adhoc

completed
2026-09-22T17:23:55.519985+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
171.9 s
total steps
117
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 down with their caps toward the far side. I’ll approach the left bottle’s neck so I can lift its capped end and let the base swing downward.
move_to
left_x0.4350left_y-0.1650left_z0.1400left_yaw0.4000left_gripper0.6500right_x0.2900right_y0.0050right_z0.1900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7933, 0.609, -0.3763, -0.0223, -0.0284, 0.9986, -0.0158, 0.7887, 0.6037, -0.3859, -0.0265, -0.0341, 0.9998] state[eef_state]: left_x=0.2958 left_y=0.0016 left_z=0.1833 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2936 right_y=0.0036 right_z=0.1801 right_yaw=-0.0002 right_pitch=-0.0 right_roll=0.0003 right_gripper=0.9998 state[joint_eff]: [-0.3077, -1.5248, 9.6615, 1.7509, -0.0073, 0.1636, -0.1538, -0.9915, -1.0188, 10.2496, 1.8828, -0.0024, 0.2173, -0.0366] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.435,"left_y":-0.165,"left_z":0.14,"left_yaw":0.4,"left_gripper":0.65,"right_x":0.29,"right_y":0.005,"right_z":0.19},"note":"All three bottles are lying down with their caps toward the far side. I’ll approach the left bottle’s neck so I can lift its capped end and let the base swing downward."})
tool
executing move_to over 15 steps (1.5s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteThe left bottle’s neck is left of the jaw centerline, and the jaws are currently over its body. I’m moving toward the cap and lowering to neck height before gripping.
move_to
left_x0.4850left_y-0.1300left_z0.0450left_gripper0.5500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6472, 1.8107, 1.2312, -0.3153, -0.7841, -0.7322, 0.6521, -0.0124, 0.7841, 0.6071, -0.4343, -0.0261, -0.0349, 0.9998] state[eef_state]: left_x=0.4306 left_y=-0.1645 left_z=0.1324 left_yaw=0.3549 left_pitch=-0.0247 left_roll=0.0032 left_gripper=0.6521 right_x=0.287 right_y=0.0046 right_z=0.1729 right_yaw=0.0033 right_pitch=-0.0404 right_roll=0.0001 right_gripper=0.9998 state[joint_eff]: [-0.3214, -9.5658, 7.8154, 1.0183, -0.5495, 0.1197, 0.105, 0.3214, -1.6889, 9.6342, 1.6679, 0.0073, 0.0269, -0.0122] camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.485,"left_y":-0.13,"left_z":0.045,"left_gripper":0.55},"note":"The left bottle’s neck is left of the jaw centerline, and the jaws are currently over its body. I’m moving toward the cap and lowering to neck height before gripping."})
tool
executing move_to over 6 steps (0.6s)
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 neck remains ahead and slightly left of the fingertips. I’ll make a short forward adjustment, keeping the jaws open to avoid pushing the bottle sideways.
move_to
left_x0.5350left_y-0.0980left_z0.0650left_gripper0.5000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.511, 2.0117, 1.1416, 0.0841, -0.7437, -0.6041, 0.5513, -0.0128, 0.7628, 0.5694, -0.4194, -0.0269, -0.0357, 0.9998] state[eef_state]: left_x=0.4771 left_y=-0.1263 left_z=0.0607 left_yaw=0.3952 left_pitch=0.0127 left_roll=0.0053 left_gripper=0.5513 right_x=0.2831 right_y=0.0047 right_z=0.1645 right_yaw=0.004 right_pitch=-0.0419 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [0.7863, -7.1726, 6.0239, 0.9841, 0.1148, 0.0269, 0.0269, -0.3487, -1.7846, 6.9812, 2.0635, -0.0513, -0.0415, -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":0.535,"left_y":-0.098,"left_z":0.065,"left_gripper":0.5},"note":"The neck remains ahead and slightly left of the fingertips. I’ll make a short forward adjustment, keeping the jaws open to avoid pushing the bottle sideways."})
tool
executing move_to over 5 steps (0.5s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteThe cap is now beside the left fingertip rather than between the jaws. I’m centering on the narrow neck and lowering gently for the grasp.
move_to
left_x0.5250left_y-0.0700left_z0.0250left_gripper0.4800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3847, 2.1086, 1.2984, 0.0731, -0.6762, -0.5484, 0.5007, -0.0132, 0.7383, 0.5301, -0.4004, -0.0292, -0.0357, 0.9998] state[eef_state]: left_x=0.5263 left_y=-0.09 left_z=0.063 left_yaw=0.4437 left_pitch=0.0085 left_roll=-0.0146 left_gripper=0.5007 right_x=0.2794 right_y=0.0051 right_z=0.1569 right_yaw=0.0055 right_pitch=-0.0377 right_roll=0.0012 right_gripper=0.9998 state[joint_eff]: [-0.4855, -10.7009, 8.1162, 1.4139, -0.1197, 0.3639, -0.0073, -0.1162, -1.4974, 6.8308, 1.9902, -0.0464, -0.0317, -0.0122] camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.525,"left_y":-0.07,"left_z":0.025,"left_gripper":0.48},"note":"The cap is now beside the left fingertip rather than between the jaws. I’m centering on the narrow neck and lowering gently for the grasp."})
tool
executing move_to over 3 steps (0.3s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteThe arm did not track the last low, extended target, so I’m backing off slightly to a more reachable neck position. The idle arm is also returning to its parked height.
move_to
left_x0.4900left_y-0.0650left_z0.0450right_x0.2900right_y0.0050right_z0.1900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3801, 2.1208, 1.3102, 0.07, -0.6579, -0.5236, 0.481, -0.0132, 0.7181, 0.4953, -0.3847, -0.0292, -0.0357, 0.9998] state[eef_state]: left_x=0.5292 left_y=-0.0913 left_z=0.0594 left_yaw=0.4216 left_pitch=-0.0028 left_roll=0.0005 left_gripper=0.481 right_x=0.2761 right_y=0.0051 right_z=0.1495 right_yaw=0.0055 right_pitch=-0.0366 right_roll=0.0012 right_gripper=0.9998 state[joint_eff]: [-0.6632, -11.2205, 8.4718, 1.4432, -0.1538, 0.1294, 0.0317, -0.3214, -1.5385, 7.0632, 2.0049, -0.0366, -0.0464, -0.0122] camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_y":-0.065,"left_z":0.045,"right_x":0.29,"right_y":0.005,"right_z":0.19},"note":"The arm did not track the last low, extended target, so I’m backing off slightly to a more reachable neck position. The idle arm is also returning to its parked height."})
tool
executing move_to over 4 steps (0.4s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteThe low pose is still not tracking, so I’m raising and retracting to release the reach constraint before trying a closer grasp.
move_to
left_x0.4600left_y-0.0900left_z0.1500left_yaw0.2500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3801, 2.1208, 1.3102, 0.0696, -0.6579, -0.5236, 0.4809, -0.0132, 0.77, 0.585, -0.4427, -0.0292, -0.0391, 0.9998] state[eef_state]: left_x=0.5291 left_y=-0.0913 left_z=0.0593 left_yaw=0.4216 left_pitch=-0.0031 left_roll=0.0007 left_gripper=0.4809 right_x=0.2822 right_y=0.005 right_z=0.165 right_yaw=0.0074 right_pitch=-0.0567 right_roll=-0.0012 right_gripper=0.9998 state[joint_eff]: [-0.6496, -10.8513, 8.2803, 1.3553, -0.105, 0.1538, -0.0171, -0.1162, -0.9368, 9.9897, 1.8291, -0.0317, -0.0171, -0.0122] camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.46,"left_y":-0.09,"left_z":0.15,"left_yaw":0.25},"note":"The low pose is still not tracking, so I’m raising and retracting to release the reach constraint before trying a closer grasp."})
tool
executing move_to over 6 steps (0.6s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteThe bottle is undisturbed, and its cap remains left of the jaw opening. I’m shifting sideways to bring the neck between the fingertips.
move_to
left_x0.4900left_y-0.0400left_z0.0800left_yaw0.2500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3923, 1.8587, 1.0931, -0.0299, -0.5816, -0.4465, 0.4809, -0.0135, 0.7284, 0.5259, -0.4118, -0.0296, -0.0391, 0.9998] state[eef_state]: left_x=0.4687 left_y=-0.0851 left_z=0.0833 left_yaw=0.3134 left_pitch=-0.0809 left_roll=0.0629 left_gripper=0.4809 right_x=0.2768 right_y=0.0051 right_z=0.1552 right_yaw=0.0073 right_pitch=-0.0434 right_roll=-0.0013 right_gripper=0.9998 state[joint_eff]: [-0.1709, -12.4513, 8.4991, 2.2882, -0.3248, 0.2027, -0.0073, -0.294, -0.9231, 7.4462, 2.0244, -0.0317, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_y":-0.04,"left_z":0.08,"left_yaw":0.25},"note":"The bottle is undisturbed, and its cap remains left of the jaw opening. I’m shifting sideways to bring the neck between the fingertips."})
tool
executing move_to over 5 steps (0.5s)
step 44
top_cam
camera top_cam step 44
left_cam
camera left_cam step 44
right_cam
camera right_cam step 44
assistant
agent noteThe left bottle has slid toward the near-left edge instead of staying under the jaws. I’m lifting clear and opening the gripper so I can reassess its new position safely.
move_to
left_x0.3500left_y-0.0900left_z0.2000left_gripper0.8000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2401, 1.8683, 0.9611, 0.1951, -0.4522, -0.3374, 0.4809, -0.0135, 0.7017, 0.485, -0.3874, -0.0296, -0.0387, 0.9998] state[eef_state]: left_x=0.4748 left_y=-0.0331 left_z=0.0589 left_yaw=0.304 left_pitch=-0.0683 left_roll=0.0301 left_gripper=0.4809 right_x=0.2738 right_y=0.0051 right_z=0.1484 right_yaw=0.0071 right_pitch=-0.0331 right_roll=-0.0012 right_gripper=0.9998 state[joint_eff]: [0.1026, -10.1128, 7.241, 1.5751, -0.0513, 0.3394, -0.0073, -0.253, -1.3333, 6.9128, 1.9316, -0.0757, -0.0415, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.09,"left_z":0.20,"left_gripper":0.8,"left_yaw":0},"note":"The left bottle has slid toward the near-left edge instead of staying under the jaws. I’m lifting clear and opening the gripper so I can reassess its new position safely."})
tool
executing move_to over 10 steps (1.0s)
step 54
top_cam
camera top_cam step 54
left_cam
camera left_cam step 54
right_cam
camera right_cam step 54
assistant
agent noteThe left arm has not followed the larger retreat command. I’m trying a smaller upward-and-back move while keeping its current tool angle to recover a freely moving pose.
move_to
left_x0.4500left_y-0.0400left_z0.1300left_yaw0.2800right_x0.2900right_y0.0050right_z0.1900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2302, 1.8683, 0.9611, 0.2398, -0.4252, -0.3134, 0.7977, -0.0135, 0.6842, 0.4557, -0.3763, -0.0296, -0.0387, 0.9998] state[eef_state]: left_x=0.482 left_y=-0.0344 left_z=0.0655 left_yaw=0.2782 left_pitch=-0.0387 left_roll=0.0124 left_gripper=0.7977 right_x=0.2708 right_y=0.0051 right_z=0.1417 right_yaw=0.0071 right_pitch=-0.0339 right_roll=-0.0012 right_gripper=0.9998 state[joint_eff]: [-0.3897, -10.1949, 6.9949, 1.8632, -0.0415, 0.2271, -0.1148, -0.2393, -1.3197, 7.0085, 1.9414, -0.0659, -0.0024, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.45,"left_y":-0.04,"left_z":0.13,"left_yaw":0.28,"right_x":0.29,"right_y":0.005,"right_z":0.19},"note":"The left arm has not followed the larger retreat command. I’m trying a smaller upward-and-back move while keeping its current tool angle to recover a freely moving pose."})
tool
executing move_to over 5 steps (0.5s)
step 59
top_cam
camera top_cam step 59
left_cam
camera left_cam step 59
right_cam
camera right_cam step 59
assistant
agent noteThe left arm is moving normally again, but that bottle is now near the edge. I’ll park the left arm and approach the rightmost bottle from a closer, less extended position.
move_to
left_x0.3200left_y0.0000left_z0.2000left_yaw0.0000right_x0.4300right_y0.2200right_z0.1200right_gripper0.8000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2623, 1.6424, 0.9077, 0.0994, -0.4648, -0.3435, 0.7991, -0.0132, 0.7692, 0.59, -0.437, -0.0296, -0.0425, 0.9998] state[eef_state]: left_x=0.4508 left_y=-0.0353 left_z=0.1205 left_yaw=0.2939 left_pitch=0.0013 left_roll=-0.0084 left_gripper=0.7991 right_x=0.2836 right_y=0.0051 right_z=0.1686 right_yaw=0.0096 right_pitch=-0.0453 right_roll=-0.0041 right_gripper=0.9998 state[joint_eff]: [-1.0051, -8.5402, 7.3641, 1.3993, -0.1441, 0.0464, 0.1245, -0.3761, -1.2239, 9.5795, 1.7118, -0.0708, 0.0171, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":0,"left_z":0.2,"left_yaw":0,"right_x":0.43,"right_y":0.22,"right_z":0.12,"right_gripper":0.8},"note":"The left arm is moving normally again, but that bottle is now near the edge. I’ll park the left arm and approach the rightmost bottle from a closer, less extended position."})
tool
executing move_to over 18 steps (1.8s)
step 77
top_cam
camera top_cam step 77
left_cam
camera left_cam step 77
right_cam
camera right_cam step 77
assistant
agent noteThe rightmost bottle’s body is just right of the jaw centerline. I’ll center and lower around its body so I can first bring it into easier reach.
move_to
right_x0.4300right_y0.1900right_z0.0250right_gripper0.7500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0376, 0.9482, 0.6994, -0.3183, -0.0761, -0.0734, 0.7993, 0.6403, 1.7481, 1.0218, -0.0051, 0.4755, 0.3161, 0.8013] state[eef_state]: left_x=0.3265 left_y=0.0048 left_z=0.1922 left_yaw=0.0519 left_pitch=-0.0048 left_roll=-0.009 left_gripper=0.7993 right_x=0.414 right_y=0.2121 right_z=0.1024 right_yaw=0.0498 right_pitch=-0.0652 right_roll=-0.0464 right_gripper=0.8013 state[joint_eff]: [0.6769, -3.3983, 8.3897, 1.9902, 0.0366, 0.2125, 0.0073, 0.0615, -8.212, 8.8274, 1.8437, 0.4029, 0.2759, 0.0611] camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.19,"right_z":0.025,"right_gripper":0.75},"note":"The rightmost bottle’s body is just right of the jaw centerline. I’ll center and lower around its body so I can first bring it into easier reach."})
tool
executing move_to over 5 steps (0.5s)
step 82
top_cam
camera top_cam step 82
left_cam
camera left_cam step 82
right_cam
camera right_cam step 82
assistant
agent noteThe bottle is still slightly right of center, with its lower body closest to the fingertips. I’m making one small alignment correction before closing.
move_to
right_x0.4550right_y0.1600right_z0.0300right_gripper0.7500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0395, 0.9497, 0.6991, -0.3397, -0.0799, -0.0677, 0.7993, 0.5735, 1.8961, 0.8486, 0.4335, 0.4572, 0.2546, 0.7518] state[eef_state]: left_x=0.3237 left_y=0.0049 left_z=0.1872 left_yaw=0.0502 left_pitch=-0.0278 left_roll=-0.0001 left_gripper=0.7993 right_x=0.4316 right_y=0.1902 right_z=0.0484 right_yaw=0.032 right_pitch=0.0276 right_roll=-0.0248 right_gripper=0.7518 state[joint_eff]: [-0.4581, -2.6598, 6.8718, 1.9463, -0.1245, 0.0855, -0.0122, -1.347, -6.0376, 3.6718, 0.8571, -0.3687, 0.3541, 0.1538] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.455,"right_y":0.16,"right_z":0.03,"right_gripper":0.75},"note":"The bottle is still slightly right of center, with its lower body closest to the fingertips. I’m making one small alignment correction before closing."})
tool
executing move_to over 3 steps (0.3s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteThe low sideways move did not track fully. I’ll raise the jaws before shifting, rather than force them along the table or against the bottle.
