adhoc

completed
2026-09-22T17:38:41.842163+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
227 s
total steps
208
success_at_end
0
scenes
1
trials
1
errored
0

scene-0

completed

Stand all three bottles upright.

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteAll three bottles are lying on their sides, with their caps toward the far edge. I will approach the left bottle near its neck so I can lift that end and let the body swing downward.
move_to
left_x0.4300left_y-0.1800left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0212, 0.7937, 0.6094, -0.3763, -0.0227, -0.0288, 0.9985, -0.0162, 0.7895, 0.6037, -0.3855, -0.0299, -0.0349, 0.9998] state[eef_state]: left_x=0.2959 left_y=0.0013 left_z=0.1833 left_yaw=-0.0003 left_pitch=0.0004 left_roll=-0.0002 left_gripper=0.9985 right_x=0.2937 right_y=0.0041 right_z=0.18 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-0.5675, -1.4427, 9.7573, 1.7411, -0.0415, 0.1294, -0.1587, -0.8, -1.2513, 10.441, 1.8828, 0.0855, 0.2076, -0.0366] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.18,"left_z":0.15,"left_gripper":1},"note":"All three bottles are lying on their sides, with their caps toward the far edge. I will approach the left bottle near its neck so I can lift that end and let the body swing downward."})
tool
executing move_to over 17 steps (1.7s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteThe left bottle's cap is left of the jaw column in the wrist view. I will shift toward the cap and lower to neck height before closing.
move_to
left_x0.4800left_y-0.1400left_z0.0550
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5755, 1.6344, 1.0035, -0.0772, -0.4706, -0.3508, 0.9986, -0.0193, 0.794, 0.6033, -0.4042, -0.0299, -0.036, 0.9998] state[eef_state]: left_x=0.4171 left_y=-0.1709 left_z=0.1315 left_yaw=-0.0095 left_pitch=-0.0581 left_roll=0.0273 left_gripper=0.9986 right_x=0.2914 right_y=0.0033 right_z=0.1747 right_yaw=-0.0021 right_pitch=-0.024 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [-0.4308, -7.9521, 9.1282, 1.8291, -0.2857, -0.0659, -0.1538, -0.1026, -1.5932, 7.0085, 1.8632, -0.0122, -0.0366, -0.0122] camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.48,"left_y":-0.14,"left_z":0.055},"note":"The left bottle's cap is left of the jaw column in the wrist view. I will shift toward the cap and lower to neck height before closing."})
tool
executing move_to over 5 steps (0.5s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteThe neck remains ahead of and slightly left of the fingertips. I will advance a little farther and center the jaws around the narrow neck rather than the wide bottle body.
move_to
left_x0.5400left_y-0.1050left_z0.0650
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4168, 1.9133, 0.9375, 0.2813, -0.3847, -0.2817, 0.9984, -0.0193, 0.7834, 0.5823, -0.3973, -0.0303, -0.036, 0.9998] state[eef_state]: left_x=0.463 left_y=-0.1286 left_z=0.0419 left_yaw=0.0432 left_pitch=-0.0747 left_roll=0.0282 left_gripper=0.9984 right_x=0.289 right_y=0.0034 right_z=0.1694 right_yaw=-0.0018 right_pitch=-0.0274 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [0.253, -8.7863, 7.241, 1.6484, 0.0952, 0.3932, -0.0317, -0.4034, -1.6752, 6.7624, 1.8926, -0.0659, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.54,"left_y":-0.105,"left_z":0.065},"note":"The neck remains ahead of and slightly left of the fingertips. I will advance a little farther and center the jaws around the narrow neck rather than the wide bottle body."})
tool
executing move_to over 6 steps (0.6s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteThe left cap is now centered just above the fingertips. I will lower slightly and gently close around the neck, leaving enough freedom for the bottle to pivot as it is lifted.
move_to
left_x0.5400left_y-0.1050left_z0.0350left_gripper0.2400right_x0.2940right_y0.0040right_z0.1900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2935, 2.0434, 1.1469, 0.3012, -0.3172, -0.2356, 0.9983, -0.0193, 0.7712, 0.5545, -0.3878, -0.0303, -0.036, 0.9998] state[eef_state]: left_x=0.5311 left_y=-0.0992 left_z=0.0599 left_yaw=0.0848 left_pitch=-0.0011 left_roll=-0.0111 left_gripper=0.9983 right_x=0.2861 right_y=0.0034 right_z=0.1619 right_yaw=-0.0018 right_pitch=-0.0335 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [0.1436, -10.0855, 7.6376, 1.5116, 0.0513, 0.2173, -0.0171, -0.3624, -1.7573, 7.0632, 1.9707, -0.0806, -0.0269, -0.0122] camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.54,"left_y":-0.105,"left_z":0.035,"left_gripper":0.24,"right_x":0.294,"right_y":0.004,"right_z":0.19},"note":"The left cap is now centered just above the fingertips. I will lower slightly and gently close around the neck, leaving enough freedom for the bottle to pivot as it is lifted."})
tool
executing move_to over 8 steps (0.8s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteThe jaws have closed around the left bottle's neck region. I will lift it a few centimetres and check whether the bottle follows and begins to hang downward.
move_to
left_x0.5250left_y-0.1050left_z0.1300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3016, 2.0968, 1.1618, 0.3878, -0.3378, -0.2394, 0.2459, -0.0189, 0.7921, 0.6018, -0.4301, -0.0303, -0.0368, 0.9998] state[eef_state]: left_x=0.5423 left_y=-0.1036 left_z=0.0558 left_yaw=0.0963 left_pitch=0.0476 left_roll=-0.0222 left_gripper=0.2459 right_x=0.2874 right_y=0.0035 right_z=0.1692 right_yaw=-0.001 right_pitch=-0.0495 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [-0.294, -7.6239, 7.2137, 1.409, -0.0464, 0.0464, 0.2466, -0.0205, -0.6769, 10.7556, 1.79, -0.0366, 0.0073, -0.0122] camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.525,"left_y":-0.105,"left_z":0.13},"note":"The jaws have closed around the left bottle's neck region. I will lift it a few centimetres and check whether the bottle follows and begins to hang downward."})
tool
executing move_to over 5 steps (0.5s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteThe left bottle appears to be following the neck lift, but its base is still near the table. I will raise the neck higher while drawing it slightly inward so the body can swing underneath.
move_to
left_x0.4900left_y-0.1050left_z0.2700
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3149, 1.9518, 1.2198, 0.0982, -0.3523, -0.2623, 0.2451, -0.0193, 0.7639, 0.5522, -0.4019, -0.0303, -0.0364, 0.9998] state[eef_state]: left_x=0.5246 left_y=-0.103 left_z=0.0984 left_yaw=0.1068 left_pitch=-0.0286 left_roll=0.0002 left_gripper=0.2451 right_x=0.2834 right_y=0.0035 right_z=0.1599 right_yaw=-0.0016 right_pitch=-0.0427 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.5402, -13.3128, 9.388, 1.7656, -0.1636, 0.105, -0.0952, -0.4034, -1.7846, 7.1179, 2.0342, -0.0659, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_y":-0.105,"left_z":0.27},"note":"The left bottle appears to be following the neck lift, but its base is still near the table. I will raise the neck higher while drawing it slightly inward so the body can swing underneath."})
tool
executing move_to over 12 steps (1.2s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteThe bottle did not remain in the grip and is still lying down. I will return to its neck with the jaws open, then use a firmer grasp before lifting again.
move_to
left_x0.5350left_y-0.1300left_z0.0650left_gripper0.6500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3485, 1.7405, 1.5349, -0.4419, -0.3824, -0.2893, 0.245, -0.0193, 0.741, 0.5106, -0.3775, -0.0303, -0.036, 0.9998] state[eef_state]: left_x=0.4969 left_y=-0.1066 left_z=0.2399 left_yaw=0.1125 left_pitch=-0.0332 left_roll=-0.0002 left_gripper=0.245 right_x=0.2802 right_y=0.0035 right_z=0.152 right_yaw=-0.0018 right_pitch=-0.037 right_roll=0.0001 right_gripper=0.9998 state[joint_eff]: [-0.5812, -11.7128, 9.5248, 1.5311, -0.2759, 0.1099, -0.022, -0.4034, -1.2923, 6.9812, 1.9463, -0.0708, -0.0513, -0.0122] camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.535,"left_y":-0.13,"left_z":0.065,"left_gripper":0.65},"note":"The bottle did not remain in the grip and is still lying down. I will return to its neck with the jaws open, then use a firmer grasp before lifting again."})
tool
executing move_to over 12 steps (1.2s)
step 65
top_cam
camera top_cam step 65
left_cam
camera left_cam step 65
right_cam
camera right_cam step 65
assistant
agent noteThe bottle neck is now very close to the fingertips and slightly left of center. I will move back and left a little and lower the jaws around it.
move_to
left_x0.5150left_y-0.1100left_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3676, 2.0598, 1.2491, 0.1547, -0.4046, -0.292, 0.6481, -0.0193, 0.7193, 0.4736, -0.3588, -0.0303, -0.036, 0.9998] state[eef_state]: left_x=0.5308 left_y=-0.126 left_z=0.0672 left_yaw=0.113 left_pitch=-0.0346 left_roll=0.0134 left_gripper=0.6481 right_x=0.2768 right_y=0.0036 right_z=0.1445 right_yaw=-0.0018 right_pitch=-0.0335 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.8684, -10.5094, 5.2581, 1.8339, -0.2711, -0.0024, -0.0562, -0.3897, -1.3333, 7.2957, 1.9756, -0.0317, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.515,"left_y":-0.11,"left_z":0.025},"note":"The bottle neck is now very close to the fingertips and slightly left of center. I will move back and left a little and lower the jaws around it."})
tool
executing move_to over 3 steps (0.3s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteThe cap is still left of the jaw centerline. I will correct that lateral offset and close fully on the neck to check for a secure grasp.
move_to
left_x0.5150left_y-0.0830left_z0.0250left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3508, 2.0743, 1.1099, 0.3973, -0.421, -0.2714, 0.6488, -0.0193, 0.7017, 0.445, -0.3439, -0.0299, -0.036, 0.9998] state[eef_state]: left_x=0.5252 left_y=-0.1115 left_z=0.052 left_yaw=0.1325 left_pitch=0.0484 left_roll=-0.0019 left_gripper=0.6488 right_x=0.2743 right_y=0.0036 right_z=0.139 right_yaw=-0.0021 right_pitch=-0.0297 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.1299, -8.4991, 3.8359, 0.9988, 0.149, -0.2076, 0.0659, -0.1846, -1.4017, 6.8034, 1.9512, -0.0611, -0.0269, -0.0122] camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.515,"left_y":-0.083,"left_z":0.025,"left_gripper":0},"note":"The cap is still left of the jaw centerline. I will correct that lateral offset and close fully on the neck to check for a secure grasp."})
tool
executing move_to over 7 steps (0.7s)
step 75
top_cam
camera top_cam step 75
left_cam
camera left_cam step 75
right_cam
camera right_cam step 75
assistant
agent noteThat close was empty, and the arm is not tracking the low, far-reaching target. I will instead grasp the nearer shoulder of the bottle, which is within a more comfortable reach.
move_to
left_x0.4400left_y-0.1500left_z0.0900left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3405, 2.0758, 1.0878, 0.487, -0.4088, -0.2703, 0.0106, -0.0193, 0.6861, 0.4194, -0.3351, -0.0303, -0.036, 0.9998] state[eef_state]: left_x=0.5303 left_y=-0.1096 left_z=0.0602 left_yaw=0.1344 left_pitch=0.1041 left_roll=-0.0369 left_gripper=0.0106 right_x=0.2715 right_y=0.0037 right_z=0.1331 right_yaw=-0.0018 right_pitch=-0.0309 right_roll=-0.0 right_gripper=0.9998 state[joint_eff]: [-0.1983, -8.6359, 4.3145, 1.1013, 0.1294, -0.0366, 0.9402, -0.1983, -1.2103, 6.7761, 1.9756, -0.0611, -0.0366, -0.0122] camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.44,"left_y":-0.15,"left_z":0.09,"left_gripper":1},"note":"That close was empty, and the arm is not tracking the low, far-reaching target. I will instead grasp the nearer shoulder of the bottle, which is within a more comfortable reach."})
tool
executing move_to over 10 steps (1.0s)
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 bottle shoulder is visible between the open jaws. I will advance slightly and lower around the shoulder, behind the cap, rather than reaching for the far end.
move_to
left_x0.4800left_y-0.1300left_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5255, 1.8317, 0.9501, 0.1825, -0.5327, -0.4019, 0.9944, -0.0193, 0.6655, 0.3916, -0.3214, -0.0307, -0.0364, 0.9998] state[eef_state]: left_x=0.4451 left_y=-0.1502 left_z=0.0733 left_yaw=0.1163 left_pitch=-0.0269 left_roll=0.0131 left_gripper=0.9944 right_x=0.2689 right_y=0.0038 right_z=0.1284 right_yaw=-0.0013 right_pitch=-0.0244 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.5949, -11.959, 6.1197, 1.746, -0.2418, -0.0317, -0.1538, -0.294, -0.6632, 6.8718, 2.0, -0.0513, -0.0415, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). 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":{"left_x":0.48,"left_y":-0.13,"left_z":0.035},"note":"The bottle shoulder is visible between the open jaws. I will advance slightly and lower around the shoulder, behind the cap, rather than reaching for the far end."})
tool
executing move_to over 3 steps (0.3s)
step 88
top_cam
camera top_cam step 88
left_cam
camera left_cam step 88
right_cam
camera right_cam step 88
assistant
agent noteThe jaws are now alongside the bottle body near its shoulder. I will close firmly here and use a short lift to verify that the bottle is actually held.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4465, 1.9759, 0.9508, 0.3374, -0.4931, -0.3756, 0.9956, -0.0193, 0.6533, 0.3729, -0.3172, -0.0299, -0.036, 0.9998] state[eef_state]: left_x=0.4679 left_y=-0.1273 left_z=0.0333 left_yaw=0.1499 left_pitch=-0.0326 left_roll=0.0077 left_gripper=0.9956 right_x=0.2666 right_y=0.0037 right_z=0.1237 right_yaw=-0.0021 right_pitch=-0.0267 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [-0.212, -9.8803, 6.7077, 1.3944, -0.2418, 0.3394, 0.1099, -0.4034, -1.0325, 6.7624, 1.9414, -0.0659, -0.0562, -0.0122] camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The jaws are now alongside the bottle body near its shoulder. I will close firmly here and use a short lift to verify that the bottle is actually held."})
tool
executing move_to over 10 steps (1.0s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteThe gripper stopped at about 3.5 cm, indicating contact with the bottle. I will lift it clear while bringing the idle arm back to its parked height.
move_to
left_x0.4500left_z0.1800right_x0.2940right_y0.0040right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4454, 1.9789, 0.9428, 0.4725, -0.5316, -0.3702, 0.3707, -0.0193, 0.6384, 0.3485, -0.3126, -0.0303, -0.036, 0.9998] state[eef_state]: left_x=0.4817 left_y=-0.1268 left_z=0.0555 left_yaw=0.1808 left_pitch=0.0819 left_roll=-0.0404 left_gripper=0.3707 right_x=0.2634 right_y=0.0039 right_z=0.1172 right_yaw=-0.0018 right_pitch=-0.0316 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.3624, -9.4974, 3.8632, 1.072, 0.1343, -0.022, 0.3883, -0.294, -0.8821, 6.9538, 1.9609, -0.0464, -0.0415, -0.0122] camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.45,"left_z":0.18,"right_x":0.294,"right_y":0.004,"right_z":0.20},"note":"The gripper stopped at about 3.5 cm, indicating contact with the bottle. I will lift it clear while bringing the idle arm back to its parked height."})
tool
executing move_to over 9 steps (0.9s)
step 107
top_cam
camera top_cam step 107
left_cam
camera left_cam step 107
right_cam
camera right_cam step 107
assistant
agent noteThe bottle has lifted with the jaws but is still angled. I will raise it enough for its base to clear the table and relax the grip slightly so gravity can turn the base downward.
move_to
left_x0.4300left_z0.2900left_gripper0.4000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.477, 1.6905, 1.1336, -0.1448, -0.5411, -0.421, 0.3695, -0.0189, 0.7929, 0.6338, -0.4561, -0.0303, -0.0399, 0.9998] state[eef_state]: left_x=0.4525 left_y=-0.1274 left_z=0.1527 left_yaw=0.1814 left_pitch=-0.0256 left_roll=0.0032 left_gripper=0.3695 right_x=0.2878 right_y=0.0035 right_z=0.1783 right_yaw=0.0007 right_pitch=-0.0442 right_roll=-0.0029 right_gripper=0.9998 state[joint_eff]: [-0.5402, -10.988, 9.306, 1.6093, -0.3736, 0.0366, -0.1294, 0.3214, -0.8274, 10.0444, 1.8828, -0.0073, 0.0073, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_z":0.29,"left_gripper":0.4},"note":"The bottle has lifted with the jaws but is still angled. I will raise it enough for its base to clear the table and relax the grip slightly so gravity can turn the base downward."})
tool
executing move_to over 9 steps (0.9s)
step 116
top_cam
camera top_cam step 116
left_cam
camera left_cam step 116
right_cam
camera right_cam step 116
assistant
agent noteThe bottle is back on the table; relaxing the jaws did not retain it. I will regrasp the shoulder and maintain a fully closed command during the lift this time.
move_to
left_x0.4750left_y-0.1300left_z0.0450left_gripper0.8000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5098, 1.6005, 1.4956, -0.5873, -0.5632, -0.4469, 0.399, -0.02, 0.7673, 0.5888, -0.4412, -0.0307, -0.0399, 0.9998] state[eef_state]: left_x=0.4378 left_y=-0.1326 left_z=0.27 left_yaw=0.1795 left_pitch=-0.0092 left_roll=-0.0134 left_gripper=0.399 right_x=0.2828 right_y=0.0033 right_z=0.1677 right_yaw=-0.0001 right_pitch=-0.0487 right_roll=-0.0026 right_gripper=0.9998 state[joint_eff]: [-0.4855, -9.5795, 9.0462, 1.5653, -0.4127, 0.0562, -0.1148, -0.3761, -1.7162, 7.0222, 2.0635, -0.105, -0.0366, -0.0122] camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.475,"left_y":-0.13,"left_z":0.045,"left_gripper":0.8},"note":"The bottle is back on the table; relaxing the jaws did not retain it. I will regrasp the shoulder and maintain a fully closed command during the lift this time."})
tool
executing move_to over 15 steps (1.5s)
step 131
top_cam
camera top_cam step 131
left_cam
camera left_cam step 131
right_cam
camera right_cam step 131
assistant
agent noteThe bottle body is centered between the jaws. I will close lower on the body so the fingers grip its sides rather than just touching the top.
move_to
left_z0.0150left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4629, 1.9549, 0.9966, 0.2489, -0.5381, -0.4149, 0.7982, -0.02, 0.7376, 0.5407, -0.4187, -0.0303, -0.0395, 0.9998] state[eef_state]: left_x=0.469 left_y=-0.1289 left_z=0.0465 left_yaw=0.1901 left_pitch=-0.0329 left_roll=0.0113 left_gripper=0.7982 right_x=0.2783 right_y=0.0034 right_z=0.1582 right_yaw=-0.0007 right_pitch=-0.0445 right_roll=-0.0026 right_gripper=0.9998 state[joint_eff]: [0.5128, -9.388, 5.0667, 1.6777, -0.1294, 0.1978, -0.0659, -0.3487, -1.5248, 6.9538, 2.1123, -0.0659, -0.0024, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 131): [image omitted: streamed camera frame] camera 'left_cam' (step 131): [image omitted: streamed camera frame] camera 'right_cam' (step 131): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.015,"left_gripper":0},"note":"The bottle body is centered between the jaws. I will close lower on the body so the fingers grip its sides rather than just touching the top."})
tool
executing move_to over 8 steps (0.8s)
step 139
top_cam
camera top_cam step 139
left_cam
camera left_cam step 139
right_cam
camera right_cam step 139
assistant
agent noteThe close was empty again; the bottle lies farther beyond the fingertips than the wrist view first suggested. I will move the open jaws farther over the body before trying a lower grasp.
