adhoc

completed
2026-09-22T18:17:57.036244+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 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
312.6 s
total steps
218
success_at_end
0
scenes
1
trials
1
errored
0

scene-0

completed

Stand all three bottles upright.

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteAll three bottles are lying down with their caps pointing toward the far edge. I will approach the left bottle’s neck so I can lift its top and let its base swing underneath.
move_to
left_x0.4550left_y-0.1450left_z0.1300left_gripper0.6500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7925, 0.6075, -0.3763, -0.02, -0.0284, 0.9986, -0.0166, 0.7883, 0.6033, -0.387, -0.0273, -0.0353, 0.9998] state[eef_state]: left_x=0.2956 left_y=0.0012 left_z=0.1828 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2934 right_y=0.0035 right_z=0.1798 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.6769, -1.4291, 9.8256, 1.7705, -0.0611, 0.105, -0.1538, -0.759, -0.9094, 10.2222, 1.8535, 0.022, 0.1587, -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":0.455,"left_y":-0.145,"left_z":0.13,"left_gripper":0.65},"note":"All three bottles are lying down with their caps pointing toward the far edge. I will approach the left bottle’s neck so I can lift its top and let its base swing underneath."})
tool
executing move_to over 13 steps (1.3s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent noteThe left bottle’s cap is left of the jaw column in the wrist view. I am centering over its neck and lowering for a gentle grip.
move_to
left_x0.4750left_y-0.1900left_z0.0450
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4458, 1.6787, 0.9638, 0.0448, -0.3656, -0.2703, 0.652, -0.0193, 0.794, 0.6033, -0.4038, -0.0277, -0.0364, 0.9998] state[eef_state]: left_x=0.4412 left_y=-0.1369 left_z=0.1133 left_yaw=-0.0065 left_pitch=-0.0577 left_roll=0.0174 left_gripper=0.652 right_x=0.2915 right_y=0.0029 right_z=0.1748 right_yaw=-0.0017 right_pitch=-0.0225 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-1.0325, -8.6632, 8.5675, 1.6825, -0.2857, -0.0366, 0.1099, -0.0479, -1.6752, 7.0222, 1.8926, -0.0415, -0.022, -0.0122] camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.475,"left_y":-0.19,"left_z":0.045},"note":"The left bottle’s cap is left of the jaw column in the wrist view. I am centering over its neck and lowering for a gentle grip."})
tool
executing move_to over 5 steps (0.5s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe neck is still to the left of the gripper, so the lateral correction needs to be reversed. I am shifting left with the jaws open to straddle the cap rather than push the bottle.
move_to
left_x0.4800left_y-0.1100left_z0.0550
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5381, 1.9862, 0.9993, 0.2909, -0.4271, -0.3126, 0.6522, -0.0193, 0.7864, 0.5835, -0.403, -0.0284, -0.036, 0.9998] state[eef_state]: left_x=0.4592 left_y=-0.1847 left_z=0.0344 left_yaw=-0.0258 left_pitch=-0.0623 left_roll=0.0294 left_gripper=0.6522 right_x=0.2886 right_y=0.003 right_z=0.1679 right_yaw=-0.0013 right_pitch=-0.0339 right_roll=0.0006 right_gripper=0.9998 state[joint_eff]: [0.3487, -9.5795, 7.3231, 1.7607, -0.2466, 0.1343, 0.0024, -0.4171, -1.5385, 6.8034, 1.9512, -0.0611, -0.0659, -0.0122] camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.48,"left_y":-0.11,"left_z":0.055},"note":"The neck is still to the left of the gripper, so the lateral correction needs to be reversed. I am shifting left with the jaws open to straddle the cap rather than push the bottle."})
tool
executing move_to over 7 steps (0.7s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe arm did not follow the sideways correction at this low, extended pose. I will lift and shorten the reach before approaching again, and return the idle arm to its parked height.
