adhoc

completed
2026-09-22T17:59:22.387419+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
333 s
total steps
265
success_at_end
0
scenes
1
trials
1
errored
0

scene-0

completed

Stand all three bottles upright.

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteAll three bottles are lying on their sides with their caps toward the far edge. I’m approaching the left bottle’s neck so I can lift it while its base pivots on the table.
move_to
left_x0.4300left_y-0.1500left_z0.1200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7933, 0.6083, -0.3767, -0.0196, -0.0288, 0.9986, -0.0154, 0.7891, 0.6037, -0.3851, -0.0292, -0.0341, 0.9998] state[eef_state]: left_x=0.2957 left_y=0.0011 left_z=0.1828 left_yaw=0.0005 left_pitch=0.0 left_roll=-0.0001 left_gripper=0.9986 right_x=0.2937 right_y=0.0042 right_z=0.1801 right_yaw=0.0001 right_pitch=-0.0004 right_roll=0.0005 right_gripper=0.9998 state[joint_eff]: [-0.4034, -1.4427, 9.6889, 1.7509, -0.0659, 0.1001, -0.1587, -0.7453, -1.1829, 10.4274, 1.8828, 0.0513, 0.1734, -0.0317] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.15,"left_z":0.12,"left_gripper":1},"note":"All three bottles are lying on their sides with their caps toward the far edge. I’m approaching the left bottle’s neck so I can lift it while its base pivots on the table."})
tool
executing move_to over 14 steps (1.4s)
step 14
top_cam
camera top_cam step 14
left_cam
camera left_cam step 14
right_cam
camera right_cam step 14
assistant
agent noteThe left bottle’s cap is still forward and to the left of the jaw center in the wrist view. I’m lining the open fingers up with its neck and lowering to grasp height.
move_to
left_x0.4800left_y-0.1150left_z0.0380
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4969, 1.6283, 0.8673, 0.0715, -0.4026, -0.2981, 0.9988, -0.0189, 0.7921, 0.6033, -0.4042, -0.0292, -0.0353, 0.9998] state[eef_state]: left_x=0.4158 left_y=-0.1427 left_z=0.1022 left_yaw=-0.0116 left_pitch=-0.0639 left_roll=0.0248 left_gripper=0.9988 right_x=0.2913 right_y=0.0032 right_z=0.1752 right_yaw=-0.0027 right_pitch=-0.0229 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.2256, -7.7744, 8.4855, 1.6581, -0.2466, -0.0904, -0.1392, 0.1026, -1.4427, 7.0222, 1.8632, -0.0464, -0.0269, -0.0122] camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.48,"left_y":-0.115,"left_z":0.038},"note":"The left bottle’s cap is still forward and to the left of the jaw center in the wrist view. I’m lining the open fingers up with its neck and lowering to grasp height."})
tool
executing move_to over 5 steps (0.5s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteThe neck remains slightly left of the fingers. I’m making a small lateral correction and angling the jaws across the neck before closing.
move_to
left_x0.4900left_y-0.0870left_z0.0270left_yaw-0.2500right_x0.2940right_y0.0040right_z0.1800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3489, 1.9224, 0.8696, 0.4213, -0.3237, -0.2478, 0.9985, -0.0193, 0.7826, 0.5835, -0.4026, -0.0292, -0.0353, 0.9998] state[eef_state]: left_x=0.468 left_y=-0.1066 left_z=0.0366 left_yaw=0.0439 left_pitch=-0.0324 left_roll=-0.0025 left_gripper=0.9985 right_x=0.2884 right_y=0.0032 right_z=0.169 right_yaw=-0.0031 right_pitch=-0.0316 right_roll=0.0001 right_gripper=0.9998 state[joint_eff]: [0.2803, -7.8427, 6.4205, 1.5311, -0.0366, 0.2613, -0.0513, -0.335, -1.6752, 6.7624, 1.9463, -0.0806, -0.022, -0.0122] camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_y":-0.087,"left_z":0.027,"left_yaw":-0.25,"right_x":0.294,"right_y":0.004,"right_z":0.18},"note":"The neck remains slightly left of the fingers. I’m making a small lateral correction and angling the jaws across the neck before closing."})
tool
executing move_to over 2 steps (0.2s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe last correction did not track fully at this long reach. I’m shortening the reach slightly and bringing the neck onto the jaw centerline.
move_to
left_x0.4750left_y-0.0750left_z0.0400left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.345, 1.9415, 0.8803, 0.4755, -0.2958, -0.2352, 0.9984, -0.0189, 0.7856, 0.5831, -0.403, -0.0288, -0.0349, 0.9998] state[eef_state]: left_x=0.4768 left_y=-0.1128 left_z=0.0415 left_yaw=0.0177 left_pitch=0.0043 left_roll=-0.0236 left_gripper=0.9984 right_x=0.2885 right_y=0.0032 right_z=0.168 right_yaw=-0.0032 right_pitch=-0.0355 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-0.0479, -7.8017, 6.5709, 1.7411, 0.0366, 0.3443, -0.022, 0.212, -0.3077, 8.6085, 1.9121, -0.0024, 0.0171, -0.0122] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.475,"left_y":-0.075,"left_z":0.04,"left_yaw":0},"note":"The last correction did not track fully at this long reach. I’m shortening the reach slightly and bringing the neck onto the jaw centerline."})
tool
executing move_to over 4 steps (0.4s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe arm is holding position rather than following the sideways correction, indicating a reach limit. I’m lifting and retracting slightly to regain room for alignment.
move_to
left_x0.4350left_y-0.0850left_z0.0950
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.345, 1.9415, 0.8803, 0.4755, -0.2958, -0.2352, 0.9983, -0.0189, 0.7692, 0.5499, -0.3882, -0.0296, -0.0353, 0.9998] state[eef_state]: left_x=0.4768 left_y=-0.1128 left_z=0.0415 left_yaw=0.0177 left_pitch=0.0043 left_roll=-0.0236 left_gripper=0.9983 right_x=0.2853 right_y=0.0034 right_z=0.1603 right_yaw=-0.0024 right_pitch=-0.0374 right_roll=0.0004 right_gripper=0.9998 state[joint_eff]: [0.0479, -7.7744, 6.3795, 1.7265, -0.0024, 0.315, -0.0171, -0.0342, -1.894, 6.8855, 2.0147, -0.0659, -0.0659, -0.0122] camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.435,"left_y":-0.085,"left_z":0.095},"note":"The arm is holding position rather than following the sideways correction, indicating a reach limit. I’m lifting and retracting slightly to regain room for alignment."})
tool
executing move_to over 4 steps (0.4s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteThe left arm still has not moved from its low extended pose. I’m requesting a higher, more compact pose to safely recover before attempting a grasp.
move_to
left_x0.3200left_y-0.0900left_z0.2000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.345, 1.9415, 0.8803, 0.4755, -0.2958, -0.2352, 0.9983, -0.0193, 0.7506, 0.5167, -0.374, -0.0296, -0.0353, 0.9998] state[eef_state]: left_x=0.4768 left_y=-0.1128 left_z=0.0415 left_yaw=0.0177 left_pitch=0.0043 left_roll=-0.0236 left_gripper=0.9983 right_x=0.2819 right_y=0.0034 right_z=0.1529 right_yaw=-0.0027 right_pitch=-0.0377 right_roll=0.0004 right_gripper=0.9998 state[joint_eff]: [-0.0479, -7.9521, 6.5162, 1.746, -0.0024, 0.2857, -0.0122, -0.3214, -1.7162, 6.7214, 2.0049, -0.0757, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":-0.09,"left_z":0.2,"left_yaw":0},"note":"The left arm still has not moved from its low extended pose. I’m requesting a higher, more compact pose to safely recover before attempting a grasp."})
tool
executing move_to over 13 steps (1.3s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent noteThe arm has recovered, and the left bottle has not been lifted. I’m approaching its upper body from a shorter reach, where the jaws can close below the cap.
move_to
left_x0.4400left_y-0.0900left_z0.0750right_x0.2940right_y0.0040right_z0.1800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4992, 1.0595, 0.73, -0.2756, -0.4, -0.2928, 0.9983, -0.0193, 0.728, 0.4786, -0.3576, -0.0292, -0.0357, 0.9998] state[eef_state]: left_x=0.3276 left_y=-0.0962 left_z=0.1874 left_yaw=-0.0199 left_pitch=0.01 left_roll=-0.0113 left_gripper=0.9983 right_x=0.278 right_y=0.0034 right_z=0.1448 right_yaw=-0.0029 right_pitch=-0.037 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.335, -3.3846, 10.8513, 1.7021, -0.188, -0.149, -0.0171, -0.335, -0.7726, 7.2274, 2.0586, -0.0562, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.44,"left_y":-0.09,"left_z":0.075,"right_x":0.294,"right_y":0.004,"right_z":0.18},"note":"The arm has recovered, and the left bottle has not been lifted. I’m approaching its upper body from a shorter reach, where the jaws can close below the cap."})
tool
executing move_to over 9 steps (0.9s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteThe bottle is now centered much better, with its shoulder just beyond the fingers. I’m lowering and advancing a little to grip the tapered upper body.
move_to
left_x0.4600left_y-0.0800left_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3141, 1.6722, 0.709, 0.3, -0.2523, -0.2089, 0.9983, -0.017, 0.7856, 0.561, -0.3931, -0.0292, -0.0357, 0.9998] state[eef_state]: left_x=0.4199 left_y=-0.0863 left_z=0.0594 left_yaw=-0.0007 left_pitch=-0.0771 left_roll=-0.0001 left_gripper=0.9983 right_x=0.2869 right_y=0.0039 right_z=0.1599 right_yaw=-0.0006 right_pitch=-0.0477 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [0.9778, -6.653, 7.7744, 1.37, -0.3248, 0.3736, -0.0171, -0.0068, -0.4171, 10.0718, 1.9463, -0.022, -0.0024, -0.0122] camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.46,"left_y":-0.08,"left_z":0.025},"note":"The bottle is now centered much better, with its shoulder just beyond the fingers. I’m lowering and advancing a little to grip the tapered upper body."})
tool
executing move_to over 4 steps (0.4s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent noteThe fingers now straddle the bottle’s upper body near its shoulder. I’m closing to secure it before a small test lift.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2787, 1.8801, 0.7414, 0.6003, -0.2226, -0.2092, 0.9983, -0.0143, 0.757, 0.5167, -0.3759, -0.0292, -0.0357, 0.9998] state[eef_state]: left_x=0.4594 left_y=-0.0872 left_z=0.042 left_yaw=0.0093 left_pitch=0.0371 left_roll=-0.0535 left_gripper=0.9983 right_x=0.2819 right_y=0.0047 right_z=0.1509 right_yaw=0.0021 right_pitch=-0.0461 right_roll=-0.0 right_gripper=0.9998 state[joint_eff]: [0.8274, -6.4889, 5.6, 1.1844, -0.1734, 0.4567, -0.0171, -0.6085, -1.3607, 6.7761, 2.1026, -0.0562, -0.0757, -0.0122] camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The fingers now straddle the bottle’s upper body near its shoulder. I’m closing to secure it before a small test lift."})
tool
executing move_to over 10 steps (1.0s)
step 65
top_cam
camera top_cam step 65
left_cam
camera left_cam step 65
right_cam
camera right_cam step 65
assistant
agent noteThe close was empty, and the bottle rolled into a straighter alignment. I’m reopening and lowering further so the fingers surround the bottle rather than close above it.
move_to
left_x0.4550left_y-0.0800left_z0.0000left_gripper0.8000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2646, 1.8999, 0.7589, 0.7025, -0.244, -0.1806, 0.0149, -0.0143, 0.7307, 0.4717, -0.35, -0.0296, -0.0353, 0.9998] state[eef_state]: left_x=0.4762 left_y=-0.0811 left_z=0.0618 left_yaw=0.0287 left_pitch=0.1364 left_roll=-0.047 left_gripper=0.0149 right_x=0.2781 right_y=0.0048 right_z=0.1425 right_yaw=0.0022 right_pitch=-0.0389 right_roll=0.0004 right_gripper=0.9998 state[joint_eff]: [0.1436, -6.8581, 4.588, 0.7302, 0.1734, 0.2027, 1.0525, -0.2393, -1.5795, 6.9675, 2.0, -0.0513, -0.0464, -0.0122] camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.455,"left_y":-0.08,"left_z":0,"left_gripper":0.8},"note":"The close was empty, and the bottle rolled into a straighter alignment. I’m reopening and lowering further so the fingers surround the bottle rather than close above it."})
tool
executing move_to over 8 steps (0.8s)
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 low extended pose is again not tracking, so I’m backing away before another approach. The bottle remains on its side; I’ll use a shorter reach over its body instead.
move_to
left_x0.3600left_y-0.0850left_z0.1400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2817, 1.9549, 0.7593, 0.7597, -0.2592, -0.194, 0.7948, -0.0143, 0.7105, 0.4385, -0.3344, -0.0292, -0.0353, 0.9998] state[eef_state]: left_x=0.4776 left_y=-0.0874 left_z=0.0493 left_yaw=0.0318 left_pitch=0.1406 left_roll=-0.0539 left_gripper=0.7948 right_x=0.2749 right_y=0.0048 right_z=0.1358 right_yaw=0.0019 right_pitch=-0.0362 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-0.1162, -4.7932, 2.3316, 0.7888, -0.0806, 0.0611, -0.2564, -0.1983, -1.5248, 6.6667, 2.0049, -0.0464, -0.0415, -0.0122] approver: 8 step(s) modified (delta_clamped ×8). camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.085,"left_z":0.14},"note":"The low extended pose is again not tracking, so I’m backing away before another approach. The bottle remains on its side; I’ll use a shorter reach over its body instead."})
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 bottle is centered beneath the wrist view. I’m descending over its body at a reachable position, keeping the right arm parked clear.
move_to
left_x0.4150left_y-0.0850left_z0.0150right_x0.2940right_y0.0040right_z0.1800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4122, 1.2816, 0.6529, 0.0605, -0.3565, -0.2607, 0.7959, -0.0143, 0.6868, 0.4061, -0.3153, -0.0296, -0.0357, 0.9998] state[eef_state]: left_x=0.3715 left_y=-0.0912 left_z=0.1429 left_yaw=0.0145 left_pitch=0.033 left_roll=-0.0217 left_gripper=0.7959 right_x=0.2722 right_y=0.0049 right_z=0.1309 right_yaw=0.0024 right_pitch=-0.0259 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.2393, -5.0803, 6.4479, 1.746, -0.232, 0.0855, 0.105, -0.1436, -0.7316, 6.8444, 1.9707, -0.0464, -0.0708, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). 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":0.415,"left_y":-0.085,"left_z":0.015,"right_x":0.294,"right_y":0.004,"right_z":0.18},"note":"The bottle is centered beneath the wrist view. I’m descending over its body at a reachable position, keeping the right arm parked clear."})
tool
executing move_to over 9 steps (0.9s)
step 92
top_cam
camera top_cam step 92
left_cam
camera left_cam step 92
right_cam
camera right_cam step 92
assistant
agent noteThe jaws are on either side of the bottle’s body, and the descent has stopped at contact. I’m closing here to secure the body for a controlled lift.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.345, 1.7897, 0.5831, 0.6628, -0.2989, -0.2394, 0.7961, -0.0143, 0.7856, 0.5564, -0.3901, -0.0296, -0.0429, 0.9998] state[eef_state]: left_x=0.419 left_y=-0.0915 left_z=0.0387 left_yaw=0.0228 left_pitch=0.044 left_roll=-0.0407 left_gripper=0.7961 right_x=0.2867 right_y=0.0047 right_z=0.1585 right_yaw=0.0063 right_pitch=-0.0491 right_roll=-0.0056 right_gripper=0.9998 state[joint_eff]: [1.0462, -4.1368, 4.0137, 0.6471, -0.0757, 0.2662, 0.0024, -0.7043, -0.5675, 10.2496, 1.746, -0.0952, 0.0513, -0.0122] camera 'top_cam' (step 92): [image omitted: streamed camera frame] camera 'left_cam' (step 92): [image omitted: streamed camera frame] camera 'right_cam' (step 92): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The jaws are on either side of the bottle’s body, and the descent has stopped at contact. I’m closing here to secure the body for a controlled lift."})
tool
executing move_to over 8 steps (0.8s)
step 100
top_cam
camera top_cam step 100
left_cam
camera left_cam step 100
right_cam
camera right_cam step 100
assistant
agent noteThe second close was also empty and nudged the bottle forward. I’m using the overhead view to reposition farther along its body, with the fingers fully open and a lower approach.
move_to
left_x0.4700left_y-0.0850left_z-0.0150left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3527, 1.7649, 0.6239, 0.6464, -0.334, -0.2363, 0.0147, -0.0151, 0.7582, 0.5056, -0.3653, -0.0296, -0.0425, 0.9998] state[eef_state]: left_x=0.4307 left_y=-0.093 left_z=0.061 left_yaw=0.0442 left_pitch=0.0962 left_roll=-0.0402 left_gripper=0.0147 right_x=0.2818 right_y=0.0046 right_z=0.1477 right_yaw=0.0054 right_pitch=-0.0476 right_roll=-0.0054 right_gripper=0.9998 state[joint_eff]: [0.1573, -6.9812, 5.135, 0.8376, 0.0855, 0.1148, 1.0085, -0.4855, -1.7573, 7.159, 2.0684, -0.105, -0.0024, -0.0122] camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.47,"left_y":-0.085,"left_z":-0.015,"left_gripper":1},"note":"The second close was also empty and nudged the bottle forward. I’m using the overhead view to reposition farther along its body, with the fingers fully open and a lower approach."})
tool
executing move_to over 10 steps (1.0s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
assistant
agent noteThe bottle’s wider body is now between the open fingers. I’m closing partway to avoid squeezing it sideways and checking whether the jaws hold it.
move_to
left_gripper0.4500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2939, 2.0338, 0.8051, 0.8295, -0.2951, -0.2401, 0.9951, -0.0154, 0.73, 0.4587, -0.3393, -0.0296, -0.0429, 0.9998] state[eef_state]: left_x=0.4917 left_y=-0.0914 left_z=0.0448 left_yaw=0.0769 left_pitch=0.1782 left_roll=-0.0955 left_gripper=0.9951 right_x=0.2777 right_y=0.0045 right_z=0.139 right_yaw=0.0052 right_pitch=-0.0403 right_roll=-0.0058 right_gripper=0.9998 state[joint_eff]: [0.1709, -4.4786, 3.5214, 0.3492, 0.0122, 0.3443, -0.1538, -0.6906, -1.4564, 7.0085, 2.0195, -0.1197, -0.0317, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.45},"note":"The bottle’s wider body is now between the open fingers. I’m closing partway to avoid squeezing it sideways and checking whether the jaws hold it."})
tool
executing move_to over 6 steps (0.6s)
step 116
top_cam
camera top_cam step 116
left_cam
camera left_cam step 116
right_cam
camera right_cam step 116
assistant
agent noteThe fingers are touching the bottle near its label, but the partial-close reading alone does not confirm a hold. I’m finishing the close before testing a lift.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3035, 1.9682, 0.9367, 0.5076, -0.3233, -0.2394, 0.4546, -0.0154, 0.7059, 0.4213, -0.3206, -0.0296, -0.0425, 0.9998] state[eef_state]: left_x=0.5001 left_y=-0.094 left_z=0.0573 left_yaw=0.0852 left_pitch=0.067 left_roll=-0.0365 left_gripper=0.4546 right_x=0.2742 right_y=0.0046 right_z=0.1319 right_yaw=0.005 right_pitch=-0.035 right_roll=-0.0056 right_gripper=0.9998 state[joint_eff]: [-0.1162, -10.1128, 6.2427, 0.9597, -0.0855, 0.1148, 0.1587, -0.5949, -1.2513, 6.8718, 1.9853, -0.0806, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The fingers are touching the bottle near its label, but the partial-close reading alone does not confirm a hold. I’m finishing the close before testing a lift."})
tool
executing move_to over 5 steps (0.5s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent noteThe left arm cannot get low enough at the bottle’s current distance, and its grip is still empty. I’m parking it clear and approaching the right bottle with the other arm from a less extended pose.
move_to
left_x0.3000left_y0.0000left_z0.2000left_gripper1.0000right_x0.4000right_y0.2000right_z0.1000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3016, 1.9663, 0.9943, 0.4362, -0.3458, -0.239, 0.0146, -0.0154, 0.6861, 0.3897, -0.3054, -0.0296, -0.0425, 0.9998] state[eef_state]: left_x=0.5084 left_y=-0.0917 left_z=0.0666 left_yaw=0.1053 left_pitch=0.0605 left_roll=-0.021 left_gripper=0.0146 right_x=0.2711 right_y=0.0046 right_z=0.1256 right_yaw=0.005 right_pitch=-0.0315 right_roll=-0.0057 right_gripper=0.9998 state[joint_eff]: [-0.4855, -10.8513, 6.5026, 0.9744, 0.0269, 0.0366, 1.2381, -0.4171, -1.2103, 6.8308, 1.9902, -0.1294, -0.0269, -0.0122] camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.30,"left_y":0,"left_z":0.20,"left_gripper":1,"right_x":0.40,"right_y":0.20,"right_z":0.10,"right_gripper":1},"note":"The left arm cannot get low enough at the bottle’s current distance, and its grip is still empty. I’m parking it clear and approaching the right bottle with the other arm from a less extended pose."})
tool
executing move_to over 17 steps (1.7s)
step 138
top_cam
camera top_cam step 138
left_cam
camera left_cam step 138
right_cam
camera right_cam step 138
assistant
agent noteThe right bottle lies just to the right of the jaw center. I’m shifting over its body and lowering with the fingers wide open.
move_to
right_x0.4150right_y0.1700right_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1383, 0.86, 0.6735, -0.3531, -0.2237, -0.1741, 0.9971, 0.6476, 1.6661, 0.8341, 0.1047, 0.4793, 0.3225, 0.9998] state[eef_state]: left_x=0.3107 left_y=-0.0 left_z=0.2013 left_yaw=0.132 left_pitch=0.0368 left_roll=-0.0222 left_gripper=0.9971 right_x=0.3851 right_y=0.1937 right_z=0.0834 right_yaw=0.0484 right_pitch=-0.0609 right_roll=-0.0423 right_gripper=0.9998 state[joint_eff]: [0.2667, -1.6615, 8.4991, 1.9219, -0.0317, 0.2222, 0.0024, 0.0342, -7.3231, 8.4581, 1.7802, 0.5055, 0.3004, -0.0366] camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.415,"right_y":0.17,"right_z":0.025},"note":"The right bottle lies just to the right of the jaw center. I’m shifting over its body and lowering with the fingers wide open."})
tool
executing move_to over 4 steps (0.4s)
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 bottle’s body is still beyond the fingertips in the wrist view. I’m advancing five centimeters and making a small sideways correction to put the fingers around its lower body.
move_to
right_x0.4650right_y0.1450right_z0.0100
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1444, 0.8955, 0.6853, -0.4236, -0.2249, -0.1642, 0.9975, 0.5316, 1.8431, 0.7322, 0.4507, 0.45, 0.2481, 0.9997] state[eef_state]: left_x=0.3055 left_y=-0.001 left_z=0.1823 left_yaw=0.1217 left_pitch=-0.0539 left_roll=0.0117 left_gripper=0.9975 right_x=0.4118 right_y=0.1572 right_z=0.033 right_yaw=-0.0028 right_pitch=-0.015 right_roll=-0.0515 right_gripper=0.9997 state[joint_eff]: [-0.0752, -2.5778, 9.4154, 1.8193, -0.2222, -0.0952, 0.0317, 0.5949, -6.0513, 4.1915, 1.2576, -0.4127, 0.1929, -0.022] approver: 1 step(s) modified (delta_clamped). 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":{"right_x":0.465,"right_y":0.145,"right_z":0.01},"note":"The bottle’s body is still beyond the fingertips in the wrist view. I’m advancing five centimeters and making a small sideways correction to put the fingers around its lower body."})
tool
executing move_to over 5 steps (0.5s)
step 147
top_cam
camera top_cam step 147
left_cam
camera left_cam step 147
right_cam
camera right_cam step 147
assistant
agent noteThe right bottle is now aligned between the fingers along its lower body. I’m closing and will use the jaw opening and a small lift to check the grasp.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1444, 0.8673, 0.63, -0.3714, -0.2249, -0.1638, 0.9975, 0.5026, 1.8805, 0.7208, 0.5011, 0.384, 0.2382, 0.9997] state[eef_state]: left_x=0.3034 left_y=-0.0007 left_z=0.1757 left_yaw=0.1213 left_pitch=-0.0296 left_roll=0.0054 left_gripper=0.9975 right_x=0.4144 right_y=0.1563 right_z=0.0199 right_yaw=0.0266 right_pitch=-0.0333 right_roll=-0.0236 right_gripper=0.9997 state[joint_eff]: [-0.2393, -2.2906, 6.9128, 1.9267, -0.1832, -0.0611, -0.0073, -0.8137, -8.2393, 6.0103, 1.79, 0.2418, 0.149, -0.0122] camera 'top_cam' (step 147): [image omitted: streamed camera frame] camera 'left_cam' (step 147): [image omitted: streamed camera frame] camera 'right_cam' (step 147): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right bottle is now aligned between the fingers along its lower body. I’m closing and will use the jaw opening and a small lift to check the grasp."})
tool
executing move_to over 10 steps (1.0s)
step 157
top_cam
camera top_cam step 157
left_cam
camera left_cam step 157
right_cam
camera right_cam step 157
assistant
agent noteThe gripper stopped at about five centimeters wide, consistent with holding the bottle. I’m lifting it a few centimeters to verify the hold and see how the bottle pivots.
move_to
right_x0.4050right_y0.1550right_z0.0850
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1444, 0.8562, 0.601, -0.3473, -0.2249, -0.1638, 0.9975, 0.5026, 1.8805, 0.6968, 0.5476, 0.3805, 0.2344, 0.5369] state[eef_state]: left_x=0.302 left_y=-0.0005 left_z=0.1705 left_yaw=0.1212 left_pitch=-0.0237 left_roll=0.0038 left_gripper=0.9975 right_x=0.4128 right_y=0.1561 right_z=0.0203 right_yaw=0.0317 right_pitch=-0.0142 right_roll=-0.0146 right_gripper=0.5369 state[joint_eff]: [-0.212, -2.359, 6.9128, 1.8388, -0.1441, -0.0317, -0.0073, -0.1709, -7.3778, 4.465, 2.0147, 0.0464, 0.0024, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 157): [image omitted: streamed camera frame] camera 'left_cam' (step 157): [image omitted: streamed camera frame] camera 'right_cam' (step 157): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.405,"right_y":0.155,"right_z":0.085},"note":"The gripper stopped at about five centimeters wide, consistent with holding the bottle. I’m lifting it a few centimeters to verify the hold and see how the bottle pivots."})
tool
executing move_to over 5 steps (0.5s)
step 162
top_cam
camera top_cam step 162
left_cam
camera left_cam step 162
right_cam
camera right_cam step 162
assistant
agent noteThe bottle remains held, but the small lift tracked poorly while its far end stayed near the table. I’m raising into a shorter-reach pose to clear the surface.
move_to
right_x0.3700right_y0.1500right_z0.1800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1444, 0.8486, 0.5812, -0.3298, -0.2249, -0.1638, 0.9975, 0.5045, 1.7138, 0.6952, 0.252, 0.358, 0.2344, 0.5368] state[eef_state]: left_x=0.3012 left_y=-0.0004 left_z=0.1671 left_yaw=0.1212 left_pitch=-0.0186 left_roll=0.0024 left_gripper=0.9975 right_x=0.3844 right_y=0.1457 right_z=0.033 right_yaw=0.0473 right_pitch=-0.1374 right_roll=-0.0601 right_gripper=0.5368 state[joint_eff]: [-0.3624, -1.853, 6.6667, 1.8974, -0.1783, -0.0513, -0.0073, 0.1846, -11.1248, 9.306, 2.8645, 0.3541, 0.0806, 1.033] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 162): [image omitted: streamed camera frame] camera 'left_cam' (step 162): [image omitted: streamed camera frame] camera 'right_cam' (step 162): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.37,"right_y":0.15,"right_z":0.18},"note":"The bottle remains held, but the small lift tracked poorly while its far end stayed near the table. I’m raising into a shorter-reach pose to clear the surface."})
tool
executing move_to over 10 steps (1.0s)
step 172
top_cam
camera top_cam step 172
left_cam
camera left_cam step 172
right_cam
camera right_cam step 172
assistant
agent noteThe bottle is held near its base, which is not the right point for standing it upright. I’m bringing it closer so its neck will be reachable for a pivoting lift.
move_to
right_x0.2600right_y0.1500right_z0.1600left_x0.2960left_y0.0000left_z0.1900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1444, 0.8448, 0.569, -0.318, -0.2249, -0.1638, 0.9975, 0.5442, 1.3987, 0.8013, -0.2295, 0.3573, 0.2344, 0.5368] state[eef_state]: left_x=0.3008 left_y=-0.0003 left_z=0.165 left_yaw=0.1212 left_pitch=-0.0153 left_roll=0.0015 left_gripper=0.9975 right_x=0.3473 right_y=0.1421 right_z=0.1107 right_yaw=0.0832 right_pitch=-0.1917 right_roll=-0.0867 right_gripper=0.5368 state[joint_eff]: [-0.212, -2.0581, 6.4479, 1.8388, -0.1587, -0.0513, -0.0122, 0.3077, -10.1675, 12.3282, 2.6545, 0.525, 0.1783, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.26,"right_y":0.15,"right_z":0.16,"left_x":0.296,"left_y":0,"left_z":0.19},"note":"The bottle is held near its base, which is not the right point for standing it upright. I’m bringing it closer so its neck will be reachable for a pivoting lift."})
tool
executing move_to over 7 steps (0.7s)
step 179
top_cam
camera top_cam step 179
left_cam
camera left_cam step 179
assistant
agent noteThe bottle has moved closer while staying in the jaws. I’m lowering it gently onto its side so I can release and regrasp near the neck.
move_to
right_x0.2650right_y0.1500right_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1444, 0.8249, 0.6086, -0.3981, -0.2249, -0.1642, 0.9975, 0.8364, 1.0191, 0.5545, -0.3847, 0.5163, 0.3973, 0.5368] state[eef_state]: left_x=0.2943 left_y=0.0006 left_z=0.1724 left_yaw=0.1215 left_pitch=-0.0351 left_roll=0.0066 left_gripper=0.9975 right_x=0.2466 right_y=0.1483 right_z=0.1129 right_yaw=0.1609 right_pitch=-0.1422 right_roll=-0.0777 right_gripper=0.5368 state[joint_eff]: [-0.4444, -2.2085, 9.8667, 1.6777, -0.1685, -0.0366, -0.0122, 0.0205, -4.4376, 12.0821, 2.2295, 0.7888, 0.1978, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.265,"right_y":0.15,"right_z":0.025},"note":"The bottle has moved closer while staying in the jaws. I’m lowering it gently onto its side so I can release and regrasp near the neck."})
tool
executing move_to over 6 steps (0.6s)
step 185
assistant
agent noteThe bottle is resting on the table in the closer position. I’m releasing the base so I can move to its neck.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1444, 0.8047, 0.5774, -0.3717, -0.2245, -0.1638, 0.9975, 0.7956, 1.3449, 0.2005, 0.3603, 0.5175, 0.35, 0.5412] state[eef_state]: left_x=0.2926 left_y=0.0008 left_z=0.169 left_yaw=0.1209 left_pitch=-0.0205 left_roll=0.0027 left_gripper=0.9975 right_x=0.2525 right_y=0.1379 right_z=0.0133 right_yaw=0.1496 right_pitch=-0.0914 right_roll=-0.0749 right_gripper=0.5412 state[joint_eff]: [-0.3761, -1.388, 6.6667, 1.8388, -0.105, -0.0611, -0.0122, -1.0735, -2.9333, 3.4803, 0.9402, -0.2466, 0.0122, 0.7937] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 185): [image omitted: streamed camera frame] camera 'left_cam' (step 185): [image omitted: streamed camera frame] camera 'right_cam' (step 185): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The bottle is resting on the table in the closer position. I’m releasing the base so I can move to its neck."})
tool
executing move_to over 5 steps (0.5s)
step 190
assistant
agent noteThe relocated bottle’s cap is now comfortably inside the working area. I’m moving above the narrow neck for the standing maneuver.
move_to
right_x0.4150right_y0.1900right_z0.1050
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1444, 0.7998, 0.5644, -0.3634, -0.2249, -0.1638, 0.9975, 0.7918, 1.4067, 0.1001, 0.6033, 0.4973, 0.3492, 0.9957] state[eef_state]: left_x=0.2917 left_y=0.001 left_z=0.1662 left_yaw=0.1212 left_pitch=-0.0201 left_roll=0.0028 left_gripper=0.9975 right_x=0.2476 right_y=0.136 right_z=0.0061 right_yaw=0.1648 right_pitch=-0.0345 right_roll=-0.0163 right_gripper=0.9957 state[joint_eff]: [-0.1709, -2.0444, 6.4752, 1.9365, -0.1587, -0.0464, -0.0073, 0.2256, -3.0838, 4.4103, 1.8681, 0.3541, 0.0513, -0.0024] camera 'top_cam' (step 190): [image omitted: streamed camera frame] camera 'left_cam' (step 190): [image omitted: streamed camera frame] camera 'right_cam' (step 190): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.415,"right_y":0.19,"right_z":0.105},"note":"The relocated bottle’s cap is now comfortably inside the working area. I’m moving above the narrow neck for the standing maneuver."})
tool
executing move_to over 13 steps (1.3s)
step 203
assistant
agent noteThe right bottle’s cap is centered just in front of the jaws. I’m lowering straight onto the neck while keeping clear of the middle bottle.
move_to
right_x0.4050right_y0.1850right_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1444, 0.7906, 0.5495, -0.3485, -0.2249, -0.1638, 0.9975, 0.5457, 1.6394, 0.7944, 0.2199, 0.292, 0.1719, 0.9956] state[eef_state]: left_x=0.2912 left_y=0.0011 left_z=0.1649 left_yaw=0.1212 left_pitch=-0.0112 left_roll=0.0004 left_gripper=0.9975 right_x=0.4004 right_y=0.1878 right_z=0.0921 right_yaw=0.1811 right_pitch=-0.0248 right_roll=-0.0145 right_gripper=0.9956 state[joint_eff]: [-0.1709, -1.5521, 6.7897, 1.7851, -0.1734, -0.0611, -0.0122, -0.8821, -6.3932, 8.6359, 1.8584, 0.1294, 0.0513, -0.0317] camera 'top_cam' (step 203): [image omitted: streamed camera frame] camera 'left_cam' (step 203): [image omitted: streamed camera frame] camera 'right_cam' (step 203): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.405,"right_y":0.185,"right_z":0.025},"note":"The right bottle’s cap is centered just in front of the jaws. I’m lowering straight onto the neck while keeping clear of the middle bottle."})
tool
executing move_to over 5 steps (0.5s)
step 208
assistant
agent noteThe neck is slightly ahead of the finger tips. I’m advancing three centimeters so the grasp lands on the narrow section below the cap.
move_to
right_x0.4350right_y0.1900right_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1444, 0.7906, 0.5484, -0.3477, -0.2249, -0.1638, 0.9975, 0.5358, 1.8236, 0.6899, 0.5098, 0.2836, 0.1577, 0.9956] state[eef_state]: left_x=0.2912 left_y=0.0011 left_z=0.1645 left_yaw=0.1212 left_pitch=-0.0116 left_roll=0.0005 left_gripper=0.9975 right_x=0.4007 right_y=0.1846 right_z=0.0312 right_yaw=0.1857 right_pitch=-0.0253 right_roll=-0.0212 right_gripper=0.9956 state[joint_eff]: [-0.2803, -1.812, 6.2564, 1.8242, -0.1783, -0.0171, -0.0122, -0.841, -5.1624, 4.2872, 1.3993, -0.0024, 0.0659, -0.0122] camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.435,"right_y":0.19,"right_z":0.025},"note":"The neck is slightly ahead of the finger tips. I’m advancing three centimeters so the grasp lands on the narrow section below the cap."})
tool
executing move_to over 3 steps (0.3s)
step 211
assistant
agent noteThe fingers are aligned across the neck. I’m lowering the last small amount and closing to capture it securely for the pivot.
move_to
right_z0.0050right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1444, 0.7891, 0.5484, -0.3477, -0.2245, -0.1638, 0.9975, 0.5053, 1.9049, 0.7715, 0.577, 0.2562, 0.1356, 0.9956] state[eef_state]: left_x=0.2911 left_y=0.001 left_z=0.1649 left_yaw=0.1208 left_pitch=-0.0102 left_roll=-0.0001 left_gripper=0.9975 right_x=0.4307 right_y=0.1912 right_z=0.0378 right_yaw=0.1898 right_pitch=0.0337 right_roll=-0.0033 right_gripper=0.9956 state[joint_eff]: [-0.2393, -1.6342, 6.1197, 1.9023, -0.1294, -0.0513, -0.0122, -0.4171, -6.4068, 5.6274, 1.4676, -0.0317, 0.0562, -0.0171] camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.005,"right_gripper":0},"note":"The fingers are aligned across the neck. I’m lowering the last small amount and closing to capture it securely for the pivot."})
tool
executing move_to over 10 steps (1.0s)
step 221
assistant
agent noteThe neck grasp missed; the cap is just beside the closed fingertips. I’m reopening and backing off slightly to approach lower and closer to the bottle’s shoulder.
move_to
right_x0.3800right_y0.1700right_z0.0700right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1444, 0.7891, 0.5484, -0.3477, -0.2249, -0.1638, 0.9975, 0.5045, 1.9564, 0.7883, 0.7395, 0.2337, 0.1295, 0.0191] state[eef_state]: left_x=0.2911 left_y=0.0011 left_z=0.1649 left_yaw=0.1212 left_pitch=-0.0101 left_roll=0.0001 left_gripper=0.9975 right_x=0.4477 right_y=0.2046 right_z=0.0544 right_yaw=0.2077 right_pitch=0.1525 right_roll=0.0401 right_gripper=0.0191 state[joint_eff]: [-0.212, -1.7573, 6.2291, 1.8535, -0.1587, -0.0415, -0.0122, -0.6085, -4.7385, 3.6991, 0.6862, 0.1343, 0.0757, 0.9548] camera 'top_cam' (step 221): [image omitted: streamed camera frame] camera 'left_cam' (step 221): [image omitted: streamed camera frame] camera 'right_cam' (step 221): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.38,"right_y":0.17,"right_z":0.07,"right_gripper":1},"note":"The neck grasp missed; the cap is just beside the closed fingertips. I’m reopening and backing off slightly to approach lower and closer to the bottle’s shoulder."})
tool
executing move_to over 10 steps (1.0s)
step 231
assistant
agent noteThe cap and neck are centered in the wrist view. I’m approaching the shoulder with a gentler partial close to reduce the sideways slipping seen on the last attempt.
move_to
