adhoc

completed
2026-09-22T17:17:26.593678+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (71 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
249.3 s
total steps
228
success_at_end
0
scenes
1
trials
1
errored
0

scene-0

completed

Stand all three bottles upright.

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteAll three bottles are lying on their sides, with their caps pointing toward the back of the table. I’ll approach the left bottle near its neck so I can lift that end and let its base swing down.
move_to
left_x0.3900left_y-0.2000left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7933, 0.609, -0.3763, -0.0235, -0.0273, 0.9985, -0.0174, 0.7898, 0.6044, -0.3836, -0.0296, -0.0338, 0.9998] state[eef_state]: left_x=0.2958 left_y=0.0018 left_z=0.1833 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9985 right_x=0.2941 right_y=0.0037 right_z=0.1806 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-0.5265, -1.3744, 9.6889, 1.7363, -0.0415, 0.1001, -0.1636, -0.7453, -1.2786, 10.359, 1.8144, 0.0415, 0.2222, -0.0366] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.2,"left_z":0.15,"left_gripper":1},"note":"All three bottles are lying on their sides, with their caps pointing toward the back of the table. I’ll approach the left bottle near its neck so I can lift that end and let its base swing down."})
tool
executing move_to over 18 steps (1.8s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe left bottle’s neck is left of the jaw center in the wrist view. I’m shifting toward it and lowering, with the jaws turned to pinch across the neck rather than along the bottle.
move_to
left_x0.4400left_y-0.1450left_z0.0650left_yaw-0.4500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7013, 1.5669, 0.9455, -0.1204, -0.5648, -0.4408, 0.9986, -0.02, 0.794, 0.6044, -0.4034, -0.0292, -0.0353, 0.9998] state[eef_state]: left_x=0.3803 left_y=-0.1927 left_z=0.1341 left_yaw=-0.0139 left_pitch=-0.0469 left_roll=0.0224 left_gripper=0.9986 right_x=0.2917 right_y=0.0029 right_z=0.1754 right_yaw=-0.0018 right_pitch=-0.024 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [-0.2667, -7.0906, 9.2513, 1.5458, -0.4225, 0.0024, -0.1636, 0.0342, -1.5385, 7.0496, 1.9463, -0.0317, -0.0171, -0.0122] camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.44,"left_y":-0.145,"left_z":0.065,"left_yaw":-0.45},"note":"The left bottle’s neck is left of the jaw center in the wrist view. I’m shifting toward it and lowering, with the jaws turned to pinch across the neck rather than along the bottle."})
tool
executing move_to over 5 steps (0.5s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteThe jaws are still over the bottle’s body, with the cap farther ahead and to the left. I’ll move to the narrow neck at table level before closing.
move_to
left_x0.4800left_y-0.0950left_z0.0280left_yaw-0.4000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2985, 1.7386, 0.7547, 0.3302, -0.0544, -0.0498, 0.9983, -0.02, 0.783, 0.5827, -0.3973, -0.0296, -0.0353, 0.9998] state[eef_state]: left_x=0.4297 left_y=-0.1184 left_z=0.0518 left_yaw=-0.2401 left_pitch=-0.0918 left_roll=0.0028 left_gripper=0.9983 right_x=0.2891 right_y=0.003 right_z=0.1697 right_yaw=-0.0015 right_pitch=-0.0286 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [0.0205, -6.4752, 7.4051, 1.6874, 0.188, 0.1294, -0.0415, -0.2256, -1.6342, 6.8444, 1.9121, -0.0659, -0.0122, -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":0.48,"left_y":-0.095,"left_z":0.028,"left_yaw":-0.4},"note":"The jaws are still over the bottle’s body, with the cap farther ahead and to the left. I’ll move to the narrow neck at table level before closing."})
tool
executing move_to over 4 steps (0.4s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteThe bottle slid forward as the open jaws approached, putting its neck near the reach limit. I’ll take a gentle hold around its body so I can draw it closer before standing it up.
move_to
left_x0.4900left_y-0.1200left_z0.0250left_gripper0.4500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1436, 1.9259, 0.831, 0.5533, 0.1967, 0.0647, 0.9983, -0.02, 0.7704, 0.5541, -0.3882, -0.0292, -0.0353, 0.9998] state[eef_state]: left_x=0.4766 left_y=-0.1002 left_z=0.044 left_yaw=-0.3586 left_pitch=0.0307 left_roll=-0.0341 left_gripper=0.9983 right_x=0.2859 right_y=0.003 right_z=0.1619 right_yaw=-0.0018 right_pitch=-0.0354 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [0.2393, -6.7897, 5.1624, 1.3993, -0.1538, 0.4762, -0.0171, -0.0479, -1.6752, 7.3231, 1.9365, -0.0611, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_y":-0.12,"left_z":0.025,"left_gripper":0.45},"note":"The bottle slid forward as the open jaws approached, putting its neck near the reach limit. I’ll take a gentle hold around its body so I can draw it closer before standing it up."})
tool
executing move_to over 6 steps (0.6s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteThe jaws are around the lower body of the left bottle. I’ll tighten modestly and lift it slightly while drawing it back into easier reach; the idle arm is also returning to its safe parked height.
move_to
left_x0.4000left_z0.0850left_gripper0.2500right_x0.2940right_y0.0040right_z0.1900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1181, 1.9522, 0.8577, 0.6033, 0.2276, 0.1055, 0.4565, -0.02, 0.7525, 0.5209, -0.3706, -0.0296, -0.0353, 0.9998] state[eef_state]: left_x=0.4899 left_y=-0.0946 left_z=0.0528 left_yaw=-0.3815 left_pitch=0.0834 left_roll=-0.0012 left_gripper=0.4565 right_x=0.283 right_y=0.0031 right_z=0.1551 right_yaw=-0.0015 right_pitch=-0.0332 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [-0.253, -7.4462, 5.7368, 1.0281, 0.0659, 0.2759, 0.2857, -0.2667, -1.6479, 6.8718, 1.9267, -0.0513, -0.0317, -0.0122] camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_z":0.085,"left_gripper":0.25,"right_x":0.294,"right_y":0.004,"right_z":0.19},"note":"The jaws are around the lower body of the left bottle. I’ll tighten modestly and lift it slightly while drawing it back into easier reach; the idle arm is also returning to its safe parked height."})
tool
executing move_to over 7 steps (0.7s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteThe bottle has not clearly followed the lift, so the partial closure may not have secured it. I’ll close fully and check the settled jaw opening before moving farther.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1577, 1.6585, 0.6327, 0.4816, 0.1856, 0.1036, 0.2524, -0.0181, 0.7906, 0.5999, -0.4267, -0.0296, -0.0357, 0.9998] state[eef_state]: left_x=0.4202 left_y=-0.0962 left_z=0.0706 left_yaw=-0.3841 left_pitch=0.0269 left_roll=0.0044 left_gripper=0.2524 right_x=0.2876 right_y=0.0036 right_z=0.1695 right_yaw=0.0006 right_pitch=-0.0484 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [-0.1846, -5.6957, 7.3504, 2.0781, -0.0073, -0.0806, 0.0757, 0.4855, -1.0735, 10.1949, 1.7607, 0.0073, -0.0024, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The bottle has not clearly followed the lift, so the partial closure may not have secured it. I’ll close fully and check the settled jaw opening before moving farther."})
tool
executing move_to over 3 steps (0.3s)
step 43
top_cam
camera top_cam step 43
left_cam
camera left_cam step 43
right_cam
camera right_cam step 43
assistant
agent noteThe fully closed reading confirms an empty grasp, and the bottle has shifted sideways. I’m repositioning above its body using the overhead view, rather than continuing along the previous approach.
move_to
left_x0.4600left_y-0.2000left_z0.0700left_yaw0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1619, 1.6516, 0.6334, 0.3901, 0.1757, 0.1013, 0.0131, -0.0143, 0.7635, 0.5533, -0.403, -0.0296, -0.0353, 0.9998] state[eef_state]: left_x=0.4087 left_y=-0.0944 left_z=0.0549 left_yaw=-0.379 left_pitch=-0.0561 left_roll=-0.0106 left_gripper=0.0131 right_x=0.2834 right_y=0.0048 right_z=0.1603 right_yaw=0.0042 right_pitch=-0.0442 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [0.4308, -6.653, 7.3504, 2.0586, 0.1099, 0.0317, 0.7253, -0.6769, -1.4017, 7.2, 2.0635, -0.0757, -0.0366, -0.0122] camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.46,"left_y":-0.2,"left_z":0.07,"left_yaw":0.15,"left_gripper":1},"note":"The fully closed reading confirms an empty grasp, and the bottle has shifted sideways. I’m repositioning above its body using the overhead view, rather than continuing along the previous approach."})
tool
executing move_to over 10 steps (1.0s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteThe left bottle’s body is now between the open jaws. I’ll lower slightly and secure it so it can be brought away from the far edge.
move_to
left_z0.0220left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6178, 1.9583, 1.0828, 0.1986, -0.5644, -0.4397, 0.995, -0.0143, 0.7376, 0.5091, -0.3767, -0.0296, -0.0353, 0.9998] state[eef_state]: left_x=0.4594 left_y=-0.2061 left_z=0.0695 left_yaw=0.0679 left_pitch=0.0031 left_roll=-0.0179 left_gripper=0.995 right_x=0.2799 right_y=0.0048 right_z=0.1523 right_yaw=0.0042 right_pitch=-0.0362 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.3077, -9.9487, 7.0769, 1.3553, -0.398, 0.0415, -0.1978, -0.4171, -1.5248, 7.0222, 1.9756, -0.0708, -0.0757, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.022,"left_gripper":0},"note":"The left bottle’s body is now between the open jaws. I’ll lower slightly and secure it so it can be brought away from the far edge."})
tool
executing move_to over 10 steps (1.0s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteThat close was empty, and the arm stopped above the requested height at long reach. I’ll move back toward the bottle’s base and slightly left, where the arm can reach lower without pressing at its limit.
move_to
left_x0.4150left_y-0.1700left_z0.0200left_gripper1.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.622, 2.0453, 1.0676, 0.395, -0.6071, -0.4454, 0.0134, -0.0143, 0.7181, 0.4721, -0.3584, -0.0296, -0.0353, 0.9998] state[eef_state]: left_x=0.4729 left_y=-0.2107 left_z=0.059 left_yaw=0.1033 left_pitch=0.0911 left_roll=-0.0649 left_gripper=0.0134 right_x=0.2766 right_y=0.0049 right_z=0.1442 right_yaw=0.0042 right_pitch=-0.0354 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [0.1709, -7.3778, 3.5487, 0.9695, 0.1636, 0.1099, 1.2234, -0.335, -1.4564, 7.159, 1.9512, -0.1001, -0.0317, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.415,"left_y":-0.17,"left_z":0.02,"left_gripper":1,"left_yaw":0},"note":"That close was empty, and the arm stopped above the requested height at long reach. I’ll move back toward the bottle’s base and slightly left, where the arm can reach lower without pressing at its limit."})
tool
executing move_to over 10 steps (1.0s)
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 bottle is centered between the jaws near its base, and the arm can now reach table height. I’ll grasp it here and check whether the jaws retain the bottle’s width.
move_to
left_z0.0250left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.588, 1.9518, 0.7563, 0.4854, -0.5133, -0.3748, 0.9951, -0.0143, 0.6983, 0.4393, -0.3428, -0.0292, -0.0353, 0.9998] state[eef_state]: left_x=0.411 left_y=-0.1654 left_z=0.0052 left_yaw=0.0237 left_pitch=-0.0437 left_roll=0.0303 left_gripper=0.9951 right_x=0.2735 right_y=0.0048 right_z=0.1375 right_yaw=0.0039 right_pitch=-0.0328 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [0.5128, -11.0974, 4.8479, 1.956, -0.0904, 0.0415, -0.2027, -0.1573, -1.2923, 6.8991, 1.9707, -0.0611, -0.0415, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). 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_z":0.025,"left_gripper":0},"note":"The bottle is centered between the jaws near its base, and the arm can now reach table height. I’ll grasp it here and check whether the jaws retain the bottle’s width."})
tool
executing move_to over 10 steps (1.0s)
step 83
top_cam
camera top_cam step 83
left_cam
camera left_cam step 83
right_cam
camera right_cam step 83
assistant
agent noteThe jaws have stopped at about 5 cm, consistent with holding the bottle. I’ll lift it a few centimeters and bring it closer so the neck will be reachable for the upright maneuver.
move_to
left_x0.3200left_z0.0750right_x0.2940right_y0.0040right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5892, 1.9347, 0.7273, 0.5186, -0.5125, -0.3702, 0.5178, -0.0143, 0.6796, 0.4068, -0.3317, -0.0296, -0.0353, 0.9998] state[eef_state]: left_x=0.4078 left_y=-0.1641 left_z=0.0088 left_yaw=0.0191 left_pitch=-0.0266 left_roll=0.0215 left_gripper=0.5178 right_x=0.2699 right_y=0.0049 right_z=0.1297 right_yaw=0.0042 right_pitch=-0.0354 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.0068, -11.7402, 4.9983, 1.58, -0.2466, -0.0806, 0.8913, -0.4308, -1.1282, 7.2547, 2.0244, -0.0513, -0.0317, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_z":0.075,"right_x":0.294,"right_y":0.004,"right_z":0.2},"note":"The jaws have stopped at about 5 cm, consistent with holding the bottle. I’ll lift it a few centimeters and bring it closer so the neck will be reachable for the upright maneuver."})
tool
executing move_to over 7 steps (0.7s)
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 bottle followed the gripper and is now closer to the front of the table. I’ll set it down and release the body so I can regrasp near the cap.
move_to
left_z0.0300left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7795, 1.5356, 0.5297, 0.1574, -0.5705, -0.4995, 0.5206, -0.0143, 0.7937, 0.6346, -0.4503, -0.0296, -0.0429, 0.9998] state[eef_state]: left_x=0.3094 left_y=-0.1666 left_z=0.037 left_yaw=-0.0505 left_pitch=-0.1239 left_roll=0.0482 left_gripper=0.5206 right_x=0.2888 right_y=0.0047 right_z=0.1796 right_yaw=0.0083 right_pitch=-0.0403 right_roll=-0.0066 right_gripper=0.9998 state[joint_eff]: [-0.1846, -8.6222, 6.5983, 2.6105, -1.0085, 0.022, 0.7985, -0.5265, -1.0872, 9.7162, 1.7167, -0.0708, -0.0171, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). 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_z":0.03,"left_gripper":1},"note":"The bottle followed the gripper and is now closer to the front of the table. I’ll set it down and release the body so I can regrasp near the cap."})
tool
executing move_to over 5 steps (0.5s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
agent noteThe bottle is resting on its side with its cap now within reach. I’ll clear the body and approach above the neck.
move_to
left_x0.4550left_y-0.1750left_z0.1150
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.799, 1.5955, 0.3988, 0.4244, -0.6144, -0.4969, 0.9946, -0.0143, 0.7715, 0.5938, -0.4435, -0.0299, -0.0425, 0.9998] state[eef_state]: left_x=0.3026 left_y=-0.1598 left_z=0.0203 left_yaw=-0.0435 left_pitch=-0.0463 left_roll=0.0221 left_gripper=0.9946 right_x=0.2833 right_y=0.0048 right_z=0.1684 right_yaw=0.0085 right_pitch=-0.0521 right_roll=-0.0058 right_gripper=0.9998 state[joint_eff]: [-0.6085, -4.6701, 5.3538, 1.5507, -0.3199, 0.1832, -0.105, -0.5265, -1.7162, 7.0496, 2.1514, -0.1197, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.455,"left_y":-0.175,"left_z":0.115},"note":"The bottle is resting on its side with its cap now within reach. I’ll clear the body and approach above the neck."})
tool
executing move_to over 12 steps (1.2s)
step 107
top_cam
camera top_cam step 107
left_cam
camera left_cam step 107
right_cam
camera right_cam step 107
assistant
agent noteThe cap is aligned with the jaw column. I’ll descend around the neck, keeping the bottle’s base on the table.
move_to
left_x0.4650left_y-0.1750left_z0.0320
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5232, 1.7527, 0.9726, 0.1608, -0.4286, -0.3256, 0.996, -0.0143, 0.7383, 0.5411, -0.4187, -0.0299, -0.0425, 0.9998] state[eef_state]: left_x=0.4475 left_y=-0.1692 left_z=0.1082 left_yaw=-0.0062 left_pitch=0.0046 left_roll=-0.0212 left_gripper=0.996 right_x=0.2783 right_y=0.0049 right_z=0.1582 right_yaw=0.0084 right_pitch=-0.0468 right_roll=-0.0059 right_gripper=0.9998 state[joint_eff]: [0.0752, -8.0205, 8.2667, 1.6435, -0.0513, 0.2271, 0.1294, -0.6085, -1.4427, 7.1863, 2.127, -0.1148, -0.0122, -0.0122] camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.465,"left_y":-0.175,"left_z":0.032},"note":"The cap is aligned with the jaw column. I’ll descend around the neck, keeping the bottle’s base on the table."})
tool
executing move_to over 5 steps (0.5s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteThe jaws are positioned at the capped end of the left bottle. I’ll close on the neck, then lift slowly so gravity can bring the base underneath it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5175, 1.9743, 0.9504, 0.371, -0.4271, -0.3149, 0.9962, -0.0143, 0.709, 0.4953, -0.3954, -0.0296, -0.0425, 0.9998] state[eef_state]: left_x=0.4602 left_y=-0.1736 left_z=0.0366 left_yaw=-0.0072 left_pitch=-0.0251 left_roll=0.0035 left_gripper=0.9962 right_x=0.2743 right_y=0.0049 right_z=0.1496 right_yaw=0.0081 right_pitch=-0.0399 right_roll=-0.0063 right_gripper=0.9998 state[joint_eff]: [0.2667, -7.4325, 5.641, 1.2527, -0.188, 0.0317, 0.0073, -0.5949, -1.3197, 7.0632, 2.0195, -0.0855, -0.0366, -0.0122] camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The jaws are positioned at the capped end of the left bottle. I’ll close on the neck, then lift slowly so gravity can bring the base underneath it."})
tool
executing move_to over 10 steps (1.0s)
step 122
top_cam
camera top_cam step 122
left_cam
camera left_cam step 122
right_cam
camera right_cam step 122
assistant
agent noteThe jaw reading shows I missed the neck; the cap is just behind the fingertips after closure. I’ll back up four centimeters and reopen for a corrected grasp.
move_to
left_x0.4250left_z0.0270left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.522, 1.9781, 0.9466, 0.4828, -0.4606, -0.3164, 0.0139, -0.0143, 0.6849, 0.458, -0.3767, -0.0299, -0.0425, 0.9998] state[eef_state]: left_x=0.4716 left_y=-0.1766 left_z=0.0561 left_yaw=0.0176 left_pitch=0.0745 left_roll=-0.0336 left_gripper=0.0139 right_x=0.2711 right_y=0.005 right_z=0.1425 right_yaw=0.0084 right_pitch=-0.0346 right_roll=-0.0062 right_gripper=0.9998 state[joint_eff]: [0.0889, -9.7026, 4.4786, 1.1746, 0.149, 0.105, 1.2234, -0.759, -1.2239, 6.8991, 1.9805, -0.1197, -0.0464, -0.0122] camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.425,"left_z":0.027,"left_gripper":1},"note":"The jaw reading shows I missed the neck; the cap is just behind the fingertips after closure. I’ll back up four centimeters and reopen for a corrected grasp."})
tool
executing move_to over 10 steps (1.0s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteThe cap is visible between the fingers but offset to the right. I’ll center the neck with a small rightward and backward adjustment, then close.
move_to
left_x0.4050left_y-0.2000left_z0.0250left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5865, 1.9366, 0.8413, 0.5186, -0.5091, -0.3729, 0.9943, -0.0147, 0.6647, 0.4255, -0.3645, -0.0296, -0.0425, 0.9998] state[eef_state]: left_x=0.4395 left_y=-0.1844 left_z=0.0461 left_yaw=0.0217 left_pitch=0.0643 left_roll=-0.0466 left_gripper=0.9943 right_x=0.2677 right_y=0.0049 right_z=0.1352 right_yaw=0.0077 right_pitch=-0.0346 right_roll=-0.0064 right_gripper=0.9998 state[joint_eff]: [-0.3214, -9.4291, 3.3162, 0.9548, -0.1099, 0.1099, -0.1832, -0.6222, -0.9094, 7.0085, 2.0195, -0.1392, -0.0415, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.405,"left_y":-0.2,"left_z":0.025,"left_gripper":0},"note":"The cap is visible between the fingers but offset to the right. I’ll center the neck with a small rightward and backward adjustment, then close."})
tool
executing move_to over 10 steps (1.0s)
step 142
top_cam
camera top_cam step 142
left_cam
camera left_cam step 142
right_cam
camera right_cam step 142
assistant
agent noteThe jaws closed above the neck rather than around it. I’ll reopen with clearance, then lower fully before making a separate closing motion.
move_to
left_gripper1.0000left_z0.0700
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6765, 1.9217, 0.841, 0.5179, -0.6083, -0.4305, 0.0137, -0.0147, 0.643, 0.3935, -0.3504, -0.0299, -0.0425, 0.9998] state[eef_state]: left_x=0.4249 left_y=-0.2071 left_z=0.0574 left_yaw=0.043 left_pitch=0.1068 left_roll=-0.0642 left_gripper=0.0137 right_x=0.2648 right_y=0.005 right_z=0.1289 right_yaw=0.008 right_pitch=-0.0308 right_roll=-0.0063 right_gripper=0.9998 state[joint_eff]: [-0.6496, -8.253, 2.7282, 0.735, 0.0171, -0.1685, 0.9402, -0.6769, -0.9368, 7.0769, 1.9512, -0.1685, 0.0122, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_z":0.07},"note":"The jaws closed above the neck rather than around it. I’ll reopen with clearance, then lower fully before making a separate closing motion."})
tool
executing move_to over 10 steps (1.0s)
step 152
top_cam
camera top_cam step 152
left_cam
camera left_cam step 152
right_cam
camera right_cam step 152
assistant
agent noteThe target neck is just below the blue cap at the bottom of the wrist view. I’ll lower the open jaws around that neck before closing.
