OpFKFXLXSRtMkUJBEQ4-kbuaxSqmGSbXnsXwjlCVXVC2klkmEGzoJhXDsg7c3pKGkXzMvqgZ3JJvOyccJmA-NxFStUCZRn8cobVaHoISWpAzY99udSD40lH5QovQVoaeR2c5DEiG3GpfnIvTl9Xt3wGldRwiLBuA1DSNrhpqW8TfwUbhI_wi2ZTd1KkS46_aiFmJDiOAU8Rgm4Uy1ntE_TrhHZKNr7aBfPfpP2mVNsR_rdfpR2e_7H6SlupzFOKrA6VSqPS5KkQzwyt300zfSyd0KxwXdWgwE9nTg0SCewQzTew2ltaojPo3H12jmUzRfv06V3w7rqokkDBlCKmtoeLEuWqztCCYut8vL1NhfZrZen2g7MR9Uq00DvjdRAsj2ILzryV_dZQHBIkZXL4b-Ev4vnMDJGUdbljvBKF3kfCQAfDM3nx6aQvOFcExfcA-bmsey54zuQ38KKXnY3xCpFFd5y6GSVGeT1O1nyXZB1LWsfLHrm7W6iFpXzkGlGDtW02aadMbXp4p54MXi5agdB1r5MMHGnRfWeFg9Rj7hYUweWbg7bmFfeZ5-9lxGZYi-S89jLjdrmujd7GR9GTzidYXMyVBKALZ5Pv5M050m_yugymktCge0e7JXXTXMHw3gMtzxIUiDfBNV9NaImeIUwyAdgsgCAbSz_CqSSztqD13kMA_0Q4a7IxC5VYC2MGg1d6IozlVoHe9EzGwynzRSWRjbex1XNvW5PyItI8HP_gpUISH6z0W_EfnlzYS17OCV-ECNIIxYQNv6cOIEL4iBhLiDCQET-Tpt_AbtrxJX8wHMVaeJ5FIuQ6rWNqhUPeaPJT5ixv8t0YSs7-pX_VH4Ox_A7LPo1Qbi6ZAnff34ufa5HAH9go0d3zmFK3TBaOUuuCLrHHM7D9TEdKyTyHV1_8i8fMiKvHNgFIt3ZxVmm4DlTSWGZDSPSDXERUNJGKoJqIe0QsmoeA-K1H4JnL85ChhYSRW_dYWvQZc6GLXkIioVPBwUDn1tSnxk37g-d6wH2aGYscPbOYBUpEHC-hyUZxIQ905sRrYx-owY",
  "id": "rs_0b560f5eadff54b0016ab2b39e71c887d0a12726e7434c8a77",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The arm has reached its low-height extension limit before the neck. The jaws are around the bottle body, so I’ll grasp there first and bring the bottle into a more reachable area.\"}",
  "call_id": "call_KzMN097Bu1985bZkx6jERnT4",
  "id": "fc_0b560f5eadff54b0016ab2b39f7a6887d08e3f6e4094733357",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KzMN097Bu1985bZkx6jERnT4",
  "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]: [-0.1761, 1.9545, 0.7849, 0.5797, -0.1799, -0.1383, 0.5993, -0.02, 0.7582, 0.5362, -0.3958, -0.0296, -0.0391, 0.9999]\nstate[eef_state]: left_x=0.4714 left_y=-0.0481 left_z=0.0192 left_yaw=0.0379 left_pitch=-0.0195 left_roll=-0.002 left_gripper=0.5993 right_x=0.2818 right_y=0.0032 right_z=0.1554 right_yaw=-0.0006 right_pitch=-0.0461 right_roll=-0.0027 right_gripper=0.9999\nstate[joint_eff]: [-0.3624, -8.0615, 4.7248, 2.0195, -0.1929, -0.0513, 1.0379, -0.4718, -1.6889, 6.7487, 2.1074, -0.0611, -0.0317, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea3005f606bbb66a71e5eb6f6f8d77cf231c4a24a2ec0f9d2f7f0270afd277cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6966f2f914ce6159c4bc8c2c3a005413bf5cadbe2408a82ed35d0f846f6d4cee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6927a3f4ed5807846ab380fcceb195a81bb8e66d61ca9a8838805884051cc47",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 6 attempt 0 · /responses · status 200 · 6.408 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]: [-0.1753, 1.9457, 0.82, 0.5011, -0.1791, -0.1486, 0.9983, -0.0189, 0.7879, 0.5831, -0.4171, -0.0292, -0.0387, 0.9999]\nstate[eef_state]: left_x=0.4731 left_y=-0.0482 left_z=0.0199 left_yaw=0.0438 left_pitch=-0.0535 left_roll=-0.0035 left_gripper=0.9983 right_x=0.2866 right_y=0.0033 right_z=0.1645 right_yaw=0.0 right_pitch=-0.0503 right_roll=-0.0026 right_gripper=0.9999\nstate[joint_eff]: [-0.5538, -9.2376, 6.9538, 2.0195, 0.0562, 0.232, -0.0171, 0.2256, -0.9094, 10.2632, 1.9512, 0.022, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.1,\"left_z\":0.11},\"note\":\"The gripper stopped at a bottle-sized opening, indicating a body grasp. I’m lifting it a short distance and drawing it back from the reach limit.\"}",
  "call_id": "call_DTcXL8B5q3JA0X7VpCLu8DYs",
  "id": "fc_0b560f5eadff54b0016ab2b3a4342487d09a655713e3e337cb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DTcXL8B5q3JA0X7VpCLu8DYs",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.392, 1.5982, 0.688, 0.1696, -0.2913, -0.242, 0.6008, -0.02, 0.7303, 0.4908, -0.374, -0.0299, -0.0391, 0.9999]\nstate[eef_state]: left_x=0.3919 left_y=-0.1032 left_z=0.0579 left_yaw=-0.0257 left_pitch=-0.1433 left_roll=0.0238 left_gripper=0.6008 right_x=0.2775 right_y=0.0033 right_z=0.1464 right_yaw=-0.0003 right_pitch=-0.0419 right_roll=-0.0026 right_gripper=0.9999\nstate[joint_eff]: [-0.1709, -10.6325, 8.2667, 2.8987, -0.5299, -0.0464, 0.5299, -0.3624, -1.5111, 7.0085, 2.0733, -0.105, -0.0073, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:400e55a88a88cae7ea567826e6170f9c193a544fbc92133f50617d08a3910e15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:612975e90f140427148c197e3f09de434495be494c71668c59506f9a917e7014",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b2a5f7e92af8eade5540cefccb5b861263463d580ac0c18dba20a29d1f972a3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 5.289 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]: [-0.1761, 1.9545, 0.7849, 0.5797, -0.1799, -0.1383, 0.5993, -0.02, 0.7582, 0.5362, -0.3958, -0.0296, -0.0391, 0.9999]\nstate[eef_state]: left_x=0.4714 left_y=-0.0481 left_z=0.0192 left_yaw=0.0379 left_pitch=-0.0195 left_roll=-0.002 left_gripper=0.5993 right_x=0.2818 right_y=0.0032 right_z=0.1554 right_yaw=-0.0006 right_pitch=-0.0461 right_roll=-0.0027 right_gripper=0.9999\nstate[joint_eff]: [-0.3624, -8.0615, 4.7248, 2.0195, -0.1929, -0.0513, 1.0379, -0.4718, -1.6889, 6.7487, 2.1074, -0.0611, -0.0317, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrOtwiXsyEy3g-Gfj5uNanMWlzjRe8OSs9yUcQjJRhlTcfEZ7DsFG2zej2yum1z_fQedJRh545sKc7zsOA11cnegG0FZdEKeKaNYjnGiviiok7ZygG3Zxhi_Z4eVemuTCtGUU_bxaRfgXHR5QVoij-p7an_cFQPrgARYLBzMKWoVPgj648jyrk1qTVXmmBAfzsFtxKhLi9m2Jm7Rx5dg40xtv4fSitaq483Vy_tAvef5jOz51R6Kiw9Q3C2rLrF922xjhgL-qmatdMc4jCuoe1hQdHIZL5QRC0A7vcXoQ3ly83x3weEoXd05wYeU0B3gt_AyKdf1tTahTL3PvlyOlCnwvqKOvSX8gfllfs_QhhwWw7pLMVg-IF-N00SBZr79pu6FBljBQ-_m5EhVWGOvgjSZ_LQPBmnagANf3Yvvu5JOmSwl0N_QwkKc427q4a9rS73b2VsZJP2mIQRG9sZgfIi9Z3eJnOXhNAeb4kdt6o6Vo0id69YhWaNQ7y0FgSiEQZBHi6-iqotCMwLbYNe2TrdHJb4x917HWgXMll1Pg6oJqNGa_M87bQQsE90lcpOmcVvXple4Fww8VI_IvQZrXOJlf3Hcrct3mhkxuuefsNK6BQbrMA7hM6tRuUE8v41wH1DbLrZBbmublljL7IX_jZc0HaiuorfRUjxZkwq5__dHiXMC46RpicILl4QaU0TWVv2dG7H3AdL233kqNLGXjCVg2Jmn9CMo_2WyJ9GqVxBUMj1_lwC3fncvli0fTEOeazjHq81EJ31uI4k6-RLlSzP7Xv3epJkMvIdST0k3fm51L_bBj6w1aun3XnoLGKwGHtpu8TrYf8DwYOTOrte5GMny5H954UDyBvgDHasniamCVmbHubJ4m-GVN5KJNHyVmLxkA4TVYOr-BXJ7OCWy9ivjR30oab9mLf4WRFT2fJxlsrPyBnL8t5NxjF7wgGOItIIhde4Tj29mbxPEbnE_7dhOURBvN9h4uzn9bH80k-0EqTYnHZjGKT4NmhhesTpP62Xoy-NURkQfp6CE71PDf8_OkrFEHqc0H74AWhukTUWRwlC_O-6pNU95MJ48e4Rj3ye2a9o9VIECrmaqo49XkXbm-V_GHLMvacRT9hUPj6KVkqjWWfk3rOP5NKqF2UceH5p2DNs-pkjxyu3WMWhVA13bu5s7VRiZcpuhneeWWfAGN7oLYwCkJ_WSiriAzzk_eUix-mvCEqKd4IkPNQfGMsWIGA492iGTUY2pje5NF2TPPvHD79c1QoUGk9gwaZCIzfEINwvP5PHIPlYNf_oVjebVTwpC3XUX9mZ77FFYMEMHtAeyl_BvDqvu_POap35xf1ERHhfIYDwklcLFa-fBpjXOOoxIIwtm8AYofm8Hg3bTsYAhawpjnKGKa9cKyRJSKKR6yoUlam7gzAgiBpshCb6cmPQtxyabtZP1o8hLEpGYWaE=",
  "id": "rs_0b560f5eadff54b0016ab2b3a9fb4c87d0ae95c71576529e4c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.26,\"left_y\":-0.12,\"left_z\":0.075},\"note\":\"The bottle moved with the gripper, but the grasp is near its base rather than its neck. I’m pulling it farther back so the cap will be comfortably reachable for a second grasp.\"}",
  "call_id": "call_66C8JtPXdUIo2jYwZraMxalh",
  "id": "fc_0b560f5eadff54b0016ab2b3abb28c87d092707ce87e87ab9e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_66C8JtPXdUIo2jYwZraMxalh",