right_x0.4150right_y0.1700right_z0.0000right_gripper0.3500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1444, 0.7891, 0.5484, -0.3473, -0.2249, -0.1638, 0.9975, 0.5045, 1.6371, 0.6254, 0.3935, 0.231, 0.1299, 0.9956] state[eef_state]: left_x=0.2912 left_y=0.0011 left_z=0.165 left_yaw=0.1212 left_pitch=-0.0097 left_roll=0.0 left_gripper=0.9975 right_x=0.3817 right_y=0.1687 right_z=0.0594 right_yaw=0.2131 right_pitch=-0.0294 right_roll=-0.0133 right_gripper=0.9956 state[joint_eff]: [-0.1709, -1.4291, 6.2291, 1.873, -0.1441, -0.0415, -0.0122, 0.5812, -8.0479, 5.8188, 1.8681, 0.1001, 0.0806, -0.0855] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 231): [image omitted: streamed camera frame] camera 'left_cam' (step 231): [image omitted: streamed camera frame] camera 'right_cam' (step 231): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.415,"right_y":0.17,"right_z":0,"right_gripper":0.35},"note":"The cap and neck are centered in the wrist view. I’m approaching the shoulder with a gentler partial close to reduce the sideways slipping seen on the last attempt."})
tool
executing move_to over 7 steps (0.7s)
step 238
assistant
agent noteThe jaws have stopped wider than commanded, indicating contact around the shoulder. I’m lifting and moving back toward the bottle’s base to encourage it to pivot upright.
move_to
right_x0.3200right_y0.1700right_z0.2000right_gripper0.3500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1444, 0.786, 0.5484, -0.3477, -0.2245, -0.1638, 0.9975, 0.4686, 1.9018, 0.6666, 0.7795, 0.1776, 0.1143, 0.449] state[eef_state]: left_x=0.291 left_y=0.0011 left_z=0.1657 left_yaw=0.1208 left_pitch=-0.0072 left_roll=-0.0009 left_gripper=0.9975 right_x=0.425 right_y=0.1842 right_z=0.0429 right_yaw=0.2286 right_pitch=0.1206 right_roll=0.0422 right_gripper=0.449 state[joint_eff]: [-0.3487, -1.1829, 6.4479, 1.8242, -0.1392, -0.0317, -0.0122, -1.4427, -3.8359, 4.0, 0.5104, 0.0708, -0.1099, 0.4957] camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.32,"right_y":0.17,"right_z":0.2,"right_gripper":0.35},"note":"The jaws have stopped wider than commanded, indicating contact around the shoulder. I’m lifting and moving back toward the bottle’s base to encourage it to pivot upright."})
tool
executing move_to over 11 steps (1.1s)
step 249
assistant
agent noteThe bottle slipped free during the pivot attempt, and all three are still lying down. I’m parking both arms clear rather than continuing repeated unsuccessful grasps.
move_to
right_x0.2940right_y0.0040right_z0.1900right_gripper1.0000left_x0.2960left_y0.0000left_z0.1900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1444, 0.7849, 0.5484, -0.3473, -0.2249, -0.1638, 0.9975, 0.6239, 1.1835, 0.7879, -0.215, 0.292, 0.1715, 0.3507] state[eef_state]: left_x=0.2909 left_y=0.0011 left_z=0.1661 left_yaw=0.1211 left_pitch=-0.0057 left_roll=-0.0011 left_gripper=0.9975 right_x=0.3244 right_y=0.1753 right_z=0.1804 right_yaw=0.2596 right_pitch=-0.0112 right_roll=-0.0096 right_gripper=0.3507 state[joint_eff]: [-0.3077, -1.4838, 6.4889, 1.8291, -0.1832, -0.0611, -0.0122, 0.5538, -5.4906, 10.1675, 1.8339, 0.2759, 0.1148, -0.0366] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 249): [image omitted: streamed camera frame] camera 'left_cam' (step 249): [image omitted: streamed camera frame] camera 'right_cam' (step 249): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.294,"right_y":0.004,"right_z":0.19,"right_gripper":1,"left_x":0.296,"left_y":0,"left_z":0.19},"note":"The bottle slipped free during the pivot attempt, and all three are still lying down. I’m parking both arms clear rather than continuing repeated unsuccessful grasps."})
tool
executing move_to over 15 steps (1.5s)
step 264
assistant
agent noteI could not reliably grasp and pivot the bottles upright. Several neck grasps missed or slipped; all three bottles remain lying down. Both arms are parked clear with open grippers.
give_up
hindsightOn this trial, low approaches around x=0.43–0.49 often stopped several centimeters above the requested height and full closes pushed or slipped off the bottles. A right-arm body grasp succeeded at readback approximately (0.413, 0.156, 0.020), with a settled gripper opening of 0.537, allowing the bottle to be moved nearer. A partial shoulder grasp did not survive a pivoting lift. Verify actual low-pose tracking and a held-object lift before attempting to stand these smooth bottles; pitch and roll are unavailable for direct reorientation.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1444, 0.8116, 0.6125, -0.4042, -0.2249, -0.1638, 0.9975, -0.2325, 0.8627, 0.659, -0.4492, -0.3721, -0.2836, 0.9975] state[eef_state]: left_x=0.2931 left_y=0.0008 left_z=0.1766 left_yaw=0.1212 left_pitch=-0.0245 left_roll=0.004 left_gripper=0.9975 right_x=0.2948 right_y=-0.0001 right_z=0.1793 right_yaw=0.2035 right_pitch=-0.0317 right_roll=0.0024 right_gripper=0.9975 state[joint_eff]: [-0.4855, -0.8957, 9.9761, 1.619, -0.188, -0.0415, -0.0073, -0.2256, -2.0034, 8.5402, 1.7411, -0.2271, 0.0513, -0.0366] camera 'top_cam' (step 264): [image omitted: streamed camera frame] camera 'left_cam' (step 264): [image omitted: streamed camera frame] camera 'right_cam' (step 264): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not reliably grasp and pivot the bottles upright. Several neck grasps missed or slipped; all three bottles remain lying down. Both arms are parked clear with open grippers.","hindsight":"On this trial, low approaches around x=0.43–0.49 often stopped several centimeters above the requested height and full closes pushed or slipped off the bottles. A right-arm body grasp succeeded at readback approximately (0.413, 0.156, 0.020), with a settled gripper opening of 0.537, allowing the bottle to be moved nearer. A partial shoulder grasp did not survive a pivoting lift. Verify actual low-pose tracking and a held-object lift before attempting to stand these smooth bottles; pitch and roll are unavailable for direct reorientation."})
tool
give_up: I could not reliably grasp and pivot the bottles upright. Several neck grasps missed or slipped; all three bottles remain lying down. Both arms are parked clear with open grippers.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [0, 0], left_roll: [0, 0], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [0, 0], right_roll: [0, 0], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 10.59 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, 0.6083, -0.3767, -0.0196, -0.0288, 0.9986, -0.0154, 0.7891, 0.6037, -0.3851, -0.0292, -0.0341, 0.9998]\nstate[eef_state]: left_x=0.2957 left_y=0.0011 left_z=0.1828 left_yaw=0.0005 left_pitch=0.0 left_roll=-0.0001 left_gripper=0.9986 right_x=0.2937 right_y=0.0042 right_z=0.1801 right_yaw=0.0001 right_pitch=-0.0004 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -1.4427, 9.6889, 1.7509, -0.0659, 0.1001, -0.1587, -0.7453, -1.1829, 10.4274, 1.8828, 0.0513, 0.1734, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cabb86a495feff9975019bd6f2a26a9df148e7879861f6f461816c05ed72d442",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73e3664424247c3a54df8b7a3fd0046984d0c169fd19c8d0e2a03c98c75ed93f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c42b9d3de1a15d171059171d2cdfd96a91904a7796014b80e248397d08f798d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 8.773 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqssIRjucgZTp70c0HbTE-P3GRFBGSTJ8wCIsf1zKBr_4GBLlIqlG628kMew3AHNj2Fk_1_cva2wxVyN17hJAGeYw6n4U2p80PRncwzjLnrzwpAabMMYmidjC5k6nrkEc6eA2gqY-zrhEzJMO28vyPnY5-2z4yJ0bST2s0Wa-7XvVN1_XidnDn7GI-2o06G-2vdHZsaDggYshos5vWlZU9T87xb23Cc__SmZOlX3146zuLr5yq0Mg19YPcJdlLj3sXHr7HPMZ_gpAfDVT702sl_lFynvMwvSJswWPo5_IVruFehlFKXr_SDV6haUe3dzSKjV-wOa0ldscFc7vZyzJloOPGlnDjdGSoKuJ__tegZ7Giz0OjzIBY-U4AasMRrGC7Vl1Et6p_utL96rzTFuKPN_4-lXATjfWpuEgCAOR8ho2zhW2L0YQ75BjOwI3UV3OV4IwrA-B-YsAIC3pb1xzIGp64UrIBywDuiyvDmbffdRRtxoeOsyIlSuj674z5CZkPZ9ud-_ntco2wFbyVOBy1q3lLjveJxK4Q6mnn34Fpgjk95LBjHROQiotgME-Hgde7QnGJ3pyo0awC0q9CAVVRXerkKIjcJtWo38AQZ_0Z74K9JXonRkgq8P9C5ZPEoJ5gy_fdILGcB0jgZ_gl-95Pxn55qdT7qk0xNDXIIIFXqEw5ONKEXCni4AkNbWl6pcsqFguPir31LGj7MPvn0gEgHlr0LiGzCcgEybTUVqsOpYui4tS3nAratSPXmlhIgUdMNT0UKBOQPYliwCMAp8OaGDViQal9nZ7TfNkm58aGjc1eq2URkj5RdRTCKbXGNJuJYVKyz4c9vSO0zGcZMuvWLw3rzdUHcQJj5BihaGM-igXNV1JAM0ariavNnjf6NeAZ9wPjtbasoZPClhYky8kCOgJRKeImbflxRhJUWjObLcFSuo-HBfny0F91RtIOKKHL_pnaAgjGWKGWn0rXIiDCboY4PyHo8rjalUzHKR8EE8Y9njWk8YtuLDdz1ZPyzof5Ih73USMeAXjVmY-xNaCZtc8ujFmJ7UnuGZkQsdvwHU3ECTBDy7ftu3ysM05NLtlW-3ceFsqHPJFjNFEhFgjKyyRbg3xx4CTYBLAogOhrT1FEYPmlZOSjYKa54d1TFIV_iBc4oKqFh2J9A0LAavv-BMfHOkYAeDdcg8gpgTWlRtJeVbJEjzjJHck5ErelDrotMP0fw02U4yN5sLPbMm1Amg1U0CB-0Fe4S7Kp5QVjfYdDSENPdOuWnYIUg5tD9KDRzZOdUne59fLSNRFArJC031zUdrvoaCVGtixt7JdXJGc90xhmygxwzb7HnqjJDWr2e-YlGyoqN9VZs_0fXiZjdcpjii-EWjEfhUPDYWyBdVors2EXYXGR41R7HdjGAqbL71LkLEzY2Ayskxp9E9V2sIpXz58sP0RW_O8fw597x_YUteB7ERMGTOpqbHEwMWlOGJHQoU6RG3ABnFg_kyRnLgoungb1mmbxqFgIjwtHF5eDN-ifAVhr7MuJa5eJCs-0aUqeoXCO_eR7UGfcvHosxR1hU8W3JNiIsocVjrYmR2rVznZWTr9uldDdgX1pDsc4_g8N7xWs01CQX-sU59DpONfcgcLEtS0aF9uadXiHUKAr2q-fj1k1NGtuz_1xVG2FPmAcsHmYrvvFAZOnVUPJxkP9PzdrlxNZNqeqbT-1EQ8i650qCyca5_zDhVqY5rBPapGv2WlWHkSPR1nCTaGI05fhHDzwBlIbnHs4FPDhnM5sglC6AupgWiYyoyaqJ4lq3g1EKRWPp8_WmaUlPQojIXu9DOZqHyNIl6iITH5nYlUeGwokOYxWkS2uGcOoQHhSq3WlNZR9rJHxaYW3UeZ3iGZqKUVlVG71iqlcPlnVUkqlSpNvoUriQpfnyym34hnljtWjD9mkZQ1N_5EeSHI_5dPn1ApqjOyFWrDPb8vqtv3CkK3mKQuvSIoVNeGof4zgS1I9HGIBeUuf-fUNoxR0_JWaeg==",
  "id": "rs_0460d0021c200855016ab2c209380087d0a80224a0969d7870",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.15,\"left_z\":0.12,\"left_gripper\":1},\"note\":\"All three bottles are lying on their sides with their caps toward the far edge. I’m approaching the left bottle’s neck so I can lift it while its base pivots on the table.\"}",
  "call_id": "call_PsGHKRTAx3597qaj936yVKrX",
  "id": "fc_0460d0021c200855016ab2c21028cc87d08a35e3d4b8c9041f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PsGHKRTAx3597qaj936yVKrX",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4969, 1.6283, 0.8673, 0.0715, -0.4026, -0.2981, 0.9988, -0.0189, 0.7921, 0.6033, -0.4042, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4158 left_y=-0.1427 left_z=0.1022 left_yaw=-0.0116 left_pitch=-0.0639 left_roll=0.0248 left_gripper=0.9988 right_x=0.2913 right_y=0.0032 right_z=0.1752 right_yaw=-0.0027 right_pitch=-0.0229 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -7.7744, 8.4855, 1.6581, -0.2466, -0.0904, -0.1392, 0.1026, -1.4427, 7.0222, 1.8632, -0.0464, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70b973fd9ab5b3ab04f882ea62f8c8003e79ec8395071f9ba1f3a0b03632d8c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:981fff491475b44504cb6978fb241bce194c1a4550e6a2c7efdebbe9eb3369b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c31ce6b2b1c4a33869cd1b8a2c5467a118b08bdebe9fd9ffae92b5c71d41fe00",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /responses · status 200 · 8.196 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, 0.6083, -0.3767, -0.0196, -0.0288, 0.9986, -0.0154, 0.7891, 0.6037, -0.3851, -0.0292, -0.0341, 0.9998]\nstate[eef_state]: left_x=0.2957 left_y=0.0011 left_z=0.1828 left_yaw=0.0005 left_pitch=0.0 left_roll=-0.0001 left_gripper=0.9986 right_x=0.2937 right_y=0.0042 right_z=0.1801 right_yaw=0.0001 right_pitch=-0.0004 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -1.4427, 9.6889, 1.7509, -0.0659, 0.1001, -0.1587, -0.7453, -1.1829, 10.4274, 1.8828, 0.0513, 0.1734, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssIbR9_spslBtpHgbnv-q3QU8Q21_ApXk5kCPlNs-GL0Gpd_qIoLtKVWjOHplQiBqMuDOlcvC6y2R1_SHj4xnuv2qXEUvH_GuNTlDwSNEl4he86Jg9fAljMMNxMxvPPrtBTahCqtp2V9gPHABSCqkaCtl3Q9VQmjVz6AC2nmaMox9tacJKlzzlfl3HeAedQqLnu0Zzle_0RsCDSws_Uz_giDSi5vO1bbfeLLFgF64IqxY1j-Oyauhg_1sOVufrwZzAlYNPcDGjLdT0I4beVZ5ywwIYk8c57tz6y81FqRJ_L1g0wUhjJLjhowv4haKDS7c0W4bxs-wXgQK_pLAI2Vr-dADUOTvZder9Q7OS7V_j-oKkaJvMqW_IsRA9CgyRB2_JWYSINbzcodQx4W0XJ4JHxoVyikkMnuNZDzTUuWQuWnOYqm8bk8PF3_iaWnTlOQu3x0_45whCXrZfFsLEjWWTWn34l5Xf8AnSpQz8ygKaoXza7q_GvU6eCMPEtGbcN0AAFUJEQVvnbuiWWXvMEOSvmnCG5ctnvlDXo3k_Y8u5afka7b_GNl9ryLMvmqo8WtXrbdr1syaEY9pJMUNGyya6ZvlKsAhjPxEHMbu9tvJnuV0ejS_hdruNCq_nqJ6aUkAjmhqGsQ6V6cRydPhloOpMo-pYt6GKxP_RS0z24OQ7Qv0PzEgPMQy0PHxlw8AC6OOLHiav-9beZOhBu00ueWtApJMrpTHNnz9eE_KHtD5d-8b8As1PjIDW6loSsPcimw5kIzjfcRUVrCnDNi5745q5NgPBx373cXTmGe9tqRccdPp4tF6uV6pFcqwLas5EnUxrTNW8t_viwcsY54LL-Q6ZFBwRNjYGSPM4RA9U0qE8mzRPaFGfPI6hsPFmHXYS7EH_61UUIdxchBeiUsbkILu4wbFXxBn9_2AvF1Y1qCRkVqYxtS9Epiz0g2VbtlYSm-sSfyB6mWufqKG5GNOj0uXeZ855VW0QVbYj-6aD3VEIzGu7AIkpoQySITQQfTOIkgEb2mR-w5boYBX9yMi2uzVEJ5ERxLGnatrsGy-4lURm3q-EtGKw86odvqAab96cW9a-H97CDRGYs7G6KE8qmwSuwWckUjuMs3WIziInMPlzHRIS1pHLNW2aRmNO6gT5332m39jSx-P-XI-rZBwT2OrX45Lucz2JAb_hzvwUdGhwl9BURkEtbm2BtKsUI6jar1Y-5eWOT9_iVYfVTNPdtzWAVzahSj2dX3HDWPdF8XARWeDDMwtvv_fP7FdMDYCO8hT7OhQN54q5og4ZIYuFPgfPF7VgllnqYrVIh18aZLXP9WkTxBTBm_FgxzdLweIhiZAeGTPouLaTqpHqg7lXHZtz_6LBoCgI3s8bUjAyVvp1nlhOeHRGzM7iWrb1PVQgEpsva6vZl-bNuWnD62Ruuzh4rC0gWnsq1rOn8m7apSJSzqSKnp1Y1tgLk5RnidPPOvpOqFqQzxfVCe5CPrbKI_9rE-t6fjSCjACvO_c2GxQZcQiBn9n87EeDXfidqWEk34iXrKOR-KM3creIZfAdDp_GPbCtWxWsIGV23PyiaA1TgqUuqW5whFgXzeiyRHXx_1VeVn",
  "id": "rs_0460d0021c200855016ab2c215bda487d0925ec59bde5f18fe",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.115,\"left_z\":0.038},\"note\":\"The left bottle’s cap is still forward and to the left of the jaw center in the wrist view. I’m lining the open fingers up with its neck and lowering to grasp height.\"}",
  "call_id": "call_EBEM7mIn9y84HbrMsLy3LX7W",
  "id": "fc_0460d0021c200855016ab2c219ad5c87d08fdc2210fc8fefb6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EBEM7mIn9y84HbrMsLy3LX7W",
  "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]: [-0.3489, 1.9224, 0.8696, 0.4213, -0.3237, -0.2478, 0.9985, -0.0193, 0.7826, 0.5835, -0.4026, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.468 left_y=-0.1066 left_z=0.0366 left_yaw=0.0439 left_pitch=-0.0324 left_roll=-0.0025 left_gripper=0.9985 right_x=0.2884 right_y=0.0032 right_z=0.169 right_yaw=-0.0031 right_pitch=-0.0316 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.2803, -7.8427, 6.4205, 1.5311, -0.0366, 0.2613, -0.0513, -0.335, -1.6752, 6.7624, 1.9463, -0.0806, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64ef064a238b34d0ccd854db4839af2ac3e5a23416ffd10be5624f7299fbb375",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:838b6b9acddd3ee745fea282a6a1dc361d6680ef7e48fe811673a2dce068b782",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acfafa94dbb898e228c191cdfd4f7b253a2b0cdbc2db3ef0029c1a2cd7d864c0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 10.04 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]: [-0.4969, 1.6283, 0.8673, 0.0715, -0.4026, -0.2981, 0.9988, -0.0189, 0.7921, 0.6033, -0.4042, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4158 left_y=-0.1427 left_z=0.1022 left_yaw=-0.0116 left_pitch=-0.0639 left_roll=0.0248 left_gripper=0.9988 right_x=0.2913 right_y=0.0032 right_z=0.1752 right_yaw=-0.0027 right_pitch=-0.0229 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -7.7744, 8.4855, 1.6581, -0.2466, -0.0904, -0.1392, 0.1026, -1.4427, 7.0222, 1.8632, -0.0464, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssIkRm3QaZTBDJtDvk4fHiXVZ7-66SZWi__zN9u2Ywmq8hbZQqlNIiPJOF4omX6id92zvCwb5HhhPfYuosa-o5Kqqc6aJKwCXA9sktjJkExuUxQp_TrTsyibGUIRv7aeLCI3eyLkf5R1GEp7oF_1jvFrYzSvQTk77RHbCs4TFFmG3r9PatKUrnicZdOp_wpBMdjFQdY7Q3AfMMNhFPKfBStq6ounLW7L6ULMh_AiLYfxcJjTN3fShRkTMQk2LMUnvhjjp54pexfTJYgDnBAWBwOWmmA0QF2u0k9H00fKmmc8ECYAv-j5DfN4TRjImtKX3lyOTPtP_gylW-v4TbeNFd7TdaddUX5DjFoRCBXfEP5UbE4RBVxc2Aepb-Vql7zKNQwrD342abn2-UBjs8MJSt37VHCCyD6cq_NYFFEkSIY5vSS3bZKJBTMxRD2dC_4czyea1WOCy_zDDKo3RXEzIPiNaep5Rah2XWW6S0AMGOqhFV8rp8Hu3Zb_yfxsW_dyY-RSjoV5Ne6GJEfplM48rZNokj6b2TPfwMxsvaNF6GBwpP9LZF2oNTH9HVMoJmI7v8KqsZGIhtzDl3AylAyhpCqrTmkPtweiBMLVxvfea8bKp3makDvJfH3_R748FJeU_zY2bX5xbPumqv6kfIEQhqjOJfSsvykwVTLek7B6nT1K1qkbFtr4-dzK9dtIq4CnsCABldbk4N0tp_bNpxGaS-8SxPul2a8g5h4t0F60L3YoKWbHTAGHz8DlPspk61_PsCp4a5B-r3LmAN1lo-3aHdOgWlhIe1kCFvC63-gA_YvL5qAuXZ8sM7fROcgeis5I6KWmF7-Q95OdDq1m-ek7d8sZ6qLPnH46G91HOMmic9MNxk4Rylxvce2wn4hXy43t7LRgmlCvkcA7WMtCUGi66RkE3zvnCfW0SjClkcXGb-x_8h8pAQimULGg43sLmIa1kMeMr8QFarOgwsUGOzJ-dLdlCkqCIc0Z7Q_auMEvk-qCn2hMm4EIw2NFlFcXksciQhQ7jWeukU-lzpCZBtush66abGLGB0scxFRpqweu2yC4NbcGc_jvtXsnnHYuMA6afvqlpQxOwhKizIVpWKUg1x4pzgt1JkdVRqbjrYk22K4gPiHwjMU4M0WTVRqjWaLy3EnVjfRs5_Lxfwb_3Diu75KzjoLmewMqwr9zhzUrJPAZpWqWEC07Y2CwxxKygOE1RRgM8bKr8ZOi79rwzR29RcYLGSa5Nj_0pVZHlgqXEeNoM1SQzfb7upZi7dQSqLZqeV8xC-LhKlYnEHV9F7zCSteVZFoGzx2HS91_P3Dj96N61AfdOpf7WgANS2cViuSXpzPsQQUPU2OhLQyMb-YNd7k-fkzV1i2j1PnXT663z6KgUFtIkXJqs4bk9I5aHfvcfC4ayfvtqERxKzKkDUNXe6oAKhYcPahAE_4fgoUz8tE9Rcgv0QDbkvXdRf5zKx97jr-idPGOK1fAuLybw7i4Cuuw4VleAtgceKHo_8Sd_rtqr83dsnE5kQLCzqSkqUsarb3zqQr2FaMPeVYH3r3ZDDID7mrJy0-s-ShuSqf6oq2fvyc=",
  "id": "rs_0460d0021c200855016ab2c21e9e9c87d0a26412f50af3ebb9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.087,\"left_z\":0.027,\"left_yaw\":-0.25,\"right_x\":0.294,\"right_y\":0.004,\"right_z\":0.18},\"note\":\"The neck remains slightly left of the fingers. I’m making a small lateral correction and angling the jaws across the neck before closing.\"}",
  "call_id": "call_5ZPmo29qQAtoR8dsuDRQGsjS",
  "id": "fc_0460d0021c200855016ab2c22204cc87d098be7120ab775381",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5ZPmo29qQAtoR8dsuDRQGsjS",
  "output": "executing move_to over 2 steps (0.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.345, 1.9415, 0.8803, 0.4755, -0.2958, -0.2352, 0.9984, -0.0189, 0.7856, 0.5831, -0.403, -0.0288, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.4768 left_y=-0.1128 left_z=0.0415 left_yaw=0.0177 left_pitch=0.0043 left_roll=-0.0236 left_gripper=0.9984 right_x=0.2885 right_y=0.0032 right_z=0.168 right_yaw=-0.0032 right_pitch=-0.0355 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -7.8017, 6.5709, 1.7411, 0.0366, 0.3443, -0.022, 0.212, -0.3077, 8.6085, 1.9121, -0.0024, 0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d55ddc5cc2339950b8233a779edb108770b4fc0808ea538375a2756ff64164a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d380650ed6dacda3d829a85614d912e196758fc9fa9c9ac31264f04d4757d0c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eaa09e4cbbf7583ed1d0e6923812a2200a9fbdf6c7fe6885fefbb71168c2a4d7",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 5.712 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]: [-0.3489, 1.9224, 0.8696, 0.4213, -0.3237, -0.2478, 0.9985, -0.0193, 0.7826, 0.5835, -0.4026, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.468 left_y=-0.1066 left_z=0.0366 left_yaw=0.0439 left_pitch=-0.0324 left_roll=-0.0025 left_gripper=0.9985 right_x=0.2884 right_y=0.0032 right_z=0.169 right_yaw=-0.0031 right_pitch=-0.0316 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.2803, -7.8427, 6.4205, 1.5311, -0.0366, 0.2613, -0.0513, -0.335, -1.6752, 6.7624, 1.9463, -0.0806, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssIudB1XOrU7QGgzNa08ee0tHB8J9SM1CjPntWpisxu20F_ZZGKtoQGvfhUel-1-MkH89ewyVQGuidJ56hDflHMg7nSgPPrj5L8RoxV9h-22Xc9FWrcHM1jlgi2bGC-zjHJANCaXwIVpRyJ9ZTp1Uouy2fc7E2ske7wjCB4N6sK_EaMIypoHmbo9LlLc-GVMdMuobZLpwbVZNsZ-zdgJAtqGzDNGmXCmC--OCI_8-eOmfCFLHzBzlFI22ruvERPBO_qZa7vgVRAwaOKzHL_gO77--pvTim-05AxuIief22C7tpkF-4ZVxEqQvS3MkW8c5W7F7gRh35tyeqC7PPiIemLsPISmaVk08VnWlMX3CAKWACNL8H52kePNghl48BmeY3NI0r7A4NgXXk8QJJ4T6eUQADILukRTX1dwWuqWtfxXsft-lwHmFsph1i_ciyxutVAPXWGt3Va_GwxxM6cN9i0oBF114PJ92TO-23BC8uHaetuteadki_hzF4RW4O4MxWFtDHqK9sW04kJnyjA3xZkmQ41dAMMJdMAcYaA12yE5jIBKRrMOOCDXsS2C0GxLvLx6gjRAWe7v3UuvbOMBOOzBWFe_fPRPJWbJe4JYbxY0DWPHM-tqt8w82gSH3e4aafp18vCdZ39gJRnUoXpiQ0JVufr9oEys6epph9YjfRcyU831nCqve1pCqQwvazh2unHoAOEvyTfP4qddXniAPfPFLcaVEzyOhBu3DT0m5Y-akIiYxgp9wcUAn8VJDYE2MeakVyDIOz4G-1SfukhMYMdoHUh6cdhb6-YUyypW4HGU2mVe5Cy0wCKo6vt8oyRclxiKjuRfExz7ecMI0A_Yq9RrEh9O_kk171A93zLadkl3Sg22fZw-1-rb2rp7YzgZLNdAlrMtF-5ZrDiZnvr4Z_gPEf9pKUT1o08B64zTrKUIDihaGZwK_WARoJMW0CbpWQhTZH5o5mUQxJoWThHJ89DGFAmtoKdYF7D7f1B0ej68IJLTblW0aPKJqANIDAC4N1ACLhB4T6rT1kK4EUpKrMYiWQXtMywL9_hGfKLs4h_j6qO-oEU-LhHWtlxPWBtiFkfDYz57cj6XUsd3XHp7WN0-jL0oHbG4t_Rx9zjzB1lwIX9qbBeZYKKw21le7BFf5GzzJ7sGW-ati_iEGrOKW-le87cLxeU2PHstc56v2z5MrxVbjr-ck3slHWF5qJbjJkQwGv3H6qyAHDVIaiBOIXVYObgoUdXt_jJfIU-UxowihL2OQ4vk-KmZ9yCES55Tan3QGdZWGIv3Gnl1DS5hpfCR7f1yR2kZbCpWbZAsduxlJRY67sx_Ms_Dck31pM3Um0T4RvGQRUOcyndEwP9dKcrJmp7XeZmJ8NqI5VXUEEDL8FiowgtlUDZ00rt95vZfh3NoNMp2jP4BfWMRaDDwNJuX4_2MXwc9LNfv58l6rCaCs8wkUXDJS-qrY-CtbXC2PWRivvKfIf70yG7HNH19BiKCA5voHdCvY6nJYORXE14bXk3dqcmWLpsGPY05u_JXv3Fw1wQ0eEmKejd9tOXyYAHJJ-JOjGdZgJgT2ZPdwQudtz6s5iEYfPy0w33ZSy72DuTTBGi05asAKy5SEfeY5uT9Smdc937IQdYxQ_rBwMZQt7vHp-MP69pS_ftxpcDUyEem6wipvDmhkegIsxVQ3scyGep-QiorMfja5AIfC3JTigTQ2UkXtI8CY1FfKTtRbj7mIB1Wgy7uEMTatlOYcPIjFXtv_QVu7-VBXgY2A0wHpZ-a7_s7xbMRAJAsnq5PB3no1z3tmdWAs59yjTAC2221wOIswqiVMocKSrQYw7akfxOUxW_CgMFNJAcMmM1DOJM1aPRu19zg5FRmmBHr9rhHeg==",
  "id": "rs_0460d0021c200855016ab2c2265a0487d091b79ff068162f06",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.475,\"left_y\":-0.075,\"left_z\":0.04,\"left_yaw\":0},\"note\":\"The last correction did not track fully at this long reach. I’m shortening the reach slightly and bringing the neck onto the jaw centerline.\"}",
  "call_id": "call_M79gkTwIyiakK7SdACXCBD87",
  "id": "fc_0460d0021c200855016ab2c22cad9087d0a3ffb36d0b44f26d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_M79gkTwIyiakK7SdACXCBD87",
  "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]: [-0.345, 1.9415, 0.8803, 0.4755, -0.2958, -0.2352, 0.9983, -0.0189, 0.7692, 0.5499, -0.3882, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4768 left_y=-0.1128 left_z=0.0415 left_yaw=0.0177 left_pitch=0.0043 left_roll=-0.0236 left_gripper=0.9983 right_x=0.2853 right_y=0.0034 right_z=0.1603 right_yaw=-0.0024 right_pitch=-0.0374 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -7.7744, 6.3795, 1.7265, -0.0024, 0.315, -0.0171, -0.0342, -1.894, 6.8855, 2.0147, -0.0659, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe165f5985399353b88404aa24f00db1523cb6ebcac39bf53eca191397975f09",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f898fc8e4d70dfb2033601710af0e9754dada01e02aa30bf957312058d6c9423",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86e1ae1b5199e2a296e8377b883fdbdb7704200ef872dd428cdabf42ae673682",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 5.838 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]: [-0.345, 1.9415, 0.8803, 0.4755, -0.2958, -0.2352, 0.9984, -0.0189, 0.7856, 0.5831, -0.403, -0.0288, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.4768 left_y=-0.1128 left_z=0.0415 left_yaw=0.0177 left_pitch=0.0043 left_roll=-0.0236 left_gripper=0.9984 right_x=0.2885 right_y=0.0032 right_z=0.168 right_yaw=-0.0032 right_pitch=-0.0355 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -7.8017, 6.5709, 1.7411, 0.0366, 0.3443, -0.022, 0.212, -0.3077, 8.6085, 1.9121, -0.0024, 0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssI0aNwp5Hq9qLMHiemrrGFDjAeSCLe9y12zuDPBP8izztOpeehBqLK2rPvzIN1zSfoo_k9YYrk3JfA7j55YDO-gB06IAQVWOIgjFQHpMk8aIQ-gLldI7iwHi5BP2Hwr01KyBjoLvZP4sUnMtyKWdeIryBXJrJrCydsHrM9plzY5Z6R_T89I419SKjnjz1AJpr7rJCtyVGo-_4RwRs1GFK7NO17rcNjBNE1v4pzNyy9Tfo7JMkSmCXeKVgOAuNJ38ghEacgLMhZYd7t4pV0iRNap1VeoHxbhwAhp4U9d8cg3Gr_xQBcJXjuq_0rZYauBxnOPT62lXZ05nKKC0Wxwayq97ZcyoQLk_6NT_qA8xE0K7u8NgD22ssvyBgVzRpHJNcN61zyEoMaDzcMzIOQrTvZK-5lA5X_mr8_apSPuG9EY3LXw5GJkMWuDOdgjMpmEBwBRSPMmhC86DgXBxayP2xBIEjXOQTBK6D-5MvpD-EJ7eY1trMYhaeDICTEpag5pFzg4Iw7sYRp1TxdAUsgL5BjKaoD1vmMBI6mOO57CForCCT1BDSl0a4_xYs_RpY3W3QiXOgdXvPZNpx8W9311zyxFneUSp4m4qpP2DXeYBAQB5NrX7WHF-0t9pa85Im24zmCQLe1-NkBVck5e2RJQTIQufKBCUsEkOyb-kuN_rbbKk-IgRpM2Fi3uud-J68caP12Gm5kVfVU-cdQxtBfyeoIc9s-muiElB8eIE2Y5cujazRMLWYMHuDde_7q8oiAhLsO-EStYDwH7W2zljS2OqP_7B23R75Wcw913Sg9Q-qJuF5S_hsTcuqm7PXRoGzFqg_-YCnyrTiU6J49WGgBqh6ziEfanx4Nxn3uvAI85jav1dsPkhZKNaCU8m3Ep6wnIu9WkWoxQm28nBJo0sGGU5rruRjSsayWsmaHM2VALLauXPyhltnBb-1-baOShrrVC5Y_TMRi9s3aeykpznKcYNM_OOYCbDeSkBJLVmEmBt1Gp8Aos8Bk-kCeXukKa7jZT21DXA5GflpzWMMRmXN3xBJceFDRiF-a_Tc_3M6SbPEW99-kWm2r3HjT-5jw2jXdwSjyg004ci3AXZckj-_brGJ36RAYqvMbR2Lk_GrRLZV9L8u6BTBFLg_eZK6-YN8DNy4csVmz2M5u-vHzqN_T27zCT99H8aXIkd2U_9aM8YyF_JNRRIHkl2sKsPAqma5zKQAxgWKQmO6Cyjpo59vpBQZU19UYG8frxXRp0EXftz3yhCabb6ZDFFiza5iVojCGe9Af8",
  "id": "rs_0460d0021c200855016ab2c231ac1c87d0a6f1d0ec9ed88e7f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_y\":-0.085,\"left_z\":0.095},\"note\":\"The arm is holding position rather than following the sideways correction, indicating a reach limit. I’m lifting and retracting slightly to regain room for alignment.\"}",
  "call_id": "call_CfRZZglikkq0AUlaIHu0HqXY",
  "id": "fc_0460d0021c200855016ab2c232ef1887d0951767e107750f13",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CfRZZglikkq0AUlaIHu0HqXY",
  "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]: [-0.345, 1.9415, 0.8803, 0.4755, -0.2958, -0.2352, 0.9983, -0.0193, 0.7506, 0.5167, -0.374, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4768 left_y=-0.1128 left_z=0.0415 left_yaw=0.0177 left_pitch=0.0043 left_roll=-0.0236 left_gripper=0.9983 right_x=0.2819 right_y=0.0034 right_z=0.1529 right_yaw=-0.0027 right_pitch=-0.0377 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -7.9521, 6.5162, 1.746, -0.0024, 0.2857, -0.0122, -0.3214, -1.7162, 6.7214, 2.0049, -0.0757, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8274a1d92cfd2ac00ebd0a831919b7dba23e6c2ba825a9a4d08cae86a09fe209",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffc0d1c19c7dfaa122a2f5fea43675e6736d65618e74c01e1a097e782c41aa07",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:528544a3acee6eaf5877703ad1db438236754f954aaf9838c849b1c462495a7a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 8.973 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]: [-0.345, 1.9415, 0.8803, 0.4755, -0.2958, -0.2352, 0.9983, -0.0189, 0.7692, 0.5499, -0.3882, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4768 left_y=-0.1128 left_z=0.0415 left_yaw=0.0177 left_pitch=0.0043 left_roll=-0.0236 left_gripper=0.9983 right_x=0.2853 right_y=0.0034 right_z=0.1603 right_yaw=-0.0024 right_pitch=-0.0374 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -7.7744, 6.3795, 1.7265, -0.0024, 0.315, -0.0171, -0.0342, -1.894, 6.8855, 2.0147, -0.0659, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssI6r_7cP8kU26bLakaRq1t1SEu_602OfQQD08nZNaLbekC-CyhqATe2XKu-6mLHEFHYpc0I-b9H5uJU9Utdo3OHPiYhFL5WXAgsTwkzCZ8VdWuvRQbxinln5sfOTGvcQ51CD42ip6txZMKvihwXyRIkL4Zga9-FegMmYc8qlHZbaX4NqnJFltqhni0n1rzOHZKyM2sTKBiGdZjPdc_HFezdtVZ57dStgMfaGKlOYH4CM0inRkDg4P6nD6G9hPCfIe-2ebpJSO3LJI-TszqVc34pQeQX4yAKI6ATukE6V63DIJSLAdjoKVfpuznU-8V3VbUpA1b1Y8WebG06ztyoP55e_8lZ402tIH59JmClz4fEvxal8mQjz1TYA6iCMy2icZPYzE9ziWBbqOOVQDQajm8rZLhFHUFddmZTZpF6kYlf0-ESYo2ILvshBaIRxo6WeOqTi80LZYJRfTM8zJb_q_VCBhAFeZvseiepkU5KPUPng81F0Ctdh5_R19Zr7ujQa3ITFaAy-Svl2Vb1R7usQgkwqF8kvliUAaVvQl-MzDrR7YVMyHaliuZhEyEnAILM3chsCJ5S_AaHF0I3gjvyDGqyAhli7c4fudOXZgye7qpstwXi7OyOFgC3idh1TN22603w3yO5CE1gPKFVNMwEa43UgTKC1YoDLtD2qe0Rf4ObUjEd8GcTKCmuXdVlJmYd8-CIbf2gWuXIetHJIoxCj5WcJyy5CxIBrlHGHVm32iJxUUgWXK8WdvXlRIw9LgCl0Inqn9UAQG0aNa8cULAyQwaEcOfixIXSDkhtJysJnnLGU8URL1b_EZe6E1gfLcyAybeepd_hhAaQd9EjwJXzxSnkMo2f5hcay4oGYgmPYutGm4hX_AOAlsZgeQIu58J83PowDVaKPBeX5ww-X_nNhL9XeJqS_b_HlX7tsLBPxjSusGc4lpHbMBbgKABKnG7mG6hIZdeJ1ch3nYt12212Sid7D-D-OaBRAsDrFCaCscDBEWtQMD6mCAA0IZ8vY4jMqdoaWJLUUMz05ctu5nwQonca9YXg04o3xDyFVgWHqXgCggbdpzn_dvpcJEJQqSQpu60FovvnLs4A5iQPHKseI8faE00TdrVzQMhpiuzu7DgV6onEhOaomnE2OSiMV169W5lGOQnSR_CYUZy7ymmMf34ocYV8x74pkXlEfJcT9tP5d1cP3yTC00C-9EQxqIW9hS6quUgHGhWvAPRIMFUioQDO-AQBjbERCrRO-uUkomKPXuM=",
  "id": "rs_0460d0021c200855016ab2c2375b0487d09e6b74cc87a08b22",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.09,\"left_z\":0.2,\"left_yaw\":0},\"note\":\"The left arm still has not moved from its low extended pose. I’m requesting a higher, more compact pose to safely recover before attempting a grasp.\"}",
  "call_id": "call_818KZm21eOQmEXUlDV4QPnVM",
  "id": "fc_0460d0021c200855016ab2c238796887d08e3ba92d07e68700",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_818KZm21eOQmEXUlDV4QPnVM",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4992, 1.0595, 0.73, -0.2756, -0.4, -0.2928, 0.9983, -0.0193, 0.728, 0.4786, -0.3576, -0.0292, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.3276 left_y=-0.0962 left_z=0.1874 left_yaw=-0.0199 left_pitch=0.01 left_roll=-0.0113 left_gripper=0.9983 right_x=0.278 right_y=0.0034 right_z=0.1448 right_yaw=-0.0029 right_pitch=-0.037 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -3.3846, 10.8513, 1.7021, -0.188, -0.149, -0.0171, -0.335, -0.7726, 7.2274, 2.0586, -0.0562, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f4c10061379263b08d7b8c49ef68abf36a85ac5b38e4c370223091feaf9898f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b84f6d51495eac6e568e3200612f9aa8b4789658f0eeb09263265e3429b9a88",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ded3408029e91b26482d2f0c7ed5f51c16d989345b815ded9f14a379e205945e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /responses · status 200 · 7.546 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.345, 1.9415, 0.8803, 0.4755, -0.2958, -0.2352, 0.9983, -0.0193, 0.7506, 0.5167, -0.374, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4768 left_y=-0.1128 left_z=0.0415 left_yaw=0.0177 left_pitch=0.0043 left_roll=-0.0236 left_gripper=0.9983 right_x=0.2819 right_y=0.0034 right_z=0.1529 right_yaw=-0.0027 right_pitch=-0.0377 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -7.9521, 6.5162, 1.746, -0.0024, 0.2857, -0.0122, -0.3214, -1.7162, 6.7214, 2.0049, -0.0757, -0.0659, -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": "gAAAAABqssJF3wu42atU3_U7pNHGYoZRpOBPQDjgv-m8xxme74jnUxOGqsKqX3x3jbdzgmep22yfckQCzi6AYoP8tXI5sqPSQN0lUA2rZWZPzXzrIOmGnZ_n9J0X9JI4gKrmhbGTa-sMJXg_gXhGYL-zftAb1aTj7R9xSPTI-kJRVRHXxb87Mm7yc_hMztzF4QCGpjnO5uAcLuA3ZWQPeE6roG_nJ_Wu4RJIdKqehBqqDZ2wu1RAlntWhNhD-OK9HoSjxM2TtpIC8C1B_SeSSt9QXMI2EndVE3lzpveyo_Q7XIm8KLq1adwFwDJ18j_7o8qo3-DdZ8Lyx3-niVd8HJ_xr7BJaw6Fqz0QAloNyvkMYoa0W8jZssXRiRQ_y_dv3jdx4_EMM9l6PtCw9iWuS27nCzqFId3mSaVojg6ojua0wEOx6jaa22SF5nXwNn1peSa6Wel8AJujhNm2xgGlhh4VA0OZIg6VoEatlLhc5Wlp2HYBWLCc9FOZ7e-dF_avtz7J7HMuTExgcdbmX646D6ur0jzr7xxHr-q1vcDEabcJ2f4KktFLRwaUHo30eokbIg38is3gVqUJjeLo0H4I8ca-fdgoIvrJT6yBdEXCnj8mT6hb2BoQn0ppT-fV59QSyZjWB3bEIknHud_NQeysL1-fVz6vaGdjhsVEYwl2MPSU_6GJfZ03eACd5UeG_3DhUu9HCY6B8m81EEWJ0i_B8xZe2SH0aKL24uy2EN8qNEvP2K-LukHWX7PfWrQIE6_5JC0oyJtYWDMtkBIT5Q2mrxEMBv4SENlvTd3fTsnEEsVehXLhe5ScMiEordF8FcjOp61ZSD8RKdY-0BVkGcJrLNogAjTIEqN-u5izYJW9XBZPo4cIv987-yQFQllYUr2AizYDmPQ6Xvg4C9u65w8ZTs_qZbob7VQt0tHkbxopYtEGcFW2-zId96x3Kav0beGiIr8negF15_pxB3hZqi8oi2xoQbxZ8hvOFWyApWF3qtmnX293CvhfDoFlFBCmJXgISRyk-ABZB7L-f8SbDpwM9q38rw5dfNAFNTPBJCGWH1-I5XJOfOLb1Uf92RwyqxUqFvqMF3X0E2yU4EDNHsLv9uxyGlzAjlYf8Wq2hFe5nYFZfaoS6j_Zpxk_2WOkU9_KooXBJtu1-YJVZZd1Ngj7LE5QMIPb12rbA-wPA25PJRNUBkbjEMnf18g1Q_2PblXz3G7FuzBxQOCV7o3z5lmk2PnKg4YuT65wizP_XjfNcwTRyL-BmQtUBAAp8-bAfe6e7MdMmfT7x7crsvqq3ckPW4lay_t9DP2BejeAhNbhLGLarpgZWtmvnlbAy3u2I5j3-6cPVmXxdXRtmqWzKsT6rUsGDPYTXP2liev-AxX2TL96Hs_L-1NWbGp23D0xsiqlaadhIcGX1UHSZ7xMH9QtjE7NnHCSpfZ1u5cED4LcHSmx-k6_nwe3firzIBK2HHMB5VeBA5c0xrJN2pe03fiZ93EQ6j2OngGBlFOoL9NIq5KI3CBt_CJ9QlTa9JyBrWGmmBsy4lsLdHtwIVj2qE6-xM3HM6sRUIzBnvL5xX5V2kAtcOU6BiS4mD_4oPBMpKEd5Lx-ZsQ2-3vroNjLhkfXSHvY70eYxrdSeaWhLm4jRaPClbemTY4z5i8HKowrNbI_eEYshyOc9UUzsmnmdO9xUS9rKFf-8glNnMIkAiogybcktNzqwDCpvkZhIQYXPLaEpbDgKJVTSFkxJ6SjL4i1Y4QG5aGRO3XXRw==",
  "id": "rs_0460d0021c200855016ab2c23e00d887d09487509c34d0a2df",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.09,\"left_z\":0.075,\"right_x\":0.294,\"right_y\":0.004,\"right_z\":0.18},\"note\":\"The arm has recovered, and the left bottle has not been lifted. I’m approaching its upper body from a shorter reach, where the jaws can close below the cap.\"}",
  "call_id": "call_sOVI1EQ4NregLefcJgRBoFCE",
  "id": "fc_0460d0021c200855016ab2c242fa8c87d0a60391ba0658f334",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sOVI1EQ4NregLefcJgRBoFCE",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3141, 1.6722, 0.709, 0.3, -0.2523, -0.2089, 0.9983, -0.017, 0.7856, 0.561, -0.3931, -0.0292, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4199 left_y=-0.0863 left_z=0.0594 left_yaw=-0.0007 left_pitch=-0.0771 left_roll=-0.0001 left_gripper=0.9983 right_x=0.2869 right_y=0.0039 right_z=0.1599 right_yaw=-0.0006 right_pitch=-0.0477 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [0.9778, -6.653, 7.7744, 1.37, -0.3248, 0.3736, -0.0171, -0.0068, -0.4171, 10.0718, 1.9463, -0.022, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb8c4d01f2c3557b611bafe2b9eda34ec4e792331b96712e2c2b321c6d156f21",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ce2d37bde0c555ae27c8a5c6b8ce2d5a368dd4187ff8d7be2574b8725f54d04",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8687366a9c7d854676cc5715edb87d8f50bb5c678970436ab3ac33edcea48eba",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 7.157 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 26 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4992, 1.0595, 0.73, -0.2756, -0.4, -0.2928, 0.9983, -0.0193, 0.728, 0.4786, -0.3576, -0.0292, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.3276 left_y=-0.0962 left_z=0.1874 left_yaw=-0.0199 left_pitch=0.01 left_roll=-0.0113 left_gripper=0.9983 right_x=0.278 right_y=0.0034 right_z=0.1448 right_yaw=-0.0029 right_pitch=-0.037 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -3.3846, 10.8513, 1.7021, -0.188, -0.149, -0.0171, -0.335, -0.7726, 7.2274, 2.0586, -0.0562, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssJNID8YUXZ_fu84EQGZ5VrykmL5kqjE_SpEoiNgGSCkFYk3tk5Dr1G8s3doPgz2L6pJi_EF6ihnbUFZqsFFU8UIoxuvAIsQ4yRxz6p2PNuEZvHxpuNSPV_b6o4-h0BqhoLU03-bz9Uw4rxdlcElLEoHll0_-qCvKNE_uy2JDUbFqQzCBp340oIMEyun2j11gB8mHXdwDnwxwbNjQJkHQm-at_eUUBkx1oGStoDvaY5gqr-fLRtuz5-5wY_8h2QHtroMjBBKJ3BKV8m-lM0T8EmC0ca18uYzuiqmUqYOYCsC3eFmwzgOQnrOoKwvOKFIElwzfaCwFSyxcYmQZH_KUsJxCB3lq285coyr0bgQmyRVWpyEwij3avuP-rXEiHpp4U1VmQ7dOo0H8dH-7X4byhSUBAxHi_MtE_MQLcz_pswzwUIhxrrDSlwsC3mRAt9AVzMu572mrBSNbGfj-DK7ba4kF1HgyITd-V5pr4gi92Zcvak42VQPIezree36hqGteHtWoMuKfIa3_-njgeNk6CbZDZNRcuho-JLTcjrj4-ozHn0tH_PHW94_RtRLKtk-nriMrmbkV9kXqwFz6ly8C6T6v3XNr1kX_-8dgFGAr1AW4YolCSmLDjX44A507oTx8KGdEXYLp0y21H-kOCbKB-KZXC-n6A4Fe0AN9sR2qQLQLgq8XjQdDzXSnpXzMgpCqEap_yCrql8FhDqy_3doQ1KGsQOQBd_o5841E8SYwps8-pWfVm3bX0u8PYo6QL8zCg3tvsOUN8QwapfXXolrBTYBaq2aDFoZLIHXC-gvLjWMqNSCo4Qw5qHNajUV7mYjB15suuAc8iw3FMCoKzInBYAZvaekzsqKG89gKAjl-_plT9NBE7PgDpAUIMmFotqWN3a0IajYGXsLhyT0Hox9b45XMT9LyAuybbL1iKB8b7argMDjMEfDuWRpIGgTRVUV_d_Hyi_0z5FK_UoD7q48Nt2dDIVTeQCw2zCV1PEDJK8w8r7SEEa-Wq8_Jo75ALFbcsdRxoAaPk_rIogeiC0fBJo6d--2DkEKsm2dt0b-0UuwVsaFlDDVJTdJKjty7j6jSFIrkpbCICy8vkqjuCgOKdH0dGvwj6DMdwC1mLi9IBXICAxGyWqqwYtbt141y_M4MKEUxe8uY8F4qEuJxTIiDXHw3dPBg29vKOMetZJZmrg0GC5XkmNYfO2zASY34xjxwsGx4g29PdDT5WH2mY1iZaXH8iMNZNfW3J8yOr0GDFLj_2AIE1XprAOKiXxgR4Wp06wYZxVjzm-p1xj96oR6RhIiD5AU6yuMIkRd2F6bxm18U4JxO0B4tYPNUz4DekFChbrjCPTeWd17EtvsvCnzzbzei5UC4oxt2pIBAy6gzcGLeJeslnOfAJsCYBDL2nwZXWyXyZAbnI_1-HFCOkgqMSMq20D8ZLBoWFndkL3R3YEMG-Sy_4Lp64Iz40txn0QKKHJRt12SRDE2CcQkeqBR4R4cIkY5dQiryBgqrWRra1PCbnSgKJQ6er_qVKuBamgkhiK9Qf4xBM04hk_tbjOVXwtGNA==",
  "id": "rs_0460d0021c200855016ab2c2481b2087d09179eddf541d3b50",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.08,\"left_z\":0.025},\"note\":\"The bottle is now centered much better, with its shoulder just beyond the fingers. I’m lowering and advancing a little to grip the tapered upper body.\"}",
  "call_id": "call_ZUsEHJMkMnhbZJ1TYBNAYiMe",
  "id": "fc_0460d0021c200855016ab2c24bae4487d0b87a140d9f878217",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZUsEHJMkMnhbZJ1TYBNAYiMe",
  "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]: [-0.2787, 1.8801, 0.7414, 0.6003, -0.2226, -0.2092, 0.9983, -0.0143, 0.757, 0.5167, -0.3759, -0.0292, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4594 left_y=-0.0872 left_z=0.042 left_yaw=0.0093 left_pitch=0.0371 left_roll=-0.0535 left_gripper=0.9983 right_x=0.2819 right_y=0.0047 right_z=0.1509 right_yaw=0.0021 right_pitch=-0.0461 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.8274, -6.4889, 5.6, 1.1844, -0.1734, 0.4567, -0.0171, -0.6085, -1.3607, 6.7761, 2.1026, -0.0562, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bebcba062014f90c1e0a628ee67add2a4335679d3d56acf64454b8d9fe949f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7794d8bb33e41977ca65075bc468f6ec8e42cfbca7841505f79fcd39216ecc0d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c55f2cc48048d6be4fd802ba9c386d02dcf51c4ae42554de602d71c39e67bee",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 9.171 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 30 changed as sent