move_to
left_x0.4050left_y-0.2100left_z0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6735, 1.8999, 0.936, 0.2134, -0.6003, -0.4503, 0.9943, -0.0154, 0.6254, 0.3672, -0.3424, -0.0299, -0.0425, 0.9998] state[eef_state]: left_x=0.418 left_y=-0.2013 left_z=0.0477 left_yaw=0.0461 left_pitch=-0.0378 left_roll=0.0386 left_gripper=0.9943 right_x=0.2619 right_y=0.0048 right_z=0.1228 right_yaw=0.0073 right_pitch=-0.0315 right_roll=-0.0063 right_gripper=0.9998 state[joint_eff]: [-0.0342, -11.5761, 7.8017, 1.4872, -0.2369, -0.0415, -0.1392, -0.4444, -0.9504, 7.0085, 2.0, -0.1197, 0.0024, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 152): [image omitted: streamed camera frame] camera 'left_cam' (step 152): [image omitted: streamed camera frame] camera 'right_cam' (step 152): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.405,"left_y":-0.21,"left_z":0},"note":"The target neck is just below the blue cap at the bottom of the wrist view. I’ll lower the open jaws around that neck before closing."})
tool
executing move_to over 4 steps (0.4s)
step 156
top_cam
camera top_cam step 156
left_cam
camera left_cam step 156
right_cam
camera right_cam step 156
assistant
agent noteThe open gripper has reached the bottle at about 3 cm above the table. I’ll close at this position and verify whether it captures the upper body or neck.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7139, 1.9827, 0.8658, 0.4591, -0.6556, -0.4644, 0.9956, -0.0154, 0.6037, 0.3401, -0.3347, -0.0299, -0.0425, 0.9998] state[eef_state]: left_x=0.4156 left_y=-0.2128 left_z=0.0317 left_yaw=0.0557 left_pitch=0.0548 left_roll=-0.0098 left_gripper=0.9956 right_x=0.2589 right_y=0.0049 right_z=0.1172 right_yaw=0.0073 right_pitch=-0.0292 right_roll=-0.0063 right_gripper=0.9998 state[joint_eff]: [-0.3897, -5.2308, 2.7829, 1.0183, 0.3443, -0.2418, 0.1197, -0.6496, -0.6085, 6.8034, 1.9902, -0.1441, -0.0415, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 156): [image omitted: streamed camera frame] camera 'left_cam' (step 156): [image omitted: streamed camera frame] camera 'right_cam' (step 156): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The open gripper has reached the bottle at about 3 cm above the table. I’ll close at this position and verify whether it captures the upper body or neck."})
tool
executing move_to over 10 steps (1.0s)
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 grasp is still empty; the cap is behind the closed fingertips. I’ll make one clearer approach from closer to the base, with the jaws open and lifted away from the bottle.
move_to
left_x0.3650left_y-0.2100left_z0.0900left_gripper1.0000right_x0.2940right_y0.0040right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7055, 1.9522, 0.9165, 0.432, -0.6743, -0.4896, 0.0137, -0.0154, 0.5842, 0.3141, -0.3241, -0.0299, -0.0425, 0.9998] state[eef_state]: left_x=0.4288 left_y=-0.2156 left_z=0.0589 left_yaw=0.095 left_pitch=0.1006 left_roll=-0.0628 left_gripper=0.0137 right_x=0.2565 right_y=0.0049 right_z=0.1122 right_yaw=0.0073 right_pitch=-0.0251 right_roll=-0.0064 right_gripper=0.9998 state[joint_eff]: [-0.3077, -8.3487, 4.6154, 0.6862, 0.1929, 0.0806, 0.9646, -0.841, -0.3214, 7.0769, 1.873, -0.1294, -0.0513, -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":0.365,"left_y":-0.21,"left_z":0.09,"left_gripper":1,"right_x":0.294,"right_y":0.004,"right_z":0.2},"note":"The grasp is still empty; the cap is behind the closed fingertips. I’ll make one clearer approach from closer to the base, with the jaws open and lifted away from the bottle."})
tool
executing move_to over 10 steps (1.0s)
step 176
top_cam
camera top_cam step 176
left_cam
camera left_cam step 176
right_cam
camera right_cam step 176
assistant
agent noteThe left bottle is now clearly visible, and its narrow shoulder is left of the jaw center. I’ll lower around that shoulder with a small centering correction.
move_to
left_x0.3850left_y-0.1750left_z0.0050
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8112, 1.7348, 0.8795, 0.0532, -0.717, -0.6098, 0.9943, -0.0154, 0.7902, 0.6323, -0.4587, -0.0299, -0.0509, 0.9998] state[eef_state]: left_x=0.3694 left_y=-0.2152 left_z=0.081 left_yaw=0.0789 left_pitch=-0.0118 left_roll=-0.0005 left_gripper=0.9943 right_x=0.2871 right_y=0.0044 right_z=0.1778 right_yaw=0.0118 right_pitch=-0.0475 right_roll=-0.0128 right_gripper=0.9998 state[joint_eff]: [-0.4581, -9.7846, 5.641, 1.3944, -0.4811, -0.0562, -0.0171, -0.8, -0.9094, 10.2359, 1.7949, -0.1148, 0.0855, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.385,"left_y":-0.175,"left_z":0.005},"note":"The left bottle is now clearly visible, and its narrow shoulder is left of the jaw center. I’ll lower around that shoulder with a small centering correction."})
tool
executing move_to over 5 steps (0.5s)
step 181
top_cam
camera top_cam step 181
left_cam
camera left_cam step 181
right_cam
camera right_cam step 181
assistant
agent noteThe wrist view shows the neck still forward of the open jaws. I’ll slide the open gripper forward along the bottle, keeping the fingers on either side.
move_to
left_x0.4450left_y-0.1850left_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6983, 1.8771, 0.7197, 0.4416, -0.6998, -0.5049, 0.9955, -0.0219, 0.7612, 0.5842, -0.4416, -0.038, -0.0509, 0.9998] state[eef_state]: left_x=0.3879 left_y=-0.1724 left_z=0.0289 left_yaw=0.1244 left_pitch=0.0347 left_roll=0.0161 left_gripper=0.9955 right_x=0.2818 right_y=0.0041 right_z=0.1672 right_yaw=0.0121 right_pitch=-0.0492 right_roll=-0.0081 right_gripper=0.9998 state[joint_eff]: [1.0188, -3.8769, 2.6051, 0.9695, 0.4127, -0.3199, 0.1197, -0.5949, -1.4701, 7.0085, 2.1026, -0.1587, 0.0317, -0.0171] camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.445,"left_y":-0.185,"left_z":0.025},"note":"The wrist view shows the neck still forward of the open jaws. I’ll slide the open gripper forward along the bottle, keeping the fingers on either side."})
tool
executing move_to over 5 steps (0.5s)
step 186
top_cam
camera top_cam step 186
left_cam
camera left_cam step 186
assistant
agent noteThe neck is nearly at the fingertips, with the cap just ahead of them. I’ll advance a final small amount while the jaws remain open.
move_to
left_x0.4680left_y-0.1750left_z0.0220
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6216, 1.9968, 0.9302, 0.3878, -0.6449, -0.4946, 0.9957, -0.0269, 0.7307, 0.5373, -0.4191, -0.0422, -0.0547, 0.9998] state[eef_state]: left_x=0.4416 left_y=-0.1813 left_z=0.0344 left_yaw=0.1553 left_pitch=0.0351 left_roll=-0.0261 left_gripper=0.9957 right_x=0.2774 right_y=0.0036 right_z=0.1584 right_yaw=0.0127 right_pitch=-0.043 right_roll=-0.009 right_gripper=0.9998 state[joint_eff]: [0.5402, -7.9385, 6.5162, 1.4188, 0.0464, 0.1929, 0.0073, -0.5402, -1.2513, 6.8444, 2.0733, -0.1148, 0.022, -0.0122] camera 'top_cam' (step 186): [image omitted: streamed camera frame] camera 'left_cam' (step 186): [image omitted: streamed camera frame] camera 'right_cam' (step 186): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.468,"left_y":-0.175,"left_z":0.022},"note":"The neck is nearly at the fingertips, with the cap just ahead of them. I’ll advance a final small amount while the jaws remain open."})
tool
executing move_to over 3 steps (0.3s)
step 189
assistant
agent noteThe arm has stopped short of the forward target, so I won’t push farther. I’ll try the available shoulder grasp at the current position.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6155, 2.0029, 0.9428, 0.3805, -0.6361, -0.4942, 0.9961, -0.0284, 0.7052, 0.498, -0.4011, -0.0532, -0.0544, 0.9998] state[eef_state]: left_x=0.4446 left_y=-0.1815 left_z=0.0341 left_yaw=0.1545 left_pitch=0.0307 left_roll=-0.0292 left_gripper=0.9961 right_x=0.2737 right_y=0.0052 right_z=0.1508 right_yaw=0.0203 right_pitch=-0.0385 right_roll=-0.0025 right_gripper=0.9998 state[joint_eff]: [-0.0615, -7.9248, 6.653, 1.2772, -0.0171, 0.2369, 0.0366, -0.5949, -1.388, 7.0085, 2.0586, -0.0904, 0.0171, -0.0122] camera 'top_cam' (step 189): [image omitted: streamed camera frame] camera 'left_cam' (step 189): [image omitted: streamed camera frame] camera 'right_cam' (step 189): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The arm has stopped short of the forward target, so I won’t push farther. I’ll try the available shoulder grasp at the current position."})
tool
executing move_to over 10 steps (1.0s)
step 199
assistant
agent noteThe gripper is riding up over the bottle when it closes. I’ll move back to a lower, reachable point and place the open fingertips at table level for a final secure-body attempt.
move_to
left_x0.4050left_y-0.1850left_z-0.0150left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6125, 1.9949, 0.9833, 0.4122, -0.6746, -0.4973, 0.0132, -0.0284, 0.6804, 0.4606, -0.3798, -0.0559, -0.0574, 0.9998] state[eef_state]: left_x=0.4594 left_y=-0.1835 left_z=0.0595 left_yaw=0.1928 left_pitch=0.1035 left_roll=-0.0725 left_gripper=0.0132 right_x=0.2709 right_y=0.0058 right_z=0.1443 right_yaw=0.0242 right_pitch=-0.0297 right_roll=-0.0039 right_gripper=0.9998 state[joint_eff]: [-0.3761, -9.6479, 5.2308, 0.5397, 0.1832, 0.0855, 0.9206, -0.6085, -1.0735, 7.2274, 1.9072, -0.0659, -0.0024, -0.0122] camera 'top_cam' (step 199): [image omitted: streamed camera frame] camera 'left_cam' (step 199): [image omitted: streamed camera frame] camera 'right_cam' (step 199): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.405,"left_y":-0.185,"left_z":-0.015,"left_gripper":1},"note":"The gripper is riding up over the bottle when it closes. I’ll move back to a lower, reachable point and place the open fingertips at table level for a final secure-body attempt."})
tool
executing move_to over 10 steps (1.0s)
step 209
assistant
agent noteThe arm is stopping well above the low target, and repeated closures have not secured the neck. I’m withdrawing both arms to safe parked positions rather than continuing to push the bottle.
move_to
left_x0.3000left_y0.0000left_z0.2000left_gripper1.0000right_x0.2940right_y0.0040right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6884, 2.0239, 0.8948, 0.5377, -0.7559, -0.6094, 0.9953, -0.0284, 0.6647, 0.4366, -0.3687, -0.0563, -0.0578, 0.9998] state[eef_state]: left_x=0.4342 left_y=-0.1956 left_z=0.0429 left_yaw=0.2411 left_pitch=0.1375 left_roll=-0.1512 left_gripper=0.9953 right_x=0.2687 right_y=0.0059 right_z=0.1395 right_yaw=0.0247 right_pitch=-0.027 right_roll=-0.0042 right_gripper=0.9998 state[joint_eff]: [-1.2513, -4.3145, 1.7436, 0.1099, 0.2222, 0.0464, -0.1392, -0.6906, -1.0188, 6.6803, 1.9951, -0.1294, -0.0317, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 209): [image omitted: streamed camera frame] camera 'left_cam' (step 209): [image omitted: streamed camera frame] camera 'right_cam' (step 209): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":0,"left_z":0.2,"left_gripper":1,"right_x":0.294,"right_y":0.004,"right_z":0.2},"note":"The arm is stopping well above the low target, and repeated closures have not secured the neck. I’m withdrawing both arms to safe parked positions rather than continuing to push the bottle."})
tool
executing move_to over 18 steps (1.8s)
step 227
assistant
agent noteI could not reliably secure a bottle near its neck to stand it upright. All three bottles remain on their sides; I withdrew both arms to safe parked positions after repeated empty grasps and stopped descents.
give_up
hindsightA body grasp on the left bottle succeeded near left_x=0.408, left_y=-0.164, actual z=0.009, with a settled gripper reading of 0.52, and allowed drawing it closer. Neck attempts at x=0.42–0.47 repeatedly rode upward during closure and ended empty; do not mistake those contacts for grasps. Separate opening, positioning, lowering, and closing, and reposition the bottle substantially closer before attempting its neck. Pitch and roll are pinned on this trial, so actively rotating a held horizontal bottle upright is unavailable.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2741, 0.9001, 0.6876, -0.4011, -0.4675, -0.3473, 0.9979, -0.0341, 0.7956, 0.643, -0.474, -0.0647, -0.0654, 0.9998] state[eef_state]: left_x=0.3059 left_y=0.0004 left_z=0.1948 left_yaw=0.286 left_pitch=0.0209 left_roll=-0.0234 left_gripper=0.9979 right_x=0.2865 right_y=0.0052 right_z=0.1783 right_yaw=0.0302 right_pitch=-0.0563 right_roll=-0.0039 right_gripper=0.9998 state[joint_eff]: [0.1573, -2.0034, 9.2376, 1.6825, -0.1001, 0.0513, -0.2369, -0.8, -0.5265, 10.0034, 2.0098, -0.0855, 0.0073, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not reliably secure a bottle near its neck to stand it upright. All three bottles remain on their sides; I withdrew both arms to safe parked positions after repeated empty grasps and stopped descents.","hindsight":"A body grasp on the left bottle succeeded near left_x=0.408, left_y=-0.164, actual z=0.009, with a settled gripper reading of 0.52, and allowed drawing it closer. Neck attempts at x=0.42–0.47 repeatedly rode upward during closure and ended empty; do not mistake those contacts for grasps. Separate opening, positioning, lowering, and closing, and reposition the bottle substantially closer before attempting its neck. Pitch and roll are pinned on this trial, so actively rotating a held horizontal bottle upright is unavailable."})
tool
give_up: I could not reliably secure a bottle near its neck to stand it upright. All three bottles remain on their sides; I withdrew both arms to safe parked positions after repeated empty grasps and stopped descents.
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 · 13.06 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, 0.7933, 0.609, -0.3763, -0.0235, -0.0273, 0.9985, -0.0174, 0.7898, 0.6044, -0.3836, -0.0296, -0.0338, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0018 left_z=0.1833 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9985 right_x=0.2941 right_y=0.0037 right_z=0.1806 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.5265, -1.3744, 9.6889, 1.7363, -0.0415, 0.1001, -0.1636, -0.7453, -1.2786, 10.359, 1.8144, 0.0415, 0.2222, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42846bb33a41cb6bf721bc91b62913742cedb0b560be92b1b624a17618880289",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb5b3a8a2f48ee0f79cb3e968008e0cb55056fde58f7b5d4de988e3e9bf2a4cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5eccd531488f805421da163c11281144bd1cdb078072341d50750e8b1b7da50c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 7.044 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqsrhAws8uPl5RHO3vvJ2OVQ2dVFHCl3kuOZimotv5dClwL7rYSntgGhcl6gg_jyTEVdPiAW7HRqr0eYlpp_d8sh0HyjDmJpJ4Nla9t3wM_esisAmaRmHk3Hsy4j3Y2DBftppd7tNkqO3euQv4fbsjqniSBaDk1x81fHmKAFqVxnJurQC8QyVJ-ec8SpG8uXbSCEt2oNqlUZRosDPuekQ0tLnYBfjU8ExpwGKh38E4odOzagpVkY6yCJ3kxkO8OoCS51GVJolYHO_2DbbA2aMcis1GaaPW4cy9kjJUcS2mQ-WX0SO66IU7N2QlgQ0yjVDmgYrIkv-cothfbQw1Uh1vLxDUzFIXMn0TpX6bRXyMwoLyqzu0A4OY2IVGGUfvgeHFNXlTxI8xQmtO2IDbBIVWIgZdLJtyrQmBWdDfxcQIT2n3AgMjK730TcUE9WGKhVdYhDg480jX4NuyJWOSjvKLps_W2LTW5NCqu8XUkNey13vezRbXBKN3qs1yhmJFlPzLne4Gg1vro3es3O8etyMqFrj6FD6uqnSsnBRyrskzwSG1prJxPLSgL4kD9XyzaSfpGp4L0hIy2gY2A4jkKX3dN6W2BFEXewImpYUMXXTTAmWgGQwwXvTN_vhY9aMPvhlu97I5jGocduozKAPOQneQ_rBG8Xv0aHNW_IiHR1uRh6ODlOjQSZ8t7QTlcC4hzoJEW4Ae-xIGZIIpk6WDFBU3IIuYkXEdFjkSVnqyk9rRikqM318_8oCiAzQ_kx7gW3nPzPwmZUUAWjh5fRLwYvwIg39Es7XhcGfm8yWkeIxpjChxm5iAjY9Zx0R7_DJZiVs-KbRcUPkDANvGEUqI4mSNymo45y5UlWSmRbExDLGfQEaI2iXwqeMNTOTkQDhuEvu5yjai1BrYmidOidczQQp0QWs3NlVegkNumWq0mqt31xpI570Ynq8stVBkZcCvHHZhOdCpvgHFS4f7EC0J-yeawe3c2XtYgkrsu-r9n5VPIJxA4i-hpcOCt2yKlSEiqsNaI7uvlAUJPcknqA6k0nmpZWiHZR_BCQPSnZfdksAEoD2VdaocI-lCsrv3JYMUZJAnC3VF19YddgUScJijbrjjwDB8u8xWjJjcwdPxziO--cLS7y3Z50pMIqBSflSBcLXnHBU54ziZMBkoxW4hbWYRrT43gHJXSAXY2DBJBTD2__ZvBa_97DuMghQjLqztl9N2xgOu5p7u_4VYUuqXojP81crgdFuZhX_RH9mIvZ51pojvSaR_PO_y3O5ZtDKTWQjWca8GIiZyvJij43VT6jO_dBmKTF7_uZXY3gt9YvNz0ogWeaDS94E8XdKoOagEcnpJrGgvoAxn2sj4ZatHFIQFe4BTkxRO0hCVVay6vBs--VPWkpJswp1s1ZzP7GfPRuEdHWiKvEUHnJmSxjUjONXg42kW1zFxzfB04D2bbAzi-Mkj0uk9Y0h8tyiRLMd-qHANqXaJ1G3I6YoFCiC4JadyHFalRRGSbhCCc2_mcSyXH_SrB-TKvTnZ01oSCrcbfdOPcEOnUqwKFja-QJ7j2USSZMyDKnLA2vkrsGpq3L4gt53fDUbaXt_zSbpZuHlHwGcX5DknJ6jPFJIyRdwV_P1tr-0z4SO7mTknNKICIRE0Qg33eRtL8Zce8QtUF31M0jZ--Mas1X_bmvk4WqypMPhMoWvsxWTtzWQ2eRqZcPF8KpIA3qHcRlWCUzgUWP7Vcnzzuzry5GvsorwcGE5uK5VGGDUqK1efToFYWIdGjabG6VNzyS6zj8GyR93aPVJMVUcSD5cUbS9A-sqF3pvnqeBkNXE1GKTcHhGLH6lpUIn3pvrsFrUi8FTANuolrJeNSyo-KA12H0AUzIJwzHdnDJWLa3NESA52RBEM9OqGRFjESSGfvfpSwyTke5h_V54KHAIC_yADh0aJXheUZ61lA-oAeJf9nfgz4-r04blHrMTshRowSnPB7HqVMgeq7hqpax-tTsBFiq9BirkYAfBBesgWqXaqEkw3icTTKpe_CSgd1CMKMYFb2c6eVv0YPajkM4iw1AmoQoi77XDijHDi4gKWeQk40drUkGAhyFhg9XQD62lQC7kNS2PH_zO2WtM22hs5cnpNAo3ReEabmI09kRZ2LNdtkQ==",