move_to
left_x0.4000left_y-0.1100left_z0.1800right_x0.2930right_y0.0030right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5388, 2.014, 1.01, 0.3252, -0.4389, -0.3225, 0.6522, -0.0193, 0.7712, 0.5507, -0.3882, -0.0303, -0.0364, 0.9998] state[eef_state]: left_x=0.4648 left_y=-0.1862 left_z=0.0318 left_yaw=-0.0123 left_pitch=-0.0435 left_roll=0.0192 left_gripper=0.6522 right_x=0.2855 right_y=0.0034 right_z=0.1601 right_yaw=0.0005 right_pitch=-0.0366 right_roll=0.0014 right_gripper=0.9998 state[joint_eff]: [0.0615, -10.0581, 7.5009, 1.8144, -0.2515, -0.0513, -0.0122, -0.3077, -1.9077, 6.9265, 1.9853, -0.0415, -0.0708, -0.0122] camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.40,"left_y":-0.11,"left_z":0.18,"right_x":0.293,"right_y":0.003,"right_z":0.20},"note":"The arm did not follow the sideways correction at this low, extended pose. I will lift and shorten the reach before approaching again, and return the idle arm to its parked height."})
tool
executing move_to over 10 steps (1.0s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteThe working arm is hiding the left bottle in the overhead view. I will pull back clear of it so I can identify its cap accurately before another low approach.
move_to
left_x0.2900left_y0.0000left_z0.2500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4316, 1.42, 0.8742, -0.049, -0.3656, -0.276, 0.6522, -0.0193, 0.7948, 0.6441, -0.4755, -0.0307, -0.0437, 0.9998] state[eef_state]: left_x=0.4055 left_y=-0.1133 left_z=0.1655 left_yaw=0.0099 left_pitch=0.0103 left_roll=-0.0194 left_gripper=0.6522 right_x=0.2864 right_y=0.0035 right_z=0.1786 right_yaw=0.0048 right_pitch=-0.054 right_roll=-0.0039 right_gripper=0.9998 state[joint_eff]: [0.1983, -7.9795, 9.5658, 1.746, -0.0952, 0.232, -0.0122, -0.3761, -0.6496, 10.0718, 2.0684, -0.0757, 0.0366, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":0,"left_z":0.25},"note":"The working arm is hiding the left bottle in the overhead view. I will pull back clear of it so I can identify its cap accurately before another low approach."})
tool
executing move_to over 11 steps (1.1s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteThe left bottle has shifted toward the near-left edge, while the other two remain clear in the center. I will work on the right bottle next, approaching its cap from above.
move_to
right_x0.4300right_y0.1800right_z0.1300right_gripper0.6500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0635, 0.8448, 0.8486, -0.5644, -0.1074, -0.0959, 0.6522, -0.0208, 0.7609, 0.59, -0.4454, -0.0311, -0.0437, 0.9998] state[eef_state]: left_x=0.2986 left_y=0.0036 left_z=0.2399 left_yaw=0.0663 left_pitch=0.0043 left_roll=-0.011 left_gripper=0.6522 right_x=0.282 right_y=0.0032 right_z=0.1691 right_yaw=0.0036 right_pitch=-0.0441 right_roll=-0.0039 right_gripper=0.9998 state[joint_eff]: [0.2393, -1.7846, 9.894, 1.7851, 0.1294, 0.1978, -0.0122, -0.3077, -1.6205, 6.9812, 2.0586, -0.1245, -0.0269, -0.0073] camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.18,"right_z":0.13,"right_gripper":0.65},"note":"The left bottle has shifted toward the near-left edge, while the other two remain clear in the center. I will work on the right bottle next, approaching its cap from above."})
tool
executing move_to over 15 steps (1.5s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent noteThe right bottle is aligned close to the jaws, but its cap is still farther forward. I will advance to its neck and lower to cap height.