move_to
left_x0.5150left_y-0.1300left_z0.0700left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4667, 2.0026, 0.9634, 0.5182, -0.5743, -0.4194, 0.0109, -0.02, 0.7113, 0.498, -0.3958, -0.0303, -0.0399, 0.9998] state[eef_state]: left_x=0.4877 left_y=-0.1343 left_z=0.0625 left_yaw=0.2232 left_pitch=0.1277 left_roll=-0.0935 left_gripper=0.0109 right_x=0.2747 right_y=0.0034 right_z=0.1502 right_yaw=-0.0005 right_pitch=-0.0381 right_roll=-0.003 right_gripper=0.9998 state[joint_eff]: [-0.0752, -5.9282, 3.3709, 0.6764, 0.1343, 0.0952, 0.9451, -0.5402, -1.3197, 6.9675, 2.044, -0.0904, -0.0464, -0.0122] approver: 8 step(s) modified (delta_clamped ×8). camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.515,"left_y":-0.13,"left_z":0.07,"left_gripper":1},"note":"The close was empty again; the bottle lies farther beyond the fingertips than the wrist view first suggested. I will move the open jaws farther over the body before trying a lower grasp."})
tool
executing move_to over 10 steps (1.0s)
step 149
top_cam
camera top_cam step 149
left_cam
camera left_cam step 149
right_cam
camera right_cam step 149
assistant
agent noteThe bottle body is centered, but still ahead of the gripping point. I will advance over it and close at body height, without pressing down into the table.
move_to
left_x0.5500left_y-0.1300left_z0.0450left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4366, 2.03, 1.1755, 0.1593, -0.5571, -0.4198, 0.9944, -0.02, 0.6907, 0.4622, -0.3767, -0.0307, -0.0395, 0.9998] state[eef_state]: left_x=0.5052 left_y=-0.1287 left_z=0.0625 left_yaw=0.2336 left_pitch=-0.0141 left_roll=0.0082 left_gripper=0.9944 right_x=0.2718 right_y=0.0036 right_z=0.143 right_yaw=-0.0004 right_pitch=-0.0342 right_roll=-0.0026 right_gripper=0.9998 state[joint_eff]: [0.6085, -9.6342, 8.9094, 1.6239, -0.1099, 0.0952, -0.1343, -0.5402, -1.4154, 6.9128, 1.9609, -0.0952, -0.022, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.55,"left_y":-0.13,"left_z":0.045,"left_gripper":0},"note":"The bottle body is centered, but still ahead of the gripping point. I will advance over it and close at body height, without pressing down into the table."})
tool
executing move_to over 10 steps (1.0s)
step 159
top_cam
camera top_cam step 159
left_cam
camera left_cam step 159
right_cam
camera right_cam step 159
assistant
agent noteThe jaws closed above the bottle instead of around it. I will open first and lower separately, so the fingers can reach both sides before closing.
move_to
left_gripper0.8500left_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3985, 2.1601, 1.3289, 0.2222, -0.5583, -0.4183, 0.0112, -0.02, 0.672, 0.432, -0.3656, -0.0303, -0.0395, 0.9998] state[eef_state]: left_x=0.5508 left_y=-0.1264 left_z=0.0653 left_yaw=0.2729 left_pitch=0.0539 left_roll=-0.0435 left_gripper=0.0112 right_x=0.2687 right_y=0.0036 right_z=0.1362 right_yaw=-0.0007 right_pitch=-0.0346 right_roll=-0.0028 right_gripper=0.9998 state[joint_eff]: [0.1299, -8.8957, 7.5009, 1.2479, 0.105, 0.3004, 0.9158, -0.3624, -1.0735, 6.7897, 1.9707, -0.0855, -0.022, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.85,"left_z":0.025},"note":"The jaws closed above the bottle instead of around it. I will open first and lower separately, so the fingers can reach both sides before closing."})
tool
executing move_to over 9 steps (0.9s)
step 168
top_cam
camera top_cam step 168
left_cam
camera left_cam step 168
right_cam
camera right_cam step 168
assistant
agent noteThe open fingers now straddle the bottle, but the measured height is still about five centimetres. I will draw inward slightly while lowering to reach below the body's widest point.
move_to
left_x0.5300left_z0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3943, 2.2147, 1.3613, 0.2283, -0.5686, -0.4271, 0.8459, -0.02, 0.6514, 0.4007, -0.35, -0.0307, -0.0399, 0.9998] state[eef_state]: left_x=0.5572 left_y=-0.1249 left_z=0.05 left_yaw=0.2895 left_pitch=0.045 left_roll=-0.0365 left_gripper=0.8459 right_x=0.266 right_y=0.0037 right_z=0.1302 right_yaw=-0.0002 right_pitch=-0.0297 right_roll=-0.003 right_gripper=0.9998 state[joint_eff]: [-0.6632, -9.1145, 5.2308, 1.4676, -0.1294, 0.0269, -0.0952, -0.294, -0.9915, 6.8718, 1.956, -0.1245, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 168): [image omitted: streamed camera frame] camera 'left_cam' (step 168): [image omitted: streamed camera frame] camera 'right_cam' (step 168): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.53,"left_z":0},"note":"The open fingers now straddle the bottle, but the measured height is still about five centimetres. I will draw inward slightly while lowering to reach below the body's widest point."})
tool
executing move_to over 4 steps (0.4s)
step 172
top_cam
camera top_cam step 172
left_cam
camera left_cam step 172
right_cam
camera right_cam step 172
assistant
agent noteThe arm cannot reach the requested low pose at the far end. I will make one last approach to the nearer, wider part of the bottle, correcting for its diagonal position on the table.
move_to
left_x0.4550left_y-0.1900left_z0.0900left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4068, 2.22, 1.2961, 0.363, -0.5995, -0.4355, 0.8463, -0.02, 0.6338, 0.374, -0.3424, -0.0307, -0.0395, 0.9998] state[eef_state]: left_x=0.5534 left_y=-0.126 left_z=0.0482 left_yaw=0.3091 left_pitch=0.1049 left_roll=-0.072 left_gripper=0.8463 right_x=0.263 right_y=0.0037 right_z=0.1239 right_yaw=-0.0004 right_pitch=-0.0312 right_roll=-0.0026 right_gripper=0.9998 state[joint_eff]: [-1.2103, -8.841, 2.7419, 0.5885, 0.0513, -0.0073, 0.0317, -0.294, -0.7043, 6.9265, 1.9951, -0.1197, -0.0562, -0.0122] camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.455,"left_y":-0.19,"left_z":0.09,"left_gripper":1},"note":"The arm cannot reach the requested low pose at the far end. I will make one last approach to the nearer, wider part of the bottle, correcting for its diagonal position on the table."})
tool
executing move_to over 8 steps (0.8s)
step 180
top_cam
camera top_cam step 180
left_cam
camera left_cam step 180
right_cam
camera right_cam step 180
assistant
agent noteThe left arm has stopped tracking the inward command at this low reach. I will lift it clear before any further repositioning and restore the idle arm to its parked pose.
move_to
left_x0.5000left_y-0.1300left_z0.2200left_gripper1.0000right_x0.2940right_y0.0040right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4118, 2.22, 1.277, 0.4145, -0.6109, -0.45, 0.9979, -0.02, 0.614, 0.3466, -0.3347, -0.0307, -0.0395, 0.9998] state[eef_state]: left_x=0.5531 left_y=-0.1271 left_z=0.0511 left_yaw=0.3237 left_pitch=0.1325 left_roll=-0.1024 left_gripper=0.9979 right_x=0.2599 right_y=0.0038 right_z=0.1177 right_yaw=-0.0004 right_pitch=-0.0312 right_roll=-0.0026 right_gripper=0.9998 state[joint_eff]: [-0.9231, -8.6906, 3.1385, 0.7839, -0.022, -0.0024, -0.2125, -0.3624, -0.6222, 6.9402, 1.9414, -0.1099, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 180): [image omitted: streamed camera frame] camera 'left_cam' (step 180): [image omitted: streamed camera frame] camera 'right_cam' (step 180): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.5,"left_y":-0.13,"left_z":0.22,"left_gripper":1,"right_x":0.294,"right_y":0.004,"right_z":0.2},"note":"The left arm has stopped tracking the inward command at this low reach. I will lift it clear before any further repositioning and restore the idle arm to its parked pose."})
tool
executing move_to over 11 steps (1.1s)
step 191
top_cam
camera top_cam step 191
left_cam
camera left_cam step 191
right_cam
camera right_cam step 191
assistant
agent noteI have not obtained a reliable grasp, and the far, low poses are not tracking safely. I will withdraw the left arm and leave the bottles on the table rather than continue pushing them farther away.
move_to
left_x0.3000left_y0.0000left_z0.2200left_gripper1.0000right_x0.2940right_y0.0040right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4644, 1.9282, 1.5539, -0.4107, -0.638, -0.5133, 0.9979, -0.0193, 0.7937, 0.6376, -0.4637, -0.0303, -0.0402, 0.9998] state[eef_state]: left_x=0.5068 left_y=-0.1322 left_z=0.1759 left_yaw=0.3182 left_pitch=-0.0434 left_roll=0.0308 left_gripper=0.9979 right_x=0.2873 right_y=0.0034 right_z=0.1783 right_yaw=0.0005 right_pitch=-0.0487 right_roll=-0.0031 right_gripper=0.9998 state[joint_eff]: [-0.6222, -14.9128, 10.441, 1.5653, -0.442, 0.0171, -0.2271, -0.1026, -0.759, 9.935, 1.9219, -0.022, 0.0269, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":0,"left_z":0.22,"left_gripper":1,"right_x":0.294,"right_y":0.004,"right_z":0.2},"note":"I have not obtained a reliable grasp, and the far, low poses are not tracking safely. I will withdraw the left arm and leave the bottles on the table rather than continue pushing them farther away."})
tool
executing move_to over 16 steps (1.6s)
step 207
top_cam
camera top_cam step 207
left_cam
camera left_cam step 207
right_cam
camera right_cam step 207
assistant
agent noteI could not obtain and verify a secure grasp to stand the bottles. Low targets near the far bottle neck stopped tracking, and the attempted body grasps slipped or closed empty. All three bottles remain lying down; I withdrew the arms rather than continue pushing them away.
give_up
hindsightSeparate opening, positioning, lowering, and closing; combining descent with closure can close the jaws before they surround a bottle. In this attempt, low left-arm targets around x=0.53–0.55 stalled at z≈0.05–0.06 and lateral repositioning also stopped tracking; raising to a higher pose allowed withdrawal. A nonzero gripper reading alone did not verify retention: check actual bottle movement during the lift before proceeding. With pitch and roll pinned, standing a horizontal bottle would require a verified pivoting grasp or another supported reorientation strategy.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3237, 0.9554, 0.8291, -0.5133, -0.5484, -0.4191, 0.9979, -0.0193, 0.7925, 0.6495, -0.4805, -0.0303, -0.0437, 0.9998] state[eef_state]: left_x=0.3106 left_y=-0.0033 left_z=0.2246 left_yaw=0.3395 left_pitch=0.0263 left_roll=-0.0298 left_gripper=0.9979 right_x=0.2862 right_y=0.0034 right_z=0.1806 right_yaw=0.0024 right_pitch=-0.0525 right_roll=-0.0058 right_gripper=0.9998 state[joint_eff]: [0.4991, -2.3453, 6.8034, 1.5995, -0.188, 0.0464, -0.2271, 0.0342, -0.4308, 10.3453, 1.9023, -0.0513, -0.0024, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not obtain and verify a secure grasp to stand the bottles. Low targets near the far bottle neck stopped tracking, and the attempted body grasps slipped or closed empty. All three bottles remain lying down; I withdrew the arms rather than continue pushing them away.","hindsight":"Separate opening, positioning, lowering, and closing; combining descent with closure can close the jaws before they surround a bottle. In this attempt, low left-arm targets around x=0.53–0.55 stalled at z≈0.05–0.06 and lateral repositioning also stopped tracking; raising to a higher pose allowed withdrawal. A nonzero gripper reading alone did not verify retention: check actual bottle movement during the lift before proceeding. With pitch and roll pinned, standing a horizontal bottle would require a verified pivoting grasp or another supported reorientation strategy."})
tool
give_up: I could not obtain and verify a secure grasp to stand the bottles. Low targets near the far bottle neck stopped tracking, and the attempted body grasps slipped or closed empty. All three bottles remain lying down; I withdrew the arms rather than continue pushing them away.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [0, 0], left_roll: [0, 0], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [0, 0], right_roll: [0, 0], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 9.537 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]: [-0.0212, 0.7937, 0.6094, -0.3763, -0.0227, -0.0288, 0.9985, -0.0162, 0.7895, 0.6037, -0.3855, -0.0299, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.2959 left_y=0.0013 left_z=0.1833 left_yaw=-0.0003 left_pitch=0.0004 left_roll=-0.0002 left_gripper=0.9985 right_x=0.2937 right_y=0.0041 right_z=0.18 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.5675, -1.4427, 9.7573, 1.7411, -0.0415, 0.1294, -0.1587, -0.8, -1.2513, 10.441, 1.8828, 0.0855, 0.2076, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:504ff7f52bf9548bff719edf8871d5ee59ebee418fdcde9b2aa41ba4c86642fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16dc433eb6937a88acc25b17a29916506ff32f95da5e817da017d10b6b390a75",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:901e10be4401b0aeb51fdc2740a334032988277b65522227aa021a9d010a77d7",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 8.103 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqsr04Ien2lz_emIQTWEOfuSSqXsJwhl2PsknaFzj_iWG9uPrsVUI4OC0LF-5m0SQ1wqM55GZE3JtCdLmiXhx74dxUmoBTws3wJVkTHWqFer6N8MdDdJKU_vNb7IT8BoV5-T6BxRuqATMzJLpnACpv6uDVhWW42o24kz7aEbB4h8KJDy3gcvwIPuMlWdF2bn9z5ZzPXW2h-fx55oaYnzHKexzXKoJl77NWp96wgwetEdROhB3EBeJTPCwvBf1JVbeU7wfTl_fOlZn8yJtIAD0wHgFdfQ7eNrb-mwFhoWai79TPyyGbc6pjtSY76oxs0Q951mja63xq1V-QLqRQdOSZbiA9FOBVFumUzPzfUnHWXN4upgWqLXaRkxECsfUnFW9ylEXPGsddvZoP151FPF4UJFyGHA77bRaflE2EOSVtA-o86asHtoz23v4VJIOIUFABXiUpYgRVSptPTJJhtxZkRi1hFZ0keUA3GKABRhykC9btgEya-LsTashkyVw582qNWmph70R9hK7ZMeTZuEjWA6U7sggGi3gmz834KNwEf8Kr6QEsW8-F1ilZ_3Ce-XcmebofCNbGTmIpHet_GbjHX4oTsJbQr81A88KFfn5BiVupU3OS1YrmjR8DXpEf95Tt_1wQQGXWg2bqaDUcIOINRQd8M55KduUOZqk7JBsAaQbE2Vm4ktsmQi12tDXOiscE4yx733S9tqOj-WOBkFPRyqr5A6GkAx3fze_aNEV0cMY3mZ-wR2cT7BtgmoyvTvzEqa1rcUABq1nbRs6SuIhIvXmDAMQzGCfm7kZSHcw1BcCUwdohYSrT76dRlcMXrP5ngMdCEVZRsYTuIOo06Ca0qxqfRC2DLt2WxBI6j9klVkY8m3CLypvKYkyqsn5MsP1FfymPg6xW5KcD9rfZ-KNDfwa9HaTMtCBoaMujMF-Ez7WW-WkIPif5oyFLdp04VEem910snZ3dI7RBHPMN5hzDB0DqyuCjTVFyag-AAEtqmFx60-BcNXvGBN0905UY_0nQnm4tU_1N_HrEYJI5P_qC_wLu2otcgtVzrFajpKltC6idbNjn8qYfR3HhbfbkA_EiPAqgLHp8DqaLPM04xtRWmzNPDih-ipdYR3iaL-6O8bvW9sHxVvTRej74SmvVbsbkhEQil_06htBMuNt6TOOaMjWaZsE2Rydk2FAIOWS3EnePBvHLOpeOBNkNSMIlxWOTx7lcwPP-ujwK-lzLL-BSs36SFgjvWad_eguur-zG7tWsRwai3krCoiKq4bhqI1ijw3ITd5R5s6OkhSIS129zYqVyEwGP9L4LrY0g4rnQ-mKw3dAkfGRf3FbrszkuKOEvo3hffOdN-feZ_SGeIPP_q4pz83aZFw1v9QZEXshEBvkuYC65L0fwUT4lMrCdNmpaVar_3SOdApDmoCn78SLhqV6w1bHEGrVPIgDzrgpKMqrhAWP7q-GHGHst9Peaq_U9dyJ-5zcjEGRAby6ygZnrMKTzs2J9O36hNpbqZECOLMIouKVWCluFpBI22ux7COcQAQjhQI1pNvIG99KFHuSH9dFRNu3ceKWj0qgghiIMidYlBXCbNri4BHZik8irZfkUm9Q04pxALAU4MTurvHxpOqwdtKfVW44z8XffLUdLiSwbDht4Ywtn9RTSgFI8n9W6TH8v_1_IDS09ps_kKqc8TAJvdce8sb91JGdGX3FMzq288ys=",