  "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]: [-0.8146, 1.1023, 0.2829, 0.0113, -0.5575, -0.4786, 0.6046, -0.02, 0.7048, 0.4526, -0.3508, -0.0299, -0.0391, 0.9999]\nstate[eef_state]: left_x=0.2517 left_y=-0.1254 left_z=0.0506 left_yaw=-0.1065 left_pitch=-0.1013 left_roll=0.0345 left_gripper=0.6046 right_x=0.2745 right_y=0.0034 right_z=0.1403 right_yaw=-0.0003 right_pitch=-0.0312 right_roll=-0.0028 right_gripper=0.9999\nstate[joint_eff]: [-0.1709, -3.9726, 6.9402, 2.3565, -0.7595, -0.1832, 0.3834, -0.5265, -0.841, 6.9812, 1.9951, -0.0904, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b4ec1831d00b1e6ea89081023b829fd4a0fb4fdde2d5ab8982e0a3151ae85b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e6ea3e6eea5bcb0af3e0cd72088c7a34ae925eea8d21d57f2a18b0945a96d94",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad3225f0aa6cd9d06f550147a76335ab86bdc813e6c1e0265f507f50bf0c3c71",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 7.497 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.392, 1.5982, 0.688, 0.1696, -0.2913, -0.242, 0.6008, -0.02, 0.7303, 0.4908, -0.374, -0.0299, -0.0391, 0.9999]\nstate[eef_state]: left_x=0.3919 left_y=-0.1032 left_z=0.0579 left_yaw=-0.0257 left_pitch=-0.1433 left_roll=0.0238 left_gripper=0.6008 right_x=0.2775 right_y=0.0033 right_z=0.1464 right_yaw=-0.0003 right_pitch=-0.0419 right_roll=-0.0026 right_gripper=0.9999\nstate[joint_eff]: [-0.1709, -10.6325, 8.2667, 2.8987, -0.5299, -0.0464, 0.5299, -0.3624, -1.5111, 7.0085, 2.0733, -0.105, -0.0073, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.028,\"left_gripper\":1},\"note\":\"The left bottle is now well inside the workspace. I’m setting it down and releasing the body so I can reposition at the neck.\"}",
  "call_id": "call_SVDlE6zTbe5dkm1hz2fVjGeH",
  "id": "fc_0b560f5eadff54b0016ab2b3b1ef9c87d08382dfedc7039845",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SVDlE6zTbe5dkm1hz2fVjGeH",
  "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]: [-0.8383, 1.2457, 0.1265, 0.2996, -0.6075, -0.482, 0.9945, -0.02, 0.6884, 0.4252, -0.3428, -0.0296, -0.0391, 0.9999]\nstate[eef_state]: left_x=0.2404 left_y=-0.1112 left_z=0.0108 left_yaw=-0.0908 left_pitch=-0.0856 left_roll=0.0667 left_gripper=0.9945 right_x=0.2713 right_y=0.0034 right_z=0.1336 right_yaw=-0.0006 right_pitch=-0.0343 right_roll=-0.003 right_gripper=0.9999\nstate[joint_eff]: [-0.5402, -2.9333, 4.7521, 1.6239, -0.2222, 0.0415, -0.1441, -0.2803, -1.2923, 6.8034, 1.9756, -0.0952, -0.0513, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e1062d4b54f0f03d02efb630573ce68d7776946992c98a43a046a79bd1c3a96",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46b6f1ba9bda8c003a3d123dcb32bf556568209faae4ad0f2d72b52ce29bd81f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3068cf4791cc74f2d3b853771fc3f375f1988c0a9ee818f4d0da21a391e22b7f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 8.261 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 29 changed as sent

message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8146, 1.1023, 0.2829, 0.0113, -0.5575, -0.4786, 0.6046, -0.02, 0.7048, 0.4526, -0.3508, -0.0299, -0.0391, 0.9999]\nstate[eef_state]: left_x=0.2517 left_y=-0.1254 left_z=0.0506 left_yaw=-0.1065 left_pitch=-0.1013 left_roll=0.0345 left_gripper=0.6046 right_x=0.2745 right_y=0.0034 right_z=0.1403 right_yaw=-0.0003 right_pitch=-0.0312 right_roll=-0.0028 right_gripper=0.9999\nstate[joint_eff]: [-0.1709, -3.9726, 6.9402, 2.3565, -0.7595, -0.1832, 0.3834, -0.5265, -0.841, 6.9812, 1.9951, -0.0904, -0.0171, -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": "gAAAAABqsrO75m4eXei_bPFVr6BUaSKDDfpBzsKqKstlP_RSqAEpdKfWp47x0byPc2WUoD0eIgDqUwuotoqrMhoZUSV_8-Ko8tnDWeJRQoCrujFVEyJCKQKyFkjv5GLie1i4ZFVYV2nJG50AsrpTIVdE2pYnMCvqB2vTgAtQaspn3-mb0150t7yK83zk6U-E1laVPyddNfarNkDYSEZ43pYVTjjAKlAKaqd2vZ_1rzuJy5dIbP9VwewIVAuyYh2bUlygJjWpLpMPquGT36wM41R111G92fsua6AyaN9lHidiCTVrHVwNYn8CTOJqvDVGIcVJrVPtr2tkeVdlDNxX2d1YDKi7XtXhmaS8FC4l48bzG9Hu1XZIrKlBcKJkL55uTdbyvOrF6wDd-9hAdNcpEFquoeTWlXQLnCI4twoeBV5B9a8yNGRdhtiHYeiV7iHoJZvx69O79TXmGfMcgp8Ig3qg6aU4BzT3IS08hqobjAAfeGZ14NCKFz0QSVnMo8hjpHzk000qlntTBBgUhvcEtUiu_ii200P4SYjAWTzfA9zxUTc4a3S7f64gDsTC5RV_6a0lCYBy6aBQLWTJptxaiOcY7KRjs6MkOEd8MWyMdgI1vlp8t56yM--wCbKdrKGTaEU1szG_crwu1IC-hmARDKhPG2T78Z94WY23xE8GS7vNDBKuABLiGzZBPfu-Wn0PfIqH72Ri9D2i3y-Ktv7TUZ6W1RMpoFWBfM8acV00sCgxVsX2NJgRB53nMpiOkj0RqO15dISQik8DlYkP6QGVP0wWqU9HlTXWWJaKA129cMb_iiRP1aELXcYuX_4LZZZnyCTp6bkQMtzbYGJNYKCn2aGV0-jXcQTQV9rDtYaeZwDM0_aAt4DNbXDSlQc7MJ0P8Yc1E982gFTEAJCGL9f1RIucekx06hgj5qPqELcLTLr_aIEpdeEqhH4rrRhg_eC0WLW5sqENLvmJI29C_40t-DYGUngzorfkPxVatS67pDUxHoXD6wejOr4HIF-2Iyl-QXlco7JVz-kDqp5xgviVXi7JtBs4Odxh29RGKJiwo035q2dgGu29layZGh1G1bmb_AZSm2vPbuYMHQk-JLlG4Z9-PxnYm4iz5DVzizEd-D1PJwzbMDtM-z78FNcsHjZycoLxzyI80LZ3RA0GEauCV5sxLfvC4xyjXc9RaZqYg7YpL86LXWN8aNeDeLXfCfexVS21nPP0OBezi1m6hon4eWpVutiVbFTWqg==",
  "id": "rs_0b560f5eadff54b0016ab2b3b8518087d0adf8b904a046aab5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.12,\"left_z\":0.12,\"right_x\":0.2935,\"right_y\":0.0039,\"right_z\":0.2},\"note\":\"The cap is now forward of the released body and accessible. I’m moving above the neck with the jaws open, keeping clear of the bottle during the approach.\"}",
  "call_id": "call_mM0UeMzrhZ9z90lXVnVXnksa",
  "id": "fc_0b560f5eadff54b0016ab2b3b90c8c87d0b170c413046b0799",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mM0UeMzrhZ9z90lXVnVXnksa",
  "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]: [-0.4229, 1.4609, 0.6773, 0.189, -0.3023, -0.2337, 0.9956, -0.0189, 0.7944, 0.6388, -0.4721, -0.0292, -0.0429, 0.9999]\nstate[eef_state]: left_x=0.3922 left_y=-0.1149 left_z=0.1104 left_yaw=-0.0558 left_pitch=-0.0045 left_roll=-0.0154 left_gripper=0.9956 right_x=0.2862 right_y=0.0033 right_z=0.1769 right_yaw=0.0023 right_pitch=-0.056 right_roll=-0.0059 right_gripper=0.9999\nstate[joint_eff]: [0.4444, -5.8462, 8.0889, 1.6728, -0.0757, 0.3785, 0.1001, -0.0752, -0.759, 10.3453, 1.9658, 0.0024, 0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51f1b96da1e7172e9aaa294d88d745bf3f621720b0a2a3462ac70ef07cb39cc7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e17801c6a98ae6ba8f1ccf651d5f011eb21b30030e257c930215412c731d1fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3be48a39efad6a1c835d694242264e3916351e97ffc771d936c476a59069b96",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 5.734 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 32 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8383, 1.2457, 0.1265, 0.2996, -0.6075, -0.482, 0.9945, -0.02, 0.6884, 0.4252, -0.3428, -0.0296, -0.0391, 0.9999]\nstate[eef_state]: left_x=0.2404 left_y=-0.1112 left_z=0.0108 left_yaw=-0.0908 left_pitch=-0.0856 left_roll=0.0667 left_gripper=0.9945 right_x=0.2713 right_y=0.0034 right_z=0.1336 right_yaw=-0.0006 right_pitch=-0.0343 right_roll=-0.003 right_gripper=0.9999\nstate[joint_eff]: [-0.5402, -2.9333, 4.7521, 1.6239, -0.2222, 0.0415, -0.1441, -0.2803, -1.2923, 6.8034, 