move_to
right_x0.4900right_y0.1550right_z0.0450
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0715, 0.8566, 0.8589, -0.5919, -0.1131, -0.0895, 0.6522, 0.5465, 1.6558, 0.9485, -0.0051, 0.4023, 0.2584, 0.6519] state[eef_state]: left_x=0.2971 left_y=0.0023 left_z=0.2357 left_yaw=0.0597 left_pitch=-0.0241 left_roll=0.0014 left_gripper=0.6522 right_x=0.4132 right_y=0.1746 right_z=0.1096 right_yaw=0.0455 right_pitch=-0.0735 right_roll=-0.0411 right_gripper=0.6519 state[joint_eff]: [-0.0752, -2.0581, 6.6667, 1.9072, -0.1245, -0.0806, -0.0122, 0.0615, -7.9111, 8.841, 1.8681, 0.5006, 0.1734, 0.1294] camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.49,"right_y":0.155,"right_z":0.045},"note":"The right bottle is aligned close to the jaws, but its cap is still farther forward. I will advance to its neck and lower to cap height."})
tool
executing move_to over 6 steps (0.6s)
step 67
top_cam
camera top_cam step 67
left_cam
camera left_cam step 67
right_cam
camera right_cam step 67
assistant
agent noteThe cap remains ahead of the fingertips. I will make one short forward adjustment to catch the narrower upper part of the bottle, while checking whether the arm can reach this low pose.
move_to
right_x0.5250right_y0.1550right_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0715, 0.8448, 0.8402, -0.58, -0.1131, -0.0887, 0.6522, 0.403, 1.9606, 0.9768, 0.3397, 0.3115, 0.1665, 0.6522] state[eef_state]: left_x=0.2959 left_y=0.0024 left_z=0.2329 left_yaw=0.0593 left_pitch=-0.0192 left_roll=0.0013 left_gripper=0.6522 right_x=0.4766 right_y=0.1483 right_z=0.0425 right_yaw=0.0271 right_pitch=-0.0365 right_roll=-0.035 right_gripper=0.6522 state[joint_eff]: [-0.1983, -1.9214, 6.2701, 1.9414, -0.1148, -0.0513, -0.0122, -0.6496, -8.8274, 7.3504, 1.4725, 0.0366, 0.1148, 0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.525,"right_y":0.155,"right_z":0.03},"note":"The cap remains ahead of the fingertips. I will make one short forward adjustment to catch the narrower upper part of the bottle, while checking whether the arm can reach this low pose."})
tool
executing move_to over 4 steps (0.4s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
agent noteThe partially open jaws appear to be crowding the bottle’s shoulder rather than surrounding it. I will open fully and move back slightly to get a clean grip around its upper body.
move_to
right_x0.4800right_y0.1600right_z0.0800right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0715, 0.8391, 0.8238, -0.5728, -0.1131, -0.0887, 0.6522, 0.3801, 2.0918, 1.1175, 0.3943, 0.268, 0.1516, 0.6528] state[eef_state]: left_x=0.2949 left_y=0.0025 left_z=0.2286 left_yaw=0.0593 left_pitch=-0.0226 left_roll=0.0018 left_gripper=0.6522 right_x=0.5174 right_y=0.1602 right_z=0.0404 right_yaw=0.0484 right_pitch=0.015 right_roll=-0.0018 right_gripper=0.6528 state[joint_eff]: [-0.1162, -2.0718, 6.5709, 1.9023, -0.1001, -0.0513, -0.0073, -0.9915, -8.6222, 6.7624, 1.5409, 0.1929, 0.0611, 0.0513] camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.48,"right_y":0.16,"right_z":0.08,"right_gripper":1},"note":"The partially open jaws appear to be crowding the bottle’s shoulder rather than surrounding it. I will open fully and move back slightly to get a clean grip around its upper body."})
tool
executing move_to over 4 steps (0.4s)