  "id": "rs_06505cdaf2a3c470016ab2bd318e1087d0a6d6cd91c97bb2dd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.18,\"left_z\":0.15,\"left_gripper\":1},\"note\":\"All three bottles are lying on their sides, with their caps toward the far edge. I will approach the left bottle near its neck so I can lift that end and let the body swing downward.\"}",
  "call_id": "call_WwggA1f5N6sSAmFMqLyivLbG",
  "id": "fc_06505cdaf2a3c470016ab2bd3679a487d0a120accda61277e4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WwggA1f5N6sSAmFMqLyivLbG",
  "output": "executing move_to over 17 steps (1.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5755, 1.6344, 1.0035, -0.0772, -0.4706, -0.3508, 0.9986, -0.0193, 0.794, 0.6033, -0.4042, -0.0299, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4171 left_y=-0.1709 left_z=0.1315 left_yaw=-0.0095 left_pitch=-0.0581 left_roll=0.0273 left_gripper=0.9986 right_x=0.2914 right_y=0.0033 right_z=0.1747 right_yaw=-0.0021 right_pitch=-0.024 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -7.9521, 9.1282, 1.8291, -0.2857, -0.0659, -0.1538, -0.1026, -1.5932, 7.0085, 1.8632, -0.0122, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dcd57de406b3ebcf936bd5c97a7a16b9331939ea644a9ec87a5b9301e8f6b75",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fc75298eb1db36e8aeebaa11346b6468a025da075cf0e5d9dc738119f1b6bc0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd792a44d0ecba578788ff6bb1b83f19b2f4e0ec96d0b5f5feae5333ba5f5805",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 2 attempt 0 · /responses · status 200 · 9.101 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]: [-0.0212, 0.7937, 0.6094, -0.3763, -0.0227, -0.0288, 0.9985, -0.0162, 0.7895, 0.6037, -0.3855, -0.0299, -0.0349, 0.9998]\nstate[eef_state]: left_x=0.2959 left_y=0.0013 left_z=0.1833 left_yaw=-0.0003 left_pitch=0.0004 left_roll=-0.0002 left_gripper=0.9985 right_x=0.2937 right_y=0.0041 right_z=0.18 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.5675, -1.4427, 9.7573, 1.7411, -0.0415, 0.1294, -0.1587, -0.8, -1.2513, 10.441, 1.8828, 0.0855, 0.2076, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr1CQJtxeiFviKe_ifjdEIiVjWJtscFjJpvLQrkzsqdLPJI88M-Tq_L_b2iH6Ycr85YQUD_wm8ne7MdITYczV7xnDJn7ikJcWwn5V-u1v8cVWa6VoQgUOfxn7hiLoA9IB_Ryw4lKYXxOyNgJCKQ8-QAvpNOf_PpDZ_Lj4wmNnonB7oZJt1vDmyOZ9pyMBrp99i0m5NiwwGHD5OzuRTaPH3HaYrBEWieZkMZBFybIOAB9noR-13Q3K7ZIssGJdjI7DPICWVdb6n_6GJsn6mT7yJoqo52ih6BVr2pjz08iXg-O-D2DI_QjP5Rv24BdDPgBg0DfXgnS39pmB0BEKKtgI8NmBtQOrMhZG1QGn8QXiY1OnFVY0mlsFZ-ld-tv-fu_WWLN9tO5wgHvvwCDhrl9JdVWDFKAT1MX_ltk_DGC-v9818noDb1TAD9g23LDQj9SPmhPyhl6URiRryafx1vtRHU9lLNZ0WF3lOVgIlmFsk9INN2JcgXaFUplWAptIULcT5DGOhxpJMyzd8Ndx1rkzM1El24d0y8ow33wULQD4-LUqVua3FeaJ00DBaTtyPOMX8Ml_VDVpJpAOI523sg9NCLvQVubWFMx0sKa12kRnOuSh-xHFHdd2sAkOGX9e9gwEJdyGbNz7NpAnR9iZ8zV12RO6X-Ho0mylLbEIophJMCaIR3HEaZcq9X_TBbUiodjWDTwP-NmVnQuErxrvE8_2lLeersiasRHNhO1X7rdzer-dCS3ovQb4nRzi-r3XQfjflrtkBHwQdP-hTAcenN8utXJfT9P8ESnoxypkLRZOsDnRJfXndaQD9rlKrSz-_2EMEwT9VEIulz3PYdk-DXVKW28MkmVV0NFXLvsPZmCfDoMP_eycWCulqrxlGr56y-IBacAAwgviqdgRIZVqXPvSc_IHqa5dDt2Dx7mK1-1DONp09R35b7ANf9yQzI2ztwrS59K0d9c5NmVJNH53XJMbRMiLV1LYyO0PsGzjhx0lmdPLnBxqfLGVc9RLRg__XQK7VwyZdTJCSewiQxRw0aVsiQuHxUDnd-8ToIyx_I3xn5N5pjg0A8jXbb6pLx4riqnYG0ELDlQLQR_pc1QJBWUmywiNyY2UvclS7rnzabiaCPEb-nEg-CMySoe72kHzQXE8Rpm2PBcBCpmx88NFfNgocRWjmMfw7GCia7NcXcD2kldrD-AQ5hoGs2jZYPfeX5BnpBYUsJWBT04JJ0N8pTyd0Myl04fbNPUZ5PeYUL_aMo77KDo5eGacDdwyeheqGr33BWLo_0kqyC9n9jegKPHFs7hI2ZaXHcvQrnWH5QVnnM4AU-oYiR3F44OJSxcKpviIW_-R-FPKbILFloiJDt-Hd5RkONKtxHJRlL-Dsrv3AHxpXONo7swHYl60vLMeduHNS783FYh2cuLXjpGStqUJSEsdVGmf9bb4MwQ5KV3DQcPocBTVrSyxj120UPKpdIKpIwC2cpv8G6-XfKJAAqTYXe6t9zCg7pFIwmdlvA9dGqKbHgmuTAsZNtAYQu7qK7n2rlMzsHdsiJ2PaPkvNQpcgS3hDC5970BvRmZYeCngbpeZB9a60T-eOT1iina86dIChVe4rW6ajbS8nokvudlcuWdJgygOrHnhVPi4255d_Z0Kp-I1XevgfT73wzldDw0elCEdiJb5EvD0090NR6ZHMg2TlSaf01EqYkyrjl0LX_AOP-s_n_3R89Cz60zP7FSuMnfjRGlxGVUoOTAcQ9xWovbUPJaszcMCS40HienFniYUw0=",
  "id": "rs_06505cdaf2a3c470016ab2bd3c327087d0994bf0f287e29fcf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.14,\"left_z\":0.055},\"note\":\"The left bottle's cap is left of the jaw column in the wrist view. I will shift toward the cap and lower to neck height before closing.\"}",
  "call_id": "call_DGQK5tIwflQJpXci81GmKm5E",
  "id": "fc_06505cdaf2a3c470016ab2bd4008cc87d09b0aab28271c4484",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DGQK5tIwflQJpXci81GmKm5E",
  "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]: [-0.4168, 1.9133, 0.9375, 0.2813, -0.3847, -0.2817, 0.9984, -0.0193, 0.7834, 0.5823, -0.3973, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.463 left_y=-0.1286 left_z=0.0419 left_yaw=0.0432 left_pitch=-0.0747 left_roll=0.0282 left_gripper=0.9984 right_x=0.289 right_y=0.0034 right_z=0.1694 right_yaw=-0.0018 right_pitch=-0.0274 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.253, -8.7863, 7.241, 1.6484, 0.0952, 0.3932, -0.0317, -0.4034, -1.6752, 6.7624, 1.8926, -0.0659, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:604ab2dfa2aaa977e3e55c9bbf66a49d6116d86bfa7541dba9cf6940c6fe8480",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8c93a61ba2b246d5111d59d0774b178c48db05d7245464e01d34001217f68b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fdd90184c66cc7253d8a16a90c0f120600730f3eb6e5f85444c4f6d050e1a4e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 8.018 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]: [-0.5755, 1.6344, 1.0035, -0.0772, -0.4706, -0.3508, 0.9986, -0.0193, 0.794, 0.6033, -0.4042, -0.0299, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4171 left_y=-0.1709 left_z=0.1315 left_yaw=-0.0095 left_pitch=-0.0581 left_roll=0.0273 left_gripper=0.9986 right_x=0.2914 right_y=0.0033 right_z=0.1747 right_yaw=-0.0021 right_pitch=-0.024 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -7.9521, 9.1282, 1.8291, -0.2857, -0.0659, -0.1538, -0.1026, -1.5932, 7.0085, 1.8632, -0.0122, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr1LuJI3dpHu6U68A-ltci4FUOJlOU_uf1CCtqcbW4IveG7VQyNmkRR2WAxcW5_pzKCduVXrvlnMJ9-FOQZB7vTwmNPcXGrrP-wQNxumiRcmXOPaAxKZKv9idyNQFwUNwIDQCka9PbdesPXLfQUcX3fYVyDTUDHVx-5I312_xQ4yJk813qmt_1OM1N1itVyt4Q-cgF1Elx04lqYcdN7dILFioFiMQGgpbm7H-Gr3r5qUlHIEcBE66VB7rai4sgiCeTbuLQxGPUMGAibXkiLO3pVFCER9dGA2lMxo0SDQsnh_AIBtKZV3uvkZZxX0TcZ1exNNX7GGp3Mql1QKiR2fA6xRrdDI-KKdL3_MpnNJ6HMev5rYitmyLoRN--BFV8_kGU-zZSVqN86hNr3wMBStUhy6DI3n-vYlbCEkabLlBP0z8b78aHZ-ZOj0ucIRY4WqeT7JCZAPrvg5VS46RvSKBtACVaeHPPNl2Fs2zGGsvKGQbrffe85EXIy9yie0dBpFOnOmPzZ5sHWsYVnC1lCZSFc-Ddp03dsmcMliHpvsabqUS5jBfN7HZoR8vg-wa9WigZeMJZZFUzcf1yDmwqZLgv08Q09a3PZzmmh3Idv9-ibRrh__RquaMbnoMNS8e4yuumA6DRiBLfN6AEYY4WBbbSVwSoDQhAgzUqpkHo2hBTHruRTmmfdyjkY7eSHYrSjPGmbPPRH7Ohykk-5zXtJf3vgvqOv0vyfUHfJZzmCFHZRiUiB5Xo5wDKvbEP0hiNC8RazDMu6r9uNoRuhtxoHBCWIYlbtrrrSnXsUCpnC4yW81-TGhdZnurxZwRaZHH2dotFBBcAEBpj98hzLZrmg5v1wdy0RUpF1KV3PbG6JaS3vKdJFnH2BzZkHP4XVaXw1cSYU-CL7CUKLH1Kqg8NfozaFgTlM0q-WmWn6nek727lYgaBGa4YG997z3fUQIy_O34db0pQ8UekydbQXplcdMLU7q4jDNvtBLadR420SCMB7aCBPB4BaSR_36R0KjOch7Pjp1hoGUoSzGWYZv9CsfKeWC9EM_yPCvA4D_tgGgXNwU2nMALNXVbCJfCqsyXiqfqFuE5ACKS1ZiwwyJLaQRYy5hPq_8J_nVSqn4DTEuAFPbaUHvEnnuvmSWm1Ew83c6bxl0DBeZKz-ItKsbHnw3wNHuETzV5zmj3WTOUivyeQvKzYfnFPeyqnLcZZ72yViqvvrpg50LOeEjkqou4Y9qhLsO95kx8haJhbc_fC7WT3FtA9azAH9M8CCp8Nsgeu43qDC8yJvLft_moRPi5eq1wLaULUT2FRL1yJX8KeJoTHHjEwsOINZ6Wb5BCeGmT02V5JAVAVG-W3pGqzL-LrrGHoS7trxGBe_mE4ivyH6GiKdfez-_QRzBi8MA2WwDXW9SwgPlQPiqqez6F3iau48tNAB4YVJWiRvmAp1lfzWb5CepBBFoEbH79cfX0HhnzJ5__hESHAAs30Jhosqy1OQDPdp9VDqy9oZIPGWG2wRGiTH0OHND8REuZddvhyRh9hD0dnS7HvVhk9aBRWdsoQOZgNs4002Mll73DIXgXd7RdJX9qK6UV1iPSMnkOLfEQUsNdh2sgObbhjJUiDope3DpTbsFnjVI7_8_xQnNTPkOB7QvtZLFTa22SwPcBvfNTDzJ7KzN",
  "id": "rs_06505cdaf2a3c470016ab2bd44ccbc87d0858ad50deca3d131",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.54,\"left_y\":-0.105,\"left_z\":0.065},\"note\":\"The neck remains ahead of and slightly left of the fingertips. I will advance a little farther and center the jaws around the narrow neck rather than the wide bottle body.\"}",
  "call_id": "call_ub8XuL3aqqZWk4L55TBFcUxR",
  "id": "fc_06505cdaf2a3c470016ab2bd496e5087d0996dc5dce57673af",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ub8XuL3aqqZWk4L55TBFcUxR",
  "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]: [-0.2935, 2.0434, 1.1469, 0.3012, -0.3172, -0.2356, 0.9983, -0.0193, 0.7712, 0.5545, -0.3878, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.5311 left_y=-0.0992 left_z=0.0599 left_yaw=0.0848 left_pitch=-0.0011 left_roll=-0.0111 left_gripper=0.9983 right_x=0.2861 right_y=0.0034 right_z=0.1619 right_yaw=-0.0018 right_pitch=-0.0335 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -10.0855, 7.6376, 1.5116, 0.0513, 0.2173, -0.0171, -0.3624, -1.7573, 7.0632, 1.9707, -0.0806, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b7ad588c2d74617a513068d2d3e683cd1ef4a580f1a82a4c0071a5ef4dd243c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:155e8ca18dc0cf01c005d5edb9b376d71fac94b486a5827e41864c50cc6c5473",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:336cdf25ee32e5bb991fa3527d7b7f40394608b68e84d018c4171b382eb3ddc3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 4.524 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]: [-0.4168, 1.9133, 0.9375, 0.2813, -0.3847, -0.2817, 0.9984, -0.0193, 0.7834, 0.5823, -0.3973, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.463 left_y=-0.1286 left_z=0.0419 left_yaw=0.0432 left_pitch=-0.0747 left_roll=0.0282 left_gripper=0.9984 right_x=0.289 right_y=0.0034 right_z=0.1694 right_yaw=-0.0018 right_pitch=-0.0274 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.253, -8.7863, 7.241, 1.6484, 0.0952, 0.3932, -0.0317, -0.4034, -1.6752, 6.7624, 1.8926, -0.0659, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr1UT6ePeekuETzwjYC8sRjuUdnce1L650xiBV6BTa4ACnpWUGWB3gjnqJ56sflvO74EI9zZ8-q2II8DMn5pNiNsKZ6dRl5obwh8jMfqo35xrC2BQUVu-QevB_FfdE-7UZ_Sy_sEmHQX-omdJOWpnW0XOyivCUIiXk2dNfjeykBInfLDq4A36r2cQYeM-8_kub1lDBbViiKD3739qC2eGTdl3P4pFTBfUWlp-L_RrocGkuQVzGXe1Wz0MmHC8YRwC_gMhqCJ2NCtAKun-XJQmP4piQVuBtrEGlsDTbHahR_aOn5U6T7jSTmXqM9x9vKSjIaCLnPm0u5wJv7licYySeREcFerIbhhKbj0I9bdiQbo946EqFNYbGKnTo_QKn3gyZ1ZGCb_YPBACj7QpFCrmjNgbZxhXa3MnHJU6enSNHdxg3pXXokkEO2Fj5t94XpsG23MXCcGcnITqEGyNdkOUlQoyfs6Vbc8D7CmnVDdTmuaGCsDmZPbFoZSvoDRf14-DMqcEQgfAEVWN6PWK2QFaDoqNA6DrYCXAq5cfpipD04AnLxtG1nqzgGM5ygnGdn_48lMaw9YXarbGhxywEjE43qmasXae0zz3D82re8JZtbFhA48coiwnjkW5sdWNxfL94YwqKf8zEKitgshlnjJAm9xOvrawkrGvcaW3i-tHHR6nPjaS6FM-RdoiiIVJgiTi3TPK25px6T0g3Rn_UQXw7HynleetsPrm6QF4i87f2G9tiyLIkNY4abgolio2W_uih-cqcm-AsdhH8t8SIiFp3ivRk3JrVXe8itCnVO4PchlqZwFbk-wfi0512yslS52OJ1adVWvCPyyFJFS8tslNBXU1WwBkbugDiycwRgVD56s2Dw70uAJRfcnLkWDob-j3mrXw-EXhZTfE3Ixsgps6TfFvAHuY5eVLnbz594iJ6NnTTy0_NR0ISsAvCWtD9CaEFjsaPPkmMvsxK_Vv44Uhe_PAIXZ1rBN_mXSjiKXWtnuEErDM0I8c9RFyLak3KvtbE4APiU2SUV8D8UoXk_DhvG084Ry09Z90uFgBA-Z0SNe_zYDpJLiSY7Q2W5CN3w3coZ5CfXDQBjuM-KKa41zr5z_9W3htKX2SGKtr0B8ZHOlnvX-MYAcchbNWGnPNt08p2gXB_TtGwifJJNg3nNHhhGwm97kH512hCm5wSrRmPHKMjElxq5MKzsjy-1GKWxgGuvekGxSK1TYg0oPrxhwB3mUtGG1S0id2FPfKDzFyY5u2oxWgTplyiSGiqaIgBkqUYBb0R_cwm-qNGeqWY9KC3xeXaG7ZUQOg2MkPTVWksvfTquNv4nd7r-tUqkpnC9xw_TFYg55q7LH5XoEljhy5rABng==",
  "id": "rs_06505cdaf2a3c470016ab2bd4f535487d0803709a98773736a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.54,\"left_y\":-0.105,\"left_z\":0.035,\"left_gripper\":0.24,\"right_x\":0.294,\"right_y\":0.004,\"right_z\":0.19},\"note\":\"The left cap is now centered just above the fingertips. I will lower slightly and gently close around the neck, leaving enough freedom for the bottle to pivot as it is lifted.\"}",
  "call_id": "call_SHUtRqusQgG20YdAviX1PuTv",