move_to
right_x0.4500right_y0.1550right_z0.1100
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0395, 0.944, 0.675, -0.3187, -0.0864, -0.078, 0.7993, 0.5652, 1.9125, 0.8387, 0.522, 0.4335, 0.2455, 0.7518] state[eef_state]: left_x=0.3227 left_y=0.0061 left_z=0.1823 left_yaw=0.0612 left_pitch=-0.0247 left_roll=-0.0053 left_gripper=0.7993 right_x=0.4384 right_y=0.1944 right_z=0.0534 right_yaw=0.0461 right_pitch=0.0747 right_roll=0.0099 right_gripper=0.7518 state[joint_eff]: [-0.253, -3.0427, 6.8855, 1.9512, -0.0464, 0.0562, -0.0122, -0.7863, -5.9556, 4.3692, 1.4432, -0.1441, 0.1197, 0.1783] camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.45,"right_y":0.155,"right_z":0.11},"note":"The low sideways move did not track fully. I’ll raise the jaws before shifting, rather than force them along the table or against the bottle."})
tool
executing move_to over 4 steps (0.4s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteThe right arm is also holding its low pose rather than tracking the requested lift. I’m retracting while raising, using a smaller change in tool angle to recover clearance.
move_to
right_x0.4000right_y0.1900right_z0.1300right_yaw0.0500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0399, 0.9405, 0.651, -0.3027, -0.0906, -0.0784, 0.7993, 0.5652, 1.9125, 0.8387, 0.522, 0.4335, 0.2455, 0.752] state[eef_state]: left_x=0.3211 left_y=0.0068 left_z=0.1757 left_yaw=0.0646 left_pitch=-0.029 left_roll=-0.0028 left_gripper=0.7993 right_x=0.4384 right_y=0.1944 right_z=0.0534 right_yaw=0.0461 right_pitch=0.0747 right_roll=0.0099 right_gripper=0.752 state[joint_eff]: [-0.4171, -3.2068, 6.8581, 1.9463, -0.105, -0.0171, -0.0122, -0.8957, -5.9692, 4.2325, 1.4579, -0.1245, 0.1734, 0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.19,"right_z":0.13,"right_yaw":0.05},"note":"The right arm is also holding its low pose rather than tracking the requested lift. I’m retracting while raising, using a smaller change in tool angle to recover clearance."})
tool
executing move_to over 5 steps (0.5s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteNeither approach has produced a secure grasp, and the low poses are tracking poorly. I’m withdrawing the arms rather than risk pushing another bottle toward the edge.
move_to
right_x0.3900right_y0.1900right_z0.1500right_yaw0.0500left_x0.3000left_y0.0000left_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0395, 0.9352, 0.627, -0.279, -0.091, -0.0784, 0.7993, 0.5835, 1.8507, 0.8551, 0.4065, 0.4419, 0.2604, 0.7521] state[eef_state]: left_x=0.3204 left_y=0.007 left_z=0.1711 left_yaw=0.0653 left_pitch=-0.0241 left_roll=-0.0031 left_gripper=0.7993 right_x=0.43 right_y=0.1976 right_z=0.0653 right_yaw=0.0507 right_pitch=0.0444 right_roll=0.0002 right_gripper=0.7521 state[joint_eff]: [-0.3214, -2.6735, 6.5573, 1.9414, -0.1441, -0.0269, -0.0122, 1.1966, -12.6154, 9.3333, 2.2051, 0.2759, 0.2466, 0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.19,"right_z":0.15,"right_yaw":0.05,"left_x":0.3,"left_y":0,"left_z":0.2},"note":"Neither approach has produced a secure grasp, and the low poses are tracking poorly. I’m withdrawing the arms rather than risk pushing another bottle toward the edge."})
tool
executing move_to over 6 steps (0.6s)
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 noteBoth arms are clear enough to retreat. I’m parking the right arm away from the bottles; the left bottle will need repositioning before another safe attempt.
move_to
right_x0.2900right_y0.0050right_z0.2000right_yaw0.0000right_gripper0.9000left_x0.3000left_y0.0000left_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0883, 0.8421, 0.6418, -0.3988, -0.1265, -0.0914, 0.7993, 0.6231, 1.5639, 0.8982, 0.0116, 0.4458, 0.2878, 0.7525] state[eef_state]: left_x=0.3001 left_y=-0.0006 left_z=0.1808 left_yaw=0.0534 left_pitch=-0.0333 left_roll=0.0072 left_gripper=0.7993 right_x=0.3917 right_y=0.1921 right_z=0.1324 right_yaw=0.073 right_pitch=-0.0103 right_roll=-0.0118 right_gripper=0.7525 state[joint_eff]: [-0.5402, -2.3453, 10.5231, 1.7753, -0.2369, -0.1392, -0.0073, 0.5949, -7.9795, 9.5795, 1.6484, 0.315, 0.188, 0.0366] approver: 1 step(s) modified (delta_clamped). 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":{"right_x":0.29,"right_y":0.005,"right_z":0.2,"right_yaw":0,"right_gripper":0.9,"left_x":0.3,"left_y":0,"left_z":0.2},"note":"Both arms are clear enough to retreat. I’m parking the right arm away from the bottles; the left bottle will need repositioning before another safe attempt."})
tool
executing move_to over 16 steps (1.6s)
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 noteI could not obtain a secure grasp to stand the bottles upright. The left bottle slid toward the near-left edge during alignment, and both arms repeatedly failed to track low approach targets. I stopped to avoid displacing more bottles and parked both arms clear. All three bottles remain lying down.
give_up
hindsightIn this attempt, low targets around x=0.44–0.53 m frequently stalled, including attempted lateral corrections and lifts. Small upward-and-back recovery moves tracked better than large retreats. A bottle visible ahead in the wrist camera may be a neighboring bottle while the intended bottle is hidden beneath the gripper; verify identity in the overhead view before correcting alignment.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0902, 0.8299, 0.6441, -0.4271, -0.1356, -0.1047, 0.7993, 0.0204, 0.7769, 0.6651, -0.4179, 0.0597, 0.0093, 0.8989] state[eef_state]: left_x=0.2956 left_y=0.0008 left_z=0.1797 left_yaw=0.0664 left_pitch=-0.046 left_roll=0.0034 left_gripper=0.7993 right_x=0.2948 right_y=-0.0009 right_z=0.205 right_yaw=-0.0601 right_pitch=0.0421 right_roll=-0.0063 right_gripper=0.8989 state[joint_eff]: [0.5128, -1.5521, 10.5368, 1.7607, 0.0366, 0.1001, -0.0073, -0.0068, 0.4855, 8.6359, 1.6288, -0.2125, 0.022, -0.0806] 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
give_up({"reason":"I could not obtain a secure grasp to stand the bottles upright. The left bottle slid toward the near-left edge during alignment, and both arms repeatedly failed to track low approach targets. I stopped to avoid displacing more bottles and parked both arms clear. All three bottles remain lying down.","hindsight":"In this attempt, low targets around x=0.44–0.53 m frequently stalled, including attempted lateral corrections and lifts. Small upward-and-back recovery moves tracked better than large retreats. A bottle visible ahead in the wrist camera may be a neighboring bottle while the intended bottle is hidden beneath the gripper; verify identity in the overhead view before correcting alignment."})
tool
give_up: I could not obtain a secure grasp to stand the bottles upright. The left bottle slid toward the near-left edge during alignment, and both arms repeatedly failed to track low approach targets. I stopped to avoid displacing more bottles and parked both arms clear. All three bottles remain lying down.
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 · 20.39 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
  "role": "system"
}
{
  "content": "Goal: Stand all three bottles upright.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.609, -0.3763, -0.0223, -0.0284, 0.9986, -0.0158, 0.7887, 0.6037, -0.3859, -0.0265, -0.0341, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0016 left_z=0.1833 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2936 right_y=0.0036 right_z=0.1801 right_yaw=-0.0002 right_pitch=-0.0 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -1.5248, 9.6615, 1.7509, -0.0073, 0.1636, -0.1538, -0.9915, -1.0188, 10.2496, 1.8828, -0.0024, 0.2173, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3bef430edb43a3d7c4fbe4dde3ca4c1428f9ac71eed6d98200c3c78bb9109d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a901217dac790863555553e050af11e1a4eb82aa6d5e4f6b140e4d2f6ab6eae1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4fe8d39f61fe98a56f029bdcd7307c8e55f87d9c25dc49be9dc19f863c54118",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob e3bef430edb4
wire blob a901217dac79
wire blob f4fe8d39f61f
call 1 attempt 0 · /responses · status 200 · 9.467 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqsrnMv7E-6Ff4Z_5YjBz4AplMIFaQrZ4oBaEi0X-hdGx0W4aOrkLQwEfLOgMuiUi6Z7unyJJHZocpXIMUqdAsoAIcAmR6vCCqgaReqUe3oQBaIKW2PzUjh1pm5RYLkMSg5wWNUHOdptTy8rhImDWP9nU6PF0V0OARZ3-if3BBHEsc_Mbcvj1Hh67r7GJSeP97uh7uHkjbdDQU6zCAnl7zHRyefr5-375jDwWvYfNRyxMiElN49edtX9pxd8qZ6o63YUaoGrrSyIeKSQ8SlYM1nTO_tG30qM9KkIo7kNQbyVyFfR_U-d9NW8uvMxmClgMiUorME6FRx1yDL18dePmeLN7gK4SG8qR7gEjcbQVWBKM_VE00a7TbxOWHbjR8LLHrHePtZl1ivkDqH4Ebn_yxneKJ-jbvCGIU9GLX3k_u3G3dmvQ4pb7ai4wDbeLIno3HbSVr-CIOAwbmGj0Q7MZ1jt6d8rE-lklbiRBK53nQXLKiTAyjdISzio19Hv4KX3St05aP3XNzXE6k0EUy6g_3JcqxxZLIQ5tgKKCvc1cJS0aEdp0xXOQni6T773omC_TsrfTpbSKPIwufRhgHZst7DsmwYE20MfHjqg_Yv_rbnedtga7z-XJTHXq9upaX-RDuiIEB3SWJtUxPhgJLKi07VZqK1hZzGOxDIV4Nlvh5EzSRuN7Jhzy_TLUT6jX40IDHjGZbkife6E0hEfx2ZE8PM0StbqgeFH2a_d-0QeFwxAsU6VB8VAfU4_Gxbu1Mfj_eG5hZIBvlst6WSSwO07MSCIL8H9o-bDpXRKA1YygtGuehHN_8IDGgfJBOMpjmsHBz6e1XPZDf8BuR1cLepW1ItILcVyhN2H7Kz3SOI4IuHA5aJsd0J-TAqJTaPaXimm_Cyk1e7JFe85bkdNuizmw9L5roSKc6-NwHfU_bjUnQNCEqeqUhct402eAPm9swyjunUR_10dQzR2EgX2Ba82kWkyC8epCVo0EAIFButvFSDNN0Tz_T_pRkpls_R54COQ1uNuLWJXtziPtHo1okuQkiL4f37vP1aBcXGTmSL9XLav_ZsjB5rAY6e5sJGVi5vLMDaqOCExhQjhA_m6aO6EQaiw-U7ZstsdqjhsGC28kRkzbOJ9rZ_5uYxcudTzOLvVNMe1Gcfecr1Nr_OMX_a5g7Yjkbvj4UH3DXnl7_5Wr0Teio8tItd1VyZ5Q9J4urlZzbLpuDRv28zOzfzhjeUhFclRsW4HWqpezyDECWRP42SqQWC8sUdUZOr7yHDhiU1MXml8j1UmA2lo9MOVrZkRYZ0yGgdt_4D61P2tXau_Xo87aVLm3BnkqDgFghGhOMZKAPk7-zVx2DYRNj5mfmFurLx0vgDdmIQOTEljpdpqgC4BOcQ20TuNpSd_ZJ6XoBiVzmJHksdvicj1uCy-l8ICc2VnF2BSIAar0BryKkOSj2evzuSz3JqWroOU2orku1TAh27TbFHJF68eDEYCT6ZC1WSHXnx9egxd368fH3mD_luw-Ju_sEtxpzQaZvI9eYLZc9RbnXoxEkm9o1rd6g92R2jLxQ9rBcqYEAiimHhcVVD7xoCGO7IGdqVfSXc2mHBWm7s14DXPb_kjDDCSDF5JUHMnGBYC5lKbPW-vFnEMEN477SnFlyLkpW3dH0uhZDqgIZ2T8Uits0ddXKLGLHtgQs5bF97iwu5XuaLMJH8D8qxvBn8V18zeQsNFwFs0NlI5xgFAQhb0S9vzHRRbOweSXm7sISH09wFCj9MGLZMSViMgV3Q4ulMF8RM6kNLtoXSLwBRGR6eWNTd7H9PZU3IKHvk9c6xQH_ljCb4VeQUtR0ga0gUagg7pOYvBd8w1IMM9MKD5RGnDWYo2FAney3D-jQ9rH70qaIyUAIDfrI8z67DEHRmMdPPuZyJbN1B1jJpMYedpNGvK3vaKgd_hUioOwBo3BipK1iWRPxXClCGBBcIFozkuEUfWxeM0Z95isZSuW4QHWpoH455jMqECT6dxiXpSnRBiqa59n9hTYKPLwd6rnHfNF2crqWP4tQDDDyYBbBQVtrCA-4do256giP233areuKY6hpG8aBYaM7n5IiH1nJSdPv4DVY4p3eRKE5Fyx7mcLOl6qELj919bxLU5n7y-mAIxVpvhd_RAAO6jDNE9V36_0UKmJdi1SlRaLQvGRhLfgXmFObbfFyEpUojxMMNGf1hVkWjxseLavvfL1B8JiLc4M-v-r9wc-nZaEMEAUJZUJHHZHN6h1Le9QOWSePDRWJZfWlF_OrVQ_taaOHuyd6uUIm9yve8o-VgGiQgULe5-R4X2hA6yKgKoseLWnNsJ3xY68FTLlqbLQsU8Xi4ZZlsAl4_nrao5wgj21kd1fV5TtKyRPmKA4KMy9EXtYEImE56mcUTCtoDbkuqukmS9u69g8ij8Yls_H4HuixbJ7QUMUicDEzsmO0yEwkfUttG1R8koGA7vuof5wStBqQmHqjNLUCKRaORY22XAynFUIDAv50uPMcKKcE9OHsE9WPmIOOW8V4yDaV_T_GEDrZTse1Uq-uz87u6piN-lhPCY2xDQBfoaCJ8pQPL-X3oNKmRAMKiJEVKU19ejULoHRAm34sky3KSfoe8xqS3QGIlWY8Rvy093-cOHqbsE7ZZd-oxHuMBoZvVrlFJ8LohJUdVUuXV31MHuk73Fr2hOXscKqyUQtR",