  "id": "rs_019683f288d621c9016ab2b836008c87d0ae532f42b0e1f2e6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.2,\"left_z\":0.15,\"left_gripper\":1},\"note\":\"All three bottles are lying on their sides, with their caps pointing toward the back of the table. I’ll approach the left bottle near its neck so I can lift that end and let its base swing down.\"}",
  "call_id": "call_A2mTjl7m9tyiC5MMqb8ykMor",
  "id": "fc_019683f288d621c9016ab2b83e2da087d0ba12db696964373f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_A2mTjl7m9tyiC5MMqb8ykMor",
  "output": "executing move_to over 18 steps (1.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7013, 1.5669, 0.9455, -0.1204, -0.5648, -0.4408, 0.9986, -0.02, 0.794, 0.6044, -0.4034, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3803 left_y=-0.1927 left_z=0.1341 left_yaw=-0.0139 left_pitch=-0.0469 left_roll=0.0224 left_gripper=0.9986 right_x=0.2917 right_y=0.0029 right_z=0.1754 right_yaw=-0.0018 right_pitch=-0.024 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -7.0906, 9.2513, 1.5458, -0.4225, 0.0024, -0.1636, 0.0342, -1.5385, 7.0496, 1.9463, -0.0317, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0d570c16d1e21e7379f7a106365c51566144c5eb86b0ffd3885728fbb5a3443",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35a5807e0276465146afde88343ad298e7cc2b74106adb17081eebaa35a8328a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05e9dd7b973d9cb731220a1f74654ec0899a27ba490c3e066279eb757c4b41c5",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 6.6 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, 0.7933, 0.609, -0.3763, -0.0235, -0.0273, 0.9985, -0.0174, 0.7898, 0.6044, -0.3836, -0.0296, -0.0338, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0018 left_z=0.1833 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9985 right_x=0.2941 right_y=0.0037 right_z=0.1806 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.5265, -1.3744, 9.6889, 1.7363, -0.0415, 0.1001, -0.1636, -0.7453, -1.2786, 10.359, 1.8144, 0.0415, 0.2222, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrhJpbyw2Zpx8HJF1knrRQDQT_f5il3gDGpdheX99_fv4G3wgC20SANgmQTwSLNcn0jY7n2U78RzLgm8jQVR3yyitM4loHfToUPc_VaiTohbOHMvDVgPC8qo8coqzJ9ue8btWBPv_aSgHcWkmYSO038BGHJuw2qVnAc_rZ8d9Wgp0-vj8jexw2OnZLrgR5_5d90bUpmjt9oNzB4TCkroXBk2EiatoYsX5wI8hprtLhw8tjisuWLZjgcJxHcqZT-qvQnumH7MIoQU6tpfKFnB8d1KoJUn6TGWbKdHRDqbTF2mkKPsBx_1CF9dEIM6DKQyibjg0yZ12IJWa1J15dh3wMTROEGUybZ0lUmwX8hDv8f2jp7jfzelTl37M6HYTJfC-pNXoiSQdOS5qpHzX7lRLZ7jBfwz7vz-sONxgm9SYx1kJ8dZesUHOvGLXuifVUwhlxOTD_Lp_2t3gHiQAt7H2FQW6Dcjyd77btdn5_cG7LqHeMijPiwY9LUtXr0uPP9s4vGRIW7rnE2K8Fz7m9YruFzSA7qlKOetzp5mytW4xTvt-BCrPM9gv9V1FyI9fAv2SRet69IjQCz6hwWmqTZ70clIiz9x9_Trsnm2ipbSlPZCa0usBj1cNmUJ3Y048K_aaGqGPs87y2Ike4nRlqiXbh46FMr1rL68fRqvEMLF0b3ZCjAIxzsXoU0QNnRfHyejUh7xOYpMKhr08hTzZhyKKNpclt77W6K42qc_DeUR2q31BnRI0F1cF6xmtbr0T9PvTn7qn4gKEYuXLhQ2GTc_zsw7agc2kli_L3gkUYVqIguoUyBAMextFMK_q-gbDgGu8poveR0kcSFj1jqUbL1gPhQSoNBvrOC0dttadgvcFUi702-OIkS-MrL4lkb20yR9OkHcQuuD2DgHGUROIC5LPgrtFtiOOly82JyjrX87IKnoiApG6qE2LC7tFFA4ugnVPIju4hai4xXqyivjwGPuP6QORK5BdAIifGYMZhRZGbxvDv9X7O-3rJew2zLiskxxuYP2Sgr1GeOyzJbsPsZ_bEucVFol5WCfxk46hTzew7RUVyEMC73rlBEf2Q8ftuDakudFbJQMCwdOJRyKPMcL4iShTnkm01kJt0WQxlvKqbayxAwE53g2WILqXroYgRTeTZQ5zyu7JeR5yVtN3HItnQrDxJoNtBF6wJoqizwnNqGQY-xD4W5N117YtN5HtN9uInwf1AO4nyE0o33YlsBcp-VES8m1Hn6iek2r2liOTeG7-7rlKfMXuqLQwDf_hNA7BhkjnbJLQBTA9Tk3FQoCIOWdKBmKqfIIwwAiDQ3hyF2W4sx3teXF3FVGIKpsfN5g9kuYZ6kZ0OHK4pidC1pLQTmxUh_a-apU-NgXbN6m1L_j_f_EbscaIStIoxzXA6erjdRCtWZqjyXv3iPDvwG6pCTtErssJfoZ3BqRXSrkavFVjg1rOvHAEfQcbBqHnFW2jvVTsKjQwlv-jle_JS_jf2Np_HyvgdoZG5qwiHTL1V0aDHEzLj5LpcBqEcuolPREWv6FWfXGdj3lzBWHWfeyBsEyXA==",
  "id": "rs_019683f288d621c9016ab2b844042887d0925efa688859b956",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.145,\"left_z\":0.065,\"left_yaw\":-0.45},\"note\":\"The left bottle’s neck is left of the jaw center in the wrist view. I’m shifting toward it and lowering, with the jaws turned to pinch across the neck rather than along the bottle.\"}",
  "call_id": "call_28g0CWzf6pdeyOx4UlHAHrlt",
  "id": "fc_019683f288d621c9016ab2b8472f5c87d09a079f681efaac79",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_28g0CWzf6pdeyOx4UlHAHrlt",
  "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]: [-0.2985, 1.7386, 0.7547, 0.3302, -0.0544, -0.0498, 0.9983, -0.02, 0.783, 0.5827, -0.3973, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4297 left_y=-0.1184 left_z=0.0518 left_yaw=-0.2401 left_pitch=-0.0918 left_roll=0.0028 left_gripper=0.9983 right_x=0.2891 right_y=0.003 right_z=0.1697 right_yaw=-0.0015 right_pitch=-0.0286 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -6.4752, 7.4051, 1.6874, 0.188, 0.1294, -0.0415, -0.2256, -1.6342, 6.8444, 1.9121, -0.0659, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f9ca502947e50c5edbfc4f63441efc1c0d664d361a3b3aa9e74b82d4806b7c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eefe4b92c21e49679e9ef2f78e59868f555a2679ab614358c49a6f0b92f1fe71",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:231a893e21bc388ef788de05f95f198f8e893c023e1e5d0e6539913e7dc380a3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 11.43 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]: [-0.7013, 1.5669, 0.9455, -0.1204, -0.5648, -0.4408, 0.9986, -0.02, 0.794, 0.6044, -0.4034, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3803 left_y=-0.1927 left_z=0.1341 left_yaw=-0.0139 left_pitch=-0.0469 left_roll=0.0224 left_gripper=0.9986 right_x=0.2917 right_y=0.0029 right_z=0.1754 right_yaw=-0.0018 right_pitch=-0.024 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -7.0906, 9.2513, 1.5458, -0.4225, 0.0024, -0.1636, 0.0342, -1.5385, 7.0496, 1.9463, -0.0317, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrhQGdeCKXH3LQ_PnRqJTk-D74XKGzQRF7vK7tLeRoPYdok-IfOq7nXUzcuTcUSVAQzMOhfLrHETQtAnZ8DGcMRYkreYvG17Vg4kqb0hyco-oW4kixiJ1sKekv4p0ExgmmHx7ZNUHaelQEgymZWrA3VlgO3ImsDbXS4KqAp40sVSrZGwBwMO_JCzRWzV8aRv1PkAw78FUw45qPUJW32bEmWqGxgXiFURQQetChFLl-gc49c1ZI3wAq7tMJMsHAswkwNNtixC5UEuongmioKDnRHyjPhBaycgFKOfyaUAby2fYLAuudWXxHlsRunpu-NTLihJGq4VyttF5XqVWzeeGyUKqwIL8HVO1_-6Lddf5kknj76aRS4iDdTs09y90JquNWLU9MxGeKwJF4lAwQzba3xPio7depoNR5lofbh5ki0CAK-9G5eImk-QjoFrSbmIrXWX9fS0TcUpfz96Z0EEXdpzhkR9QdMyLSxLkUlUtji78imNxwhnJhSthLJ9CIyt_L5KZQ1bsJJj33ka8x5Y_5Vll3asLdxema74BLIWSsLjoNIFhX_FOik0aqB2K7NWqGsgrOWFUCN2mZZY4xbaKVM5tc3ROJOz_MsYzpozifCSzzXlUEo3On-h0umSF9evE-AWW42ZgR4ft7KTQ6ipJRZykZfN0EyBYk2-CnB0piWi4gcpSAw77aP-hoXbKTpEvSAiOVw24LrCv-I3XhW6FWeSmbzucvT-6IawnqYwFzgYRTtWEwDje0lK3W05M8gMo2YaW261f04OpuMcpM4qlGoJzQs8S9tuc5H4UE-9qWrPpShv4D-8uLvODDw04CdOJOUwhEvmc_kgsYiWUIkWL7FpZre-pTbxYsqIkv-JSlR3NkfxED6HZ6ybJ3DpDbIbELyqWA5G1jH2jTfcDBoNLjKV3m6DkKuQUijTxoSWSecKIaI93-kTmRm2kMogwJTmBRZ4PoWXVEEfuFZqq3LkSMZxIOFNYaM3JRBBMzLUlbCjf47TBaTamZzPtZlU7Fp2Z8HTh6gLUG5j1CL0mcmW8hKgurBPflBB1cjcpdEh-K30J7sEnWDpTBuJPPKKiaxT_mFp6ORKpMONzkUrOAIElPLsX469nkZzzQdBwOqDBlR-EW15hWmCz-lCtY3KhvgI7kRC6ThGa-s8bWH_ej52RPzMM5SoGttDNCULBkq8x30tffb2gzhZNl7GRskvbm2k3LIW_hrnXUkQl6joLN2foEOmL_9zdeWcnAzlW6BStgWlr3y6x5tO1_WBPCnL9RHvW1Its8MPEt2KMLM3ImSEmVhYbP35LUnscFGuusBlo2HD5L5COuRPpLW4J9LBMjpjvscKI2cQLIeds1rsXZ-QxbTo7KOORjj4H-BmdsxAUGPGJAJOnu2LXQxRrwYmO_pZPhbO-ZBRbzFJQ_PL3BhrwNVKIWQkXbWeYt7KC4Fvx55H0Tc=",
  "id": "rs_019683f288d621c9016ab2b84c5a8c87d09ef14dff3168c807",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.095,\"left_z\":0.028,\"left_yaw\":-0.4},\"note\":\"The jaws are still over the bottle’s body, with the cap farther ahead and to the left. I’ll move to the narrow neck at table level before closing.\"}",
  "call_id": "call_q4Vvi5P8C7gW81mxTv0RE7zT",
  "id": "fc_019683f288d621c9016ab2b84e4d1487d089cebccc5ea02e6a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_q4Vvi5P8C7gW81mxTv0RE7zT",
  "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]: [-0.1436, 1.9259, 0.831, 0.5533, 0.1967, 0.0647, 0.9983, -0.02, 0.7704, 0.5541, -0.3882, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4766 left_y=-0.1002 left_z=0.044 left_yaw=-0.3586 left_pitch=0.0307 left_roll=-0.0341 left_gripper=0.9983 right_x=0.2859 right_y=0.003 right_z=0.1619 right_yaw=-0.0018 right_pitch=-0.0354 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -6.7897, 5.1624, 1.3993, -0.1538, 0.4762, -0.0171, -0.0479, -1.6752, 7.3231, 1.9365, -0.0611, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8af43d88cb029a20751974b4243a0b0a5bcb9340fe02b7b38901221076caee0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ea9e5894fc8b98969241bf3fe9cd23386e35379b069490659dbf148b8e7cf93",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b222a816ae033c59c530f8022513c22a8326c4242db5b2a1163d735f3cab328",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 5.156 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]: [-0.2985, 1.7386, 0.7547, 0.3302, -0.0544, -0.0498, 0.9983, -0.02, 0.783, 0.5827, -0.3973, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4297 left_y=-0.1184 left_z=0.0518 left_yaw=-0.2401 left_pitch=-0.0918 left_roll=0.0028 left_gripper=0.9983 right_x=0.2891 right_y=0.003 right_z=0.1697 right_yaw=-0.0015 right_pitch=-0.0286 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -6.4752, 7.4051, 1.6874, 0.188, 0.1294, -0.0415, -0.2256, -1.6342, 6.8444, 1.9121, -0.0659, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrhcToYLl8pWX9dQrzDIIxNYHoMV459SrRewZXRZ6ZOC0xxF28RLxf1JVV6cXAbSBsXeBwog4t5trgunGU3_5IXKM3kApMJJn1Zx_cVVODCH_j1FSNMSDz2kRbhYv9hgnDmb4RU14nde1bREBgq3k-JDzabM3NC5y_RJS-Psp-eaby8AzeyGNlSrS4iAS6yNINngUKfL85U7ozjHcB6sOrjarHKT9cqX7pA65f9KI4WPU_ZoF4t08bvBdj2oOP8sZPAyv9unDiPJMnrdkjecHoeup5b82D28UUxzUHjtjsPyoAvner2ZSwbvnZOqjCb5RfEKkn2lIleFB8vaiS8lL2rURoAB1jfinmOhkJ87tWyrzIr5SEriBK0PWXtIgEssUjhyqyVKqp-g8Y5by7AWG05tn9cNDPAp8iKI9f0iBbm_moZtKoth21Zzl8Z4XlCiiDKsva4dXcQpzsGScKtZwNgyaPI8gzkFr_K8MBM1eC-ha3jcXTPBs7fy8YTfAkBMwre_X6oq6Z65V11touNWGloIabub34_Q2exz6cR-1PtFQdlVeHBP0D88B8UzAOWCsr4-Fud4OUjVrFJ9gkdciIZIy3hr9k5ohxaY1_oDQdY_KhfSTvPbKHQkgU4JlaQBreAa-NMtbpmvvTZxaTdIYcR1WYilRhb-9tPdKAKZGQZ1_OPPyqsDfRt1pBePsNM2LtzKcTlVvygEd30yWRCNfkbeFjxmgBH8MJDcncAjzOxF5vvTeInVhjTZaN5RlTSHE1qCmMbkt8sFB8RyEiYsSd_aA6YRK4rlMfJLcN3jSjxz7sDl6K1yZ-oZRLdGwrYyNt95EhmdGvueFafsvMgOsyGIRNhbTPB-iNhiVe7Cd1YOWrTKYc-7VmHvvjNXaZYWIlzjzV9XmkslTvtHMt6nyPf3Dc3Z50RdGisFP7RU2I9oVXzb_D0ExZXBlnAmjY0eIhZMwqE8dRi8e3PsR-zleZv88s51D-XmfZICfo3ptlsTsJGbyc5NswnjHMKsGIrLsguSGB1fIFiZwIvFp9Hf0pg4XijIUqudL1N58jp0GrISkXoIliGnImNkznf9tcFyPN2pEoENoA69PKwO_WdxHpIsQi6ErEqZgkBcfrqQxsClxnlcMgjPxpggZSua7yan-sVzDTxZb4SQU5Wl6hiA71iNO_mCcY4PcJM0uCgfQPEhea79qPEswX60nTuG49ktyjfdwr_Lj2Bg7OqqZVQNw3EA8Y6KiVDogU9vz3p3TXDxRG6z3MGTexskdh5IVqpQwvLr_7A72dTl04tLq43i9l2ftO_MJuGjaBZEoj3ehYWBjYye9AOkpknfxxKedhE46c8tlZVDpSqt6Sbo13MLlrUFQEPW_gGv02W6sDB49woAXbH5RyBJZA6LAQsFHgh8wL8UtkejwH7wJRR_QJp_gSjM-CgEU0AZT7GHOsFhCPgyVaU1Tr8eMJhV4p_oKcO4Gw28ZAXvGklbbD-S6hXe2irRBH4hmivNZtvs-hFIV2uRgFmSnggSXUsMoYLVCPNQgNyzISh0NGKB6uJhzwVsIMAn0iqzpVnpiNnuTNXlPigv4tWXifpiH2_5BOfSG0HTE3F4VkFOFchqgYXclRWBFPgqED_Z4Z2sJBFsv5Tqph-TNDUgqNJeCVF3ZsGVvCuj6QPpeKx4rOKg6WSFowyAl-OxQGhyXFnkicDozebQ3QitoYCZMj_K8buHXiKmXI25HqMzDBBzeqlItW6MxFkSEnHldZBXxJZ6G4wzKtjdHxMPNGvIi6y-W1_XF6IVptmCxy68bkzp3plNrz_eBavRKFYH0mkQXNPKmqj5qamti5A6Nt8bjeCbUfOaOThwygVUy5m6nbvJ6LlwgouRnJe41vSJM6BEJFIGxt8CHKer1E28RdV6ZNp9bwSOlKr4nxBzM47OXcUmhA4jH8_w5I4i0ptfvi4urhSl9za8IfqU4kaRujQ2SkQGi06nDQFgkvrUuXE4YjOLqRQ2YOxPx5W32_Fipvyd291tkcWUZz6agcJu-TSXOro7_ukJ1CCabmQQbtDbx5PoH4De4ENQjaHsiuOQz-LeKzKBoQQEtgpg5amvSkI=",
  "id": "rs_019683f288d621c9016ab2b85259c887d09125d0624350dd89",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.12,\"left_z\":0.025,\"left_gripper\":0.45},\"note\":\"The bottle slid forward as the open jaws approached, putting its neck near the reach limit. I’ll take a gentle hold around its body so I can draw it closer before standing it up.\"}",
  "call_id": "call_mojMcGWEDEN1WwExdxWWbReI",
  "id": "fc_019683f288d621c9016ab2b859940c87d0907ab4456824fd7f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mojMcGWEDEN1WwExdxWWbReI",
  "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]: [-0.1181, 1.9522, 0.8577, 0.6033, 0.2276, 0.1055, 0.4565, -0.02, 0.7525, 0.5209, -0.3706, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4899 left_y=-0.0946 left_z=0.0528 left_yaw=-0.3815 left_pitch=0.0834 left_roll=-0.0012 left_gripper=0.4565 right_x=0.283 right_y=0.0031 right_z=0.1551 right_yaw=-0.0015 right_pitch=-0.0332 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -7.4462, 5.7368, 1.0281, 0.0659, 0.2759, 0.2857, -0.2667, -1.6479, 6.8718, 1.9267, -0.0513, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cb87bf5602f972d12332f0089b1693bc2d5cbc2204b350fffc360aa32100953",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d677ac09765be095c3252f5be1d1ac450588069befa4abe3ea1fc6fa92325a19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f590f6d07e2128c5150745a6c5908cb64b34d709d77df3b8518814be12407ce6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 5 attempt 0 · /responses · status 200 · 6.066 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]: [-0.1436, 1.9259, 0.831, 0.5533, 0.1967, 0.0647, 0.9983, -0.02, 0.7704, 0.5541, -0.3882, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4766 left_y=-0.1002 left_z=0.044 left_yaw=-0.3586 left_pitch=0.0307 left_roll=-0.0341 left_gripper=0.9983 right_x=0.2859 right_y=0.003 right_z=0.1619 right_yaw=-0.0018 right_pitch=-0.0354 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -6.7897, 5.1624, 1.3993, -0.1538, 0.4762, -0.0171, -0.0479, -1.6752, 7.3231, 1.9365, -0.0611, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_z\":0.085,\"left_gripper\":0.25,\"right_x\":0.294,\"right_y\":0.004,\"right_z\":0.19},\"note\":\"The jaws are around the lower body of the left bottle. I’ll tighten modestly and lift it slightly while drawing it back into easier reach; the idle arm is also returning to its safe parked height.\"}",
  "call_id": "call_5ZAAcD8WlHnfOLrzGn3yhWTX",
  "id": "fc_019683f288d621c9016ab2b85eeea087d08412288fbdad805e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5ZAAcD8WlHnfOLrzGn3yhWTX",