  "id": "fc_06505cdaf2a3c470016ab2bd5111a087d0b3c869932c69f602",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SHUtRqusQgG20YdAviX1PuTv",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3016, 2.0968, 1.1618, 0.3878, -0.3378, -0.2394, 0.2459, -0.0189, 0.7921, 0.6018, -0.4301, -0.0303, -0.0368, 0.9998]\nstate[eef_state]: left_x=0.5423 left_y=-0.1036 left_z=0.0558 left_yaw=0.0963 left_pitch=0.0476 left_roll=-0.0222 left_gripper=0.2459 right_x=0.2874 right_y=0.0035 right_z=0.1692 right_yaw=-0.001 right_pitch=-0.0495 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -7.6239, 7.2137, 1.409, -0.0464, 0.0464, 0.2466, -0.0205, -0.6769, 10.7556, 1.79, -0.0366, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfc14761951dddd3da4c8b63ab9205bac0baf9d54a60750724987ec494494672",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a2b3aaa714a205f870698664d34aedf46d6d2e1edeb3873412d0b86a4206cf6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:907b542079e5ef287f99a47ed6f9a4399e887f548e9e2ac64f71867435d94c0a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 5.325 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]: [-0.2935, 2.0434, 1.1469, 0.3012, -0.3172, -0.2356, 0.9983, -0.0193, 0.7712, 0.5545, -0.3878, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.5311 left_y=-0.0992 left_z=0.0599 left_yaw=0.0848 left_pitch=-0.0011 left_roll=-0.0111 left_gripper=0.9983 right_x=0.2861 right_y=0.0034 right_z=0.1619 right_yaw=-0.0018 right_pitch=-0.0335 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -10.0855, 7.6376, 1.5116, 0.0513, 0.2173, -0.0171, -0.3624, -1.7573, 7.0632, 1.9707, -0.0806, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.525,\"left_y\":-0.105,\"left_z\":0.13},\"note\":\"The jaws have closed around the left bottle's neck region. I will lift it a few centimetres and check whether the bottle follows and begins to hang downward.\"}",
  "call_id": "call_2LcaXgR2ekCTDuZaqkHzvLrg",
  "id": "fc_06505cdaf2a3c470016ab2bd57a97887d0a290b3e5193dd5c7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2LcaXgR2ekCTDuZaqkHzvLrg",
  "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]: [-0.3149, 1.9518, 1.2198, 0.0982, -0.3523, -0.2623, 0.2451, -0.0193, 0.7639, 0.5522, -0.4019, -0.0303, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.5246 left_y=-0.103 left_z=0.0984 left_yaw=0.1068 left_pitch=-0.0286 left_roll=0.0002 left_gripper=0.2451 right_x=0.2834 right_y=0.0035 right_z=0.1599 right_yaw=-0.0016 right_pitch=-0.0427 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -13.3128, 9.388, 1.7656, -0.1636, 0.105, -0.0952, -0.4034, -1.7846, 7.1179, 2.0342, -0.0659, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fa2d7be9066efdfbd232f92f8b3b5cdde063b373116bad434b9147cfb3d82b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f5a0f61d980e3e999e2dc45a3f2d24840d036a9989087c199bf9e29f53a93c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e68cdd0f0fb2cdd0b7c79494936075d324ea8364ea41f42ccc3c468889c7de9",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 13.59 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]: [-0.3016, 2.0968, 1.1618, 0.3878, -0.3378, -0.2394, 0.2459, -0.0189, 0.7921, 0.6018, -0.4301, -0.0303, -0.0368, 0.9998]\nstate[eef_state]: left_x=0.5423 left_y=-0.1036 left_z=0.0558 left_yaw=0.0963 left_pitch=0.0476 left_roll=-0.0222 left_gripper=0.2459 right_x=0.2874 right_y=0.0035 right_z=0.1692 right_yaw=-0.001 right_pitch=-0.0495 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -7.6239, 7.2137, 1.409, -0.0464, 0.0464, 0.2466, -0.0205, -0.6769, 10.7556, 1.79, -0.0366, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr1fVYHEHHlYFaygFqVT8q5NXcc3NTZjrMX93bJpgsKeDU132K_LZ5vQzi7qUqrCEN1dAi0UdSkNyP__NT7vV6w5s9rbagMU6vgaueshMo9l6TT692IBU97iBvUUBe9rzTOttngjDxaXFK2W-OacjOiu25DXMyhzu_nvajPlIP2ZqBUe43d_NvtSG_x3nh4XiHaHi6Pr27RCLD7eNya0gy-JUyqF1ppvXgXcCwJlk0wydUdEF_82ecQpXRe-o3huJs9Ri0q6VfUz-X1E6NUWptB_z4H3YZAP3e2DXlaBk3CDnKUVTRmneQB-wPdhcnq6NGKJu31DDyCASmhj1dvFQyrPH4fbU2SgMN2i1pa940YxwEBDZYl3dvbLYz0RkEBYCsE6j1o7NGNhmXXlytNwtBDtITal7ywhwtamd9crA9_V-2EAwplCskG0K3ZMG-jy2JtTE7kyr-4BtEljveBS1Zr35pt3NME6XsbxLVauRcx_1sVcOKp_OP6rrqrS82HFJrwwnbaVryTCDll4TJuuJ1rtoA8jmx2fapUGj6WwnaWTobXoNFGHCjzPna_2tlaP477F1HspLF7mQ3shr8R6CkWPr82PjosqKzkMXcPnH69KkP3Lmnkt_oqndBUFBADIGVUZR9zlf8qXxO3spnIgKdkEZfgj3JF9tcoNi-HXx71eyDIoPjdBaPqd0_dAvMcyUThesjraQhFJ3B8a-wpiUkgbuaAdmB-MQ6pE8jpWilOxjMRFCUI07pnJi3RBC5nqRkURDtEjy9jo9xGGMO_eCumKL_C_dW64mpBEqLANyRCVCdSJ1d5ID1-4gHrUgprhj7RZG3qWGTZP4p1u7K9BmgRBurjeoZ81r4PkGxmYbgAq8wkUF9IcxmnA05yneScicgyC-3thUcj9ulg_WCAX1o0OzVrovAydn_Ekm4W7avHYHVRmVgvCafqC7OIzR3heOq0eQL5FGge_RitcjUrBLn4JX9EQTWhhnayvPW19V8ldNkJJoMA5sSz6E8zFjliSSY4VtXmbsio9YUo7y5b938cdmw8I8ZEIfEShKjVGGKs7QfjKPN5iGLiH_T9spOOkXX_jx69t6xALE8xZCsivePDPk0t2EA6c6I5-mKQwA3fsB8RqLluizcoC6WC0wvULoODNN2_dLCQTGkeFiXz7WkuO-01IJi5FXbeB_gIRMMVWYKUgtgJMfZIRpZM41cMq5s0DUpEC_eJbIT-lvX0LDWeC-T77E97JhzIazx-hOplVDK5gip7nF5wRhq2FNM0PzPwV15lTyTFNIBJCZxRVIUTLAg==",
  "id": "rs_06505cdaf2a3c470016ab2bd5bf3d487d08e8fe07b6ce8406f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.105,\"left_z\":0.27},\"note\":\"The left bottle appears to be following the neck lift, but its base is still near the table. I will raise the neck higher while drawing it slightly inward so the body can swing underneath.\"}",
  "call_id": "call_1r5iDPiGaOuFlcLr6f9cu7wM",
  "id": "fc_06505cdaf2a3c470016ab2bd5d1d3087d099cb3685ce7eae4a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1r5iDPiGaOuFlcLr6f9cu7wM",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3485, 1.7405, 1.5349, -0.4419, -0.3824, -0.2893, 0.245, -0.0193, 0.741, 0.5106, -0.3775, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4969 left_y=-0.1066 left_z=0.2399 left_yaw=0.1125 left_pitch=-0.0332 left_roll=-0.0002 left_gripper=0.245 right_x=0.2802 right_y=0.0035 right_z=0.152 right_yaw=-0.0018 right_pitch=-0.037 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -11.7128, 9.5248, 1.5311, -0.2759, 0.1099, -0.022, -0.4034, -1.2923, 6.9812, 1.9463, -0.0708, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9db6a94efd07de42934481c7935698298a515d3caba76256e988a82976bbf98",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08e795c5ac80caa0629d8806b22b877d0aa3f4bbeb9b1b3cd6b673cf2bc825c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9ec72d4262fe061907cb448cb7d553ec6348eca64863266645fbc4df7352593",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 5.173 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 21 changed as sent

message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3149, 1.9518, 1.2198, 0.0982, -0.3523, -0.2623, 0.2451, -0.0193, 0.7639, 0.5522, -0.4019, -0.0303, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.5246 left_y=-0.103 left_z=0.0984 left_yaw=0.1068 left_pitch=-0.0286 left_roll=0.0002 left_gripper=0.2451 right_x=0.2834 right_y=0.0035 right_z=0.1599 right_yaw=-0.0016 right_pitch=-0.0427 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -13.3128, 9.388, 1.7656, -0.1636, 0.105, -0.0952, -0.4034, -1.7846, 7.1179, 2.0342, -0.0659, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr1t0-mOrxuqc9ft7ij3VGd9UvjdlxB8IXSCt-L0cLjcdkH97LhvazmoC9Hy1VxFB-lmW4cgU6HtQZh7s4k-w8cIYQzeAY9Vf2xWpi4-Bg51QCQsbBByIYfMJItoQ2iQSKIWOVGCHffPiMqSe6HUGnLXX7mXG04B_7rn27V_-wG05TVgxWpP_zR9agaNmi6swnieSQDHkt9GgX7Bxu5I4LdgRGHd1wibFg24TWA4ciPXU4G8PcL6VpWttBXJ3xHvHbsQelfVqzMJQrv4V4vXaS7mjWNbxq-L4aH7AsrmpkIBYzwkPg3RF7xo0B2rC7ybeqnWRUieGV5zWwVv4fX3fvxavBIZNHW3nimNbSo-orYOhUrrUOIIVckeK_VCEBHL7udfVYuhBf56ADRY8a-K7akfNzPJSZY0vje1AIQlok4Ak2qZG1AwaPwCxThOX0yCXtIKVUgNhKhHAyzlgX-2UhXRK8MNBI6n8LB6gSnOCQC5K2YtJzg2IYDyGZlXcIsaMFg0B00oAVa1k4Sm5W-cCrCGICa8Am_ruFnPb3uIDgA4gb18AWdPawmtHM2dB6qwWHTjlR6iM0THsvikBQa9HJNh_StgcOhT-tTnmqrX7d92zG9sIfZgoGFQqXpx_Yk64SC9wYeMb7yIJjUToyjLeyoFsG86c1CxLDlNhuipstlrAdOftf8DkBUCDahk4oWAaEgLxIujBhOWPYVhMKA97x4Nr-W7GKeW41xgr6PHyQFmse-RKovSeqL8J5yjtjsXGMWJf3WDtQ2-dDQCeUH2fDuedoCIlrl9LfPjZXjdKta5Z-fPynLn3wj4qn3pCDJ_vFBiCb_YlHpkj_lUns92PZTd8DGgjaaW92saq8C7-jWWDzI44VSWLxrant1gQEv5cXjDpnQIXP4C-tC5bXUW0FlZdQuHabd55uvcv3zO9Orbjo-u3AsyoxdUaksIxNSJo-hvUw2sr5gYdC2EJUl0022kcFUPbTqCChBMj04ftknAGkp7SELDYLmNxStvurT6ET8oXDAYWeiWfHDAtW-pXdcOFP9TUd8W3f4isL7W8hTlBkMrGu9I12ZwBqJuP10Td1STCKqLdD1Ny1IJ2rX5O0zy7XqwC-r2J-yo2UIZu0qu7sdeTqeIyEYaaqQGzFoHZvfqPDkLx0kVxw1kzzTR9uI3F1KcgD9S_h6GBAvTqjC0M2JS_WbNNFnj6wyDE1NKCo6B6xDoVKb8Z_-2UTVm4FLn0Mc_ebOxj5lHSKdVpNO94Mt6d9OvTFWkJ9gpc0MGK8t3LAO9shUv6j9O6C5LurSF5t2rlDOqoLiLOXrA-YLRUSWDZVQZ_Atx_YibsNk978pw4dELCEdjMvxgKNnvXx5yeSOQiG-b0RC3IMjLID4_W4KrUDpLkhnFczjSj3rkpjwcfokZ-pVARRAozeYfJiFtO1HOM2lBFJeTxGbSSO3xnb3aMmZ2Aw_YC3GY-w2ToFd2hJ7N5_tNye_iMVB0Pw6lOjbKOdPSlgrOcfbeu-Z1TlRuvxsxsBdH8zZR108gxKf6up_1Kum8kNJRF_BGbBXqLxiBTX2E00Cb6CvJq2DLsZHrVy0zhXlFLYZWYK6ivw-tMhIcLmZuxJi8h8C0uE7SXph3ZXb1MmzNe-770GKiz4ImraHfbmsDAuAcn8DlCiwB1UUydf9NwOYixHT9ELxS-GXEn1Y10ikCrWRq4OE8KuvCvtGoyj9Msjao__w2dKWK7OMhHu9FpfNwBk_jURIpyiEib6eeZLtnE-EbyWkSnB3dNA4cbcmGcErHvPd0_YR6wpwU5G-78CcSGkBgD11q2htp8Jf7o_xRGcRc8GYN1eFfwKwls_hphg9l1SZRI_IqGs01g-InVuwpwmpvroTv9IAbwK107bOoeXu0UlfIgD3nI-rPWZCVeyHAIlC_xUtv",
  "id": "rs_06505cdaf2a3c470016ab2bd64e60487d088818288b84f5882",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.535,\"left_y\":-0.13,\"left_z\":0.065,\"left_gripper\":0.65},\"note\":\"The bottle did not remain in the grip and is still lying down. I will return to its neck with the jaws open, then use a firmer grasp before lifting again.\"}",
  "call_id": "call_AjHfiUp9QjTrDm21VfrHjFgH",
  "id": "fc_06505cdaf2a3c470016ab2bd6bc0d087d0b818ceef6d600df7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AjHfiUp9QjTrDm21VfrHjFgH",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3676, 2.0598, 1.2491, 0.1547, -0.4046, -0.292, 0.6481, -0.0193, 0.7193, 0.4736, -0.3588, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.5308 left_y=-0.126 left_z=0.0672 left_yaw=0.113 left_pitch=-0.0346 left_roll=0.0134 left_gripper=0.6481 right_x=0.2768 right_y=0.0036 right_z=0.1445 right_yaw=-0.0018 right_pitch=-0.0335 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.8684, -10.5094, 5.2581, 1.8339, -0.2711, -0.0024, -0.0562, -0.3897, -1.3333, 7.2957, 1.9756, -0.0317, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95465ba1f9b9ec12d33999ba9e06136ddf641175910d4cd92425dac2f8f828d0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:701c5d61b712e7668d361c190b424fd8dd30826d5172bf07b1147394915e6070",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:120872f8c59f690447a0eb0fdc85ebfa246878a88139fb8e5a2735ffd82f8b79",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 8.401 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3485, 1.7405, 1.5349, -0.4419, -0.3824, -0.2893, 0.245, -0.0193, 0.741, 0.5106, -0.3775, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4969 left_y=-0.1066 left_z=0.2399 left_yaw=0.1125 left_pitch=-0.0332 left_roll=-0.0002 left_gripper=0.245 right_x=0.2802 right_y=0.0035 right_z=0.152 right_yaw=-0.0018 right_pitch=-0.037 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -11.7128, 9.5248, 1.5311, -0.2759, 0.1099, -0.022, -0.4034, -1.2923, 6.9812, 1.9463, -0.0708, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr10XG4L81C8FPVXcbHaeA_NqO2sTBkJiRddaBXY375YkTjLmN-ZqUf4srSBqLKH_kEZV0VF07jq8DPxGnhCBngzyhX2r0CH3yf3XZOHRbxe2Je2BmBkvdaqpxm69tlkObsL_pzpTb_2R8enufd3z8U-FInqNjyJ9zT3eieYv1tZpsnOFJgWzJs8Ze8e5yndPN7XcaBgemNKxz9n4cAe07D0AE6979q-WFoofUeoTTFODJDMOzbLNARyu6dSNbUI66iCRZNQUZSwRJBbGUOO3_f6BAJpwzTaUemYdWyrYaegqBOcnK7rOtNJl3wRLVOiK0mXVHIKmRD2jZ4YIDAtv2tv_GXS6nPnv-9ibzylSOOHJv86EtTAhHxdQVMnmr-qBBQH3gKLiDnJHCaerxW1EeGcnzY2nZ07eScs6awf3p_8otlVaqzbI7__pCZDfhIQ-eaZJZwowke5v13FaPUOPDQKRrS55lVQ7fCfZE4bdupn4YsfFj1KyIEapqOSdNE8YYe-79nJ_a3bVAbjRO3SBPV47DwImpvVY_7W8XIpypZ_CIaxMlOwVgBerilKL8glBJNEwJyMMxBkyqmFDM1gyzSFEJjJK-82cCc-dRHdnOtS9kwrRpW8VhREOlX6_8NzZEYYHvC39Uwu3TQyYriXfC3uWJ2ygd1j8J-kkp0-Q9waRcmb2bc7oE03GyKe-c9tcWf4v7Lct7cfs7g7QkpqvbIjFU__5KH67m5_jI8Ni7fb7S_6pfWqxlR9waJH48DQo0RxF09uKW69896eZXNjKN9OsvG-fzsWdcUapKDNXE54wRvIgDNnm5jV5sGVWKzVxauMu5GvO6UWjHNFtmfBsc7py7vEO2QYet7TDAmBUnwPpSGLD9DibOSmWrs-OGvYR6SRQoZs356YZg-9JpR7TqbWztdFP2bLP7oY-QVwRx1IyMpN05-4X0yBhVVk146Ip9eiJi_OpvagQ9LeP8J455vIwOySfvKbdy7dfyLLTcQFXrP_RKGbuWfqyo8gmswY2iUjQEYIHTEhhVwe9B9aDSZZOZNBhqlyTI0CTF9tyi5CI3VMtLUOlZr9ac7ThloPlhTrGYfAtVMUW6wQ3Rxbhl5DD2U1idIgAuNsL0Xb91slTDsNZFmCj87CVPuQKQtAG_6eB74jcdqdauTmO1h-Cb_9_fdsm0jePBByWdoKPEKwNycLrUiMr0CoisG0i-SBRFaxaPFxGQ95qjOCiUx8tJR2MpAioN0BdbnEcyjxfRQdMAqUqV9qVntc3COsNQm2dgADH6oqwleaGEvpubitv7s5MsEFVGJVxRg9wMQluW6DlgoF7cteCJIruaKCzVn2gGXjtZr2mTEYRifpKuDBWgLSxuTY7YUN-qZbl8fYDVGnf18=",
  "id": "rs_06505cdaf2a3c470016ab2bd710fa887d08d3c79f91d4e08c9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.515,\"left_y\":-0.11,\"left_z\":0.025},\"note\":\"The bottle neck is now very close to the fingertips and slightly left of center. I will move back and left a little and lower the jaws around it.\"}",
  "call_id": "call_1uIm9S1TIRgbC0s8yHmMzF0g",
  "id": "fc_06505cdaf2a3c470016ab2bd7250ac87d0afad5baa65477ccf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1uIm9S1TIRgbC0s8yHmMzF0g",
  "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]: [-0.3508, 2.0743, 1.1099, 0.3973, -0.421, -0.2714, 0.6488, -0.0193, 0.7017, 0.445, -0.3439, -0.0299, -0.036, 0.9998]\nstate[eef_state]: left_x=0.5252 left_y=-0.1115 left_z=0.052 left_yaw=0.1325 left_pitch=0.0484 left_roll=-0.0019 left_gripper=0.6488 right_x=0.2743 right_y=0.0036 right_z=0.139 right_yaw=-0.0021 right_pitch=-0.0297 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -8.4991, 3.8359, 0.9988, 0.149, -0.2076, 0.0659, -0.1846, -1.4017, 6.8034, 1.9512, -0.0611, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:620a54b357e5288fc8ea2d94e80dd21b1b35ef1d5a350d134f75db7f0ebb9c56",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8569a1648c441f23ceba3c6547f0848fd70908df549088d96f114c32e01201c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3aa0255f700a671ac586e5a1f330524d8b4ae150f90018c58b41fc68448b1861",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 8.763 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 29 changed as sent