  "id": "rs_039096c6094dddc1016ab2b9bdb6c887d083faa58c98024d81",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_y\":-0.165,\"left_z\":0.14,\"left_yaw\":0.4,\"left_gripper\":0.65,\"right_x\":0.29,\"right_y\":0.005,\"right_z\":0.19},\"note\":\"All three bottles are lying down with their caps toward the far side. I’ll approach the left bottle’s neck so I can lift its capped end and let the base swing downward.\"}",
  "call_id": "call_tumqpdQyIOSQQvCn330hzNYm",
  "id": "fc_039096c6094dddc1016ab2b9ca73e087d09d116822546eba44",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tumqpdQyIOSQQvCn330hzNYm",
  "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]: [-0.6472, 1.8107, 1.2312, -0.3153, -0.7841, -0.7322, 0.6521, -0.0124, 0.7841, 0.6071, -0.4343, -0.0261, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.4306 left_y=-0.1645 left_z=0.1324 left_yaw=0.3549 left_pitch=-0.0247 left_roll=0.0032 left_gripper=0.6521 right_x=0.287 right_y=0.0046 right_z=0.1729 right_yaw=0.0033 right_pitch=-0.0404 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -9.5658, 7.8154, 1.0183, -0.5495, 0.1197, 0.105, 0.3214, -1.6889, 9.6342, 1.6679, 0.0073, 0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2be3af2f2b08fb859cf036fd613030e2e9ee36ce4d65f27b98873db18b21d231",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65d92cedab3925759531319f302c070fb79b9e4ea4e5013a5678ee3c9f33ac87",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d6846e8e9118459e2aa4b199888a84a8a6227e583470113d85101258c98cb33",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 2be3af2f2b08
wire blob 65d92cedab39
wire blob 6d6846e8e911
call 2 attempt 0 · /responses · status 200 · 5.821 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 2 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.609, -0.3763, -0.0223, -0.0284, 0.9986, -0.0158, 0.7887, 0.6037, -0.3859, -0.0265, -0.0341, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0016 left_z=0.1833 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2936 right_y=0.0036 right_z=0.1801 right_yaw=-0.0002 right_pitch=-0.0 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -1.5248, 9.6615, 1.7509, -0.0073, 0.1636, -0.1538, -0.9915, -1.0188, 10.2496, 1.8828, -0.0024, 0.2173, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrnXAqDffI27q5fxZ9EHSOfqvHkDKejzG57O-dFb0gh10YywfQDHQOxUqaDG1bM0UDp0NXyNwPsQRS-38_73cnNF2N7wV0NScCDCssXr6Cq55PWpdpt9xIVemipv23NeJy9Mx8S8qIHE6y1oDWHrvVTjbTDbFvPONHD-Wn36xBohMTtoEUpuYlGixxxHcnteZl7zCXIGqcyxXg-HBQqrZX2RrY8rAjLttBDKarFtSny9IheVLAvG0hr9lw5RQ-rfZ7pGZwnRxlsiSnoX7kK5nmCZEvWFLjUjtpt1QSRxUZj9STPISrTTpAIVpn5B1AdxbnK0TwBqWZ2XF7Hk6BKCCG671MWC4wgiR6ydc9tlRL5IJx08pLEMKgmDaRBHvk2q6ndquVLfISdX7SF0dCOsMn4EMfa8LTAhpvOdAGQm6mRyTfkQMjEKVApD6KeU5IyvpLN0ZuK-_EdgdJGr3_IaRjh5rBBE0lbSGrSW1FsgFPe_Q2j2G30epL8Cax1ov5tLv2jvvCOqBjh9hprC1wqT6uTAvyZRVXEd_W820Bxv3meUfvjrevtR4X2_RtcWS5GcIKgVwXzok_1gwCc8zErmYF4dJtuegOlBUKxs4eEjTZnxIPeZwu2zYTnfi-B2pxmc4iuScoJ5VLVqJVKNWA0D5ta3EjMG58jwtNszlTQxzjfg0gtrnjrmfcSPJgquxkQY2u2CHYElozoHVDSDZFHsY6DTsLHorIKNP1SRQ_xZLWTysCa9xobzCcn8lajvJ-wdnGpMxVIosA1troV8MAJrLzPXzdG2ZJ9WZBjdG1mxQo0CCO3-_etc8_BfXWCNWw5OAxxYZZ2tHqFwdFsvq2u9M2DHCqPCdk7WuYIv0Lp8v8RKpJWVDNI8Haap6uk2RH4GrLnTARjeTUwq2zqdC5urDIRuIcYaRwIuuHFhYx7mJr1G9A6q-YZK1GiBf8LKAUAYqkxzLKYQJdV3RcLU7DcC8pKraRd8bQYCrQ36oC8JRu3U1hryEX_LoRuWcc-UWZLoLpO8w1m3OSMCr5Wr6ij6hACsriKGDKKHTsJdWmuaxSQBlk_7j3p_fFmINJNYfWjSKDV4IIkhIDTCxsju0kMzp3g9-CXf-Kuxv8WwTQyN92dzu7xk0dM10-K59CIH6a0KGvHDA6wRaHRh-QHuMHNtJm91p6NjYhJsOUQVGwk5W0wCk4MxH7cpwBEclWd12l_fkr0TTu6rVAp_ABUYCfJykM6zkFxi2MvDZ8pSe7kGyhdXX4SH9nFcjtCdAfCDZ3kJUuXgQZOACpV_8mGcz_6elICcGNvNifuN3ZIkNSLiuakWfjq8KOKSj6qA4ibYe1CapnggiQtwTdlKz77UMchtJNX2B1gvQ4jpCXyPayA7zBVe8MHl9tcUcqq_rW3cxOkCiRYpX4Sr3vbqHxMQhtPq7LHIKCSSWH3wP-j8jTjIboxbxgoR5zaxtXUCFBUDc1Hn9kt9kQO_OCshqDr0-WUN70yhajj8NjJZOEJWx9nyjZ5d-Mix5FALr6rVqkLtxTv9y86GyCp9gUgCHr9iEBGb89KQl7EbCzzlmFZID4DcCfTUHX-ikZeiveiqirD40c-vB2CTVsyWnrjOgsBf1r6NPHraZ8TzIC8gYBiTN6TXjApCZV7cBYcYdCC93rPC-PESwvu1pf09g7lVkcJSp1YDC_wkepyUTJ1AzgKLg73XsWcEZHjBVr55kHTVf_iI29dYj82CyTKRXK7a5bwnM9ZBhA2n27M2Mb9Q-syYyOKm2EvnRFEVYWDk9eNqnSFiPfSkSCpP7Z8NFzodn3hMG3FbHw3odFZHyyNQJEQ_x30P9tm3qpLKDglTvSHSofKDJIOocZEXkBtc3PrOQgZkAjWaXgB1qeiJZrO9pywAm1OasTDqcKM=",
  "id": "rs_039096c6094dddc1016ab2b9d0240887d0b8d672156a1d2fc7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.485,\"left_y\":-0.13,\"left_z\":0.045,\"left_gripper\":0.55},\"note\":\"The left bottle’s neck is left of the jaw centerline, and the jaws are currently over its body. I’m moving toward the cap and lowering to neck height before gripping.\"}",
  "call_id": "call_5VLsnskH1uJk0JJHPC5f4Lxr",
  "id": "fc_039096c6094dddc1016ab2b9d54eec87d0a263ed8e4445a8d2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5VLsnskH1uJk0JJHPC5f4Lxr",
  "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]: [-0.511, 2.0117, 1.1416, 0.0841, -0.7437, -0.6041, 0.5513, -0.0128, 0.7628, 0.5694, -0.4194, -0.0269, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4771 left_y=-0.1263 left_z=0.0607 left_yaw=0.3952 left_pitch=0.0127 left_roll=0.0053 left_gripper=0.5513 right_x=0.2831 right_y=0.0047 right_z=0.1645 right_yaw=0.004 right_pitch=-0.0419 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.7863, -7.1726, 6.0239, 0.9841, 0.1148, 0.0269, 0.0269, -0.3487, -1.7846, 6.9812, 2.0635, -0.0513, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d62540d485822565ac2b16e0be3259f1a1318f17d2c572fd77ce130e540fea6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28ff9e55e76c838afdd8fb9f9c46e5a8edb65d4194c911f31364bc48c9822713",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9c1bf4d2cd1d007edceea4373df2f70cabc943741224fed633575eebbf8168d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 2d62540d4858
wire blob 28ff9e55e76c
wire blob e9c1bf4d2cd1
call 3 attempt 0 · /responses · status 200 · 7.809 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]: [-0.6472, 1.8107, 1.2312, -0.3153, -0.7841, -0.7322, 0.6521, -0.0124, 0.7841, 0.6071, -0.4343, -0.0261, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.4306 left_y=-0.1645 left_z=0.1324 left_yaw=0.3549 left_pitch=-0.0247 left_roll=0.0032 left_gripper=0.6521 right_x=0.287 right_y=0.0046 right_z=0.1729 right_yaw=0.0033 right_pitch=-0.0404 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -9.5658, 7.8154, 1.0183, -0.5495, 0.1197, 0.105, 0.3214, -1.6889, 9.6342, 1.6679, 0.0073, 0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrnedwJUoqXGI0ji1AS4UgLnDwZbV9Tnr33zmAwp2wgIhobCLFaUoj7bL7tlgcBhmNKvC0DD1OxHQA_wuBll_kEX8GgpaOGS-cMUrSX94MBpt4gTdSyoG5_wc5m9GtfgHUGQbHGq6T7nLOp7QFNnPSJgYnoVImAnNPngnQVyBu4ZQNkgPGn52eSjNcRB6qbW5EBhx_jw-mAlyE8xhepFpXki_CnqF_edD6gku3-D3ze5OmiCxdty1s6xHWhI0bw2RqToGYjp8DdDQEMDRdI6xS3eZHnD5OyD6Ka6con-CsmKg2zvwu523oDcZ3yRyfLRupEC8OfjirNz4ni9gHQlnW-TdBq4AgWmO5BKKXIurFIxJEzW0cZlMisWvJY1_Q_t8SG1yc3Qw9hzMXchY_e2FUjZladyr9Grp9vMzhg9P6FtKJdOk6NgFf3QhD3O96q0_wg-9l4jC4dP0-R-mS6wk9YY0YIUiQAsPLbkGoNsKyTdnvcWKH5F2bX25xH4Yb0vPzEJcuSVwABA5UAu_KnQbBWKzAC6EhVijNpUseQVznjGZ02NDjqHABglC7XaQFRmj74UPEh0xslSMt8SExn9f8JDbnSy1hOdrLYaXDIoyrZlLoYkI3chwNfnP4_UzhmYq6E8NmI5tcQxB0L_qXfQVQ0kw1NrzWuWmq1FkXI0uNkDXh7GozxWVyq1ybxZFvOMAJnGtKNo13IxF_JL-74ns0LNoSFW2zIKo_ICtZM5_x6dA3hdG-hsZveS-LoyiNR8h4gTZ49KN2VDJ1uKDncQ0i92m6q2EY0HnXVNA0BIhuNglr65iBPkfR03aCKSTnN2Msww5MX38j_B7WgghPeF6AqiNZQpZ7TVhNk_26Puih3jyCcKHZr8H8bD8mh8LaHIuL5pqZd1v7bgBjZeRzFfn3GZ9rwa8c-8aVqNf4N03STmmGceglA44BUgqcYxAPoqjHaLRRsSVMdKX-JMxmhqgNu2o3YEzo908tXJL5VPoRxxZM9Foda-4GYmG6gAXGHS9oIzSybadm1oMCWoa8qE5e7J-XoBrw94u5mEHlOkgEVWDlCSHR8N6bmsbPShqlqJTjS4U152xzQPF1J6QkGlADLb3DW4nX8RQqvVwSiaSoHNy3PFcN_5s75DpjPu95j6YzqH4omgvbfkXQSZc2SJYIhO4Mz9YmFA9Ne2olgaFg3KWE6HUynp-fGWG0ZUUljTSqgSTK9VRuVx7xtttD1cy2a_1uo0AItJMzbSK3Xx5fkQdq2Xy6FoXuJcyXFFA1hV_mhEqoFoiVbyRieuAUxlIzVLCK_sOFLjjSvywKIdaq5JtLB28VlMRdg1RdQovPeWdQ4gO3DsWe1m-BiBdQpRjSoZX0JcIzb0ZOEkyrRABd2b65LV7haAjTvXF2CXXBWXh2xeSsdpGbul0e--fwfENbl8g5bYpnihYVqyKflzyn-aKyg4yYN4AzVRJqZwAmKmUww1",
  "id": "rs_039096c6094dddc1016ab2b9d9cf4887d0a252bd96eefc59b7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.535,\"left_y\":-0.098,\"left_z\":0.065,\"left_gripper\":0.5},\"note\":\"The neck remains ahead and slightly left of the fingertips. I’ll make a short forward adjustment, keeping the jaws open to avoid pushing the bottle sideways.\"}",
  "call_id": "call_n8pI5p9Vu2tNgcE2PVID3w7v",
  "id": "fc_039096c6094dddc1016ab2b9dc8a8c87d08a9c042b71075b0d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_n8pI5p9Vu2tNgcE2PVID3w7v",
  "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]: [-0.3847, 2.1086, 1.2984, 0.0731, -0.6762, -0.5484, 0.5007, -0.0132, 0.7383, 0.5301, -0.4004, -0.0292, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.5263 left_y=-0.09 left_z=0.063 left_yaw=0.4437 left_pitch=0.0085 left_roll=-0.0146 left_gripper=0.5007 right_x=0.2794 right_y=0.0051 right_z=0.1569 right_yaw=0.0055 right_pitch=-0.0377 right_roll=0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -10.7009, 8.1162, 1.4139, -0.1197, 0.3639, -0.0073, -0.1162, -1.4974, 6.8308, 1.9902, -0.0464, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a0265edf415385d6b30e45611e3af3551036297ec5393668221720df1378437",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c49c53370f5eec298650070a351366ed6239a06a62927fcd42bbaa39c443c9c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54763691128cc2d291a62ff8bdec0f8defe8e169c566b88d731d69edba83c84c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 6a0265edf415