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 noteThe bottle’s body is now between the fully open jaws. I will grip it here first so I can pull it into a more reachable position without pushing it farther away.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0715, 0.8318, 0.8043, -0.5575, -0.1131, -0.0887, 0.6522, 0.3737, 2.109, 1.1381, 0.3981, 0.26, 0.1482, 0.9956] state[eef_state]: left_x=0.2946 left_y=0.0025 left_z=0.2249 left_yaw=0.0593 left_pitch=-0.0196 left_roll=0.0014 left_gripper=0.6522 right_x=0.5233 right_y=0.1602 right_z=0.04 right_yaw=0.0504 right_pitch=0.0205 right_roll=0.0017 right_gripper=0.9956 state[joint_eff]: [-0.253, -1.9897, 6.5162, 1.8388, -0.0659, 0.0024, -0.0122, -0.8684, -9.2376, 6.9265, 1.619, 0.1587, 0.0611, -0.1832] 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":{"right_gripper":0},"note":"The bottle’s body is now between the fully open jaws. I will grip it here first so I can pull it into a more reachable position without pushing it farther away."})
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 closed jaws stopped at about 4.6 cm, consistent with holding the bottle. I will lift and draw it inward, checking that it moves with the gripper.
move_to
right_x0.4300right_y0.1600right_z0.1800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0715, 0.828, 0.7933, -0.5499, -0.1131, -0.0887, 0.6522, 0.3717, 2.1067, 1.1419, 0.3897, 0.2581, 0.1364, 0.4829] state[eef_state]: left_x=0.2943 left_y=0.0025 left_z=0.2225 left_yaw=0.0593 left_pitch=-0.0192 left_roll=0.0013 left_gripper=0.6522 right_x=0.5237 right_y=0.1597 right_z=0.041 right_yaw=0.0565 right_pitch=0.0181 right_roll=-0.0081 right_gripper=0.4829 state[joint_eff]: [-0.1026, -1.9761, 6.1333, 1.8974, -0.0952, -0.0513, -0.0122, -0.2803, -11.1932, 6.8171, 1.37, 0.0073, 0.0757, 0.9158] 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":{"right_x":0.43,"right_y":0.16,"right_z":0.18},"note":"The closed jaws stopped at about 4.6 cm, consistent with holding the bottle. I will lift and draw it inward, checking that it moves with the gripper."})
tool
executing move_to over 9 steps (0.9s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteThe bottle moved with the jaws, but it is still lying across the grip. I will set it down closer to the base so its neck becomes reachable for the upright lift.
move_to
right_x0.3900right_y0.1600right_z0.0450
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0715, 0.8227, 0.7784, -0.5369, -0.1131, -0.0887, 0.6522, 0.4667, 1.6222, 1.0424, -0.1272, 0.2985, 0.1875, 0.4846] state[eef_state]: left_x=0.2942 left_y=0.0025 left_z=0.2199 left_yaw=0.0593 left_pitch=-0.0158 left_roll=0.0009 left_gripper=0.6522 right_x=0.4264 right_y=0.1607 right_z=0.1366 right_yaw=0.0885 right_pitch=-0.0979 right_roll=-0.0338 right_gripper=0.4846 state[joint_eff]: [-0.1162, -1.4564, 6.4889, 1.917, -0.0904, -0.0513, -0.0122, 0.5949, -10.947, 9.2923, 2.5421, 0.4029, 0.1832, 0.1587] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.16,"right_z":0.045},"note":"The bottle moved with the jaws, but it is still lying across the grip. I will set it down closer to the base so its neck becomes reachable for the upright lift."})
tool
executing move_to over 6 steps (0.6s)
step 100
top_cam
camera top_cam step 100
left_cam
camera left_cam step 100
right_cam
camera right_cam step 100
assistant
agent noteThe bottle is supported near the tabletop, and its cap still extends well beyond the grip. I will bring it another ten centimeters inward before changing to a neck grip.