  "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]: [-0.1577, 1.6585, 0.6327, 0.4816, 0.1856, 0.1036, 0.2524, -0.0181, 0.7906, 0.5999, -0.4267, -0.0296, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4202 left_y=-0.0962 left_z=0.0706 left_yaw=-0.3841 left_pitch=0.0269 left_roll=0.0044 left_gripper=0.2524 right_x=0.2876 right_y=0.0036 right_z=0.1695 right_yaw=0.0006 right_pitch=-0.0484 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -5.6957, 7.3504, 2.0781, -0.0073, -0.0806, 0.0757, 0.4855, -1.0735, 10.1949, 1.7607, 0.0073, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec912eace85cab00786387c6ec2f43af69dc0ca2123346b7b1ec82b00868cbdf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62532548c0af7f52b8909f0c7d39ab618493545b0220696d25871565a319ce08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee78477e17e2e7a0ea97d2a16f1121e622aafae60d25bd73433dde509ff815af",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 7.387 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]: [-0.1181, 1.9522, 0.8577, 0.6033, 0.2276, 0.1055, 0.4565, -0.02, 0.7525, 0.5209, -0.3706, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4899 left_y=-0.0946 left_z=0.0528 left_yaw=-0.3815 left_pitch=0.0834 left_roll=-0.0012 left_gripper=0.4565 right_x=0.283 right_y=0.0031 right_z=0.1551 right_yaw=-0.0015 right_pitch=-0.0332 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -7.4462, 5.7368, 1.0281, 0.0659, 0.2759, 0.2857, -0.2667, -1.6479, 6.8718, 1.9267, -0.0513, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrho9g-_1sllKkBeAhRzuJS5CcZVx6d9namUbNXglZTeLN1CI5EQFcAzZstmQ6PG9IGc-CsHv4GkFWJX3Q8WoiAVxK3QdJkJ0zpIKK8vhGqi8suQleyjVOgdFlvwPM14eWQEC-hwbZi1n672UcRATOGaHvGOLnXkZBuQVhTwbVi7WuJN_SQl72Fgk7gWNEq6UeMGpMpkTLalr2U6T63nmjNlyZIk8lHm4xuEZKLcrlcp6fQmiGJVe9ClxSY8fcl8n1H_vNCoOBFHLPc6wcYclGvf25g0PeeCY07i0HmdOAye-3-VD7pLyN9XXPnTQ9qf2SPfZhGtFfemAiI481Z_jERTDow6znei8KIycFDORbH0ACg5CTRrMclRbJkSGuQDjdY2F3ziQniNtDQz7WYgwHyXnPSfaqOhJ_nnSiKr4JVd9A4JsudJ7zaqNV2f4JG2HdzPl-eJOxTjtVl2gLTw2h2o95oqUhwSSryPKMgTZPPduLvzzIXl7BaKAxy-XDoPYCh5n1PtejmTJCLd-wfPz_p1pjgWWIJe1ccfBAxEDQjIq8yz8UKxyBW-S0X0GyA_vu21OQw0vUS-og3lhJeichT2D2HdhE6Rp2j1dpgd640Ij6DrsJW4hLlXGBJdAUSWUwarS8diCxnNOYyERFCVnsZmJDGK4rxqJai8H1Zk-8CJmWNA56GJ84p8bawFA9zL1BVir_MzeWRHnNbpoH9ArxT6kOk1HWsjO3yojlO3r1EWKD4W_KaihArF3r2vCYkZVhX-mT8B4yDe5XFMd7FhXcguRMfVO_pPlqe0G9YW__3yqeSORE9EfxCAoqoSQOeVKn7fZYJmpwI7J7tS7Clk-4aZOE8i6xlakb0M708sZcbB9RqflridarHv_yzjYp6pfn6ksAcLRpO1EYEB2vOf2ZEcD9HTiyVdcMo-Sz6r-AGZozUWtA4u6eVamEL4kAcxlEbe5atv7fZs23D--o4QBXoUUeRtWhpfrg6ls1yFQOfqxgTTvtEqwMIP66ipDy5LzM_-o8ptH6n-_9K1X21P5CKzYENMOAxRP-pddMYgiBEojjo-UmEB94gikm1ibFobMH7z_4E1fOqXu-W16VE8acw_retRS75BOgt9oHSVLkYbMfb7FJMKCIt0WYNLdwkmX4C0N3EK7othHq8vFnRL8hHbsvdihIqDUdgfm0fYHrDVFoxIu29gYMHz6Mb6bD9I_BpWHchTzY09DfEhMv714jwr-7xyHi5OqTPxVGsZeCxM5AL9hTqJH-owqAYzJdSNjXvJlBBaHWzk0PlhLUSMeMIWfcLtTxXRfqtHLf35_4HFQpiCNFXRkouF0UlxrZQ7ZRXYHc52pCyRmTUbqquwWAIseg==",
  "id": "rs_019683f288d621c9016ab2b864bad087d0a3ad3442e6b77544",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The bottle has not clearly followed the lift, so the partial closure may not have secured it. I’ll close fully and check the settled jaw opening before moving farther.\"}",
  "call_id": "call_tvVXu69hTDL0YEBGm1w6u1YQ",
  "id": "fc_019683f288d621c9016ab2b866a36887d08ca093829ca975c1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tvVXu69hTDL0YEBGm1w6u1YQ",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1619, 1.6516, 0.6334, 0.3901, 0.1757, 0.1013, 0.0131, -0.0143, 0.7635, 0.5533, -0.403, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4087 left_y=-0.0944 left_z=0.0549 left_yaw=-0.379 left_pitch=-0.0561 left_roll=-0.0106 left_gripper=0.0131 right_x=0.2834 right_y=0.0048 right_z=0.1603 right_yaw=0.0042 right_pitch=-0.0442 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.4308, -6.653, 7.3504, 2.0586, 0.1099, 0.0317, 0.7253, -0.6769, -1.4017, 7.2, 2.0635, -0.0757, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a6a14ff585a183b70d1b5cd91d38738038ac90de2cb8d63f2d9b108dbcb8acc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70ad1c3bb214e08448241a05fa57acb4eec0120093e3fc2d4ca996dbedf789d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30640367b7da39775e9f29e39c2e0d57e9cf490b1a29f50695bcb6c87b7165f5",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 6.388 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 21 changed as sent

message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1577, 1.6585, 0.6327, 0.4816, 0.1856, 0.1036, 0.2524, -0.0181, 0.7906, 0.5999, -0.4267, -0.0296, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4202 left_y=-0.0962 left_z=0.0706 left_yaw=-0.3841 left_pitch=0.0269 left_roll=0.0044 left_gripper=0.2524 right_x=0.2876 right_y=0.0036 right_z=0.1695 right_yaw=0.0006 right_pitch=-0.0484 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -5.6957, 7.3504, 2.0781, -0.0073, -0.0806, 0.0757, 0.4855, -1.0735, 10.1949, 1.7607, 0.0073, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrhw-B6RQ3npLgFxnufwGk3ga8nlrrnlVBMpXOXrSSSXvyb4y_B8BAKZuQ-7h700UbTT5BOiCZrTkZePrB4xNDoDtLj37K7OtcMdCmSl3KFFkUKd6QXc7duKoEIhXNCa3bJnhn95oVhXUkvDZ7Gtqx4srME7lG9-c80wmL4PacY7hew0L7O9igG4GvJV2hVBEmZmDPMBODtdDn6u_IBvMAiEfC20t7Iy75hODHOjVkz3ZIAviDiSFGYi5OIDb-sYtUoiN7EqAHGbfkxozMgbSa3pWHtg6MR4nOVGyB_oOSFGtiX5ldJaDafn268JQ8djZHWRSEgcwkrTqpTJ7RqnH8acIlcO3ilaME297aMSuUjkaMFsuu-oO7cxBHZDjZGHasBVp-benWxube2jM3-2JHwzLsOQYCQGemMABVmhmaskSc_aPsoubgdJHnQBwXkhVQmEyTCIdd0qsqQvCwNubMngCZRLB4JGaiCWbWGsCpkmE6nXl4vm9uye58KcJ6NLg7HqKE0AGlsGifmfuBIeZExbVcekBLvr5m2u3BNARjDu8u3Fl-_lF_9VC2OakzHZvynktAbvurRMGGSqy_kQsLMHQBXkrsFB-giin4UgJfdrNcyFKHfIFz-dMOEA6JuKoRvcByexQGx1QBpVcu1xpkV96YRLBygExvZXqf0PBfpSEOeFbwHw5yqrMYrAfnxCMX7CrJTlfOURknMkOiurebuCpx2mb4pH4AV0dzJuzDU4GubgDOhVq7lYeQ6nZa_KexGvAnpZLeedUNFr_-WMpfLybGG5NUciDpjcKAd3y5F6nCR1pzaUB66Mrpu4iJpsU0yHqlHlxhRS79wO9Lg8wVQe6Va4jI_160nbMb-Wul_imF4Jly6LziWm7L96eiC3HA9Y21v7poRKSXUejGpEc_jjHSyrdNW6jXFGn6sDJsdUuvzrUEFaiQsn93B70lhu4AKwtbe9-WoBvaPqumKeLDZjkZYaFFxYUPdLPtz5RSvfR4d2-ZYBy8bKUEcB7ymoVhlO3cd83JFQ-9bpPvLmL61fsWTJ0KZV6rnREXLymrbydlHeuLlWHy6GKCjAG1V0oezFHqCOrHc7SVBlMw8-C9GJb5TO7451nhzFxTzSbOw49EpACVjza_QWJ81conVW0XsQMRgOjRAO-rfhRkkCxVAhAktSxtkTQ_JcQQidtQzMFZkNSUvDDT2bVv7aIL-RQcpu7IJxXoKQzvNW2k8m0eCN-D0Fu-C_vBWXjrH7xomwZFOGUhSYGNb_czVUJspjdf-qVCWpZGBB3m5i7kdngBQfSgZq7TH2otz9vwrO3lN6_Kjuhk-E_VWb_7BjnKn5oCUSaNQqNB4clxIdiPh6ylATkoxdPwdQniCuAZh6r0OQzAcv9ZV-7B-X65YBZrvYQDN8QaSZnZtLMk--F20Iba99fEK9yyPwi8vdz-UVAwtkW1DQDvnyZpIsTLyNS4pFKgYx_k1FOIC9IKMoXx66zI9bpEu68h1iGXFP5a3TMlE2BX91951bXUHLZHpbEoDP2BW2Gb_FbWgchEmNOo5LWsOWmcqdtTzvY5_mE4k5UiiZlwk=",
  "id": "rs_019683f288d621c9016ab2b86a915887d0a96e6fc9cff833b4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.2,\"left_z\":0.07,\"left_yaw\":0.15,\"left_gripper\":1},\"note\":\"The fully closed reading confirms an empty grasp, and the bottle has shifted sideways. I’m repositioning above its body using the overhead view, rather than continuing along the previous approach.\"}",
  "call_id": "call_wZe8QnWPLba3MLvkzuTUujL4",
  "id": "fc_019683f288d621c9016ab2b86dbd2487d0ae2b4597436c3063",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wZe8QnWPLba3MLvkzuTUujL4",
  "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]: [-0.6178, 1.9583, 1.0828, 0.1986, -0.5644, -0.4397, 0.995, -0.0143, 0.7376, 0.5091, -0.3767, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4594 left_y=-0.2061 left_z=0.0695 left_yaw=0.0679 left_pitch=0.0031 left_roll=-0.0179 left_gripper=0.995 right_x=0.2799 right_y=0.0048 right_z=0.1523 right_yaw=0.0042 right_pitch=-0.0362 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -9.9487, 7.0769, 1.3553, -0.398, 0.0415, -0.1978, -0.4171, -1.5248, 7.0222, 1.9756, -0.0708, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55541fdbb44708241f016413b14734a3ae91dd58474bdf38cace34369d0a1e6f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:683ad09c605a2bcb9d1d7f8467df8eddef7118f5d64fedd88b272b3d31155290",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a64a5318430491d6db4af226cb825ae00e3de633c77eb30e16e1030ed5453ef8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 11.54 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]: [-0.1619, 1.6516, 0.6334, 0.3901, 0.1757, 0.1013, 0.0131, -0.0143, 0.7635, 0.5533, -0.403, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4087 left_y=-0.0944 left_z=0.0549 left_yaw=-0.379 left_pitch=-0.0561 left_roll=-0.0106 left_gripper=0.0131 right_x=0.2834 right_y=0.0048 right_z=0.1603 right_yaw=0.0042 right_pitch=-0.0442 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.4308, -6.653, 7.3504, 2.0586, 0.1099, 0.0317, 0.7253, -0.6769, -1.4017, 7.2, 2.0635, -0.0757, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrh3pTfsAoL4kolwtz0PjoH7XqBbFngi8mKMYFl_l5KAjcenyD18k1K0dyia8sDWJfct-dE6BpcwI55D4NHA3xzI6oterITJvrSsemBye2M5q3ajLVa9Pkquuxt9H1mhlM7Q1bshM3HeHD-I4n6YJMUFiNTvEu-vFREZhNGm9KrHDPetxikWnlN2UZzCQ6vxRFSEKD15BMuzXl4B2x-_nijCYzUf2yQG2_wsw9ZQx3t4r-7zLa_JnJ_VA5A7MZQQhltTsWyaAgLQriYn0vvT1a2VDXpOIiU7anhnGT4wAdRxejr9MvoBy-iDAti0TfVSSPFEs9iEU8ub5tLnl4KmHqJt0x2wp7RwtEN06-YVBfJP76Wnu90qaipzEyEimMOMxAEsbFNIMWvvFGPdGsGPIYXdtU3RDIgGNGd4wCEGRHs4MDKVVSxY0LoHHWaQgmA6LXA116nmSsGi8Mqo7PnxvtXhfpiPCVkfTSjn760-UDcvpAUzxdxBKmU9CdWvYqIsKUIWCePAwjGX2qL0aOG7A3yYWlzri9l8653O-fXsYQ9lR6YvN5VsRfgaAQLuyzfrlW2XXIHRj9BrXkqv_trxc0Y1tIcb7JNhxRoO57yYwHxQ4iNIsYBlf4j_yVa45tnc1mG8GkbZ202gRDKBwnbhlO8LQo9pUOgGESDWrRKF7sjuvsNxwekiYvGOInaUL8br-NaoiUT-5js4MzYHAvNWKu8SfAgizdHpD7m4rV-Ckm2PjiNYgQF3a0n6jBnrS5fGrDeXbvHWt8tQ9UUCHGFkOD4N_tVb9Bzt2uFL_MvOJiibzEA7r2vFeMkdlbc90R4h0Ssl93p6nx6hMaJXO_1rGB0zURpSJu2hWZ-KR4IfETda4qdIG80nPFDT0JYCwdbsiJrj80I9i7FUalckEUHSnPVQanAWaN0dH6ODzB0PZ_bXHvUFua-FzoxGRGnyGhyVck6J1k5gcIdZ-7yz9LdozKP409uTy31qKm129GfD2xLoFMCnhUOtI05FtOXmnZYD8gILOzsYAN2zobFFBwgIzff1VoRyztBLrr1KjI8Dsk6_qJlHzB6P-VxEQ-ZTo6YRvmKLz1LJh92_UaR6Y9ssneajcaUfWDerjpJ-dHZ5wP4EiZhoWmYZWd9yQSIXH86pVe3reEPqi-JHZz7IdeE49jdu1WJOx5p_R0CHxW93wLDml8cMihHHpKpRa4dWaOmNyB4ijkbzo9o5Sn6EEWxoLr7Og1FUScvsDDKRM_qQN_6Va7_s-i_u2hp2HtAij4OVtwqVvb_lW8KvmiMWrur8LOUXyg3wSecnq_Q4XqhqiRTib6WrhLjPo3l467-4yD2GnNXlAqTBZzmWLH529VXDCjttMkP_PCjex1dutf5D2Rjckl-IsBDcyX2fmkQPy3c5E55GY_PQXoTai-8KZ2Xe5oysiIujAeSd5DydpDwkslcZqbA=",
  "id": "rs_019683f288d621c9016ab2b872cbac87d09e92b108272ef83a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.022,\"left_gripper\":0},\"note\":\"The left bottle’s body is now between the open jaws. I’ll lower slightly and secure it so it can be brought away from the far edge.\"}",
  "call_id": "call_2tieAF4rQcKvHUCHYJmFtYFu",
  "id": "fc_019683f288d621c9016ab2b875b1f487d08254d18e35817185",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2tieAF4rQcKvHUCHYJmFtYFu",
  "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]: [-0.622, 2.0453, 1.0676, 0.395, -0.6071, -0.4454, 0.0134, -0.0143, 0.7181, 0.4721, -0.3584, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4729 left_y=-0.2107 left_z=0.059 left_yaw=0.1033 left_pitch=0.0911 left_roll=-0.0649 left_gripper=0.0134 right_x=0.2766 right_y=0.0049 right_z=0.1442 right_yaw=0.0042 right_pitch=-0.0354 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.1709, -7.3778, 3.5487, 0.9695, 0.1636, 0.1099, 1.2234, -0.335, -1.4564, 7.159, 1.9512, -0.1001, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8806f4d64d7e95a2e01526bfd922fe4dec04ccecc18c209425e35289697856a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f300b0b18aa2cad34a9e7490f10ddcf71a93637445e15abe7641b2b168f21d54",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:363325a4b24e569bd1e0e01617370bf93156977f441743e38c23af5788b02e19",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 5.432 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]: [-0.6178, 1.9583, 1.0828, 0.1986, -0.5644, -0.4397, 0.995, -0.0143, 0.7376, 0.5091, -0.3767, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4594 left_y=-0.2061 left_z=0.0695 left_yaw=0.0679 left_pitch=0.0031 left_roll=-0.0179 left_gripper=0.995 right_x=0.2799 right_y=0.0048 right_z=0.1523 right_yaw=0.0042 right_pitch=-0.0362 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -9.9487, 7.0769, 1.3553, -0.398, 0.0415, -0.1978, -0.4171, -1.5248, 7.0222, 1.9756, -0.0708, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsriDdrEuApjoWkQ635r7lpdq3BsGbrghCiQ6R-uh3xe_iy-GbRP_x16Tl5NAiaB8D8TcCZzjCoVqUg4d82G5vSoRwJW_0Cqz7tEfreV9KLo3rkj1MfPfOvJz24I1ZRg39944vkVCtKhSaSFJOaO7_6sl1tT04QPNoXB7gGId6EPyKkdX-uVDa0ysCcenbkQ1TpkwFwP5l-TSMXGt5zf4_1bFrmb9FcXytrIBILexYidFJU3XQc5RqFhiBE_Mtrs2YPWCLzBMW5GK0xByvSleJpp5fIPVmaftc3ac15irj_B-ijSw_0WJCC9u2XwjR5ZkYtUYWgnCA9vb8zLMqAghKCayKC19i__by4XJqiyUIEO-e6p0nDCA9fZaJSw-o_pO01Gsfyoh4WvPzuq_NHcYaNb8-emtON6h-Iikd-tvnXsdny8Ule0hEEpA6Xyqf_XH0Cvyy4VICCtoz7V6qQ9ftIyPrmBo0KhmRze78EZBNKGz1GmHEqZMwkWNqyPk6-Kw3iftKo65mIvG_N98_GfMYrjTRhUb0cUymRNI17uLaz12ms4Ff9TOuRkEsToMI_jAJeHda6oIKFziW0wcuMSKKodqdolSBtqdwwhYrcT9LCQPLp-yEgtDHJtR6Ji-Z8IrKA2AQKEj0Xb0kteMLEmlVzDnKs7couxUTRTo9wU7t6iYclhoBsfkkLT5Fq3T2rRmhhWWIFDssGf1KVBZ_Q4W5VuYbjYJDB7VEuq0pwmCaawd723G4BX9hW_gj98rY2CraSY4o5xCEymV-oVajAqChJav3lcwf9P7GlzO1WrHL8P6E1p0t1tjJKlke6O-21io18xjClHqOUrXdl8Mpva5vukpumB6bn2AE4R6rOk-XDM_7WnirV1BkAe9YQalNRWzFWOpmQ64am01-oXnb0pwE77AMJBZ0mtV1QWl3rswhVlu0HifXcau2ggAwu-Zl7dOBxe1rVl_cYg7PW4toRgJlTq2EVkswi1-vy2ITiTLETLjhRRT0QDksYE2BOt4w1-mpOwH2xPMSjsGcQ36J2nmKT2Y8juS_gmG9vXEsWjqHrx1UJSpd4fX8IbVzK8_8n2EgrcIAz5VfBs8UVXUQ_xdAQKQtM7RRVe8m5PzWPzCdLn3ytDpq0i0s34yjoH_PsNMxdFO0lzAZi_Qj6xY2RT6hOZzevdoqS94Zd7_s-TFlgIZxmpuSFDQCWPgvuoujySxMzIfmIsCA9gXTON3lnMTi1CAcGuyQSMBFx7-plgHuF1uBn72CM2MUj9ydxsKh5AKeOnfXrgqjqivxNjywPISnID19462ydbxYTGJ71BGdSonMfYYgrD81lQz-UhLDESyNNfFRdPtUFrZArQPFsue6GcDKsijVGdnBMk3UYs_Vn5f7SkCeGZbOqTX63CDmJqf7x7yndQ2NDUtYWOHVhbSj2L7yzqx8PiPe3gKyemI9czp22ge-EntyLC4yBPPh-FXzy1Tt1pdDR5gDID8TMQpv_hnnEXJ8dDWh1wW0jlpT7qDojOcJx9Kqqg1xjOvCpsIPNGSimGPxQXAGvZH6w73HGy5c3gH7aoANoo_rAhTUSHu3SqA12R5Z3PQfxYYwz6mTBDJLX29wATUwIrBke3YU1GHagYLypkhmOev-F9XhgOvkyrKxk6-_tThLKxe7JCjB2Xb3prD2WJpy4tUO-UIEtLmNVxqrb5e4LT7ovTwBjpcYjHtIDUbDKkG_O5h0MTj694-J17uZ9YSLU5IW4MhWNI1yoGI8DVuO9Sdoqp1ScMQQiI1Qwfo2d6mep17_PMCwihcTvBmI3R-_od98bieNOwiOlQ6MOQpiOozzcLEdeztPgthf3wkx1ekGIMaNGofrBr_nMVkeFniWN98PidEtX34Xo9jGP9fDGL2OPfi1bq02j4=",
  "id": "rs_019683f288d621c9016ab2b87aeb9487d0959e5e6f9df33e73",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.17,\"left_z\":0.02,\"left_gripper\":1,\"left_yaw\":0},\"note\":\"That close was empty, and the arm stopped above the requested height at long reach. I’ll move back toward the bottle’s base and slightly left, where the arm can reach lower without pressing at its limit.\"}",
  "call_id": "call_LGUfoWEcDWFHwpUZVLi8UpNS",
  "id": "fc_019683f288d621c9016ab2b881868c87d095ac0667bc24ea59",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LGUfoWEcDWFHwpUZVLi8UpNS",
  "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]: [-0.588, 1.9518, 0.7563, 0.4854, -0.5133, -0.3748, 0.9951, -0.0143, 0.6983, 0.4393, -0.3428, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.411 left_y=-0.1654 left_z=0.0052 left_yaw=0.0237 left_pitch=-0.0437 left_roll=0.0303 left_gripper=0.9951 right_x=0.2735 right_y=0.0048 right_z=0.1375 right_yaw=0.0039 right_pitch=-0.0328 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.5128, -11.0974, 4.8479, 1.956, -0.0904, 0.0415, -0.2027, -0.1573, -1.2923, 6.8991, 1.9707, -0.0611, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b98ac706c408243700d6b9ab0fb6c4badc79e7bce233c6ef56dcd685a496ba2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:266374523cd74b13a2c4bd61790092933b67737facc327940707c0c67be666a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ad009d350e565ab252c240ccf9423c3233f80254fbddffbd36f3d26d1334861",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 5.907 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 33 changed as sent