wire blob c49c53370f5e
wire blob 54763691128c
call 4 attempt 0 · /responses · status 200 · 6.567 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]: [-0.511, 2.0117, 1.1416, 0.0841, -0.7437, -0.6041, 0.5513, -0.0128, 0.7628, 0.5694, -0.4194, -0.0269, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.4771 left_y=-0.1263 left_z=0.0607 left_yaw=0.3952 left_pitch=0.0127 left_roll=0.0053 left_gripper=0.5513 right_x=0.2831 right_y=0.0047 right_z=0.1645 right_yaw=0.004 right_pitch=-0.0419 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.7863, -7.1726, 6.0239, 0.9841, 0.1148, 0.0269, 0.0269, -0.3487, -1.7846, 6.9812, 2.0635, -0.0513, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrnmWrvpw0jO_ifDuvrMNMDCVmo1fpS10GqqF9i0CfcxmKfnGgiR1dG5ksSnp0jE9b4-o-HV1ZQWZjD5GQv87aDMftrudV1-Ltdxg16VWYFGxFhrGRuOWnpeBcNrjUJRBXvUpSgBLcYzin-MtcBqRGN9D0aSQlFmPkMpt4MsCiyyqerryFxsYsaRViNq2q_V1vdPgMvw-LtkZPlBW1C7nVcdR5nSOCx41oQCvRQXgyFC2tPM5PBPGc7AXVTwj_9e41vAqmsPYDZ1rFWWVcFx7eOYFB68LjeoPd6CracaIIaLFHk9xG-vBlSUOHqH4_V_R8ncs-xHAVqHG3L-5yCIFjIMHrFxy1rgdOZzbI5RJbJyLV02cKX4qHdR_dDW3yrkETAqp5-dfJSLGacy2fzb1wZ4zH41DMUSkVVySyS1TKqWCQb9tHCTsMrMDQoEyNxry-9XYdZQGqDCNbguUue7XZIlAPGHYF3qq6lQWGm5B0XhAJCFANZcRge86zv2a8Isc3cNrpTxX9ILZubXUV081TWRx6fJT1lBnS9gmUlgBrUqCNVLMGyY7YbuTx81wY9fOo5n_S6NAookzBu5vtxvOk4x1DL61Ti9k_nPngY0xtXRIalmAUXCTuSAHyAGSpLZPM96gtFmgajJOlSdxoW73M9TizhE9314HvoSXgkmLii45872NkSsGZfbPjUTZHFqTZbSlQyx6nOsq40CKctPFxfR5QLDNwJP5CHLwilsTBz-wGb_99L_2uBF0vf899_2IN9EIFwQDz_pvM0vMh0NzcC7n4kosgn8J-8D7Ik4v1XLuWpQsuQ3Waguhsa9TDXkWxnWNYxoMN1gw9SfAFsZoOwSErB8IBWLiFFREKVrBsysrQzHzeVtetV_rH8mUBKdAAqtAD-Hg9WZ0LFkvbSlIKmS79dwk84Tnbwa6q0zbWvKV1K-kJmBvmTA0SOFRrCPvet66f50Eag2Lepywhzm3Gq91-8_LmppcekUUehn8pPRcivKWgBt5TB2xAKguapPvVp6XtnP_Gx4NMmB-PV-HcEK5I-nuZekvU4Jm1S8nuose6NP9YIU2Mqcw63ZVPwFJ-Nhfp2RomI3GQKjA4NZq11jCy2jLvmljA5FEdbSzThtSAbq_EhOKgozN0KtYPKecbT7rtsdtPTOVsWT1DBvFLugX2yNPKFFyiG2klUoroxPr1NxH_TMwcWKL9DLq2j4RjqmQDKgtTew4WOmhNDZSW-ZWvWFb-Us4w1PD66PAToO-NmTNUVLvw-tDlcojC2rwaQzyRs1H2Kurqie25keWbm04-Oy4PXYtShErmZGk1mLSBQZIDQVNa9d9KXZ4n5bOxS49nctGFpoqN-M-0-2fv46RzNEWZeL9oIPRBNbJqMfffXdme1DYYvTm33KtXG1_ETIeIjcpwW0ngoRUGawqP-_kl7fBJwknYF3CWgtsnHCJXmjHzrZ_OlUZvTQZHE0774aMqhdcVklvwF0jPM1c-x0QeO-_TY1plUiGd-2M65cM9vjWnYCcOr0iR6ADfA7VMEdM-F4MfujfCSLpf6EcPAfolvGn96xkBUj2ay9OrOLM6QwUyx3B4ql8txTfzhWLxgcJ5nEivvt7b-n8CMz02bQpSGj9ZMZQxsC7MhMXZsCszs=",
  "id": "rs_039096c6094dddc1016ab2b9e07a5087d09c70187c747fef48",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.525,\"left_y\":-0.07,\"left_z\":0.025,\"left_gripper\":0.48},\"note\":\"The cap is now beside the left fingertip rather than between the jaws. I’m centering on the narrow neck and lowering gently for the grasp.\"}",
  "call_id": "call_FVABF4j0zWktC5juP0VmS0lu",
  "id": "fc_039096c6094dddc1016ab2b9e48d3887d084d568bbed896542",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FVABF4j0zWktC5juP0VmS0lu",
  "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]: [-0.3801, 2.1208, 1.3102, 0.07, -0.6579, -0.5236, 0.481, -0.0132, 0.7181, 0.4953, -0.3847, -0.0292, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.5292 left_y=-0.0913 left_z=0.0594 left_yaw=0.4216 left_pitch=-0.0028 left_roll=0.0005 left_gripper=0.481 right_x=0.2761 right_y=0.0051 right_z=0.1495 right_yaw=0.0055 right_pitch=-0.0366 right_roll=0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.6632, -11.2205, 8.4718, 1.4432, -0.1538, 0.1294, 0.0317, -0.3214, -1.5385, 7.0632, 2.0049, -0.0366, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:107bf3f3d69a1af309e75a05adc33e7966d74142f8865254ea790f9ce0764424",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d15f92296027cbd5e8ddeb446b5166b378a5d72c6caffeb75e493f00c581dfe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b7ca02eb0e8f12a25e0c0a99ddbbef8c76d62c10e60b4624225ce4f56b7042d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 107bf3f3d69a
wire blob 2d15f9229602
wire blob 4b7ca02eb0e8
call 5 attempt 0 · /responses · status 200 · 6.044 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]: [-0.3847, 2.1086, 1.2984, 0.0731, -0.6762, -0.5484, 0.5007, -0.0132, 0.7383, 0.5301, -0.4004, -0.0292, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.5263 left_y=-0.09 left_z=0.063 left_yaw=0.4437 left_pitch=0.0085 left_roll=-0.0146 left_gripper=0.5007 right_x=0.2794 right_y=0.0051 right_z=0.1569 right_yaw=0.0055 right_pitch=-0.0377 right_roll=0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -10.7009, 8.1162, 1.4139, -0.1197, 0.3639, -0.0073, -0.1162, -1.4974, 6.8308, 1.9902, -0.0464, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrntLZz1W-pSGXPf_whDdXLLp9dHSIyJMU8MOXrd1KcwgRLIu-Yc0u_-6HS9uvJDw9lipt-8DemhwcnfpgFRTY-u_44WIGSLBToSv1Tst1R5FUUSK4x8kY5gqTGaNAg-694XwFb3e_noRdLLLb4rSXpD4lR5H0A_Qw3a52Z4FVAWrz_mcNMUgiTq7TpmPkvnf53Vd0GM5bMEHj_D7avNr4Z3rT0t2B5nhr5l-wc2jrbvThWyMRIh2RQdcPAxbNLSfq70kYCC0QSYzjIitg19SBcoITML5SiskRRn-b-3XOTd-ulfbd2Iva6KjDq1a3yROs3pd0QA7NMxePM3h0paBAvXuvE6DsCoKRzlkNAlri4-Sh3dpYmQfrXFvQN0BVWjmYrSgGy-4wS65CRnWUgUBmP6d3eYE6Pmwm04VG9DJstDJaPPT1C_1vkCVehBtw1_hw-UQS3nBhR_ovNL3zlQn2cHWCKcSzWjvRzKIzet6aY059jdsBd_Uo489ljJzMq9lbU2hT9ifIG02RaUE9y3ZkYtwGmWO3LnvEXuqg50cziKZEBAyENrPOxoVYWEghuyD3jEwcAOR7suAPLSNpiVkbz3p7cww8fKRdps4UfyOtipIXbxZZBSG3Of02DMe-HeSDUsWu5PwoBeKRq5Yi3qZvOuwG5iHah3xZvgaZ-dvoIJfsDM7C0POhITfvc7Zi8_dzbJjBW2gRSjFBe82Nle2DBOYzRU5X_XVBmbnJbaTh8yeA766vr891q1VBDxyC8djiGrgSRKexMDXViMCRG0YLVaD_Blsj2m0xDFp6uT0814j7FgDnbvhu6wCHwOcW9Eg2wtOWdcCGVCyMOySWbGEJ_VVBlLjFwAPvyluBFEbQIPEAQEG05-6d6uNoSZOgIMncMjajJ90LSCkAC9Yas-gNYhVv8DZjm8UfaLeUMNnG6kpoWGhWijDN7R-bVW5UGBVILV3TBFdRyGbDIbNCklMG3PaJPzKu-3b88pn38jC2zIjcP07d645wdnS3aKneflIPcTHOnvHJx96rBqZFhfOZZyThDnJWEHD4Mcz4FBjykNkLf_pC2cgGuZaQ076bSlZE8sMrw1fwYf0q2-l_n2olvX0cV5qyQcafvGzcqZjPazqEbbjLrJ2ttygX1pKf8et4UjmdZ0vrwl-Vhlt3BlGNnct9aLnN1B6fPh0-JnSiwWm38-3rHT6t3tJfmqCOwe5qSLnyO_0w-kc_mODudvVQRxZw7GHJmc2WuBet2XeoAuao-OKXDOIQv5At_gQX4LPjkM-sPbQNWiycXwJyto_N3F9EFokALuOGezY5qkc7FFJe3wfOeyd3qg0_f1bjXcmgYX",
  "id": "rs_039096c6094dddc1016ab2b9e8497487d0b55fca85d078b3b6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.065,\"left_z\":0.045,\"right_x\":0.29,\"right_y\":0.005,\"right_z\":0.19},\"note\":\"The arm did not track the last low, extended target, so I’m backing off slightly to a more reachable neck position. The idle arm is also returning to its parked height.\"}",
  "call_id": "call_z2zFv2IBo6OgJeusHN5cWzUk",
  "id": "fc_039096c6094dddc1016ab2b9ea493487d0abda0e65207c3ccf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_z2zFv2IBo6OgJeusHN5cWzUk",
  "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]: [-0.3801, 2.1208, 1.3102, 0.0696, -0.6579, -0.5236, 0.4809, -0.0132, 0.77, 0.585, -0.4427, -0.0292, -0.0391, 0.9998]\nstate[eef_state]: left_x=0.5291 left_y=-0.0913 left_z=0.0593 left_yaw=0.4216 left_pitch=-0.0031 left_roll=0.0007 left_gripper=0.4809 right_x=0.2822 right_y=0.005 right_z=0.165 right_yaw=0.0074 right_pitch=-0.0567 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.6496, -10.8513, 8.2803, 1.3553, -0.105, 0.1538, -0.0171, -0.1162, -0.9368, 9.9897, 1.8291, -0.0317, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a235f9665b0ed41fa9c5c1e6d8678ea7d2ad9e46b7cad16ade948acd779603be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32087b67fa139df9f00cd3897f0d83c9dcea61841633eeced21af185b1f79966",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db74790cbed86e8f9f9fccede87afc281108f3807142d28af0259b45d6149c9f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob a235f9665b0e
wire blob 32087b67fa13
wire blob db74790cbed8
call 6 attempt 0 · /responses · status 200 · 9.62 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]: [-0.3801, 2.1208, 1.3102, 0.07, -0.6579, -0.5236, 0.481, -0.0132, 0.7181, 0.4953, -0.3847, -0.0292, -0.0357, 0.9998]\nstate[eef_state]: left_x=0.5292 left_y=-0.0913 left_z=0.0594 left_yaw=0.4216 left_pitch=-0.0028 left_roll=0.0005 left_gripper=0.481 right_x=0.2761 right_y=0.0051 right_z=0.1495 right_yaw=0.0055 right_pitch=-0.0366 right_roll=0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.6632, -11.2205, 8.4718, 1.4432, -0.1538, 0.1294, 0.0317, -0.3214, -1.5385, 7.0632, 2.0049, -0.0366, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrnzSmhd0lf905UOr7W4UrDkkObNFw8vUUgofn_nK5DTfl53FYffcvE3g3IESewDyCvVmgi6KSTwS0lLPIQdXPT3sbbdNWFaplyRXE8463jKgl6BDXgpQ3LQgBNETuPGciKqN_g0qbVIc9yWXdQw94ymqy5iDzK5yYj-tM3sIYGH0HtF7QuT7kKD6YvBmRQ3eZSGX01v21mkEDQeuu1OreiGlnJOrIC2S04G_jXmRsaKSlKpeEsMHc6tC6NgfNmcvU_52pt1azrBQB5kqwG_4zzYUcZyS3IsOxATEi1KsQBOH_mCjxT2QSozHv9XpZWececpVJdk5MUTCNF1fAXNGDXnZXVr79Ch9vstX8_JdeiWCbrpIVRnFwhjADXBm36BMHjy1rgrhiwrPRpxUCcH5UMdEw3dYa-0U1ojGy9GvLFcMoF28Ke03qnxFPEEvkXIqkOyOjRqo1zUBoFFl-X0dFBdM0qNbODY9BWO2DCab9Qplbe2mJjhxQ5oFr7XLvjzwiHkPiyR6Ln3bqr5q0pk0vuopoTjwHv3dEXOUUU7WkbWMC2GRNCRGjTvqjXs4ToIlymRdDw16LsgmEvCmkBcWxjljxxAL_Cp7TlwC0BW51iMLu6RF1raRoyKxDSa77i_ooKGU66YOVn6GwLW_D7WrTTHO9-c5ejBZf5MelP7qQrqbECUQJTumlUAqucxiO5PHJUsiLkxOfvAQzKrWPpuvVOssGL7pk6Gn5Kr7gefWtc__cQW6sU0WqJdS-wqDDHItxAnY61urF8q6ywmtngmc15t6jwSyAbHrWbZN79dJeCtp5Djl1iS5JUHvesauH1rO093nm41o9LqpX3QsL8Il0xeo6h3hugR-NTqyUtNPeu1PdSfeJ4UmuhdrsjpBog2Iaydh6B7Keu3Vp4FoymB8CA501IAoMG-mNftIEgZgxZqbwfx7YzYmy11R6hI_QCZG38H0avdgEirtJxgVt71_--VdOUJ99ekz9rB50BJpLhh4-y9bqTqhqsVapdcDn0Uap4gCH2bSaYv7TCWPDhHfmp9dMHj9m5t9fBH_0dFGbGjzQBAw0t_aGGrimdvf7ljvobsSFtg9yxElaWH1Qz65kfWWqZ9gbtwQFfXUafCabVXLfCu-DDFBJ3ZdEU7Z5Pzprwiu3rbQwNvSePrVPvPtwroYxKUSOJljQyl8GgeEX6G8zcuymv8HJ7OOkcb8k1yvHqgeeETXMNhweIjCQorq_Dh_SSnxfVB8ycj7Fx3D5lub2XtOc6nWeWF-c0iz8O2fkcl5Sry6T1xOzfgs6nRvSmyvTBi53Fc8u636ME5MFsL0rM=",