1.9756, -0.0952, -0.0513, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrPEZ7T18uuBbtEQorRowXNb6nohKrOSebFFcGWB5bd4cw_jVef_Ux9AI1rfxom3jLUGr6YScePjAbLyWNwgElcuFZGTN0U3fWHeWlSG71kR4lmGqgW_ZzQBbAafQHQ6M5bgQEfNYM-O-uJOtbxUBxMIiLiZS5pyvEh7bLDUGQNPuxIjLFzjDWgosw7HIumSgMRBtQwjiv_vEjQck7Sv_Mkr7mvOXu4UsJ1jbxOKxlze29XiiVTp7bWlQaeLsk3-AEZp823ZXzjQ-e8J-7_gGH8K1Pj4pf4KZC3Q82BpUyLL4EgG4-hxhEgm1A4EJU-6TLILx8r8Nx0CQnhDRIuW8mML5X_3FSvqX8atyVdxPp2vWkW2c2rUj1Qsu1o-noDSHF9Qg028ietOqJWkT29yp2uFLiRtohAus69XAH5RHHsaE8IKyOZ1CWIK5opY8GpKn9nGzJOlQZI5OAb8fa1Prof9pvml-bOPqEfZRnfuHL6KCPFie-v2s0vFxAs0ibvskaGRjXZKe0k_7GOGsP-ABjprGP3IaNowLeOga2WlRJ90mVVIhWkBFE7UZL-OQM98zpCVFZ-a_kVdIGnQ-aG-Bw15ky4VlQXyA8nYMsGx3zFUqE2-WyspYadYy9Hi1KEW-j585Og_-WB998wbbJXVE2lpkCnA994V-KypCN0bRB8s9p-hfjzKed7wsZ6sCYtRdtkoWBXnVt0HFDeUgWalItJ_SbEMDLkLI6PwZPP5SWw93qHGLvo65PNALuAAv68YiySiFJpsvnYbXGFlFzkAQGjr6Wv4bFAKllKb9q8lhRw48_iqRjvPUn5NhRodghhoT1ZgZ79ZFxOguMUdcSgBorXwjixcI5WKbC0K3EW2dvFY0gj4EVka52c2TV5ogr2rwG-QMmYV_VqZQxgrT14PF_V_7s6VSB9sIR2Hs-ReNr77bEkNtX9RqZsHjPEeHvtjw2DiNUIFn0dQ6m8t3HV7dWQxMqeijMXUAzQjwMN5Z4sineGaILyHyOllzgUrlO5l1ouYn-YMNYz72hD3uWfomdjsp3Qxjzfb44KKgNzhYBY_2jrFFGlI3_wTcc9cOC1oU_y3bwx4lan0h_f586Koi4Sx8348FO7st8r18IKoWXMOS6XZvaXSR5rxW4Gptd7dAouzm0mDNuxowxmN11VBsKJx0CRwPOwuqoZbr74JP-G9ahiHdx8f_zqjSjgDi6KgraY9n40UmAF83452pP3dyNhBw74-iLZdcKB6CgndzSO24-QUe_6upTqRlAzyhSV-RFYNdAC4FeZiKb-gFN3wGewM0iDYjEScnE1GpeUWBKe2uzFhhBzTiFhkKGqq-Sx9saKsFcZf7K2eeUVK93ekko_E0EaigUiX1wOXae5d7PsWKbnW8RilPZHDLdy9MLz8nGoXd_WTmCqlIA9xbe74z-Cqqz53GRAsrs9OdWa37RQAeL13895s988BdDNnCOMkN5n8WcVRKyEWH1BWAJmJslZPuV9X-ZV8oioD6fTk2MDiOq97G5rT-SpWNnu9BKmzfC-p",
  "id": "rs_0b560f5eadff54b0016ab2b3c05e6087d09975ba89f532bb03",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.12,\"left_z\":0.034},\"note\":\"The left cap is centred on the jaw column, with the neck immediately below it. I’m descending vertically to grasp the narrow neck.\"}",
  "call_id": "call_Cph6ygXvLT2btXQK6hOPHwb8",
  "id": "fc_0b560f5eadff54b0016ab2b3c349cc87d0b0cf3cd5b4032303",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Cph6ygXvLT2btXQK6hOPHwb8",
  "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]: [-0.4335, 1.7203, 0.5797, 0.4973, -0.3119, -0.2188, 0.9957, -0.0212, 0.7582, 0.5827, -0.4454, -0.0299, -0.0429, 0.9999]\nstate[eef_state]: left_x=0.3934 left_y=-0.1184 left_z=0.0327 left_yaw=-0.066 left_pitch=-0.0481 left_roll=0.0197 left_gripper=0.9957 right_x=0.2809 right_y=0.0029 right_z=0.1665 right_yaw=0.0006 right_pitch=-0.0491 right_roll=-0.0056 right_gripper=0.9999\nstate[joint_eff]: [-0.212, -4.9026, 4.1915, 1.2576, -0.1636, -0.0952, 0.0024, -0.4855, -1.5521, 7.0085, 2.0781, -0.1001, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:030297ff52acb739f6d0695d828554274ca775717ab180f019cf3f1e22a9fe5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b91df3e48b87ffda80f8f51a4566fe8dc7968b5fe7b0a0be0e17a1a121a824fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39833bd70007b8268db3a1e80a58aac4e084605ffc0cec69a0c73111e799ca5c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 5.731 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 36 changed as sent

message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4229, 1.4609, 0.6773, 0.189, -0.3023, -0.2337, 0.9956, -0.0189, 0.7944, 0.6388, -0.4721, -0.0292, -0.0429, 0.9999]\nstate[eef_state]: left_x=0.3922 left_y=-0.1149 left_z=0.1104 left_yaw=-0.0558 left_pitch=-0.0045 left_roll=-0.0154 left_gripper=0.9956 right_x=0.2862 right_y=0.0033 right_z=0.1769 right_yaw=0.0023 right_pitch=-0.056 right_roll=-0.0059 right_gripper=0.9999\nstate[joint_eff]: [0.4444, -5.8462, 8.0889, 1.6728, -0.0757, 0.3785, 0.1001, -0.0752, -0.759, 10.3453, 1.9658, 0.0024, 0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrPKR2zydjNnJeYEj063ihO5LvTwbGs01mN-vQHfaHlFi9oeZF34gJ8W2xadIxVIfF-2AnGnvks2cvha3vOk9uLsJd-cz97Uq_UQDsgIxuYQj9ZrireoDZ4c36dpUXJhIUSNM4JawDclgCE-XhMrnM_Mfl1qWaWDi1-1N42d-YmYPUam5c3lyS-qrMiQ1Wn4SfsTB2EOH-VMPHD2GfyD_s4FhRvo--XCUKPlrDe_QSITuCRfqOqa_YSY7zo3jDMOOukGaVGit4ND6AB1oJdkDDWRUjSr97U0slq2magy6N3UMq6JgVDNQYlyevBmHy24PjBFW_2FqTmbwwshXkQhSPuwvW9CcmmlsLO-me-Bf7dpopMNy_P2kxNEWM2CnZlFfS9xFJy6qaqx-nwd9f_g_KeRg-fxd7yqAv2_othdhLWplOcVRNxOvF2Qcrh3C68ftjTs_UC3F21sL2Sx6TbsQouOWfC-MEMKFF9rAkVPOC1o8o2mKWincy1O2f9fhi-PSs9KPpY0DtzsBZMS0fTKiVqtQ_1arIrkQn0T_TOxif1o0YcLiie_2CF5FExrwK4H3jMslLzoI-I5H9Cq-TfISCV6jZ8ysiiHGSsHcUl3kHfzqJcYDL9UYyj7j6XFGsLZEz8D319o6m8pJOeCaJfm9S478BiDKNaqjtE44KzuvY01JPBVPSW6SrgHRSB50t5Z7f-NxX1UkLc88aznVOt5mV_bZZcDdYBycqybULKYjcze3v2iaGZNMgtHdrF8h36co9xxShk3Ks59YEFLSg-FD0Qd5_V0cMyT7xrIEYDMm0rHXN8L2xn_zlYqIvinHuewQf9dEFB_2Q3Q6qEwP2MCQrl0_nwSLoVW6aiJI9QGn7crzIm87OO2xXvVai_4cXYAzFaviqeGMc24yPvQYQUshzw32CFsx1pxMwqeX2YJDdszkg0I1td-yrx5W1hYDDR_X1wxmh-CYX8HkM-qB_EAsRvYYgidL2sAX2dseLzVETc8iwwjfYGUifZwX9DSnPcBLD3uh74j15G0khYQLxYaUQWZZmkyk8czquHEaNVRVUOlQMvR_JAaeoiejHZzGYP6qQvXlUX5dNt8OOKWuiXfdJ3741zzBK2I4y4FvazhdRDTGZbqQdPdadJ6xuCgJg68kC-IuJQ7AF4NoqFQqwYtqCYgjg7jyH3zETQw8u9iqhEyrDoCkHYGJbm4Lf7kTGhRVYnTRZk1mslG4aS3lLhTRBbqfo3FQblHh1R40WRQApEmzwFxi24at1LAGApDGrt7xe6ObdA9g4M4bcXGtTaKK9yyvhlLckfSQ1TffJwkks9uH_pG7aPBn1DSrcvAoZaiWmVNvi0j2NLzl1Ar8BohGe9dTRJJd8qQW3xDCdDfD7BKOJW_oZ85Ehgkcen2Tn1V1zDE4eYV5oA3EfZFMj1_RwQszQ==",
  "id": "rs_0b560f5eadff54b0016ab2b3c7383087d0bf04c95758c43079",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.12,\"left_z\":0.034},\"note\":\"At the lower height, the cap is still ahead of the fingertips and the shoulder lies between the jaws. I’m advancing four centimetres to place the neck at the closing line.\"}",
  "call_id": "call_SyFhUDQdsejavKPwK38PM19D",
  "id": "fc_0b560f5eadff54b0016ab2b3c8e26487d08b322c277e8dc33a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SyFhUDQdsejavKPwK38PM19D",
  "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]: [-0.3824, 1.8427, 0.6907, 0.5869, -0.2909, -0.2188, 0.9962, -0.0212, 0.7284, 0.5373, -0.4217, -0.0299, -0.0429, 0.9999]\nstate[eef_state]: left_x=0.4355 left_y=-0.1167 left_z=0.0389 left_yaw=-0.0327 left_pitch=0.0209 left_roll=-0.019 left_gripper=0.9962 right_x=0.277 right_y=0.003 right_z=0.1584 right_yaw=0.0006 right_pitch=-0.0411 right_roll=-0.0057 right_gripper=0.9999\nstate[joint_eff]: [0.4171, -7.2957, 6.0923, 1.5165, 0.1685, 0.1099, 0.0317, -0.7453, -1.2786, 6.9675, 2.1026, -0.1294, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b93d1d15e79e16380b7d2df7ab09261f631ff51d3b9b7194c3ea6c8b42355d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edae6b929e77f21ba6abe054af1691ca319e138516d41bf5b56d0242a7746688",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:209e44f62b4e6a46a75503d71e47affbc83b15255b7857e257620740c8611bf4",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 7.952 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4335, 1.7203, 0.5797, 0.4973, -0.3119, -0.2188, 0.9957, -0.0212, 0.7582, 0.5827, -0.4454, -0.0299, -0.0429, 0.9999]\nstate[eef_state]: left_x=0.3934 left_y=-0.1184 left_z=0.0327 left_yaw=-0.066 left_pitch=-0.0481 left_roll=0.0197 left_gripper=0.9957 right_x=0.2809 right_y=0.0029 right_z=0.1665 right_yaw=0.0006 right_pitch=-0.0491 right_roll=-0.0056 right_gripper=0.9999\nstate[joint_eff]: [-0.212, -4.9026, 4.1915, 1.2576, -0.1636, -0.0952, 0.0024, -0.4855, -1.5521, 7.0085, 2.0781, -0.1001, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrPRgcZQnV4Cil4jLcUNkvF_KIrEbLiO3SPg0Krtla4DjpLcrdg6tdm-S535zvfULt37SQ2HvPmHagJIsrEJ20eNtccND7LYAM_BaRsEdn-mCHFmoW_uL7COFgyou-FOfPP7JyR0Dn6ntuKPzT8ULLWwBHb7Q_YiAI3NuTNBnMcWzTOvnKXEtcZwYawmT8T9Y2XK26b97kpAj1gc96XkE2Rr3005ToBmM5c1VwZBZrgyh0xzRjjYEaqdlmtlBUvQ2d1Txlc8Q3YlnOeG8qItn8v62JJqE-Ybu3mnFav5bcvIR-Wbtd_YPS6Q34__MNdKNwKJPZ-JfXaXw48xWj3Sa_esz5PD7nXsGsvPClrc_kJd9Nm5qpxtqOEN1nm7lUjKQ-i0LXCCpuNllwvo08ToQNeIaBL3F9tP7oVc06Pg8xfgUqARBHQWhjsI8i6NF7iRNM3WreTszedcAYTnPmvMll6uYAm_c3rA5lNMGsq5fKYq0iItSR3s7GmUoCfJN--iKAtU42WZ9K0lTu0-Ur8FyTb4pslo5AYSiBDFWL-EPQEvCBNchXgqCx7alEmX0kpmY6h5PFKcYH3Ka6B7AuZkmyd7czAE3A205imuXUF4V-UmS_j8c0Bh5uNxNX7T3JuwlCMwWv2LSDUiOeo5Zg3WrxHavHPVQP0S_tAiR5wdbMHBScz4YjLI6IvBa7Wo60EL6H3hA23TyGUZjkkq_91b7cdzpo8BBWr9r4_ywBiWO6FpsewFSt807Z0nYU9Eree0DpaoxyzkPxICdJUnKn_zoCR995iQguzapydlBhrYhHWSfzczDhpEtZWTE2PTGuMc2dbBZIDaZfxOGnrglJmqCYQlooMKGUfZmSoKVh6p7MjydtRysFNACHiXQtTJ6C8jOtclkEgkBhgz98j1pjOVBmacqWDPcgB3R-N7yRj408mUZK-XjQyjbtukv273vNyajVu8N_CkBbPaIl6YEKOLwQ1XqJGkBKWpkyVczVeNUWANGwF7NLOzHZHY393eOXcZ68OPulAGZRkd-6p_OJebJah5WxTHhthhtAoxXpulI_DIj5JL_vmTCt4l772c8K_b6rmt6AmEbvFNIko7CU5oFifEt3jv1cuoHQ_b--n9Cun_9g3mJSPzUY5LOQDZ8jm99mezRf2RQ3Ad8MNvIKPd1qwXkjBmRX5Z_zFFYzltpRaC77U65ZEuKna2DrnzvH0tWXqq3ifqVQwPm9-VKhGsoWm2MQlKcdli1yJ_k4g1dIs0T_hXgaz2X-lrim_CVY3r_3ljnUvsi5W3ZzPmob3HU1IncRqBnCzayX7ojPd2UQTUcuNyrwhd8czgGoFZIWk52imNEX4yG8QSl53emuk87tCx2QwOj4cBaR_bAQ0pqttec3KO8g0P1-aPGJczX6EUr439",