move_to
right_x0.2900right_y0.1600right_z0.0550
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0719, 0.8188, 0.7654, -0.5297, -0.1131, -0.0887, 0.6522, 0.5171, 1.6905, 0.6502, 0.3901, 0.3462, 0.1947, 0.4847] state[eef_state]: left_x=0.2936 left_y=0.0024 left_z=0.2166 left_yaw=0.0589 left_pitch=-0.0177 left_roll=0.0011 left_gripper=0.6522 right_x=0.389 right_y=0.1564 right_z=0.0503 right_yaw=0.0974 right_pitch=-0.0339 right_roll=-0.0335 right_gripper=0.4847 state[joint_eff]: [-0.2393, -1.7436, 6.612, 1.8193, -0.1148, -0.0708, -0.0122, 0.4034, -4.9299, 4.5607, 1.326, -0.0317, 0.2515, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.29,"right_y":0.16,"right_z":0.055},"note":"The bottle is supported near the tabletop, and its cap still extends well beyond the grip. I will bring it another ten centimeters inward before changing to a neck grip."})
tool
executing move_to over 8 steps (0.8s)
step 108
top_cam
camera top_cam step 108
left_cam
camera left_cam step 108
right_cam
camera right_cam step 108
assistant
agent noteThe bottle is now closer and resting on the table. I will release the body so I can move the open jaws to its cap.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0719, 0.8124, 0.7502, -0.527, -0.1131, -0.0887, 0.6522, 0.7536, 1.3979, 0.3672, 0.3607, 0.4931, 0.3378, 0.4846] state[eef_state]: left_x=0.2919 left_y=0.0026 left_z=0.212 left_yaw=0.059 left_pitch=-0.0237 left_roll=0.0019 left_gripper=0.6522 right_x=0.2947 right_y=0.1668 right_z=0.0528 right_yaw=0.1386 right_pitch=-0.007 right_roll=-0.0029 right_gripper=0.4846 state[joint_eff]: [-0.2667, -1.2923, 6.653, 1.9951, -0.1099, -0.0708, -0.0122, 0.1162, -5.2034, 5.4085, 1.707, 0.315, 0.0904, -0.0171] camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The bottle is now closer and resting on the table. I will release the body so I can move the open jaws to its cap."})
tool
executing move_to over 6 steps (0.6s)
step 114
top_cam
camera top_cam step 114
left_cam
camera left_cam step 114
right_cam
camera right_cam step 114
assistant
agent noteThe released bottle lies diagonally, with its cap farther forward and to the right of its base. I will approach above that cap with the jaws fully open.
move_to
right_x0.4700right_y0.1100right_z0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0719, 0.8036, 0.73, -0.5194, -0.1131, -0.0887, 0.6522, 0.757, 1.3926, 0.3595, 0.3408, 0.4931, 0.3344, 0.9955] state[eef_state]: left_x=0.2902 left_y=0.0027 left_z=0.2068 left_yaw=0.059 left_pitch=-0.0275 left_roll=0.0024 left_gripper=0.6522 right_x=0.2905 right_y=0.1644 right_z=0.0482 right_yaw=0.1437 right_pitch=-0.0251 right_roll=-0.0185 right_gripper=0.9955 state[joint_eff]: [-0.4444, -1.935, 6.5983, 1.9219, -0.0904, -0.0708, -0.0073, -0.253, -3.8085, 5.4222, 1.9414, 0.149, 0.0464, 0.1197] camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.47,"right_y":0.11,"right_z":0.15},"note":"The released bottle lies diagonally, with its cap farther forward and to the right of its base. I will approach above that cap with the jaws fully open."})
tool
executing move_to over 14 steps (1.4s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteThe cap is near the wrist camera’s jaw column. I will lower around it with a small forward and left correction, keeping the jaws fully open until they straddle the neck.