  "id": "rs_039096c6094dddc1016ab2b9f0213087d0be8eac92c2c40d9c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.09,\"left_z\":0.15,\"left_yaw\":0.25},\"note\":\"The low pose is still not tracking, so I’m raising and retracting to release the reach constraint before trying a closer grasp.\"}",
  "call_id": "call_1NX1gAAZEqDHJz4HtOk1XvUJ",
  "id": "fc_039096c6094dddc1016ab2b9f178a887d0b545065e25092779",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1NX1gAAZEqDHJz4HtOk1XvUJ",
  "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]: [-0.3923, 1.8587, 1.0931, -0.0299, -0.5816, -0.4465, 0.4809, -0.0135, 0.7284, 0.5259, -0.4118, -0.0296, -0.0391, 0.9998]\nstate[eef_state]: left_x=0.4687 left_y=-0.0851 left_z=0.0833 left_yaw=0.3134 left_pitch=-0.0809 left_roll=0.0629 left_gripper=0.4809 right_x=0.2768 right_y=0.0051 right_z=0.1552 right_yaw=0.0073 right_pitch=-0.0434 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -12.4513, 8.4991, 2.2882, -0.3248, 0.2027, -0.0073, -0.294, -0.9231, 7.4462, 2.0244, -0.0317, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d64e25f4ef343cbe61be961fb0670dfcd37659cca8e8eaa84fa468c35b5954e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d712d37ade7c6be35a259f166720d3739393f25afd262f3a309381155911cea8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00ebfc6f6a8c351a51a71b2bff203990d3e769a24e499077eaec85ffd0002e49",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 3d64e25f4ef3
wire blob d712d37ade7c
wire blob 00ebfc6f6a8c
call 7 attempt 0 · /responses · status 200 · 7.326 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]: [-0.3801, 2.1208, 1.3102, 0.0696, -0.6579, -0.5236, 0.4809, -0.0132, 0.77, 0.585, -0.4427, -0.0292, -0.0391, 0.9998]\nstate[eef_state]: left_x=0.5291 left_y=-0.0913 left_z=0.0593 left_yaw=0.4216 left_pitch=-0.0031 left_roll=0.0007 left_gripper=0.4809 right_x=0.2822 right_y=0.005 right_z=0.165 right_yaw=0.0074 right_pitch=-0.0567 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.6496, -10.8513, 8.2803, 1.3553, -0.105, 0.1538, -0.0171, -0.1162, -0.9368, 9.9897, 1.8291, -0.0317, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrn9HfJRFram0D_uwJ9NOxymyU4NXCInTZeNmXGQPdzGXORtjOf4dj4lTKa7p4BV9f4Shl6vK9H3DPB6S4dSgWX8j85cbHjgX5zHEVhnHBXX3lbhJFBthUnhIIrXw-jvhI2cvWktMqYilNFarbAQpSZbOYrj3ye3Bklc1pgJds_lRVetIY-HbLNxFJe_XQ8zZWQjlmsVnY_Bc4WTHPmhhOKGJVYjJ-yQ3_H3VLoU4svN4uQoXi40liUU5iv-1u6M1jV0bf3SV0NNU8Kf7AW6nM6U9xW2kB1rAhHU8CNI5TCNwQp9y93ZoqvMseMAEjV54Lkhb6ArmFfakpQlpzkVUgn-haVm1DO3i14yfl5A4pMAUx6FzYCKbKFUCeLc4ZwSpU2F8eNGcW8kK_aB14sGAHKK2W1GlDJsIvWmtmA3iGloQuGXYm0W3lk6rUGd6yJXMZxXw1-a5UJxpWJTRVMsPrz_NPwMxMUmufLGIkzjYmnyDhajqZN1CZm30BMUnXEUbKvrG4Ux5VIQp1tUrvVoKG1OQbQ4JBcD-yHL0r9j2dWY6KWOczJxKECj5YPe9ek4zfOt9YrEjpXdAhuGwV0PzWal6J6ZPoQrvMiL3WS0jeS1UM_7GJHDdATsQyCU_nMdxb8SI3M7L9XzqPtyIxE5LRbA1bjzxxCMg_ZCwdjhTPxUYU-XXFSxRmSaMw3W2RO53xRvkSylZToNCnpo8ZKNj3GuZ_J428VsR1alHbtTYeaYbif_AhwW0QzsivfhfjFEYkL8bWIAck__RwtmUj-FtHO87215B1ZXiRqKIcTgnkAp39XkoisG_5CI2oqgEWMu3fV7Zo0kkXQKAqAvvvmYHDRXUYxJ78aUaLzIpDO3w9MUDpVH5VWEc3ljpAwpUP_FimczDgFfR98oMbQvRAPWAs-etfu3qno89iBObnN6sdySxCo8pnSV7P95aOJTL-p22EnYT2ylsncJMWqWQvlvLfNsmH7azQoPxAkazRrYMS5kR-7YF_gKe9g2is4UXKOrFQ-gRVPY1P4jzw6xI_pb3AGh7TsghtxUbEwHpFz54sIoB4cMotsUpYfSE6rocod3Dbz3r0BJqNJIDwNL6zf5fY29SI0vk89BFHl_Gl0C43G8ShRCx2199RnLDnm8JycxIFuPeo_kZ6DCNGIsoqZBSD1w4jCCTKj5d3ONmTUGlE0pyDFIU1uxKbEneS1RU_O0-2NFOoi2jLbYJfUDbZsm_6jCDiN8KFEzsyiIcymd6ItqdFc-hF93EgaBKz8xAwhLdKAAHstv7uzwnOEOX6RItD9Ias7D6IxFORiwy5jSW1s8LL3vr6bDykj3MtNoYQJX_ctA_ikVj7dnwtbdpm3VvlS1cTPHnqd4qseCN_uWgdZ1g5S3MJTuYX5AnsaTX31SiMujXayN13s2mhEzy_H1Z6Q63DvAABeRi0g-AkFUXHnjf7byOzWLn5lMzx_8CG499gB-YBzjlhwzD9UYAey8c8nXOtz0G8A_PD_dYwKtQapnVTcOuxFH2Entq-4qF-BtrDhhjPjW90Z6rCHqfBt7Os0MDTqYVO9w17rbpF19UHygjfGtVRqFIrO5xdOgMGkKt2oi4sLLzRPBC-Sgozsi_xg6IA==",
  "id": "rs_039096c6094dddc1016ab2b9f7926087d09dcedee8e7f0e472",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.04,\"left_z\":0.08,\"left_yaw\":0.25},\"note\":\"The bottle is undisturbed, and its cap remains left of the jaw opening. I’m shifting sideways to bring the neck between the fingertips.\"}",
  "call_id": "call_YscPn03VCOBt0lUjFQJ2IhXg",
  "id": "fc_039096c6094dddc1016ab2b9fb8f9487d0b5b39f6d6284977b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YscPn03VCOBt0lUjFQJ2IhXg",
  "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]: [-0.2401, 1.8683, 0.9611, 0.1951, -0.4522, -0.3374, 0.4809, -0.0135, 0.7017, 0.485, -0.3874, -0.0296, -0.0387, 0.9998]\nstate[eef_state]: left_x=0.4748 left_y=-0.0331 left_z=0.0589 left_yaw=0.304 left_pitch=-0.0683 left_roll=0.0301 left_gripper=0.4809 right_x=0.2738 right_y=0.0051 right_z=0.1484 right_yaw=0.0071 right_pitch=-0.0331 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -10.1128, 7.241, 1.5751, -0.0513, 0.3394, -0.0073, -0.253, -1.3333, 6.9128, 1.9316, -0.0757, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f44e4d1a3c19580000a66fa0486a7146dd17288a987e478bb1784716fe67dd17",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d92863b51f50136bf07b3319a1559fe4cce6dd1c8b50801c0eb2db01834b4cc5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ef414fa1a09e092a44903a07b0b2dc375a74eeda38358bcd5be0ee3e46e4191",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 7.809 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]: [-0.3923, 1.8587, 1.0931, -0.0299, -0.5816, -0.4465, 0.4809, -0.0135, 0.7284, 0.5259, -0.4118, -0.0296, -0.0391, 0.9998]\nstate[eef_state]: left_x=0.4687 left_y=-0.0851 left_z=0.0833 left_yaw=0.3134 left_pitch=-0.0809 left_roll=0.0629 left_gripper=0.4809 right_x=0.2768 right_y=0.0051 right_z=0.1552 right_yaw=0.0073 right_pitch=-0.0434 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -12.4513, 8.4991, 2.2882, -0.3248, 0.2027, -0.0073, -0.294, -0.9231, 7.4462, 2.0244, -0.0317, -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": "gAAAAABqsroFnM58dwDxAjZ4B-wbH4lSnGwUpF4wUyf8QFsQ9TS1RNJmyef3PR6VIyk2E6eF0a_944eY2xaZeDssXTllqiSIxKvSQUteFYoh1xIvqzp98g80ROHUx7buZ_s3TqG0deNBME7cl7crE8ThTf2gr_zjkBWgNEk4HiTb29mOEbLVnfe3UFzF3oExQeJhw2V9if8bfjUjW3iDBmMfm3ok9I8vG9hmOXeKVc_ygTq0e-mRIoh5rz2zv09mGpxw37Tb1n7h4ZhSk8omNhIRPm6-RRLTYZp5TkYUNky1dVvRPKwgBJIWgzyk9mXe4d3oQPpIRTTraFsw3HxnrpR0XWiDqqbWG6IUQ4zgPGXEJtk4wSN3LJawm6hYYrj_OC191C7J2OBkA1YIoca3vlj3rc4BYKjM43kt29hgXhTLrXBDsZ8NCUjOwmWYMv0GlmA7IfeDfbHip8KHECThR_GOgntBVuf-lTH87gGZmbyoIJnan51CHcifAvmMHQRHk827v-kMX7saH6cKAo9tFlH_BOer3pmOM5ivgRb_x0gyS4z_fmc3esjzUD0m21VLFvcNRY3gCYJCtLwJyIeRZnla3k5dBl65YSbF5l7Jk1i-omsAYz7t8CTlThm8sJnBowq8SMTlj7mmsBdclmnJVxNyHwB9vZjkMwflUnKW5EKbs6tK0MXQMkfRlIQiMtbl6G4wXPFMazP-yxJR5SuYwAYse7qySS3tqC5ZfGj80xina8inNCdaerJolyr_ahl-M7pRx3O_KVGyQrinP7RqXY9Q4wDKfYZlYM9RkquNnfBvz7bjtUDGAa6c3USVmjqvhcKZdD3ZF5zO5YtGnBZg2RctVl4_8fCTSmq16zLV1kxdWlHpfosdJw9XWqati22TyP8MuVixZguTr3SSE8T_7i10YxK6PzrOLErgUuV2BCgH-gQs6aOn6bhyd8RkA2a81AeRxW_-gFGUQsgDxNMCN9wGcQj8sg5sNcDjcpYkk4g2LHPrKqtxuPsZiNoCObTXevsaFeboGhOBQ71jkDTzzDhJgR61yRv4L_r-c13HFoWcXAHEPT3nmMRo15rplaLY86AbfK7vr6NvFA9EzC35u9Z42flPbf6049oWzlzzionpwS9zkiwXpscqvQKoi-A4x8D-NuZuxzrVr-_kiBYAMvbiWC8lolqfIzplj392FT1sGsg9UgM85gWZVIUYWupMLbRSC9fiBE6uQD53l4lf09EMedfq5_U84YDaXR1R2NpRIjQFIzeHNqyms6cYKvrbRSQiBHQrrtJbZTkHjSXzgSBxaSP85uergLmf8ueu3yHscsFtB3ScM-rhLO5SGeGIcNkUc2WrqPaDUh-QWqIm4wVU8yJqT0cZFMmTkdBMoR-T_s7kiz5JOFN_YOELaY2Cxpqs_g4uqIEPTZMohr5N7GP4BHtkESE5jR1SNDNaaHAhewzJBsMmeJHfKCcTAPDp5_wtspW34uC7",
  "id": "rs_039096c6094dddc1016ab2ba00e41487d09792314c634bab0e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.09,\"left_z\":0.20,\"left_gripper\":0.8,\"left_yaw\":0},\"note\":\"The left bottle has slid toward the near-left edge instead of staying under the jaws. I’m lifting clear and opening the gripper so I can reassess its new position safely.\"}",
  "call_id": "call_9BoTI1dQfLsxJpsiSsQvgWOs",
  "id": "fc_039096c6094dddc1016ab2ba02bae087d0aa4ffc98777e522d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9BoTI1dQfLsxJpsiSsQvgWOs",
  "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]: [-0.2302, 1.8683, 0.9611, 0.2398, -0.4252, -0.3134, 0.7977, -0.0135, 0.6842, 0.4557, -0.3763, -0.0296, -0.0387, 0.9998]\nstate[eef_state]: left_x=0.482 left_y=-0.0344 left_z=0.0655 left_yaw=0.2782 left_pitch=-0.0387 left_roll=0.0124 left_gripper=0.7977 right_x=0.2708 right_y=0.0051 right_z=0.1417 right_yaw=0.0071 right_pitch=-0.0339 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -10.1949, 6.9949, 1.8632, -0.0415, 0.2271, -0.1148, -0.2393, -1.3197, 7.0085, 1.9414, -0.0659, -0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e889e16b76509ec416fe04f942276db070e725d38815bf674609c6f9d46d4ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ce9ce8fed4236d4b505a20e6ef57e3fba07e7a25ce3207c7daf24d092f190a7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4738a620bdf3dc99027b72fb00a9452655f4dfdd35899f9b63dc8c86201b03b6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 16.9 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]: [-0.2401, 1.8683, 0.9611, 0.1951, -0.4522, -0.3374, 0.4809, -0.0135, 0.7017, 0.485, -0.3874, -0.0296, -0.0387, 0.9998]\nstate[eef_state]: left_x=0.4748 left_y=-0.0331 left_z=0.0589 left_yaw=0.304 left_pitch=-0.0683 left_roll=0.0301 left_gripper=0.4809 right_x=0.2738 right_y=0.0051 right_z=0.1484 right_yaw=0.0071 right_pitch=-0.0331 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -10.1128, 7.241, 1.5751, -0.0513, 0.3394, -0.0073, -0.253, -1.3333, 6.9128, 1.9316, -0.0757, -0.0415, -0.0122]\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": "gAAAAABqsroOWP9fl1TJaDOzKFvezB_66RPQNeidTY2WxQR4OaxwPhmFvn9YZHYF8DvvKbLO06gtbjOgXpcRA67RSWwh3e4JhPYs7KuXrI_4Sm9FDDnRXIciMXATcHfN7UZ4LhGvHYif_4Ih3wwuCV6WKkMKHBgQqhIv0q4WKPsIkgbK2XS6_qUeS4THzaLOxrU8DuTOdzJ8a5RHfTYj4I47KOXa89gFUpXgjPXpAK3SonVT4oS68nAneuXPtaypqIuC8GVx6dxWLQstlswDsgBjhtLuYyQiemcSsCJbtzRRVJworX8iAkJjYbAY0NiRZEktXiVgIh2YC8Ghu9nCTm0dWGXIFjtRizjfACiMU2xt-ptkeFVgi3hJalhXVKtYVPvtyR5fwj0p_xk_cAeyGI_zHHtXTCKrYzAZW-xpp2HqqMS-JW4oyuyXbkBo9Ma2luzR32K181RWdKieMYkn6Sa99HXM9SjAfnzc7_DlzaQi-RUrsPQX0bFuz0Ea2s3ITX6UgVORLvHkRm8sS00S7yrWpbKBrQw-oMcvYQ5xFI1-xQ9ih4w8FMXjM0ezQdFoX5oW2uwUgCW4HzQOxUyLRfzpJ12EQNphJvLxPdcBsjzlG4ob6iobKe5rQNQFH7FN546GF6KgTR1LZA7T33Ojkea5fS7vzAzUpiC7DkQEskcqWE-Qmv9kQjprjE77qGZPH49u6Qfl1NKqfK3CWnYbuZm3YWkJvWybFgGnVhgXbbNuRMsBS2kinkNgW6M-yUMVAaWX9VFWtJwz3pozamCRGge_dfFG1WGiMNf-g9aW5hAYYP_Rzdx4ui4mn-SgqB6zmSn5dAFuBS18eZz6PZKTFPXl8qE945M8OySTS56Tj7d84p_s_6r_xL2ikp4OEtMJpGcnqIZ-EZOMMINotU5AYu0r0q0eePMyNFwdhbo7uPU3muMj0s875COzOr52Z5Gt9zHUEmCR_K-B8tWvGz8C_RMdq6Fk6vzsiGrL1FxzysXKch6SGOpvYM_gwjEqT7F7_hbdIQKRjuKsje-n2fSQ7LlAsUbO0lvGcyidmM0iKjxa6P6M0M-ejHqwnbu0SEsMArT94DQPLq4K0fQm93ryQR-KKoHfzz1bKX0PsRowSZ5oJdH7s_qmwJ0kHLb4fhUrqo5aG2AqgE42sS4-Gr7M8-cqZ32t_2WYV7OCOEHCfrBBqCkUQ8k7ByQRjVKaBEBJfScPlLJLxnqq0THy7LQ-BEZdnunQYJ6fbr9VRHLxNVvTxOVMmvp_cWzdWhs4PpY9C7FxDQ846mhmvZ8mplnpqnYjNBO6BvVfO1XiSDzsv-GnU-ou7-4c7UBnWJwexRrbqCply2F_JFZ3P_3NXmHfMlZ4ToM77SU9P3tykrtdBG9yMGNLPj6q2YPkO1IzhZgxfjR-hDaSXt2E4nt97kOlPjh_CNu778bzNoTYLI3M_-svYOcaYqMGwjxqcgb03uVZeqN4TO85BPjpsDQtgvyL_iKVAOXYKIeQfl0bUFrf5di0_Afq5KagTjZ9O8JdABT-iyeg-Ww6rHJQ5VEsv1hEDqjKR5Oyn3SCccQZE7QO0VXCWPp5XVWOnZRTNijwtwNaKziTxvLAdwFrm9M8IRC8GPGwq8B5ARIYSQzA4PTi8geEL6fk99amqfo6wg-N7vkzwjYK9KDkSH9_ySP4k4-zjKkmvcXyWthM-dLfXiz4Bc1_RILXI-ZiXJ8BD7OGYCzo3LL8UAjQJfwSphqRI4kDutDVWUFKGMGCEA==",