  "id": "rs_0b560f5eadff54b0016ab2b3cd4f9c87d09cea6a38b395e7a1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.25},\"note\":\"The narrow neck is now aligned between the jaws. I’m closing to a neck-sized opening rather than crushing the bottle, aiming to let the body pivot downward when lifted.\"}",
  "call_id": "call_Z9sonQqW2SI3EEIkCoilQ8Js",
  "id": "fc_0b560f5eadff54b0016ab2b3cf31d487d09a3ab113e6520ec5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Z9sonQqW2SI3EEIkCoilQ8Js",
  "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]: [-0.3847, 1.832, 0.7074, 0.6029, -0.3229, -0.2127, 0.2561, -0.0212, 0.7048, 0.498, -0.4023, -0.0299, -0.0425, 0.9999]\nstate[eef_state]: left_x=0.4434 left_y=-0.1152 left_z=0.0537 left_yaw=-0.0108 left_pitch=0.0675 left_roll=-0.0135 left_gripper=0.2561 right_x=0.2736 right_y=0.0031 right_z=0.1505 right_yaw=0.0004 right_pitch=-0.0373 right_roll=-0.0055 right_gripper=0.9999\nstate[joint_eff]: [-0.3624, -7.8838, 5.3812, 1.1111, 0.1099, -0.0171, 0.2906, -0.7726, -1.347, 7.2684, 1.956, -0.1245, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f822d68a0ff0f1195f45cf9df68b6dc0ae353ef9d1f41a9c2dfb88ea08695c9d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c4e9d32ac2219c0694e77a227120b664cb563693cc7d995373c50e43b6b4de7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd5429aed3bbafed9fd309d873676c6fc097f8e64a2f937fa12b8e73cadd3431",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 8.523 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 44 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3824, 1.8427, 0.6907, 0.5869, -0.2909, -0.2188, 0.9962, -0.0212, 0.7284, 0.5373, -0.4217, -0.0299, -0.0429, 0.9999]\nstate[eef_state]: left_x=0.4355 left_y=-0.1167 left_z=0.0389 left_yaw=-0.0327 left_pitch=0.0209 left_roll=-0.019 left_gripper=0.9962 right_x=0.277 right_y=0.003 right_z=0.1584 right_yaw=0.0006 right_pitch=-0.0411 right_roll=-0.0057 right_gripper=0.9999\nstate[joint_eff]: [0.4171, -7.2957, 6.0923, 1.5165, 0.1685, 0.1099, 0.0317, -0.7453, -1.2786, 6.9675, 2.1026, -0.1294, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrPZMVxqJH52JOC3_nZxJrkoywEK49oicuTcpg0p_S1OZ-md9QdCuBeo-JNb_38rpH70ix04qLMQ2U7qNXQ2LL9XR7YD1nH1lndGJA0C2fXcb1b6POZJ7SqkWzkkc5sZm24SzFQAA0drnRTsIkjVQ3MfAKmv7OHw3qkyH8Tkz_Lcd4uY79mtIav63z2D9lB58UWSZFqq1GRemeowACwL2hT9eLJ6p6p4MVC_OjqGq44hZmguOxCGXJ7n8o5KPZLIfwqG1BcfaHL1aDLQrwT9rCJYKPwRVsDVxtTuKVneYIdQbSjNkjRu6dZ6FVcBwgPxLUqngR6PicwPVQbfHaGkkzjgL2wrXZYzRAvseGmLRPkhZhYhh3VLayVvvfMXSRk2_FrwT_6mOgfPhc4400pE_KL4rX-_HGcxbwj9KcRWvd5d9siODC7RSyaCwcg5Ctpl1amNZvwl2cnsFaUE_jWgyehRaNG5-qnekrV-peMv-0vOOP0kMsbLVOKsuhbNwWgfjYNdMCtffLMXkEP5GAzBQ-cO1nVFcEkqLaKaPtil9vIbCFmDfBmVxhuTd4RZGwWk4C0h1N68FD_50PjVycxZ54e2rF0viC0Muy0RRDJpDpoYnK-Bcq9JnabgIHDevNjtYHmB25Dy46lOkEZ1_IQCYhZobNXUdVBqKwRdmFwHQbNyzgqceFD45_LSRDYlAKlpFln2yGPP-EFLRgTsdQ14quymimkL-rxDyQwFmBJ7jX9it3-9ZI0vt3ifEdwSTFcTY00jVd22RnOEdxTq6ZIXjJPWrmMOS4-yrSu_aSIiV-5sUrdB0Iz2TWnkdm-_uWaMhe1XRckBh1FEzk0JoLeY6iqGwRxxcGItdK3uK6GOTtCGRys04Z54akAEgcs6h5FlpnWW7WbkwqlZ0KKunmgez5lVjeasgKUi-zkgWpq_DxB6Oh1eyiQIddx8CBhNWssWnHEyTWXB5TO2UmydoF4QcCNZ3qtSdGnkoAJATfMvvQ00cqY7xFINYDoP7ZoHFsfHCz_5i9fOuODyA5U6llqZjzZwWf085Isw8VwxNJLwLym_Qbt_xcCOlWnLwoh1hNRl4zO2SlJVxEWWpkH-R5G6muOKyL3WFpCjphilXXmXyz4pST7pgxa4OrUGjLUlh2RQ5hQz0Xi4e2WGDKbB6pVyHOWV-K6BhOM_UscZgrGDi3P0BCtzRFy0_Msf5F0SEZ7wdp0FNxEYzSkDxily1q4OKYj_IA==",
  "id": "rs_0b560f5eadff54b0016ab2b3d7431887d0855c110fc797ef8e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.12,\"left_z\":0.29},\"note\":\"The jaws have closed at roughly the neck width. I’m lifting the neck high enough for the bottle body to swing below it and clear the table.\"}",
  "call_id": "call_QBVJ2k9oCPciGRTjXgyVXynv",
  "id": "fc_0b560f5eadff54b0016ab2b3d7b06487d0ba93ac3dc6a2a479",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QBVJ2k9oCPciGRTjXgyVXynv",
  "output": "executing move_to over 16 steps (1.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4511, 1.4174, 1.2968, -0.5148, -0.3599, -0.2695, 0.256, -0.0212, 0.6823, 0.4641, -0.3874, -0.0299, -0.0425, 0.9999]\nstate[eef_state]: left_x=0.4064 left_y=-0.1237 left_z=0.2635 left_yaw=-0.0171 left_pitch=-0.0292 left_roll=0.001 left_gripper=0.256 right_x=0.2703 right_y=0.0032 right_z=0.1438 right_yaw=0.0004 right_pitch=-0.0338 right_roll=-0.0056 right_gripper=0.9999\nstate[joint_eff]: [-0.3761, -8.253, 9.6479, 1.6532, -0.3346, -0.022, -0.0171, -0.4855, -1.1419, 6.8171, 1.9609, -0.1148, 0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3924d11377dd1336a712636886d3d0e5d29af2c87e7b19c3168a33833535336d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e542a3badb67324399fcb454209b62b75fda1daebe2099f570c10be3e302d1a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9520b1653284d9b5181c410defb5d6e25224938ce768ce8f9ce0180cc4f9bc64",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 4.948 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 48 changed as sent

message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3847, 1.832, 0.7074, 0.6029, -0.3229, -0.2127, 0.2561, -0.0212, 0.7048, 0.498, -0.4023, -0.0299, -0.0425, 0.9999]\nstate[eef_state]: left_x=0.4434 left_y=-0.1152 left_z=0.0537 left_yaw=-0.0108 left_pitch=0.0675 left_roll=-0.0135 left_gripper=0.2561 right_x=0.2736 right_y=0.0031 right_z=0.1505 right_yaw=0.0004 right_pitch=-0.0373 right_roll=-0.0055 right_gripper=0.9999\nstate[joint_eff]: [-0.3624, -7.8838, 5.3812, 1.1111, 0.1099, -0.0171, 0.2906, -0.7726, -1.347, 7.2684, 1.956, -0.1245, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrPjA2iXcX0ekcAX0KHEJY8YHiXsV57l_sXsBXu23Y8cns_CY_Hz5KFcRvw38jhYFHryZW2TC5vb-X897nA4MD5wz7HIOOYZDoYMKVGL1aCy24R_aNuc9FU1cnvuSktbWBrXICaxM3TZnnnz52jdkvglvJnUvVIIjIcuwFnjhXGP0YxN_s5eyn3WPEnd4wGyScQMFEh3-XIZb8Zy2YW_Y0w8RJ0q5H9pdDXERXh2Aom7jKvo7pIg-gmwcq9x9gJf5AouhevAI6CSjP0R1ls862Kb8JHFl6r-6KxdGUrf21zzEEklQdL5i_9wJWOi4i8ezuFmuqpGaMK4hsb388NiiPSjF43drcpKjpbcUAhlVRJVuNqGKe2URmJmeWekhhmK9_Hy5S4lVk8HxZFAF949TpK6quozANb1f5Ij9n7YdiJ2ErCmZjBvekoAuNsHum4HTzgpWPmUzllewqVlzFyETvraYksBjn7dMxoC_cDAy6LCgy1SZw---9QgeUR7SOVkBgGlSUitJsAG7rc7IOOCzsx3U4zTSqX-2255plPVLn5iSPhxp-15weQJAIX6fW1MsDVYs11JnSjHVA00hxEidUr4cP3PPlUHqG_9MLJmvt959wHsLGCf7LeReQNBhvJGUf3zmcF0jgFuW9OIZYFE-ay0UN84Dva1EWEQMr3bfSPE7Bvmj8Bkd4FvPjpGXzakB7h0HQRZu7HQOmBmG2A2q7Fx7P4tTyKhr40z_fCdxNaL3jscD9ayO4_0LaA_s9oq7UMRdoKNwc8RYwmlr6P76Zqk4YmH9_8geG4Bw9Edcv4WVtx6b3kxok4hpuPN9BMKDp31jkGaIPc47_6TCoe8R_OfJSDpKma6p2BFUQMQlgexFsOBAoiM5jYyQXPYVN-AywPmIJ6nUC64Mwt3PG2v0RnmgvSGm-inJUZJifRr2FTnlLDzIBVh6thYVG_vdCcY7JiwMqgjO5aF7UIezNCp9ntBCuABqdS_GGyD4M-zMu34TevhF4KclKoDQdYvtQo3z6uus6avUtXALhLywO_Xn0u7b_Oz72lI0Hz-V7NKJLO3RTOXocWxVYBXPeD4zQuxj2Xtjmh6flqEFB-aO_z5ppNAnUYHdNPBFQiOwTTaivIcWKmiEsf5D8LYrvm-x0XWx7ZpHMbDI0SSOaLtxq9ZEpPbNBN2LZgPLTPQtXisveytw4-ShkyUuMa1rrgzzROT3qC0OiGwW2C_nW82x1X4eWZw4TaMi9m0HFj4OESaXKnsiKottx-FUCwgteRVQF1J1Dw-LenQxKF6mZbpKJW7BONDEUqWP4JkPplD4jZ12B5vUWPtPQuVsf3XNJ8a6G6pORUWxx94F6od7uKXPxbjEgHH5VS5BC307VLtmDYFENNmoeo3mUPQlNRNZocmW6L-wLnN_Ms7BwTV_TOoyzP4kn-OOX2Vow3PmUC5v7DK3mqeoJAAfpn7IhV6BP9T5W0tH-oVIrH7XMSW66bL33Hh6WS41IrpauWwHYBBTySeZir_NGgZ24qpBbEA0TfS86kXUmvTaiL144t4u8xaStl6_8yotzPRLdBHx2M2xi-CBZMPS_y6cWtlcK0g_nGKmguIO3ErGRtNkcP1BRCW11ImSBwaBA==",