message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.622, 2.0453, 1.0676, 0.395, -0.6071, -0.4454, 0.0134, -0.0143, 0.7181, 0.4721, -0.3584, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4729 left_y=-0.2107 left_z=0.059 left_yaw=0.1033 left_pitch=0.0911 left_roll=-0.0649 left_gripper=0.0134 right_x=0.2766 right_y=0.0049 right_z=0.1442 right_yaw=0.0042 right_pitch=-0.0354 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.1709, -7.3778, 3.5487, 0.9695, 0.1636, 0.1099, 1.2234, -0.335, -1.4564, 7.159, 1.9512, -0.1001, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsriKDt8rvA0QN9etWsx5om63JQwx4RRUbBtNTHWOkH6bXOuYuk-3k5e8cMt1rZXF_9Gm5I2ZLFLQJLwxrWatxs9ri9pqX3WlOtg-X1iyM0b4xrZfzrkZsW_3OTQC1B1n2J_Vs2GJpm6tbGhK9vA5n9oSNDDupkxA-irQ2ldV5NN5obJvITdovTUp6NLOMhJqwRnpSn4WMs3CxMTvHN5ZsELFaD-lrjqPqptfLAxqng9PrbgyX62uZrdnmJDL066yT4A1IrQT0zF17GM6cr97z60Yg_hoaIaqaMmS3yOBFAf51HlWHNXCYkzsnlDW718Sq6hXvimesgKP5_kLSEUN6sW4Ju7jrgfsuSQ8bMNar2qFRVhtdhv10OLJMKYOHzD88OumtHGxucZHtphQm6I1A6zvWbzBaPKaEyX2l0FbdT9zSkmoe_HiOnFZ8KuBKRAQ2l6fJ46ThwLa9HqbEjKWY4I9JzlRCuR_6TCx5I3EJaZ2_qGahzhgRJvARr_SfKrz4P20v83OTGBePiVVcjMv2cab506wDzD7me69i2imdMY0cjS1AsDAyK7likc3VURMrdOzUdLKkSYvoFArc3_gzwPzfEioBmmeplGYbly0wKxRDgmVjO3C8m4VkuFhGWYZPR32XykrZWYMtvnpNLYtDZCPfyKVLMeNcgfYMpcnB6s-503R_0aYpQMD8iWgaxtZTCeN4o7Wcpqjrg2t8tNDqqldaICPE1H3JZAjZywVND_1o3k73SO1Orobx8ZUjS2yAk0H4TAVcBLI9Fult8nRysXzp43Qn_z_Syw-2ZGLQ-I_fbADxSpmsG0wHQ9FxP3OjrG-VYQksmOFV0wzzfkBo8bLO7Qt5EOV3YgUOHajYu6SVnqSppbJ9UvYgu3ypkaurWWUhtt9G3oereUYIfM_uBGuOYVGFuuGv_xDeRWIyJ1Fi-DVj1vHAaA9QXzbJ-PosIepT-XrvhtTcdhKOuBRO8Cxs81VhFYH7NvI5N7Le6JNlcHPetHp5hcNKOgt30-NEmuTBYgs0oJXkwSEZh4vitaJnNxmQGPwttQ6J8kGYG-o65LTxbUP7yZ9WsV1Hje6TSER0AJCtD9XCxuaAjRqTDpHcsoZepHOGb5VUFe9T4XF01e1gYyH-TB9ULkgFKR0M4rVkDX75NI57IKQyqwyleK-4PFKb8Gcg2bhFqxfOBHx2Z9zuvaZV3bw6cDFrylb2iZOrzuaDhvtRWxbmzACBbGf9rB-072S8jyPNtqUAqDmxcQ=",
  "id": "rs_019683f288d621c9016ab2b887609487d0a99b1278d00e9835",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.025,\"left_gripper\":0},\"note\":\"The bottle is centered between the jaws near its base, and the arm can now reach table height. I’ll grasp it here and check whether the jaws retain the bottle’s width.\"}",
  "call_id": "call_L5iAfbT2xPEiGsBtlOEz7I5G",
  "id": "fc_019683f288d621c9016ab2b88814c487d0bda9c34d0045c083",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_L5iAfbT2xPEiGsBtlOEz7I5G",
  "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]: [-0.5892, 1.9347, 0.7273, 0.5186, -0.5125, -0.3702, 0.5178, -0.0143, 0.6796, 0.4068, -0.3317, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4078 left_y=-0.1641 left_z=0.0088 left_yaw=0.0191 left_pitch=-0.0266 left_roll=0.0215 left_gripper=0.5178 right_x=0.2699 right_y=0.0049 right_z=0.1297 right_yaw=0.0042 right_pitch=-0.0354 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -11.7402, 4.9983, 1.58, -0.2466, -0.0806, 0.8913, -0.4308, -1.1282, 7.2547, 2.0244, -0.0513, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4528223a00d815c275386911ad7fdcbde256dece03f8bc243efd407d03b04c8d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a44469bd77fc001cd7594a30495e2cb70dbb5812854a3b98a8194045d4b53599",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2496c42d01f0dff5e817a48fbd1ef905bc08bf17849bf93eabd00acdf29f06f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 4.848 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.588, 1.9518, 0.7563, 0.4854, -0.5133, -0.3748, 0.9951, -0.0143, 0.6983, 0.4393, -0.3428, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.411 left_y=-0.1654 left_z=0.0052 left_yaw=0.0237 left_pitch=-0.0437 left_roll=0.0303 left_gripper=0.9951 right_x=0.2735 right_y=0.0048 right_z=0.1375 right_yaw=0.0039 right_pitch=-0.0328 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.5128, -11.0974, 4.8479, 1.956, -0.0904, 0.0415, -0.2027, -0.1573, -1.2923, 6.8991, 1.9707, -0.0611, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsriRzrytjTTGmx6r00EldQSOWQI-PhkFHBGqfxk_OQ1kptTvmuc_qL1cdYDCg9IXUltUA1D1UvktRjURKi7Ph3cdCe-U3oHfMhEZtYg3KH6cQDH_FP0-gBOls8ToSZrBrkwThNrEV6m7oSgUVKGMUWdgwn1r_Rz8aysPiQqkdEAKP9jwGU8flkwyWhMxsStKojJ4Y_DrWh0gCX3elhxHBFybuA6OV8AoX62yE5WpSaI_MJ_Ld6IawD-i9ctpW5YiQUayWYPox1_pL8h0w5iYrdeiQ0lORGss83pLAvH8xoZxvhLs7NGlI8fjYsQaiXi_74GSiMJH1xVU6wOKDLLWRmuZwJVXzYBmC7ehzSenML6Z-ZTSBcUKayVtzR782wxyzUMWREm2FOLp9YSTQRuLuYZ0x9wqfbcx-etLoiG5WFwiwSmcCpCswoBxVHme-x5peU1YjOc6JLuV0K8vC39fxn8f7WL3ct6CdnDuWM4KMXyEfBc02vZv8Fnvf5pngXMIozaa23pMGnrbap8Mk7oeBpYxeoMYxoa_6U8RVGgEUiBalz4SttV4vUatTfcF-JiPlYfr8aXk60UbNSHdqK9Alp56lkHRt_zdOJ6sYBJt1AMnrDPoQ8-YMDwsx3RxHlFZLaycjxrvE8yfq7le0FProU2Ev4rYNKqrmW7_4fzxYJABk880LzoaLLDWkcq4vhRu8OFlLcmMTk6RyGkcRo_ZTuF6s60kqbeK-AGwakYGsqTKrrXjgL2t0uunFWWpshSC2eJq-GJjzWeN1S0LUeBhYU4423IW6crgVKqHKJw08OhUT-eDilYxoligScKOCiO1TvjW7cc3QZSnRp3mFmKeYR4Cnp9y1cTMP_QOmHjSafzh0DNPUFIZ61odUeuheLjGsIMOHfvOawManzodx6t0i7IhAMb_IqiqgI8z2_sB_Pz2G7VJQx74QsqYV0yXuIJjGhswv5zixRMlZCQR_g1IQI4Qtn3iB6FgEhDvNG5aedwSydPPcEOjEk-IrNJkDHLAYb7U_HS_1QU9jqE91ylkbN6BimeoUUF5VbJlJ6jSualkqz3EWcQR_trtiL-m5DFCHU7a5S3xudtT3L_slG1Ki9fSPQMlRDGjfogfOlOFjv-vxFFOW8XkSkUF1X9maRiIeHyb9hvccUJcbHsh1YAtof0S4SsVJdUm6zE1LzZ769YrpIIyzDOcXuH3mTvr3-_rHQqAoFnqLgz8IJitHopwca5nrA==",
  "id": "rs_019683f288d621c9016ab2b88dd91087d087d9359fa8c12ec5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_z\":0.075,\"right_x\":0.294,\"right_y\":0.004,\"right_z\":0.2},\"note\":\"The jaws have stopped at about 5 cm, consistent with holding the bottle. I’ll lift it a few centimeters and bring it closer so the neck will be reachable for the upright maneuver.\"}",
  "call_id": "call_luFmozGbklLMzKqxvj422bvR",
  "id": "fc_019683f288d621c9016ab2b88e618c87d0b635d93a4fcb3800",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_luFmozGbklLMzKqxvj422bvR",
  "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]: [-0.7795, 1.5356, 0.5297, 0.1574, -0.5705, -0.4995, 0.5206, -0.0143, 0.7937, 0.6346, -0.4503, -0.0296, -0.0429, 0.9998]\nstate[eef_state]: left_x=0.3094 left_y=-0.1666 left_z=0.037 left_yaw=-0.0505 left_pitch=-0.1239 left_roll=0.0482 left_gripper=0.5206 right_x=0.2888 right_y=0.0047 right_z=0.1796 right_yaw=0.0083 right_pitch=-0.0403 right_roll=-0.0066 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -8.6222, 6.5983, 2.6105, -1.0085, 0.022, 0.7985, -0.5265, -1.0872, 9.7162, 1.7167, -0.0708, -0.0171, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c6841b2ebc794cde82a4d42fd83d3e9a70c828dce9adf99da5fc3575881d0f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82fa9262ff4a000b9618cbfee34587ef9c70ac9acc2d9c354b38ea31b7b01cf3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dabec649130cd502d8b07569103924daba908ac7858a373aceef90984b931c86",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 4.188 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 41 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5892, 1.9347, 0.7273, 0.5186, -0.5125, -0.3702, 0.5178, -0.0143, 0.6796, 0.4068, -0.3317, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4078 left_y=-0.1641 left_z=0.0088 left_yaw=0.0191 left_pitch=-0.0266 left_roll=0.0215 left_gripper=0.5178 right_x=0.2699 right_y=0.0049 right_z=0.1297 right_yaw=0.0042 right_pitch=-0.0354 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -11.7402, 4.9983, 1.58, -0.2466, -0.0806, 0.8913, -0.4308, -1.1282, 7.2547, 2.0244, -0.0513, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsriWDKsCmtMf1OwwtBB0KXmavgNiZVIh7j2gTVwRIrAiOYZM5iLysNTIEG5B9EkFni0W4yPPlGqRaBkafRAOb9pTYO-1w2qt8gKFDTexS0eBy3hSMDTUHohBh0RuXVaeUYH5MkX4-WxJjfC7TYKvsvV7UkUqaAvzw95fgJPucguRLI4MlE2o4Q4EcbEtH71tm5-5cuF3KbYwm-CBHVPp_nXycStvVjHlaMeMi8oWdBkLixilwZANp_1yL3MlmTZAxwxJiDCuslpXji6Ef8a3NaM0fuOWBtCsGSJf2dylR1YjXwYcxcnwvBuaLZGsiqZ8JQA9cfniVR3_s_T3Nc5saPs1yIrienMJAdhE8dO4VcfTjyVSFvxXYaeP6T62EejH-5FWjj0-eoYNWRPi5b8wtlYEqA9Fhb3nvy0U3tNOBHVVcCF6FxFyuI5FfVXMyXex8LVKx9WkYwk4mRPptFYwa60Z9oX8i2Elb2JioUw0GOHRYTyeuhtGsuWh0PNR5bCTB1slhmQKYceZccmM_Z5tQh7T4xk_b9OgnpEFUWTwkhXhzcLDax4Om8Jf7AO3VeWZlXstFLAfLQGwaHNEFXvRs4UrO-Zuy7pZeTCOMDG36EtGMExIdsqDnihKDK9Gt0lH3yNXkSE-tMXTabqsR-_ltJRX65N7ZNgoyYdGchulVzLt3i87WEsa8i-1GrS75BCXz7gRvnPfVzqU85N45Kjyq3bBlJgE_CRaJPkYW6CHYxTgybdeKm6bDLMsPzQeBgTT210rgTvktfYzb0jqFnurS5RoRQZBh_7H5GYA2wPyAbrcLS-Ykr9N0fcWmH-VCdE4IH8KIfpKZmyRm0vG8hRv_ToikH0ZcgnQ_3ku17XIZXHEFabhX3exc0tiiFj1WxKzYd2mnN4C3T6IEda2teL7CCifwCgiHsy-XS_4reHle9im7xx8ZjbwfYzwZ4nzfercWZyqKuzMVhpwBcPbeVIRko3uKmMK-M9tr_3RnfPDU-ljMz_dqUXGgGnUPDpaUqD0Y_7M-mrN2Xj4uYM7zvCRMDnuvowHSGOcpdYOXCC8eZDQlaSmUhqwxY0VFgaTgabriC9iMJC5oJ4xD1mgW-ykyHv-pXW-8k1ER_VbTh3CVA1XQwfViUhsu9Zbf38S7Ys9PbrHvRiXLFlF8UI1EDv1bCPt5ASfTzvFXQrNlcg_zkKFiGtKZK5dbkIaQ34S8y5qAGIfmTRA--uJKkhDZr1y-TOuyHciLexfuKzyU4PwgwoFCYQEkUeHpGljemsxBtHlQ11Wd584Wltr9-gh9Nk9P55FtmE_mo9E9lKFE5RFhId1gjk=",
  "id": "rs_019683f288d621c9016ab2b893b20487d0ac1212f920d61589",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.03,\"left_gripper\":1},\"note\":\"The bottle followed the gripper and is now closer to the front of the table. I’ll set it down and release the body so I can regrasp near the cap.\"}",
  "call_id": "call_YQyB3m5zFdj2q9fNb87EB8lL",
  "id": "fc_019683f288d621c9016ab2b894cd8487d08b100037247ce4cf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YQyB3m5zFdj2q9fNb87EB8lL",
  "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]: [-0.799, 1.5955, 0.3988, 0.4244, -0.6144, -0.4969, 0.9946, -0.0143, 0.7715, 0.5938, -0.4435, -0.0299, -0.0425, 0.9998]\nstate[eef_state]: left_x=0.3026 left_y=-0.1598 left_z=0.0203 left_yaw=-0.0435 left_pitch=-0.0463 left_roll=0.0221 left_gripper=0.9946 right_x=0.2833 right_y=0.0048 right_z=0.1684 right_yaw=0.0085 right_pitch=-0.0521 right_roll=-0.0058 right_gripper=0.9998\nstate[joint_eff]: [-0.6085, -4.6701, 5.3538, 1.5507, -0.3199, 0.1832, -0.105, -0.5265, -1.7162, 7.0496, 2.1514, -0.1197, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9789644158354be176eb028bf0188b9a1938eb182c463471f35af4c7686c5e9a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9d1ad3ab28bae9eb4c5cb7117a4b45dd4fa328a26bc15cbc3fab1bf53a615b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1dd23b3b71ed09e5c58f820b812ef8e2e83288496e5f6d734f925637d4e70a30",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 10.74 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 45 changed as sent

message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7795, 1.5356, 0.5297, 0.1574, -0.5705, -0.4995, 0.5206, -0.0143, 0.7937, 0.6346, -0.4503, -0.0296, -0.0429, 0.9998]\nstate[eef_state]: left_x=0.3094 left_y=-0.1666 left_z=0.037 left_yaw=-0.0505 left_pitch=-0.1239 left_roll=0.0482 left_gripper=0.5206 right_x=0.2888 right_y=0.0047 right_z=0.1796 right_yaw=0.0083 right_pitch=-0.0403 right_roll=-0.0066 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -8.6222, 6.5983, 2.6105, -1.0085, 0.022, 0.7985, -0.5265, -1.0872, 9.7162, 1.7167, -0.0708, -0.0171, -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_x\":0.455,\"left_y\":-0.175,\"left_z\":0.115},\"note\":\"The bottle is resting on its side with its cap now within reach. I’ll clear the body and approach above the neck.\"}",
  "call_id": "call_c5oB56pNDedMG8LJXHYKqrYa",
  "id": "fc_019683f288d621c9016ab2b899bc2087d0bdbab144041fbaca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_c5oB56pNDedMG8LJXHYKqrYa",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5232, 1.7527, 0.9726, 0.1608, -0.4286, -0.3256, 0.996, -0.0143, 0.7383, 0.5411, -0.4187, -0.0299, -0.0425, 0.9998]\nstate[eef_state]: left_x=0.4475 left_y=-0.1692 left_z=0.1082 left_yaw=-0.0062 left_pitch=0.0046 left_roll=-0.0212 left_gripper=0.996 right_x=0.2783 right_y=0.0049 right_z=0.1582 right_yaw=0.0084 right_pitch=-0.0468 right_roll=-0.0059 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -8.0205, 8.2667, 1.6435, -0.0513, 0.2271, 0.1294, -0.6085, -1.4427, 7.1863, 2.127, -0.1148, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4072e6d77cbc787a5d9ba5c8e8cd783cefb6a8d58ea3a38eecfdda295879c76",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0053513930e5caaffc00242d586d0f8564e0cd29642970c47e96785ed1e0b0a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62342042a1f679561c528dc87e2f60527ca97116e823f104f97901b25e0df923",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 5.603 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.799, 1.5955, 0.3988, 0.4244, -0.6144, -0.4969, 0.9946, -0.0143, 0.7715, 0.5938, -0.4435, -0.0299, -0.0425, 0.9998]\nstate[eef_state]: left_x=0.3026 left_y=-0.1598 left_z=0.0203 left_yaw=-0.0435 left_pitch=-0.0463 left_roll=0.0221 left_gripper=0.9946 right_x=0.2833 right_y=0.0048 right_z=0.1684 right_yaw=0.0085 right_pitch=-0.0521 right_roll=-0.0058 right_gripper=0.9998\nstate[joint_eff]: [-0.6085, -4.6701, 5.3538, 1.5507, -0.3199, 0.1832, -0.105, -0.5265, -1.7162, 7.0496, 2.1514, -0.1197, -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": "gAAAAABqsrimi8fgj2is1PetNxNtD1pU901LTBIb5NN1NWTgMfJt3JOf5bi81whcZLI-GQr6TkMjg8CY6vkK0gj_UaLhFbpw8Qzm7mar79J4aiR4NJH6jqt5gXld5-672PC852IQols_vLWO2eVKOz5WOgQJvZlkqT6HmnoP_igQvPUBuF-OhAJRuYn2-v6ueegFCcAGmCIcviVF_nd3qmr6oBmn8lzqCrU7AfEYOAQlezzKdVFAcigwtqTw49LSjF6_yokdnWyNKov2OHsVlUGDdU1R1nxf_w5pJH8icPyop2S9hyDkh_pXq59xwMLuRmpP3nBLAkAhQL05BcWE31mnrBgoMPb-19UAlTk8DyDN5mSLlUSznUNqwYAs1my0GJLDO6NjeovrJcVwrlcJNNeCEYORhrl-s1d3hkhcqfOObPtHLLfRO-qryMRuEs6GAuhfumjCiugqgDuwhPvb7ERAboHOu34ejsGkpEWvP4Slv1EoBKwfT_90Xb7RkbCJm-BwukrCmxvWc78bDiU0kHwtjA8-ZgddYTWL50NPf4p2h7XFweItsc71QH5A1CqhP-Kym9XjWdoLehN8VKaTuw5MMKqrhP4zj2PyaNVrAB0DFf3TwtVMyWHgkNAdwuwwkHb3h-xSG4W7LxCoJPVzh_Fx3VYxOu0gp94ltGwtS-k9cpClmf3qAlDoBpEiSBOXRqjVri86o9adgC76KH5JvpYjB_ZffxcPWE809x7ycYZgg8NP9HgSeR7T7042G8hW16Y94cpTgyAj2gvUcEC9OjXmjqO4uA-Jimidba1lMOS5ETMzc96gOs5Owlxut2k0yxn33t-93H9DFbOr3giYkBwmg5r3C-Px9aNeslWHy0UZ3Vj7hOCbTjOcI3Jhls6Cwnu-3NxfaXEXvU9g40y9irDUTJvJOazSxZL5vzK_hgKZRSGP6amPB8wOiXjz6JxOnEEN_kQKFWn7jS4BARIXDahT3kol67IVcwgYCQS_IHGdKmXlzdPOBmKwWIGn6gvPkLPEd93iVMcu5WvpzGZWKKqPaG7QCZZlAlarMO7lbkpulrXjxeDibWOk0OkPqs4yude4eg7eVmpTCjnjsDz34no1QfaAv52v6STWQ1XZv1OlP2tQMwhhw_Tmn4Bfn_nHm3shr1kIj_GIygUtDUPppL_ZY9E9qlsVgZZ1PDixSX-UxscEMvs1tVakzOaDAXIy57xzMq9bN9giwKvE5d6G2E4t9wdtRNsZOrjCLJnuJcwRlcYW1G7Xnxl0X_OXt3rkvmO5Dkneg-X_FXMxKB12b1Qhwlul4MVdLUzSuTLQfeF8I-dJVco-QJA5m7h0Tm8RUn_Nrj7o7exEnP_-Hhhi2y38CIl2ebxBzPvwKBW3_Hf6benUmpNax7A_jBiaIdyLVeZ-JKXwC0A0Ma9TOj6Dr4DcskaF3eLGb-Zjj6N5Z3iloUUJyxyRCGcMERLTQ3e7KnIh6ioCn7S8kookkF3sxhBD6TleQrUiaLOsEz0I1sDv-VcCyqU_nFT3vCySY3hn6kqR9aaBi1-vCtpNCjqm_8Qjfhwr4fZPh7gBpAz0g5d_FuYywcZGqIlRL0grkd1AuDgo7uMMtQO_danUR4C0SewnjldjOcE3E4CncW_oTq4cejARaO7fTvx7tRLP9FF5-QzYMWqCL5OUacnV1dGbN1n0ub2r2sjhkPcvy1E6wm8NXdVhHZtKYZYlf_oAAv8xKjLkMK-BPVOAkg6ZkBwAcNi2rflyjyGbbOKkqd9e5FsXH794h3sWQR-OMvHFq0sFRI0kqtvj-wizKzGp8s3dlktzKTVbscF_Ag09DwVx0MAucmxG4ABrsQKp7OgtMs6KRF08yyZh-Wp_uSqraxCUiV1II__RthtEgg-OTQ-JPkKQ5VodLV8jvo0fmCEMF5F4KcVqyoUnmy1y",
  "id": "rs_019683f288d621c9016ab2b89f58c887d08a9e1a8c6e5ea315",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.465,\"left_y\":-0.175,\"left_z\":0.032},\"note\":\"The cap is aligned with the jaw column. I’ll descend around the neck, keeping the bottle’s base on the table.\"}",
  "call_id": "call_lXn3oCbnCQ1Z7Rk20WeMqE9r",
  "id": "fc_019683f288d621c9016ab2b8a570a087d0ae761645b73d5160",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lXn3oCbnCQ1Z7Rk20WeMqE9r",
  "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]: [-0.5175, 1.9743, 0.9504, 0.371, -0.4271, -0.3149, 0.9962, -0.0143, 0.709, 0.4953, -0.3954, -0.0296, -0.0425, 0.9998]\nstate[eef_state]: left_x=0.4602 left_y=-0.1736 left_z=0.0366 left_yaw=-0.0072 left_pitch=-0.0251 left_roll=0.0035 left_gripper=0.9962 right_x=0.2743 right_y=0.0049 right_z=0.1496 right_yaw=0.0081 right_pitch=-0.0399 right_roll=-0.0063 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -7.4325, 5.641, 1.2527, -0.188, 0.0317, 0.0073, -0.5949, -1.3197, 7.0632, 2.0195, -0.0855, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aed6a9564bf40833bf3466cee49dad004c3186602f4fcd5cee722e6414eade7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f1998130adbda3830923b40f8c9b2689ba6dcc17d2d9073c48529e7c3f22ba5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5ae6c096246b83a7554342ab6902de62157fa2857e61eff36264956de6888ee",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 10.57 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]: [-0.5232, 1.7527, 0.9726, 0.1608, -0.4286, -0.3256, 0.996, -0.0143, 0.7383, 0.5411, -0.4187, -0.0299, -0.0425, 0.9998]\nstate[eef_state]: left_x=0.4475 left_y=-0.1692 left_z=0.1082 left_yaw=-0.0062 left_pitch=0.0046 left_roll=-0.0212 left_gripper=0.996 right_x=0.2783 right_y=0.0049 right_z=0.1582 right_yaw=0.0084 right_pitch=-0.0468 right_roll=-0.0059 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -8.0205, 8.2667, 1.6435, -0.0513, 0.2271, 0.1294, -0.6085, -1.4427, 7.1863, 2.127, -0.1148, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws are positioned at the capped end of the left bottle. I’ll close on the neck, then lift slowly so gravity can bring the base underneath it.\"}",