  "id": "rs_039096c6094dddc1016ab2ba08b23087d081febcec43cd7cf4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.04,\"left_z\":0.13,\"left_yaw\":0.28,\"right_x\":0.29,\"right_y\":0.005,\"right_z\":0.19},\"note\":\"The left arm has not followed the larger retreat command. I’m trying a smaller upward-and-back move while keeping its current tool angle to recover a freely moving pose.\"}",
  "call_id": "call_Ws7cEVZrNqzlwAwkjWPHAPmS",
  "id": "fc_039096c6094dddc1016ab2ba0c0e0487d0b4ae63667a14d7c5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ws7cEVZrNqzlwAwkjWPHAPmS",
  "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]: [-0.2623, 1.6424, 0.9077, 0.0994, -0.4648, -0.3435, 0.7991, -0.0132, 0.7692, 0.59, -0.437, -0.0296, -0.0425, 0.9998]\nstate[eef_state]: left_x=0.4508 left_y=-0.0353 left_z=0.1205 left_yaw=0.2939 left_pitch=0.0013 left_roll=-0.0084 left_gripper=0.7991 right_x=0.2836 right_y=0.0051 right_z=0.1686 right_yaw=0.0096 right_pitch=-0.0453 right_roll=-0.0041 right_gripper=0.9998\nstate[joint_eff]: [-1.0051, -8.5402, 7.3641, 1.3993, -0.1441, 0.0464, 0.1245, -0.3761, -1.2239, 9.5795, 1.7118, -0.0708, 0.0171, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e2b5b7bd6037fb5941008afad93ba1d62d83c5242065ea55443f409f541194c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45ad96f0a3fec0fe3eb3d76ea2ba763d12932a10bee845af1a3c2d32a5b4c2ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:461e959b059a068fca657d88c4e659b41238dd9a069cda7cd19f8de7fd490c55",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 8.578 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]: [-0.2302, 1.8683, 0.9611, 0.2398, -0.4252, -0.3134, 0.7977, -0.0135, 0.6842, 0.4557, -0.3763, -0.0296, -0.0387, 0.9998]\nstate[eef_state]: left_x=0.482 left_y=-0.0344 left_z=0.0655 left_yaw=0.2782 left_pitch=-0.0387 left_roll=0.0124 left_gripper=0.7977 right_x=0.2708 right_y=0.0051 right_z=0.1417 right_yaw=0.0071 right_pitch=-0.0339 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -10.1949, 6.9949, 1.8632, -0.0415, 0.2271, -0.1148, -0.2393, -1.3197, 7.0085, 1.9414, -0.0659, -0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrofMQdRWielPkgzTyLPc_Dlh1zUEddRi7cNjsBTcFqOrmES3f2hX_UkWKebeypZGzLM0jh9dw3-5zym1Mg0bjbXFasX_C1Dvze-lJ75YIjsKmybJcPSvZubcen1JruSbTRcoS1poECKMuBCndyJ62NAuDmJNC2PNAW7wLTNh3YeifYweRqWxSShVi370lCjqXWUGZJC3MbiL4oVpE4phpQiGusN4zeEvgcQ2TIrXO6o2e_HeXthLXkFDqwri7kjE_wSzc-oHsFC4ZqBuVomExElmCfH9fQnD6KebTix0vhqGZG0ySq326InBPd0Zps6sbY7Y7d6AupNY5tmPOEeWq4Iv4VjvGHzH6iURsW0fByTwMkLU90gnJ9CnI_TTDZ6cHGNZ_gfcenXJGtr5J8A9OxJ_rIeTQ817jJpAlfZ3EciFSb0sZbEL9UqRbCaKOvXvutifNRMPyHaSeyqPaAryyL2OEXGYwxfr76ACk6Ovh_EgG42bbI_HYesbfs1zzVnxF-P7dygpYu9b4bgPNMOIiZCTgClWly41ichck5xWZuY71DJkgLtPbAa3a7F0VQosi_CEUHhWiii8mUJUTVb9Y3jmxoZG3lUb2x_38jVu2h_NJ_vnUiUQyAf3JHKa_lMIWGlYF-lsZtCKRj12lhVRS5fWXbVgrH6kkSmL0DoweSIgn6YoBX8soD5-AObvPRZu5wtlcB9A9iXp4yS34q64Fwy8ZBPPnDiSL9y9-PjTD6B_Kmb3hYEQRGg-2aLVDMuCP0BA5FWzIgXC-zALweYvcH21HCvsZFPbwuQrPe4bThvGH1extrzKpZ86_gZy2-sTntvgvq9fMkzM1whrzX-Bj_hQVBlRwVTRDg7zLjYxPxZMbMkNgjdAef0BOLKQt-Qy01dlGvKWwlp1ZCfJuxHS5mQsAo6Ewg2k3gIOTK6V6bT5d3_x7WZWRGM3FqaEzzBJqyrxyTYhj_d8qlGI7pGV7UsR6ClGfbV4HRzhoLTGyOurq5g4htHK51h-XhrmUH30U7oShOWSGkNhk2rPianl1PKP0ne17jO6bRteh8JS8xjCbchJefdKeYv4xeyn0gYw609CGOk67T5vc21CXKvkHp2Lm01WBXOx92O18ZyLMM3osZ61DkWDwxq8I7xzdm8s8KYd-DyOsMPq873ejYC18smaPQhHWwnzK7wBGOIrhO-iyFmlbwqRLvzxT6UifgKulTtjHentZ8mzwCPUrZ1An_6LOLSVHoc8rkKNd2SfUTOZmjgdABlZypTScy9PXzo1pAnfdzw9vwyTK7wCd9CEAPKMtNrvj9Dl5VvZFX_hi4jTDzeKxk-CmRXg0Z67j5lvOMlDly2mEGpIjSC2dF0D6lA89WEFwikXL1kIRck4z2pujbjnTWWd8_7syDOXyoJtSIfK6a_5ZfKatrHFDyNPqwLSZunPcYEfRDbmGwZcDBRS_EwnZ9uh0AT_NuZLuOxa2F5AJN7VgAY-icTefjJimEF0PBNOkXNclqWU0P1kHjP9kUSSAidnzOv8wnIbdQ5YuQTQzfpvIKlHAXKOWVqTr8ZIDwFWt4DKEK5Z-aoOA1Su_ZDf7-B8bc4YxZPBCQ2t7KBngQNR19HISmobtBCE4szdVQgLkMC2kyojhJls8SkDco5rjS2zJUT9cAFkakJcPCoG499j_YWTY85-5f3urKfPKcj7n6blZUkK0WEP7V7DCEZXda0eGrM4iR9Xtne-04IXKT-zSW8ZL_1VAnLdpEHCGrbVDAdQbhrQoE5rcOCaCWVNJK5AWyYUCv2qLTKl3OpNylpZXRdkswIr1TBjaW8Q776RnSOiCa9NYqzIpEXXDvmRLa84-F_uay7mSozEuIAsVywxezc1CG--kcLtVmi5asWHtqTlG-ZZigQzQ2NSy6CXLod5gvLJ_Kbc0psXG9ARbbTwGxeJOhoeOlhKfnO3GbSe3bPu0ghf3vMqwkmbEc3bOMVrwwr6nVUv5dlLOSfK4jFk7qYXTrjBV7FAZ963V26s10x6BAbOIeM5wl1-_HREd0YsH9iJVFOCMEdoh5LIiZ_EdVZOpFUD6SCe1--gvE6fGMGJpPFTHHrSSOFqEKvxZ4FCn98HSv1HFF9kE-V3LhwEpadnUCORH9z1lE9o6FJ2pehmyEtfj7R1PDOTS4NcvBma0bvgw_77huKqXLsobch9N_Vue7GUxJNPIurHPQfEIfUu9jrYri0S3SFXa56C1EL6LGLaCIh1Ze8K4Ztxy3fEUJ_UyynqoGqT_Q_S_X1dcieD1G6tE25t9FoELUamjWt1LKmY1IAD-qqVh02mpStmSA7gh9VxvlG5CRuVEY0b18CvBJmRJoar1ozJhiihAcROEUndHLfJjc8RugjLdXPS-s15DoqbWhU2SDIXbj-epmK9hgBMrLg1WQPGNh4ngo0MKvf7SNIlxXcUXXgqvPP83qPC_7kwgL2YmUztRgODX9aqMID8RGHu8gfEiCr4O1M73wKRcalTK3uDSvEe_A4n4-HRR8yqq4oKz0iIA-7Ffp0lJjQSS4w9Rjsbydzk8vYRSaFapwPttup0yA7gy_YuTtgsfumDuVd4YZJQP93aexljthKNhKzum2mxY39VMOveiuCP-cfPhHMTmuLlx0nSFopLQeIaEKW1D8_LsPI_qtSsTxrJgtTLbtjkVrHiVlNdAYhHpqFPcw7C9Ia5W2viAVKvIHhfXBmumvwr-bt1rxkeYJXjpIV27sdEYZCtvaLGPM5C6TcvErxzCSPTvU5G5yr5hEIDeCV9W9r8e3bcoj4nCR7-rcnKM5zl12NLg90wvV6CL7CIojH-CSferEBgR1CIHOm1btfUupYooOUXw_laVYDOcDdLSUc7qk=",
  "id": "rs_039096c6094dddc1016ab2ba1054e087d094c0a2e37ef32cee",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":0,\"left_z\":0.2,\"left_yaw\":0,\"right_x\":0.43,\"right_y\":0.22,\"right_z\":0.12,\"right_gripper\":0.8},\"note\":\"The left arm is moving normally again, but that bottle is now near the edge. I’ll park the left arm and approach the rightmost bottle from a closer, less extended position.\"}",
  "call_id": "call_xJZDSB6oGGMxkaT9Xer9e3H9",
  "id": "fc_039096c6094dddc1016ab2ba1cd2c087d09f028d30f72b31e4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xJZDSB6oGGMxkaT9Xer9e3H9",
  "output": "executing move_to over 18 steps (1.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0376, 0.9482, 0.6994, -0.3183, -0.0761, -0.0734, 0.7993, 0.6403, 1.7481, 1.0218, -0.0051, 0.4755, 0.3161, 0.8013]\nstate[eef_state]: left_x=0.3265 left_y=0.0048 left_z=0.1922 left_yaw=0.0519 left_pitch=-0.0048 left_roll=-0.009 left_gripper=0.7993 right_x=0.414 right_y=0.2121 right_z=0.1024 right_yaw=0.0498 right_pitch=-0.0652 right_roll=-0.0464 right_gripper=0.8013\nstate[joint_eff]: [0.6769, -3.3983, 8.3897, 1.9902, 0.0366, 0.2125, 0.0073, 0.0615, -8.212, 8.8274, 1.8437, 0.4029, 0.2759, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a1d4a9bcd2414127801d45127d6a8bef1bde14be448f6402dac74554a6e9e1b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60eb3a330ca68a2ea341a621cc47f87bd0a5d3a1db6278a842950c5e3a1ecec9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:615aae151547e98c7e36f1288411df76e9f8ac82a624c168032420ca91f0599c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 7.552 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]: [-0.2623, 1.6424, 0.9077, 0.0994, -0.4648, -0.3435, 0.7991, -0.0132, 0.7692, 0.59, -0.437, -0.0296, -0.0425, 0.9998]\nstate[eef_state]: left_x=0.4508 left_y=-0.0353 left_z=0.1205 left_yaw=0.2939 left_pitch=0.0013 left_roll=-0.0084 left_gripper=0.7991 right_x=0.2836 right_y=0.0051 right_z=0.1686 right_yaw=0.0096 right_pitch=-0.0453 right_roll=-0.0041 right_gripper=0.9998\nstate[joint_eff]: [-1.0051, -8.5402, 7.3641, 1.3993, -0.1441, 0.0464, 0.1245, -0.3761, -1.2239, 9.5795, 1.7118, -0.0708, 0.0171, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrop2pSTU-IRWeQCOrgWVSnQTsynbP79Kdk0aDLXZ3KnLydF2Uq-VMbeZ1Pz4IW6_0XdfwRixZHb5_sGi28N0K8moIKNwFoj6d3LmSxERE6rI34YOlhZmJ0nCJeCQSARFCKgdhyhaBNp1-YspyIdLIX5o2Br9b4lS4drfI739kh8Qbp619jvddiTCuYSWL6YTwrJzC3bnG0iE7Ep7AfU4GgB9cCb_rAGBqchHDPY5NSCw2JooKuKZjzn2OWkrosLexwgpk3IPFXVD9b4ihHJvACUXd5fv_Ss1T2GcA5w1WWD5vIYjJpy0brsoaD44S_mAnHqRsU5staEOC9nMRsq1bsLeujBhdBSOIXe4hh2QmrjureHmduqzripIdauBgdZCDd5J4CAdzT6qTATP9aU8HTDrknl_hdU4uWncp_PG3ybyL1o2KxQIErjgQHUbrK4yTjlMWl4YCPguoE-yAJ8b_l-5rYTFtnOqucbk7YV8W-I00vtM3Ybg7IWBjJUK1OGUy1017imGqQ8whdcaoqc1OuYUrQ4uDhosxiIk6zUDEAUSHmLzvMqXOns4g2q5dLm1qQnmWF86tiBT_RIpVoFSkTSVVNxE3TFq8YOEfYyhLr3LeCS09C-afbL2-YWToqWhBjShj7x535GdvVQ7DvFwHaCLwtXt80uholvkZHwrXKNoUoy_VlZJrsxjlYBWBHioTh2vwmuCuPkEk9eNIWuK1Al8LIGmKqBZTR1HysFSp8R5I-2QrpXDPZOhinprB2xWb4RpZHFwatgmrxAwDfxpz6a2VOIJB4ryzf1hZnyGl7SoRVLSbvCJb1AEBs7rA9P0xI_ewz2oa9WdVnEo4Co--vGzHBwu0zD1O3CcYGywhRVzhyY2PzSBf2SBRoIGYxSRfF-zqMfP0lLzVzf_P0WRd0iHozwtHdystn4LXU5o94YYQlA5AiQTKPEhNQL3j0nipyRTvzmXRCzhuCiwP_TXqwwZfJkOGfz5MDzR8dV5yuHt2gp8ip0XI-2tXCDYqbagzNVOSC2bA933AknJ5r_l3ZNo9lo_Pnt3iq4hrg4khs9Bdt0ujaDU9AYYUcJA1mkmHg1JezlBnUxTvnzvjdhLBx3TZTeOVhYvDDZjGf3tauaufpD5XR2iV1WL2Rc6UUKb1pGxCyvSqz_jkCjVggpvliGsq4_z8K6NCW8KiVLd4Q5K9KRFFbxJAoCd8Ex4CYs057pJOl6eLGfcqxbFJxhgKLJmcKdt3xi7990FjCz1Kuf6__4iYqxhw7v9msHXCbiPgZNCzgfwCsJYP-VJlEExGbb8N4bLh5TON22Wi9glCCTFBqWy5aNshFkG8HVkhrPbmakcUKViU5a8adOw8ghym3Sw2oFsuHwOxkh-m9r-_HC0NvCA1bsOPGOIlGeRRKG5TNmSEi5Mp_h3_BZp7Waa_SeegpZdNkpeRe2n9ZdP8aBMcdoqNyGV20rmv5ingr8pPlClPgbjbrcLqiHYkDCgzZgmBMCukhu_GHmfS7dkF6SynwuJCOyXTtZ5xgFyCAWGwZkMPTgrYG58Qkx2CNKjks0N5rL-hochXvW5LOetLpvgg_yOHwEPcB8ufOiqb_5KcKw",