message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3141, 1.6722, 0.709, 0.3, -0.2523, -0.2089, 0.9983, -0.017, 0.7856, 0.561, -0.3931, -0.0292, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4199 left_y=-0.0863 left_z=0.0594 left_yaw=-0.0007 left_pitch=-0.0771 left_roll=-0.0001 left_gripper=0.9983 right_x=0.2869 right_y=0.0039 right_z=0.1599 right_yaw=-0.0006 right_pitch=-0.0477 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [0.9778, -6.653, 7.7744, 1.37, -0.3248, 0.3736, -0.0171, -0.0068, -0.4171, 10.0718, 1.9463, -0.022, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssJVcBGCUKrLv30gigXmrcgr1v5h-iCJfSTX-eWQeQ8-OQghrPN600m0tGGSeL-ALFcxFDQhGPUDY9O4N8g61JTIDNcgx26n4_RUgci7WWTjbJ2aQ2mtucLVReW_L318Qz7mnQOtGxoKiXya7Sshpj9uJw-OvZ9LfCIFW4YsQn_k9Nw9A9YiIYRRANIPiNMCFKHqu3QaMcozRECBDRD-HfafCqMpjNqIxWI-App7FIWYmru6JmJj5ooclnBPlDzQHnCYvNVh5f3HZsxa1l8BO3Huo3AQHrvs7Zoq-erQ70C14616VmhyzwD-R6txJejrwmdhy9eoNJaPcH1Q08EpJPWlaL2henknxGyMZbWuePPu7IvboEaU1rAvGhTAd_LakM8P8sGQt178XHrsGvh_pzRAf9DIuSOPfbdqfmkLhoa-Hs_zsjHZezk4mW0ybfbbVyIq1DmcKltfshxoeAJlf4uvjZtzspuoP1TRYPTRaGEf7pd_eQtCdvB3sHc0PMoBS9suVWEm3qDqGz57tuaoSRmboROqA6FnsfeJ7gweRp8_4qW46CC9OMuaFSNmeO58NWA6GdhHoyPq19UzCjeXfsz_MC8FsGyR0gYWAp1PE0gmES3F1lKJoyl5jR75MbzchCvcgCKUZD-EhMyTW1A_RGeEVKYqtl7ocpn1Dv7fIod1wg9C8zadk3Y18HBuWtBzX1APHmBrJ5m0sujsqkFL9pdThYLUnQi9gGv7GHIvSmPd1tmFABEaGyo0-u2b9fT7VcwNaceq76rEqn-n4i7Ky2rvNoT6WIiRXaNeQiXJVuWstTaejHG69ogMB_Ky-FPHawarwd1gE-6iGYwp6f8w-6ue9clRXew6c2-_rb20XT9kAXf37A4D2iOmA8Hz_nY4a65VchVG5hiVnkz9YPURJawRMArSsmK39oHh_tub8JB0iPYr4VfWmjW9fP9D-Ixst9-RPlFJyw-mVlGwLFymIIqiFs3sDFiks12CLb2iQCyMBobKGEkuHKJhGZMr0iXhgiIvHh13rk__Rlc-7qDhaXI1VUL2GcjaUtfB6ULw9WeWKS_0bn_xPcO0YoV_8nEmx9mNmjJZpHQStkw2xTRca7IVBHVMCO7EX4DyYoql4MSbWUz6ofzmOyBL2MqbdpkCiQOouo460t8HKTrA_T9JX90HdrbB6BqRJHCXBkZbxsRmGGiA7xGNKzhcwTEbKUz1tseou9rRY9W2aCAGk3Xh1oDx8fYDXl0bm-LD5sJ25Qhb0aU=",
  "id": "rs_0460d0021c200855016ab2c252f1c087d0929be6eb8e01a5ab",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fingers now straddle the bottle’s upper body near its shoulder. I’m closing to secure it before a small test lift.\"}",
  "call_id": "call_KKMsG3M4bl7MQq2shuCAUU0f",
  "id": "fc_0460d0021c200855016ab2c253c4d487d0ac3c67bb1cccd00b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KKMsG3M4bl7MQq2shuCAUU0f",
  "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]: [-0.2646, 1.8999, 0.7589, 0.7025, -0.244, -0.1806, 0.0149, -0.0143, 0.7307, 0.4717, -0.35, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4762 left_y=-0.0811 left_z=0.0618 left_yaw=0.0287 left_pitch=0.1364 left_roll=-0.047 left_gripper=0.0149 right_x=0.2781 right_y=0.0048 right_z=0.1425 right_yaw=0.0022 right_pitch=-0.0389 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -6.8581, 4.588, 0.7302, 0.1734, 0.2027, 1.0525, -0.2393, -1.5795, 6.9675, 2.0, -0.0513, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af9c4fc55accaaa8d59ed73f3ebbd63b99441a2febe81f709369c6e34575a2a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ede0fa6e25d517d4b602467b2959bf2fa0dff89cea42f0dd7a53ec40263c53f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7f12300337035eabcff35afe7388afff1c6d13a4cb6366d33392b1a4f986328",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 10 attempt 0 · /responses · status 200 · 7.62 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2787, 1.8801, 0.7414, 0.6003, -0.2226, -0.2092, 0.9983, -0.0143, 0.757, 0.5167, -0.3759, -0.0292, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4594 left_y=-0.0872 left_z=0.042 left_yaw=0.0093 left_pitch=0.0371 left_roll=-0.0535 left_gripper=0.9983 right_x=0.2819 right_y=0.0047 right_z=0.1509 right_yaw=0.0021 right_pitch=-0.0461 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.8274, -6.4889, 5.6, 1.1844, -0.1734, 0.4567, -0.0171, -0.6085, -1.3607, 6.7761, 2.1026, -0.0562, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssJfXH7jVRyPBaTgcbj8cYcFRdu6lWSiOBe0U43nGN5y2YMOgVgWYRdNsg1bbg2ecTrwol3c-PGbEr7gOzbK9VfB4OMvjZspGxajvORQz5hucbQrpNCusZLMJlCD1cMdL5yJMqqOf-mKj-Jfgok_LSkq4DvUMgJmp6E_CB6KqWj239FRhXQ4K9zBbxsCqqGdFfsEIhpW7MeEet5UGOTlHRurnmcR_QnFqbbuH2BQORDiaTn2OXAhdHVPUC8DJvROzIv8O_aHvKMqURXzDrajKwD6dJX9d_DkYwUC2Dxn0DSXqmdRGNmn4lZg6C20AwOIzTdgGLeZ7d-fgg3CZ6abWsLPsjLyEioVNwhl3RO_aTi0wkhhEMpI8Cy61X2SPDkvTBmXVrxwPvx1-nIQpz5fU3LoJkeBPFRobFV44hDsT2Y6q8RtLTvBlxa_RCpm_BJcsMLe9x7NfQWzLfTADfjevxr-ePh3dOFZKMq7S2p8-yeXDnZDHgR_KN9hC_894IkzUwAaNYoj7IHVNP8MutV8NZDSzVgx9AiWodr-RMpyxlRyjLPsQ6iLbv0KwyTNH8RubrGEosqEYyA0nI5l5dEmFOkLQe1g5s-_JSbveJIj0RkWaZ3-J1XZK_6s2pWGrA0nl-czuSff7BaH-7pbjK9ncZXqxprqBSQWgScvnDyzio5U7XwaImRziHKTAAIzSp_qHbr7sqZdi1cL7gPPsLhmduqz1ioMFfJFmKJbVvxRqkYK8xR11-Ul9TcZNWyBxQuOtfQMuYtqKr7lSguVcTIBMXcP2QK5grjuNO7zvil0x1SL3Cac8gqm-gRLaXj1y3NycCU5X3oc98fWWl_hJKbbE0CTd6mpds23CyrxwdIsKq9buT-2NQZPnhbKGGLcpgW78E0Dc9o9d6aE_yo-6hDHCK21Mnoj-hurAzKHMFCUD-cq8lucT04lPJlqasUiQc3peN2R33CLgHIfCv4Jr_-zR11E42cJweqMC6aPV1pLWIo1q3b3IOJyuVmEOs6rebeZpw055WtI25OuqEqy2IPcl2v5smXCxbflanxd2LZl8rF8uEy1DMjkddN4nfASm9AD2KwcPz2uYKVK-teu44ZiOFRYHMrdfj1Yr7nBblnv27jq8DHgKldpWiqjh1nPPCYLGeSSqdgfy27lXnFUPUEIgHux7ouzQGiIH1EF8tnoIhLty3ofja94KVcbcienJxxfnTTdThQUZG73gnpnJxw5gv5T-hWtcCrf_JFaPF212oUK26916gpI7GhVnEyFwaM125u0F52uaawJ2sP31f1zyyzbKPDYSrXHAL_W64TM_MoK80DjKKVfUHZP0ITDJC1IEnstxUArpt26GtHiyl0bLZ4a5VWb2p5N8GQ9yhtIsUlrdvvA77ahcSeu_lpQlSl0GKI4Ru44ICdKjXyWZpOcJn7KO8-HP_wV57O3Qt5joTZYaRiHMRR0XUTx_Edz39MR0UX_RSw5d39gntja_ZGIZ5FtNiVph5KmMqxS-Ewm9jM8MGgccJflMFMC5YEk9IyVeVZr3hZCvRqlCgLKt7O4zRj0Z2ZhOsMMstX09mq1HF3M45M8t5nldv52wSGdVoQ9MmZmdsCNbHl-rIaNnKAuuRv35XJ2VuTDm91wMejJ6pzoFopb3yu1PfhiEZ_3Ea-LFoms",
  "id": "rs_0460d0021c200855016ab2c25911ec87d0b5f3fd66b95bdc44",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.455,\"left_y\":-0.08,\"left_z\":0,\"left_gripper\":0.8},\"note\":\"The close was empty, and the bottle rolled into a straighter alignment. I’m reopening and lowering further so the fingers surround the bottle rather than close above it.\"}",
  "call_id": "call_7rbjs8FGalC5YOR073XyqhDq",
  "id": "fc_0460d0021c200855016ab2c25d379c87d0ba3ed2c880901867",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7rbjs8FGalC5YOR073XyqhDq",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2817, 1.9549, 0.7593, 0.7597, -0.2592, -0.194, 0.7948, -0.0143, 0.7105, 0.4385, -0.3344, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4776 left_y=-0.0874 left_z=0.0493 left_yaw=0.0318 left_pitch=0.1406 left_roll=-0.0539 left_gripper=0.7948 right_x=0.2749 right_y=0.0048 right_z=0.1358 right_yaw=0.0019 right_pitch=-0.0362 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -4.7932, 2.3316, 0.7888, -0.0806, 0.0611, -0.2564, -0.1983, -1.5248, 6.6667, 2.0049, -0.0464, -0.0415, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cb68550718d7f452159ea11de756c1446c5e8f26ec6a16a51ee2fa4f8576d54",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ababd04c63317b670b2c8b015af6876b1b80123526824ef928a13472846dde73",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8af5ca297b4ca44f27c7061fa53c09aa2adcafa6e804470bd024ffee69599421",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 7.828 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 38 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2646, 1.8999, 0.7589, 0.7025, -0.244, -0.1806, 0.0149, -0.0143, 0.7307, 0.4717, -0.35, -0.0296, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4762 left_y=-0.0811 left_z=0.0618 left_yaw=0.0287 left_pitch=0.1364 left_roll=-0.047 left_gripper=0.0149 right_x=0.2781 right_y=0.0048 right_z=0.1425 right_yaw=0.0022 right_pitch=-0.0389 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -6.8581, 4.588, 0.7302, 0.1734, 0.2027, 1.0525, -0.2393, -1.5795, 6.9675, 2.0, -0.0513, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssJngAMGw7kSjCTcNEgFlaR362MxU7zWXIxgn12934I65LaY_v4lC5oc4yukOXX7SC19viIE-VsQxy_Wv4LBkg_7BEhpzY2MANVlzCdgnNDZXw055zVEZkyn3u3uD0YRLff7ZS3uHE685LvZhPbAjCXJmex0iYClwwK9qP0W5UHB0mb2M9UP_s9pRC0u_mKdebsz6dodCzhG70kwsdza9VhuxBRCNvSTDkAQ9SWsjE5Ribv2IGE0pRxDA8N_IkOp-GVj0akghFlJWc39b6s9Yq2vEF7Qp9oaVvhOQIHJGpJTIvccSoyj6P9LVtLVdQKRcQOxBiOwXlJ2eNYhi48y8uFBZOUdEkpPnLVPfx0AYcxBnW1vUMyQXxlmQNXSIhwUJrOTRYaB2dSBTBRP4oOYmdFCBkVE_wzxlLv-oP5v3O7Tinq9ox_HtIscNLsRlzjBgzPr79X9W_cuEzfQ-Hq6eDTYXsRxy-WlOILWfeJgg4xU3Ty3fU7RS0LThmPfL54x9fk9yScOFMrXQsRKHarVysfgLs_J2hz5dfBBKpfsrh3kKRKMG5yaj7ZaHt01TORO2CwyitGVklpW13BVhymvRBirtGpueNHmw4lTzkk1q32s-fUr1vXjUMSMsYcuZd66zLvd7mLW2d7u1QfKL6NOHabgVm30d_viAQYadwo3x6CS5etjPyHbprXhWWt0BDpXubGd_nPeOSWZuXOooS8m9zxdnGFAIF4Ncs8VCtDYrqDAp_sxVDOhzUhqG2T0y-Ma6-WTq9H0XSRjbxHpU4RlYDMJcCWk-DADlkBp6omqLlYAPKagbwbz4DYkXEL7UZIE6kIPQSACCqLZj7_WUkYYxyGpExT6ONehQYBCwTnX77JgNjjCa6rc9PZutN0tHAp2KuomW3usRd8p_-ZAWaJOrW8XkulEWbB8VoyxBZkVoODDz_ntLxU6gG12VOt2jSYx8WfL1T_gwamCt0cK_Knb7AIx6DKCLDtt4amy9eY7PdeFDbjI41JvoaLBkWUvi9sjkPuwiLokxJhme2MQ8-KxyTIPO-J9hxhoFUbP2f4NgLxqF5h7aht0ZIBxsi3VEtuX-U2YIGdreXh99tcbrrfrE1_UMx27hC6r0rHHhgnbNQfd9wBUrmNvr4xvNQzuWBZf1Nu6XL1-p7W2Vg56ZiN0CPDVXa2L37Q0P8ga546Wv4iXzm70U68r0ehalhwS56WCz02HGWWw_K3CkzkJdmecWzFGOfbH0n-wj3hV6yAjL8fg-Z7MYvQzovVqVkWlM7cZKc3XxkUnHSxAZW7EBkTOmR9WK1pSsk8CUjBpWUpaXwXPzgHYjkhGfjC_9oTnWJGg0zgiB3NZ2Xz8FIv-_A92fzHZadOlQXaC0PFnRpNH3TFswQ7fQ4pkcfPY28LGAQATraMl9Syq-u3hi-1ZtL5pZY-7nkaaUXPuM2Vxxdbn3kuRIzIZBe7Ohkc_vGTJGOljQID6",
  "id": "rs_0460d0021c200855016ab2c2632cac87d09a007b46ead72965",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.085,\"left_z\":0.14},\"note\":\"The low extended pose is again not tracking, so I’m backing away before another approach. The bottle remains on its side; I’ll use a shorter reach over its body instead.\"}",
  "call_id": "call_FwrfwYPf18EvOYlln2NDgiBJ",
  "id": "fc_0460d0021c200855016ab2c26578f887d0b8fd7c21cbecb580",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FwrfwYPf18EvOYlln2NDgiBJ",
  "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]: [-0.4122, 1.2816, 0.6529, 0.0605, -0.3565, -0.2607, 0.7959, -0.0143, 0.6868, 0.4061, -0.3153, -0.0296, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.3715 left_y=-0.0912 left_z=0.1429 left_yaw=0.0145 left_pitch=0.033 left_roll=-0.0217 left_gripper=0.7959 right_x=0.2722 right_y=0.0049 right_z=0.1309 right_yaw=0.0024 right_pitch=-0.0259 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -5.0803, 6.4479, 1.746, -0.232, 0.0855, 0.105, -0.1436, -0.7316, 6.8444, 1.9707, -0.0464, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7acc5af468f77e065a9bb37ff7753e08b96a852496be9fd2378d8cd1f4702437",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8aae8a24b51651c9a658674505aefb92f74fd1d8f6a3fd1a85760f5f0b8f17de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f52b94199d7c3ac7d430f05bbc6edfdf0ae2941777ce7c90d593e2ce46ca6dcb",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 4.659 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 42 changed as sent