  "call_id": "call_aaotGrO2caQj5go6OyxEA5rv",
  "id": "fc_019683f288d621c9016ab2b8aa1cd487d0b59cc94cd450a43f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aaotGrO2caQj5go6OyxEA5rv",
  "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]: [-0.522, 1.9781, 0.9466, 0.4828, -0.4606, -0.3164, 0.0139, -0.0143, 0.6849, 0.458, -0.3767, -0.0299, -0.0425, 0.9998]\nstate[eef_state]: left_x=0.4716 left_y=-0.1766 left_z=0.0561 left_yaw=0.0176 left_pitch=0.0745 left_roll=-0.0336 left_gripper=0.0139 right_x=0.2711 right_y=0.005 right_z=0.1425 right_yaw=0.0084 right_pitch=-0.0346 right_roll=-0.0062 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -9.7026, 4.4786, 1.1746, 0.149, 0.105, 1.2234, -0.759, -1.2239, 6.8991, 1.9805, -0.1197, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c254e753d3ee42e7a843cac15cdbc7627dc38d21164ec2bae59daaebb41eced2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:983997340d24668b495e82170f2027918de4f2e6b629c625d2f5dbc740018da6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7cdfa9cfb376e1d4634d61c7a9528c8c5ff0b5f781ce108ddb2c4632ed9d47d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 6.397 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]: [-0.5175, 1.9743, 0.9504, 0.371, -0.4271, -0.3149, 0.9962, -0.0143, 0.709, 0.4953, -0.3954, -0.0296, -0.0425, 0.9998]\nstate[eef_state]: left_x=0.4602 left_y=-0.1736 left_z=0.0366 left_yaw=-0.0072 left_pitch=-0.0251 left_roll=0.0035 left_gripper=0.9962 right_x=0.2743 right_y=0.0049 right_z=0.1496 right_yaw=0.0081 right_pitch=-0.0399 right_roll=-0.0063 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -7.4325, 5.641, 1.2527, -0.188, 0.0317, 0.0073, -0.5949, -1.3197, 7.0632, 2.0195, -0.0855, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsri480rAFiWn8g5Xjl44Un2eEKs1o37b0yc26z_BGOCxhULZlIbPJF-82zL2IfiMAlEZF_DDQ2ySdHamoE0lkMdfhskWVa4zYPVxL2IlmsDJSIlAvqLMmspmq1P2NyiJZWC-keKVckxCZAZ476Xva1et_B_TgcoGQNKpFxTEQ9eNZWHC9FMqhVhw-Slymd0DSEW60E63nsJ8JtCvHTxZ19KgJ0dezM14TMumoil-jcITji42ik8kW9u07F0hp6Pn_jkxuqCI9zpJaLwHbgO7IV0kYzvciMRKs63qSLlzIA_rhOlgVN4rBJKnXPBlE-1aRo3-K6zW9AZ0M2Z9-acZew880s3aXFlfPMmPCgf4xUDYJ029A1RhLj1yJiz2MZWbHcVd3Mo2JQKPL19hD5AFPGfKpJHS2E5U2-HD7OJugaLR6JD5E5HgOOXi0CbZSimbMErpQzNz_MaIs5GxHK3us23Fzk-KmCjC8l9oWH0AWYU17rkL3RQCE2OJgXWrLdI2Or43f2g4IfrPOzXLiZBGWTE6UYrH3-JC23cQfRQNHhHAP9Ots6kH3qnl_4sru66c3pLounZx4QHlg9TaGUiutJp7uw0VuZFYOj5kae79AwnR8E_Wu-UJ53iY53B_Vqx45FHw5f41dMUq-qqiqtJLbdFQHJcBEonc4s96GMpvf0OlK459pl4ccFtpyqtCHJkM_u7hh6am02WUFwACRb6rQyiYqvF52pItqVX38InjKfYomAm9-Ho_FHpTCxiHvd-jCUOc0XSmNkMZ2hFdYpOBOH03dV_d7UppzXjXTeYLAN3Ynuok24BoyKOzSCm3NQ3v_1kqIdnMGB73Hyly55T5ziWWCR_TEr02jogzfyKNm2coCYSQSpWTvF197S4Ybpkk_oix-01ZFPMkoD2lowWXu8fCaP6FNcmz4eiTb9yVDt0LhakSjrfpxMEJCFvF3rpsU_Th2ib8SDG68K8dX6IoJe0gL-ZNkBH8-jEfzlYLtWYV2nlFzYnV1IDYho1h6JbqV8jHx6V7ISK6Dw4eZnlEQcnCvM72NCuuNyDqYeNqLqNtQZow9ofMX2_Kd7XLhBGA5EH4BZD9p6RVXgtnqDCqlR_iAcjyovXmz4unlJgRi1VPjE_85BqYwiM7iLSOBCMR9u9tuqMG35-IgHzCKga_iyuALJHVjlPc2sTu6zPy0IamO36WjpoCIN7xa98_VIkfkRZH4_CTLeb0nXT-peiz27xEMfZ1SsdU_coz5f0HNfZyJlbhaHaN8BLL66au3sbXXq3W-YceNNEJRMShWmY4nD_T3JjjMQMHurBAL9wXM9woI2Iz_9eGSkxIzLsYoYKTdepiH2pUPKurQtAw9UGb0ic2tx1kbW6q882_0C1wMeepU84pvOVZltgsjXF2vUKzcDJuRf4Z5KcOPlLwNGA2_R5N3NzGAVLSg6his_JrhUFiK_aoOhDravzkA7TE7pYHWUWGOYCcvqe0cw6oGKzm_yPB_GejglkumVKa_qnB7uWjnNKEsHwF7zl3jtfJzhKVp6b3GFesTCPgh2rG3RCqZknL_CSjXFZLK4kaKEMIINLdU2DHvIAYWWa3yn5ZYr3AVoBOfzDKJnYdmmtQwXKqP79_91lhwz4xXqNe3peiydi6QFwWyrZQA1JL-FggFWGOZPrupcL6No_FKoMQIwdyU9C2WKh0y0y31APIVJvcamteX81BYIipaLOZKj7Joidcnls4Sk_PzHMpK2Cv2l_kS4ROFw==",
  "id": "rs_019683f288d621c9016ab2b8b17fbc87d0a90931de9ed8b364",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_z\":0.027,\"left_gripper\":1},\"note\":\"The jaw reading shows I missed the neck; the cap is just behind the fingertips after closure. I’ll back up four centimeters and reopen for a corrected grasp.\"}",
  "call_id": "call_LBk37Zonb2MLN30tx3g7GcZP",
  "id": "fc_019683f288d621c9016ab2b8b5d84887d08f43596a22f5665b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LBk37Zonb2MLN30tx3g7GcZP",
  "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]: [-0.5865, 1.9366, 0.8413, 0.5186, -0.5091, -0.3729, 0.9943, -0.0147, 0.6647, 0.4255, -0.3645, -0.0296, -0.0425, 0.9998]\nstate[eef_state]: left_x=0.4395 left_y=-0.1844 left_z=0.0461 left_yaw=0.0217 left_pitch=0.0643 left_roll=-0.0466 left_gripper=0.9943 right_x=0.2677 right_y=0.0049 right_z=0.1352 right_yaw=0.0077 right_pitch=-0.0346 right_roll=-0.0064 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -9.4291, 3.3162, 0.9548, -0.1099, 0.1099, -0.1832, -0.6222, -0.9094, 7.0085, 2.0195, -0.1392, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f682fdb2bf36a288e792945866a3058a04424f677a067d9e20a5d09614c19ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f947799809a3e5cba9371904607c4940986c939329eca5deced3b3acff266075",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78f427dfe4494320adad8ddfe8a348aad38eeac15711b7f57c0b959dc8dbbb37",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 17 attempt 0 · /responses · status 200 · 6.455 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 59 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.522, 1.9781, 0.9466, 0.4828, -0.4606, -0.3164, 0.0139, -0.0143, 0.6849, 0.458, -0.3767, -0.0299, -0.0425, 0.9998]\nstate[eef_state]: left_x=0.4716 left_y=-0.1766 left_z=0.0561 left_yaw=0.0176 left_pitch=0.0745 left_roll=-0.0336 left_gripper=0.0139 right_x=0.2711 right_y=0.005 right_z=0.1425 right_yaw=0.0084 right_pitch=-0.0346 right_roll=-0.0062 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -9.7026, 4.4786, 1.1746, 0.149, 0.105, 1.2234, -0.759, -1.2239, 6.8991, 1.9805, -0.1197, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsri_4vqifvLcvmzKLUmBFdTOqDwMl5kZ9R5i6k87gT9z861d_4nh_pJCkDwiTWfFznXkOBByFhN22LkUPCPRTi5V4d-TVQ5FEe4RKy-hIcA4uLNj5YXKDIjZQjPumnXw4j7p8rA8gnMK0nfcdej9WobW_hccHdVWFgRyP6I4ubzoNTEswGVZnGaWvmelKvDpyBzRq8eqP3RVydNKyUogWFln-dJmdxtoz5o-R8BlDUGbpC58BgkxW33gS6VpBTZQSmKLzmB3THls_5dVELdQhWKtXZMBgdU5N9Tire79YBqz1GlJFPji-Cvle5XOXLL4LajUTZtI3LTqkFqBHN9mB79M39yvOEBqaSnIIEosPIm7qkPmhVINIITTqqDCoh-rZgq5EYMoaL28LeyE2dPtdMkM8eJzY2sNKSdzWJXTLpwKV73SljIPogKwaWcCBRufCAmOTExOpHl5FLK69Vxh2Dh9CHc67N_4pEevu73a-xPRmWV4cnDNkVai_6lsVX5dQcbiwUPeloAKY8n0yhrCNAEFvH_5CzrP0TOFM44j6yMIY70jz63H7QEfF9qxbWuFg3KNrlfmUZBS1ftj5XP1TCVuHLHUANt2tqByFvs9CTdG3xy2V8SW7viTXZTJnJCVpXPI8wve7_Dja138WsEECMO86UYd0-oC2ImFOE_i1-GU2o0mK12zmfIa96FbR2JNHgjLQBi_Bvwr-f4UaDJgX_j5xzczw5eSBzQCbbSFv8Yo59R-oLgSy9cRhotg7A9PgUrvWAoCaCGyv5TanIZGIfCDQw5SPHwdIqUAcRARTfb5rc-B73jTH1wGvVsGpGG-Js04X6cZAgKNh6jwYEJiMQrJF69937XziLgkMmqxJ254hcbEYtTEdp3T_rx4Ted4fFWqo8WlDg9e2UMvlHN3giwVM4FGvuS1unSbpXoImQuPwNeVXv2dLuKu59-ZGP9QM6aiowZczbNReQmM8QxhsCNNgRVkjNNkFKonMVONkwqr5PKdRw_X1hsBpvxNmY8hPgq5jbkf2aUJ1slAA7hHAaryOzrknmECBCITMBW14QR2U8FeXNGt6Cwyjdaapq6mEW1_gpvoV1FDrdnvjbU_kF7kE1nQvK-SfIgqtrh-1Ng0etCmOugCdPsy_0Rj3w62agaTFw92wlU0VCp_kcG8h5gucNwOnxhuik9phssr7Cl-Q52HAuLjCNvn7O7LSJDhnjEdhqM__HnNB5IKEzi34dgof-vDDggBdD_AOtt7mpJMaeBc0Bkg7Sz9BOZyfBrY_fkPiICJtj3-aod_WbiiIxjDdlJ2QjnZa1gNXHKgcMc_i6wFuGa46gWcc60UZod_EJr_",
  "id": "rs_019683f288d621c9016ab2b8bbeec087d0a296dcf82e95ffa0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.2,\"left_z\":0.025,\"left_gripper\":0},\"note\":\"The cap is visible between the fingers but offset to the right. I’ll center the neck with a small rightward and backward adjustment, then close.\"}",
  "call_id": "call_iBKI3SQsceufePSVnZd1jpqn",
  "id": "fc_019683f288d621c9016ab2b8bdbc6087d09d5a31c7024747ca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iBKI3SQsceufePSVnZd1jpqn",
  "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]: [-0.6765, 1.9217, 0.841, 0.5179, -0.6083, -0.4305, 0.0137, -0.0147, 0.643, 0.3935, -0.3504, -0.0299, -0.0425, 0.9998]\nstate[eef_state]: left_x=0.4249 left_y=-0.2071 left_z=0.0574 left_yaw=0.043 left_pitch=0.1068 left_roll=-0.0642 left_gripper=0.0137 right_x=0.2648 right_y=0.005 right_z=0.1289 right_yaw=0.008 right_pitch=-0.0308 right_roll=-0.0063 right_gripper=0.9998\nstate[joint_eff]: [-0.6496, -8.253, 2.7282, 0.735, 0.0171, -0.1685, 0.9402, -0.6769, -0.9368, 7.0769, 1.9512, -0.1685, 0.0122, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c7b0fafd818eb176248174837fb0f16d28d50b9a7ed3c9af4569d21d080b14f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16044c20a109940858ee9a57466c2732c8148ec828b43754ff65a99b4142d733",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:372e1173e76e66d861030bd4dcfa8b626c6f5d354ad7d5a88abacc3295de8c43",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 6.265 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 63 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5865, 1.9366, 0.8413, 0.5186, -0.5091, -0.3729, 0.9943, -0.0147, 0.6647, 0.4255, -0.3645, -0.0296, -0.0425, 0.9998]\nstate[eef_state]: left_x=0.4395 left_y=-0.1844 left_z=0.0461 left_yaw=0.0217 left_pitch=0.0643 left_roll=-0.0466 left_gripper=0.9943 right_x=0.2677 right_y=0.0049 right_z=0.1352 right_yaw=0.0077 right_pitch=-0.0346 right_roll=-0.0064 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -9.4291, 3.3162, 0.9548, -0.1099, 0.1099, -0.1832, -0.6222, -0.9094, 7.0085, 2.0195, -0.1392, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrjHTz6owcM5P65nE1nyVzdO8yHuWnjnMv2MQ6lcyZNvkc2znHGNxe4h0pug5S8VQvMdRXjRsT44lJQx7ULXc0LBUYPq5BmjuPv8dy4gLEvoZ0EgZ0GYBN6EY-w8hCxNqkmrXuFrm3evrTplvAe5lljJIH7ML16gGS1W_pO1XatXKqqihwzakXEY2FvX92h6svXEJK5Wu3LEqYiISz9yUmuUArG6QsIQ9Rcp0YJbl0vtrwp8xy_b75G8g_vB9y9rErO4hHchwV2zDZKcRd4GZKiLVfvxy6GdCrSlyzJMBXlakd1E0SAbD9l5FRaD4PUsXoaDHhNHUQmDRIWa7rZtp_QUMHseZrgK5JQzNRadrNqDmEyMnc7AJuRkPbsghFFB0Shhctf315L_Y6yES98Y-S9MFoL3Auwa3LkygCF37217pzR8bFvEBhRuHa_XdVQs-z5_0j_A15sywyaiu--5LgR9WkGt6WUgl3J7_RCibXXhqSds7h-TFy7u-_1hbOM42nx6aYz-iUz1EdB7Sf2VP_L0sMahJo2VOb38Iv0rbtWOwR8JQ3mKEq484WWENeQaYeVtNnnkNQ1Hi7IUDGaNCDHGYbGki69nHgIU72P8-7e9b-8_ClvMjYsag7ODD2KvPut5D1jjbS-bCqz34Iiwenr6M6hCMmKp1mtEjnkZ50MvKvapp8foDhhhP7-T1IwAzxoTWr83TiDAA-HYPHLBfppz8fzQfaUpvosQ6uMVhUJ4Eq8kJ1fbgVIdvxk_dmRv5cl6FaN4ocXyYbh_xsD2346WVMmR2KyQV32Rg-X_Z29TF5dqqnFTzlWgyUwT-2WTO8_nS0SN6tmT7FM5mCLtZx97oUhMXFm8cHuTjs3zKP4vmshKHEPqKXx6PqGVNOvPFRmlnkx9rSbRT_E1hiaXOT2Tceo5XQUqnedJ6FzSFwDCgYvVa5yLOsnuuYqcz6RKM8BusWN82pgw2Jc9MBZnOJpjXTxvVzSYLRvXaCwdpwtZo0FfOTMs2eecLNG7cDMkpi--1lU0uG-CdMFj5slVZUarMDBoPFpO0VlAUnkAiPL29a0YKGunlSMK61yfUBvwGcaiQSar0_11N-LVenu_2zeh2HcLRan5mfOCIFSQHph11W5OizAA7kscTL2PdpT0ZopJTAK7KPDLkDsM1PCIU1KRasueTk05G5PjSDGLZGrZq4GioB7nyoCACf5mSX6ELD6zi-KGB9025FIc4Pc04URh2wemoIjD6TqYQO9M6yUbmtaaFuFgmJibPD28YzY5ZcvsELWIZC1ilAVGxU_YVACKRw-TNQ-KFsTPOGcSB2tS8B4cmtuoHr6g71QTkB0ZPk2huklvxRv4NAvMjhBo3XmZnJGVy5bj1-3kD8y9Y37Y2CnjaTPA7lg3edUfWYDGByuBqwwBoAytWJOM2blIA2blC5ceSPJogDTagy_w3Q_Hbdi5J6okjbtBVhw1zXV0yMnqWiA4WPljNjhyaf3rO7poV2W3r4ZsExK6-YKmpaEl5UE=",
  "id": "rs_019683f288d621c9016ab2b8c2f0f887d086f68bcb82d49d2d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_z\":0.07},\"note\":\"The jaws closed above the neck rather than around it. I’ll reopen with clearance, then lower fully before making a separate closing motion.\"}",
  "call_id": "call_vrHdIN6lPAIWJNF89KBIpGYx",
  "id": "fc_019683f288d621c9016ab2b8c5c58887d0a4eca2047432562c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vrHdIN6lPAIWJNF89KBIpGYx",
  "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]: [-0.6735, 1.8999, 0.936, 0.2134, -0.6003, -0.4503, 0.9943, -0.0154, 0.6254, 0.3672, -0.3424, -0.0299, -0.0425, 0.9998]\nstate[eef_state]: left_x=0.418 left_y=-0.2013 left_z=0.0477 left_yaw=0.0461 left_pitch=-0.0378 left_roll=0.0386 left_gripper=0.9943 right_x=0.2619 right_y=0.0048 right_z=0.1228 right_yaw=0.0073 right_pitch=-0.0315 right_roll=-0.0063 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -11.5761, 7.8017, 1.4872, -0.2369, -0.0415, -0.1392, -0.4444, -0.9504, 7.0085, 2.0, -0.1197, 0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3362d59fbb9af8303364062871e3e6bec86842b4b9b3262e7f971dab4ed2b2ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:984a83b7aa66eb7b39bd28613d21ff20fddeeb2134e24a33f00157ee8e102b3e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f093bccb7c219652cd7056d8b275d0844a54c595d78690590dd71e79a7b20a74",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 7.375 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6765, 1.9217, 0.841, 0.5179, -0.6083, -0.4305, 0.0137, -0.0147, 0.643, 0.3935, -0.3504, -0.0299, -0.0425, 0.9998]\nstate[eef_state]: left_x=0.4249 left_y=-0.2071 left_z=0.0574 left_yaw=0.043 left_pitch=0.1068 left_roll=-0.0642 left_gripper=0.0137 right_x=0.2648 right_y=0.005 right_z=0.1289 right_yaw=0.008 right_pitch=-0.0308 right_roll=-0.0063 right_gripper=0.9998\nstate[joint_eff]: [-0.6496, -8.253, 2.7282, 0.735, 0.0171, -0.1685, 0.9402, -0.6769, -0.9368, 7.0769, 1.9512, -0.1685, 0.0122, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrjOvRopdOqDeewkeMvW12TF_4sR9CIQYazHdoFiiDQ0yiE0o8Yt8sD77GvqXLaiPnj5FtuawvbAxqb5EWBViQC9BOmord7hUBXS5fqj9Yx3Tyomtu1r_iBRL4-i9K3eNQp5ccYo3agRW9Ak-zyg2ZTlLglpWmQgVxtKs9V5KLdtZmI9KK7Y8r2vBVvAIdWQPC3-jL92W2cw5v5goyDHcA_Iooi3wCAwH2nbkztBtOYdDiM_c8IuGucGJkJRLlsJMdKZRvWiMJ-H1OFyVqA9K6JAKflD5TLLuI0UNodETf2W7S2CpSjYY0uWJgxpLgG0HQ3ooebF6-B_Ho47d_yUd-KNAw3Inx1usLXaoveialA7uttahd14inaJ4hhIO7VxIrTzmrXHrfI6RknUPUZwYRi-PEdDW045K5bpDEmFsb7LmVfq-TfjqjyeMO0nvOHyr0ziPJeb9EOajv4jg7PcsFKDAYTWzmNZ1ZMnVfX73oQWjhtKpx6XnSqDrmo2h8vqwA0j8eZZ1fKXLfqpCa9w9QmDQy6L1PPjCnQDT6YlX3UW-bbzYfnXvZKxFmaKwCMt87CzLq1f_6r9F42ceh3i2jSVzYVWBuipjFbke33t4rIhy1O1MSGZV9auVKMTaH00K2kTLkjsoWPy1wXteKM14gxfLBTrTxnAKWMyMWClhZLaFc50m2qqwfphFXkeQ_LDL3l3jTAi_FiqP1ZhTp_BqE7lz56Uryo4wDEwCi-mQmFVsVDd8HmDmYAO30TFzKpVbfI8DPEqppAB7fXirVb1TEWQ_my4tbRJu4NwUDH94KpCAvojtI6SGDfXzGk-CMr3S__r-X4JDt2w2_mvoy15QNvUhGClMd5zkV6xERP7Yqptdsyrj9kmXsPluNJt_6z42KPPVLAIQXTGiArZhHdU49F-huBghgeiREsvCT_rpIUOzP9rybL5SHA8wpv8VCIL1JM_GPxGE_emBajAoilKrRgzQL166NXZNjygYvYsAdx9DY9_voTXWqD0dd6ZFS52bPYclqtOC_DR0wBL2lFSAlsKgkyJCYFmBj3Agz29Loq8WohH1Pac9GqKH89RaZcYQJMbHZ0zBx0Q-g9cYd8y98XEqUFjhoxZEYMDJby33_oEsUpwBwoffy4ppGdOlQZkuZe8JY4OSsKj822heENdLGknamLnICvRdvlXqENQWOgNYF-KBh09SDx4Bhy43Pj-oh1zz5AkdGIIhy7IhUCCkjILSLAjmlrTy96es907C5-xBRc=",
  "id": "rs_019683f288d621c9016ab2b8cb5d5c87d0832d34199ade32ba",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.21,\"left_z\":0},\"note\":\"The target neck is just below the blue cap at the bottom of the wrist view. I’ll lower the open jaws around that neck before closing.\"}",
  "call_id": "call_xueEliRZ9NFiqiLJmnTHeQ14",
  "id": "fc_019683f288d621c9016ab2b8cc91f887d0ab057ab03dda360a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xueEliRZ9NFiqiLJmnTHeQ14",
  "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]: [-0.7139, 1.9827, 0.8658, 0.4591, -0.6556, -0.4644, 0.9956, -0.0154, 0.6037, 0.3401, -0.3347, -0.0299, -0.0425, 0.9998]\nstate[eef_state]: left_x=0.4156 left_y=-0.2128 left_z=0.0317 left_yaw=0.0557 left_pitch=0.0548 left_roll=-0.0098 left_gripper=0.9956 right_x=0.2589 right_y=0.0049 right_z=0.1172 right_yaw=0.0073 right_pitch=-0.0292 right_roll=-0.0063 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -5.2308, 2.7829, 1.0183, 0.3443, -0.2418, 0.1197, -0.6496, -0.6085, 6.8034, 1.9902, -0.1441, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07bb8597191d7e2e5778d59453ef3c95dca99dd08f1ce817b53bffb8f039ef08",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7a0b0309d0d4484c65db46755c88c3d8d35393b6daad68940f29f967cfe04c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cd03bbd82b03eb074fd943a8c980b72ac96e3b654d6a154a2bdf28990153be5",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 8.651 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 71 changed as sent