  "id": "rs_0b560f5eadff54b0016ab2b3ddfe8887d080bd833300e945ea",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.15,\"left_z\":0.032,\"left_gripper\":0.65},\"note\":\"The bottle stayed on the table, so the partial close did not hold its neck. I’m returning with a wider opening and correcting toward the cap’s new position for a firm grasp.\"}",
  "call_id": "call_ocdMHXTAupnMnTQDiRgihGoQ",
  "id": "fc_0b560f5eadff54b0016ab2b3e1d2dc87d0b4af00ec7b8dcf83",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ocdMHXTAupnMnTQDiRgihGoQ",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4721, 1.8648, 0.8066, 0.477, -0.4099, -0.2657, 0.6488, -0.0212, 0.6605, 0.4362, -0.3763, -0.0296, -0.0429, 0.9999]\nstate[eef_state]: left_x=0.4461 left_y=-0.1447 left_z=0.0533 left_yaw=0.0009 left_pitch=0.032 left_roll=0.0062 left_gripper=0.6488 right_x=0.2675 right_y=0.0031 right_z=0.1387 right_yaw=0.0003 right_pitch=-0.0289 right_roll=-0.0062 right_gripper=0.9999\nstate[joint_eff]: [-1.1282, -6.2427, 4.1094, 1.0379, 0.1636, -0.1783, -0.0073, -0.6085, -0.9094, 6.6393, 1.9951, -0.1197, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed1766a64f65579ab419fc4e398643b9a1613b4636dfde26c057da0ab27e2d76",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e97134ae58e614aba8abae53ec46494cf65e899e57d6ec1232e0f8b668492fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e9681481b373aae4664dc230d3a0beec9d543c2b5762c0bc73d2f6d0c6ff5fe",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 9.165 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4511, 1.4174, 1.2968, -0.5148, -0.3599, -0.2695, 0.256, -0.0212, 0.6823, 0.4641, -0.3874, -0.0299, -0.0425, 0.9999]\nstate[eef_state]: left_x=0.4064 left_y=-0.1237 left_z=0.2635 left_yaw=-0.0171 left_pitch=-0.0292 left_roll=0.001 left_gripper=0.256 right_x=0.2703 right_y=0.0032 right_z=0.1438 right_yaw=0.0004 right_pitch=-0.0338 right_roll=-0.0056 right_gripper=0.9999\nstate[joint_eff]: [-0.3761, -8.253, 9.6479, 1.6532, -0.3346, -0.022, -0.0171, -0.4855, -1.1419, 6.8171, 1.9609, -0.1148, 0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrPqf4hcezjss6K8BhKMve8qZZB8PqJRew74NHzEPyaJoX1wVsEBi18M2tsiAwj0ppqzeN5LaiCM5jsh3_NDQN4fjPZKsfKgW9Q2LjuNHjSyUG2iWJLw5u4foCBOk8cyzPDDRVJ0dQow-RxGsOjRtrY51Ctn8gNN045qi2yqYvoNqO0HWQl4Yy-lu7eOW8odw0f6UcY2kmOLG_RnlTtYpnhtyHu_IWcQjYMyOeSkiMTSVKdBv9rAE49cw0aikvH0m-aWHE_slFUe1WzjsUQ4St7WaQy1zfOMWNPe0TJpBMD2Dfw9n-p8xcgRt1vDq9HrWguflY9IFbdI-V4cjynh3IqyILtMwoFjsHsQK2h4H-M8Jk8iJmjnQvbuhCqNWCGcCTLTKJMMWAG0fxvc1i7gmUMwXLP1tJ8Cthme5yb-Egy-FLnEvy39H1Gst4oM3zmeD6yI9eiHXuvECxqxNWoo69r0h8xp92HPPBZCTwE6kz8-T0GrTkBlrZ5jkXj58vBHlbuB8o1_O6kTSTORXH_PN6kgb1QMwoTEKxRVpAGL9YrjkGpM4cK8NMfg3Ov185ZChKWtXKWdfQ0XXogyjP69ZZBAfrbohXKDITV549aOOZ0G9fWUbNlPXdCdAPC1qtsH2ASH8ldHTNKt8KbZOuV4NxuUSVwhJ0_uV9KYevN5Y90zwlmWwxI2UmQdCn_aE5DMN1Cuq4ql-ya0qnFdgTvKKIWT9l24R5v94jJFCSTgyNgVm1RUWJ1kCrQV9ynPyFLhsYGJR7hYEcDzlpKUBpo7PB4Lmu2XvDkcCXRGqAAwMN6pty1DHyJNU5__RSjfpgdQEK97NJHbXAOR_AJECEEUNwdhLiA49myHpcXT6ww9R8JcksYmyicSrEK-NiBj6D9gt1lZhFPBlsrGYQw3wk2I9yl4DBWh5CG33DIbs8YedeRM4GPT0b8fYCFTWl5xznR2oxtD5bKoz3UuoT7YwBTUjBXkH5ca3dojMLmkkpKAl6AIPTejE6beoSL2MLoyKbO6q78y7lzM4sUbLzAcYdFgy9y9tWUHY5-1cG1aW83ZdNK4s804CO7-n0UAwGVP-cthQcDB3XGabfMgLwdQeTa561hKHjWChY5xr0FPkS8YzK1N3EkkeWXl0vJlkOY5usMg32w0_jG2goacXjgyJKcWLeX5LKyfWy37wvMA5GYXYUs_fGMVz062lllYrLFh5Pbzxms-54yrokjgPiZmnu44Ikwfu67mjAgJNwWKbTLkCPGJ-9C4i3wcOWx_OCDEz9CnW5iS",
  "id": "rs_0b560f5eadff54b0016ab2b3e7c63487d0b74863acf93a4f61",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.008,\"left_gripper\":0},\"note\":\"The cap is centred just ahead of the jaw tips. I’m lowering a little farther and closing fully around the neck to establish a secure grasp.\"}",
  "call_id": "call_Oa06aFB9yymCMtqTyGjbcSkW",
  "id": "fc_0b560f5eadff54b0016ab2b3e8a4c087d087891e2d5119c81c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Oa06aFB9yymCMtqTyGjbcSkW",
  "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]: [-0.4637, 1.9526, 0.8078, 0.6704, -0.4278, -0.2687, 0.0148, -0.0212, 0.6437, 0.4118, -0.3687, -0.0296, -0.0429, 0.9999]\nstate[eef_state]: left_x=0.4635 left_y=-0.1458 left_z=0.0534 left_yaw=0.0298 left_pitch=0.1308 left_roll=-0.0383 left_gripper=0.0148 right_x=0.2648 right_y=0.0032 right_z=0.1333 right_yaw=0.0003 right_pitch=-0.0289 right_roll=-0.0062 right_gripper=0.9999\nstate[joint_eff]: [-0.3897, -5.094, 3.6991, 0.7057, 0.2662, -0.105, 0.7106, -0.4718, -0.8957, 6.7761, 1.9756, -0.0855, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15160fec841dada84b70f1950538d1519341182548544b648ab3f92b6444a2e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a005a954f496ede2442272538384fab412bc4096f78988e1141829a2386ffb5f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3d8d625e21d34693000cbb29040117e2ec8becdc1c9f12c9b6ec3faf3c766de",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 12.48 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 56 changed as sent

message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4721, 1.8648, 0.8066, 0.477, -0.4099, -0.2657, 0.6488, -0.0212, 0.6605, 0.4362, -0.3763, -0.0296, -0.0429, 0.9999]\nstate[eef_state]: left_x=0.4461 left_y=-0.1447 left_z=0.0533 left_yaw=0.0009 left_pitch=0.032 left_roll=0.0062 left_gripper=0.6488 right_x=0.2675 right_y=0.0031 right_z=0.1387 right_yaw=0.0003 right_pitch=-0.0289 right_roll=-0.0062 right_gripper=0.9999\nstate[joint_eff]: [-1.1282, -6.2427, 4.1094, 1.0379, 0.1636, -0.1783, -0.0073, -0.6085, -0.9094, 6.6393, 1.9951, -0.1197, -0.0464, -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": "gAAAAABqsrPz65kYgX4CSIOmmSBYUOuvQy-vGseawZtnGA6SszvIEMiirLExNnO7bGvs-T-UBJt_uo9c7lhhkXmm7gRKJ8YLkBaVarf0S6oXH2Pcxl-4sHkU4YDfshgbaQjsgWhpKGhHsULHiuW8Yrhcnz2yopCGaBq_ddhQM9jowU6T6G61-VPuv50Ugu7hlj7julrPooEmRZnUVsIqtZje4Qov8j1oyFa5RmosSpmNLkgCe8SsT0yiCMPWFIEvXEoJgDK02jemZVIkp24JJVqGOU_ZdEmdgkzUDVUo3jJP3MelRVEYQjDSYZMfQF7_krWL4J43ZoqhBSyEW8QkC6nce_DRg2gOCA_JV44xnm_EBTUKWTmwsfYnSds8cAgcKNgj9Npmde1tskSMh35rvurFhP3dZVZ65BHNaAihcyhwWGaLiVPvyKmF-gVP-U6s48vvEgjrPMFHSf8wS4IWshjidduGaavq7PMV90CAoHKVerLm__glEZW_oqSQsFBSm2TjffRh7CvWtKUERSCVhJy81CBoNxTLmEj4s5aelCkbi46qPhiAAXecHxGseBU_3COcqIhPE1qR-iTae03tIOzSzry6xLSpwkQan3YocjCN2w5pT_WfdyNhHeFZCm4dRjzPld_1yz12XsbK2quyWq2ajS9TFP8u_osdULGmb207kgf6qL9tkrtQj3hjhIewOnuYCfFcY-bgy3uP5Hg_u4_meKyOvadfwEpNGNCQGBX8Ecqw7PBULiERdhn9dLzuzKy2NJMI1Uuo0mplci0CnWMm3km2QmgqIY8Or2H2SoDMDlAXJlT7fccEX2B9NwLqM-B7i1WgxAnlnlz01EpTc8Z3bEtD_u3LH3KC1nZpdzmTG2XP3n_olScltdXkScl8ZFEDBOxLx0RmuXZvVIWs9pW66lAZ5shSevZ9v44dJV5njYcj2Pr6ibElYzvtEKDATOvrNXIY9-3_bio9JM-1RyLaTQ9fisJL9yMq9Qd5OszkoRFrLLZMpx0A98W5-LWXIE-_lrUCTblVXhNBSnC9xa9of_tTV__v-XzWZ5HCOhaT3jIq545h9vX9r_nJTPf5TxFSqY58LmdtemBdUtzFtjMGztHuZyX-4gkz3CQgziHxBU_zP6fGUvJ1Q7PZfSZkqS16JpWWTmnGN74WGwJQp3QokEVNbpxmHc5KV4kZC269qZwWQsLDiLVeMqX9btqH_mXn8-m7iy5D6GpouhDPXACqPkPOWf_tQAH-Ti00AqSR6zPNcfVqpgcmRgFD9YywsM7M395nTsHjACGRJo2zhJ5xRw-1-TVu0imxhBiFLLJ9Xvr5Z0T5cUZlrN824NfoEwFfmFvV3Di8CLsI_3iTzfL_ZY9XC-fuME_qnn77oO0xWLOygLl-OT_YDU0k-6eVLpoacd5ie3Y0hLRKKW6gjIr5VP6IgTx6NqkuakZAwTssounf5iDxXJUQQlQHSg8YdSTEs7wnAPqBAh2DMQWe3hrCU9H2Sd7E5QQIUgbkKIs9-uhwhxbDsgRsJQQcyE3Y-8yta6yB18IdS-CYzpZqRLkgYKCRnhgaO9ljE_sN7I_Ac9r2gmyR5JQ=",