  "id": "rs_039096c6094dddc1016ab2ba23ec9887d0b8780e3c7a009685",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.19,\"right_z\":0.025,\"right_gripper\":0.75},\"note\":\"The rightmost bottle’s body is just right of the jaw centerline. I’ll center and lower around its body so I can first bring it into easier reach.\"}",
  "call_id": "call_2YCnbOJbxqMhxHjtFjQkszvB",
  "id": "fc_039096c6094dddc1016ab2ba2813f487d0878a962487db658f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2YCnbOJbxqMhxHjtFjQkszvB",
  "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]: [-0.0395, 0.9497, 0.6991, -0.3397, -0.0799, -0.0677, 0.7993, 0.5735, 1.8961, 0.8486, 0.4335, 0.4572, 0.2546, 0.7518]\nstate[eef_state]: left_x=0.3237 left_y=0.0049 left_z=0.1872 left_yaw=0.0502 left_pitch=-0.0278 left_roll=-0.0001 left_gripper=0.7993 right_x=0.4316 right_y=0.1902 right_z=0.0484 right_yaw=0.032 right_pitch=0.0276 right_roll=-0.0248 right_gripper=0.7518\nstate[joint_eff]: [-0.4581, -2.6598, 6.8718, 1.9463, -0.1245, 0.0855, -0.0122, -1.347, -6.0376, 3.6718, 0.8571, -0.3687, 0.3541, 0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96863a54119f76c9ec704c876d3132a4c20b5ae283bfe4a4111cb1cbcbe16f89",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edd88ef5e8635761414fdd0ccd74e1b5be06d1bef71484ebb15f4ef25b290664",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc81d10ee4ef8eef276f4b4dd8da566634a7264ff2e4cc77b0eb72c61bc51782",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 5.345 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]: [-0.0376, 0.9482, 0.6994, -0.3183, -0.0761, -0.0734, 0.7993, 0.6403, 1.7481, 1.0218, -0.0051, 0.4755, 0.3161, 0.8013]\nstate[eef_state]: left_x=0.3265 left_y=0.0048 left_z=0.1922 left_yaw=0.0519 left_pitch=-0.0048 left_roll=-0.009 left_gripper=0.7993 right_x=0.414 right_y=0.2121 right_z=0.1024 right_yaw=0.0498 right_pitch=-0.0652 right_roll=-0.0464 right_gripper=0.8013\nstate[joint_eff]: [0.6769, -3.3983, 8.3897, 1.9902, 0.0366, 0.2125, 0.0073, 0.0615, -8.212, 8.8274, 1.8437, 0.4029, 0.2759, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsroxJZFlAmfMap8j-cIMk9BMj0kqE5TQHwkVBWikaL5awTDAm0dZE96ob23ySv2IJG8-HKFlqtLU6AO3BEsG-176Uxx9M0q8DrJbvBDywRiD6hFNV_NwK5AvFOW15i04DXVJoJe3ZkZkSqUT7o2I0sxVnwwcy2Eq4cgSX78TPzlHhsHMSBJFTuiWygPtcr87jdA0jiSFDNXDExGGjIiuSw3pFjTEfdWmR41gM4wKwB6BX1rrEdF_rvbTyco83TvRm2vkItiHuzp6DWNQGY0yR_vckhRG6tnVz6ZEvUWOR2X_dKlZA3eJN7vFl65QDMLOxgwfI08iMmIJe3vuxIoXKMiDfIS4OY25kryRhaPBOpnn2DbTTM7PelD7lbT_E9fr2S8PbWjHi_GQKKG2ovpl86N-CxYtUoatTGPN-3dlywdLOP6ZlEfqRf4z1nbyyu0pHCcrwbrOHm5D-oZv4AvO--UhemA3-z2jXHyYEjADCGpKBo4GZKjpfRp3gPFiXPOdjoGHofgQ0K5CI5KeSJXRL3v7Uix-8bljV-P1YmnP8xIBerDU0q8KzVMuMdJJOweXfemhKB1xPfypB1oG7yep-22Qh-fWE1sdPIVlMuq7nvwXyH9qdhcmOtbIJvcm7zQQgR11A3DaGwBhmT-2alkHt6mAlmE21z6rSbV4TdLJy1UvOhjJxFXUIFIqZ9CNlhjighzn_-CmIokf5nxJ6QBbk0QgKj13-PYHUvpJ2Oz5FsA3eX8_9EYZ7VoVq3VDi51p2898p1qBufLZ1SaWcT6fiXT0_BwqS4ZeY8qEKZsbjQIdBhZVH0c0NPyGEXuUiXdDP_h3RCSEi5BYFKD5OUPU7GifH78d9QZbBMJmxorx2U-9Blm0tdwAfJ6hc38nQkxXk7_lOzrgYz1aFVMB9cvomGiPuGmE8YiEJL-TKvAMZllS5lnWH-XURpUvlprNe18dqeg7rjZAYCAiXNiVfYmVpNxbsE0f7hDWa6F9UJCguKnc5fVR0lqfBGHsI4joS5kgdrpHeNpMrYZ6AujbR7X1XJHtTv_TxOS6EYtv7Pue_Y1Ew9nd8_1Rv5MkVSC9-VxQoP3KhixfmAPdpia99scaf1cfN8IwpN5tEQ_PqCS-S24XLsUka4_KQkckp9X_1FuodV_XcCMiHDjzQ0B-mtb9a5qLScmVL_P-Lq0G2ILSI_PEohEjs_dFXTogxyGyxW2Z3tj_V3VmfO6RHmbWtpeAuZQxybL3P21IeccfCygEaRO7vkuKe2raLTxwFbyzDXF_Qa_cMDg8WkaLTRoQAqQGuR1wacn2jZJUUkA8ZlZQaziEHVCeBjPz-k7msUGS90IBOXuZx6ikoVcMwDsY0PNzOhaNfVIS3mx8FljI0e4OgSMpPow=",
  "id": "rs_039096c6094dddc1016ab2ba2de78487d096c58e6aca1d2a2a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.455,\"right_y\":0.16,\"right_z\":0.03,\"right_gripper\":0.75},\"note\":\"The bottle is still slightly right of center, with its lower body closest to the fingertips. I’m making one small alignment correction before closing.\"}",
  "call_id": "call_fP4D5wqHuBU92qrbKbtaU9vh",
  "id": "fc_039096c6094dddc1016ab2ba2fb6e487d0862ac2593834153c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fP4D5wqHuBU92qrbKbtaU9vh",
  "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]: [-0.0395, 0.944, 0.675, -0.3187, -0.0864, -0.078, 0.7993, 0.5652, 1.9125, 0.8387, 0.522, 0.4335, 0.2455, 0.7518]\nstate[eef_state]: left_x=0.3227 left_y=0.0061 left_z=0.1823 left_yaw=0.0612 left_pitch=-0.0247 left_roll=-0.0053 left_gripper=0.7993 right_x=0.4384 right_y=0.1944 right_z=0.0534 right_yaw=0.0461 right_pitch=0.0747 right_roll=0.0099 right_gripper=0.7518\nstate[joint_eff]: [-0.253, -3.0427, 6.8855, 1.9512, -0.0464, 0.0562, -0.0122, -0.7863, -5.9556, 4.3692, 1.4432, -0.1441, 0.1197, 0.1783]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79977c3ad7f50a0467469d4f8186031a33e35e54b92c3b3519e50c3a445f009d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9e9b1847fe37d3b8a759d1ef6adb8df210af1e2300f7cde1d70147622e455d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbdd850de6f1d002895a0364fb277a1be5d3565e8ec6f46fc224b7c8974b670b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 6.915 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]: [-0.0395, 0.9497, 0.6991, -0.3397, -0.0799, -0.0677, 0.7993, 0.5735, 1.8961, 0.8486, 0.4335, 0.4572, 0.2546, 0.7518]\nstate[eef_state]: left_x=0.3237 left_y=0.0049 left_z=0.1872 left_yaw=0.0502 left_pitch=-0.0278 left_roll=-0.0001 left_gripper=0.7993 right_x=0.4316 right_y=0.1902 right_z=0.0484 right_yaw=0.032 right_pitch=0.0276 right_roll=-0.0248 right_gripper=0.7518\nstate[joint_eff]: [-0.4581, -2.6598, 6.8718, 1.9463, -0.1245, 0.0855, -0.0122, -1.347, -6.0376, 3.6718, 0.8571, -0.3687, 0.3541, 0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsro3--P3cVL9US3ONCb4MsP0LNyVKiVj8HxqBwSzrZZ8JpEua-XyDUyJsOlJ-ThHMUOXS7Wx6dBZz5PJuN1dYwPUg2VDxTLkCT2_BEYgkJ2-DFL_egIC_gidPqOhFKejIqcb4OhqrCYCwflThXaqZMlLlppWbWUBnktkzDKLOfQUtsdTxCT54pkw8zIkDeTb-Nx2dwKB7eGHDVBSL9RSQrgdWmI_DdqRysJbDeLGrDsrgUUFPo-mnOz2mRRIiLJk_rIlpqY2wUnCEyMJldQ0MyZMALPNanhdsTH3XCvHRsyLTCiRaU5NmwsG1uP1mtDM2OHy_IxDgQmVBfdT66Hqi44Me0j_QxvlBbqKO1PNzX34_2_bnp1AdKAvVhxAOm2q6UFmi3VQkfEM7S0s9TlWwDd0xa8Drbjz3zTTsOpFCg3EqAt4ClmaWKepxUdD_MFdQvfe34yhtEdLhv0uGgC8qMZ-ky7vANqalpjTjJNt4l8MtZzJtHFisPZPsKVTuzCkzIv9G65pvW3csXLW5CVj_Jh8dAFqd-B8ymI06nfkF5FXZzDdOjKu6qS5OOvQo38mkZxKRN__BHf-Wu_D6GrNkaQ8hhjWMPi_qjb2zcqEtQhqxAgMn_dmpp8_UXg9mUGBgYt5URioDRDIjgW_eiGb6V8gvT2o5CKxLBnU7epV1191xY_bphmUIaAfd8jB8gPbexDco30K8MPZ4FqwS1jpA_lfoHt2QEvMYSl-_cZpxkFRGD9TBIceutiJ_FN_CieilXKbbNt91y5nd-YL3kXAR6Nw0FP9yBr5DY7sNHMCM6fuLJT9BF2wxu_aYw3xVWFuiXreMSpkajZs0jzn7X_jewwWhVhM6pbzZCNA_PvIQ2uEh-wgXLGIpf4QF2T8DX0RR436a5rwvkLo_akVsrhxaIqE6W6c1chS6cqeTrHg4H3KUsS5pv3Z0Zws9SQ53-Ntxvm6KsjXytTNihbEmGqDtmflhsnnR17YYZanE396hLq78sRjTTBVvYyAJbp6DTDK0Px1uozrUarigzNFrFsnSdpsoYNypC0e73CyoRgF9mqkfUevf945yMzb2KaJgsGWb01LiWeSIKoD3sdo_czPE4NRyLEbMqFXEbrSJZboHvHufEp18fWzbrrRzvRE39pE7DjUK4syNlHfOJgs_xA24IvZ2VBdJJeKyT-oXLq4EMejxSgZzciqSnuReBgBgMrLtL_duOWjKbmaNCtcEkMam4X8qfGK5P9Qr993WXRPuBal7N60JjTSPh5NYi-97FNKfyjtmNUcSG82olYHqRKDbqbyrs2HuJEKhyTYALg7ZMXjX9jqESEz2Klease5D9oqYSEu",
  "id": "rs_039096c6094dddc1016ab2ba33b0ac87d0b62776e4501439a3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.155,\"right_z\":0.11},\"note\":\"The low sideways move did not track fully. I’ll raise the jaws before shifting, rather than force them along the table or against the bottle.\"}",
  "call_id": "call_uEPXdMxFinYfdfx5Ehi7J8cK",
  "id": "fc_039096c6094dddc1016ab2ba35010487d0ab3b700ae0cbdac3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uEPXdMxFinYfdfx5Ehi7J8cK",
  "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]: [-0.0399, 0.9405, 0.651, -0.3027, -0.0906, -0.0784, 0.7993, 0.5652, 1.9125, 0.8387, 0.522, 0.4335, 0.2455, 0.752]\nstate[eef_state]: left_x=0.3211 left_y=0.0068 left_z=0.1757 left_yaw=0.0646 left_pitch=-0.029 left_roll=-0.0028 left_gripper=0.7993 right_x=0.4384 right_y=0.1944 right_z=0.0534 right_yaw=0.0461 right_pitch=0.0747 right_roll=0.0099 right_gripper=0.752\nstate[joint_eff]: [-0.4171, -3.2068, 6.8581, 1.9463, -0.105, -0.0171, -0.0122, -0.8957, -5.9692, 4.2325, 1.4579, -0.1245, 0.1734, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:432c3ba48a84b9b5f176262e1e2b1950821f6b25c8780e6aea1f29978c4aadee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bd74d43e60962fc979007cd7935e8c9968094aaaba1611deff7b7e3203801db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1cf74a9eeb003df5a445252e48bd46fd11e18850d07d3ed44c3f125ca19cd0c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 9.773 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]: [-0.0395, 0.944, 0.675, -0.3187, -0.0864, -0.078, 0.7993, 0.5652, 1.9125, 0.8387, 0.522, 0.4335, 0.2455, 0.7518]\nstate[eef_state]: left_x=0.3227 left_y=0.0061 left_z=0.1823 left_yaw=0.0612 left_pitch=-0.0247 left_roll=-0.0053 left_gripper=0.7993 right_x=0.4384 right_y=0.1944 right_z=0.0534 right_yaw=0.0461 right_pitch=0.0747 right_roll=0.0099 right_gripper=0.7518\nstate[joint_eff]: [-0.253, -3.0427, 6.8855, 1.9512, -0.0464, 0.0562, -0.0122, -0.7863, -5.9556, 4.3692, 1.4432, -0.1441, 0.1197, 0.1783]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsro-N-cyRqKLHF1a0TspNO8dtBO75k4f0x1JRFUYgEZJm70SAwqGs17y10Xty3nMzXIU0vPkzkH09BHMEP5nIwSqT6DO-cFtgYcGgCcvpCxbeM6G4RfpGDysBi740fV_cpkqVd5RDvQoBzgrdRi55x9NBNtJ8ekfgzUzAs6X8QUaIi86mNsqiK5ItfZnNhdihqjXbbW4VUzTV-8vt9_7xBnYMEGzJVrXHs-vbqx1yN7p-N-EOlj5vtE45cbTwprKBpoLltqpG-3lDbZ8OXKo_2pKxDlq5oBxxmjFi6RiDIDOzsdI6E97o8J0WGa62UlKl5QiMwHmM0108l-PFHr8nme0reMtcI36LCOGS76Jlo-Y-uzbxCpXfEbBHpTmeIcRDAoT489O97pvsMZ9v7IOlHksHyo0clIghU96pxGCeDVap8ZNE63KVfsuQMH1Gw4qEsfaRyfOyuClMTUegcqR22BuuD-4geiOg50NpWyBIQlU8J9KoJ6PHZc2GFtCBYiVJBfnXliPvBcm_ZT7J7n9UH4VXtENx_7d7T7HJMGlYiLs5G3Wy0aPgpbPdO-hnHk1GWChaHZ4lHMI6OVil2lufilCgmJWApD2fv0lEEqTQ1SrrPZQ3MKCoRxnJbSP2xlpfqU-sQJP1YMcYPaQ2XY-FJPvg3BeQdF8lpddrby9ik2dfSI6F3yr-uZWuAqbTKgYCbJMqsxZCsVr71awoiNuor4vxHT0hIR5qXcw3Dq9FZ9f_42pJVC6n9wZmAiX-ph-y7zj6ZWxgawTBZ4SDTHoknyqurGukwvFnaKCVIcjn6ns3qhGwqZm-YGBj4ef3kNKbshC1w4dHQSZ3fZtMJhNNSsrCcxuaC-2HsIM3umZwaW_0Yvxp-ZH4JBSy9pOpKxeud-DWC-MFedhcOz2edw0kpSj_G43vP4JjRNc51s9ngpT5nIfZWVqUeszaJ9JzrFQl3pqVYIxksJ6scmx-PpO772R_ZUeZ9Wqxkmuih-772O9OvaDlVOI5Y-gRotCTiCjcjNFyUbfeO0PCt7ByIy4foV2YURBKI9uufZR09i2MMofHjFx31HBEXgAjXs-QupzwEnR9qwtwuTStNeiUFvUBqAqANsV8EpY7fSDWmfOcTxKTIJx_8KmMquKpx8XHwFDC3HoDRHKMCRY3ppf7EjEnE1HeYxTCETvzSWXjCKsL7g1cgOIjeUIPyUKN78iaqrcDhIux8BbgBqis4fYUIsUhQlL_jfwZoGrK5ikfpW2nh3tx1TUUTOYJu97gFxYDFA3AcC5kWwUYmlzSlhz6T2Piyc3TWiVF-L709XE06NaBrDxyWf96GxB6i-FWhHogpA-Bfgr",