message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2817, 1.9549, 0.7593, 0.7597, -0.2592, -0.194, 0.7948, -0.0143, 0.7105, 0.4385, -0.3344, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.4776 left_y=-0.0874 left_z=0.0493 left_yaw=0.0318 left_pitch=0.1406 left_roll=-0.0539 left_gripper=0.7948 right_x=0.2749 right_y=0.0048 right_z=0.1358 right_yaw=0.0019 right_pitch=-0.0362 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -4.7932, 2.3316, 0.7888, -0.0806, 0.0611, -0.2564, -0.1983, -1.5248, 6.6667, 2.0049, -0.0464, -0.0415, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssJwAcF_e9iT6F0iOPBbyDOnbqayeAfQJqAnF2GYKo4J8tHZLjGSQ-GRoEJn00M_JZT28uo_Ren1DbsZFgB8vJYwzMaXMpqru8fbJ68eYiNB9fxJg4vI0gX8zNZqvYT_gsXEDVxyNN9xG1tllyeLbhtFA4NYskFyto5Z9kThT0QCl5qKIxcpoIJpDWt4L-P5cXd8vXCikTMwEV_tfvCAzN1MlP1sCHKI4c87B4A3OOT1Xepczy0jM9-CPcQgXSlxl763UudFCzOy9zlGFGUQi0qHWLLLNWh2wdgSeMkV99FPZJP9vXeLZUNfvVHkP5eVLlfC7OjWHmXjorJ0EGSw6iG5fWN0xiGcNDKU0mOyGLuyKBuOcM0f3EKj4bDHslwnIzkvTm_WixcKk3xy-YCv7aN8HucDepmYASHx8UvCPV0YJ04wQ-TFe_d1A4N6KSe8pyzPdKg9KRC4dYGWMiEdgmga9flJA9mnEtz8U5uW-WQtn0WN35YW9ML1UMIgcC6GTFRcqJ7slomyCU8kbj1U7K-VIyaZ467JJe-oyYTdbFNg_coXeJyKB5s2b3BcJjhOaDVCevU_YrrXL4i_q8qQInJ721FixmwAPs21rc6FhaP88Eg5SQwwI-a2NY0FBD3awSLkY35kOdvvTwBZv-76OmOTKbKisZJAA4UD1JxLwqCna7l90qi-v8b4FfrFCutl-CJGVuvC67QY6n8DGCVox94RC2LFwjL906la15jUZ25GdBjQhNumKCDfRW-PZEwmv6InYq8EZGdseCof3WmOgZ9Y9JULtXZt7v9T9EHtllx7KPTk1NoHhR_82LuIXsJETBlTtrp0cLELGiVSVggiRZ3zws_ILDXfupSUdqKeyNaRFbuYYn40y_zCMlKVDkuIPt6KYb-ArYVNcPneTFm-s_fmfznBxhopV0gFhenDr1RPn9owKkXbULY3DAsEkAMJKOz3xsTdmwlcGns10yxSbaAy8U02EqFbk3jr-yyg-Tz_sIqSsGCStB-78t27i5RqCxD8Sl6asiDEtzwTnAwDIq6ktgYLBGjPqn3ZSMfs7NS4NpIW6R-SBWg74gj0en6f_VXV-LvpB_h1zi3AWRNXJN0_qAJWST2SO5UAbjABhvNUOtFsC6TrTBw-y1LCoP6q_cB5K9K87FryFlBKjGt-dxXpZy-tOPFLWw3x301C-iB0HhJdgjkBNSNrlhRoGuaSrIaTB6n9Xgfqj2EqDb2E1N5tAtuHnuVBtQAxhrhL4KvK-0z9Nh9ZoZXxt0q_jdErhl5CpYwgB0dWrJCMESl__GeY8UsMgNQ0i1NXbIVl8iLM4BQUx0etso1FLS1QoY_juABy3rS0oV54bCZmWI-X5vhJbsYwV4i6ulyXAZi9mIYADRKWb6LDET3AbCEgOUSF8sUV7iLxEfTWJYQ2HUXGYHHEuVFtPQGlSFsEI3mgbSENF2SatuPIw_oC_83glK9aPeP1MPATZy63ut3lUKTiewrCPtzk5-Aq9HRw0IdrsbM_yQGjuXiZE4_YQv0f0oow5SINyGvycdmabLoG94MMdqt2pXWN2_dwjPcz29Q1OzHsU0g=",
  "id": "rs_0460d0021c200855016ab2c26a9afc87d0ac2ac9b2e15d775b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.085,\"left_z\":0.015,\"right_x\":0.294,\"right_y\":0.004,\"right_z\":0.18},\"note\":\"The bottle is centered beneath the wrist view. I’m descending over its body at a reachable position, keeping the right arm parked clear.\"}",
  "call_id": "call_1juCNTP2keVPwuRwclaqde5G",
  "id": "fc_0460d0021c200855016ab2c26de82c87d097c2b7c5a7caeb6d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1juCNTP2keVPwuRwclaqde5G",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.345, 1.7897, 0.5831, 0.6628, -0.2989, -0.2394, 0.7961, -0.0143, 0.7856, 0.5564, -0.3901, -0.0296, -0.0429, 0.9998]\nstate[eef_state]: left_x=0.419 left_y=-0.0915 left_z=0.0387 left_yaw=0.0228 left_pitch=0.044 left_roll=-0.0407 left_gripper=0.7961 right_x=0.2867 right_y=0.0047 right_z=0.1585 right_yaw=0.0063 right_pitch=-0.0491 right_roll=-0.0056 right_gripper=0.9998\nstate[joint_eff]: [1.0462, -4.1368, 4.0137, 0.6471, -0.0757, 0.2662, 0.0024, -0.7043, -0.5675, 10.2496, 1.746, -0.0952, 0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:177c3c223a252b87473b94ddd0a72020fbc0949323a77b0471f75296e22c0c15",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6826e363a8aebb598ed9e1ae2cadd59fb7b766b08eda93591ccade955f767d0d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b602a1104a4698f9bcabfd6f37db18441177cc74260be9c61d7157c689001be5",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 23.58 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4122, 1.2816, 0.6529, 0.0605, -0.3565, -0.2607, 0.7959, -0.0143, 0.6868, 0.4061, -0.3153, -0.0296, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.3715 left_y=-0.0912 left_z=0.1429 left_yaw=0.0145 left_pitch=0.033 left_roll=-0.0217 left_gripper=0.7959 right_x=0.2722 right_y=0.0049 right_z=0.1309 right_yaw=0.0024 right_pitch=-0.0259 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -5.0803, 6.4479, 1.746, -0.232, 0.0855, 0.105, -0.1436, -0.7316, 6.8444, 1.9707, -0.0464, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws are on either side of the bottle’s body, and the descent has stopped at contact. I’m closing here to secure the body for a controlled lift.\"}",
  "call_id": "call_rdd1WF2JadXxFRSfIFCYEykd",
  "id": "fc_0460d0021c200855016ab2c2738f9c87d0994da86fc1c32b87",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rdd1WF2JadXxFRSfIFCYEykd",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3527, 1.7649, 0.6239, 0.6464, -0.334, -0.2363, 0.0147, -0.0151, 0.7582, 0.5056, -0.3653, -0.0296, -0.0425, 0.9998]\nstate[eef_state]: left_x=0.4307 left_y=-0.093 left_z=0.061 left_yaw=0.0442 left_pitch=0.0962 left_roll=-0.0402 left_gripper=0.0147 right_x=0.2818 right_y=0.0046 right_z=0.1477 right_yaw=0.0054 right_pitch=-0.0476 right_roll=-0.0054 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -6.9812, 5.135, 0.8376, 0.0855, 0.1148, 1.0085, -0.4855, -1.7573, 7.159, 2.0684, -0.105, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17b38cc9f52de7d31ab97157c7905082e66e844a7818e6f030362ee16cdff60d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ca9b4386841d9cfc5df0d27a47775a6d57fc87087294d269ddfafcd6ade9bb8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34c25c56a630034f1e3abd4d9707af2d580e2bf7526a62ef0baf29a319540fd6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 4.656 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 50 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.345, 1.7897, 0.5831, 0.6628, -0.2989, -0.2394, 0.7961, -0.0143, 0.7856, 0.5564, -0.3901, -0.0296, -0.0429, 0.9998]\nstate[eef_state]: left_x=0.419 left_y=-0.0915 left_z=0.0387 left_yaw=0.0228 left_pitch=0.044 left_roll=-0.0407 left_gripper=0.7961 right_x=0.2867 right_y=0.0047 right_z=0.1585 right_yaw=0.0063 right_pitch=-0.0491 right_roll=-0.0056 right_gripper=0.9998\nstate[joint_eff]: [1.0462, -4.1368, 4.0137, 0.6471, -0.0757, 0.2662, 0.0024, -0.7043, -0.5675, 10.2496, 1.746, -0.0952, 0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssKNpLtCJUfffHwoG1dS0nKsCiiqWQi9UxwLuKiQDyOXYtYp7ATA2xV_ru4zq-PzoTxO8IYbQ8aN4QxI8uDMYmqlu3kLXJWtfhEdNNJPaqO5sLyIUiPKlE-GDaBN1lWeVi5eKXaWlGys84uo4aPc41qLODJ8aJLdAh9HucK5CZY4qy5B-VZuxAFn_w4grjXKdPdv_BL_U7jQaFJUcP7LZNdTaJ0A48vMjiWAQ3dDpk-f5gA_gnZfgjcVS9VcVfh88aNGAEQgz-UnyvIXueOZab3iJKLSgBCn0O77d7SpqHuSywTe9ys8nEQwiujY5EauQu6C_3biG3m8Al3HCLGOeZW22pX16hxi03JvNp5Kh8sn-vyyaoU2WearsOr9N393RIAbrhXBhqje4wvFVMHYLScNR5dOKwpF8tlZLos3e5JkgRJpLP5_ehL06dj9Lx4HS500CXyRGZ1N7hJf-Pr6bi5yLvrcPyRa9rVmRK5-axWLDgRUN0FzYNG5VLDh_3ydhQiPn-cIqU9BQq4P27Tq6NGSJVylDYBGPvjljdlgX1IGiAzWvU0WIVqJTeO5fyom7TZNFTA2l_q9S6FWjZ6tpHdiaWxSoYhh4d4QY8dedRmqLs7TxeREIuycX7Wsn5beUsxeMoXrrx63M7Hz-iotwuD7ROfQ1oQJktWKUwde-ja8lbB5Po9q4BetwUftab3QHx0jIZVaBX_v5QTcMnkVlBuTo3UrgpEHcpg8QNewLYdQJrm6kOjxV2PMtEZVF3bKpvf-HWdZ9tx9vGkCQMRHNAerWMWzY9UXDxC4xXZ1_XSvd3KfBUMtloaIfOO5Zl752lxVIwWe4UUDCyOH1eGPAfvRrvY4_UQvYDgv33KXidcecLUztDPkWNlpdu_AIyGfsjvmYnGgHZ3BJDzYxgtXQJFcYlMYDv3NSjh8I-Y-afk1kmNfZUzjja7dL2D0ZVu6HL7tHcerVB7tf9zVui7QXSN_XIhna-KP0oXrkmZN_vQVMuVpbU7N4h8NBILrBuLasf70QmSCIfyFI52UsLyhui4IWuoi4BedkK5aBoXOznxe2EuLVMuHykOVF98hPT0hw1pXAZk1KQW652vNKEN7yqZKd8ebZEIOCtTWWSA-8ZcB-wlftvWG4jvKjmQ4mji0fLbCkaNit8bVE3M0bMRWPQ62Jh8iZ97ojJg75mwDA0RzK6wxmlr2X8nc9269vDdGQ7dHbcNABOyzLGUFK4EUb52hDwxKQXsr4J7lsK6_7k30FlJN6qc2O8uZa2JMdjB1yl4EsfPymaj_BbZY-r033MlCzrNMT6gr1gZwEEI0pA5ywkqxDnzFP5tHrUDQxtPSU-RGTx9uuZ0SxaH710YC1rBUtXQQC1plboyWt_DdWhsJ8cvpJ_1Xu-AlM0ARhJb07-AWSQVWNRMKv2fY54P30IyffeVgZQe6cqVEEuR_otwUT860is261d1qTH0WdAOm6bEldSR4Qbgx0BlMamxj-cBvxvUZcPkVMMcEr6JD2HzyT_-odgxqOiHTZogGIx75q9cufZ2WvpLe94xquF2a7tqFFgKfTTCRgAfgnLFODPW-SreOtwEa091OdMdhrebF4QWnf0YdeWFzTftI5XM1vxSdJe4aPrdOw2hKP1YEWfdu16ASpgYthvLB-viseCTbnRVNcMed_Yv-cdflvQBz1gFjm3B0YNB-P-Krm1tRIWyGlwUJ-jtxUYwKk0gP-KgEH8__rX4dfrz6UvjmJPYZCkUxZRcv3hI0bVfG7pNNTP16qIzYHgLfig46juDDhKdhVOUi9vnUwzpo6iAtKS7sFFbqIvgC8XdReEfT6dpUgPlynCjSCyUllhFRzuvA1yYUrYvzKQnlM6ZCQeInP-LnCij-JtwvxvNg-tCxITQmCpN9UzuA3qoqInO0KEdCfdh-Ot9W_6QM5gWvUmGnrTTHwsgdK0tksLs0_9a-Ew6BYB7C0XdYP3oM-O3bHI_k1NUjaF91RmHeEjCqHSmpE2k_1sAhX8PIrIzdN1sIXhHcGpG9BJomebPI4WCyjecIb4GU3krk40T0E57gS098ITEywkL6imcPE4iawR0DE2joY2_P4FSuSXwjLDTI0vA7Ww_yqSqrDiPd1IwSwweL5Ws5AQESwdr6BHkw3-iRemSpI9erc00MxF7iBd5Cj3rAwUT3iji1USkcuTl_Yl2jCrq_le9edccCAjk9c0tzH1pAaV84_bSNdNqQ1AQgFEBrenahCR_AAHrdibyfQrQdmTR646WEcqgGckh4tkRtHvIIopBHDTAXg_FKnCkSgz5DiVPumiWRkoe8J387ma-jeieLS6WjJbHruGRTpu6qGotG0DSHTAzhL5qNn_OrKKBGUEsnyUg7HxVzIxth7nw2UEUEtEfYRxZ6gDTVK6tQfdJFcywWVTnY_9eIIQp7f6a_7T9jw2qJvpwVdChjUm6dbBMnIQFNqVWw2JOUw_VKz2HZ5i8MLeTbqJ4vHGtMUBtIeLk-3Y-FZWDBe6TRbe_j_QaDTBu1LPRX6kwQXs6vPBqcfbiI-2zceMbRGgX6pt_7aLbZsSFXhBxN-FY02LigaQHwnwVEkqbOtKIrZMXzMyVKyqSQFRfa0jzH2qb-JQx-Rk7GTyOY5lfN9O8BB7X0Y05HFpYwOiepEtgoo9SKng3cX0ypshaBQyGHwtKiTvAAEGK8sAdSpo8LlTjV3vxWpopF4ol0PORi0j5P5nA0iZmcB_r2jlPnGMieYxrZfLrsQfgCnMYQAxtKH5FQB8MOjkYzdN4-JwCjoVhIMFl57TlRepXyiSKRX6MmXe7S2kfoMG-o4wj3JGVTCYgUtmr8jEe5T9PeMxCJszfaQQ-54pByHHBV8E-exYqFNaam8eAqHPJrFDuExGLyklxoNEmOPGPRYbT--wRLgqkbx6s3jB0GBtNponEmS2fM_o5AsZG1TPuh7DQVUlvfwX03Ax8iRbcjBsORgUga4N0JyTXoV01qrUvqLCTW-7i6Nu1mVzHqBWcQ9-8BsowEXqO8_J_ukqH_eHooFV3h7nf4rnFvRams6LrVGITOAGbbL4P5PN8D2mYGfcBmIaMhTRWY3tP4yUj4Yusidg-_HZetPq4Xy7S37cghdxBloXbn8vYgGnuCBDrK1I8sEaOcCPUbcUKcFAXpCLEUhxgJ-zVXrEz4LNLM__u3w0o8B2Y0KQpZNnXbdo_doDB6Q-PKHCUpRZKZMTzziFa6XOEyPtqMyAw-frqqg5SOuQnRaIvI99KpxoIzwSJEzvRTuQvto6Zu_PKwslbPHWTwZynuZviGikvDcldP5CqWU3KeUmMqxnfa9TUfrTa9rI4c-VaV6kaqZT5S9ShsCZXEaECBpTk9n6KHxjw9onX6sniseA6zii69VTyJ35-Ij5kxrOYdY4D3vXtKLKB14BpF_2VMB3CoAsgOwaKW9l7EjFXrMjxUmE2GZoYsi7rp6z-SdRnPJEJWOScAcZVPJ66SHW7s0_ij-Nt5X97ZPY2oKzySUgGGwkT8lN3hUqA_EeOI2cQqemEUqqLZBnOQs-mF3ZhmmpVSjVME849mkN-xivlB6pw0wwuIxyCzUAK1bp90tXP0hIol7bhe28Y97Pe0PRrvedSsZkJao5Y4RHgjVOTWtVHZ6HQLBG9LhkZhp8fnpueUdOkaqn8BD3LLddS5KYXHaZhhqJgglnu5yxBZ8h63rv25iNCBNCmbK6pBMdiNmerXQfhsnyV8k1tBRuvjGNprDeSM9ulSTL4MlTrShu225y0MIraLiJxJyNmupqkx",
  "id": "rs_0460d0021c200855016ab2c278c0a487d0b58bbe89015f0a28",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.085,\"left_z\":-0.015,\"left_gripper\":1},\"note\":\"The second close was also empty and nudged the bottle forward. I’m using the overhead view to reposition farther along its body, with the fingers fully open and a lower approach.\"}",
  "call_id": "call_5UhX9FZr5QLbaTiNTY1yUfiK",
  "id": "fc_0460d0021c200855016ab2c28bd23487d0b08a285cfb610714",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5UhX9FZr5QLbaTiNTY1yUfiK",
  "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]: [-0.2939, 2.0338, 0.8051, 0.8295, -0.2951, -0.2401, 0.9951, -0.0154, 0.73, 0.4587, -0.3393, -0.0296, -0.0429, 0.9998]\nstate[eef_state]: left_x=0.4917 left_y=-0.0914 left_z=0.0448 left_yaw=0.0769 left_pitch=0.1782 left_roll=-0.0955 left_gripper=0.9951 right_x=0.2777 right_y=0.0045 right_z=0.139 right_yaw=0.0052 right_pitch=-0.0403 right_roll=-0.0058 right_gripper=0.9998\nstate[joint_eff]: [0.1709, -4.4786, 3.5214, 0.3492, 0.0122, 0.3443, -0.1538, -0.6906, -1.4564, 7.0085, 2.0195, -0.1197, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4158126e5bef8fa1df6430f393823f1e8b9bb81390f408e2c88e91a5647bf362",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a708710c217fcd7b05137e637ec20403cdecfb734fb271e3bd526372ea6e1a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa258439e53f1e8d307bcea853210b4918dc87e96f231cbaa2a7dd1d78d71a20",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 5.37 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 53 changed as sent