  "id": "rs_0b560f5eadff54b0016ab2b3ef426487d08c06e7d75601abb8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.145,\"left_z\":0.015,\"left_gripper\":0.7},\"note\":\"The fully closed reading is empty, and the arm stopped above the requested height at this reach. I’m backing off toward the base, where the arm can lower farther, and reopening over the neck.\"}",
  "call_id": "call_ellL011X6E5OkX3IAN3ofvYm",
  "id": "fc_0b560f5eadff54b0016ab2b3f2325487d09263414faf5755b4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ellL011X6E5OkX3IAN3ofvYm",
  "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]: [-0.5575, 1.8503, 0.6678, 0.6792, -0.4881, -0.3199, 0.6945, -0.0212, 0.6262, 0.3878, -0.3584, -0.0299, -0.0429, 0.9999]\nstate[eef_state]: left_x=0.4185 left_y=-0.1591 left_z=0.0528 left_yaw=0.0116 left_pitch=0.1191 left_roll=-0.0456 left_gripper=0.6945 right_x=0.2626 right_y=0.0033 right_z=0.1287 right_yaw=0.0006 right_pitch=-0.0251 right_roll=-0.0061 right_gripper=0.9999\nstate[joint_eff]: [-0.1162, -6.5573, 2.5094, 0.6032, -0.0611, -0.3932, 0.1148, -0.5538, -0.841, 7.0222, 1.956, -0.1148, -0.0366, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bb71b4b7eda936ecc6ad629b8c541e8030ae1d1ad575bddd42c81820909d09f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:200d1170cb16b7b863597b0c5e0bdfb531c30f696f4b8eb4079a5ee9272017aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb33933724260eefbe27e9246ed44ef50c1e83ad9a833e15fbf72e649c16b470",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 10.51 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 60 changed as sent

message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4637, 1.9526, 0.8078, 0.6704, -0.4278, -0.2687, 0.0148, -0.0212, 0.6437, 0.4118, -0.3687, -0.0296, -0.0429, 0.9999]\nstate[eef_state]: left_x=0.4635 left_y=-0.1458 left_z=0.0534 left_yaw=0.0298 left_pitch=0.1308 left_roll=-0.0383 left_gripper=0.0148 right_x=0.2648 right_y=0.0032 right_z=0.1333 right_yaw=0.0003 right_pitch=-0.0289 right_roll=-0.0062 right_gripper=0.9999\nstate[joint_eff]: [-0.3897, -5.094, 3.6991, 0.7057, 0.2662, -0.105, 0.7106, -0.4718, -0.8957, 6.7761, 1.9756, -0.0855, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrQBIv5YxypJ4WlEEncp4CXqv9xJphqmDEvwrBmTOLFhf3ym3VX6Zn9X_mVIBw0vJPV8N3tgAqS1OGySNtL2RGNXnbVkS0WSYcZNCyJeSy9tbVfThFaeWTj5fZONdejhiDiR2Hh4BQ2U_RXMkxVzZuRAeSDUU9D6YRfS7T-C_BZw8YOD7v3bDWuwFjiKZyUEkAvPvdUTbHZTted7jBxza1sbQQRi4PnM05qLRBXwdy0hxOd88SPuzSYmToqObtjPHwuKTLa00I74g6CJsmEeDT68gohXbZzxIE17HNMxyWlXXhPZ-dlJtZg-wBZG7_yMHRaeLnE5pce3fZo7NFPWzVzrBjFvhiIQW1weEDAbB4Vp-MUVPd2LTiibjI-aWrEP1nio44eRs1BHY2xb77Gvp2OgaX8zUI1ccu5GxTePZYCaYCGrdVONa7F4LVfW3dOj7GHYBEhzsOc1nwf53qxHDYJwtvRbeWXi54Lmj5J1FdZxPLgNjZK4H_PLsyiT5TPbTEU0lj-aji6uLxQYnSW3EHDxIGlhOdfPL0wHtqYSxHja5OKEIy87ZJbKvBU024aMRQbw2cRE5HDpAotYJh_QdE1jkHU5D0PTQsQHlngMkjr1EmxrEyjEnuKL9i1WHBeboH3xgC-cgQtmyn56YV97CYuqjaprKWS16Yyr85N9DJwQYOikI-RwfIIv5x-xmVLaCbBHoVjI4mw0LWHB201V6HUJTnD64mn_2EThyy6PJAMXManC8iQTXA5B21uNQnwMviI1VX5Hamcgr_nw_q5ydAGZUoFGvEBrUz-U40kcmE927zlulU9PUNY3zatc-T_b8UT6RMfjywqkIyFaOEV2t5Xc_smcKX0PBKVgN7_USm_CBiTY-lH4bijd5YDVFXkUdIkXY1rRGAeQRsiDvgb7MATmklC2wxj2ZQB1JCHL9A6Hex_-XhIl94Qe71kKRPN8fxMjQ-uYofunUc5lYaFjXgDqI2u0ITDquiHutSw54nJCoL4BLWa0ezifSbRpLO-2ESY0Q5HjS5aQ8OOkHypIbPuFYeOq2wuxdsy8m6S6DV5QkNTEgZhnBzYuPTRhWGeuZ7ilHNmUu6grmKSH5Mv24-D_JFz7pUWMfQBgOrqdHPIJXH4pFtKWgZaGknVNhPpU4-1ROlNXxiMolWEHikevahMtW5VUqLHH52v_2ircJNpEiMyGS_FrsKSV7SuoGcO1bEl6Zz3jAZJ7legR9bFBc9VMkP_pB8LIm0SwB4z3aLDSeSkwuHVtqF2MOhH7oOwOndAzEBABZ1BLoedgifDs7AociVoRrfvHudSPYBS5MYEeJEp-OWzcdQqK52QjyruTR9w1nw7qBnmQeJdqyiZ2y1JUjkSWEjXw0cdeqeXuQRGJZnisd06Hmo6ONtUN7hyCGglhNTFIunf85SJmVjEDVsrkhNsDD-VCSBIJEEoVLTPNjx8zNLnvLOcPrpq89rnTkqnDrlvfh-Z7nbJ4EvYJi4iX1S0mROU2HvbMDmJ5FibC3KIaI3ivJgeL8iBLzp1VhSWPAtM7rYleYvn--goWQaDdsFZASvnfku4wEq_vN9EXj014bWrFTtmXtbjNPfi9PGzbGRtetsiHphV8Za2MRW-HulxRg_yaZS8uunOoYde8YEC0jm69qHo_gwdz5ntqqOzuWt2s6QCn7zqFOg_dPJNOs9QIuGWcJ2lY0jVOqZ1F1HVyEOKNadbeVTKhxr1MSv7qs3U1kjm4CqZskDk8baN6EhVmkvVCKQk05cn5SZozMImgy9Yb_ohzGBtcWzIFISAT",
  "id": "rs_0b560f5eadff54b0016ab2b3f9902887d0807b562ec01cfd07",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.14,\"left_z\":0.11},\"note\":\"The bottle is hidden directly beneath the gripper, and the low target is still not tracking. I’m moving back and up to expose its cap in the wrist view before another approach.\"}",
  "call_id": "call_mWcTZe8UjW1zZtUerInADDqZ",
  "id": "fc_0b560f5eadff54b0016ab2b3fef51c87d0b1e357062cea851b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mWcTZe8UjW1zZtUerInADDqZ",
  "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]: [-0.7311, 1.2831, 0.5522, 0.0692, -0.5865, -0.4549, 0.6946, -0.0212, 0.6132, 0.3672, -0.35, -0.0299, -0.0429, 0.9999]\nstate[eef_state]: left_x=0.3201 left_y=-0.1509 left_z=0.113 left_yaw=-0.0172 left_pitch=0.0223 left_roll=-0.0268 left_gripper=0.6946 right_x=0.2607 right_y=0.0034 right_z=0.1241 right_yaw=0.0006 right_pitch=-0.0243 right_roll=-0.0061 right_gripper=0.9999\nstate[joint_eff]: [-0.2667, -4.5197, 5.9692, 1.5604, -0.4274, -0.1245, -0.0073, -0.4581, -0.5538, 6.7897, 1.9512, -0.1001, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8261a4f9e49be802f1fd516a8018dc4ca40f8bb75a20abeedbda82dd281db82d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73310af51ac7ca03ac7143a19d0286438b59926794e08e6b166ac4de6cd224cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d21a368113d6a17e716e9b072f747f9532b174e303a18fd66036e408dabf2ee4",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 6.087 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5575, 1.8503, 0.6678, 0.6792, -0.4881, -0.3199, 0.6945, -0.0212, 0.6262, 0.3878, -0.3584, -0.0299, -0.0429, 0.9999]\nstate[eef_state]: left_x=0.4185 left_y=-0.1591 left_z=0.0528 left_yaw=0.0116 left_pitch=0.1191 left_roll=-0.0456 left_gripper=0.6945 right_x=0.2626 right_y=0.0033 right_z=0.1287 right_yaw=0.0006 right_pitch=-0.0251 right_roll=-0.0061 right_gripper=0.9999\nstate[joint_eff]: [-0.1162, -6.5573, 2.5094, 0.6032, -0.0611, -0.3932, 0.1148, -0.5538, -0.841, 7.0222, 