message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3676, 2.0598, 1.2491, 0.1547, -0.4046, -0.292, 0.6481, -0.0193, 0.7193, 0.4736, -0.3588, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.5308 left_y=-0.126 left_z=0.0672 left_yaw=0.113 left_pitch=-0.0346 left_roll=0.0134 left_gripper=0.6481 right_x=0.2768 right_y=0.0036 right_z=0.1445 right_yaw=-0.0018 right_pitch=-0.0335 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.8684, -10.5094, 5.2581, 1.8339, -0.2711, -0.0024, -0.0562, -0.3897, -1.3333, 7.2957, 1.9756, -0.0317, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr18GRqI3Dn47CrHvi7Skmoqu1OYbiGhr1XdvS7onhLg0r-04YBo40xGz-J1LrvudEOf49tintWi0INza4__EssTy3JBktZCHDSVr8oYl6qpNczUvtSGY2y78F66RqNvTZTlgE9YJ9ZSWpbP71I0RCrl6N-zwXIq9KbdCxoUdPA7CpC3c4B2Vh0uzTn0aunh-iNlKTlVu95zpQ3HBGej8dg77BZSzBPrVm2eECMz4AfV_ldxJjshRWdbJA0FMBM9SXb0RzvbKymfOTMRoTzcwHYvRn-lLvk2SHrhcDdO6jWFpkTCHhCAjQLBY8SndBREW1YZ_FBTfdJSrM9mPMy5SPNxYg5NXvWansp_s6l8wjJYduxFPWfBYyWdRGDJLAU_QM7Bc6ZXSVJmbtT4Ph63j3ID0twVESxtPSjpt72tC4aRfmh-iIK7CiFwm5XCvKVyIPK7LiN0l-nG1CrvYK38ZzoyS0uMT9SWUER-C3OyADFgz0H5RIX2XgqTYkcViA1Xtmv_WGQpt0gnI9hBi4h4YhHzZasO-YJPPXp0WMM1yMLfCjPHAEWRP6wwoGRxztK3UmGe4tZOYMt5J12k92aIy6UT5XRUt-4n-xdwdcIwA2EPl_GaCCm_ILQ-00e2eJkkGlJXYVK5SfdLISglvifG5HQe_NIVulOF5jN-mVJL4WHBf0vgui73cdpdCK8NM2JrqyYvbQTCeIa12h9cBtoDVVu9jXmJaoB8Yo4tZkfGtiFfhZ-qzdRfLofhNtV6Z_MOpEyTLTN7aqshM6L64cHZr3OtmQYQ3cMl04gxw_foUuc-7c3-j-AxV0JrfSvDMljhK_A85nhAR_Ep9FdDNHWhShd--5bEZmoT47vA3qbl8iHztb5xnTONeBheQT3gOIOrppJNST82V1RG59P2dmQV17kZzDZ1vwxL1wsyK5pCbzetVzMjj14CJz5dYCMG9-SogCbPuPP0M5QGqD1mtj5gkw7PWCFSZB9OuT5LZCBu4CuCHLrTRVszHS7VwXFuv1sjzDii_qWyGyRAB7dlcvSSvzUfOOnby9wFld8TU17v7ZmqePDkJbQUhVznDWn7YyJ1WZvIWibouQZfYEMX29O5MPBhkzz5sg7chHGc8VQkNYBULzV1JZcxi97aTRokJ76L6l_8XKqi1nAjSL6FgEFbhKx1v_HZjis1NdxbjCJMdcPKP_wm4bxAZ0FqxuSaiGIxWl1TCEWE0LF50s1fVf8kO97OTdv4H1weQeyfwZnrSV40zHof5a0_v6Hr1GRYE3iuT7bT8yTxoJQlRKfFuL3f0nxSvhIMge0VQqd6NtVP5chwseoErJ6j6KZrwGSa5E9QPm6Zwv6KVFooZ8l8d1a2m7SwuMCSIw7baFn_GjrGCcAV1X2dZVm7vjTolNBoHXjplUcdIwW0Oumu-QgxFJio7X-xiu4Jgs4_mAp_2tzObVpwiWGxN5WeEHnea0j7AgdmCikNXroNGz4rXv__puKRs7YM9PDulrhJetna_GZc9D3-rgu9OMahTWlrWuDt3CEl3VRpv3n7PWNDERxa_Ypd6ZRtfQ==",
  "id": "rs_06505cdaf2a3c470016ab2bd76ec5887d0b24c5bf3c4352f3d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.515,\"left_y\":-0.083,\"left_z\":0.025,\"left_gripper\":0},\"note\":\"The cap is still left of the jaw centerline. I will correct that lateral offset and close fully on the neck to check for a secure grasp.\"}",
  "call_id": "call_yEnMhWpNLyiwC3QpzaYPBVmo",
  "id": "fc_06505cdaf2a3c470016ab2bd7a81bc87d0b5112b9b18a7fc44",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yEnMhWpNLyiwC3QpzaYPBVmo",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3405, 2.0758, 1.0878, 0.487, -0.4088, -0.2703, 0.0106, -0.0193, 0.6861, 0.4194, -0.3351, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.5303 left_y=-0.1096 left_z=0.0602 left_yaw=0.1344 left_pitch=0.1041 left_roll=-0.0369 left_gripper=0.0106 right_x=0.2715 right_y=0.0037 right_z=0.1331 right_yaw=-0.0018 right_pitch=-0.0309 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -8.6359, 4.3145, 1.1013, 0.1294, -0.0366, 0.9402, -0.1983, -1.2103, 6.7761, 1.9756, -0.0611, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:469cfe1347d67b801e0d19fdec952088937367591132d822134a215082e35eee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14bc533782e7a24271f97a23cc1bca50f1f8d2cfc5ac2124e75656631a997588",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:353d990d0b058b7c8da27217a3c644a7cd3ac3ba182c9c74e771a809d38904e7",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 7.273 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 33 changed as sent

message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3508, 2.0743, 1.1099, 0.3973, -0.421, -0.2714, 0.6488, -0.0193, 0.7017, 0.445, -0.3439, -0.0299, -0.036, 0.9998]\nstate[eef_state]: left_x=0.5252 left_y=-0.1115 left_z=0.052 left_yaw=0.1325 left_pitch=0.0484 left_roll=-0.0019 left_gripper=0.6488 right_x=0.2743 right_y=0.0036 right_z=0.139 right_yaw=-0.0021 right_pitch=-0.0297 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -8.4991, 3.8359, 0.9988, 0.149, -0.2076, 0.0659, -0.1846, -1.4017, 6.8034, 1.9512, -0.0611, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr2GphXjqCiBZa9owlp1uFESaekFOl-RTO2BquzM4l0yYtTBEUEiJuSusrEmldJSeQ71zvEvZK3-2f27ezYUx4OrZ5jtEPOXq7CO4hr7JSORrB8epLgZTrgZrsHT0QXCt2xaE_1H7pesnMVd4SecZB2XTs3qwL06VPjYLySKhujuPV8eB4GJT7E9B0Xx-M5esjod8naH03PoOOc_9-Z28q4dEQvcG7GlQeQ9WlAQwyP4pYDE4Yxm4xVAjRuY29wk65KVAGXGighVfz9m6HP3XBUPTHRBOjAe-TQdl93Cw58Nv5KLwQndTgULvfp02UK1_TQxx_cFJskJLCSOLp-7ghYS5PocDYwWgl1emwMWM7m1HrgtayiFM8KKBAYP0_3dkD6TabEKn08kLC5bcALc5272F95JbG1jmG63PlFuNfSdCFigCcRx-9X3vGBVKQBAAWFGiWGTmhrZOTnv6X76LQZN_QQsPvrH1KlVDe4T2vM2ucptI9zG4QmOlRb0cBqb2xgUpdVDzGYJcVW4f_aeHga6LgjimxU0QvJabqunKJzgGHp32L-RxNyOMPvYeC7z-S3Ld8gvrfGM8O0GI0vAZBvWX6GW7R-YUzVhTuTXWxfIpU6TQjWxZKV7WmuXJAp2OjTjUAN2hf4VtI0FuCij6BVgl4NS7cidaeA2QktNptlE0jPCWbPue04rnr9ZcILBPPltWfXOxM0Te8sPbzW07RqREh0e5jo0eBSKxMEorXGwZL2bzQEqSfe-fSLTEi_KKTC6_V2FNkttO2FXgp1OvSrvJgQ-ZBXMVlAAo8Gkmvrkt0Iq-oKPy2G_JvbePg7ng8o4uM0BzNuxs0LLoUQSyu2W9gDXKLBsTRGnbC0vi969ghYqUi2KQhMJuKF3hvvd48lrPYwYltgB142v6WPq0b0v34t5WnCM3q6hpNCC4JFCvCtNMhxY6DLJim8XImi8tWISf3ze-yi9HMR1WU6k8FmpZwWj-wkznkhlkfhi0j_Kda41u6TQu2Te88b1NcuhOIfJqPMyNX4ScQ9OMznzk3FvNCtQeKDARyWqS6KMpqkCM-O5jIM6ZBa5Ftty_0nkRB4cn_S43yiFnTCwoEg1w3GcfGzbdojW1cy9xa384wnp_k-cv8BPUq4sPGe2eonTy5uM0CAi1qbDiI9-c1-rzlw1HxjOi_ZurANd2EinWaj0pX-V-Hs4-xmWI62JDD7RbCNI5cN68nJQWtUmnN_ZtmFL3NNtPP7LFq81roxdQU8VXCclK3-SYdtCzno50PmD2xdGb6yF739fHruSannM8QiFnHHAfPYhVkWmJVSjULdT1iXw25fhhPCkWBxOnnnL8oXZkGuASZWEP9udMCnAlChbc6jfkH2WpZv0332oXWu5ARAcym6Vr8ZOfFWI_-dOjtoWriRFhLNoidXXpoNArfIAo52OWF3FKjOkJfu4GK0Z0hsVlewx1hqcvyxVcAt6BZr2TiQqJwHGk-ItnnpHEn2saLBXWqqnN4sjPJ7Mk4NssRM=",
  "id": "rs_06505cdaf2a3c470016ab2bd8189ec87d0a7692ebaeb7c9fa5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.15,\"left_z\":0.09,\"left_gripper\":1},\"note\":\"That close was empty, and the arm is not tracking the low, far-reaching target. I will instead grasp the nearer shoulder of the bottle, which is within a more comfortable reach.\"}",
  "call_id": "call_LXGuiZlRSRObxSJ6MySK4Ch6",
  "id": "fc_06505cdaf2a3c470016ab2bd8455f087d08fd92923f2e77041",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LXGuiZlRSRObxSJ6MySK4Ch6",
  "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]: [-0.5255, 1.8317, 0.9501, 0.1825, -0.5327, -0.4019, 0.9944, -0.0193, 0.6655, 0.3916, -0.3214, -0.0307, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4451 left_y=-0.1502 left_z=0.0733 left_yaw=0.1163 left_pitch=-0.0269 left_roll=0.0131 left_gripper=0.9944 right_x=0.2689 right_y=0.0038 right_z=0.1284 right_yaw=-0.0013 right_pitch=-0.0244 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -11.959, 6.1197, 1.746, -0.2418, -0.0317, -0.1538, -0.294, -0.6632, 6.8718, 2.0, -0.0513, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90fbc0003079d9eed0c4388a9a49cfda6bb6e2b6d0371370e6df2dc98a2a97b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78adf109d8cb0a26fdf26613bcacf3ec1119d1809d3526066bdbde3759a31d66",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc59f0656485ae30b2c939c883c48ddb5287c3c1cb354dda48bd28fc8bd3f1cd",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 5.374 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3405, 2.0758, 1.0878, 0.487, -0.4088, -0.2703, 0.0106, -0.0193, 0.6861, 0.4194, -0.3351, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.5303 left_y=-0.1096 left_z=0.0602 left_yaw=0.1344 left_pitch=0.1041 left_roll=-0.0369 left_gripper=0.0106 right_x=0.2715 right_y=0.0037 right_z=0.1331 right_yaw=-0.0018 right_pitch=-0.0309 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -8.6359, 4.3145, 1.1013, 0.1294, -0.0366, 0.9402, -0.1983, -1.2103, 6.7761, 1.9756, -0.0611, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr2O_uzntc9NTla-Qpia3gmgD_ThbOn4nDL3KThceBOmvCk1Vk0Is3-LxU6-xGUpuNRWDsBJLRdF9As_W0owXJSPmf6q0gqgzWnwVeugLIaGOLlGkLUV1Nwkh8sDQrLHeXn20fzWAUF6LRfYY-f9RCFZZuOyHXW8S0WpngywWupZH8fZOBNtCHhAGgeg084_AJBbTbBqkFlbZt268AVAwIeqdnTtsUrRUW5HW-l05ROauveWddMT8TBjIaJ1NFDUU-asIGHQkUTBI7vkzAhWzreGvVA8kEwAGnLzUNuPo0mPIbIMSx1ZJ41et68bDZMHGoEi8arrzxibECL4AVJYx1FjarUGnJcmAI0DRJiH0VdxkJSRBVa6eZ1Hc8IiJJFgljyx4YQuAFIaXfKWRVaWQwr8Enu9XtiSmGNkuuK7_fJvoQ-kUie0LWOAUJKv3PLlLOdKtVSD6Nb1Gjqd69vYgsKKyXAXaV1AT8JxLxLiJ_dPQvrHqfpn4Qk21cFc2Q_f4c0pWAM7tY4yDH_bwTtVcxKBUNsk79Df7S-Rm3EVfWmew8YTsWpGKBOBP1ILLPvivgRGt9LmDvF2AzFzqBAaK_CK6UEgZ1N2g_YP5XpiAcK3lbqZEl_jRELrZIwlZ5YHL6FyHfWDujIKqc0qDVEY9UZPw8NEBoRVQHJBgAhKfS1IqPfW6w_uVIZUvrxNi0fp3oXtllx8tMbwoXnOVPJfGlpCaLpkZaSsJTL_EHoP0rDic1RKkO5mxG3Va7HULXCNy2O63uysi6iNSVj8ep9nrifYsawmn2hDxyJ9jFUmUdquYIL7nX5SVNcjFuKPPpQWmBa7B5UMoaDpreml-KRbhNMYjYovJwMkA8JtR9GwJlUY1u6K2jpafmfkpDlat83g2Jg9Z0My51hFLv3SOt0NL4Iq2AF4qA-pNzHsUV8A-pQ2lUt40f_XyiKZsgW8NEpITMNuf-l2PvHT9o3NxOrHD0_2bsYiiOMyaig0qaQi_5e2X1m-yEy4B63JLul_pJ9zXQcsJUqKY2d4laqW-9Pl9XCFWMQwjkCcTBghtxgpjRi2rw-VVtSTeqZJ2tEknKU_cH_oUxaadAV1tJ4igbAytsQIXRJYI1tJL09dMZaAzxZ9vQ-o49aYDX3q8XsJ0nllMvZB7m1Y4xbI-6a3VpSkqGDjdGqfEBaN6p5FQOs7SzUqiUM6rEg9nGzYSJo_x-pI2EPhAD6zolOTCIB_vjMOK0euR85A4IfrEMur-xuR8DUS8Iv_UIFcorL7d98a7Vh-0lKBQviwKG33YkFfaTK6w3cA_SSsE4gL5yX6tQSgsNpZWKXTeFrTydxQAxh3bpj22bz_M6EWkxNpGHtmHCRyt0jTac-zpPoZ7PsPIDqayLu53NJNYu9QifovuTv75Y4jcGPN",
  "id": "rs_06505cdaf2a3c470016ab2bd8b4d8887d08b35c1ac78f1e4dc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.13,\"left_z\":0.035},\"note\":\"The bottle shoulder is visible between the open jaws. I will advance slightly and lower around the shoulder, behind the cap, rather than reaching for the far end.\"}",
  "call_id": "call_rqAtzG9rquRRDQhmQqqzBfRU",
  "id": "fc_06505cdaf2a3c470016ab2bd8cd53887d092fbc291ec0a623b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rqAtzG9rquRRDQhmQqqzBfRU",
  "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]: [-0.4465, 1.9759, 0.9508, 0.3374, -0.4931, -0.3756, 0.9956, -0.0193, 0.6533, 0.3729, -0.3172, -0.0299, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4679 left_y=-0.1273 left_z=0.0333 left_yaw=0.1499 left_pitch=-0.0326 left_roll=0.0077 left_gripper=0.9956 right_x=0.2666 right_y=0.0037 right_z=0.1237 right_yaw=-0.0021 right_pitch=-0.0267 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -9.8803, 6.7077, 1.3944, -0.2418, 0.3394, 0.1099, -0.4034, -1.0325, 6.7624, 1.9414, -0.0659, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46e25fb456016ce0871a458d4e2334dbb06e48558ca609e2974b4773f0a2b100",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:386650f6db5bf33e9b1a08a5e68edfd3929cb1a7d39d23f7761a34a7ccda6d4f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae2673d73842de344510f74a9413c6328e791357c6170ff990f88609ad81b6fb",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 4.252 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 41 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5255, 1.8317, 0.9501, 0.1825, -0.5327, -0.4019, 0.9944, -0.0193, 0.6655, 0.3916, -0.3214, -0.0307, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4451 left_y=-0.1502 left_z=0.0733 left_yaw=0.1163 left_pitch=-0.0269 left_roll=0.0131 left_gripper=0.9944 right_x=0.2689 right_y=0.0038 right_z=0.1284 right_yaw=-0.0013 right_pitch=-0.0244 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -11.959, 6.1197, 1.746, -0.2418, -0.0317, -0.1538, -0.294, -0.6632, 6.8718, 2.0, -0.0513, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws are now alongside the bottle body near its shoulder. I will close firmly here and use a short lift to verify that the bottle is actually held.\"}",
  "call_id": "call_cmuwSeW6yCzAATHrIMojbygS",
  "id": "fc_06505cdaf2a3c470016ab2bd90f80487d0ba0030f97ad70b89",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cmuwSeW6yCzAATHrIMojbygS",
  "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]: [-0.4454, 1.9789, 0.9428, 0.4725, -0.5316, -0.3702, 0.3707, -0.0193, 0.6384, 0.3485, -0.3126, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4817 left_y=-0.1268 left_z=0.0555 left_yaw=0.1808 left_pitch=0.0819 left_roll=-0.0404 left_gripper=0.3707 right_x=0.2634 right_y=0.0039 right_z=0.1172 right_yaw=-0.0018 right_pitch=-0.0316 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -9.4974, 3.8632, 1.072, 0.1343, -0.022, 0.3883, -0.294, -0.8821, 6.9538, 1.9609, -0.0464, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2699fadcffc990817566d5a82a5292487964f7e73055b796f289ad233c32b170",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c6eb23d01e954d3e8cf79dc313563194d833cc6f29c672588790ac6c57c287c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c99dd70f8b220d0124147584b90dbe63bfeb203a6d50877b4c4c1c39d423490",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /responses · status 200 · 6.03 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 45 changed as sent

message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4465, 1.9759, 0.9508, 0.3374, -0.4931, -0.3756, 0.9956, -0.0193, 0.6533, 0.3729, -0.3172, -0.0299, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4679 left_y=-0.1273 left_z=0.0333 left_yaw=0.1499 left_pitch=-0.0326 left_roll=0.0077 left_gripper=0.9956 right_x=0.2666 right_y=0.0037 right_z=0.1237 right_yaw=-0.0021 right_pitch=-0.0267 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -9.8803, 6.7077, 1.3944, -0.2418, 0.3394, 0.1099, -0.4034, -1.0325, 6.7624, 1.9414, -0.0659, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_z\":0.18,\"right_x\":0.294,\"right_y\":0.004,\"right_z\":0.20},\"note\":\"The gripper stopped at about 3.5 cm, indicating contact with the bottle. I will lift it clear while bringing the idle arm back to its parked height.\"}",