move_to
right_x0.5050right_y0.1300right_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0719, 0.7906, 0.7109, -0.5041, -0.1131, -0.0891, 0.6522, 0.2653, 1.6321, 0.9813, 0.0433, 0.0921, 0.0311, 0.9955] state[eef_state]: left_x=0.2893 left_y=0.0027 left_z=0.2047 left_yaw=0.0591 left_pitch=-0.0184 left_roll=0.0009 left_gripper=0.6522 right_x=0.4565 right_y=0.1109 right_z=0.1346 right_yaw=0.1456 right_pitch=-0.0326 right_roll=-0.0129 right_gripper=0.9955 state[joint_eff]: [-0.1846, -1.7573, 6.1744, 1.873, -0.0904, -0.0757, -0.0122, -0.8137, -7.0222, 9.347, 1.746, 0.0073, 0.0904, -0.0171] camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.505,"right_y":0.13,"right_z":0.03},"note":"The cap is near the wrist camera’s jaw column. I will lower around it with a small forward and left correction, keeping the jaws fully open until they straddle the neck."})
tool
executing move_to over 7 steps (0.7s)
step 135
top_cam
camera top_cam step 135
left_cam
camera left_cam step 135
right_cam
camera right_cam step 135
assistant
agent noteThe cap is still just ahead of the open fingertips. I will advance five centimeters at cap height to bring it between the jaws.
move_to
right_x0.5550right_y0.1400right_z0.0450
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0719, 0.7845, 0.6983, -0.5011, -0.1131, -0.0887, 0.6522, 0.2871, 1.9999, 0.9733, 0.421, 0.07, 0.0364, 0.9955] state[eef_state]: left_x=0.288 left_y=0.0028 left_z=0.2013 left_yaw=0.059 left_pitch=-0.0218 left_roll=0.0017 left_gripper=0.6522 right_x=0.4922 right_y=0.1362 right_z=0.0335 right_yaw=0.183 right_pitch=-0.0322 right_roll=0.0042 right_gripper=0.9955 state[joint_eff]: [-0.2667, -1.6615, 6.4479, 1.9609, -0.105, -0.0464, -0.0122, -0.6085, -8.1983, 6.7761, 1.6435, 0.2466, 0.0562, -0.0073] camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.555,"right_y":0.14,"right_z":0.045},"note":"The cap is still just ahead of the open fingertips. I will advance five centimeters at cap height to bring it between the jaws."})
tool
executing move_to over 5 steps (0.5s)
step 140
top_cam
camera top_cam step 140
left_cam
camera left_cam step 140
right_cam
camera right_cam step 140
assistant
agent noteThe cap has reached the fingertip area. I will close gently around the neck, leaving less squeeze than the earlier body grip so the bottle can pivot downward when lifted.
move_to
right_gripper0.2200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0715, 0.7734, 0.6811, -0.4873, -0.1131, -0.0887, 0.6522, 0.268, 2.1319, 1.2079, 0.3401, 0.0433, 0.0017, 0.9955] state[eef_state]: left_x=0.2872 left_y=0.003 left_z=0.1992 left_yaw=0.0593 left_pitch=-0.0143 left_roll=0.0007 left_gripper=0.6522 right_x=0.5429 right_y=0.1449 right_z=0.0404 right_yaw=0.2052 right_pitch=-0.0113 right_roll=-0.0078 right_gripper=0.9955 state[joint_eff]: [-0.1436, -1.4701, 6.735, 1.8388, -0.1245, -0.0513, -0.0122, -1.1145, -10.3316, 7.9932, 1.9512, 0.0464, 0.1783, -0.0171] camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.22},"note":"The cap has reached the fingertip area. I will close gently around the neck, leaving less squeeze than the earlier body grip so the bottle can pivot downward when lifted."})
tool
executing move_to over 8 steps (0.8s)
step 148
top_cam
camera top_cam step 148
left_cam
camera left_cam step 148
right_cam
camera right_cam step 148
assistant
agent noteThe jaws are closed around the cap area. I will raise the bottle’s top while moving slightly inward, allowing its heavier base to hang below the grip.