1.956, -0.1148, -0.0366, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrQMWbj79QcKBUt0441TTHY3P0wbYOYc5xdZaVMS3xUKXTPVYR_ZL6p18wwXkv0BhwwUv_pXqB5e0bETqLqAYKiEyPWEQ8r-gZnqr_dWuwrRaYfsgT6moLvsngpd4FDSG2NtYeJoZqbJLa1R7-BoH5JKOyIpjGfDOg6hTKd3pI-T2DztuC_WSTWQ-dzoz6DdYoFXcplfkq1PT7ozmiuyLNBspocNU4Z2CsMWIgMgwxxaKXoFibDGnr2UJ32ELi223pjYJY-MSdPjNuXq-KngzQsepTG9zsjyFM67ipCv9CT4FsG0FRkMpwEqMgV_vFMEWTquYVusMqajH5Jh76UB6XGhqNSaBaPbLow3LYMR-VP_yEWFEMrWPdFWDDwgDsMGZ6qgOt4EI0bWRCrFss1jgSUFAzbSyL7FqCTTf31CdvHdBY0KrKK_z45-F8p5UPUjwt_lgjXyHSPJwMGbRljD0L-Ow71pLm-cFIOKQgGkYGrprAON-mVawb9u-G2Qs5f9AEYnrxWUsLQbkWFyRqY9Job0z-u0iqxQz4VN6nu0PivSNo4rOZKOFO9lqbEGzFMXp3FIPWvWx_U8LkztEPRA3KUQ-4BJIR8PcKUkhT-aRhuZpPWcGAfrWHP9M9NNNVIqUbrIRIrXBDSnheoJdj3qkJfiDIhhT6giv-zwTKD8_JTWI21nK1JJP1Tw215PAY0Wp_A8fCWQgyeqlTt1W5X9Eel4kPYTL_n-vZjjGRAhhOZXLRDANxhRXbUFq3hI-YwH6x3rNzVMhU0FECodj-86OkjueFR7S3wdKTt86QcbO6tjW7xJG2NIAN1ci01qR_LkbcOpbkho1lHcVzrXF7aDEfyzWeshTZJL_PaRawz7KAd6r91_H2tPHX6XGIwS34MbSYn3r0PxuuYEAtNjOzDQw6QTdIvAuYF_9R2a5Zv6M8pWDY_fA1wL_Z7vdkEiJwmjtia1Po6bFWSKMRSYS3eMMbFBnqb3Mp5rrhMtKFECs_UXno2tQFpy_mMAC9o45u7li6DykCtkZpoEL_ZqGLiTlOYhSPlTVEsb9zAm88UO0ZRUFKY4qF_AIAfqVUtXujkZiwXvwZIzxZnzhFA_iCy1VSVVyBrWx893TX2vnCIid000K8qYD8snWcVz7PwuRr_vkFg_8A-zImcU3XShN7JtZjLUL44SdFvafe71BNiqK2WbycquZtrlZr2l8cmiiVwYDEXx7xYCSKl-iLIz7P53OQDHslHbwQWxOqKQ1ow1u4W5Y69KdUOEiUoHVztcwcJe5xmaPL40BFanoWQGu0WAyhhmbBrRa2cXgiDvA6cuyY-gpawTe8oOsx_JIwAYcc63O59XlwjT7nm3Trl97Y9-AbvtEYXiJyer4ZZ-3Gm9WFhC380h4zUU_sxWC-t3T0CXgUr2WdNricRaBlnCauPJ5ZYYvqaEO7UUSjFvh0o8kg6xNbSyBf4CpRxdrtknvYYdNv12s1cdzdxa2fC3VpTwnQDpWEO43bIN7q6IenayVx5F02dRk9LXY3rHfPnELXUcTvxhDpP20jO8pg9qbkW1zrC2yVMkSOzkMbFZqBZ9KyyAe4XCL-2gX9-ps23YjeCsVR6889Mm7w-o7GvUhyV2hDAFcd2AeYvQBsZoU10-uYH7T39bU3xkgZXeUxbXfbxSD2CRyvXI4M7D1JrUh9zQSYotmD-V5RlsJt8cly-cOU5PeJYwco3KX0NEWDVQ5URiJ7T6EUymR-QcRud8aTjcCqJidZPjkbsDZMB5qgyD09XbTcXDsfpf5pWduqbwNZ-6OGFVY6gxCyFnoXamO_ZO6ODHBFJXMijsJM3j-VrZ07lN1JSlsTr7w1nQUo-7ElPtnHToJ-73lOZza3gUvDue46s8tyzZ-0UTCIW90TDnh1WlHSwrvCFJqLOW5wUrC10bS5uCjQjXtSnPNbAwG_i5jVa8l60Sacw6iTlNJWzWcEnr5pWVEsJ8StGeenY1Fo9xkuwHtJLcL1rqIeMpWQLGgaGSCL563E6e-EHUSq9Py3b17JJIg17FUCtuXi1qwJHuhMXUE7iHkKWHAS-J6WeZeaK7-g==",
  "id": "rs_0b560f5eadff54b0016ab2b40464b487d0888eeb8e1d809653",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":0.035,\"left_z\":0.12,\"left_gripper\":0.65,\"right_x\":0.2935,\"right_y\":0.0039,\"right_z\":0.2},\"note\":\"With the arm clear, I can see the left bottle has slipped sideways toward the left edge. I’m approaching its visible cap from above without pushing against the fence.\"}",
  "call_id": "call_dCP81jwaRw6e5usZxgeHG3KH",
  "id": "fc_0b560f5eadff54b0016ab2b409bab487d0950226c3a69eabc6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dCP81jwaRw6e5usZxgeHG3KH",
  "output": "executing move_to over 17 steps (1.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.1184, 1.38, 0.6144, 0.144, 0.0696, 0.0139, 0.6507, -0.0196, 0.7948, 0.6415, -0.4797, -0.0296, -0.0429, 0.9999]\nstate[eef_state]: left_x=0.3868 left_y=0.0373 left_z=0.1014 left_yaw=0.0403 left_pitch=-0.0602 left_roll=-0.0158 left_gripper=0.6507 right_x=0.2855 right_y=0.0032 right_z=0.1765 right_yaw=0.0018 right_pitch=-0.0613 right_roll=-0.0055 right_gripper=0.9999\nstate[joint_eff]: [0.1436, -5.1487, 8.7316, 1.9414, 0.149, 0.232, 0.0171, 0.1573, -0.7179, 10.3726, 1.9072, -0.0269, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21547beb525a8d0c52a146ac791d3f927b03407cac0a91599ec4923e05d65cc9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb254c79ee0105a11b756092ee593f61bcbab30fb7e29460668408ea039bcfd0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9dec8f5f55994ee138eaedb1157490edd3201fba13f9272898fc7193820e142",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 8.08 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 68 changed as sent

message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7311, 1.2831, 0.5522, 0.0692, -0.5865, -0.4549, 0.6946, -0.0212, 0.6132, 0.3672, -0.35, -0.0299, -0.0429, 0.9999]\nstate[eef_state]: left_x=0.3201 left_y=-0.1509 left_z=0.113 left_yaw=-0.0172 left_pitch=0.0223 left_roll=-0.0268 left_gripper=0.6946 right_x=0.2607 right_y=0.0034 right_z=0.1241 right_yaw=0.0006 right_pitch=-0.0243 right_roll=-0.0061 right_gripper=0.9999\nstate[joint_eff]: [-0.2667, -4.5197, 5.9692, 1.5604, -0.4274, -0.1245, -0.0073, -0.4581, -0.5538, 6.7897, 1.9512, -0.1001, -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": "gAAAAABqsrQUUdcgYYZARPdHgGzMthgpCufApRaF3QvHpWMF2IuOO0DuTV_C1dbCXVQOkljuLWh2cSGYJ37OUwag-ua7Yv7z5BzfDE0rTRBPG8tn4S9Kfrr8_QqgetLfoF6xoNy3LjtJG7G2FG7AShHPgl-KVJjqogh5X4doDYxkXmvyRhHIZ0Fs3RtLzscSiJd-W5sIvZ1lnP_9OkM583XigssVySot9ktlIQjWdP8L5VKBfxzIcdhPHfcSpgzPFrX5KZA7M5PmJREz-7lzO4bS9KgrHOtqnKefd62ox4MLiqzTA72STrTduyW05eKeNbmM1SOKSi0J9uk4Ywr3YDfnda-ybDtBaUnNMYri4haaIe04sfMNUYmClOKIRLP_EVVdKMxiVnYc2-NgWs23RA-_5x9oscl86nUf3ccJm96nET6Rv4K4oJCNHd1ua0NLEwghjTeKJXqakG-_NBcdMjd4y--upW6sm1sLAyiVgzx0hBJdgJufTXri3McVcyiONxQQPEBQ65LjSh_QEWGaNMR66o5pgLqI7y8MsinSAxn4XA1rgf2Vjx36HQLypG_weqQRbFOgmExLbxULHl7AHzR4lJNtDapIUhuznHhfLZ-w9EXN-xtJhAcUlFIMO8BbRmIoFZPnE1MKqGkpVpmLc43G6WPa0THgu0cgdr5oEW5mGOluoHQWhdS7r3SdcRoV6tHnWz822yzi5NYyDg4sxqyTbiilOonY2SQf_Ha9cUHRUpTvHKgfv-NVx0Fz4iwa-G_aWlkkxeRVWQFMJlv9EjxpyHTkHw52avR7_sIjAntm89tVgMZDNvPis2_h6KbjD-al_5nTiyn7QoCmWi1H1dDCvej-vHD7qiPZgiyMhNm95jJgh3gFEIFUohPhK5Ou3YRzjnvH2SCTc4Xn_azmD1o7-Mfzu6CiEJvSN7SwqUGhptxiP2jmX7OZdLXEjLEdUbaDOpkoSfB6e_Eq6aeg65VDQLrWworZWOdm27fcpEUS7qmJP0mw4r8YhffVN7hdb7NWx___63ArYFecuOWGq6kY5HAj7Zp4puCTuZwSliVpsoqsU6uhP01Rzldckq09cj1m1j7meBR_cPHmfodl608ag2zWhHX9bSVVBv0OTH4RjOBiHDWD7dKNMisuouMvH4pbkrX0aQx23GjIzmdDjOs266wDyex-qE9b8OxS2IoXwb7A-Jz0a3X-NRficNEOsd3c5CdwBc-4Yi6qa0QspZjbc8uQ4f4qU2jpUFhWgLqDL8Ku4ipqDXtIsNZxvOIyMa3xQdKT1yst",
  "id": "rs_0b560f5eadff54b0016ab2b411638c87d0b94b5de1c6fed156",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":0.045,\"left_z\":0.03},\"note\":\"The cap is visible ahead of the fingers, and the neck is just left of the jaw centre. I’m advancing slightly and lowering around the neck while staying within the side boundary.\"}",
  "call_id": "call_clMyTcEUMcaPgtBbJXjLSpRi",
  "id": "fc_0b560f5eadff54b0016ab2b4127f5c87d0ba9134cc3f3d19a5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_clMyTcEUMcaPgtBbJXjLSpRi",
  "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]: [0.1192, 1.7733, 0.6331, 0.6239, 0.0525, 0.0269, 0.6504, -0.0212, 0.754, 0.5785, -0.4454, -0.0296, -0.0429, 0.9999]\nstate[eef_state]: left_x=0.4419 left_y=0.0472 left_z=0.0515 left_yaw=0.0488 left_pitch=0.0441 left_roll=0.0122 left_gripper=0.6504 right_x=0.2801 right_y=0.0029 right_z=0.1657 right_yaw=0.0003 right_pitch=-0.0491 right_roll=-0.0058 right_gripper=0.9999\nstate[joint_eff]: [-0.2803, -5.6821, 4.1641, 0.6911, 0.2222, -0.0611, -0.0464, -0.4581, -1.4974, 7.1453, 2.0586, -0.0855, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7460503f9043818053646e09bea9e522a38c313a0d0f6148648bd24fd65e112",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:962d2ec64d7de1131c4c127c072a6b7b954428182c182d21ac5ae271aae608ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2b692f1206c1ba85baa949506d6c627554de7084eb0dcac92bfef0c4d0484bf",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 8.99 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 72 changed as sent