  "call_id": "call_1oRTR9Dv4yigpnkLTbInfb5D",
  "id": "fc_06505cdaf2a3c470016ab2bd9756d487d0a71e6c1d1f79db39",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1oRTR9Dv4yigpnkLTbInfb5D",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.477, 1.6905, 1.1336, -0.1448, -0.5411, -0.421, 0.3695, -0.0189, 0.7929, 0.6338, -0.4561, -0.0303, -0.0399, 0.9998]\nstate[eef_state]: left_x=0.4525 left_y=-0.1274 left_z=0.1527 left_yaw=0.1814 left_pitch=-0.0256 left_roll=0.0032 left_gripper=0.3695 right_x=0.2878 right_y=0.0035 right_z=0.1783 right_yaw=0.0007 right_pitch=-0.0442 right_roll=-0.0029 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -10.988, 9.306, 1.6093, -0.3736, 0.0366, -0.1294, 0.3214, -0.8274, 10.0444, 1.8828, -0.0073, 0.0073, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4be9ebd63948fa93c1097830ac35896b8af221ce2bbc64b3d44482d658af2102",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e70389d3a25545470068172cc99f0018463935b1e0792b35a69d07a6f8b5bb4b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5aa2b455af58395ebb21e0b7a0bc588c74703eb2a76974aafaa2303098b4e84c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 11.92 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 48 changed as sent

message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4454, 1.9789, 0.9428, 0.4725, -0.5316, -0.3702, 0.3707, -0.0193, 0.6384, 0.3485, -0.3126, -0.0303, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4817 left_y=-0.1268 left_z=0.0555 left_yaw=0.1808 left_pitch=0.0819 left_roll=-0.0404 left_gripper=0.3707 right_x=0.2634 right_y=0.0039 right_z=0.1172 right_yaw=-0.0018 right_pitch=-0.0316 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -9.4974, 3.8632, 1.072, 0.1343, -0.022, 0.3883, -0.294, -0.8821, 6.9538, 1.9609, -0.0464, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr2fxanXjq6ueKbhk3EE0RZzVN2cNZZk7zyOQ83h5qvT4hd3PVH649tqKWIc4kHeSX7gXKFTwNYKob1yHp_BfPK6IlXIOTk7lo1apLS3uusB61z6Cw00JgqeHVtSjG6lkYRhgD6izSNtjftnLN7bwhi1dnlja8ViHgfWj4zfm8ohR8PqGMF_pu-CN9nHgKZNWca1lSOmREQqufvc9zTh1VjdeU1VH2Yi2hF4AwRBEnW92cjzKcKuuGfQf7pc-atnEz96CqYEn-AvPACAkX8LX7uUgP17S6UB6_FU6OdkD_JcVz8TWuY1okX4lnrO6b3zAVPS0zeTCXDeJ8W3FrMNJYEuko0dOIMc3uOL1cLibCL8HiGDdpQBqqoLpYdkEPW42mkBsj_RGqDL0EqPEf1TytUwwC7wXRsWHFQh87x0oBweVS5AprBMRnQn9DwkCe2rbjXb_-Ja33Wk80X6ywOL_VGq9qUXPlHJgvaAGPcLJs0cC5uno26KwWrrUMC-WiQflvqxANz2oF3eHn-NncoCKNEX3MWRWpgeMjVRA0_40hJ_f_U6wuWPbIf4XZcc5xrxXmQ2VWEs6iNiBxOxP7X5GW7p_ASzYThJJBFzg60njIPOY7Y_qQxAnYW0A5riWoGrzdkshQmk6SfPlHLkBKSX4otTsxy-5mMfwgyPe2hzve9Og0cFBYDfknh-s1ya4EdUC0GjwZAuJInWDhd3eJ-4Vfver5L5BV8KDTgCTXx0TAxK7frhvXL37w_eN002lCinE23SpSw9dSPHxXMaNIVEfhOkp0fIWClcCRRF1LYNZdlizYk9BDGNfe01njlgYeJKoIQCMwy8LIBiAtg5GxXDdIVO4jzXA3H9zoNmD97peVNr5MSk8tZN_vBvtaWk-FFPlrk5cIM55R9yanUeIprDSYagzoQ0XPnItdsEpoU9fNLCeWcrJWh0SdTY050wQqqsXM2oy--3JljKYn4DBJ49EGjQyYWDwJ4b2Nycd_gjctxwsLjOayv9o3U5vD6okoG1Eph9y8InPTE6PmdOvzDd8XnH9THmURSG70neArxpye5aiI_WNiNpk_sqyvBeMJVEw80gZ2Z0yJpFGhnuoIDUwdskMXHccvRaiZfhH89nCfZ1Bj3ATwzcTDGYZARpUDsYJ6VU3-kVchcnwivEYRyvC2wb7EBpLsVb7PafWWCz8e85nJsdwBpPRLosrhbExdcSFE9r09JMAssEQp62xD3AMMD2yWWGpWBEdAOxPp8l7jBpYbUJIHE9cQTPLDLXvk8e6fl2W7JkXWUM3s8QdxasBJBS7jHF6wYWHnFh7G5RnnHxghVOFIT-kJKWjvJoL4WfoVBmlUQi039nv3FyPLS2ZKYBVw==",
  "id": "rs_06505cdaf2a3c470016ab2bd9c927087d0b782ee60859a0a9d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_z\":0.29,\"left_gripper\":0.4},\"note\":\"The bottle has lifted with the jaws but is still angled. I will raise it enough for its base to clear the table and relax the grip slightly so gravity can turn the base downward.\"}",
  "call_id": "call_cJuvs26h9OX0eHZWCN1729ur",
  "id": "fc_06505cdaf2a3c470016ab2bd9dec6087d0b8b0e11dbf673e69",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cJuvs26h9OX0eHZWCN1729ur",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5098, 1.6005, 1.4956, -0.5873, -0.5632, -0.4469, 0.399, -0.02, 0.7673, 0.5888, -0.4412, -0.0307, -0.0399, 0.9998]\nstate[eef_state]: left_x=0.4378 left_y=-0.1326 left_z=0.27 left_yaw=0.1795 left_pitch=-0.0092 left_roll=-0.0134 left_gripper=0.399 right_x=0.2828 right_y=0.0033 right_z=0.1677 right_yaw=-0.0001 right_pitch=-0.0487 right_roll=-0.0026 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -9.5795, 9.0462, 1.5653, -0.4127, 0.0562, -0.1148, -0.3761, -1.7162, 7.0222, 2.0635, -0.105, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51658c39f7f0b0cf7077a7e7e5ec29b242f4a306daca014425d1664c85931584",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1932ba82dabf94cb9121f10f780f49f4bd16f926b0acc4d8f8fc3708ca9b4e5c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4e38e8b81ed1f327a0f66164ac177ea5826fa294f2c937d580b6ad5838785f9",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 9.373 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 51 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.477, 1.6905, 1.1336, -0.1448, -0.5411, -0.421, 0.3695, -0.0189, 0.7929, 0.6338, -0.4561, -0.0303, -0.0399, 0.9998]\nstate[eef_state]: left_x=0.4525 left_y=-0.1274 left_z=0.1527 left_yaw=0.1814 left_pitch=-0.0256 left_roll=0.0032 left_gripper=0.3695 right_x=0.2878 right_y=0.0035 right_z=0.1783 right_yaw=0.0007 right_pitch=-0.0442 right_roll=-0.0029 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -10.988, 9.306, 1.6093, -0.3736, 0.0366, -0.1294, 0.3214, -0.8274, 10.0444, 1.8828, -0.0073, 0.0073, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr2sBK8FHkLw-u0GIX7k_jA7FmZhIiJxLyDOd5S8Npuy1tT4vehyzu2XKZjfB-0gVdDRLovYx10eLjoPHIqyTtifG_L7VhVxjmGoSDdBSkaKIDXnwI5EXR8EiGDSxdck0KmCyfb2XYJHYZxT8lukcCzAvBBU7fmBhvrOSoYhEma25kmap_0iQEo9mWv4IS3DdIWPcRbMMeJ3VUsrB4cQ0O3u5e_i9BQewbG1Q4TSyGAWneTejmomx4JzMPpWIPDJ1IMHe8U0wQhgm98L2hAPPFV46D9440vJYflxwTbR9rBpJs1QwmqRGFdMe4zLZwy7029ajNbxOVwIycZKRIQu6mle7PrrGE4fke-2CSQeWMjdCsuWDrGLHYFztwz5gAPmbBxXk3AJfy0mxrdfg8YVAIkfrqBkps-XOUw23SVwEasge5cP72-pmbEYNz6KleGpY2DDuhNEu-a0O1DAblwEqF3e9eA_xtQtUZvQkH5QEcucQcNPRhF6lMAp1E1OhbSph5uxLvpM1m9HhgwTkAH7ocjaGwQ5aC395nGBW-xa3IfaTYVzDLr0XtPzukQy8kvAx91d_uBwl2buAj9AuH5DIFzkUcaWnDo7Hp-qmZ-AeYwji0TO12xMA7fKGr_3NidICibZ3dU6Yu3cHwMEQbMd58V_9JslgfLZTYRcIi8nJXZGRnHmI4mlljoLTex_rjTc5REYg8cb-GoW5haNoroMVc86_64GEz8gIrInVBqcnX_1DvydTEJxbic0LOC3eO7INdk-3XmEjWs6PoxPNsdA1NTWCSJKT_4GlxBSXiviVEItOuw6e__eorPhkLivp4Tz4ujJIk_mK8VbFv6mkmPOAbGzne96Klb7pRpZwSA4LU0eKJgSiS3j2r6gJT3QWaGpUJBq9ODlydMJsj5miVzVhfmAzu33OGcgD7Hv0HOLdjW8fIVVFI5LSP8KcrbaaTOJwwCpwSMBwHihxwp-7Br_h7DWZ0JQ2aR7x7c6N38kXOwAqjNusyg4b7iYM3FkRqVjbo_snsph5azROW0NKvZMa2RbcbSlsC2yqCfTeK3hsA3F_-xNeEnJb-iOeQ4-jNHK9EgJe-yXXMHPm-yl63DDONFmlrJzhslpnSkrdbF-iC4MSwl1t0YqHqr4j36P_0wNEgMmashyoiPwAnoeCyM7qGiSSSu0pjE9H7uiCYYm9Cd4xNsfpyfOpQm-KOb_fcLbgMrPDq6L-LoWewzwSuukwOZx-BjhgpxA4G6u68uus1DxEK6E_QU97-i5uxKkzyZbQfU7cyJlQvDyQhLK35AGl35K6dvmU2YCZIcVvADYGOzPfUL3lEIj178-sDWwCpGqUdXBfUARypHqmFwBpgToaJP9FAjmcrTn55T0dSozYLZfRGFAN4AGKYYpYmOsEy_J-VLeXN3WDOuAnQlEpmaTHA6I_fAvJge_ot3XyIuiWLwBCe6EAKCnKwVd5ti_ytARNFzpXYeqW9OiMOwHB1GFiQd0SyhA6Z-NikcZ-KIcA0JssvAPWc8zFXeZmRUjhewDIKzWAcrdr_XTcY1pGZFZ7Kkpe_Rhdv_23FBg4laxTQGdCsqIgI0mLaN4Pfg92RkY9BwQ1ubWr4MPaTIDIHGSlKm77l4qjOpHbFqhptLFc-9g8gNcIWCVol1BnHk0vCEN7tHgu66n46ufpzYo_bx6S4FQRYk9bp7_htfjtW4cgBHMUF5dzoEyka2O8GKpx2_ow8uUs2PTJDZf8PTXN6yLQcPVCzyZZwQDaG1IiWpAn9fbK7U1mQyXR3TgD0d_wZt1kVjfgpLVFwm7wQF60dl2RS21nMdlPoxZTlp3HD1zW6h5Hfflwr0ZlWcl_d02vHWgGuYcZsyMJVwQMsBAfvIHP0cg1W1TkFUCXxWYHJ2LnY7pHNfr2DSk_Y_EzsKCW-yPWzO21yU_gI5jQPzvGoer6Jc3ZCSrXQreRDQDs1cgQMSN5wtNgp-fLkk3NYUNc0Uudxx9bm8tWHVaja6I6HOvnhNV2lT2gdiyLFcKh3l_dqz4gG8lL-4b8TcVbStzQMtZxDlNN1iPEFWiyJAzL7MuwOoSrcWB2XLDIlBtz1_zI7KV_1I6LV5JwLb3fph8ViRIC-rSP_hpZ5MVzeswmYJ35bvA9Py8OhfYRT9k8Tph9DB6A0aJDTTsymgZ-DdK52ZJYs3EDprJ4mgkUQ5wM3z53b-73zEhghecom8iCZ_iWOtxRvZoun9nduXXKhE0Zu9-irbY3c7_cwgjOhSn38IA3ANpVEKeo7y9T0llXcDr5S5nsQTs2kvDlBhe-_YZmrzgHVva8nV0FnKjksPpS0fGrgssBQ==",
  "id": "rs_06505cdaf2a3c470016ab2bda3519087d0876cea5c322fe6f3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.475,\"left_y\":-0.13,\"left_z\":0.045,\"left_gripper\":0.8},\"note\":\"The bottle is back on the table; relaxing the jaws did not retain it. I will regrasp the shoulder and maintain a fully closed command during the lift this time.\"}",
  "call_id": "call_UHKSBkcwwVRYToN8tgEkGVSJ",
  "id": "fc_06505cdaf2a3c470016ab2bdaaff5c87d0aba70825fb737981",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UHKSBkcwwVRYToN8tgEkGVSJ",
  "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]: [-0.4629, 1.9549, 0.9966, 0.2489, -0.5381, -0.4149, 0.7982, -0.02, 0.7376, 0.5407, -0.4187, -0.0303, -0.0395, 0.9998]\nstate[eef_state]: left_x=0.469 left_y=-0.1289 left_z=0.0465 left_yaw=0.1901 left_pitch=-0.0329 left_roll=0.0113 left_gripper=0.7982 right_x=0.2783 right_y=0.0034 right_z=0.1582 right_yaw=-0.0007 right_pitch=-0.0445 right_roll=-0.0026 right_gripper=0.9998\nstate[joint_eff]: [0.5128, -9.388, 5.0667, 1.6777, -0.1294, 0.1978, -0.0659, -0.3487, -1.5248, 6.9538, 2.1123, -0.0659, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:059c9ed319008423a62d57ec93348c55cc5a88d8b29b68d8c6522b29e41f25fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:923fe6bda64968fd8812be1bc267485ebcf20346fa52b4b23132a517fc393d4e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9799ac965b600b4fec6fda273b6394587a3d03a46a299f71e943ebe9ddd35550",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 16.38 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5098, 1.6005, 1.4956, -0.5873, -0.5632, -0.4469, 0.399, -0.02, 0.7673, 0.5888, -0.4412, -0.0307, -0.0399, 0.9998]\nstate[eef_state]: left_x=0.4378 left_y=-0.1326 left_z=0.27 left_yaw=0.1795 left_pitch=-0.0092 left_roll=-0.0134 left_gripper=0.399 right_x=0.2828 right_y=0.0033 right_z=0.1677 right_yaw=-0.0001 right_pitch=-0.0487 right_roll=-0.0026 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -9.5795, 9.0462, 1.5653, -0.4127, 0.0562, -0.1148, -0.3761, -1.7162, 7.0222, 2.0635, -0.105, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr23DJfqkTn5mERig_5r3Woe-F4msANfdlSOy3IS1Cgtx3bPKsVniXKaM9QmgHK1lYRZMrOKR7ezPSqHxm3Iqe0QFVwezpM7fC4IIeZQ7cDx3kS1vOk0Gl-FpgYlR-uy5CzbS_Py3MOe362VBU9FQ6TfzHZamIEAooAGdUGUd59q20-zskNuF0hCJnrABKS9rYfEWb6C8YdIMGY1aWIb_gVYO22UWQJv1xwHK2cf96iDhsolVjIn0V74gCJgAcLIT8IIrVR9yHgYDmSp3sBRYnyD-LeU7rIKsRGQKSbumiQfgf61HZWCPuzwYzbJu1PaFkIKcqftpA9uxA0u2q9yTuwQU67nBYcIOqUcwn8XIdr3elogjvrJq0_kkBajT8SKdKSTSjhjKB1xsZ2Ky_JoTg1sfpFXnzJNiI_FZkkKDfzx8eK44iFxVjdmf5UU1VFKjlOpIb2di5Gy5K0AXmUNlvt1P7CORK9_OlalZQpNLZwUuLPyowHBYme5a1yIYMn7t0EpVKVhKBjPJWc3ZDNUU_2HLATeqzkCui6VDTYr7pobckXUZVJWaPLlhEjlZasascZLo64URPhulnzgLSzBJyllUTfXY9bUi1riVsJ6EP02pKtXdIURfWnVjbp8ARUm7fSCegY_IKsi7_klMRNQ3xYF5cfRcMbye4HkRZwZWeZnmf56G_rcGWeo7IfiTPIzrR28vTdq-C50wvRtMf17fdddZwjN8XaoeBJHPdnskKiGTg4u0NYbI0hKpXz1TdVIjjKaYna3qD1G17wHV9bfuSK9lfzs35IVGBoPXtAWhs3AxDto3BbatvwRG0BhptsFhY6kYDb6ohTUl4CXPP7hrBcRwr0DBXjkdoS996n3S661QW9BbOR3fuoNU8le7aVCQOHpaG9Qkl4RU589Vxo7lwZu5ofkdWuCFzojcP8_F9CpgSRc9LjNvsD7DPuep-cqgGSxYpW8BMhmhcGuDm9OTP68n6GQUuHRd3LDuR95wtU_m3F4_7IY6os85zDrSOd7KhyEcD9vMRhvyEpPjz1gphfEtUXHhSiuyZ29djxAWaJKBSa4gGR5iMrCImNJJJAaSYrof_JU3D3hj6e3jVDi3G98_XhXGvcUHJi12w3HktWk3vbML1MzrJnpPS9MOx_ssASL31rPFBszWg_1HxBoF41v9mttlYCMNCRwZpyuU-ms2hiH2THbJnDJakcXeM-9_8_VkScjnTvlUlsWdt9Al6UkViNnp5Sv05EGEQxEo_ZTx14JlY93sPN2PB4DMs5kh2XBFANjMvNCaaD_mc-uMIZBZBFO6ftmGmo9DqCgcsktbrZ1X0-uB7RUNAlZZMV8lRpH3uoPQYMheBfUgNlgZlQTK7kYmQT2-ZE2BM7De_tmJDnsK0tBjOc-RDpSHkK8-VTxnGYSVCym1GPsRE8Msq9hsEapTlIr5Ndf1PrHGWohvjlw5-2JR1Aq4Qh-eXrBj3AHVXcjhvL7ekIQvvB6_TwjsP_mj9S3L4iy9NHPCifqOtZTmMjCLzMP86IPwgDf6LrhYHcsKu8nWEnmONgEkLauLlivKHKBFDtUpCmDJHzAfGs=",
  "id": "rs_06505cdaf2a3c470016ab2bdb3537487d0b31f7ff2b570a772",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.015,\"left_gripper\":0},\"note\":\"The bottle body is centered between the jaws. I will close lower on the body so the fingers grip its sides rather than just touching the top.\"}",
  "call_id": "call_VFl5uZG1X6rN9AdNl6pDuppZ",