  "id": "rs_039096c6094dddc1016ab2ba3b17ec87d0adab2b5b1337c8fa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.19,\"right_z\":0.13,\"right_yaw\":0.05},\"note\":\"The right arm is also holding its low pose rather than tracking the requested lift. I’m retracting while raising, using a smaller change in tool angle to recover clearance.\"}",
  "call_id": "call_2BErKZXUgM9JSCzt7BegLHrh",
  "id": "fc_039096c6094dddc1016ab2ba3cd73487d0acb6fc688109a6b2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2BErKZXUgM9JSCzt7BegLHrh",
  "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]: [-0.0395, 0.9352, 0.627, -0.279, -0.091, -0.0784, 0.7993, 0.5835, 1.8507, 0.8551, 0.4065, 0.4419, 0.2604, 0.7521]\nstate[eef_state]: left_x=0.3204 left_y=0.007 left_z=0.1711 left_yaw=0.0653 left_pitch=-0.0241 left_roll=-0.0031 left_gripper=0.7993 right_x=0.43 right_y=0.1976 right_z=0.0653 right_yaw=0.0507 right_pitch=0.0444 right_roll=0.0002 right_gripper=0.7521\nstate[joint_eff]: [-0.3214, -2.6735, 6.5573, 1.9414, -0.1441, -0.0269, -0.0122, 1.1966, -12.6154, 9.3333, 2.2051, 0.2759, 0.2466, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df4d869bc095a7bc8f37201478b27254c2f53cd47db8ce29f596b35c77e612f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8f87794656a088ee4c1a04e6682e328457fc15b7c88cc258ca265c95ee49e5e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:158ee5324113f40bf9de07b0e268e00a30814512c45388f74d0a11d09ea6ab7d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 10.25 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 54 changed as sent

message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0399, 0.9405, 0.651, -0.3027, -0.0906, -0.0784, 0.7993, 0.5652, 1.9125, 0.8387, 0.522, 0.4335, 0.2455, 0.752]\nstate[eef_state]: left_x=0.3211 left_y=0.0068 left_z=0.1757 left_yaw=0.0646 left_pitch=-0.029 left_roll=-0.0028 left_gripper=0.7993 right_x=0.4384 right_y=0.1944 right_z=0.0534 right_yaw=0.0461 right_pitch=0.0747 right_roll=0.0099 right_gripper=0.752\nstate[joint_eff]: [-0.4171, -3.2068, 6.8581, 1.9463, -0.105, -0.0171, -0.0122, -0.8957, -5.9692, 4.2325, 1.4579, -0.1245, 0.1734, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrpIGHevoJZk7IeFhq0DsgKcJanZD_Yo2HHTDz8fqHfWMddYmsgbts_xbuHv-utDkJ-YJwgMy9mwm0UyZkfEE136zVBpOVeScfeELwh4D52OAe8uRlejL1PKNTW0XOKt8rw5Y9IeEuwx3Vh6h8h3NwwQghIUy3k_uxFQa6Dkz5DTYBWHMNRUD2RKCTQJTmJM2OQqAS6kZE1jKDVqwG8GtBi2zVcBSwBcb8_mUzknTRSKZ15ssRfnM3PvvctHMeXXKGWJChieXpLryg2MFX-oQOG5Z0E41e3DWyQcy-EoAOIiYI1T0VVGtwKTKsOsLTiLFEbg5QIgl5MeTjinCnpwZGLpCTRksfQ9MoIKcgXz2OuoWSgTroqXKq2AfkPYiZtkUX4Bf6sOAFS4g1P6HYpLTL0JaEARUP2fYIuhSSj9buCA4wzJXVLwJKe-P8PBdIQTdS81ms6ZqaAJpize1eEeibVX7qHeljdp0g1vc2RkyBDHdGO9s0DZHseC0VyeW956kb7DXixET1C6tD1m_HW_eOM4hjcSigsAwegQ36YRMCtOSX2zRYLieMQRuOYNn1tfamGN3yd-uSsvxj9CJKSp_Sxrr5GHtJMU1HD5gLPyJolcjraR48EQLRzEu56A3FJnjMwHVuiBTEY0QVPNsdVHGWcH-QqjqEm-Z5XdkWVw3JvVw28EqlhSE3p79Hrk173njFbomwNtUBhjWKrCeNx0Ap2fouw0XXa86UMYxcOLHa8kqaoNRrfTUq8NZ1lEhWa2Pf6FWJgvBfv9w1UDPEeKnqp0zxJpafQabmZ_QBTGNxTqkbGTa8HUMCOGEDMdrZUw6s257cwUcTPhTCiQhPNLksaHYWVYyYKFEkq04jBRVHc9yAKWjBbrHl-g_ah8mc5rBPsvnvVd8fQb0SGBYBwetE7Q4xjbc6vsvNB-Fw9HWuHENFJ3lpX68_zYzzTC51pKIpE0Pdt1ryc8kpzFT9IkgoIKpNNTXe4kqxRq6-97DA0MJvZWTjDI2LtZ75sV5zd5cTT4HBqHTw-fJcUSuQGn7Em-2vtLeySdb0lRI1HyBjpeS3p1xWPElutO5UIiuWS79yuxm34rPRCuLr5ctc_JO-3oBKWYSM0uOLKUoy1-YxzoXODDxsnL_Gp55PFQksgRIpb0qFL-bl67j_8fLkx6kJqHdIlLLvyGkaevMGMbaCncOORuGTjafwBVFVaQGSR5M3EsUWAb2lti-uxbSIMFL-PDWg8zd1JHlw01-JNsJcOiXw8ZnDOhiJ54SSHlNGjh2le1Pmv-5fx4Q1iywke5mXPLTI1ECrxaLMWfGjlm0kKjQy3ZiS1jHy-N_lBnr4SDkWDTN_IwpjHjlcQ1lq7SbrDJw0TaI4jvAPnQU_QAQV7ANU0BWG_rh0y3SortGK84D9CoUz6qFGA9f_5waaaakAUXIqgqCLuQBFZO7CXrI8vRbVc6_c6LOXdL9HmeLVs4kOauMjyRw3oxCJbMx74ZKs3Efw==",
  "id": "rs_039096c6094dddc1016ab2ba43b47887d0bc5037e32ce737ce",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.19,\"right_z\":0.15,\"right_yaw\":0.05,\"left_x\":0.3,\"left_y\":0,\"left_z\":0.2},\"note\":\"Neither approach has produced a secure grasp, and the low poses are tracking poorly. I’m withdrawing the arms rather than risk pushing another bottle toward the edge.\"}",
  "call_id": "call_qh1wasodC8qyl8wJCKVZDQuT",
  "id": "fc_039096c6094dddc1016ab2ba45ca4887d097923ba8c14d8390",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qh1wasodC8qyl8wJCKVZDQuT",
  "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]: [-0.0883, 0.8421, 0.6418, -0.3988, -0.1265, -0.0914, 0.7993, 0.6231, 1.5639, 0.8982, 0.0116, 0.4458, 0.2878, 0.7525]\nstate[eef_state]: left_x=0.3001 left_y=-0.0006 left_z=0.1808 left_yaw=0.0534 left_pitch=-0.0333 left_roll=0.0072 left_gripper=0.7993 right_x=0.3917 right_y=0.1921 right_z=0.1324 right_yaw=0.073 right_pitch=-0.0103 right_roll=-0.0118 right_gripper=0.7525\nstate[joint_eff]: [-0.5402, -2.3453, 10.5231, 1.7753, -0.2369, -0.1392, -0.0073, 0.5949, -7.9795, 9.5795, 1.6484, 0.315, 0.188, 0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:951ab6f4a4f8e550ef34aee771b78f59c8eb9804bf910bb6c1a959023a6f8e42",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:159b6b71eadb39c97134e43027c50a4f6d1b68adf01b63824d672a1cb6cd65d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7761c3bd559c45544a59334768ab76c54eb31b9efb4fec1c8afe74def2ce4c0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 7.401 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0395, 0.9352, 0.627, -0.279, -0.091, -0.0784, 0.7993, 0.5835, 1.8507, 0.8551, 0.4065, 0.4419, 0.2604, 0.7521]\nstate[eef_state]: left_x=0.3204 left_y=0.007 left_z=0.1711 left_yaw=0.0653 left_pitch=-0.0241 left_roll=-0.0031 left_gripper=0.7993 right_x=0.43 right_y=0.1976 right_z=0.0653 right_yaw=0.0507 right_pitch=0.0444 right_roll=0.0002 right_gripper=0.7521\nstate[joint_eff]: [-0.3214, -2.6735, 6.5573, 1.9414, -0.1441, -0.0269, -0.0122, 1.1966, -12.6154, 9.3333, 2.2051, 0.2759, 0.2466, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrpT2-uqrlINK-dB80ZRC9AlMBOKdFakYJTqofMyx9FkoVJT3kljXl1_42LvPkxQwwCGrTArHQH8Qd1TlO8ALhjMV7M9KwyWH2ig8hAIbV7JIkW3nbwwKzKVjSCVfZLOyiqgMp2lw27Ep-fQyRUp8Ki1ar9MHXm1Bw6OFrcNiREY796kpM1EmetBNINvJOe7O0OtblGXTLu-E9i3SovwUjpXZ_1iQ7inp_JJl7x_3Lg8cwWWwAy3boBxJhf_MZ00jtGy3or2MAeojnyYtqUhoexoBsj1LR_TAhzEX4iveCfy5O4NG9L1KW_PB1R6HVMFCZMRxmtbm9vHGrujfThfFTNWTVdxtEQ4R5jeqFvh2vjQNFCWzdrC1js_4zC-L7J0nT819WHyi5qVe7cktSWqQQr0HhbqITNiqUXORZ9nOxK9apCC5iuPz1zg-qieYSVcA94ZCK1vpy03n6rwO5v7nNrsphQRUjFc4LBgBCdh1nYtII5aeAHPXYBOqM3Vj3ihxDR4JWLt2a6Dt9BLVqtmg-rc0zAAy_FQNOt_Vmobs_rqi7QBMRNYHP05h6IQDG_hwM8Cgf9oIw9FsLD9oIx90eDyJZhTlPpq_Cn8ieiMW3yqmV6E6P_eZ8d3eosjFW8ky7--Xw5KS6wn_QAc9OcdP5v5-k-1cgHiYPQJnZaOHIQmv7YDCiyBtD3g2IlJIVpLdhtEL5ChCXPyG6DUYa2KfpcRZFDKJfsVKfKunFzyqFkhFsnUQSYKwR9OCmMy8HcjsN-y5rCiS8b3sPR_f-1rSBLkqXsY8GOj2QlhwQ4MULPiLFiVMUVEhi1hikdRbuWDhtj0PLNCJqQ2MAqPm29-cJUZ0r7yRocF0OPTow1YbLd_2glQdVZSUoXVY1shakXd5lGaRCw83QApDUZNJ6aFCHDmBPFkt0-KImLf-quQUaaPuls0UGwTRxSbkAzpN_LPwMsrQp_a2vkBKFZG3-Jb7oSUHVW66wO-RTSP2poFljugksFUZsY_gxEdw6DdwYSdSJGUb1Rzl_bRD3YzZcKkpH-JpHjBSCcrlqVpRdF5ZOMizP0SNkbJ8ajxfkSgwBK5fdTHRIIt-ny7RJ_rClCt6ALrZBSTSb_tSeNN7PtXe1x2iLdXW-2-UlsNAJoFMpbKIkc0mdq85sibgppXc4btt-tmupSBW0BbmTwoCmpYTIymj0gukxshPl0L9y9gjvNQt6rwMaT0gbTSxk1Zk01TAjvkA-XCkcCERz1C8TOPrWs9iMRArhp7DxO3jncjBopx2oKsLQGW7xaZ7eTzAFP9WT5OmpvqS30jjfZUBfXqZclF6NEphNAFh3ddytjI8RO29FcORIsOv1GyyBZ2aS443eNaaygCu3SlervdyRy5xaM3orweYjywp3uehABd5nBNzPqnrAZQ2omlFXwjfZiG2brbfTQgRcXCz5OuF96t9Ml_jkfNI-DunzeRkfVFfD9_sK7iUQawlhLLdu0hqAPTsef_hd6ZRbXAlPMnekMqT6bZ1Tp-KhZwfVENquPCE74Tdy269ZPrTz5PZYf9P6L5Xq-g0C89LvulZTdfxvRP348bfA6MKT-5-OXC0bzDpmH6XSAJC6DTEy-yoVaA_PE_QkYo-F1OMZw8ASxbkGUtso-VRf_5M8qqx1GzvpLtgOwqNipO1PV7fE4csG0RJq0l5S4p_9xVgEGxnj2k0_qeH5NHZEmSTGAht7Q_27vOsV1a68MIt6Th5WsZXXFAtTVygWnJv_bKcdPzBZFyRgn8L_7TASZNIKWW1Gz5EK3J9DTQ3vnZoSyI74Bc7A3WWEXxCH2iqFCAChlw31-e1SHCKYyBlGIPiS_jjn45nrpSBXICOcGxV5szrWCZnU7UThKy8jaRZ83Vvda-5nSk0a4RtbmBfPuEEP1fYxhqAzU6LB3SNFZ0MvXK2685w_OP3TjqiVdomBgS5yyunchXJShGHc0pimgGbroo_B_m0OiVUlW6ViZykceVjZuUyzYU7CJj7wFDYrqaRHlwVYgxyDIZL_cF-UnCytO3A3gMW-19OuPB_ubG",
  "id": "rs_039096c6094dddc1016ab2ba4b917c87d08e0aab48bff4faf3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.005,\"right_z\":0.2,\"right_yaw\":0,\"right_gripper\":0.9,\"left_x\":0.3,\"left_y\":0,\"left_z\":0.2},\"note\":\"Both arms are clear enough to retreat. I’m parking the right arm away from the bottles; the left bottle will need repositioning before another safe attempt.\"}",
  "call_id": "call_k95ZwsS5BoTymg7zXOHLwtJN",
  "id": "fc_039096c6094dddc1016ab2ba51101887d0877a3bfa736d8ba2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_k95ZwsS5BoTymg7zXOHLwtJN",
  "output": "executing move_to over 16 steps (1.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0902, 0.8299, 0.6441, -0.4271, -0.1356, -0.1047, 0.7993, 0.0204, 0.7769, 0.6651, -0.4179, 0.0597, 0.0093, 0.8989]\nstate[eef_state]: left_x=0.2956 left_y=0.0008 left_z=0.1797 left_yaw=0.0664 left_pitch=-0.046 left_roll=0.0034 left_gripper=0.7993 right_x=0.2948 right_y=-0.0009 right_z=0.205 right_yaw=-0.0601 right_pitch=0.0421 right_roll=-0.0063 right_gripper=0.8989\nstate[joint_eff]: [0.5128, -1.5521, 10.5368, 1.7607, 0.0366, 0.1001, -0.0073, -0.0068, 0.4855, 8.6359, 1.6288, -0.2125, 0.022, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21d0b1d34f07792cb1096fd53e392b72c8e19048f0ea1c2c07ca4f6d06d20bce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51b4630fb9bac6eec64d56c75d736729454ed22f9f8c9a2d5452ba0da954552d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62e98481f2836f107a62eac62eb8dea1737b1a54394f54afd0122ca45fe0a669",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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