message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3527, 1.7649, 0.6239, 0.6464, -0.334, -0.2363, 0.0147, -0.0151, 0.7582, 0.5056, -0.3653, -0.0296, -0.0425, 0.9998]\nstate[eef_state]: left_x=0.4307 left_y=-0.093 left_z=0.061 left_yaw=0.0442 left_pitch=0.0962 left_roll=-0.0402 left_gripper=0.0147 right_x=0.2818 right_y=0.0046 right_z=0.1477 right_yaw=0.0054 right_pitch=-0.0476 right_roll=-0.0054 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -6.9812, 5.135, 0.8376, 0.0855, 0.1148, 1.0085, -0.4855, -1.7573, 7.159, 2.0684, -0.105, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssKTMKGd7EhmCpupUW7od6pMWuzmJnGdOITKubkJGnm-q8qgGHr2KLA25du2iRC7fWWa3IxgJ0uJHHeWotDWoWUUDaNUp8Y0lmrneRptWU5zNJhDTPe-z45jGCIOzCKAU0cluqXGe254dpiXueZ5DMlxuxIqyEc436_c0A35D3FDDElwnoNaHQjw-PrpKrvT5kSTKoJA4c5n0ecTY39iRPlkmH0qjtpQfh_lQZrcR_sjzi9PBwN0H14kmdbQYfCT8QqtRuw4vSKYW8V0LN5LqGEXuAjt4wkWBj0aIqXa5gRO3WzxSDxCKamLIVWK_tvznr38Als4Zc6ORgZYSz294IteYvGLDTgxiwjpyKr-piYpfxoUO_KFEg7FkunC4YrW7gIMLSG1BJhHib9S2UezcKe0Y_9ByXqxllfxSx5IvPZRoGu15ZqF3YK9y0jwAi1_G7WRtbzPSPizL4wvp6cqHoKOv9p7AaOr4ley9EKuFTY19cN6pIWk9xSFuDDaWiDV1CLr9fgPjrp_k_JDntsj6aiRbOfnxJd1F3OJgwZdxH7-kh4gPzKOUhGg_VWozXzZZCFvaiALw8wWH6dJ8crxE012kiZRQ-lnnShiI98SCg09fRnBdEMlye_WwKGgxzHjGrdryS5dhF0sA1K4Oshl1FN6l7ZY1szVv6zYxrYEl4P_T0v4Gk_vftdDbbVCFf-9HCDKGswxsG2X6J6DZAbJk-chv4mWkUnPyJhglgUAc4IM0hmJLElfy5xEtc4JtL7sDFqFht9IAlawV1ysWsijJ3kfOaRCN0ZLBXonyrbhImISp_KqlrwLezTi3ZumXT_wL0rQ6sEEGg4ZaSnlOuFBufJ3mkBXBowAX9T9n4jjkJ-LPXp3knaipn6DxkuL-usivFkmE-T98Ep2QzDAIs_qS3eaY2x713d72rjg1TVKvjXqbXwqQKEv-Mx7mlY9inQHZqRm9ya8C9ZpaCx39jW0l8iRGcfy2iWlDQbrd0oZYEmYXZ-VCTu0iKL65KjDVwYgrH_CbFUcA6hBsRn4jc0vhG61eAz_R72FS8LVTaCl8jTJzWYfO-cSNzw2BcVVQ-_Cr92jzEV1ayq5qvDQmCduP8LOwAa1yXO3kLbydlrP9XKQMKyW9L8iorEC5HPrmoR9mRX6SjE6ChYT5m8kksvJudZ2Lb3TBKijdA2To1HcVrSfv9hAQUT3ChIsV1ap8QA77FWiBxeUP8sufMyx0WXPhJBYnQ6pgcbPKxHJJA43SZnB-lFiwg3EUDXXSb9A9DwXER0K",
  "id": "rs_0460d0021c200855016ab2c2912ab087d0b319f5df9ffea414",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.45},\"note\":\"The bottle’s wider body is now between the open fingers. I’m closing partway to avoid squeezing it sideways and checking whether the jaws hold it.\"}",
  "call_id": "call_WlXwS8SeK6hV699xH5ey29Ez",
  "id": "fc_0460d0021c200855016ab2c29207a087d08aa8f6fe712a3a41",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WlXwS8SeK6hV699xH5ey29Ez",
  "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]: [-0.3035, 1.9682, 0.9367, 0.5076, -0.3233, -0.2394, 0.4546, -0.0154, 0.7059, 0.4213, -0.3206, -0.0296, -0.0425, 0.9998]\nstate[eef_state]: left_x=0.5001 left_y=-0.094 left_z=0.0573 left_yaw=0.0852 left_pitch=0.067 left_roll=-0.0365 left_gripper=0.4546 right_x=0.2742 right_y=0.0046 right_z=0.1319 right_yaw=0.005 right_pitch=-0.035 right_roll=-0.0056 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -10.1128, 6.2427, 0.9597, -0.0855, 0.1148, 0.1587, -0.5949, -1.2513, 6.8718, 1.9853, -0.0806, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b335b43de1241c274756f301ad488e98ee47d9050e44ff86439c1372cceff1c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ede2d6ff81b1da712d4266d7e0b6b46488254b25a88a2a0c276002d1483f3257",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a2683f46f3745b3c400fb4ebf5bd80939294411237ae7ee1efb517262a792a5",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 29.57 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 57 changed as sent

message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2939, 2.0338, 0.8051, 0.8295, -0.2951, -0.2401, 0.9951, -0.0154, 0.73, 0.4587, -0.3393, -0.0296, -0.0429, 0.9998]\nstate[eef_state]: left_x=0.4917 left_y=-0.0914 left_z=0.0448 left_yaw=0.0769 left_pitch=0.1782 left_roll=-0.0955 left_gripper=0.9951 right_x=0.2777 right_y=0.0045 right_z=0.139 right_yaw=0.0052 right_pitch=-0.0403 right_roll=-0.0058 right_gripper=0.9998\nstate[joint_eff]: [0.1709, -4.4786, 3.5214, 0.3492, 0.0122, 0.3443, -0.1538, -0.6906, -1.4564, 7.0085, 2.0195, -0.1197, -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": "gAAAAABqssKZr6KVywH0GSAFW8WT4vlFTErAiFf4a2xeWkoDEzucs0CgsSlGRf2lQILyyNtCNHlCjQnYYVyucFSrMXrfJfwPwtnUv6u3xVNfIc62jrZQ7D3yLMn4TS1anUcmc8Ai8wGMgova8sqpfBoCgx1ugMJUP0b1jbSADHrMTl_bPreZwnXH7i0Fq03inviMIlzTOrTCVYuv79fuj7gcr2NfyX4XvIiaM1FXGnj39t1DLMIkJ_F13MMI-YR82tKlcE6oU4UWC4HgflBi7Mlhlc2QHJuS5p9t9ZXUjaqgZl7aY9EIifFhXPa1kHlb-oiBokRJPUJk3rxcGCaPLJR-ljCknOVK_UzaUCWx13802dldYjdhac7MnUCJYoe79ppBrBDTilCOil6vG72stgI1pg__EJVsU0Zka1M1EMnUEVoa1WkkdnYO9jhUF0NPrE0B63NzIleqCTExjIYt4tzlve8u1N1uIYitz8bDLpPbI278VM9BSMduH50JfDwl99qZHa8MR-JQdyWTEkwDONJfd_aewL3rBdq5jCXWxLri7NgslLzjdRI5lSp381dBvjG0elpZmOuC0Y0_oXqrCGzsRci1YHOcBJ8ZxOIorGfOBkD9B2MSbfpS8kShkv5VkA46WDOUKtbB7ydNpKFeTFhuAoAg4I8PKHL7lYRM-YBVVFSQJrTSQ0maYS4xN6WfKCZK-rtJJaNXrc6F5IfGyiwDn8DrYmiG0abSfSe2HEfp_wbys1xOd3DlNUfP3QrOp58aYLI5KVz5naS6tapWJraAr5GDCo-8Z0rYn-_DjpS0jxqjqc0Lc7Y8NEV3NVaYnJDuL2Z2nvrv-PPcOmWF3RbQsCVEJ4jWff-FA5G0WXPTr7lzAVZJ4__3W6QkyI1-2SuI5TSw_jizrMvbr51O_veaZnRoj3rHRYUqcEGR06bZ_EE1hEfjHpooG-vwjisMza3j4bw-D7G59WDcAAbCm93_4jrt5OCp9WMZu5rZjijgDPYq_zIxOPyfU4TB1YLzWghDWSORL_2YCLV1sqX_10US7AUXvD4Rx7kAQnev0boDxRtaMs4bHPp_1Zl7-Rvdg7GsZ5xkKOSSG_Se_b9qKJWF6B9PyHSYye7WMh6uv_Pc3lspqpKxGCU5Px8ijQMcRFhEE-A1oWwja2QE43uGuTHty_I2QPtvMi8wXAjTzbam1o54LPUbImsiqyYEmiRKEtVMfMZpvJqpbMoFUVuBrwt4qFkiw600yKE4wazBcppFXko_9lIBM5AKE0llPkS2jQ1Fit5uVmWu",
  "id": "rs_0460d0021c200855016ab2c2971d4887d0a266a4899b1a6fbe",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fingers are touching the bottle near its label, but the partial-close reading alone does not confirm a hold. I’m finishing the close before testing a lift.\"}",
  "call_id": "call_NSEhwZ7Irzd09YkorqqFyzoO",
  "id": "fc_0460d0021c200855016ab2c297ece887d08027ccdc6da95c06",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NSEhwZ7Irzd09YkorqqFyzoO",
  "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]: [-0.3016, 1.9663, 0.9943, 0.4362, -0.3458, -0.239, 0.0146, -0.0154, 0.6861, 0.3897, -0.3054, -0.0296, -0.0425, 0.9998]\nstate[eef_state]: left_x=0.5084 left_y=-0.0917 left_z=0.0666 left_yaw=0.1053 left_pitch=0.0605 left_roll=-0.021 left_gripper=0.0146 right_x=0.2711 right_y=0.0046 right_z=0.1256 right_yaw=0.005 right_pitch=-0.0315 right_roll=-0.0057 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -10.8513, 6.5026, 0.9744, 0.0269, 0.0366, 1.2381, -0.4171, -1.2103, 6.8308, 1.9902, -0.1294, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd881cc998f6b7090e0224bacb8741ee8de63384edd4ae8a7dff0760d2a584f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4716d574fa32b9dbcfa07adc792a65528a4f6afad6d30e892b8318060d34bf56",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bc57371c941205a9c6790dd435c7b863b64c2273fa950a08e1c0577e4cd091c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 6.904 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3035, 1.9682, 0.9367, 0.5076, -0.3233, -0.2394, 0.4546, -0.0154, 0.7059, 0.4213, -0.3206, -0.0296, -0.0425, 0.9998]\nstate[eef_state]: left_x=0.5001 left_y=-0.094 left_z=0.0573 left_yaw=0.0852 left_pitch=0.067 left_roll=-0.0365 left_gripper=0.4546 right_x=0.2742 right_y=0.0046 right_z=0.1319 right_yaw=0.005 right_pitch=-0.035 right_roll=-0.0056 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -10.1128, 6.2427, 0.9597, -0.0855, 0.1148, 0.1587, -0.5949, -1.2513, 6.8718, 1.9853, -0.0806, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssK3OsPY1Io_FyG3708hbHgt7KCYVFnBCt0gWhSF54iFd3CFFXh2M-hAOWJmCuOGIZ7y6d1sFuvLnS6dHYQ0abng3iS0t77ywq7BE0UdntPABZNCRBriRrCBAW5bYkF8JA3ckiRrifsZ6I143EgZX4ie2Y6hQzDylWtwk3eYaxmUMMLwq6j0IdnVch1PdDUHDqVftzx6Z52mijsUuRRjiPPeqW3EWdEJ4BXxYSJzwATfINzlOWiDRLwlbwsyV2mm6gc7itncgYyQb5eBJjPRGkNoSeyoGYPF_2zZXel6r8RdHt-au4zvmqSkc-aOqaLCsZjX_kJezTRJqRSQ5j6h4NCZxRT9010RLW5VEzgpV9einHG76LYsPl7sgUaIvTNvzrM2Gv19yldTRLW05cKxEYJa42Crn8ct4aW2TPCVnI9pOMww5V94kLHMyTUECdxX10z5szdwZkIVh6k4dwXIPfsBk3Vbh2QtcvOtD7ebkUsHtxhvQ5tbKLAkKImwFVmLQuYoEFHlBjEkz4M0y10Usdk4CPocS6fdhsPTal_Q8fyZchfn8GCd-iyslMbKCZe2NKjk5krMPQkt0lXz-_CWFXZlFoww4iBWWmDil_CCtRtszuOj7a7iISnwT2SE65-5_hfO59YyPILgCSuSm1cUpaGN73oaLC4h5YKtjY9NghTlBchYlPEzd26O-viU9hJQ-tNv1kHork5QPLpP5mUtW5-mkNSJCMp9bYjb0pjxhZwph4CGngtU4Jms9xn0dPo7OADRMqoECjbrjYnw4VWg7HpB8RvDCQJVfMF11GpXJYsAHrMMdzuezVfwUpDi3SmxjsJzy6ZJ6nr3pK3iEGZwAXU9MRjH1HwQdNV97FtLwhz63fesyh4f9vOt_ZjpeBsKApJNSsfOWQdGGW37PGzWsR2UqePqBAk-8VX6KlQQqn20J1SWw9hqh4PyRHbvec44sw3zVSG53kNIB29K4qeX5Aa8ol-WLafoy5xGvq2se7fypCosQfhVRfTqjADMTPjP_XCCLr_EnX1DKN7xUp621rcZVicPkMg_TGjD86PYRYVD6rNKXGrJzEZ4uo1QFGRSS_Sie6sIK_bCBIr4Zj5HeIlcsVsV_qjw_0pVxoWZ4mHVnVTq652hKSBS-eUZqeGfpDoKI46zeAoPWnXoLi0MoFK5kiDIaSXu3BeTrmOAOGYGcctCs3cMnDYgNM8NK9jLsebqm0Nyo1ecJOGCHNw-ruk51YuYh3nX6gChwTDCXj44xNnA2lXacDlZZ_DL2rgCCErD2xgcDj4vSgnSl5Z9dsEtMe8l3mxYZKW_2D0mysK1bhLMp8FcYDG7ceMdanVjaJn1lZDR94bVv5trVgViyIZBNNY5MoEZ6J4rERKthPlJfQEvFQxffSc0SAbiT52_PGn_ZnPbfjPdwo_pkfQXr5MbqXk36HsjAtoe18wFgFkaLmeaZtfdAEjA4Vuv92QYJ_1g_soZ9Jf5Sg6Y1P71trfq74DQKLXTCE4Ew0B4k2BeUtu0fEeu9e4MIwZTq5XNJvaVxY4DYT3v7WSf6u_9xacIKoeFWhR0JVkpozIPu1otajTFS6vZGx9BQthpEWni00xIPM7ZcCfasQPgZqEmAH6GbH9qGSOuouVAbpzmeztGy0PCMnVBkJGOC5VQ-rCejQGONW-0o-pJcrDdSjmd4lXAjTxW3Rv_2gSrwglEIob_RzX8f2Qvw0m-HrsGH4nC6cF8x26kLubkmdb2VOWEcYvqfzNUPVMOQ9KVMSTwt7Y7sC7xW0NHHwsWbyzkOfkdg4ydhDXtq6Lkw4Jyb_J9VEMlKnj4s1MAasP_vJVjco_HzhLRHwVGvvaZAXyTo1yLyPd1LQs7fdnj0Go2r1DjCyh54-FK3b9ieSfFjgb2cgq8fsyJZQVgJ-Ze2raAJx7sBnVx_9s8yWO0hbXQ5i6AmOFBpDraPGlVFijWo6Z6DsUs1LuQr8CLhQPoG5M4Yai-shOFU2wOhYk99jTFybcK9vJ1VLYEscbY3PI-HbiDi64oj35cbvKtCXKfW02QMmoS27XVMs9BdJiB2MUZ0NFDdmlaZ5wBrExTAFTvPzklzCzI3pJpX1pCWz0vLlG8ZqfrIwD09aBNQemFKQTy7Bn-d0bDBP9XI85wGAX0u4JDp6p3UdwZmBUc96JpkGCnGFO38oLaV_SeO_bHTZ1N5QFmR0wa1UCcmTjuuTdQJcIbiRDVYKPc9pUfO6FVaHwzMxbAgkdfGlY4l5ylSM1uE9yPjjBbB8qKYHgCGpu-UFLFmOW5a1nsF4c3_Xwms_amGzuMHL3VPyL5ImBDwymHpLNeX8v4wo9te3brHj94SLBA-d58BAXNYa_Q-CWNAjNxopMsEUm16FR4fS40PpfPtt7owORpIJWi8ESjkuKUly2X_2neNRz-ZMSniX1SIYP_bt6lqbB51K6kUxzvolSGT5pyiWdcKhRhfecOo8K-uWW7o95g5r6PYMWUiHwOZdUfQ7P3sZmsvN18ITkqlMn6WihZoTwxSg0TuVdrW9gUsZoZ-Eb2p65AF6zTLxO-XpVSIO28DskL5VS0gFysTQWyAO1iFD28hpHLGoT86d_2e0ZMGGkzQAeRn07Vhy5a4kkF8YML5AcHgxLOUvZjSr0MsOFN-wBJOOz3XYe5nhznUiCbn6aWjJbhdeSr-eOvo03XmAhUzyurBTCzl8u3TXEvxLX73I9Mg-cYMG_8EdqqRuIAlkBixhUv22DU6eLd4y7TSGTzrPaEVdZhKjkvpHCXp2rsILlTaP6GRUVG3Fbe8whYUefNketxM63QI6tdHd4UryJsTQvB9MlHti4SKI4ybiHfc8SqZC06AcsAh-zX0mj0C5AJL8FCpCAN3g8aQHFwSgQhRryYREQRIGjoUegmkcv1LOgQgoCU6kNjWpG2wYnt-a7IXjrOzp5fMVi5k4_FI-uCflCHJN7m62h8NdI8mlVzw7_Rvih8RXA41mI2nnOTlvpaSzcQSEXHFChCWvBR5QZ_av4NzbJ6z4gHWi74ZhW1z-NmwFTRKZjlIXESY1O-PDFOE9w_04juMbBZ4i2nxnfeNAnI9LTE_2nH-lBclSNWI421w4RTzwYxV00jzpgxJwkWrx5sD8bgtXK-aGxdRBiAnS31p2p5K_Y669mS6Gh9AdMhHlqTT8hZQ-EmCHau-e4bjJEI3Zw4yLNEik1jZMkHRxQ5jxuFB-0UFAhNefX7-KsXsh6ZpE1d1nCNwO1x24UmGJSfjr488dt639JBqAr4yREfX8da1Gw-YuIZnnTnlNhtKY-Fbasvlm-mufvi9djgUClHjUujhpGhVbrcaix5_1sFF4dDlaNOVgKbH6oL7h5d0HN0SqnQLUX6nFtQsur0UaPQuDsaBbU5zkiDbPiyxRp2w4itiFE3GOBa78wGiZd1sh2QCj8kcdcVyZy5pIgTj71HlIxphLy1X7BAKBVRX4Z341ejwB3PgZCgSXU2YQz20aNPpU9vAoi_bquBrVvLk6auvrCeN_-b3syFj_eCHT-fC7K_oXMxKchsxeoK8-SN47z3tjh0VkwcDA_OP2nXgzlu96lfyv1Qe5JD9qCOrYdNSnyGhrH2yPK6sye8fckPKNgCWSlkK_s1KZN5TPLhVrY=",
  "id": "rs_0460d0021c200855016ab2c29fb2b487d09eb0f5650c8f3de7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.30,\"left_y\":0,\"left_z\":0.20,\"left_gripper\":1,\"right_x\":0.40,\"right_y\":0.20,\"right_z\":0.10,\"right_gripper\":1},\"note\":\"The left arm cannot get low enough at the bottle’s current distance, and its grip is still empty. I’m parking it clear and approaching the right bottle with the other arm from a less extended pose.\"}",
  "call_id": "call_VgdTTyqMSJwgVvDBDaXoZlG3",
  "id": "fc_0460d0021c200855016ab2c2b4478087d0a196a4c208fda9bc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VgdTTyqMSJwgVvDBDaXoZlG3",
  "output": "executing move_to over 17 steps (1.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1383, 0.86, 0.6735, -0.3531, -0.2237, -0.1741, 0.9971, 0.6476, 1.6661, 0.8341, 0.1047, 0.4793, 0.3225, 0.9998]\nstate[eef_state]: left_x=0.3107 left_y=-0.0 left_z=0.2013 left_yaw=0.132 left_pitch=0.0368 left_roll=-0.0222 left_gripper=0.9971 right_x=0.3851 right_y=0.1937 right_z=0.0834 right_yaw=0.0484 right_pitch=-0.0609 right_roll=-0.0423 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -1.6615, 8.4991, 1.9219, -0.0317, 0.2222, 0.0024, 0.0342, -7.3231, 8.4581, 1.7802, 0.5055, 0.3004, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd6de49028b9aad0ad6fbcf8f78df3205a9b51dec019df3fd89981d038553bd7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbdd8a396535023a98ae90b47728586fc9e4e6e974f3213295e7c505f8b3906c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ba270a98a5cab8e61b0bfdbdd48db3420d5459128a55847ddd8d53c193d20c2",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 10.86 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 65 changed as sent