  "id": "fc_06505cdaf2a3c470016ab2bdb61a0087d0a731507302a27aad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VFl5uZG1X6rN9AdNl6pDuppZ",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4667, 2.0026, 0.9634, 0.5182, -0.5743, -0.4194, 0.0109, -0.02, 0.7113, 0.498, -0.3958, -0.0303, -0.0399, 0.9998]\nstate[eef_state]: left_x=0.4877 left_y=-0.1343 left_z=0.0625 left_yaw=0.2232 left_pitch=0.1277 left_roll=-0.0935 left_gripper=0.0109 right_x=0.2747 right_y=0.0034 right_z=0.1502 right_yaw=-0.0005 right_pitch=-0.0381 right_roll=-0.003 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -5.9282, 3.3709, 0.6764, 0.1343, 0.0952, 0.9451, -0.5402, -1.3197, 6.9675, 2.044, -0.0904, -0.0464, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73e945a74ab6b8326f8c934b50e746bb81f0ae68edfc0b0ec13afcbc550b55f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca4babe242bff9a7c592f2cca2dcbc5443f61f2182682a83ce54394fed8a150f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a403b8f5066c3428f643a9beb21c81389c86d3fcd0b4ca9a611683cd4d5d8db3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 5.946 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 59 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4629, 1.9549, 0.9966, 0.2489, -0.5381, -0.4149, 0.7982, -0.02, 0.7376, 0.5407, -0.4187, -0.0303, -0.0395, 0.9998]\nstate[eef_state]: left_x=0.469 left_y=-0.1289 left_z=0.0465 left_yaw=0.1901 left_pitch=-0.0329 left_roll=0.0113 left_gripper=0.7982 right_x=0.2783 right_y=0.0034 right_z=0.1582 right_yaw=-0.0007 right_pitch=-0.0445 right_roll=-0.0026 right_gripper=0.9998\nstate[joint_eff]: [0.5128, -9.388, 5.0667, 1.6777, -0.1294, 0.1978, -0.0659, -0.3487, -1.5248, 6.9538, 2.1123, -0.0659, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr3I7U2GSVu3L77GEPD8wAX7BLMv4HJF6FSRw-ZGuBVbWiVEq2sWihTswbe7Q59KwOM_YOApXDAFxFgbhgB5MgQqzE5xwr6TskWhDFqL1N1f84N9hKkU39QJe-VOF8uC0H0Y3PPLEK5Hw3gM83w_qRKOG2h1lsymyhKmPuzONARnZFtz7ntMn4GvTETxY6bNivFmIXwxGSZ0Ipql4MGYGDBCXciqbce8etRVIAgNVUR0sKrlSWaxokvz2TzwNgr0z1T6TnBhYNuQQ8SxHF5c-fHUNj00dgw37MqtoOOabyxTd3nlkHAOcu0Mt72cE-C7e01mVHavMJuaXAOwOPhiAQs9wAraPMgA2xvaQepXP0UNaGPPDdWuQd9Fe3Q69yocjWcXaPD01o_A8Z0Uqt6U1gT7faggaRBNYVcVZslYbiAMHkUxl1IILkESeWgwXQPlJWtxKvCk_5D-Pc4stIleDGDF0pLcRGPjKUA2Lq6fmOGfU1fYeM0OV1JVTyZTacghV0a1IwFFRUK9vmyvicFTj3gSSPStsdi11VpocIvCyca55G8aOjy1feA6z6GwHovpHr6O2cxzOG2dGcAwS3_efBKM_vI5nPu4VOGjBovS9cOHOaHdhteKWeG77gP9eTC1ITEHsUzrtfzAwR_KfhDduzHCmC99gZoM6BPm_vn3-w-C4bws0wa5tsxBipo05u3qK668R8oUC6OPjkDBa2W5ggULn3k5PGZ_wm_eMdmArARmFSuo2_ZgIGtneRcPO4UImZRepo75ZG0xikzPYqwfudPfTsrwI0jWKPBLTmoHu7qWVGelPGY0nHiLqvRPnjiz5Y7-7VjNTp5azMf8QMUWmhfzOBNnwp2dWhE2Jl-_RPFRgg6J-TRsMOz_HBB9dxHCHBz-U7ITAY5dAVq5dAhW78_sbiyBljc0UrauDUafa_KkhfRCMDX0tj_ZwrbgkOh3OTrOlT9-cGQf806waRk1x9oU-WpDkL2kHz77z1-ByJw-zNhKqwQTWVjE52I8xO6xF4VDApM6g09WydhHgZSCR9_SkxuL6UnRUI5FhLGXMcY95JMxH1X2ywPywNZWIME6XaqE1dgaTR7PrwRdar6rhzVuhDSMhpOhlT1ChseRGVJ7NK7p-l86VKL32yezR83R_GW1avlgKdUwl9wcW7VGneRbPQECN6-SDTQBIBc6Cwq3RlkM8-gEuS6IBOQzzUUjc4oMo__G0Uy9KjzSZ5ISUAl6NEszi2zdvCtPJC4Rs7zJPx0TdjD60nQxo_BXjebkknhmX3JX0Vz-8LLbYNOixRPkckIimgTucWKJvtnD4o6-9YTWhxA0anNUWC1JRNpXV8Nld1FkCnVloFgITiRCVMx111weXubnV5bsLzue8iPeORPy000a5wuhNIC9sNGGpTC62joFwX6nvpLZv6eSqYAQNKQjVbv6G1pVq9jrHGvTYUOycGAdUDILeZVFQBIdzbT3WrbdIQlvIihBnYGoQGGhTSy_WshP00GrejsK9SK_dUjf2fZonPv_eH8_xHlnG3ZqB23N1BKc-mXo33bX8Ca8TDWyf3FEpZeA-hvD_uT7Vv6nHB5O-doWxeucBjKmMuUHTO3_RwnZSBOHrgvD8ChvwT2VbsdNnbr9Jh29q8BdOiSdUmWukV5_Awe-5JchpckompJY-E7auSnj5ARs2WTNsmmqVL1tYNEnNIIMQ5Zjryx6UrwyEczshyEdMY9OtPYYn-AqDyJ3plf28t_RWF9Kyo9xCfaT5hHpXJ6H7R7R0muS3xi42TcC7eq2xsnrqnpYe_9hnHSPVH0nq6bNaTmctYILac1D-J1kJG8B_Vo5am4s-hbX7ImWF0cTb8_vRoShwwj3H2hZF34fYftk1sc2P1jR77-UoIYYouXd0s7kpxpvEXaw42WfvSsRnduKWiUG5heZZUVD3yqPDEzhjpr_exrfzMSvI2Vv_QJ7OCsS51d12huJTdb0M-D-NhmJ8RXp71kTLvqwsHx6RBAeH5pvQh0D3L3DSt1P7tbGdtyCIPKPDRqvk_4MB-YGk_GcgOuYwgwMxzJzOGBHv1ztxfKeyBcV3jYfg5uHSLxDe2rKOH3Dp7brS7WUcM2f1PueOiuVE40ySuoZRPs15e1uOxejIawpA_CggwzilD3AFHML25scB9iLWf0op-hhjczgwo_jBrQskjg7C59mhm9VsGaTGCWSkpFxPQ7N9SgVm0iAhvjBofVLCUgqo4vhbgX49sOFp_zTmEgiswF_3vs81C00D9LGaHs4r4x7fLhK15by6Djh7Oe85cTS8EEzLQ-qvWG-M-1a1yqqzRymE5aTQq2mvYGrTHen8hT63BVKHTU3zJ4de9tHjF8lHIFhJprDdbUOBv3J_SAe-Z9RK2o7oSHoNbJ323Dw-gQXwzqMT6Y4PtmsOIDT4lQBHGXtpIrbqNKP34RDftNqtk5bsVe2r6VZSNt8p_pieXRX2zWqH1u7qhHeY5H448Yrn7Z2lq29q1ztV1Bgv-v7mFWmVsu3bYfsOf64Qab9JG2A37DXYVwlcxZLbHZdtPqSYNjlGvP6g0j-_fdUAsl5BXErB4PqIKbwX1ZkvdjI3mofpkTDW-h0xY3x2hI7Jy0ATjkeA1LbHcBXnwyzU0zODauhpGdr-MDVeA==",
  "id": "rs_06505cdaf2a3c470016ab2bdba6cfc87d0816e7624aaf79d2d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.515,\"left_y\":-0.13,\"left_z\":0.07,\"left_gripper\":1},\"note\":\"The close was empty again; the bottle lies farther beyond the fingertips than the wrist view first suggested. I will move the open jaws farther over the body before trying a lower grasp.\"}",
  "call_id": "call_Wq1k1b1J8IG8hzIRxoBkLyFu",
  "id": "fc_06505cdaf2a3c470016ab2bdc62a5487d0ab2103cb39775ee4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Wq1k1b1J8IG8hzIRxoBkLyFu",
  "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]: [-0.4366, 2.03, 1.1755, 0.1593, -0.5571, -0.4198, 0.9944, -0.02, 0.6907, 0.4622, -0.3767, -0.0307, -0.0395, 0.9998]\nstate[eef_state]: left_x=0.5052 left_y=-0.1287 left_z=0.0625 left_yaw=0.2336 left_pitch=-0.0141 left_roll=0.0082 left_gripper=0.9944 right_x=0.2718 right_y=0.0036 right_z=0.143 right_yaw=-0.0004 right_pitch=-0.0342 right_roll=-0.0026 right_gripper=0.9998\nstate[joint_eff]: [0.6085, -9.6342, 8.9094, 1.6239, -0.1099, 0.0952, -0.1343, -0.5402, -1.4154, 6.9128, 1.9609, -0.0952, -0.022, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2009829d11dae734648b7867bace1001dd0b69d322e240cb0338e8a67a2cf4b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bb3378df8d6ff56eb2d72d93c292102ba787b5859ea43616cdb49cb8515fc02",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58a3227a779f7df7804fa20ed1a98007ffc091680d574076ded2713c091788d2",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 6.756 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 63 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4667, 2.0026, 0.9634, 0.5182, -0.5743, -0.4194, 0.0109, -0.02, 0.7113, 0.498, -0.3958, -0.0303, -0.0399, 0.9998]\nstate[eef_state]: left_x=0.4877 left_y=-0.1343 left_z=0.0625 left_yaw=0.2232 left_pitch=0.1277 left_roll=-0.0935 left_gripper=0.0109 right_x=0.2747 right_y=0.0034 right_z=0.1502 right_yaw=-0.0005 right_pitch=-0.0381 right_roll=-0.003 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -5.9282, 3.3709, 0.6764, 0.1343, 0.0952, 0.9451, -0.5402, -1.3197, 6.9675, 2.044, -0.0904, -0.0464, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr3PZIaHrGBKBPtqV1RTtEkpNFjJuSv6W34MOIZFuUz2XRlC1FAJbXsB-zHx1erOCNZEvKDTKnUNQiwmSMjYFiPyZPl4ofCG8VfvQJ0BabspviMenym7K4QkEm1XVnpnuQHEPY2QhliSuWG-538a_AOE7dGECIC2Vq3qUHeV3doCOw1IK3vVQxq6YKJNQ-asrnA0clgnO5KRVShVRkWrjOUef-FbXrQDmkTJrpiQy7ajHTEGRVDpsrIrZrWa1nXFOlFsoPicNjwQ5pGdwm8HbzxXyJ-6aGDIP1Xvv5ZnytDNMFvcGIwJr3rAkPg_6YorH6mfphvk2WLt8q3fe1tr0-ZNGFYdo09LKWRKYmgrRFHstctHIrT_pyenxtFTe1kzven9JiRfQBMCzgNBOhEU14bfKPXovmGx2sSVz_aar2sM5CjmzYHVtqcgqQHBmVI5BHmzVem5ci6tPPMBA7COridpLcbc-05Bt1GxhiBw789XAjafAddSixbmBLXK3SH_S2xc9C_Vfx381dd03vfEATumcWW3w96FtB7H9NCm-RS1J02QQQ7j-75ZavgQ0jhDazfSC0bdJkiBb-b4aywgK7TlE4YdgpjXbbXamciMa9vDcYr2ZEPql9iR9mpgIB53kj5G92hs-neFInrr8GzINAnsi3_7J-uzlhc9eLKx6mUNbnnxSOMfEHZQFKUB5XYBcUXlgzf7xE6VIgUAqUWeIXRxlzn6uz5do2KcbPRwJt_xxZypz0d9i3J1F4-P--ZOJaDaUpEvChduhtOxeJGm08gqxbiW8iLM-hEyoZdEbeIx50yEya8TdZX2YHgo42qCWmNas88a9zrKex5xelpNo3SPPjw3vpVMHJm2i-i23WWRlytbyBTXQBAHJjRDMorxbDmk9Owp7R0lYQnyZJpzzYQ3uAWBoeW__En8MPikkIAzSOue2m_GogPMz3oQMelLtPjIrthhxra-fx4Sz0T3pUAo5N_nq4KA2SI1HovshRH-BwWHAOq-l5X0b80DR7COYvpUMUPlXIbuHmkvim9a7-Wm1obMGGXA_x4s8uIWGMwEFFl1R8TWH9TxJoInValIVP8S8KRuzcPFyk2xgdHQjEYVfeA0GZA9IB5NOgEeJ9Q5YUkv7JgqDiuR9Ek7TAbVIJKb7FKL85-G2GFxzA-8-SQMYKaWi2OgJgBqlNxzL4oPx5H3_N8NINy5HclwSRn-twPG",
  "id": "rs_06505cdaf2a3c470016ab2bdcbe88c87d08b05241fa8ec613d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.55,\"left_y\":-0.13,\"left_z\":0.045,\"left_gripper\":0},\"note\":\"The bottle body is centered, but still ahead of the gripping point. I will advance over it and close at body height, without pressing down into the table.\"}",
  "call_id": "call_GhAkZcJSl4nk4HxeT3Be3JRw",
  "id": "fc_06505cdaf2a3c470016ab2bdccb9fc87d08aa3cec862e38b1d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GhAkZcJSl4nk4HxeT3Be3JRw",
  "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]: [-0.3985, 2.1601, 1.3289, 0.2222, -0.5583, -0.4183, 0.0112, -0.02, 0.672, 0.432, -0.3656, -0.0303, -0.0395, 0.9998]\nstate[eef_state]: left_x=0.5508 left_y=-0.1264 left_z=0.0653 left_yaw=0.2729 left_pitch=0.0539 left_roll=-0.0435 left_gripper=0.0112 right_x=0.2687 right_y=0.0036 right_z=0.1362 right_yaw=-0.0007 right_pitch=-0.0346 right_roll=-0.0028 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -8.8957, 7.5009, 1.2479, 0.105, 0.3004, 0.9158, -0.3624, -1.0735, 6.7897, 1.9707, -0.0855, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:824c105b5bd16390644c511de8536b2991e53fcc3434321b4c306a7ece253162",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac0d9e5e04c80de8b54601a2749de8ea6c71bd9c0fd72ec850f0cc07c3168f26",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4011b14cc42d5b2b8316d6a0542e98505a4121e6eaeeba896af7e779e876773d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 6.835 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4366, 2.03, 1.1755, 0.1593, -0.5571, -0.4198, 0.9944, -0.02, 0.6907, 0.4622, -0.3767, -0.0307, -0.0395, 0.9998]\nstate[eef_state]: left_x=0.5052 left_y=-0.1287 left_z=0.0625 left_yaw=0.2336 left_pitch=-0.0141 left_roll=0.0082 left_gripper=0.9944 right_x=0.2718 right_y=0.0036 right_z=0.143 right_yaw=-0.0004 right_pitch=-0.0342 right_roll=-0.0026 right_gripper=0.9998\nstate[joint_eff]: [0.6085, -9.6342, 8.9094, 1.6239, -0.1099, 0.0952, -0.1343, -0.5402, -1.4154, 6.9128, 1.9609, -0.0952, -0.022, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr3XRrSqSdKVKqCd98Rd_AyAOBZMV5T1YihA7nM_nKFRdR3np_xSThtqGITfFENPRCtf9KXgW63f6F07amjWGA0cdthxhaEOsTIPuMbER2e6_FJeyb142t7xdgsvD0usDqfYfzyv7aNxU0Ss5Fa3vUUw9pKNp--FwK9kCfVbXv6xHF-3Nm-GH8p61THNL0DZVWLIGkkF_sUf7krjquhyaznGZaRacd1gBcP4pU6u4kSFQqGKetFm86qOHIu42zmvW_9WGIV46mVJ6fmjPY_JdPg4bNytfm3C0UglRNbWKK5Pi3j0wGhwQfSJrtX_ZJJ7_iiAjhDlKH3tSpXaHteqoAWr4xOa6hxZMyyJVBnX6sgdZ4q6WT3pjy_070DhzzWdfg5Ixjarki2zv0CWD2gMf_GeSRa51qxTkn06hXGZN7Dqcgso83rDWniU2VzQyflJFJbPKV2gPHF_P6vpz53Fs4-E1VGq1xEcmdOZ5-wPKp3NXo2U27MOSDM4_nTNfQTnsOTyoFi_AtvchZ34zTBID3b_M5KxeYtuWsNPKyxOS8v439FXpizM3SddWjlRByHFCsIjq42FoWbsWbyqs0nZGqTC0gpzTTOFbmCz0aksuoIMMUFuQOfCy3TLfvxl4dJtmGy3v0Mr72gppYqiBoodH9Q9yvjvrCxOmEoGMK-QlaLynSN_d4oAENMmzDNLkCw3_fJ7h4d9G7FqFuxxcjCPgUehjMUGtGTV8je80_pcovpmcuiJyEf-wnFk5aYeTgwZSHrGXUBCE-TnRW80cemPNZCvVzhk0KJq1YtVoEYl-pruLKhW4XTB-V6WsvUTuuPAsY7BKWmCZMjz4pvNZCY-fWRwAu6ny2LC71pRk6-haSAjiADQmboGRJRUwFk0jtbMINQT8Ysmre_ZHhJA4z_JVe2sGKXWVIyziUjscz4EQC6J_COdY4UCKaOThYfDmZo2VPHmVSQmeemAByW3Up1t_-N-uVBZalWNlsMq3QauZn7HcXECA9x4mISJowyuID8cL8O_NG4CTPuF9Ky4X0Y2pobmP2KBgvMTZvdkuLRvWf6y1qeeXrJCJ141CexzQahxKZBCVUrvL7swLrc7fYapqfof75MHolnYRVkxhH3Z_RdFBjh1U9XOmGUaCwI3AZsGDOoShoeiOBUxWqYqONdy9tBgmvIGa4MxCLA3bj6cB4LECW9oBHX_39a8zV7_yeCrtmDUHXX2G-X688GiMfqt0lRW-0PRpcsyT186L_tGilB3hXHaXLS9MmIJZAqMO_hefO1QSrM5Xqh57W3QcTnsR0XM3KdfO6FmSlp9IX-Vja42MyBDBoZz95Q8L4X6P51t0wDJkFJND_sgLT8EG1t4j4g9TpZ1nEhxJf7kX3CzlYJwRWOFPsLp1v4lOc4meWNGYwrLtl4Q63RUVVGPGibstVd2QaHZiPRfx7tTUYHqS0ruPK4EvXsYd6iAJVF_QBMBoUY9Owh_MVkO6MogStd-Qn-kSTzJ8BJjXpD-9etWIBtHqFXuKL0x5Gm0Lg_FqiKAnRm1_dLv_CmWsddXPJNpMdL9hMQOyf473Mnio18E2kvPvBOUeS9uce7u63LQeVviqC9Y2RGyiYFil09Ye3JEnXEol0jCJL7CzBn1J_UXKRFtLQvL8pvE0bh2-5mzNi6CrH978dU8aAVZNOGc0Zyna-qzcvwlKrcIgnDYL1O7e3s-onPyGEN17nG1yJjnnrSbTl93",
  "id": "rs_06505cdaf2a3c470016ab2bdd2896c87d0a566bcaf8f41e11b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.85,\"left_z\":0.025},\"note\":\"The jaws closed above the bottle instead of around it. I will open first and lower separately, so the fingers can reach both sides before closing.\"}",
  "call_id": "call_qDTWqTxrdc4Ix7K9SFcivaDJ",
  "id": "fc_06505cdaf2a3c470016ab2bdd5b3f487d0be5677da3240cf12",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qDTWqTxrdc4Ix7K9SFcivaDJ",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3943, 2.2147, 1.3613, 0.2283, -0.5686, -0.4271, 0.8459, -0.02, 0.6514, 0.4007, -0.35, -0.0307, -0.0399, 0.9998]\nstate[eef_state]: left_x=0.5572 left_y=-0.1249 left_z=0.05 left_yaw=0.2895 left_pitch=0.045 left_roll=-0.0365 left_gripper=0.8459 right_x=0.266 right_y=0.0037 right_z=0.1302 right_yaw=-0.0002 right_pitch=-0.0297 right_roll=-0.003 right_gripper=0.9998\nstate[joint_eff]: [-0.6632, -9.1145, 5.2308, 1.4676, -0.1294, 0.0269, -0.0952, -0.294, -0.9915, 6.8718, 1.956, -0.1245, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4432ddfccd899a3d971f06a1e80504f53be5f498f42637efe502a3141229120",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af7d9bc1307fc9515110e1d9d9e62d11b6f8e36e864a339e7172b896a2287ec5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa8a277c1bbffc52242a51348a8e720b1b3e8d3473596e4b8f5461e3849db06b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 12.4 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 71 changed as sent

message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3985, 2.1601, 1.3289, 0.2222, -0.5583, -0.4183, 0.0112, -0.02, 0.672, 0.432, -0.3656, -0.0303, -0.0395, 0.9998]\nstate[eef_state]: left_x=0.5508 left_y=-0.1264 left_z=0.0653 left_yaw=0.2729 left_pitch=0.0539 left_roll=-0.0435 left_gripper=0.0112 right_x=0.2687 right_y=0.0036 right_z=0.1362 right_yaw=-0.0007 right_pitch=-0.0346 right_roll=-0.0028 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -8.8957, 7.5009, 1.2479, 0.105, 0.3004, 0.9158, -0.3624, -1.0735, 6.7897, 1.9707, -0.0855, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr3eSuj4b66oRjHJyIdyJRMX-P2pPmt7kvZgZ2JmCsfhpPw_H9rj9vwRqtbeMOUYvRaNEwcSAkBt5S0FccQawPPW1k2abpG6ZJevMOzSGDD1YccgGucfvj2jxXfutN3OwpyAlMNKcvxKYfXTPb1o-kWDHWxgIDRLFqiRiwJ_9vV7C9s_h6C1-1Y8Ln9SmnXWt5_8z4UN6w6gHSuNs4fvRHmAi8n2jou2Fs3hDXQ2mb_JUJpb0SfkdgPJyy0m2LU90UbXzWQX3RNxWQcuTu88R6_s0cZpYrrMt0jmaCXZ761d4UAOY2dGHCi_T_OQH3wrTy_AEKXEdiHzjicWc1qzCF39Kdk4p88E9Qk-ai_CRHRO621v6KZx-VFlqVekKMWvYTacHA8BWacaMfokcstPTgwe3eVeC6oxssBf8Pt9PhXugAsE4mgjtwMG6ho2N4mYnX2MCRwRZl38T_R5NqQZ1EtUOHKGKTf6SxMCYsChmFuZkWd4zPXUZI4tn2WXsW2l1MnMUCK_GWxhDyYyApBP1pMYIYI5YusJXSU-oXXV0h3jPY52b38bhZWe4AyQauT7jKtg4o-HSFgKWjegRBO4viTTPzSqXBVyHF6vpquwHlDU46aJmeLqei8eD2lvlEQ1V65zLeuXrnWpmJMMeP9Ms_n3_oVkNTKeuoGuTSR_SeJ0lX4wXQkZgS-pwyLYbJTIKpUotKm_KDUEymxs4LHGey_J1vTM8tWZi-b4bCM9nXv3N-gRDrB35Y2gqhnI9denjnnAA-hBaJu8yc4j1DSWsX98xTQrI23pwkPV4dYA3RctqhXw60Sz6FGKmwxAKQb5aggwQQtNnbfdbpb4_iODAnG6VS9DNqmEnj1M8PpB5GayDf6Egi7ia8qJlJQGBtHyCa_incKwce1pgKX5rcEthdsoq4_wKsQ7d7W1yEFcaD2bv05tD3KngcSJC3t8y70acRtJF-uWhEQ4nm28eZQflVmXDq_xlbZ6E4pLkNvhsSyAgQytvjfJh1sT9imAPqc33irbofzrS7wSpTRQWpUaqL31tXOUQf0wsNS7tISciEsG-p9uf9GrklshTleJAndvwMInw6nxM6Hc9yGYAAK04-S8AXa88m3DCSAag2CwORZjifp4jRnmu1fG8Wjs9v0zeEbogzeKm-bnvJx8-KR77jpXXzw1zvApxdWT6U-Np-jWWvRDvC7FPEw-64XzdpEA5rQpfPoIKU7VTEyIqwxKsfhLBJ6a5Z7nAj5xagVjNyITrv5kwNomh3f2pjqut8IMZaUMWGBc4Y-YPOuwHUbVmFY8jsOLgn3EdWAI06UPfcW3Dmc=",