message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6735, 1.8999, 0.936, 0.2134, -0.6003, -0.4503, 0.9943, -0.0154, 0.6254, 0.3672, -0.3424, -0.0299, -0.0425, 0.9998]\nstate[eef_state]: left_x=0.418 left_y=-0.2013 left_z=0.0477 left_yaw=0.0461 left_pitch=-0.0378 left_roll=0.0386 left_gripper=0.9943 right_x=0.2619 right_y=0.0048 right_z=0.1228 right_yaw=0.0073 right_pitch=-0.0315 right_roll=-0.0063 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -11.5761, 7.8017, 1.4872, -0.2369, -0.0415, -0.1392, -0.4444, -0.9504, 7.0085, 2.0, -0.1197, 0.0024, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrjWNuFY_uQnqD94pqNyTHB51idSj1D6vOSKpiEXccPODVDCqgWBzRF_YAcKFkiz4u5ullnl_UJq6ouPTWVSD23hX2QyKomM2NFbuW6BQIvoScxzN-lb0LKvgunV7Y7ydahZE79C-rp-zfVX_0S7MUAmMXC_zrsdwY_tEc3_g5Qh56WvGUXBmAqEuXegFzJu-4_sRup7TmKbxvZ3tVrEfbZTpIo-eHVRXKyDHroP4URN6uaXJA4GGWP8LuaqbmT86ecFrskfesbu3oXOk9d8QFAjVGPe2uEQQSK3B6DHCzJhBUsajVwGU2Wz71rFWhQuE2wIEVLIDRHUQassDmGSeaBrWxPMyHPt-LT4QXabBNfwwUv_3dh-irw1uihh2Y1G6Ai-U_WMV15EKQX7l9nDd2J6EblTInmqeKa9JzVkKkkxGYCY_hAsfvaFEZdIw9pkBMt5rYuu4Z__50J1xhLtslTQckRg48oUYpiPBv5xXXuaOvQIn4hE2qW0I3YsC7tvh40SzZSeSiqh3wNjRq0wW809mus_FqjT88fqJLYSlEmXCPEiVGNFMnngh2KnNCltQJWntKrYgae34TOGDveKZXbK1SQEMc9R2GzBEeWrQabJBl9wpQVg6ctg-RTEZoSjZNtaffazmbbn6p9KKxxqcmVJZUU4rsmf2RhocPzNSyDQNNG6FihnyIGKvEXK2m2bbnwxFKFj-jZ7wYvL7ZN1At2bYbHO5QmtAlCYWHu1YcCqHiGHjHbP1SDOV0q5GyJSV1lDuaiU921288AQYhJUtL99fGXkNllh3ysYnZEaBbg6tA_Bi_E5hq-ADrZdxmbJnzf8pX3fuSFrrK7K8JST4sTtcRCAslN_rU_fytMcfT57nT6sJ8kCvX6sSjeFcd_k58FVTI4LsHAaO_cvkUSm5Nqu3vh9Nsr1U3moUs-P8ZTuKpbyM2w2j6KRhTlYJ-ReKdF-xEq3xP1RcAyAiR5vDCKCcVm4G76IAomizoFMb3Blq_c2TpJN6slpsBKrOhaeUpFV5P3kX60nzM8tn9lpg9D7fuhf44CuDEPYFlEO1KEhGzfiE0qYQejGtLobmrIdzfJ18w99rccDuMnDIrF5as1zT-PagNTzybFeqDxp3KYjTSwcoeiqFuJk-2_H2KHFQHdUIvehH5cKugVWBwLw36E_9GqHMr8GtxEjE9B_EU9ZK1WlK-DtN6xjvZxoNYC_I-Zxw3bWWtfV-NlpnlJolzWlwWYtHocsD4KvGH07GCpcvGec60Hw94gxhDqwPldLaPeh29X4r-P_uV8ncZ8hG98jqJ7NGNHbfnnNy7TIH7jZyTUBBX3s9IFsIjHwq-V8XHUfj3TrSO6ROMw7A7L1mt-zNrAedkQ99o5rF87FtLBMlH-Y31XAckvaD63bDJkshx9WUz0TdEX7tSpLDxrSkEmUgt_GERq5Piz2UOEQfS9Qd7lTF373tykJtLwxmTWEm0X1HMp6Bn24jZAx9wjhKoH2WVgpPX5YVxrLJmda2BLEV5wpsW5BNq3GZB_CQQj1EdQYDgVPMIm2eqT3xvU5i8KL3w9qpNeMEoZLtmUDoQfigFZHi70KUHZe-I_fbUal9FmCel53b306l6JEvheS2rFZOfp5ZphY7aMSrEx4Y0VROo1BLOIDUxc83bg6S0P1GU6_UFRQMh3vYEPJNyrfdjpvHg==",
  "id": "rs_019683f288d621c9016ab2b8d0faf887d084482dfe14e373ee",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The open gripper has reached the bottle at about 3 cm above the table. I’ll close at this position and verify whether it captures the upper body or neck.\"}",
  "call_id": "call_fi32bNYzT6YfS4IJTRkCpAqB",
  "id": "fc_019683f288d621c9016ab2b8d491b887d08bbbb94ac7167422",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fi32bNYzT6YfS4IJTRkCpAqB",
  "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]: [-0.7055, 1.9522, 0.9165, 0.432, -0.6743, -0.4896, 0.0137, -0.0154, 0.5842, 0.3141, -0.3241, -0.0299, -0.0425, 0.9998]\nstate[eef_state]: left_x=0.4288 left_y=-0.2156 left_z=0.0589 left_yaw=0.095 left_pitch=0.1006 left_roll=-0.0628 left_gripper=0.0137 right_x=0.2565 right_y=0.0049 right_z=0.1122 right_yaw=0.0073 right_pitch=-0.0251 right_roll=-0.0064 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -8.3487, 4.6154, 0.6862, 0.1929, 0.0806, 0.9646, -0.841, -0.3214, 7.0769, 1.873, -0.1294, -0.0513, -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,$blob:e973a9a7084e6295c662bb3ee1ff0cceb5cba90d845a7189b5682b6d59b64a62",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3bce57abc746f901637acd248553982b466dc21cc7a505333b7974659b8340c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcb3ff68016732e18bea6d6075576f4aee6f017ccc6d6df82b51754625221349",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 21 attempt 0 · /responses · status 200 · 7.813 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 75 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7139, 1.9827, 0.8658, 0.4591, -0.6556, -0.4644, 0.9956, -0.0154, 0.6037, 0.3401, -0.3347, -0.0299, -0.0425, 0.9998]\nstate[eef_state]: left_x=0.4156 left_y=-0.2128 left_z=0.0317 left_yaw=0.0557 left_pitch=0.0548 left_roll=-0.0098 left_gripper=0.9956 right_x=0.2589 right_y=0.0049 right_z=0.1172 right_yaw=0.0073 right_pitch=-0.0292 right_roll=-0.0063 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -5.2308, 2.7829, 1.0183, 0.3443, -0.2418, 0.1197, -0.6496, -0.6085, 6.8034, 1.9902, -0.1441, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrjfCDvvjLotH94VWWrDk-kWTRtGCfONVqPl7KR2WiFybTsCVk-Z2-Ln3TzO_bR37UO3JYXgAWm7cxoxS0lM3wKtgR99dAWYIt9TAudQZv8ywuwLC8i4C7u3jeX3scQHd2vBSCobxidcd-ndwsSZpXF7gkmFqJKR7dM9am7h91S0zaLK5k3LPIJeQQpqwqmTHuv9Y4YPs7k22iAkY5XNv5c7OmzKBn5MLPG9TfztXM-TGrhdl75VTlj7F1BatUDPFTY5CXDbAe2Zp6MckS37JDLrqL2dYS8DUIOG-xXDDs_WWzYvzmmst1XK8rtHMkuHPgtfAoaSznhGhNp2i_AZ93gHBGlxS5TXDmakDT8bSZO__9BMCuSAV8E3FJZOoZSzQakQAO7y5UZn_7sKRH7SnkCdwet94YxqxWm31OJ9QNesBA_QF8IWEqL0zx2scWI9eHFY5XgRzpWojsTRW0PK6MkNgi-7w9JPfGi0FEvbthUCyCZcLKh0DvB1LIgNQF7gLYszalBYvZqI_o1Ak8efUYCI4jrUWWfi3x5HduVYKaSyvBo80o517p2-DXtYQ2nP51PXz-bRkimq3yhg6nl4vzTS2xjUwVVlgT_x3R5tvVoPC8Lth6LYvo_Hl3V5Sc8Zj_6d0eTwnCYDQ7qOIC_d7PrVi7GKM5Qy2ks5RraoxZRpG-qjsBddqILQxxeQ94O8xTrHrsawpnp8nTi97TqgmwIXxY8fIE_61WW-IMF9wpC5x6mFWapYk-1LjEHFSe4O89_wDc95QTZug58z6YeUOikFGwiLqRBZsQrEJo9Hd2eXjeBdiG7YMng6KVsIZPFpYZQnfqkZfOyj6yIoD3Uoh_bdsBvU2OnLVS1uUvgR0ljLONGIoCiTBpNld0i9fGCNPLRHHPcNQ2WExZCGhzh2cm4V-djZPQ5dzGIIVDFohBIv1a1BrTcG-hX8jzdr9lw7h-LnzactzrO1TwyszQ7fTHWa-RbtDFRdA2z1BlyqC6uy-V46WUjfHpCTWohcnQlYu8OBamlIV3iLqUOObguGwvpnXIRVYFEnvJXzAOWOtAk_8UZ8SavWCuZDjuULV5IYh67VlS5YDitaqPauy9otwI6YwNYnKDqoKKjkZIxyr2nUh4Hc6KPa26OqcTb1BpXOxvzrCn5BuJHtvMRQZuIV17AgN7VU23cfsytW3gfAWKv8T6KD1jydiMSVExzEAjLUpbpdRUhi9UFdZLihuhPBqAg7Dhl6q-aFEFaovJeE4NG3TQN7ZM-BeZepUCenBan8d24Gwu_1EyWbhmMIBJpbn6DURyJeWFa8FQh3ltkGZ0Ra6P3ti-jbTOUhzfqPY4hO3CfV4y0xrSUSpGMWApHlbNioog27w38Aorz-DD1DJBQJtRrdr0zw3SlY2jp1ZK6MLV47haoY1GSGDDilZTGLGnKa--kSf49ZFvtfk_L_c6IVyn0--H06OmKxwQ6WsfsCWxfSyqASSuInDjXeMBlyDTYQ-q71vilWjwQF10wWXYEv7Yt_EKb5Xbhfcyejon8Jm1KRYTWjvsieSq7bpNwiJePdbEBsIQJ-Obah7qjojtah5o3cgLoeN-yo3-CerIFXO5nY6R2e5dIh1xfuAS0CTjSizc73nXPZMzSvkiU3cq020e4=",
  "id": "rs_019683f288d621c9016ab2b8d9c35c87d0927ede88c117dfe7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.21,\"left_z\":0.09,\"left_gripper\":1,\"right_x\":0.294,\"right_y\":0.004,\"right_z\":0.2},\"note\":\"The grasp is still empty; the cap is behind the closed fingertips. I’ll make one clearer approach from closer to the base, with the jaws open and lifted away from the bottle.\"}",
  "call_id": "call_hAiI4UNaa5jer9I6Je3yipFJ",
  "id": "fc_019683f288d621c9016ab2b8dd2f5c87d096d559ad02d9aab3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hAiI4UNaa5jer9I6Je3yipFJ",
  "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]: [-0.8112, 1.7348, 0.8795, 0.0532, -0.717, -0.6098, 0.9943, -0.0154, 0.7902, 0.6323, -0.4587, -0.0299, -0.0509, 0.9998]\nstate[eef_state]: left_x=0.3694 left_y=-0.2152 left_z=0.081 left_yaw=0.0789 left_pitch=-0.0118 left_roll=-0.0005 left_gripper=0.9943 right_x=0.2871 right_y=0.0044 right_z=0.1778 right_yaw=0.0118 right_pitch=-0.0475 right_roll=-0.0128 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -9.7846, 5.641, 1.3944, -0.4811, -0.0562, -0.0171, -0.8, -0.9094, 10.2359, 1.7949, -0.1148, 0.0855, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73407ad49440ef7c982093d8ff50aca72014ce0f2c684240b2978411c1f00e55",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e62b82a0522465211aaa92a9bd1a06a3f47f9550c9fc9299797e70f4488986a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6de7d9ceab0661101da6fb1269d4047e726c8967a1c16bd68f04cb3f285ca10d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 17.51 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7055, 1.9522, 0.9165, 0.432, -0.6743, -0.4896, 0.0137, -0.0154, 0.5842, 0.3141, -0.3241, -0.0299, -0.0425, 0.9998]\nstate[eef_state]: left_x=0.4288 left_y=-0.2156 left_z=0.0589 left_yaw=0.095 left_pitch=0.1006 left_roll=-0.0628 left_gripper=0.0137 right_x=0.2565 right_y=0.0049 right_z=0.1122 right_yaw=0.0073 right_pitch=-0.0251 right_roll=-0.0064 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -8.3487, 4.6154, 0.6862, 0.1929, 0.0806, 0.9646, -0.841, -0.3214, 7.0769, 1.873, -0.1294, -0.0513, -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": "gAAAAABqsrjoZ1sch56mhx8zBSviHKkC3252ljfhgK-bchNKtYoTne4PWJg-HIW6Ll9LkPGrQjhXYX3KAHwdBr2VGCGXb-mwe9yW2ea78UqkLbcs7BUsWhqL4bavpVqZlgcScuMvMI7jZl3b7-BHQ36SSDjMuyWfM4Sfcm6aiF26cyYAcooJPVLugm0az4e2lmQElHol8jD8ITlU8EfO6DoPVJmlEym_Xhe7SSBfCg9IIheKJ0zHSPCyph4k3jt-m4E0ghLZn91kPpcoCLaNO5cJHUDwecYd6iRBY-sHPqKM-DukBjAZMxUu-IMNJWOdctkIXjo_J0OMnCmv2coLARv3KdLyvXoSCEmEF1rDiuwYfT0fGlghXmNi09JH67RwkIyRMrIjx8mFKFFCI-_9GSdNVhnLZCp6XxFtmv2hMQdy2z6ulcaCV8lz2bSrQsYHZBUh-rRapNgOccSWzlKi34_3PXdUaUfz-C65HmpIR70089sNKjAac1laSS2nH_FQ9hFUO8HrVtC45rdk7UXujVZxgUjXKCE1lVwecUJL3s7c2g8OEKLy27_-z0LPAXRgzq0tP4ZUoRiA2dlzpHxAo3XdQazRT8Qn1bGi7bqe7wVJy3ifa3hUD9gUtRSz27k6ZJVXJzjouIRY4bALD8f6fKO2GrRUtOED4P1LYJw7iwHZT0kaPtZ-Z4mEzSizD7ZO9SmLRv9c9nbhIU8MGMOS5jgzIKO0NhdcJQZ_a70M-sE8rSK54iwd7UwWFCvzj___REC_kZ15Y-8-_FR4C6vPEAkkZGeB9NgiUhNxGVMN1UBeSLUTWr2dkqN107EgmrtOhV4DJ-oiKL9zqbD4gZSonvCRv4xb1K4E2tFRYNTetGOkXuv0jCgqNuH_aTivaUMuD68M_45d9oQ2HKO41kbCggLJQmS0Cl86jTOSlip5yYEtYGUOJK7_XOMeVTQm1_4s9WuoU-pe2i1Sb7bjtkRuRGiYZzjacoVU14wMADOBPPFMCJw0CpYjvenFXCIpB8N2_9tdYdEslDmhHRRpwtXhAuab1TKejyAEx_Dt9sBGTCxVhT7A9H7bWkOwPOfxFxeIjkKjdy8P2Wym9WT6GMtgS1JzP7CYw0ClkVYFrq72hkRwUt4IulebkmH6Cj5FTqFKDY0cAS50T-DMNIg7vxiJLLBCIsUICKIWXxwnp2AF55yJ3AVGvZhF928DIEh58YMNA-ahSJaORSvS2529lZhYaHGrfPfX-spJCrLzlaESEdOBIKQZQNx20mKjK0Lei-6ernT1LunHOIzx-9Yam6CgAyhvpMNfGwUmWAOR-j_k8l0_3XN8qRArdlY-MvJ2f68LMGySkW_yomwmN9Z74_ctlgULtZMbqp_ZiFB0bJALG7nk3BelYStij0R6lhf5YdCNOnBWpN89ORtNKDJcXzgnZi9-UbrongowyI0JH1XsUVvnC16ssjK8MvIngZfbf4m6btcEf1ZUQsmPEbPALjR10VE5ZYe9VauiyaJ0zOJf_iaoqAUMt19eOsgmMwfWBiz_j_P1LhMFQyQJU5O9embGXq4_ghzJ27vAeV2AS_iPtHbVXE-x1XU5sPZE7pZRJyadmhzLOo3EI-SRlLbyjh_kKlZryOg6KNs-64vvPvrJ45SbfZIYdBkCIo2qqgZOBbQfINJnAjAwmHFRpSNfGeRWwDNKTkrTbP_YDXaLxK30F7u70vhnBQNV9kd7KhUlrb2ACqhW_IL6KOd5",
  "id": "rs_019683f288d621c9016ab2b8e2a4ec87d0a33eef2fbae56521",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.175,\"left_z\":0.005},\"note\":\"The left bottle is now clearly visible, and its narrow shoulder is left of the jaw center. I’ll lower around that shoulder with a small centering correction.\"}",
  "call_id": "call_xTvlgdx6QVQSGwceAynspyeT",
  "id": "fc_019683f288d621c9016ab2b8e68a0087d0bcff4b0a96593bc2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xTvlgdx6QVQSGwceAynspyeT",
  "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]: [-0.6983, 1.8771, 0.7197, 0.4416, -0.6998, -0.5049, 0.9955, -0.0219, 0.7612, 0.5842, -0.4416, -0.038, -0.0509, 0.9998]\nstate[eef_state]: left_x=0.3879 left_y=-0.1724 left_z=0.0289 left_yaw=0.1244 left_pitch=0.0347 left_roll=0.0161 left_gripper=0.9955 right_x=0.2818 right_y=0.0041 right_z=0.1672 right_yaw=0.0121 right_pitch=-0.0492 right_roll=-0.0081 right_gripper=0.9998\nstate[joint_eff]: [1.0188, -3.8769, 2.6051, 0.9695, 0.4127, -0.3199, 0.1197, -0.5949, -1.4701, 7.0085, 2.1026, -0.1587, 0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af5b0c09b63b21bc9f12f841d9a4e58f5667d0b503fd9d64fc0627269045d44e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad68bb7aad6eef2633bd5c237ba0ab85919d1bcc5ffc24b4cb2d79b220d17a02",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4c42f7e413e23f027ea8210d9d81fd73592510babe18012e2849654f06b57ee",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 4.935 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 83 changed as sent

message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8112, 1.7348, 0.8795, 0.0532, -0.717, -0.6098, 0.9943, -0.0154, 0.7902, 0.6323, -0.4587, -0.0299, -0.0509, 0.9998]\nstate[eef_state]: left_x=0.3694 left_y=-0.2152 left_z=0.081 left_yaw=0.0789 left_pitch=-0.0118 left_roll=-0.0005 left_gripper=0.9943 right_x=0.2871 right_y=0.0044 right_z=0.1778 right_yaw=0.0118 right_pitch=-0.0475 right_roll=-0.0128 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -9.7846, 5.641, 1.3944, -0.4811, -0.0562, -0.0171, -0.8, -0.9094, 10.2359, 1.7949, -0.1148, 0.0855, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrj6Mvfg0qVGjyUoyWLb6w0mGVZnN3vHN5RshjeVfGdOWi3xZRX7aZdk5o4gLJo2puLjUjyIAXEW2hw4hBIB4AsLHiEOhe0wyK-_Ubn-EX0TZTJX3hJZQxT9Z63Me9pKtFNKSBPwIFJHFcYARYaeGEfyuf4I_aXhlt3q33FjLsrn1Cqy3IeNSKH6sab0DJ4iiAkvQPiMLYZFULJLNj2fY1H87XfwxWWGRtmZiSHQGR5Si4A2bQeMddhzKHMfhphN7HsYNHcVvGwjdCV4JnIldd54cJw0HIznOh5N9vsS9fqM6hXUhHfwm0q5_EcKIAZa8J7-LRRZHV7kzM8uoDai6JDAtPDCXb3P3ZjoHtjIfqeeOfbYSTxuuM6iDaor99A4aHsWTZnKywaKg4Rra5Dam0Tbtv2VdQD6GGhu-u8X3WER3_n78LZvRo_lCL8mDC6YY_mec8oOlAwVWPmrl8acWYRkexqWmJffimukQAEglqteF5r1fzXi9hJazGSiiZKegokwViboatgZwa0ApB93OLE_ecWGirhdPfPWmv0ZlIQiiQoWKMpUR5WAx7vTPAyhi-llap2VMf3hGSD0DrDAW3WOl2533DtpnFQpG8nVL0S7MOjepYceKzNTHI5SIrcSHJQF3uYmCrcY7tZf0ZxUIYXRYA_6M-CGrpmC33OW6I80YxcusxTLgSHLwRytGczmb1vtt9I2oqIk0nMfGHmUfE0uJusE0BIt8lC2sb-m6qbEyVAnsyts2v0JpmMQqz6qiN9WXaqLT7P6IOho4XIlatMdeoeI5e41H9qduKTse7zZjn1o_yGIjV8xgms6iqgPrj-twHPVqsCxy_Ef7FY5xeH3_t3kgJNh0-vHlcYtUL1TbdL0evQ28WQYiBPTsikvnxzYBf79tOJlHxwB2V_dTA1yne5_RNHInMuJyfCSvfEH4dqlfmJgV1Qj_3oPzR6DYORaXwtqfyjCrsV1ndzald7hJe8H6S8RZ0eNbo4LoSbyAM6Ne_HhMnGz-0szOZrcU8UE5FrCBX3654MdyPJm8fAh6g51LDOJEQ23VBBJDKL837iasZN0Ntp5pTAWUWvoJAmzvb75ts6PZgTn1hSkqFzpskFJsG7Lc-VXbUFtzo5rNqSIBe7RSphJzxGjC_jl82uVfwzlKBqt6RoUQonQ7zxPf3UQdHFWPlP4QqWXFbYZ5ptF6q1V1iaAKqWeoMQdyVcxkP6hNar4usmpmcvCzRLihY5P9RLz0icuHEh2ZoddTPxLBoedNiWp2jY0zEQKwQF0v-YcZ6vu8RfIMccKI2M7hmJOswwTKrsttm3awt_ByyZ-wActsq9FfGS3lG70BUY0353bPpjWNc7HIBITt8jxrqDZjhYUQ_Cq8Qvbcs6Y9GWyrji5DZnCKbNM3yh9LNWN5LYDnpa7tFmukg8_bL1cPePz8Oo409fDC9L_1kLkBRbN8g90TdP2I8G8OjyK76mVlW7N4nnUi1XlQQJvvqUoh20paq-pdGwzlO7CSc2EboCDoZafKfnoryZeM0etigNdZzSXcrpRzRiHYYluP7z9I12cVC0mKlap_PZbwBDxxzqLlXFf_xiP3daHGtGgfPHQIg0c9C8kV-mojLWA7vntCQpsioLZghTWM3UMrznPiM217i-T6HqjwlGOWtJRHl0VlbQ9Gycb28Tk9Dmc13Un5LKQS0_NwRwsQAOOhDac9EQRsOGIeBPoJwoLiOmYZTpZ2wKWTEF0GhTdrsG45_szQvO9jFyDW7G6he58Vr5T3ymWrAOBeZ-WiSB0hDGxQ5uve0QYDHro8jW8IPo3IFVL73Gt9c84GPnYYv9TrXb3OVLMfWvj55f89GZTR5L7Id2iC6lzLSjE0NQeu5mXZeto7TrHqg3eeik_7W7ET7r6NQaSB77t7zNkEO-2RQguZsxpwYs2PtlzFWZlfKvGrim_LN_qhhMaqFJxSAGulCW4rL7MovsvKbGDQ5dBVNd4pT0xwW_h3uH8BEOzfCgnWXNlpekbggVNjAFdGS4GVSR-fs4-iiUkoEPRON0v8HPeh6KdWRCIATqvPq7pQAUYoUv8GHc_JyJMO105XsS9kOXGaX7nlojiJ92tXKRDBdUNhLogmrnJnP2O_lVBKArvNP64qUo5ZGHu_VIntP5KX18iWqMM87okH22A34AXoiIxqhcMy6XrH53vzKslfm15j-Rm1Ohskp4kM-xDKPfm1MEQrr-FLuwczpLbPq_bYA8M-5WdDRCElfxMIDM0DyZOAJNzMoO6gqFP9MKS2JQDoEIOxnwLP3k-r967B16wgN4WchAGX7Q3HgQbnCu9meGVvPT2tfSWEql4H7al6EPYoPlW8i1UOXd-X372Voh3Lg9pJpyjtQKG46SWl7E2bXyscl9HF17OADbU5AXR1gZGvcCCqUomON4qfamK3aD0mzE9AvKTTOzwN_4znHw1fGDsaCZC4ThutoINM4QwA4FUOwgw6U6zI-nvUS5Vg5ayqeFRi5BniKZ_yRynS3MDhIp9t5LpXJVxAKVWt9YpQFds9BGEB4xzUdM5ABw_J4ANs7u8-gEuN8PHgf8PtTSXidbj-dDNZrMBGPPo9llELAGCOwTpw-niWJ5oAlPT7QcPxqouMsTPgZM8piMH91sTm2TZppPK3OxOgfibRZRKJykqH46g7PfnChkGJOVeWyD2iOjFh-PBm4YANyRXGus0EvvkzJhgmBuJ-r3kYw_GU2KR_wEQ1Mk=",
  "id": "rs_019683f288d621c9016ab2b8ed1acc87d0930fc0c34e3b3c9f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":-0.185,\"left_z\":0.025},\"note\":\"The wrist view shows the neck still forward of the open jaws. I’ll slide the open gripper forward along the bottle, keeping the fingers on either side.\"}",
  "call_id": "call_kcpuKSWBARrLq9vDkks74CbT",
  "id": "fc_019683f288d621c9016ab2b8f897c487d0b3fe6a80380b652a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kcpuKSWBARrLq9vDkks74CbT",