message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3016, 1.9663, 0.9943, 0.4362, -0.3458, -0.239, 0.0146, -0.0154, 0.6861, 0.3897, -0.3054, -0.0296, -0.0425, 0.9998]\nstate[eef_state]: left_x=0.5084 left_y=-0.0917 left_z=0.0666 left_yaw=0.1053 left_pitch=0.0605 left_roll=-0.021 left_gripper=0.0146 right_x=0.2711 right_y=0.0046 right_z=0.1256 right_yaw=0.005 right_pitch=-0.0315 right_roll=-0.0057 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -10.8513, 6.5026, 0.9744, 0.0269, 0.0366, 1.2381, -0.4171, -1.2103, 6.8308, 1.9902, -0.1294, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssK_Hbn4seNoMhcC6jvesj6lq86X0EMCnSajllF74KiL210ecPtFKdNM_SI90EdpMdbDrKGFV370-WEifRf9NuC1Xo2EELkBMBi60pBKjZoqqB32xuX6cnt8iYcHQ-lEFpktStzbSj7O93Z7FcnwS-YA1ahm3KC6lLSUpQ6PNLznGlNbtw0AVN_MuLpEIekEKma9UKhitOjVpwLfyyQTvgUAIJ1z7biXhddCU6vY1jEU7GCwzaLeYcKlMzM0YsEta1B96OPbPogGQCAheB73xmTKuRlewAD9kSh1n2T5z3hHem63xDuson9dIIUjB7RqZyqCf6HURRCNxZcG7IQJ-b8qWvj1jdc1MdwL9l0OlHOIEu4K0ZQlluxKOQ5rofn6VeKT_8gbTpY0Gfn3RoBVfwBlE3SVGHeGyiifK58mi01821AGZe16gXwj5VfOi1_C-3qKL8lG6aAE_zvwnHRUIqY9N8lR2z46tDSqtTzMV_JNUMoP3ChEJqWwTOeDU5o8r9J9n47YzgZ-HgpJaoG8_rYm5wR2d3UvVsVjZF5auGnERg-2K-UutTU7oqcRdPNGqguQPL47lwwsfEw21ZLb0Hbo-J29lIi4ArWa9RcwtJ8XPx1K_u0LoeoRoDqYLkwlvKm7SFNhG7NxZzNyJthBVKG4xG-Fs-4ZTr9zXpI4bF31HclF2jMmh3csKkzq1Bcg9Knminh1NmLh2ExeuERe-vK4StOZqFrdEL3Gumw8malV7W84G8PA6AFSRctQVDu_P2Vfk_brwIAwt5HADuW-4fEc1bn8go_soq4NZ9zTxuWFjpmZBONKQZXU8JiF5iZMbjitWnctqFHIvTcRwdCFvBTGQNz_tpKCBPDUeGZQTkJOFI6Xc6x70Bu8Y-JKf0ycD-2qG0WI7eSNpleXS1oiw4XKgNthycNo8Rvh1R-qPM9hZEvs60x-SFkJrFzEIKCMAq2i3VomuH-d6LyCWE7e2X5diMrEbt0fE1IRpJDe4P1yGvPbkQvA6hMjP7rvNMbAp2X42evTa6zLrJ8LMJS5-URTPHlM5EiKL7uvr2VH99JNdh9cKP6rgMKkDKZok2cOhbEPsG2rCZvAHaQHohctvaXHTAQ_kJEJWRsXi_OiDZJ0olFqWbsrEN2Syqbpuaw5FxyyNThrCvFCTDXofbjnM6t16ViCYISgr3TiHjoBbb_ZV19qXiWRymKYpaebcdadqwBhAXZVLGNp4mfS7sYyPnZ1CXo3vhweT-anagU-Ut91QR2fbCRH9Xpn7JbcqBTRfhl1ULXYylGM5XGBPpU1Z876WeKoTdEQI6_VL7x-9I5ZPZrR8nuSEDG_Dld13C8-AGfnMoQjCHRQWX7_oYjMRmLLRit6JcK-_avv0vHKYwS30QM=",
  "id": "rs_0460d0021c200855016ab2c2bbc8c087d09f8ad4c5feaae6dc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.17,\"right_z\":0.025},\"note\":\"The right bottle lies just to the right of the jaw center. I’m shifting over its body and lowering with the fingers wide open.\"}",
  "call_id": "call_dofAbdsyX2epcoRwvEMa0Cqj",
  "id": "fc_0460d0021c200855016ab2c2be100c87d0816ad179fdf52c45",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dofAbdsyX2epcoRwvEMa0Cqj",
  "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]: [-0.1444, 0.8955, 0.6853, -0.4236, -0.2249, -0.1642, 0.9975, 0.5316, 1.8431, 0.7322, 0.4507, 0.45, 0.2481, 0.9997]\nstate[eef_state]: left_x=0.3055 left_y=-0.001 left_z=0.1823 left_yaw=0.1217 left_pitch=-0.0539 left_roll=0.0117 left_gripper=0.9975 right_x=0.4118 right_y=0.1572 right_z=0.033 right_yaw=-0.0028 right_pitch=-0.015 right_roll=-0.0515 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -2.5778, 9.4154, 1.8193, -0.2222, -0.0952, 0.0317, 0.5949, -6.0513, 4.1915, 1.2576, -0.4127, 0.1929, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6ca9d49394bdf35f34d3f53b4c9e19f934439cadfa073395e2762d285f992fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfb07a5b693b2b4b016ac1baeec40c3905ca42409726d8aea3f772f8eb8e75c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22b5a9cd58a90b73b2ff9d99de0ee18b4060a0532f8421b237ff029a3e2d49ca",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 6.804 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 69 changed as sent

message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1383, 0.86, 0.6735, -0.3531, -0.2237, -0.1741, 0.9971, 0.6476, 1.6661, 0.8341, 0.1047, 0.4793, 0.3225, 0.9998]\nstate[eef_state]: left_x=0.3107 left_y=-0.0 left_z=0.2013 left_yaw=0.132 left_pitch=0.0368 left_roll=-0.0222 left_gripper=0.9971 right_x=0.3851 right_y=0.1937 right_z=0.0834 right_yaw=0.0484 right_pitch=-0.0609 right_roll=-0.0423 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -1.6615, 8.4991, 1.9219, -0.0317, 0.2222, 0.0024, 0.0342, -7.3231, 8.4581, 1.7802, 0.5055, 0.3004, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssLLZttrM6qNDHJs5A5uZrgNo_21FBtf_ap6u2PzMz6jBKbhwHRsz1L3g0xIupaSE1qxY5BfUh5oG1Ra_UJh2R_MpdPIL3kvA-fkhGfTJ9_qNSMsFNXdDzCxYziiDtdAjxfs92bOHQOihiVcPiQ7apYDW5huusdHDXMqDF_C8Q93l5HprifQtV5BQORRos2Jx3dx9vm1sYN_luuYobnImKtz_JQoOltNR-XHPOgQTwB70Ghn1V0SWXU-gN-rR5bpPE1Swr--lyhx2Yhsl64bOjdXx6saEl_OvW_0k_eJRm-KFDplvwBWj9Ij0tssWBMopHkHhYO3vwiqQaw8VgNbqi-gsA188i1dDprhCZMY8Ocz9taOG4yWpJ2kIgNAMbXgEk93qvBAn_XR_ArD3PrrIunRCdA9NBPb07GgnpPm_jWQpdjMdyL2Qqz-Teivrp6XyDY5Twk2pupU7m834Sv2-wJp52zmLcSkr6k8CC7nY_7_vzv3BSS_RuH4eEqz8yXbq-_GHphhAXCdCwa4UEObl_DrDW3juNn3csJgY2oK6fKfOQIQBio-LIIW0WRCan7QEId20lD8dwPilvvC7i8mrQd-TGSBXT6NrG0j9x5AJZZKwoOJn48E-LcfQUSCCyevoKTqivFLbx4x39Po6dir8sLeA_YMoVIuNje1D6TczSgWXxxKff33CtmviBLpVfdnvDER-T_weqwvAaDrsHyfDW0FlS7JfcVCLY1amZm8I6b-5tZjrKIxHHm0dic8EClR094OsvFVBSIuF-ziZYIZfqgdQu5mKvGKyFCqb908aS_d-caFMtwCkdj2DIu5fL4BfVE7EIF0uXR1IZU3PG_C9UxbLLjg4mz-KEO77RsxX0kSipY1jxTbiddHU5PDwbpS69MTlANS9JyGyEaV8hgY6hlSuF8iWfu5rfdNzG5efYSPn507u3-gX_1B2K_oTIN4ZlH4lQiwbeDjK2O8zSezZ6SpO5mP2RcizfvYnVPaSsUbcllwGyOIH0eFEaG0jGokqLcBHE3__UVCaUUqVCtiE-SKzMnuuk75G1yGvJRoekOIDEz7h-x-y3AQPvSC_wz4Y3S37jAmdOdUKLgbQp6XClSlAy98ecLvCEzeGt57FCTSlmPRlBVBMU5RX8TdqnuP-9aH5ADFHMoiTbkhwg6QPoF2AOO_tXOZXgLW-atJBtPfKRDiC3WhytgJtQ4_t3NZFWmqBvp5XoLAKrXnkPmVTwfq1urYf3a5LnKBxLYjIv0NSdoI9Cn9FZhQBl7LuO21zzJR3EBhBD-qTitsmF2Wt8pYDcXLjtmGLkSv-EtoiTMJWsed2kknpJfK4qn1a1klMSLvG_lEFYcAWatenEAnF0MFh6BZa0kYH0FNnRF9eMCho84lUdM4pPJCMgL8SRmBIVeFWN9TEbgP91MOHrYDVZ1gR8hpMC_a9S5_MkEPPCU9bsGsU_orY9e7DJz0hIvnD1vHm--ME411C9gqrYSkpmPR7sh1WnBgng1zxw90bXeczuZzJ7tURv7CicT3nu38tku7WSWFzJJb-UzMSROnZV0rh-n06xmyw-wUMoQspwUk33rMAPO-jDSUGPgtCDM8o1fYSqFUkZMpEpAahNfkoef1U2Z4aFbxuOHSiPHLM2znobRwVQdNESLLrf7Ba3xJo6g0B1AAefPN7hSyitQL6gR_UtysUhNGBiqF0tw9UnKBw-chMr3-Z6iDtrzZdXhCPhIN256Gr65-ikn0WxfCy2M344FpMFi71U5pVlP9VEtnUDz_69GLuQmHGFKof6xMXlERysekw5dMbOschIRrwrniPHoc1kkKs5dyZw-gGUBUhNsEQoXaKKZ6q5jM6Y_RULohYCKm3m3BlpeZKSwQWCerPcMdKIOL0WdmZbMF1dYoyOUlrqvfjYPyp9vIOf17YJ-xb8UWam4wt7vN8W8g9yEWXg==",
  "id": "rs_0460d0021c200855016ab2c2c2709487d0922ac64e5cd57303",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.465,\"right_y\":0.145,\"right_z\":0.01},\"note\":\"The bottle’s body is still beyond the fingertips in the wrist view. I’m advancing five centimeters and making a small sideways correction to put the fingers around its lower body.\"}",
  "call_id": "call_J5O1vqcaCXQapz6ji0dVKhO6",
  "id": "fc_0460d0021c200855016ab2c2c9080c87d0821a59503d98f0fb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_J5O1vqcaCXQapz6ji0dVKhO6",
  "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]: [-0.1444, 0.8673, 0.63, -0.3714, -0.2249, -0.1638, 0.9975, 0.5026, 1.8805, 0.7208, 0.5011, 0.384, 0.2382, 0.9997]\nstate[eef_state]: left_x=0.3034 left_y=-0.0007 left_z=0.1757 left_yaw=0.1213 left_pitch=-0.0296 left_roll=0.0054 left_gripper=0.9975 right_x=0.4144 right_y=0.1563 right_z=0.0199 right_yaw=0.0266 right_pitch=-0.0333 right_roll=-0.0236 right_gripper=0.9997\nstate[joint_eff]: [-0.2393, -2.2906, 6.9128, 1.9267, -0.1832, -0.0611, -0.0073, -0.8137, -8.2393, 6.0103, 1.79, 0.2418, 0.149, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ede3d133cb70012dafaaddf2d3dd3137d4178fdbd65c0476f0d4d9e2a396c2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:940d4b28fe502c64a9cce05d21ba5bcdd5ed620e3db5be47605c96effd68cb1f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9bf78f82fcd4f4bf3279f47f8d87b78d298511374381c165b42d0c8532c12fc",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 5.428 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1444, 0.8955, 0.6853, -0.4236, -0.2249, -0.1642, 0.9975, 0.5316, 1.8431, 0.7322, 0.4507, 0.45, 0.2481, 0.9997]\nstate[eef_state]: left_x=0.3055 left_y=-0.001 left_z=0.1823 left_yaw=0.1217 left_pitch=-0.0539 left_roll=0.0117 left_gripper=0.9975 right_x=0.4118 right_y=0.1572 right_z=0.033 right_yaw=-0.0028 right_pitch=-0.015 right_roll=-0.0515 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -2.5778, 9.4154, 1.8193, -0.2222, -0.0952, 0.0317, 0.5949, -6.0513, 4.1915, 1.2576, -0.4127, 0.1929, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssLS6skuZ8y5xta_5THooo6ROsenjY3muQqmXoKo74VtDaudv3UxkUo6KQVPRXciCvIoj-GK8kMgDcmu3OEF3CJOoIfSK2aZX-Wf60FCItqxegZgVcdSlq_M5L3oJhPYDTqZX54VYELYfngm5m7nPtj25bchY7M3BoGQvZmADDmgf7oYlxy4d59LEJHuwceuYNBvcZ7aWn3iqJQ2Sdlw1052XQNBMRszTveY2LT8__3YTd4jd10Ahua1hflAzY3JznBzSMYpb6j6LajU90sbXKOfugh8sD0t7lpG9DQRqlmxYmoaNrt2QBTQZyc2Gxi2FbEFrMBmvQDtKnULhH_r68LZ5Vfel8p5SU2vWMe4MrNAyw_hJsZK3R3KUzztteWdtPWrpnSCfeH--pVn4Qob7ulQke4JWA9O-llhSAuBMF47vbp3hYm7tF6A4Klfcb-zxp5jeEeZ0QJ1XdM_IjIxBfmoJzRTjPz2MsomupoxbFA_WVffH7EYHuLBf6yvKbBsIN2wKzX9BOVIeZaxnGwk6E9KWq6tEeHFUxqSOmu2a_YYqfy5yaL_wD0IyX8FtBw5Scx0JXxnWKUo5SgifRq83UUd8Y9OMAmeTZUqALq1hg0ukuCavgJvftzcQZB56zM0G2fnNh3JALN9P1WJxJgWWXfuqOrrHNUBFNgcKusGzVikh6R_GLNq4XLFlKRTYlRodAz14RRkWR_2cLDkdX5d4LgJaPQANeeOuoD61yteez-FBeIWYQ2bi-kUAJL7M6-97ZnrGi_vd2uevFHq15MO9iDTkNbk7SHvx3OeYATHCiKMCWzpEaRvQLuGC6czsDVXxGc21jsBYqdQmqlkbf0ZK0DgK_Yjs_5M-ANOeVncPhY98IyPgmpMtZt7pORw_Bsz0XkyhdbLQxIU_j08dP8Bx0pDVSNx719yiRSFpv00H8MsSFrUMGhvCDqTMQ5QpUrgkZ6DPZ-Ni5qycpxJQ1_qEtkIBaFrQ3EY2_xWv0ncNmIzaVkzKb0wyyF5-mWelbcFwNViLYjC55W_iJQViKDchi5uZjqQiH2od3QBDneJqo-LetWNagoKiH27UwDpqETkfRv1lu9I9YD21PFc0pL_s_U_7Y9MdllCtFDNeu3PA1hRJ-U9roNfvEQ6nvN8f4VM5lBXKdl3gUBHy-DaiwqF_pD4liNTsiGaKZKzoAdlGFaOCQKBgAkHEDN0vvBiUmQUJ4Z1m2w9FUR8gnrhjFtOD19s8tlMwl6V_WcHzg9W-3o8JEqEVuNZgHqbkGQDvyQYUxtmuuD7NQql7ymVjjN-Gw8Lr-4SImPJSlOU0BPzc_TPrpcKLZn1PPTEMAVQkjeP4okw4e-1PAoj2tzpvbIE3YROyjcdzuwfbgwKfPocHZMrP6S8LJ1ufOl5EWtLAhmWp2uwbHAMWsXq50Dz6C23YF65E_WXgmfDBJPiSbfkdPvc9j6G5EWnMOJNHjaWISdVuMNB-KLz1ygBkcfO4ksEfYYHiw==",
  "id": "rs_0460d0021c200855016ab2c2cde5fc87d095ec759c7ceeed16",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right bottle is now aligned between the fingers along its lower body. I’m closing and will use the jaw opening and a small lift to check the grasp.\"}",
  "call_id": "call_0dTVcdp1SGdnJywEBlPlcwnY",
  "id": "fc_0460d0021c200855016ab2c2d0737487d0a9e958359e3cb021",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0dTVcdp1SGdnJywEBlPlcwnY",
  "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]: [-0.1444, 0.8562, 0.601, -0.3473, -0.2249, -0.1638, 0.9975, 0.5026, 1.8805, 0.6968, 0.5476, 0.3805, 0.2344, 0.5369]\nstate[eef_state]: left_x=0.302 left_y=-0.0005 left_z=0.1705 left_yaw=0.1212 left_pitch=-0.0237 left_roll=0.0038 left_gripper=0.9975 right_x=0.4128 right_y=0.1561 right_z=0.0203 right_yaw=0.0317 right_pitch=-0.0142 right_roll=-0.0146 right_gripper=0.5369\nstate[joint_eff]: [-0.212, -2.359, 6.9128, 1.8388, -0.1441, -0.0317, -0.0073, -0.1709, -7.3778, 4.465, 2.0147, 0.0464, 0.0024, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6ea14a1477b5e0e3e5c98611b0cca3ebd40b66e2b7da93d07f2bdff22c3b155",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ec6c32dfce0139afa6aad13a6684e4d1386989ea6d030e2c4fe9600640a0579",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5e521df6ec9a47545bf0bc23b66b074421591e2ba485f3dfa3eb69c94f2bbd0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 6.123 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 77 changed as sent

message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1444, 0.8673, 0.63, -0.3714, -0.2249, -0.1638, 0.9975, 0.5026, 1.8805, 0.7208, 0.5011, 0.384, 0.2382, 0.9997]\nstate[eef_state]: left_x=0.3034 left_y=-0.0007 left_z=0.1757 left_yaw=0.1213 left_pitch=-0.0296 left_roll=0.0054 left_gripper=0.9975 right_x=0.4144 right_y=0.1563 right_z=0.0199 right_yaw=0.0266 right_pitch=-0.0333 right_roll=-0.0236 right_gripper=0.9997\nstate[joint_eff]: [-0.2393, -2.2906, 6.9128, 1.9267, -0.1832, -0.0611, -0.0073, -0.8137, -8.2393, 6.0103, 1.79, 0.2418, 0.149, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssLYSkBh_RoCHuMNTbgN0f9Ml0hcAT2Udie0tuX0Nk-s9awNOt7LA2fwSYDHCEBGm-O5k6js-hlm0w6RTfStHagCkLYskkEpATLF6LaB-bNxNKdUnsuen9N8LTkga2Kuu4EwsU_bFwTPSKgh6uN8__D2B30D9Q-1ViHPAL0A9Zin2y6Yxz1sOEruPB70EE2nXRlsFxrwXkHpwYSdn4cD-CmqZJ1xArNy4OkehfrQDJ-BwXXR7HnL0ulW2FCzwvLgH3y6XhjnUDiUk5q-tDzxaLNqHWdFofsU3bGT6veOVkUKNVmC5mP15KHrAJ7f9qB7oFNhndM-i9wMR30kIQDD8HfyIC3_Jk7ADjn8VBM1vtJxOT1DQ6LesccbCWiHRxpZd92TmlB_JxMuL_KIzI3RlYJWt2flcdbANyzc8kV6GvkGCaYj7Kn6cd7xWaPs88jy22UWY4_w7Yg8QY2fG93ONeLUyRpppKZgtWazNQNtIMQr76SCyYNDg85fOUV2eRBRAtEHtAwR3X37uzQioiTYv3pCNCzOQ_aZuZs0hLdRpwOb_B18fsVKRP2-Zw2sM-6lUQyB19if_b5hREi5_xYnhoDeg4GyjqNusI8WwC6TrfEiDpzls99jsOpcTp6bKq0P_Lo3aZVWNa3Qt2PQEhfaD7xJmRUKTy_fG02wudZZzvedzAXl8-MjcY61cd23iVLXMR_D4y0WCNdB6Egtz7UTyRnkPNL4UCRyvv-pyXJSXtmeB63dA0xkkjrD6f_ssA6ZpEQ7KHQhJcY-q9DPyaPle-amcuZ1r0vCquK5U0zlq8S9-Fmml_dStp9X4Pbv--mIFdccvzkR_6Ecf03okKQKOzeEMfqymxuG0cLVfesKjwgXZGi0I-woFdalj4jwA7wKC2Q4crIn7F-qdXKTWSk0Q7zKDbTiX4zk9zTBdYxzU9Rut_q05u1RG8ajiJApmDnQxgxckYlACloV4019Oqk6MqApTYrdLqKnqieK9sb8QKhIljqmQnBdVDMuxLw_4UjS1WKL4ScADl3bx8P2-oz3NABdoVSKptxw4Y_aU8ZYTLOiXnUGPbZvoSVZYOkFLY4pDQj9k0mpokEqZer9l5aY0UzSqUrQz5omNm8h2pKySjFJ4RuteW_xx1Nt9kAq7X4eZv5vg1ypmCnY1NgjmTfQgJT_pvdgJECfgTDgswM5HkFyCoZPqaUTE5t_C9EeZAHZ9vlD",
  "id": "rs_0460d0021c200855016ab2c2d6440c87d0b160857015a2cf30",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.155,\"right_z\":0.085},\"note\":\"The gripper stopped at about five centimeters wide, consistent with holding the bottle. I’m lifting it a few centimeters to verify the hold and see how the bottle pivots.\"}",
  "call_id": "call_2R5PJutjK9IgVWp76AK3Bvds",
  "id": "fc_0460d0021c200855016ab2c2d6b23887d08dc4a82bba471600",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2R5PJutjK9IgVWp76AK3Bvds",
  "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]: [-0.1444, 0.8486, 0.5812, -0.3298, -0.2249, -0.1638, 0.9975, 0.5045, 1.7138, 0.6952, 0.252, 0.358, 0.2344, 0.5368]\nstate[eef_state]: left_x=0.3012 left_y=-0.0004 left_z=0.1671 left_yaw=0.1212 left_pitch=-0.0186 left_roll=0.0024 left_gripper=0.9975 right_x=0.3844 right_y=0.1457 right_z=0.033 right_yaw=0.0473 right_pitch=-0.1374 right_roll=-0.0601 right_gripper=0.5368\nstate[joint_eff]: [-0.3624, -1.853, 6.6667, 1.8974, -0.1783, -0.0513, -0.0073, 0.1846, -11.1248, 9.306, 2.8645, 0.3541, 0.0806, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27e3b9721c3a858c66ef7a4fb3be473482b97739756fdf0ef4e7fd3b6da232c0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5791e6d14a774385fc241f31c967713db8e5e52c295cf49c9b8f4d1f6d06ab6a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8848fa86ed776215645d52d493755a5568b44c39f46844ef659acda6c868ef9",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 9.603 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 81 changed as sent