message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.1184, 1.38, 0.6144, 0.144, 0.0696, 0.0139, 0.6507, -0.0196, 0.7948, 0.6415, -0.4797, -0.0296, -0.0429, 0.9999]\nstate[eef_state]: left_x=0.3868 left_y=0.0373 left_z=0.1014 left_yaw=0.0403 left_pitch=-0.0602 left_roll=-0.0158 left_gripper=0.6507 right_x=0.2855 right_y=0.0032 right_z=0.1765 right_yaw=0.0018 right_pitch=-0.0613 right_roll=-0.0055 right_gripper=0.9999\nstate[joint_eff]: [0.1436, -5.1487, 8.7316, 1.9414, 0.149, 0.232, 0.0171, 0.1573, -0.7179, 10.3726, 1.9072, -0.0269, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrQcfZvOpUZcb01ZP-voadLve9WsT57SAX4felrWVYKwwcilwU55F0C1XC86-xB1L1Dm-OUCY0mYoVwBLBM9UDySM3Z8iY5AC2z6LtjMQq14PtZWNNFLZnkXwCkZXZZzRIuWuUakvJgYJDZGpLgJKBOjIzfAM9Etrg_ToIrByxF1tGZeGkAcnd7dK-J5hbscTdPmoDjguxmO1m2yIm_VtsyL22jhX74N_DQM6GfndupeNP8iDa5WxopAaolkGky1qwK2UELpdpzIrFW2-EFdSQcuHENCixZiq_5dEXO-sjQJJsGI0-ka4FOBSsj0I_YRCV_NS4gnWwfHfE7EfInlkB2o5DBQpDdlY16HWOJoupMiN8fy_E1w3YbSMwpQpm826AELTcV3hIVbntbPPA0Ta3pj-lLJ0CKi3zDfNI6LLYlo4EqPN7tBBbnPudUMKRdU6yV6428MQsfPic1p2As1zF78F_f0rlUS8A5rqlxFxLiCeAvcxt3CKmrkUtArONpNAoxTeT5fElNhcL6XPrG5NDsCkDr7_MbYptT2d9OPRotW0_MU30pBJ3uCpyfT1hG_Hj0Ja7tbwlT9y8-W09st3sWMl6spESmDzVwfELAECmCmQLlz3bZgN6rmM4jGKKxdWW-jgGRuE8aLvTuhYkzmafBOOinFqiCU-wITPWpSgSAebPWQRRLIW7Ks4bZvcMY5bDsIUm37g_736aYtwN56mB5y7jtxGYF5DZ7brNnzhBNx3x1KIW8ySMn0b8VY1nxxJXRNhLbe3xLi5kXJy_V-NEnqz5qPe8OcBFnWkwvjIrqCYO5IGIMDBXlQaFL_tNt-LoCpUSgt161ohCAf4Ko6udW6Brxi2boMDZ3c9DoRwMi7sye8kwhEs2_pPUzIr3xw_6elZ6qgthWIwMCNpxhEErbm4m11kMK6RXtLSZEu6STc_RzF3le_3LSgKPPnmcl8byB5jJBfuFBGxU9we3nraQUPkjCuGYGilJu3nncQX-LNo4-OOnCtTitj3FnUlWbEKrStX9yVMVHixxj5wpEcDcdzfAO3XwCdaEz5BI2BwT0PNlSEAlbRfw5PQFF9PJ_hTiMy9TYIN4IqiMqzdlYh8myOc3Vxqgkb_IswDsFHhlK8J4yZno0qRz7Zq6m5GwHYE90zU7p4Hq4Vq3g3-1T6C5v9rcQtr9L9iJhRNBNM-SNlZcORGb9q3etq1Mil1E6BJYHvFwPtbnR3lXxj_shOjvvAOg7EYQaf7zTqh_l0AkznSeWnhxfQ5wlcQ6PFDqWeXp4EC-W4esheA7k83OLNEIfh19ZSBSyQ980ENjpPAYWiU7ufNOuaJ-yjqaZ-gM5sG9iTYsq475Udc9G-rKYeR1ihd0_lAN7YXDms_Meuiq-NZxDgIalcw7_r5lAWiLnj8xllsKZfiIYvI_UvNN3BoEqLbVHy9eMolAUvEo5WNcu37mzOzvVUg4h5wfAL4ZkSrHbwgpWFHE5TBdGtiAIrrqLafifqoylNWxt7wDKMh-Gy7pKOY2NhlymuBUH8tdRBXuT4EoIMopuZ8nrK1-RxKrWlE7g6xd24OF6IMT26GQMfzJ6gAVJ24vDU45Th3IRQxwAOt1MEbCB-Vg4-jEj3dZkg0w==",
  "id": "rs_0b560f5eadff54b0016ab2b4173ee887d0a3dad1238adbda7d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":0.045,\"left_z\":-0.008},\"note\":\"The cap is now close to the finger line, but the height readback is still above the neck. I’m easing back toward the narrower section and lowering before closing.\"}",
  "call_id": "call_QR3CujnegAyvKt3KKPw7EChZ",
  "id": "fc_0b560f5eadff54b0016ab2b41aa97087d08a3bd3ef9d94e728",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QR3CujnegAyvKt3KKPw7EChZ",
  "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]: [0.1192, 1.8072, 0.6464, 0.6815, 0.0444, 0.0261, 0.6504, -0.0212, 0.7242, 0.5312, -0.4206, -0.0299, -0.0425, 0.9999]\nstate[eef_state]: left_x=0.4508 left_y=0.0497 left_z=0.0543 left_yaw=0.0559 left_pitch=0.0807 left_roll=0.0178 left_gripper=0.6504 right_x=0.2761 right_y=0.003 right_z=0.1569 right_yaw=0.0004 right_pitch=-0.0418 right_roll=-0.0054 right_gripper=0.9999\nstate[joint_eff]: [-0.2667, -5.7778, 4.0821, 1.326, 0.1978, -0.105, -0.0171, -0.5128, -1.5521, 6.9402, 2.0147, -0.105, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2d62592f9f2d2996037e51aa85ac0f23c9b53cd339e26534eaa6f154d9f169e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c3fa6812d02a2a7bb6460d0ef4589ede201f7471bd2924ed9809a304e9821b6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51b258351bedc53c524871a925ef086b15de46d9bddb3353e7788b959f6425cf",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 12.95 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.1192, 1.7733, 0.6331, 0.6239, 0.0525, 0.0269, 0.6504, -0.0212, 0.754, 0.5785, -0.4454, -0.0296, -0.0429, 0.9999]\nstate[eef_state]: left_x=0.4419 left_y=0.0472 left_z=0.0515 left_yaw=0.0488 left_pitch=0.0441 left_roll=0.0122 left_gripper=0.6504 right_x=0.2801 right_y=0.0029 right_z=0.1657 right_yaw=0.0003 right_pitch=-0.0491 right_roll=-0.0058 right_gripper=0.9999\nstate[joint_eff]: [-0.2803, -5.6821, 4.1641, 0.6911, 0.2222, -0.0611, -0.0464, -0.4581, -1.4974, 7.1453, 2.0586, -0.0855, -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": "gAAAAABqsrQlTcDFx3qX217LEtekj4qlm4sW1J0yHKGtJ4Pg_qdJbz_tzRWCyh8p4nDjIU9PTSlK0419RHjmdLI21ooileT_eGPKVG9h33DoRlslSluH7bmG7AveapILBEvDAe_69MmzksNYCGEEGbYDspnj_tBDY2__KhcXQlsqtENxgr8sSarRyRaWYCJPW5RoK-KxgwlhQu9wDwRHuefVs7heCDf371R-lYa7mHR7sGWut_mmq3RB8xoYT7d0Ws9coxQsTgJKh5Krc-CR3Grv6bGOqd9_m1BUjfqf5VgxG_eOIQ27-iasHUzUjwpsiI_x07exBYtJCJAl3pcC2aez5J5sThfrtQnHu-tywsW8JDNEsle90ORnKlaTPX83VKCExnAobeRewmO3REp04ZQ51XCVsnae9LcoSXEPPEt_yd4Qn8Lx-v8--yu0B7Q3aZwg186DErAmMUGdFyY1r7jkIFoJe9AVJ6DklLYufr_BCk4WuaTlr3Ar4Amiq0_IXO-28VEkDA1C2ObSSg470bq53FxQTCF_Uw3xaHKY8jdqz9yLSGxgL0vLsVDZBRmZhWZjsJEG7tkAiEbglHkcLPMJOzrWKI26o2QOmw_V0D-ScqZn8kO5ojlU2l8RZiQU4qfstC_T0N1bJewg_ZIwezoy5E3Lv-q4K9v0BfnsHNPwi6de238PjLkOhHoJ_rtUHZcSwdu2u6LKCE7jQDJFJ8-VTlFdXEaVHhxYZBK6ttxVoJekhrydAIkjL7ntpgfMINqcQHSQvLlk2ERIQPJWEXrqIJJ25SLrfHQCCtmE12Qt3aYRmp_gRCkEK03ZCuvKoBUBLCMpe87CKZX_DUIhL5SHqdEmwLj7d-d7GTLcmJ_JrMWuAcpmppMp4ci2tEnSIIFAxprdEpyjBzytv7VtGF0LzA3AOLyoaxDUKO_BqTlgZRPA7Zt6Xjs3icQvFdO_c2Iy4ThTcK43D0kdFCc5TPara8_9oaMT4-5g_5N1DfFdNbruNvjyp-DulTSu9smdmYQRoL3pTSi7EndVYZXOLLnJwA5UL-pVC1IXA2hQDFOh2xAN9kThhU5e5MKAf3XgpDeZPPZvnseJ8f1Zn0OIapFqjdbAAK7HOF0dxOgVPHMv0LuEdleVpJu0Ba0S-KaFM76ujap0D7KDn6rSzjtxSz-_oR0KMUNhKRSJpup-2frg2cUmA0xjHkI8zZbr-P_IfBDUAJJFkIXUg9xk-8limgaex6HHCZV0ae7r0aPC90IVPuzgyGhHdpiXFHhd3K_TP3ngJ6CYMp29Jz17bnPixB4vDpO7sE89rGD8XO1LrKjSwBxrwG6CCFSK57c40N1Pw1CrcipaVyUtUXmaKbYv4I38UCE9KSnMw-VzHSDAScWtr-M0-hFiNrQAUOswj6dpcjJgANuqQyL4V7L4wVjTaGSyg4p5o7o-eG0JtzGIcWtn-BBdgSUHQZg83rgU_gDyoBImVri8Kh7YIgKgcu6EPERNzp2DK4ehVSqtWMgJfMDbNeoaX0sT9334GJIq1QlrnYQGIEmM7Totjud4T-jclcx2ZSZ6-ZgBtDyTMN7nqdJm7S21rY-C71ttye14SYUilxq-aG4R3ae6m0g68mhDcm3Z5WbUDsMpn0Iplfw2NzI_xl_FfWTBFLWSPStFeBVbmp6aVxR2RdZ6IUFrb5NErgbSFKVBpO_FOzSXJKe8TeZxO6RL8CBozf_9byIdDKVxGzO0qRwMtWQX-1ivE8GfvXVL26e6jCw3eRH1d-4RtKttHMZb_sCVCMKIftPauypJM101Tz83zBhj3FTSCWw5HokGB4RLm-xhhoLzRib_YJF2myHZqQFq6GV9UwCdMjjhP4f8I2icveBwrUtDwMRbQ7pueF-nBGVYZA==",
  "id": "rs_0b560f5eadff54b0016ab2b41f4fd087d08bfde8bc4c84d15b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.04,\"left_z\":0.2,\"left_gripper\":1,\"right_x\":0.2935,\"right_y\":0.0039,\"right_z\":0.2},\"note\":\"The left bottle is now against the side fence, and the gripper cannot reach neck height without contact. I’m backing the arm up and inward rather than pressing further against the edge.\"}",
  "call_id": "call_9Eqzl1AuJtLFDbYPtdwkRDuI",
  "id": "fc_0b560f5eadff54b0016ab2b4235dac87d0b1c38ee00ce1b0a9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9Eqzl1AuJtLFDbYPtdwkRDuI",
  "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]: [-0.2771, 1.327, 0.728, 0.2161, -0.1791, -0.1482, 0.9978, -0.0189, 0.7952, 0.6415, -0.4793, -0.0296, -0.0433, 0.9999]\nstate[eef_state]: left_x=0.4125 left_y=-0.0809 left_z=0.1887 left_yaw=-0.0548 left_pitch=0.1826 left_roll=-0.0561 left_gripper=0.9978 right_x=0.2856 right_y=0.0034 right_z=0.1765 right_yaw=0.0028 right_pitch=-0.0613 right_roll=-0.0058 right_gripper=0.9999\nstate[joint_eff]: [2.7145, -3.453, 8.6222, 1.7021, -0.5446, -0.0171, -0.1392, -0.1026, -0.9231, 10.2632, 1.8926, -0.0415, 0.0611, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c71b90de8fbbe60ae982226d6e6866a4a363b2725463f359c154a70e2e18b08d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2b1321ecddd00dd9d7bae76532eef97b29272e54db79246507584e570913eea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2df0ca0f87df208560c5e2948e2e301e42eede2f957815f1599adc50c586e80",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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