  "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]: [-0.6216, 1.9968, 0.9302, 0.3878, -0.6449, -0.4946, 0.9957, -0.0269, 0.7307, 0.5373, -0.4191, -0.0422, -0.0547, 0.9998]\nstate[eef_state]: left_x=0.4416 left_y=-0.1813 left_z=0.0344 left_yaw=0.1553 left_pitch=0.0351 left_roll=-0.0261 left_gripper=0.9957 right_x=0.2774 right_y=0.0036 right_z=0.1584 right_yaw=0.0127 right_pitch=-0.043 right_roll=-0.009 right_gripper=0.9998\nstate[joint_eff]: [0.5402, -7.9385, 6.5162, 1.4188, 0.0464, 0.1929, 0.0073, -0.5402, -1.2513, 6.8444, 2.0733, -0.1148, 0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:305ae0515850d5f6de8515e7af194ae7c05ba1b7c6c0a3cc89024d0143ae70c7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b86aad795e2073db09f634dcf56a97c52a57ea6d013d0cae5071d94b0658502e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:275ac3b0959d51a5eb044dadae56942f83f950ffc08563b900c13b5d9a2e3f56",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 5.463 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 87 changed as sent

message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6983, 1.8771, 0.7197, 0.4416, -0.6998, -0.5049, 0.9955, -0.0219, 0.7612, 0.5842, -0.4416, -0.038, -0.0509, 0.9998]\nstate[eef_state]: left_x=0.3879 left_y=-0.1724 left_z=0.0289 left_yaw=0.1244 left_pitch=0.0347 left_roll=0.0161 left_gripper=0.9955 right_x=0.2818 right_y=0.0041 right_z=0.1672 right_yaw=0.0121 right_pitch=-0.0492 right_roll=-0.0081 right_gripper=0.9998\nstate[joint_eff]: [1.0188, -3.8769, 2.6051, 0.9695, 0.4127, -0.3199, 0.1197, -0.5949, -1.4701, 7.0085, 2.1026, -0.1587, 0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrj_FreojFTXXJCBHb4GEW-fXis3vfQG6n7hUYbfb5wlvgQninKWa7PBV04oAUERoP4boI3D9wJQjsYpV2Bj0c9GyqcduI5s9_gxGtKd_feehKLEvBe-6XnEGQbIU_JUaopn9zZN4ro431IZqLBYdaSiesvsTCMBYowGJ3EIMU3cTa-sUo7-nEFVZgzvMprrUqMIlLifR8jJuJVs_SBk9EUfSqhawV4dJ65NwxUi91y_ev01pWFM7aY8WwFLq27BvsB0FZpKXJfDjwIUlERfwjkJQxDPJt4KRKIqLxv99IQ0HulDxwO9BONxC6Cot2RUxoDV05_NYVFYAeF0x9OS6UiroD2eUOi978RandhvK_Ax54cpQlrQKpUby31vm4JNPGKZ4JacRZAjbTuxEvrxjwf1_CWUoRwRqvnKSUH-bBnSWcXK4OFKZZncL0rjsQsKe3nWuLsouUAF8FMAzfcvBjldaiLDbXud1bo7xI-Ra-_9lnNJSbOLMLBTJPDL0pglj3T9KvUr77brmYo9v3vcObBzmjkAmFti4BFtklo8ZbTswx84NZQ7y_ERxuOXjtCoLt5aaMP5Tzbki4wJ-6_DZSpFC_YG9YERvdPI6cCX0ofKYIeuT2lvTzGLk2Z4-7jmle5euBMKkuMzdcWB5fktAqp9_dRvS9L_PmtgiX8gkHRlFNBB7FMkRe6keWYy17_cUZ1G2VqIzNF-2FB9pwl-dKRxQALhW3h75xW8NrtiQ3gnz6SOpmPEL6sVOQRmfip5IvJ7Z_k1CIqg3O8I_kVBDHfkn1yqQCC_oKhb6WivfF-hGA0HnpXIysZ-fppq3Vyteq4PkLnfgGMQ1a6ZhQIspl-cgm1xsRaaqMuJBfvFfNIM1mde8vvGrjS0CKSDfBtFhQ4NE6nJ7llAQgW3UuB884N_zT5o6GPQwK-3yTrhEFzUc47CGeREmZnmvB45GwVKStB-J65No4nmlwgspb4AB6wwmDvXZ9lAmovf4G9Hn3bgVjAUV1ov4lRnd6svbuJYPM9bnnPqukbh0-12XgQX9RCqvJoH4VhYhBcD1nbDxb-3xBhcAzKWRLfKpEmU3WZuxhBbSnFUPElerly_xaymwZh6NbY9bqJvLtNw6A0HY1WWAhqWEAwsSAZJtFT6R1tjgmZxI1Wm1FByQfOOqC5iv_DMcnsdzMJp4V0RZXifVqVNTZ5G7qVbkkUoGrheAs_kJx2ygMTjupvP3g06s-KsAAOf6r744LWtqzbmw4bQFvaVaCk=",
  "id": "rs_019683f288d621c9016ab2b8fcad2087d0a1a29dae9ba9478c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.468,\"left_y\":-0.175,\"left_z\":0.022},\"note\":\"The neck is nearly at the fingertips, with the cap just ahead of them. I’ll advance a final small amount while the jaws remain open.\"}",
  "call_id": "call_qBMoXD32lgCqFwfqXT4ANWgB",
  "id": "fc_019683f288d621c9016ab2b8fd930487d085f79d98e14b2dd0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qBMoXD32lgCqFwfqXT4ANWgB",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6155, 2.0029, 0.9428, 0.3805, -0.6361, -0.4942, 0.9961, -0.0284, 0.7052, 0.498, -0.4011, -0.0532, -0.0544, 0.9998]\nstate[eef_state]: left_x=0.4446 left_y=-0.1815 left_z=0.0341 left_yaw=0.1545 left_pitch=0.0307 left_roll=-0.0292 left_gripper=0.9961 right_x=0.2737 right_y=0.0052 right_z=0.1508 right_yaw=0.0203 right_pitch=-0.0385 right_roll=-0.0025 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -7.9248, 6.653, 1.2772, -0.0171, 0.2369, 0.0366, -0.5949, -1.388, 7.0085, 2.0586, -0.0904, 0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e793356bde9e653c895d4af823140ebfd91a2fb58879c9119739ff968967301",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:894ae94be03b77590e0ee1887bf82539b1f37b70a4dffcb3f97c8befa1434300",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0e0c57ef27e70d91835e86a5ecfe0ed01fb51eb75e093d7f705f3983b884143",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 25 attempt 0 · /responses · status 200 · 13.27 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6216, 1.9968, 0.9302, 0.3878, -0.6449, -0.4946, 0.9957, -0.0269, 0.7307, 0.5373, -0.4191, -0.0422, -0.0547, 0.9998]\nstate[eef_state]: left_x=0.4416 left_y=-0.1813 left_z=0.0344 left_yaw=0.1553 left_pitch=0.0351 left_roll=-0.0261 left_gripper=0.9957 right_x=0.2774 right_y=0.0036 right_z=0.1584 right_yaw=0.0127 right_pitch=-0.043 right_roll=-0.009 right_gripper=0.9998\nstate[joint_eff]: [0.5402, -7.9385, 6.5162, 1.4188, 0.0464, 0.1929, 0.0073, -0.5402, -1.2513, 6.8444, 2.0733, -0.1148, 0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrkFZ3LtANBhZVb19OYaXVuUOQkCtwEzUTA36zQ_WEEBIBulGUpDEiv7H9JVdD0qkKWMRcQtRrdZ1kw2_r-YseaRD3FTDQeydCZjfd_NgIpwZ8M2ESAQ0P8tisMTsftBVPtceZeEFmYuQlkLtTV9ctqGUtzNE5IhNr7C7QXUHeJT3yomSa56Tnw-32hPi5gR6NB_waA6LrNVFFAKzwvOH-_fL9Wsq_2BiFndhv90EkBXVZkGYtbLmqcrN5T3qNz2u-EH6-EQ1n4k6jC2AzhdTQqnV4h6by73OFu477b-Li3l42fo8XyayLP-fqTDZ2ZoJFRPbIMnQHRfmap5AoJBeFS2zKfoAojCVwVSq-MemowpsPcF3HP5oublUQzkd0l-DmaI5Pm1Ghr1z1vMS9wyu4xppB_cNAzF95HXFE3KXkdRPElzVXsYw2UKLsLhokmAJzWw4jtHXY-gP8fYnfGiXsJPgpenknR9FJxanL8DroR_qDZJRFZik6ImvURX-DvvXTWYlFZn9zwkRYhHIHZBK6BW_ZQIRIfcOfH1jToCztIp0lAJ4fXcFApX1SKHo_pKzhYojE-8NphymjZ_JuruvuKGhQ0_LngV58QZxfnvaApwSZUu17ntWLi1QfuH-WSJ833n5F-2mRxoMUpw342RwA5d3RZpHrPQkELJMSUi49_HguNwZie7Z5w4CyvR3DvcXmeKhrPg2Hz4zMJs1XfXGhmIYRXuCxYQpguZMjXP6-ktcNxcXSHh57NuDWCoO7Z3hvCq4qFiBBeojsIaaw_GFJ_xuqQ2YgDs4g6NheMsxwQ1qYFSRPe-iiY-6BOv4FKRqgwErJhGdSb0ObRVxiZOhLp710GBLoxc0hOudLgRj40G0_xEgxNEaTIpSxjhtDQM5AA0dsuEzyHXQpec0i34Vk84wdmY7rBFRvoQQ_UApTkyfG7jFna3xHak6aF4AcWpRQAcbZ4x_EjoXWiEHUY-PROlN5Jq9v2YG72av_TB9Jexaiix6RfYiQQn_gdbVN7GmeojUlGOXeNjv-mAuEW2M8Gf_sZl0v7stOPzW0Ao0U3q2Itmx1hbi2gEwn_38IVvmPsRAFJQTmwIBuc4vs4Hakgl2gNjtt4H-yxpT8aV8xQWqWrMuYVXgVkkqEK2gf1KXSs9O8RBQQD5E0PmishZ6SYlGuNT1zBOlGKAP2ll5fyWCbjq5qr2kbZXrU4VRqlE2xnmteW1zCv0Gbk2rlOZh12AGLcXN4mP-ucTgn4odYnKP-KPqZMA4032u_YHGF4xxIfvC-JgZWUPN0SqYThPjJMDpg==",
  "id": "rs_019683f288d621c9016ab2b902726487d0bdff2f7579ede564",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The arm has stopped short of the forward target, so I won’t push farther. I’ll try the available shoulder grasp at the current position.\"}",
  "call_id": "call_bRnWH6DNhw7WQpHkrIQd2gOX",
  "id": "fc_019683f288d621c9016ab2b903873087d0a32843406cceff2b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bRnWH6DNhw7WQpHkrIQd2gOX",
  "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]: [-0.6125, 1.9949, 0.9833, 0.4122, -0.6746, -0.4973, 0.0132, -0.0284, 0.6804, 0.4606, -0.3798, -0.0559, -0.0574, 0.9998]\nstate[eef_state]: left_x=0.4594 left_y=-0.1835 left_z=0.0595 left_yaw=0.1928 left_pitch=0.1035 left_roll=-0.0725 left_gripper=0.0132 right_x=0.2709 right_y=0.0058 right_z=0.1443 right_yaw=0.0242 right_pitch=-0.0297 right_roll=-0.0039 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -9.6479, 5.2308, 0.5397, 0.1832, 0.0855, 0.9206, -0.6085, -1.0735, 7.2274, 1.9072, -0.0659, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75a9c5541765aea9da7106d3c7577b93e876a6580ed60c01106d6147495c1f5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1618f4df27a1b669c7d1b0ec4a67a7598d4c252a278f7b0056fe1920d0c158c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:394d7252968327fde7e33954d3017f64121bf8cee137ca608fc95f75e7430223",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 26 attempt 0 · /responses · status 200 · 5.979 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 95 changed as sent

message 95 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6155, 2.0029, 0.9428, 0.3805, -0.6361, -0.4942, 0.9961, -0.0284, 0.7052, 0.498, -0.4011, -0.0532, -0.0544, 0.9998]\nstate[eef_state]: left_x=0.4446 left_y=-0.1815 left_z=0.0341 left_yaw=0.1545 left_pitch=0.0307 left_roll=-0.0292 left_gripper=0.9961 right_x=0.2737 right_y=0.0052 right_z=0.1508 right_yaw=0.0203 right_pitch=-0.0385 right_roll=-0.0025 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -7.9248, 6.653, 1.2772, -0.0171, 0.2369, 0.0366, -0.5949, -1.388, 7.0085, 2.0586, -0.0904, 0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrkTr6wtPjQEUt95_8vhlSSKC4yxMtGKfMjCJnJe7-mLEZyek8A3gR9idns2u_oWs_1PYovG6w5gJ5WbQhuGddXxQN0R2tnF6_TeukDqE4luzm2a4lBVEpnYS6oUB9j_-5u-B-YrFETq6u-KoVyDFKFw3ZRHoWHRhmjuLwTY2oPgGCiAmoVvJBBv3z0hqlmb7nPzIuHnTE3RGfZBGuQ6GS1hJg3vm8PEfIR6ghKWQ0Hko_lH9z03QbZT0YPKAKO8BCey4KXsaLvdvQIjlJg4UPA7YrQZXk_viynB_U8O1hx19SJTZoBXX_krlWu_K-NA-hewm4YW5t_FJAnkXK0inY_7NN_os8VUfWS1FmtQnP_gA8_rbM6cZWiYLmjkg9PtscDCODNMWS8J3JMoVzVmbuLNDp0JAmeaeuDcezRr0YiOwOFcDSUXs6s8rUNN6EfpOXoVZyLYyT4adIcYVP7jzkakqBaxW0rsvKZhfDfFFtbL6IzatAZlFIY14mh4Vp_3LXcP-X2CCFzMdTMFxULi89hwWoNu6MO84DlTBah-LUFf1rvQ5VgXPoI7VM9IoTss4pswb-ayVDnXpkPXtLsvMJ1akZBUBDsz2JkqZgVW_fBMuJcJ5eIl2dQF-uCaIpRnICvownyAKb3YBIlgbMqu7Q_x5fGwwsD-mojQEVHYXVApxmRZ9_vyHSnBz2ShAcDZ2zQhRLfQFMYDl1g3ayArIIONL_bpK6SIAiOq3kAuz_Shwpqx0xBEElrDtF6Z7Zfbs1ns-N6zRqmU5Oe9RfvlDI5DJ3M6G0JAQQmPtaEu1nSntVe1ZGAoh3uR2XEI2o50PnvDrtssOWPn6Ay6Kan4SxcvGoNYSBcdG1mjw1Fr5gXLLQ35j9a_TgdDEhhZgoCVbM01SLS1nDRutStagOUaSwQOPnQGRlyHHfi0u7Ul0qRysB3TKyxMCASxaE52NbpZuKisF_zpUWK8tN0bqBa1GGURl0r7vT8RBj5dHUa-vjUrM2PXLr9GMUejfzeYi2sg2PN8t98fforgjzHegpi2Im4lI-7aVLPosSOVz6MnjxBJZA5057c2xFoi8cj5FhArR7qvLunFxDvU599rV1ux3bDYyEg_Y1I1Ab5gch3TC8zK7QjjfJbQYwckBEw1bpvn3MBqco_LPPLAs908_fleZg7FsimDHRSbgASvqBK8B7BGJkFM-o3v6mIddHCa8PMYzTZkrKipfksSSsIjEpwiB8Pj4ezffPyqb6gpI9F4aFK12VRmPLOSf_JHs__7fINrHWYzx-5oZ5ZK79Ic2BV0wYuVrNW7jl5vCZeOijbkC0Ocg4EWmX2NE3b1HEfTdxuUEDVJ5_2mB8SLiSKuTlkxvuToXaXGo8V8SX1awZgX7jK9v6UFKV4aKziYS1wBTsQfxnJtX3ek_XTlgN4zNmtFhle3ar0qRQqgLzPQRK0UQ7tDNuF6MMV2iwzxf6fqh5HqOhOtwW0qaEr-uI0VV2-tuJKV7RX6Lp5toK_bn27iRyJnVCuHvdd3SwsMxLx6uPCwEreTwU4U5GjBXhv-jr_-k8y4uwDwdZkSF1NFGrunoSen6FgFwdMCrHDM-wWjBBk-LpVn4RGXcfbw2lllbMAPyeCaTxRGC0oAMgRJRckZcSOGjoDJUWnOblhdN42-P_qcFlRO6geUYQZ7289GlZKKVc8bADuDjWfSA7H0GCRtznYtp1i77HQPI6I_hs-1CWp0Zjq-kAyz58YuSOEmlPr13FZmjWiKi5x-t53XT0QNC40HjEpTkU0RRjRFiCSY8cqm4yhKqEJo880g40wI3ijztxeJywYqiANzelSxFNTt2As-yfRe0xuT3I1jdQ_qH_PyLOYWDtGT0lNT5h1ZmILPrtYg_p_dlJtYGDx6F3SE_qrBXDqKPmdh6PtYTa3ADS1tkbEssTycN-sgHHMgQjy41n4Mz8NsnLoFk-xT-hzCKEog7cqIGDuvc2g3U4myah32ST5KbQwEDLEcDrN6cj21Rm91s6e3s3Q55Gn1BWwmzWjDj0z0u-sDbbZNb8_yG6PiiCrdNB-vBtQqvC988__3iHBlC2LPnNbxo9838cwt3BaXLVyDi-W_Vbqk-g15hjgsFSMA",
  "id": "rs_019683f288d621c9016ab2b908594087d086e687aea7253e3a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.185,\"left_z\":-0.015,\"left_gripper\":1},\"note\":\"The gripper is riding up over the bottle when it closes. I’ll move back to a lower, reachable point and place the open fingertips at table level for a final secure-body attempt.\"}",
  "call_id": "call_6rO9qu2x0xuP5hc1VF838tuQ",
  "id": "fc_019683f288d621c9016ab2b911216887d0ab396992aa519faa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6rO9qu2x0xuP5hc1VF838tuQ",
  "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]: [-0.6884, 2.0239, 0.8948, 0.5377, -0.7559, -0.6094, 0.9953, -0.0284, 0.6647, 0.4366, -0.3687, -0.0563, -0.0578, 0.9998]\nstate[eef_state]: left_x=0.4342 left_y=-0.1956 left_z=0.0429 left_yaw=0.2411 left_pitch=0.1375 left_roll=-0.1512 left_gripper=0.9953 right_x=0.2687 right_y=0.0059 right_z=0.1395 right_yaw=0.0247 right_pitch=-0.027 right_roll=-0.0042 right_gripper=0.9998\nstate[joint_eff]: [-1.2513, -4.3145, 1.7436, 0.1099, 0.2222, 0.0464, -0.1392, -0.6906, -1.0188, 6.6803, 1.9951, -0.1294, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00e551e0f5d4ea7068f59a1594cf05a13f223ce34fd2c29231718eed3dd02682",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d81dfadb4bf2a37a155bcf8ca048c0bb889d69ec51a25962c399a4bc66cd6f7f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8ed9514e57a1762b79a55fa73149451049f3390fd8e51b11a1b0455a32b6cc3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 8.658 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 99 changed as sent

message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6125, 1.9949, 0.9833, 0.4122, -0.6746, -0.4973, 0.0132, -0.0284, 0.6804, 0.4606, -0.3798, -0.0559, -0.0574, 0.9998]\nstate[eef_state]: left_x=0.4594 left_y=-0.1835 left_z=0.0595 left_yaw=0.1928 left_pitch=0.1035 left_roll=-0.0725 left_gripper=0.0132 right_x=0.2709 right_y=0.0058 right_z=0.1443 right_yaw=0.0242 right_pitch=-0.0297 right_roll=-0.0039 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -9.6479, 5.2308, 0.5397, 0.1832, 0.0855, 0.9206, -0.6085, -1.0735, 7.2274, 1.9072, -0.0659, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrka9BBNIF3ZHpTXYm1fNq2PhmcpFFXqG2dsUB6_b0xhLqcileVrhHTAokX5j5gddVJNZU4ABVTz2zTJ99DrSS17IfLCALGhi7dYVfc1CqEZNpeYZ4kjaPzjdRY0trkzhLsphIU6Kh0tn4ehkIizdvSjzgX6raKi_M2F9zWwv2rdwvUl9YZnpsG2b3exFj2zw7RY8xRv0v9XZzBKtjbju0PYH6ZRWaoT6aNK-r701Z6jfmuuXmPVPwSYvqhFslpj1neKe4T7N234DG0CFLj9kBb-w8yw4tE725Fm6pHCaZIw6AbMtrS1dxmxeai0waHHXQs6Q2mTQKU_S5C3cwa6AdZGMsdKmDWVtj-tpX_7I49uqUGC9Mrci4EXWyV43IS8sPM9LselioWnWR57-jyxoZKZGJWakn39cXGguO2p12WZvnGKn7yZnzrwjFW74CQDeyOGZ3hF1n_Dae6K31tDW6z7Eu-rpbY1mnqilGyxu1avm4AHaXNRfZYVLMkTOVr_lhI7wEVy_BRwq22bKpjh4Hi5rtcynYlfqAqPgOiUnAYj8HvU-qTU-6V8LBAtNQ9rkZb28wiE_HbazyQSdTCaKWAn0ONCS6TeD814zeV9DBpukcuK7b1Or7fEmykkO9sxGZEXToaZ6of3TP9VaxBwpzOdUx5_SrguCk_GQ7n8v9QpltH6V-GePUExNqByj90fQwv8AWUNH9h6_9TzyjGSUNLPcYukftqiMH-StaeAzT5825l_30VpPQD79TS2zuapXTJCQybl5Tx6irrQWSe1q7WZEuLt-SWOHT1mU4q8EdDxdZSqU4QU-dSauwArghGXnthfalGB6uMHWZr1sZqSCcgbNQP8TYIwE6wuqQNLGvzFbWctkM7vTX2SHsmXKDy78H7CLcmW-sdSnb6u0dtrY6rdm8v82OiIQFD4MtJevjfYh72AN1lgSUQ1bqP3gyPDlatQowRL-6rX_4_Dh6t0lGU7ZNBdA7dfFvnO_Z6f9IKFSt_mUBmMWVA0NlqtBlfo-aYJffbftYpnSpdI2z3rq23tG8kp0S97TFQ5-lI1nSU13t_F34i50I-_Lj4hx1SAwjRP1zWpjwGxEFIXIE5I4vS9k4K6GWprvYuIZZgvs44stSv2AwAuuaWTO60O14J0MxtG8t0cJOFVm0mmlHN3qhd_afUSXMvzJ6wvWf4HJr8AOA2XqIieRRTzCfPPM4Bq1IZn8N7eLqawJwTUICOGSIpaFNlAWIqBXDbSrUWzrbNMUe5-lfveON2qnitt4c7xVqj0RMF2lVcx-btw8GTQNJf310uaMv0GvRuGprQY-OO56FE=",
  "id": "rs_019683f288d621c9016ab2b9170bb487d09cb328830a69f6bb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0,\"left_z\":0.2,\"left_gripper\":1,\"right_x\":0.294,\"right_y\":0.004,\"right_z\":0.2},\"note\":\"The arm is stopping well above the low target, and repeated closures have not secured the neck. I’m withdrawing both arms to safe parked positions rather than continuing to push the bottle.\"}",
  "call_id": "call_5bELnRzl04No5pgkkaHAPz3G",
  "id": "fc_019683f288d621c9016ab2b917cf2087d088ace9a16f5b015f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5bELnRzl04No5pgkkaHAPz3G",
  "output": "executing move_to over 18 steps (1.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2741, 0.9001, 0.6876, -0.4011, -0.4675, -0.3473, 0.9979, -0.0341, 0.7956, 0.643, -0.474, -0.0647, -0.0654, 0.9998]\nstate[eef_state]: left_x=0.3059 left_y=0.0004 left_z=0.1948 left_yaw=0.286 left_pitch=0.0209 left_roll=-0.0234 left_gripper=0.9979 right_x=0.2865 right_y=0.0052 right_z=0.1783 right_yaw=0.0302 right_pitch=-0.0563 right_roll=-0.0039 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -2.0034, 9.2376, 1.6825, -0.1001, 0.0513, -0.2369, -0.8, -0.5265, 10.0034, 2.0098, -0.0855, 0.0073, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc5bbc03da3ee3136a7378c49d58cf375a0532c5343598a3e4f0ed1f93a87e64",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6601ca3965de5c81c7e7f4fda294f622d66bd505b1e543d565169a84ee36a77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b497fa51d884e72f95c7feb90841b76852ae751a61b3c02eab4efcf400f83b67",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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