message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1444, 0.8562, 0.601, -0.3473, -0.2249, -0.1638, 0.9975, 0.5026, 1.8805, 0.6968, 0.5476, 0.3805, 0.2344, 0.5369]\nstate[eef_state]: left_x=0.302 left_y=-0.0005 left_z=0.1705 left_yaw=0.1212 left_pitch=-0.0237 left_roll=0.0038 left_gripper=0.9975 right_x=0.4128 right_y=0.1561 right_z=0.0203 right_yaw=0.0317 right_pitch=-0.0142 right_roll=-0.0146 right_gripper=0.5369\nstate[joint_eff]: [-0.212, -2.359, 6.9128, 1.8388, -0.1441, -0.0317, -0.0073, -0.1709, -7.3778, 4.465, 2.0147, 0.0464, 0.0024, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssLf5EyvJ3pg_SY0us2WTS6Zj9j8BxewqOAVg6tmPa6MLxc3HffXBTlGImLcTk94DmkxzPZD-rP7IxpiETIJ16xHXCDIO4UHxkEhvG70EImEXdmc8OJ5z_SkN5fRe23XSE6VCCK_3x7YOLCICnGHCAmfNmiwDlNzBLfBVJ6CqHuwIm_IoGolOiLODJcXXXZ8-7uuhdUyaEqd-fqRTFfQ30B4A6HygoMlOrXkTBFvasDLHeurK2txZ2BjUlMBN70tjL-Dfy9R_yNeQtB1yhoNbhhiXBzVDTFyYXpWrGtZfnAmWw5IH3AGZIO15gUvNwt2y8Rcp5VrXlowE8MFvv-XT6grXynLI23s6vvZIeWuF5lq97WiUnltg_2yVqVZOAf5kZEon4UPWAIht3p4gfH2XnGDW4qi9OM3DWZQSOXbHA5I6hyawhdUVYfBgcrgkwfSXBChYsXSiwOnDo8Q7EXrJJjLym6MGGn2wbeOwGMUg9fPGHIlSPg5rWepGmzRBHj9e4ZAp2km9cNUofToJ63c-W4EnID6V92tCEQDWd3wnHDXk9oF4suP2p7cmwtWu_74h-KfnRIOt_D3homI1Jpf-bcNLvols6oFKo9NfeUexsn2WOByM4UkLlPHAQHbtPgDqdeKUTJ5r0HkTo9j98eISycVk1ruHNVHjLyU2JVDBNp0Wt5iaBpOigs4yG55cVCQ5J6jz_lB33JD1-QYw_-V5nChWZt8fucTjvPU7tRjpMubhpRdBZ-RO55S1ZwdLWEwSaa8rEvu5A5OqafAgPekojRX2O0mN4sXZWgvBV5D6HbNyrORAQYC_JY1p_3QsSrOOQCG8X2QHyMS9G-NbIPGrJfonvoKxMZ5HQ09JDrpR8BCWd33CY2m0y8ITjMm6Hj6-7P1a7tnawNhyV4j5WvzBnlJJtxliF0A8IN122S2Q0AXkkNuENvJGfrJqIwENLVxhqsWF341oDtZTEzFBWQiidREAR4BBORE4f3kFu1VsqmapH-VopKRalimp-bKzwKQCYYdmCYz7dMe60COvebbSzUFyxWuOh6RfDEE5RV7EPwYFRw_ix7r5L5yDE-D1CLp0J7MWBUUl254KaDhko6EVr9AbtXb8Jmi7YB-VWUFNREVhwA9wfC4O5kvZlOXhNLHNJm_cJ0MeExN5vURYRz1DelyQY8vD4d5mlTPsyFEEwUIJG-Kb6d5aAhC5epz_EBpEtNGCrRmR20G3Qz1Bih-Aju9TsJfOVM0mH9gNuKQ2fHfE29PpPr3SBOTs7eKX5upxqXwmdTzq-qBYBFxm8VURBk00cIynxe8A2H_Xteu6GCSJY9kp21TLhWv5XN59d_Lxe0dT7mVyt4xTzSrr0Lc7Vzi5w==",
  "id": "rs_0460d0021c200855016ab2c2db965087d0a67dfc24f117569b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.15,\"right_z\":0.18},\"note\":\"The bottle remains held, but the small lift tracked poorly while its far end stayed near the table. I’m raising into a shorter-reach pose to clear the surface.\"}",
  "call_id": "call_AK1jfRV3LmOH6ICfzRYUPhyb",
  "id": "fc_0460d0021c200855016ab2c2dcb54887d0886cda12bb1bb1c9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AK1jfRV3LmOH6ICfzRYUPhyb",
  "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]: [-0.1444, 0.8448, 0.569, -0.318, -0.2249, -0.1638, 0.9975, 0.5442, 1.3987, 0.8013, -0.2295, 0.3573, 0.2344, 0.5368]\nstate[eef_state]: left_x=0.3008 left_y=-0.0003 left_z=0.165 left_yaw=0.1212 left_pitch=-0.0153 left_roll=0.0015 left_gripper=0.9975 right_x=0.3473 right_y=0.1421 right_z=0.1107 right_yaw=0.0832 right_pitch=-0.1917 right_roll=-0.0867 right_gripper=0.5368\nstate[joint_eff]: [-0.212, -2.0581, 6.4479, 1.8388, -0.1587, -0.0513, -0.0122, 0.3077, -10.1675, 12.3282, 2.6545, 0.525, 0.1783, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1dfe6d343282a51d24022d1b396cfc5bb02883c5b46df15040dcb4e41545ab8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bb7304f47d36b30dc44e345e693d673661050b78f9413911708462d96d75046",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4795febe4c09ce69f2aa351783fd04de292bcb2b1696dcb14337033a05a14afb",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 6.261 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1444, 0.8486, 0.5812, -0.3298, -0.2249, -0.1638, 0.9975, 0.5045, 1.7138, 0.6952, 0.252, 0.358, 0.2344, 0.5368]\nstate[eef_state]: left_x=0.3012 left_y=-0.0004 left_z=0.1671 left_yaw=0.1212 left_pitch=-0.0186 left_roll=0.0024 left_gripper=0.9975 right_x=0.3844 right_y=0.1457 right_z=0.033 right_yaw=0.0473 right_pitch=-0.1374 right_roll=-0.0601 right_gripper=0.5368\nstate[joint_eff]: [-0.3624, -1.853, 6.6667, 1.8974, -0.1783, -0.0513, -0.0073, 0.1846, -11.1248, 9.306, 2.8645, 0.3541, 0.0806, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssLpD1KEs0D1OnM3fqHDmZ_F-yBi3NLjyI7J1MoBC2S23G2HcUuo5imQfCnJySCburCmb5GJtsgdjOnbM8N0LHuHH6dYBlclLXM8Zt8wq4qSGf5-RF9Wy5bN7v3BZTf9llWyfq3jxHo6KfO--EfNRmdkikAIJTqgWakI_5Chxhnsk9FPLb5bUM8fuKBqfcmuFhd0LSXAhtgEjsWSSNBoDylZxChw3aByhdBWfxN41F0gHJ0gQfJBERWtzBvXkys5wfGJFQGK_t89QqqZzzvrOUa1ITe8A2wD1L8DEJo4j1TCsLlfmKP6Xz6VIwiyPcMmlv_edsFFMOE8ha5RpG2yDKDDxn_jr6XvuxTR0GEy1zhyr1gcNRzfRb7If4s9D41HI7Wu3Jv7FjJfLzFo7dh7q3EGQV3I6NCVI8JjvRf2kJJNq3de_CBSk1CtmMuj3_OVGO-x4eHKh29Gu66ZSTlOiAycXxSWD7Yd2y8fI6VfLCXm6OgiHXjqtrXgBh_F10dNliLCcF8hEvw6d844-y6zatR_0SOinH0w3wqWUgxk_i8PXscBKYGDZJxYQ8zbryu_pYQqJZwcnPwv4nxGLRgm2fKWSAMcjpNONIVECYtHnDlC-GJ0LB4ZLpS2mVQW_d9MOwOriaXN9UlwINX486khTz01bVE9iMQKVrPOA4dWu572EN9gM6FY4qC5ikRC5lhV2cCyinZLqPsG8u8NQQbhpf2SkNEyJXFgg0nwC3FxDLbtiErg5ohVCoB2A2xohHika0k6R4zpESppf-o9if4tSAXlC_Bowzalzegb6GAX6VOa7v4GM1PHvBu-Ii4Mo8RkfCcnNBZvCN8BoOCyT419wWvVbsdrFJnvGXagsRIacuw9-jOSJoo4dc7Ov1T6BKlMWu4ExE0T7_SaFidPuO6gQXm4DDHPSOB8e5FR-dQqY5cJhz1WBsL1abLFp-iP6m-aiTVu66owN7qGDwwCNfdRnChM6gdLKbPsriKcDdo2eKHgchrHPvB3j-mxlUlQmV2w9o8DPDyJgpyB7HGzq_13Td9pJXVU32ofKYoTPSYLjY4fI_VxBBlVYnI7vB2h4yfowlnUSJOzPhKzznyjrUGeFvtWb8p08UMuN30D3bt1mVZ98x4VjMVvWr2ZdYW60BvOWerzxVBJDUStGT1NHc9wYkhECoHZn1JE8V2b0-nM2yZTNZ8QyuS4utTtkLRMWFCRvAiA3ghi7H21hekEG_VMrECRaK0I42V6GBlgaYIOZftKW29axAYbTVbb_XNsRSx48DrQBLaFW19LDXj2WrjZbs1vz8d2Zswp4zWIMww_IM-fiJQsxjHV0ELFYg1Wp6aqWa_ZVvZ2yaH6UUXULbes-zzNFvBJGeRlSKGev7Kh_nO5iEUQXwrGAO2nmJPcrT9BCeE-GXKQtp0nw_sFgmiiuys1qdN4y275lv19t-n_ddDSBnuRXdJAFilkpRPKpT810zbsi4wlz0-NOr8rqtAPK5c2YQ4IwnuOu9QVxmcxbvtff3UbhPCfrc-l1e5JcO0hmGC-YW4GPQwZYB3eGnwxsLHJ2_CqIrgICchkmEBQejQtjC7LUYRoZghC14P07pGNU7f47O64TRtJ_WsjLUOCR15Tw594Osq_ABj6q-E1VXxaB-hBtMg5MnLPKk0yTIDFHzX2imx8TZTP95BMa-lNl7NCJ00QFGI-fCWeqpaQGYSRDPsk0_9Cu2kzueiEFWiGpFeWPA3bCOSIFnK25iDH0Otmfo0ho0910MuvtqfHepkynnA1D9V3sgS-5-1H00ZARvOG0xv3tcCPWn75SP4DMV8D7g==",
  "id": "rs_0460d0021c200855016ab2c2e2998487d08251d1e0af85d621",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.26,\"right_y\":0.15,\"right_z\":0.16,\"left_x\":0.296,\"left_y\":0,\"left_z\":0.19},\"note\":\"The bottle is held near its base, which is not the right point for standing it upright. I’m bringing it closer so its neck will be reachable for a pivoting lift.\"}",
  "call_id": "call_u5d91q9UNZGNnhnJUl7uuFfB",
  "id": "fc_0460d0021c200855016ab2c2e77c0087d09195a01229f60fcd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_u5d91q9UNZGNnhnJUl7uuFfB",
  "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]: [-0.1444, 0.8249, 0.6086, -0.3981, -0.2249, -0.1642, 0.9975, 0.8364, 1.0191, 0.5545, -0.3847, 0.5163, 0.3973, 0.5368]\nstate[eef_state]: left_x=0.2943 left_y=0.0006 left_z=0.1724 left_yaw=0.1215 left_pitch=-0.0351 left_roll=0.0066 left_gripper=0.9975 right_x=0.2466 right_y=0.1483 right_z=0.1129 right_yaw=0.1609 right_pitch=-0.1422 right_roll=-0.0777 right_gripper=0.5368\nstate[joint_eff]: [-0.4444, -2.2085, 9.8667, 1.6777, -0.1685, -0.0366, -0.0122, 0.0205, -4.4376, 12.0821, 2.2295, 0.7888, 0.1978, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:636b5a5c3e1fd907acefa6131a7f61e548871c6fea8023977b21e28cedc5e854",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e700a86cc4b0c09eb8a4c9428279ac058124235bc22efd3004dfb85bb5f4f6f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1111f471f28914fe6533bc5e3f75c5d8f4d8974ea40e7beb0d9336e0e91d92d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 3.606 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 89 changed as sent

message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1444, 0.8448, 0.569, -0.318, -0.2249, -0.1638, 0.9975, 0.5442, 1.3987, 0.8013, -0.2295, 0.3573, 0.2344, 0.5368]\nstate[eef_state]: left_x=0.3008 left_y=-0.0003 left_z=0.165 left_yaw=0.1212 left_pitch=-0.0153 left_roll=0.0015 left_gripper=0.9975 right_x=0.3473 right_y=0.1421 right_z=0.1107 right_yaw=0.0832 right_pitch=-0.1917 right_roll=-0.0867 right_gripper=0.5368\nstate[joint_eff]: [-0.212, -2.0581, 6.4479, 1.8388, -0.1587, -0.0513, -0.0122, 0.3077, -10.1675, 12.3282, 2.6545, 0.525, 0.1783, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.265,\"right_y\":0.15,\"right_z\":0.025},\"note\":\"The bottle has moved closer while staying in the jaws. I’m lowering it gently onto its side so I can release and regrasp near the neck.\"}",
  "call_id": "call_kYwRZUTWWUPX90f3H4SEHZUI",
  "id": "fc_0460d0021c200855016ab2c2eda43c87d0a8b0f86cc8f64aa7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kYwRZUTWWUPX90f3H4SEHZUI",
  "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]: [-0.1444, 0.8047, 0.5774, -0.3717, -0.2245, -0.1638, 0.9975, 0.7956, 1.3449, 0.2005, 0.3603, 0.5175, 0.35, 0.5412]\nstate[eef_state]: left_x=0.2926 left_y=0.0008 left_z=0.169 left_yaw=0.1209 left_pitch=-0.0205 left_roll=0.0027 left_gripper=0.9975 right_x=0.2525 right_y=0.1379 right_z=0.0133 right_yaw=0.1496 right_pitch=-0.0914 right_roll=-0.0749 right_gripper=0.5412\nstate[joint_eff]: [-0.3761, -1.388, 6.6667, 1.8388, -0.105, -0.0611, -0.0122, -1.0735, -2.9333, 3.4803, 0.9402, -0.2466, 0.0122, 0.7937]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a352a5030e70f90e687b4ebb7a5e056f5e975aeda94ec324a14049eb41c900d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3efb503f454f1018f45d8de0783b29294e6a4db0ff754026ead997369f77c234",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7f8ee8e10b68713d8ad39646bea4e0885af0ad574ba35050e7dd9d7b8b4d050",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /responses · status 200 · 7.111 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 93 changed as sent

message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1444, 0.8249, 0.6086, -0.3981, -0.2249, -0.1642, 0.9975, 0.8364, 1.0191, 0.5545, -0.3847, 0.5163, 0.3973, 0.5368]\nstate[eef_state]: left_x=0.2943 left_y=0.0006 left_z=0.1724 left_yaw=0.1215 left_pitch=-0.0351 left_roll=0.0066 left_gripper=0.9975 right_x=0.2466 right_y=0.1483 right_z=0.1129 right_yaw=0.1609 right_pitch=-0.1422 right_roll=-0.0777 right_gripper=0.5368\nstate[joint_eff]: [-0.4444, -2.2085, 9.8667, 1.6777, -0.1685, -0.0366, -0.0122, 0.0205, -4.4376, 12.0821, 2.2295, 0.7888, 0.1978, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The bottle is resting on the table in the closer position. I’m releasing the base so I can move to its neck.\"}",
  "call_id": "call_AQQUBWHrwUO2cA3QsNWIaIvq",
  "id": "fc_0460d0021c200855016ab2c2f3a87487d08157ac25244c1b3a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AQQUBWHrwUO2cA3QsNWIaIvq",
  "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]: [-0.1444, 0.7998, 0.5644, -0.3634, -0.2249, -0.1638, 0.9975, 0.7918, 1.4067, 0.1001, 0.6033, 0.4973, 0.3492, 0.9957]\nstate[eef_state]: left_x=0.2917 left_y=0.001 left_z=0.1662 left_yaw=0.1212 left_pitch=-0.0201 left_roll=0.0028 left_gripper=0.9975 right_x=0.2476 right_y=0.136 right_z=0.0061 right_yaw=0.1648 right_pitch=-0.0345 right_roll=-0.0163 right_gripper=0.9957\nstate[joint_eff]: [-0.1709, -2.0444, 6.4752, 1.9365, -0.1587, -0.0464, -0.0073, 0.2256, -3.0838, 4.4103, 1.8681, 0.3541, 0.0513, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84e99469de2b97a20923cdba038c4b05a18d74e7eb9f2f982188c440e8cc2fc3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d1281d2cbb796f6fa773a35f2c6115989510ad27ee5bdbffde4fb510084f35a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84106c93f60899a8abdf0e9187f8f5697a4e510a892dc6468c01ba37a173d52f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /responses · status 200 · 7.864 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 96 changed as sent

message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1444, 0.8047, 0.5774, -0.3717, -0.2245, -0.1638, 0.9975, 0.7956, 1.3449, 0.2005, 0.3603, 0.5175, 0.35, 0.5412]\nstate[eef_state]: left_x=0.2926 left_y=0.0008 left_z=0.169 left_yaw=0.1209 left_pitch=-0.0205 left_roll=0.0027 left_gripper=0.9975 right_x=0.2525 right_y=0.1379 right_z=0.0133 right_yaw=0.1496 right_pitch=-0.0914 right_roll=-0.0749 right_gripper=0.5412\nstate[joint_eff]: [-0.3761, -1.388, 6.6667, 1.8388, -0.105, -0.0611, -0.0122, -1.0735, -2.9333, 3.4803, 0.9402, -0.2466, 0.0122, 0.7937]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssL8BFtvAX6CFwqJP8OflpwAtHoKMfegwnckjckVVgmATu_DaOPJrDpSYZBjDSEdWL55tSDIz4F6qv6QisMJV4dYNe0NLO-NZwUfiRP-KoQLZf3PPCkAQHWVTpJdaqkRorAR3O_xhZSQ2G_SQm82f-dWae8NRFKCHqoxyNJK1lRKfzR-MjDMcTY87lBZU_l1qYcpuBnIQTMQ2CsZwSNKNx-vbzbCXMN7BSHkj_MGrjG2saIOZ6S65O1sAGTaeni0K7HhaOzBvj5lLRN3dHtI-JiEzWmovIUVVpX2qsvM85E0dM0Om4Sp0f3vhhYKRB1_c7xFF3tJR3oo0OkDK5JkHf4rKa1ivRbJk94jkZRAWIrznS12dBsOrR397o9J1Pi3glLkdumpaWQDllJa174_vwvs87i_AzOyV7x8LVZHcuMcwwARKcMfUFYdmOtjBb52zjTqYJdi50gwzQGhGO0XxLzWKioYS_GO4QLcbEFrlegrSGyFPakaA5VmQMddznLZ5nOkK-YX2MADN0sMwrWwSpZOBVHDSvzeusJ2YC7i4syCfReHLO4FMsmwEyzb4aLaNUwi9q_7c0VomglMEeaajkr4g97pmXXThZaytMnpaobvkeCR7n3VQvMCHJnE8IR4HZItarfg2jQ3lE9IJAt4GM8L1m3AeKv_vGbUQxam5Q7EV8uPfCM7CRX2IQKwnVlgDSZgdO4iENDbRzCeglEUv8JKo-hZgBBeTXj_rSYFRLst-H2zH4JBJ209ZcX0WHVddmufbpL5URRQ-VA8I2TIKj-vjI2tR9EMGF-jRi0Ow_I_brVQtRmEfXcK79Shu7b8O_ULX1-26tlc3AeFhf3twg8a_qQmwYP07PfVNnl9Q_vUHAqG0PdV2u0pYfZI9i-2dXqeZF_dn9cIW1RO2aGPxSSRUbXTatuy2R4DF81NjoVQZp1StkJxSNK8NlHlmNYNTYcLOlODEOq2Uc_-RcmiHbwM96aNEIToSdTHsbPgW2Dm0NE5YGOAQ2MuqjNE8HjDbKzc-_d53of5ggF8AdTOd80YghoWhm9O3AH95e8fXvfOf9fRqInLi4tKyI0FLNzfIH1YWNfIjjoUxjq5tWBIu5E_D17V3rIKbS4mljzpcWZSGPmgcwV8lpsBq4WJIfmxFq3jZ73kQ764QOFv-1F-m5P8bmY_gLMd4gw8EEpv9_EIJjbWxEbR1jZlvzfZttE_N7K5j6Bi5gVstWzVmsrajeUtWQVcSBJxe4k1NTDjN3tAz1NdVQ66X9rHuiJ7lUwYeu5IYmSEfxlskYF9UcKjx2RWl3MkmQhSbVY_MxMpDuFgx9DrjbdnaHsar8TaRmOM9J70XACPjh5qDRAWYgcnHBibIA==",
  "id": "rs_0460d0021c200855016ab2c2f7992087d089d559b8ceef0fac",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.19,\"right_z\":0.105},\"note\":\"The relocated bottle’s cap is now comfortably inside the working area. I’m moving above the narrow neck for the standing maneuver.\"}",
  "call_id": "call_6MzHNvlqStdQAdFiYtBMyOyJ",
  "id": "fc_0460d0021c200855016ab2c2fa2c6087d0a8a79999c7c85849",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6MzHNvlqStdQAdFiYtBMyOyJ",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1444, 0.7906, 0.5495, -0.3485, -0.2249, -0.1638, 0.9975, 0.5457, 1.6394, 0.7944, 0.2199, 0.292, 0.1719, 0.9956]\nstate[eef_state]: left_x=0.2912 left_y=0.0011 left_z=0.1649 left_yaw=0.1212 left_pitch=-0.0112 left_roll=0.0004 left_gripper=0.9975 right_x=0.4004 right_y=0.1878 right_z=0.0921 right_yaw=0.1811 right_pitch=-0.0248 right_roll=-0.0145 right_gripper=0.9956\nstate[joint_eff]: [-0.1709, -1.5521, 6.7897, 1.7851, -0.1734, -0.0611, -0.0122, -0.8821, -6.3932, 8.6359, 1.8584, 0.1294, 0.0513, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac229e43a44f451aebeb67c1ab520925c38c2ffb7670ce76ee70cb65bfc6c331",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74fe9b1e3435bcefd055160385c3c309aa186335dede500225b4a02aee924ed4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f3c99763979d0bf35e31c296c8691d2eb3ada513cefa31b87a9b73e611a3e72",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 27 attempt 0 · /responses · status 200 · 7.686 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]: [-0.1444, 0.7998, 0.5644, -0.3634, -0.2249, -0.1638, 0.9975, 0.7918, 1.4067, 0.1001, 0.6033, 0.4973, 0.3492, 0.9957]\nstate[eef_state]: left_x=0.2917 left_y=0.001 left_z=0.1662 left_yaw=0.1212 left_pitch=-0.0201 left_roll=0.0028 left_gripper=0.9975 right_x=0.2476 right_y=0.136 right_z=0.0061 right_yaw=0.1648 right_pitch=-0.0345 right_roll=-0.0163 right_gripper=0.9957\nstate[joint_eff]: [-0.1709, -2.0444, 6.4752, 1.9365, -0.1587, -0.0464, -0.0073, 0.2256, -3.0838, 4.4103, 1.8681, 0.3541, 0.0513, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssMFed0aTps-vYD4R80t4KrNkEto_3sn1nsz_ExvLzSVYXUv9YDxqa_-kcLtYhKEdrArwQ3zD5qCf-oVN_4MpKlOjw_IbalpNRZEwniXQ2GyJnaG7Dx3HsV9R1CiwBjaV_cfDivDgaT_jThbYejH99dYiYsy1ovMjdugQCfd4KU3wrJ-2aNh-yJIPhLAqxfYGT0KbSV3DT_36zy31RqniBzYZ9HckF89dKm_2p1xtZJP7dows81LpveGon1P5jglv91vKDXd9JKGBOf2tW2ncJyEQTh8Ob__z96PP9xnbJM-OM844SubgmKGrLMO58csIXzEW8ePYwwrmkWTk-rEo4xcqYWBR17qKTw8LCqPfdjEUyPZIhrFv8zqY9Epr9BPwZLTeiWgVH3C9jI-12SP4pI_Z9z6S8In5nqtylhOydaC0paEkvYaKSLvg251iXU18aqYtKqv6stMM2COtutI4ckcJAYdyvi2KdGN9ojQQItnGDbg9zbt1SuAR_7r5wLy0ynOZABWwON_Ynh6hmLk1OpxAbQV8Wp86GqJKe8ZxjBwDwLP30r8FmkpIgl6PnvkfxDlh0ddTylvpb7hAL7_OeflJ8ArhvDamf21HU6dHkudJK9XyvG_ups-6QMeq6DkXi29QFzo5MFnwaovbSlTNfsgyfamT4q-kx7Pc9nyCaJbYHEE1njQnq19qV0bmfzSV9erh6sikgFfhwGz481IY6EfIKapj2eUx_NCkK7iDfBMlCUvCEwbXpr_snQMZI8B51FKpM2HyQ5PzUZNCqlkIq_U_hT3blYRYsACRFAeDkuJ0sVN8CPi13o692x3FW1MRMCbyQ3_l0bGOBFLLZJmBrT4FNGegRfnd-ikgkIl6nzaZzj4GfeFGqOiXqxbcFybu6s6tr-mIrZTCm6ahqcIXARijXCujb75vbaNGE1TyqjfX6OYsYiiFqci5l4lEd8ZPq1Vca6XU-7qCjJh_qolsEQbl3oIHrmw3FhudflOr6YKegedkgMyU2kouvI_DuEyOl5kscvdPHt_ws57ndNr98gJLb_UXeJpOYIvwwfkpm22JCi9qlEPl2AQixjuyjybLgLHR1m243BCjKA8rXgpzpEUnW1WFK8s0N_u1NVOLgz68vW-QltXDz59vAYcY3UujKcMq7stXN_89hlaGFGNtj_9k-YmEVnPdr_N0zPpClKq3lmy789BIVK-A2YT13l0ZvZb-pIL2h6CyA4CtemsU6RJ3tD2roTHRnG_Yr-YMQ-0N7j7UYOLw0UPIMC9QX1MJvGXrCsd5-oo9cPX5DlCTfyXVaudvIAsm5Xym4UPJv5NC_cDy5DG0nek8KPxfzlG5J9AoBNx4vt9cbZ-Gxv0ZqUBF0SnPfRD7_EucnMXOllGgsV3LztbHAQn01KUsW2cLcLNmCR5FcymXJFDnIf8jRY9TJybHZ8NlJgriATUankjtt8IZzsVTEnmaYgKJcbEiliL2no1CdtywdoJsHo8MSe6fPFYbxptMq1RCte0dHgzXyw=",
  "id": "rs_0460d0021c200855016ab2c3010e0887d08800ed7cd49d08e0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.185,\"right_z\":0.025},\"note\":\"The right bottle’s cap is centered just in front of the jaws. I’m lowering straight onto the neck while keeping clear of the middle bottle.\"}",
  "call_id": "call_6lQ5c2L2ZGMVI84QeGJBTTLd",
  "id": "fc_0460d0021c200855016ab2c30395fc87d0b47c7a4421842a56",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6lQ5c2L2ZGMVI84QeGJBTTLd",
  "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]: [-0.1444, 0.7906, 0.5484, -0.3477, -0.2249, -0.1638, 0.9975, 0.5358, 1.8236, 0.6899, 0.5098, 0.2836, 0.1577, 0.9956]\nstate[eef_state]: left_x=0.2912 left_y=0.0011 left_z=0.1645 left_yaw=0.1212 left_pitch=-0.0116 left_roll=0.0005 left_gripper=0.9975 right_x=0.4007 right_y=0.1846 right_z=0.0312 right_yaw=0.1857 right_pitch=-0.0253 right_roll=-0.0212 right_gripper=0.9956\nstate[joint_eff]: [-0.2803, -1.812, 6.2564, 1.8242, -0.1783, -0.0171, -0.0122, -0.841, -5.1624, 4.2872, 1.3993, -0.0024, 0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bbec8d7dfc938abe78763283495e1b1570f86137456ebac685798bce79df088",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:479aae8020200d3cc8e9c34a3247f34894479b0b70a9451953bf723cc3788dcb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daa350e48a41ccbf2323469f556252de59c9c54c8a0f647b9b0314f4444993ce",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 28 attempt 0 · /responses · status 200 · 8.437 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 103 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1444, 0.7906, 0.5495, -0.3485, -0.2249, -0.1638, 0.9975, 0.5457, 1.6394, 0.7944, 0.2199, 0.292, 0.1719, 0.9956]\nstate[eef_state]: left_x=0.2912 left_y=0.0011 left_z=0.1649 left_yaw=0.1212 left_pitch=-0.0112 left_roll=0.0004 left_gripper=0.9975 right_x=0.4004 right_y=0.1878 right_z=0.0921 right_yaw=0.1811 right_pitch=-0.0248 right_roll=-0.0145 right_gripper=0.9956\nstate[joint_eff]: [-0.1709, -1.5521, 6.7897, 1.7851, -0.1734, -0.0611, -0.0122, -0.8821, -6.3932, 8.6359, 1.8584, 0.1294, 0.0513, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssMN4JFaXYpcZiYLMsxzg5_3SeXfKFRa47Ko8og00D86zvwKp5OioOTPOZNzFxBoIdSoDJxZUMod82Sh0H7rgfCGfkfaHvYqz5bivPmogf3KZBTF6zlrUqQw1_e3J2OVKmD6QfXVAujUo9XWcBp77vtAdhiGF4xccPZeSn57R5Df6TccDND_VHXkF0BXgpNvzvrspbNrNzdV1dvMjRgh_w8hIwOgwlF3sQ-KW83aeTrmlSoBNIcQ74R4c1caBwep2UyYXMF5lOLt_gefiWtIaKes-1L5MtpkLnaZ6TWAQPk4hwBJ7vxYid_ySrazAL60k_9bOWeUHNb_ywRQcO147p-eJ--UFUiRaYxyysi1TAnxbNsiR2Qwrs8UxjLWUfeAUgM6lpInUPXaMn7XIaVfkssLuWtG2ulSbBeYOdAKVHAyfoxNLFhGqoVKRCKxTBASv_rCr2ZoVXBsST0yPoIUc07qchXX4G7BzlCZZY0Gr0pJTWLJrk5l7u1urXn_TS0NtlVdZcQrBUTevwRqyE8n_w2r5cYV_yjnfl8-dccH_8bM0K5ywghxASvniHVkOmUjJ0W7ORR-y-k3qysrI1XEWykScuirJYnWH3CQ5K6stjcxQQ5zjVEr9VyUHr0CpSIPiMb_JM3QlI9YyAb8D4D2C0XriS7Np2_wtIIe2bu-KKI9g4HUDCCW197fFtwJjz9UmSH5hsJ2TarZ9zUz5LKWo0yPrBB_JgR_ec8XlJ4TiSXugRI4Gjx2v9PFQzLYvwXFqAVfpZQ-L-hhHf234n2ZmzYELkKMHFCFaCoHJal3uKpnhid-R5JOEInklXYSGEug5PP5rmDaEScov6OVO0DfnWfN7agLEKMdaaUZMsiio5aFNOieAtKR1T1Ubb7spAyouP9SyTDKwKF17tSApo6K_6a--LXo8b0j0D6_mrweEnbGZN6WHikNnoHU_zXMtYlVkLrkBXBX-Am1xmNBrYlbO0vvlPpZw1rhXoxDDCFjYuLoJjebq-8FlpeHhcrynsR5q_alAJaSaw3QU2rF2SrKtVtB3_O-e4l-fp7fZ4BtF19c3ClpoQNzJ3NMxO_xNNVpkVshIEFmd5SgGJmvrPuZp2q06OwetNzaWLZmjPKZESBNt1RRoS0V9ZBwvcra6lqOWvzf_Wn60SH7v4bNb4QnvmF83gkPMaL7u75rry0o0xqrmpG7hcsDBUrnt4Z13Oiqekk0ELwDz7WtNTnuGNrl6kD4XSzmMD8730LPaIDHQiPpJWFg1Pe4HUAugL85iIIBibg5",
  "id": "rs_0460d0021c200855016ab2c30a702c87d082886094dc94a0ed",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_y\":0.19,\"right_z\":0.025},\"note\":\"The neck is slightly ahead of the finger tips. I’m advancing three centimeters so the grasp lands on the narrow section below the cap.\"}",
  "call_id": "call_HjRNFey8VQwyAER13Y9936Jt",
  "id": "fc_0460d0021c200855016ab2c30bde7087d0ad5ec84b262b96c2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HjRNFey8VQwyAER13Y9936Jt",
  "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]: [-0.1444, 0.7891, 0.5484, -0.3477, -0.2245, -0.1638, 0.9975, 0.5053, 1.9049, 0.7715, 0.577, 0.2562, 0.1356, 0.9956]\nstate[eef_state]: left_x=0.2911 left_y=0.001 left_z=0.1649 left_yaw=0.1208 left_pitch=-0.0102 left_roll=-0.0001 left_gripper=0.9975 right_x=0.4307 right_y=0.1912 right_z=0.0378 right_yaw=0.1898 right_pitch=0.0337 right_roll=-0.0033 right_gripper=0.9956\nstate[joint_eff]: [-0.2393, -1.6342, 6.1197, 1.9023, -0.1294, -0.0513, -0.0122, -0.4171, -6.4068, 5.6274, 1.4676, -0.0317, 0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79af970a186efff220b9c8e49a7c2e40406d4d0173cd050305158a2b92b41495",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b70ba40578f53714e6db40e8412fc58e5550b20a7ed35f0d5dc7e675cee38217",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4b0e71157a4084a1cf8ab6b8b82de43edd0e6df1c1262123b6b6c371b345b3f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /responses · status 200 · 10.42 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 107 changed as sent