  "id": "rs_06505cdaf2a3c470016ab2bddba96487d082569b82e03ed024",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.53,\"left_z\":0},\"note\":\"The open fingers now straddle the bottle, but the measured height is still about five centimetres. I will draw inward slightly while lowering to reach below the body's widest point.\"}",
  "call_id": "call_FAxtfk7a0WkMSPtsnCYnmYc5",
  "id": "fc_06505cdaf2a3c470016ab2bddcce7c87d097f260682be5a44f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FAxtfk7a0WkMSPtsnCYnmYc5",
  "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]: [-0.4068, 2.22, 1.2961, 0.363, -0.5995, -0.4355, 0.8463, -0.02, 0.6338, 0.374, -0.3424, -0.0307, -0.0395, 0.9998]\nstate[eef_state]: left_x=0.5534 left_y=-0.126 left_z=0.0482 left_yaw=0.3091 left_pitch=0.1049 left_roll=-0.072 left_gripper=0.8463 right_x=0.263 right_y=0.0037 right_z=0.1239 right_yaw=-0.0004 right_pitch=-0.0312 right_roll=-0.0026 right_gripper=0.9998\nstate[joint_eff]: [-1.2103, -8.841, 2.7419, 0.5885, 0.0513, -0.0073, 0.0317, -0.294, -0.7043, 6.9265, 1.9951, -0.1197, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:485f28323b61bbfca662897f9ce5f5dfe8682a393f821188a97594dae55c2e27",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:294196e223530bcc65b0388ce7f9f356dc486dc8eafdddbe2f217beedf8c1f94",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17d5a2a9862e300c7bf567f4bb2f4a701ddfb3d65dfbe4951c5b5f94bec7f41c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 7.235 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 75 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3943, 2.2147, 1.3613, 0.2283, -0.5686, -0.4271, 0.8459, -0.02, 0.6514, 0.4007, -0.35, -0.0307, -0.0399, 0.9998]\nstate[eef_state]: left_x=0.5572 left_y=-0.1249 left_z=0.05 left_yaw=0.2895 left_pitch=0.045 left_roll=-0.0365 left_gripper=0.8459 right_x=0.266 right_y=0.0037 right_z=0.1302 right_yaw=-0.0002 right_pitch=-0.0297 right_roll=-0.003 right_gripper=0.9998\nstate[joint_eff]: [-0.6632, -9.1145, 5.2308, 1.4676, -0.1294, 0.0269, -0.0952, -0.294, -0.9915, 6.8718, 1.956, -0.1245, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr3r_lhw4W_-fQz0N98nwdehSrj6f-W-kuqo_PyKl7mSAsrnWCv_fEYTk2M8Xj8VQSMeUCBUJndW7pKzfTm0kGDpqBfw8ilaHYs9V8z0nfcHCyl7esz0N9jb_Aw80mjRTGjCGa4Byu70b1-aSGhba5jlP4J_SKkqX3K1Z3E83iMZ6AZY1UsmPWR3JlzQXGOzuQ37kTSxpeuqkOS2RC2s4fyn29wcxKp9xrY5lGeRRf64T1pAnjJC8M_DWSHvR0R17T3CikiFiaaZKaan3XIiHJCgz4icY0RsSK6_Hfr_U1VlP4ctzvFt70qsx8mjw0uQgG2gFdDvjSGjE7JWfJl2_xJyB14tKPTAkPyFPp2ObR7xx1woeImIgoOdEu4nZ8qTu2tUWZk9hqTJ_Yu_Jl5vjm9IqzupLJ09HsQnUOW2f2vLvRWBw8mXA13pDKgQ7Uq-7qX60MqRZTTBsb7ggJVwXvU6dGRwFykX1eg5JxfGiw5emTl16Z9v543M-vG4cMOF6_vdJV0OMURZXthllylO5fBVqyi-TMmFPntpiw7LG_qmvuyXdpB5BQrr7vmSlmGsS-Skj3D8ZTTtFc9rttOIK1_A4eR9tQsxdOaL3_D6jwHh-JDCAdoyE_hyiAq7Bm__yz_m79mO3nGDVkxWsqgfnpYOnyLUzI7LrJccjnI-qG-vQbwbpYBWqjVaU2MLB_Cw6JpRPxJLkJ4_JzPTI31BueKpRb4B47Le8X06GEiMXJQNQ772lm7GOapNsoJRQQ8EBmQ5Vf5c9-SvabzkGRWs78xeYChS9OQLIQHcNU7vOjFlpDkziNL0haVEVoIe-SZ2bPRoE2oWVtoHa92J6T274AtxIhP6qkwh4ltGSC5iK2oZ5htlZaZaSDx4ACFI3fq3hHEi25FzbigZX_o3vgmasWzuG2cDJqEkImuOmH4BQwVYBvH2f7pHfbOW5nX45ufNHwM5ubLqquTifAT5V-HnMINzy0ur9uyV7chX0F4wh1hwrFtdBjfhR0rqL_79wNxsJs2Ht4qvjAk9WTdkc0HyN2eCPX7Glr_51oSYdSspkPGwho9rGtg059xVfVTPU780Ww73Y7qeX8_5Ubpw8cpLDnVYZ71DclbmjUpmvEyuMJPZ3QFj2Ybw5tMRn1xeJvO7gz6szsV34o2NcHBB03SIA_mfU-UZ-M0uXDcAlGx4-4JwU5CJLAsfFUjOcwOGAO_xTpLa0akLkKxhVbyjFvNo2G5LZs20i0skQDfhzUzjiCLSyMEnutX4u0HZoNS_JvdR-42l6HhW9eD8t8Pz1QtYx83K1CQQ5R14ulwW5jPujH3wnOkA3GsfVmiR_HoD-6Mg_o5F_3ZxKg2yYyh4KTcehVw61c27KqEKG_7LvHxBqEtCVWsc9kP8kJOafhdKEd75ySlgY7VS_EwlMKy-GATtbPabLEGur74poWy-Z4o1B2ng_Jqu7ksLphBjswmhy5j17XaXEjOadrF0kLWMn2_6sA5y7ph7lt11kCFcbGOegou7Qmrwk0fjwk6eX8sDKlK83V0-pwtx6pcuX-3l8O3ZPeLrxw0rzQd6leohjRxGoYol5ucI6b4DjDIwpK0LGxsYBSWeVoABaQ-JrKFX0_ZyNEr6AahVFXLanlJQSylnPVW_gipe1skj66SfbmX9UHjJ3-oryP6hUBBpwEcXANGDeoh-Wj01DXgaRezQWauMDmjRwPfOgTRmHDrXkWOdRrhh06LFfej4AhQAOUWuiWcpb--yPGJQldcMGhJTVnfA1B_63Zqk-Y1329is77oruJ6b3arlRS7I9YfssxExZp1GGJySRsRqBDxm9X5Z7lU6QDzm1jkjm0SOu2BHwA5GJwur_ZLK_2hSTa4omb8RFSSBRo58E7M-bshuwwG7MbEhBfAUecjDB_7-qZMKJ4tl0zjp2c_CUHiBRRGn-m1vOLHLjI_KcLXSs9fTUHFi6zvETZ5gAFKJi3u4uOhWYt4BDPJj5QPqv22wabOHSysU6nW-jIETm-aQa0A993Cqhk8vJXNaUxQGkm5QIV3GvjAAn4PnMpgMqteteZCwuPRA641LdGnlXQ==",
  "id": "rs_06505cdaf2a3c470016ab2bde21aac87d0b6cc6f907e6a8620",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.455,\"left_y\":-0.19,\"left_z\":0.09,\"left_gripper\":1},\"note\":\"The arm cannot reach the requested low pose at the far end. I will make one last approach to the nearer, wider part of the bottle, correcting for its diagonal position on the table.\"}",
  "call_id": "call_zK397ZpyTYbjEbNvetYliQqk",
  "id": "fc_06505cdaf2a3c470016ab2bde936b887d090be295de0dc7522",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zK397ZpyTYbjEbNvetYliQqk",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4118, 2.22, 1.277, 0.4145, -0.6109, -0.45, 0.9979, -0.02, 0.614, 0.3466, -0.3347, -0.0307, -0.0395, 0.9998]\nstate[eef_state]: left_x=0.5531 left_y=-0.1271 left_z=0.0511 left_yaw=0.3237 left_pitch=0.1325 left_roll=-0.1024 left_gripper=0.9979 right_x=0.2599 right_y=0.0038 right_z=0.1177 right_yaw=-0.0004 right_pitch=-0.0312 right_roll=-0.0026 right_gripper=0.9998\nstate[joint_eff]: [-0.9231, -8.6906, 3.1385, 0.7839, -0.022, -0.0024, -0.2125, -0.3624, -0.6222, 6.9402, 1.9414, -0.1099, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ada1f9061c8d5cec55a5d7385cf59b93704922e79f36bbb3607511785a6cc1ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f98a9b624041b9572f142999df33a6ca83f899f0350aca8adfe7bc98093fbfcd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8349b1b6a88a85db35ab0bfae4e573463635fb0e1b90b81938e18fdda459084",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 8.579 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4068, 2.22, 1.2961, 0.363, -0.5995, -0.4355, 0.8463, -0.02, 0.6338, 0.374, -0.3424, -0.0307, -0.0395, 0.9998]\nstate[eef_state]: left_x=0.5534 left_y=-0.126 left_z=0.0482 left_yaw=0.3091 left_pitch=0.1049 left_roll=-0.072 left_gripper=0.8463 right_x=0.263 right_y=0.0037 right_z=0.1239 right_yaw=-0.0004 right_pitch=-0.0312 right_roll=-0.0026 right_gripper=0.9998\nstate[joint_eff]: [-1.2103, -8.841, 2.7419, 0.5885, 0.0513, -0.0073, 0.0317, -0.294, -0.7043, 6.9265, 1.9951, -0.1197, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr3zsP9eIH_mu5R6cxBxjBUMFrxGq_4XoKGT232zBmOp-u4_ueMd2e_Ero9OjCmQDW-RgQ6SQ5Xo4kV85EKdETmlupJ1pERnCbz4eMXDbWvGryIurUoDmYVEZ0o1F4KnorwECJp42xI-h44SRZH0jUfYcJ1XgOQx5QJFwN1Lw9qr9V0kiGP8zuqxp8E-8C0jf2cLzlM8eDl-OhRU6beN0j8Ye3Bl-pF6zhQXbEf_xvdtkKw6aP4ECpTLGjaSjeppzIZehyjHGiqV2SowI5LiC5OoJAap4rKSYoqumUSTnebKRyEKJa2uPcT0_wdA0ebwrUaRNk-qFh9mNjz0ayX2atLSpMRmKyqvHdKhnSyBdesA680j_iBu42dT0fn8UK4OvSlyVzdhVH7VATrkblVOYSq8eBHOrK_Za4n1rhC-sZdAN5TkMovKRPCUUBA1RCdax3JpX_7CTli6nFnNrBD8pA00-NScSSyephGcMENEn9YQp86Pvvlc25wxb_sY7BYs8Ag9ZEg2teQQJlCAan5Nh1yGGk7PqF4Grj54VOZmzyGfUS1VGHSuZosBjVoEFMq2lKZbs333i9RNI4h5Zk8PTntiCxxrz8mkYrlFm8EVxkJo-W2GhkhhFF9jqXIrCblYsqHEGT0y0MIdQtBi7bze2q8mdktUdBYzxYCq4h7t4PAQQOT4CNqvcShtW5khYFp5ujDHDDvp9WYjvvEb4cipcdcpwFajNFfUyGFvfURwJwBqILjrS95OEeIYsDlVk7eWsYMuUFjo76tVYUSuk9QRgvIJw3GB3PJ1rVTg-XdA14A-zr-RIUn4_xMihy6aSbklvpVGTj7HByOhpM8oliBk0izJ7LkwYW3W6Q5jTAd9fk8FwegRnBovkj4-eZjzIQ24vDZ56DiUGtZJ8r-rQR7gBoccrwi9Lz8X0l7KtEaO8hEn3PqpNhu3wpt8GCzV2p3e71FsI3PQHAT0Y2Dga00rUmhOdBDKtBXwqQVAjQaqFvN19XDXYkUkUoXxiaGpEf7t-UwGKYeRtLnAgAPycvLpTqAhaOxWPdH71eW0xcSGK2P6kTBR2s4-jo4Fu3wtJdAKP88o3y_jOZj-Ycc65ysueFplmAeKhFnUGSY6rgp3GkoLvtmCJW2ILJ1cN9oh-2_G-ihZ1BoZeJ82FYd1KmbSBdGVqxHN-3gyiB-9MNQJn8Zv1zAITid_diGDEus01bDycZsgDUb8KFzHPLBseECjvV01SQ==",
  "id": "rs_06505cdaf2a3c470016ab2bdf0b46c87d08504dfc4bc07232d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.5,\"left_y\":-0.13,\"left_z\":0.22,\"left_gripper\":1,\"right_x\":0.294,\"right_y\":0.004,\"right_z\":0.2},\"note\":\"The left arm has stopped tracking the inward command at this low reach. I will lift it clear before any further repositioning and restore the idle arm to its parked pose.\"}",
  "call_id": "call_hlHMxSa1SD0em8LmwKljBGGj",
  "id": "fc_06505cdaf2a3c470016ab2bdf1237887d0867b60409b00ba58",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hlHMxSa1SD0em8LmwKljBGGj",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4644, 1.9282, 1.5539, -0.4107, -0.638, -0.5133, 0.9979, -0.0193, 0.7937, 0.6376, -0.4637, -0.0303, -0.0402, 0.9998]\nstate[eef_state]: left_x=0.5068 left_y=-0.1322 left_z=0.1759 left_yaw=0.3182 left_pitch=-0.0434 left_roll=0.0308 left_gripper=0.9979 right_x=0.2873 right_y=0.0034 right_z=0.1783 right_yaw=0.0005 right_pitch=-0.0487 right_roll=-0.0031 right_gripper=0.9998\nstate[joint_eff]: [-0.6222, -14.9128, 10.441, 1.5653, -0.442, 0.0171, -0.2271, -0.1026, -0.759, 9.935, 1.9219, -0.022, 0.0269, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ccfb67320a981958dbace2d71ae8abe00919936acc3818deb573a1dc835232e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01cddb5267666c208f54ce979aa2f5b54a5ca7660584b194018a613b93ef3554",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a85b696cbd19073aa86068583b1c4b80accc753dcd7147299aa37ade8827c80",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 11.16 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 83 changed as sent

message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4118, 2.22, 1.277, 0.4145, -0.6109, -0.45, 0.9979, -0.02, 0.614, 0.3466, -0.3347, -0.0307, -0.0395, 0.9998]\nstate[eef_state]: left_x=0.5531 left_y=-0.1271 left_z=0.0511 left_yaw=0.3237 left_pitch=0.1325 left_roll=-0.1024 left_gripper=0.9979 right_x=0.2599 right_y=0.0038 right_z=0.1177 right_yaw=-0.0004 right_pitch=-0.0312 right_roll=-0.0026 right_gripper=0.9998\nstate[joint_eff]: [-0.9231, -8.6906, 3.1385, 0.7839, -0.022, -0.0024, -0.2125, -0.3624, -0.6222, 6.9402, 1.9414, -0.1099, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr39F5VLI2Xj8s83VEffFD06TLkuXKWECZxtJeustUrQvdAPE9WIKG5vxj_S2YG_gSbrIHAD0xX_nfgnoUMJIqv6r_j2Dy_-kLviuCYAKHlUY5ckXyhhwmRID_19ixR_3wIiRktg9FaMUNZgG3N8Mx1YOIA_2Sk8Bp2WdqtQn48PH9OP6wfkCUXjaD_Nu0Q940q0D8PBb6_NVDQHw9lCMGe2G00qsSdcNBWpvjKRGEPuPFDVm8BRa0W601kmlPlrFzrrIFoJXuPiMLVmipp0Wd8-sQhcat70yIykWn_RRAEM8XyMyZn6mLXtj4qQjfUkZcPPsCYN2gcvBIuxvcSOZ9QWwELLgYr0P47aNWqZ-gole0fHx5pbVUAvlKDBHYxt1tCOOIkIyOKah9pvYR9SaavIlM95nyKvVSvq1LmNxhI8dBOmOHBAgDyZzFvQTb7Zsc3-o7QKR-L27TGawk8zqr6Ogh8AxLkws-TH6ZSUaIwsO9g9-pT5m0S-zltHMs2oP1wQAqqjl3SZNG2w7vJf4cu32J75dDRta0TJ3n0a_cGsV1NZKqkqBTVABA84a0x2ASifOWlhN4EmV7V-n_ImrIjSJ_lo7szYduS7LOOW9kCT9HbPSjqLBRgGCi_B4NKXrqzpzLFc19Z5ep8ky0kDt-EZ1nKxwX6zBAafgt4B--veU18ZeYFzR-8gfG9Uw04D40jXvwfg1-r5Z7u2wkx5ktTXpDf19W4S_r7NlGryTxl_r73iuIB_B7aYnobeDNgZKJVFvteRm6Sg0mEY35h8U5OkzDX1cJoiX6ukze0iI7crDg0dg-verpT6r6Sy9WcV0iJetGcDUIF15p9mpZnHHqDDu65vFon4TmofirvkbKl0peiD2ZCfTrbkXP_gqYLZ3xw9IIJL6YtwRiBG4B7mdHFdybq8k3As2g-hfT_npeyUSV8tBQPYhQMb7tfVxpCq0-zZwhAjYbEsEXM1WZ6rY4SwrM-IjM2sSVZVlBnuXchscOVpDoaEqZz3QTQrjVFb4cj_4XQOIWDusRj8DkH5JhCh6FrphYL4cQbHYJzqZRTeaGAzrw4IBpkb2BexFTQmF1QEpeWGCPSkwTLSyaULBJ3c7yK5t0I75tUh-tfRvuxfqySLc9uYH7Vrj2FlzWv1A36RPQ7uHyqrp-o93Uufxr-XScTxBsy5fCkRC-zIXbAWJoYLHoQSUcHKnFs4f0l2_irAGhT0Ia1aAtkTXNCQ5AK3BOEBoqJOPhpnvk4mrkT-Ako8DOkPdLmaZPPtD_g-tzg4o0RZHR7uryoDQL6uJt3FUpsafXHF_dmACCr6_eZK-WQLvRr6KuGpxpITvXDfGFa-bqCulk6yMh5KzKivdWDxO7Yt1-KTX7h8Nqx4bBn8mmCOs0VkdalKonBAafM_b4GHqVpPihlqbFVjzAdUmqTSHA-klJ0QNIfbxNC1uscbtdZmsgyWS9MX_mhdE7rdHDCD09UFrwiCtHZ1Q-eYTSZb9a7dhOlL1572aUGfLH7pCj8l5iUGFOVAcyJvqNw1lyy5TXdwEKbY8MS2a8A1pPDHo0pZ90oc2NzxMvlqCVOk66wKHTOMJ4LNWOn7Cvcq36tIaaVTIN0qdhI7IZfzDrAgGQ==",
  "id": "rs_06505cdaf2a3c470016ab2bdf8355887d0823405c7558ea7d0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0,\"left_z\":0.22,\"left_gripper\":1,\"right_x\":0.294,\"right_y\":0.004,\"right_z\":0.2},\"note\":\"I have not obtained a reliable grasp, and the far, low poses are not tracking safely. I will withdraw the left arm and leave the bottles on the table rather than continue pushing them farther away.\"}",
  "call_id": "call_wG4Mt0CEqMiH7TsBxCjMNIRk",
  "id": "fc_06505cdaf2a3c470016ab2bdfad99c87d09c8afb7a34a48ba7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wG4Mt0CEqMiH7TsBxCjMNIRk",
  "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]: [-0.3237, 0.9554, 0.8291, -0.5133, -0.5484, -0.4191, 0.9979, -0.0193, 0.7925, 0.6495, -0.4805, -0.0303, -0.0437, 0.9998]\nstate[eef_state]: left_x=0.3106 left_y=-0.0033 left_z=0.2246 left_yaw=0.3395 left_pitch=0.0263 left_roll=-0.0298 left_gripper=0.9979 right_x=0.2862 right_y=0.0034 right_z=0.1806 right_yaw=0.0024 right_pitch=-0.0525 right_roll=-0.0058 right_gripper=0.9998\nstate[joint_eff]: [0.4991, -2.3453, 6.8034, 1.5995, -0.188, 0.0464, -0.2271, 0.0342, -0.4308, 10.3453, 1.9023, -0.0513, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32d9c8721b9a63b8976b966f453b6772eaee4e3e68f24370a61863a5d80f7533",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ab77b502b8bb1030899aecd3c7f4052246afd341331559cddbe648aad8a41c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:359860138af9454420f78e4599061e7688c02f33327c7d26c0ab13008049fdbf",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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