message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1444, 0.7906, 0.5484, -0.3477, -0.2249, -0.1638, 0.9975, 0.5358, 1.8236, 0.6899, 0.5098, 0.2836, 0.1577, 0.9956]\nstate[eef_state]: left_x=0.2912 left_y=0.0011 left_z=0.1645 left_yaw=0.1212 left_pitch=-0.0116 left_roll=0.0005 left_gripper=0.9975 right_x=0.4007 right_y=0.1846 right_z=0.0312 right_yaw=0.1857 right_pitch=-0.0253 right_roll=-0.0212 right_gripper=0.9956\nstate[joint_eff]: [-0.2803, -1.812, 6.2564, 1.8242, -0.1783, -0.0171, -0.0122, -0.841, -5.1624, 4.2872, 1.3993, -0.0024, 0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssMWwn2_-PhoWfTEU0H9hPVT91XZAHEGEaN5jofZb5ZdNVhvRyV5y6ny5iZ_529P0LU92715bwSf8-Oa6sx0CRR3uvqEl0DrWNC-FFzuw0tOTLcoOPXWnx-FIScjOjx3giEF2gpBbv1siv3U4AwRfc5E02NUgKlVcH35DEYNilhpzKoH-gCP5QfHflSG-6bR2GogPqwAeqQoQ7jHa4ITMvuRTLG_eYtR-pDJgq_pKj1U-BBRvqtiK-VUau1JWJ6KWrUU3A0E1u1H7NEu2XBuv9aR5S3haYYHIY60u87qUmQg89oV0GYhNSF4uGs-c-U6j5U0niusiiWZOQiJdEzReOXN0CD5AGmbaDZUTl_Ahh5Rbjv1DlAHHLgYWldk2tPg8WdKM7ZLQhuzT1IGZd1Iz5PJZNMgMI3TIlTrKsc4QVHnlFJSFJbp9JPpDMUc7OXXtCK-KsrS8UVRaMzYWLENhxXLPpZb2HeGGOyUtBY6RyVL3MIJ10NVDTL6cCxltXUmvplNGcYB2io6eJXb-PgsoWW_vHH1m5oyvHFq0DrEiNz0Nrbbqk04le7V1tA-9dbHFHCcTgvKbBloj6GZJklcpxyUzN5WsLWgDqXHWgGdrxQJLtzCb42_87uk1IZPkUdzIW8fr393gU5Rt_Wdj1x7_FHSZzxnEqlC5jBZLZiembHQsnkGbmaWJhF1uK5bLDUy4hM3dVDueR2DB6nLmfbf3UVqXa_XIFIIqekuSbiNSts-SBn-ByuOLTF1kIaBLwd0CMQJ0cbvgqrA8ObF4KfNz7w5b3FIaNGcVz-afuFy_5WjriZjwmLrH1t9u_pGiNWeric9AVQkAk-sfzn5oWZRKnocfiDwgS7tpGAz0tBi1y9gGhS4w_DHcqK-y1DN6MnO5SgUblwBjPwBua6_UT4C9KjFKP1cPy8bdqVN68EgzIPDekFqyqRaZhTwsbnvQGLO58ipXV1rAk1VbfPavlf05WcBnWykq-vSeDq7OncrLQG3G9cb_liRpr6fy-ZU9R9LWR4HuYbV-ocldVyzTgvFrvc5cIf1KJt3nR3PEt7R6ZqAj_BGZSJ_kduRMwPIoZlWkeZhalvUg_6qTxd9bkrQB80YPCkPspWByir-X9YrJN_FhyL_bYPQCuwJvNuWRhS1jbZW-xSGeDynfzmxce0ah9Fudsy9jZu3xY7O1AbcawcxGLVFsUtPmhGDLxM1baqijyIxzSzhenccQrtOqBO1Bb4iMGLfyE_wCh4PINxTNyYJck56ywrfDKHp4fSm-k7RivTkK1ZB91geSoWwY-n2O5sV244wQIm96yJ3pKG6BAAY3zY325RYionzR-kg6uLnwZfYX4Z3zg4mvOoZMdMbkr8bmcVMMtzqapgqFjWdmWcNIMq01QKNksQL3qqeIkkEeJL7wMFFrQpnCahe3oDuMcsjoSIjuF4UF9M4RTGUAOyY5wR8jhkVnjSPtULw-VNgta3pCvuQ3UrRhpts9kYg1NnYdHUItrBuzsoXU8KrW-Wf5E-Rmrn1FW4ZQIUcCQNp21Tg",
  "id": "rs_0460d0021c200855016ab2c310fc0c87d0b9a85e7bfc8f5788",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.005,\"right_gripper\":0},\"note\":\"The fingers are aligned across the neck. I’m lowering the last small amount and closing to capture it securely for the pivot.\"}",
  "call_id": "call_293BG8BaVQ2swT2sUSNf8BgN",
  "id": "fc_0460d0021c200855016ab2c314649487d095d03d4eec541329",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_293BG8BaVQ2swT2sUSNf8BgN",
  "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]: [-0.1444, 0.7891, 0.5484, -0.3477, -0.2249, -0.1638, 0.9975, 0.5045, 1.9564, 0.7883, 0.7395, 0.2337, 0.1295, 0.0191]\nstate[eef_state]: left_x=0.2911 left_y=0.0011 left_z=0.1649 left_yaw=0.1212 left_pitch=-0.0101 left_roll=0.0001 left_gripper=0.9975 right_x=0.4477 right_y=0.2046 right_z=0.0544 right_yaw=0.2077 right_pitch=0.1525 right_roll=0.0401 right_gripper=0.0191\nstate[joint_eff]: [-0.212, -1.7573, 6.2291, 1.8535, -0.1587, -0.0415, -0.0122, -0.6085, -4.7385, 3.6991, 0.6862, 0.1343, 0.0757, 0.9548]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:552a311e5c451e72d281acfa074e06d3a24906ae3d571e6f7deb44d49e4d0f0c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbd417f1941bfee630f48c2de50b9b0f4aadc383d304310b1f836f47bcc6cf2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74fc0e17fc79897ff76f461e620405b0bb49c860250615c4d6e0a8dcc63132c9",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /responses · status 200 · 14.62 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 111 changed as sent

message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1444, 0.7891, 0.5484, -0.3477, -0.2245, -0.1638, 0.9975, 0.5053, 1.9049, 0.7715, 0.577, 0.2562, 0.1356, 0.9956]\nstate[eef_state]: left_x=0.2911 left_y=0.001 left_z=0.1649 left_yaw=0.1208 left_pitch=-0.0102 left_roll=-0.0001 left_gripper=0.9975 right_x=0.4307 right_y=0.1912 right_z=0.0378 right_yaw=0.1898 right_pitch=0.0337 right_roll=-0.0033 right_gripper=0.9956\nstate[joint_eff]: [-0.2393, -1.6342, 6.1197, 1.9023, -0.1294, -0.0513, -0.0122, -0.4171, -6.4068, 5.6274, 1.4676, -0.0317, 0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssMhE9e8JzE6KUCo5YRnVg9PmeP4MLctrT1gjruFOBm-K3lyy20lY-PoZjOvjRVFa2DZ6avpsnLl1PyoiE6dju7w_U_eGoFGKP-Gipk90FO158lVJ5JagVby9OCnjc8wJHnnNwY1CFFI-h-BA0kB64P8aY4TRwF1IJZSzn5y4RSMc3ddLA4vTkLxd5hNxR4ERDgDlqha6zB55AJuo1A0KYDYreE2kuZe_2HX-lXBxMeSeW_cvf3trYxDk5QcLlsh5X1OSzOMv9Lv7qEFoc-FlWjGdN_wkFPEpvNRVcoS_qx5PuVvkZIwM-mDXDP9DYe3ZSbMeC-Y95Hf2kEKno5UBB41sotMKAAsaLdeS6WSMgS4iCJuHvqz1Uqk0FQANHPUQMMnkN7e_NTx0k1oEk1Hw1Ui23cMWAcZWzA1CmEo2yYZslWZ9T7N7d-GSpF5YnmG8-kV9RHcZMe3yUX--R9LWfK1rhMvQwpZHrf0FbAvU7U1zH9JWtsCKIOkr4xtw6cLIECX_RiHGDl8dYuJDuecKVHqCXDZ-RCQ7LX8kixCv4n5f2V2g1_PTzz4ZKDRqH2Kyspt6WFA4aeeNC58OmOXN5sgFSApMfQvZlVJQX9BsoCA4ESEVrIWnBjEtD9FFTlWzyxaQUeTMmjMkpFSGXU_Pywa-ScuFwnoqYz58PiFbozLE5vQw771qQS3bmr5FxVS1EDPAkRVyGbeun6UOK_dpu9C01C28p3XrYVzLk3n4Gq8oKdQLk3xia2zU4sGk50afHaBLNIplVS-_7xipeXPKPsZJAgWdGRv_MZCpAjhFhBjK8yiOC5AD8u-SQGas_NGKm8-_00NNBRmrF044juTmcvA9Okx0Ug9T8g0BroqhU-xwYHq1Fi4AbMPGChKVeBufi5JWakidbhwt3aV7z94KDraBFWpnPDc5QjmWih3XhAGPTyE_OXqEJvK9-lMSyMOOmkOnxwHfIobVOkPDewpdg41XILgDTVHgNmemsdJAxJyAtwguzPZkeuk9OKFYr6njtzM21jRKFxV7v5XfO96D_5XPXaJnVjFeJrcFxAo_u72XOvbqVNGN2p-KJHJg2RYLswMYwOd7f8QAo6jdDAh9o7CxFNepWhJAJSaiEspx9_fFIfNUCsHyfHRCT6-GXC6lH_vRo_gAKaskXIMqLtDMxb4bPPMlTRO-TahvL3pAoVkCQY7zK_8nVk4SbKwHhviLwGcoxdbwW448rx9p2yZWaGfCBJsszTDbtIGUXu2auJ9FdzKLMGb01nUGLEIGH8PmM8ktLmEB_eI6CKhBVYcgcd0lmfPNEWTE2a5OMpUUaEpkOAWf4vBwWwJ_w6loBSz7fJHfGkpIdy5GDTvO0me5A3y4hLs9v-_nLi6ELVKhzIfiGOvedbySsRT6BJEFB0jt5URTTV9smeCBszdNFzH0txukP-mhYq51tcgoq7Vk7JmueLFInNHlPqw2zHN2YDWM9EnHvWX77Dkh_e10lrDql9eAa02YWiwejs3hdVvNj2C9OohkEAvykWsEhon1yRBH_JyEgMo2ustchtOgCD80SMIFp9UFjIhU9dZxuGhHlYQWhucmB2s_1RxSSDu6P7ebRa0euW8y38OzpGREepQ_4TshbYOQWwMz-6GVZFCYhpFPcyg-JkAf0geu2Id37VGFvtVe--WM-EcqA1xe-eGube_BA==",
  "id": "rs_0460d0021c200855016ab2c31a286487d08faaebc65213c54b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.17,\"right_z\":0.07,\"right_gripper\":1},\"note\":\"The neck grasp missed; the cap is just beside the closed fingertips. I’m reopening and backing off slightly to approach lower and closer to the bottle’s shoulder.\"}",
  "call_id": "call_qiESCPWWXFdY5urpl2flDiWg",
  "id": "fc_0460d0021c200855016ab2c31f3aec87d0b92bc9145dc2d8a5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qiESCPWWXFdY5urpl2flDiWg",
  "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]: [-0.1444, 0.7891, 0.5484, -0.3473, -0.2249, -0.1638, 0.9975, 0.5045, 1.6371, 0.6254, 0.3935, 0.231, 0.1299, 0.9956]\nstate[eef_state]: left_x=0.2912 left_y=0.0011 left_z=0.165 left_yaw=0.1212 left_pitch=-0.0097 left_roll=0.0 left_gripper=0.9975 right_x=0.3817 right_y=0.1687 right_z=0.0594 right_yaw=0.2131 right_pitch=-0.0294 right_roll=-0.0133 right_gripper=0.9956\nstate[joint_eff]: [-0.1709, -1.4291, 6.2291, 1.873, -0.1441, -0.0415, -0.0122, 0.5812, -8.0479, 5.8188, 1.8681, 0.1001, 0.0806, -0.0855]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fefedd4b4a8f03212cd1f8a6f558b2e6efb955737ec9f7263a02d29866ba6451",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5b0db6ddae807e7d80b6cb022291641e6035ca9b717fc593b3064bd4891dc9b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:845a76aeb077c1295d955f3c461bad38832cf1a06bbaa45c91c1fd35b4be16b7",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 31 attempt 0 · /responses · status 200 · 7.355 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 115 changed as sent

message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1444, 0.7891, 0.5484, -0.3477, -0.2249, -0.1638, 0.9975, 0.5045, 1.9564, 0.7883, 0.7395, 0.2337, 0.1295, 0.0191]\nstate[eef_state]: left_x=0.2911 left_y=0.0011 left_z=0.1649 left_yaw=0.1212 left_pitch=-0.0101 left_roll=0.0001 left_gripper=0.9975 right_x=0.4477 right_y=0.2046 right_z=0.0544 right_yaw=0.2077 right_pitch=0.1525 right_roll=0.0401 right_gripper=0.0191\nstate[joint_eff]: [-0.212, -1.7573, 6.2291, 1.8535, -0.1587, -0.0415, -0.0122, -0.6085, -4.7385, 3.6991, 0.6862, 0.1343, 0.0757, 0.9548]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssMxTk9hz4F1QREMs2rIaOACZmwUSZmuCl4gmjh7nAON2z2zuUHA0NZJjh_OEG6wBlsvtb77TixaqOvFgXuYsZ7e24JDFb2DpSwGHVkFw-ktyxD0OTkDQicQQ8Lx9mTfcif4IHt07nAIgU5bsvdDoE8DyAgB-J65K0J129TIANJgbv4dclqWCrtc9xGW9HUToD2oGVMsckIHbcYHnYTKCTHBF5dreS5Z9lXg5E8mw6FsFNfjqmekNgcqo0Toraw3oLSsML2tSTH07n9OcGErHqwQwYmYDtvMmr39d3lfhxrtKVwVDxAtXmkAud_JMFl6azKscyN7j0Fq2I5p3OwOrLFMDYQVPd0vAxMpnjME67TwqDEQF9Azcx-58RrdyMeBKfH10gAUYISxpo-9lObImKK9R2VNRfPfSp6H6TgAcTLs-MZF99ATvWYzefvc9VHdG5_pI3vqoNyeTfKoxtqQf9cV6UnKdZ1CR4SMBR-s_94yxhaH08VkR6ZgbAWwMlJ9tgghup02i9WxTqGvZMLrQ3ReFxWwfxTxzPb-3nuo7FyxNi49HeszTABaHRSa2l_lGIqq8WwV0kyAW-EV9zwOfhj51y3-NynvgnpwHOCMhLbSR199BI84Pv5ZpGO9iQZ-QnxKKJebWp13hLVR2g0hEKJ2ZwC6SPvyRQko1yd7M7SFC6-Y7lDWjO2yoFEKlVIAwSEw51HepHwbdaqu5HcLFhVNNsksQWnTjmSVeaFEZkouOkuDTc0kH9jsHtHEPS6sQnx9crFatgZ9myEx6wkw78k76qlwCpY9lcjGdPR8V5bucjqrgUhnaYKbC-IEaCE9eC7LkKsE1OjRM0pIVp8XVRORanSqpvqw4SCLAwlN6lcW3BhqFVqgwdzglubFX5yjpg_uaxuf9BO0goz-TWWJIvGAmMgwyO04tUMacDS_A1pTazj7Hxk0_niNGiX6OaPHiynrbhC5uivoLO-vIRJ3o0EOxV3_fL0sev3TPBMmBF51a69JfOSBuuJzjXORZ5CUO0CjHUzrZHPNlJRd70Osjc-aw5Gf5caBJ-FLOTpZvH9dXAzErQq_AImj32Bl1HD5Lapumbmh7Ga1Y95NLdzPoO-ad0rBFAL2VzqYKpbrcX9-ZnABSMVCTNS6-lieCgxtofV46xQQ73C7l9RrUxtD994lGALRoibE02YQ9GUs0_-XhM19sUUwoMnoxNoqovjcAY0z7cxvgS8_EtyrhdjaT_SYrVgnGSeGPPFuxCPltJi82wQ8mQoybQC7BZZLm_8BK3ge9WkboLL_i7qAb-dRp5cYEuib4xNeMb0mWrHyAzD0CBrKh0TB9yF8yb86MOuMWS5Tnelkx8EXcwf5mDMDjHc0YJq_V5oBeSzdFkoeUo9MvYgv0A86ZMoQ5Eon83URRpzmiRHh5mJGpWJ3jzQ_6CMKkFWwHALIXXwlew970Pbtz308jUDQD9cpkwqGaGJU792QYduWYEmjzpk9ab5OxQhfWYWj-Ga8OgNv1Icl3PNIv94tS0ElAcw0tyFAJHCHagY_heH4XlkDrsOYeJsCpU573I2o84dvX7YKk4u5hXjvTvvSxI3Ba2DnGbj350fM2GQn5BBSJIol4x44iV5iN09kHf5lRpuoKVk16gvhu00bpGEEr33JBNghcgMewl_G7AUXUbVjBjoQbsVE-7QtCZPgwhD9yzcWr8oKqXv7ol5hvEXb8WUIV73uljLtYzLpesPC_9xu3S0Wc454eVdwItZmYgMD-XFyGIjHKssh7k0-ldRQOePtbDBDD8_U8aUJA5h7cJgpEIIWBuKe5G-WkPaY2PJ-AYBuv3duLebmtJkPZFpolyexMQD55IejunQN7kI7QQmddXzEEWza9dvBFHUxci6KkpX7Ft3K9dJHW4eKbfrWC0TpIAwq5N2e_QeVEwppjVCR5j8frX1XtQR-GbWS_YFr9nenW2vbTYeiOcYfUbTJ30iSAS2tsNHtqL17N2fAG-yqdDpNhbbzLZWtKtEsAFec4Tbt3CkgPagcxXVlPu_2jIaWwo9BjlOqUTq_GMRRSyjCLMJnD-jj-IXnYnrGgmFqmbEWxb6LPbaNSCxyOIMFR-ad27UhgmJS5Yyro6En0f1klPV5LAXCpxgvKtYOkuNOihcx-3TWfr9EZx6zGQvupVt02qZVncmPRBaZbDGuPAKpyEi3v1xd1_ro19_Rh9hOk-iczzYxkwHUpxYd1MHL089NQx_XWYz4pvWsTNc-",
  "id": "rs_0460d0021c200855016ab2c325983487d09d6e7ceacadb56c2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.17,\"right_z\":0,\"right_gripper\":0.35},\"note\":\"The cap and neck are centered in the wrist view. I’m approaching the shoulder with a gentler partial close to reduce the sideways slipping seen on the last attempt.\"}",
  "call_id": "call_4Ig4S989FAR6yySnPBZNDN9H",
  "id": "fc_0460d0021c200855016ab2c32e570487d084b55090e4364f0a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4Ig4S989FAR6yySnPBZNDN9H",
  "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]: [-0.1444, 0.786, 0.5484, -0.3477, -0.2245, -0.1638, 0.9975, 0.4686, 1.9018, 0.6666, 0.7795, 0.1776, 0.1143, 0.449]\nstate[eef_state]: left_x=0.291 left_y=0.0011 left_z=0.1657 left_yaw=0.1208 left_pitch=-0.0072 left_roll=-0.0009 left_gripper=0.9975 right_x=0.425 right_y=0.1842 right_z=0.0429 right_yaw=0.2286 right_pitch=0.1206 right_roll=0.0422 right_gripper=0.449\nstate[joint_eff]: [-0.3487, -1.1829, 6.4479, 1.8242, -0.1392, -0.0317, -0.0122, -1.4427, -3.8359, 4.0, 0.5104, 0.0708, -0.1099, 0.4957]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:916ede184896193294d632bf91962f099211dc3b6bc5f1e931ac718951724739",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ebb0df727d74bfd78e0b4305060eec39b2fa717ad1f573c140b78bc2509437c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:860b3aa55e135fbdab7d8e0789bf2c931e347847d59f4060f6b3c307b36af429",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 32 attempt 0 · /responses · status 200 · 7.95 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 119 changed as sent

message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1444, 0.7891, 0.5484, -0.3473, -0.2249, -0.1638, 0.9975, 0.5045, 1.6371, 0.6254, 0.3935, 0.231, 0.1299, 0.9956]\nstate[eef_state]: left_x=0.2912 left_y=0.0011 left_z=0.165 left_yaw=0.1212 left_pitch=-0.0097 left_roll=0.0 left_gripper=0.9975 right_x=0.3817 right_y=0.1687 right_z=0.0594 right_yaw=0.2131 right_pitch=-0.0294 right_roll=-0.0133 right_gripper=0.9956\nstate[joint_eff]: [-0.1709, -1.4291, 6.2291, 1.873, -0.1441, -0.0415, -0.0122, 0.5812, -8.0479, 5.8188, 1.8681, 0.1001, 0.0806, -0.0855]\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": "gAAAAABqssM5_8bUMkk11ddvMYaGyh9gSiJwswrj5lCXQNVqgz1egp1ADbhLico2c3uztAka4hy7lEjK9BQsDKyuUSw_Fx0F_3Tn_a6vpoGRH_dT02vi4vzrhz7htK_BHqSXYHDeZgVBFwv8Qn4FFo4Ea8m2ocm0pntYIA8FLQkIkOUnMMRAl4ww9WTKpOls1CffPW56gxdtFoBvHXY-sbW59m5lM_lUzHGygkOMDkRSjqv4irk5MDhiCNH4DCs7pVdb6E-Wn9TwbvcvcIXLCIaNgdZn4sUDbP8HXL9U5T-ErMmhcu6s81iiVvLYRrucX7Nm_Ylub-0EGLQ6z6TTP19FubwrRHjvSE_JwQb9Pi6LlbcdYbTUy0QsozHLjqlvESro9BnfWwS48xfnGOQBL1CVIFjJ--GOq2AY6cYLhND3zkYCvS-Q3tYAJl0QIJxUXA76hS6J4wjhGDIiuMvbJSI_z0O7BtObeYx449rvrI45ZOg_dXybau1Q8lyJZSYeQs3nbYEjJHqO6K2q_IJbHpFDqsfimk1MI6eT4SJ_eoNaHFmzIM3aF0fsHoGHe1t7E8w-8BPloOCalv4-bH6AD2W6tkvVGKZS-JGEAbNLqKzDxyxKv6u5bgtdW83yYmV8ZGFva8vMhkNacmQYcm3qE4o14gJw3odUEfO4qAESEFuXgyo5nrNOaUO2Souwis5-u0l8UUFpCTr12k3prEv0YpbSmrHyV3bWeR9VAHTlYeqgoSCEKtPl41Q4WVsSyzi6dXw3rHfDXlCbe2in73oXPFWz3ZbupwesPfD3VawK2fPz0Ieal-hdjW2NcSk5yItoe7fzC0pE7RLrbdPqefN8BbxA5rNpvJYCJE0TvSvzc4i1yepI0XUx6l3iIoHthjN_Poe6lqecPWbtW8XsC4O_cr2qbDUg7hPPtz2KF-VyxmjcLpFdYcwPKxvQhV2W-OZ1SRgdtBAe2CyEXbm2wgaP-tG3WQZ4jBRIsV5H5BAzhMUVZkS85FfRGih51iCoAqtubCBwSMDYxWod9KWGvz9ph-TszRqHu8dkppf2i5uoDlb875AqLn8SAbRWLOvq2FhWwZh5RqhP-Lz3imKjOjcil99lZzwMitWzrmBb0aMVasgU2ijWnTJOrmE_aNeh7oujXYdOf-yUjA40Gt6H8Uwy_rjpae5BDt5ij4QmoGmc5kzY_hZmIldse4bkVgyrSTcEIsn0tNOeq6zq0CtQrZoMSsI5hE_TxlDvxu-rm57mlveOeoTwqCW79YYnLYZ3vAX7Dprgu0jZsWKtGupUKfcehEWCHtYdcxO-cQ==",
  "id": "rs_0460d0021c200855016ab2c335dbf487d08b5922adb50bd2e1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.17,\"right_z\":0.2,\"right_gripper\":0.35},\"note\":\"The jaws have stopped wider than commanded, indicating contact around the shoulder. I’m lifting and moving back toward the bottle’s base to encourage it to pivot upright.\"}",
  "call_id": "call_WMTJFY36iE1PHXHWsoxSESez",
  "id": "fc_0460d0021c200855016ab2c33712ac87d088734122584cfb4e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WMTJFY36iE1PHXHWsoxSESez",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1444, 0.7849, 0.5484, -0.3473, -0.2249, -0.1638, 0.9975, 0.6239, 1.1835, 0.7879, -0.215, 0.292, 0.1715, 0.3507]\nstate[eef_state]: left_x=0.2909 left_y=0.0011 left_z=0.1661 left_yaw=0.1211 left_pitch=-0.0057 left_roll=-0.0011 left_gripper=0.9975 right_x=0.3244 right_y=0.1753 right_z=0.1804 right_yaw=0.2596 right_pitch=-0.0112 right_roll=-0.0096 right_gripper=0.3507\nstate[joint_eff]: [-0.3077, -1.4838, 6.4889, 1.8291, -0.1832, -0.0611, -0.0122, 0.5538, -5.4906, 10.1675, 1.8339, 0.2759, 0.1148, -0.0366]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0285a456f2ce2b898898ea966aa7ccad1243d54b5a05fb3d1b1cc661d151cf3b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:641897f374e387eb28aabfcff61bb04ddb301364602ef27eb171ca5a90ca9e28",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50a45e81a1b308f693ac8123527138ce192123e1d07920a89239826e8dac816b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 8.857 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 123 changed as sent

message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1444, 0.786, 0.5484, -0.3477, -0.2245, -0.1638, 0.9975, 0.4686, 1.9018, 0.6666, 0.7795, 0.1776, 0.1143, 0.449]\nstate[eef_state]: left_x=0.291 left_y=0.0011 left_z=0.1657 left_yaw=0.1208 left_pitch=-0.0072 left_roll=-0.0009 left_gripper=0.9975 right_x=0.425 right_y=0.1842 right_z=0.0429 right_yaw=0.2286 right_pitch=0.1206 right_roll=0.0422 right_gripper=0.449\nstate[joint_eff]: [-0.3487, -1.1829, 6.4479, 1.8242, -0.1392, -0.0317, -0.0122, -1.4427, -3.8359, 4.0, 0.5104, 0.0708, -0.1099, 0.4957]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssNCFcmnqjhFIhCp_uodE5-JZdkstvpRSWKcQS5_Fm4oUZQYZVwmk9k6gVXCpe2xeAvYSXn5Qk0mYVhvWLKHVKutygAXM0K7NImWaLOujukLZRf2PMcGx3f7QCGOdA9LwFlixMDQ-5E61Ukb-1iSWgGMAUDHkLqKTQQ4oB-lTpFcQa4VHT3a7Bztjs-4ha03K49yg-NkB9oLRb0ogj4Xu1tInTZmqK1TXirO4RUSnlUuecjZo_E9pCz43oWxYi5bW8Uw5sZrrtG4BiT-Vvr0Fr8htzFljoYzIvXyVo8_NBotcAHYwhjzfnmwlZQ2RivMCLjYCmeIuq1n7evtJPdU1xSA5uVjkiOR9wUWYo2YTGRNoRgistkkr0TzP-wp7Oq3MvGKgTzshUlO6d79YapudeAW44LQ_B5YX-GV4dsMl5hzKS5p2M8xWThJ6OOZqYHt0FWsgU2aWRvDIDi44xz3Wrrj4BLWUBlP8I4sKmH4fO8ksCk3XczK5b4eTj71KZIOXXGUjvZi21afJaNModaVdlUIUxqO8S-_hcMI9oC2PWXCf3uyHGLvwtpMLLRyMxJANJAR809fe9CduKdkLJolkAlSfpX3bBOCFgFpi5s0QUYPSDHBYqz0FFvwF7O_Hlzl2YnCi_qLXysNs6QUqFzlNt-G7ozHO5s8K_cKPbykFSN65NP_nAZR6k2PJgtOJDCWMXSe0lxridV9FoDQW52EMKjIlqTCb0MWUkaZJjvKpj5DHo3R9ankbMAvO9ABhs9A50pVmQVI0bs2PELcKelACDBpyl3h-XHJKRBRyA6FIOtUnBBtc6T5xnGdPDVkA5-yYZgdBrihnK4aIg5BvWCT8dOqzRvOlev5vz42Bc9Y6bk72ExAL6ohe4dAvn4-eyFEUNjZZVo8rvCgIMPv15ScAWiRfumzcU4LYfxhFV2Mp-HI-iTyI-dUpltcbhU7XbhMM7zInnjGmgxhZa1t9S417MEH1ZgWg6UlOC8LvyPivrwjIPKwunY0OeypLLNJL0EbijRVmAH3Lu0t2uBA-1Qb2rknBikdwrYw-qO2dOsmTc9KNm1sN1EYXQ3elMGh3wOlmD4N6F3Js0L5SnT1Jmol09qxK4ViEKEQvbz0XVPfrd19FakSnXLeeW5Uht4eXwhfxbEvGjp2xkjFVazEXKEM4gQ-bsFoOwWgrm_QXiiY2e7FaMRAoD0JKBf3jHCMb7XSZCfJ0mAsJfQiPQt_QuSZrL1J-P31N-j_EO6r924-VZVAerAVUjQxT6yetftJDo_-uMXdYDLzlNFxqfRSXtHzK3LmfPbzBIlvVf-XwDglPTT6gIqw6aXyp6L9_mNZqqoRSF2Y_FIPuVps8O4PcraIQ0hCrFGq95jZnT9Y5OylOkY7qa76eq6cxgbYChwAZdUt8YoA",
  "id": "rs_0460d0021c200855016ab2c33e89c087d0a10b65adb002d8a2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.294,\"right_y\":0.004,\"right_z\":0.19,\"right_gripper\":1,\"left_x\":0.296,\"left_y\":0,\"left_z\":0.19},\"note\":\"The bottle slipped free during the pivot attempt, and all three are still lying down. I’m parking both arms clear rather than continuing repeated unsuccessful grasps.\"}",
  "call_id": "call_PYnk7sD3erVmi9S5TKiyF2ug",
  "id": "fc_0460d0021c200855016ab2c3400a4c87d0a48798583dc613ff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PYnk7sD3erVmi9S5TKiyF2ug",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1444, 0.8116, 0.6125, -0.4042, -0.2249, -0.1638, 0.9975, -0.2325, 0.8627, 0.659, -0.4492, -0.3721, -0.2836, 0.9975]\nstate[eef_state]: left_x=0.2931 left_y=0.0008 left_z=0.1766 left_yaw=0.1212 left_pitch=-0.0245 left_roll=0.004 left_gripper=0.9975 right_x=0.2948 right_y=-0.0001 right_z=0.1793 right_yaw=0.2035 right_pitch=-0.0317 right_roll=0.0024 right_gripper=0.9975\nstate[joint_eff]: [-0.4855, -0.8957, 9.9761, 1.619, -0.188, -0.0415, -0.0073, -0.2256, -2.0034, 8.5402, 1.7411, -0.2271, 0.0513, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:398ae6d4f73877e2290ad6318297b8f5605b2c7e6412832f0503c163c646d3e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c186da2762992f33780fece8f0b35fb73d1588617be6151dfe919c0bcf85df83",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:328e9523b68c256aa302339fbe0771f6ed23119157e8f8c15e276617fa2a92d3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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