move_to
right_x0.4800right_y0.1400right_z0.2700
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0719, 0.7719, 0.6666, -0.4828, -0.1131, -0.0887, 0.6522, 0.2653, 2.1368, 1.2385, 0.3191, 0.0231, -0.0017, 0.2253] state[eef_state]: left_x=0.2862 left_y=0.003 left_z=0.194 left_yaw=0.059 left_pitch=-0.0226 left_roll=0.0018 left_gripper=0.6522 right_x=0.548 right_y=0.1484 right_z=0.0457 right_yaw=0.2214 right_pitch=-0.0073 right_roll=0.0007 right_gripper=0.2253 state[joint_eff]: [-0.253, -1.7983, 7.0359, 1.8486, -0.105, -0.0317, -0.0122, -0.8274, -10.2769, 7.5692, 1.7998, 0.2369, 0.1587, 0.2369] camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.48,"right_y":0.14,"right_z":0.27},"note":"The jaws are closed around the cap area. I will raise the bottle’s top while moving slightly inward, allowing its heavier base to hang below the grip."})
tool
executing move_to over 15 steps (1.5s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteThe bottle stayed on the table, so that close missed the neck. I will reopen and correct toward the cap before a lower, firmer grasp.
move_to
right_x0.5600right_y0.1750right_z0.0700right_gripper0.6000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0719, 0.7609, 0.6476, -0.4751, -0.1131, -0.0887, 0.6522, 0.2966, 1.6962, 1.4719, -0.4137, 0.0246, -0.0097, 0.224] state[eef_state]: left_x=0.2844 left_y=0.0031 left_z=0.1898 left_yaw=0.059 left_pitch=-0.023 left_roll=0.0018 left_gripper=0.6522 right_x=0.4817 right_y=0.1464 right_z=0.2312 right_yaw=0.2556 right_pitch=-0.0659 right_roll=-0.0093 right_gripper=0.224 state[joint_eff]: [-0.2803, -1.3607, 6.8171, 1.956, -0.1148, -0.0513, -0.0122, -0.1709, -11.8359, 10.3726, 1.9658, 0.2027, 0.1685, -0.149] camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.56,"right_y":0.175,"right_z":0.07,"right_gripper":0.6},"note":"The bottle stayed on the table, so that close missed the neck. I will reopen and correct toward the cap before a lower, firmer grasp."})
tool
executing move_to over 11 steps (1.1s)
step 174
top_cam
camera top_cam step 174
left_cam
camera left_cam step 174
right_cam
camera right_cam step 174
assistant
agent noteThe cap is now hidden directly beneath the gripper rather than sitting ahead in the wrist view. I will lower the fingertips to the bottle’s neck height before closing.
move_to
right_x0.5500right_y0.1800right_z0.0120right_gripper0.6000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0719, 0.7513, 0.6296, -0.4606, -0.1131, -0.0887, 0.6522, 0.3019, 2.117, 1.3205, 0.128, 0.0216, -0.0128, 0.5986] state[eef_state]: left_x=0.2838 left_y=0.0031 left_z=0.1871 left_yaw=0.0589 left_pitch=-0.0169 left_roll=0.001 left_gripper=0.6522 right_x=0.5395 right_y=0.1678 right_z=0.0516 right_yaw=0.2651 right_pitch=-0.0964 right_roll=-0.0111 right_gripper=0.5986 state[joint_eff]: [-0.2803, -1.5111, 6.5436, 1.8388, -0.1099, -0.0659, -0.0122, -0.1026, -11.1795, 9.2923, 1.9951, 0.0513, 0.1294, 0.0269] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.55,"right_y":0.18,"right_z":0.012,"right_gripper":0.6},"note":"The cap is now hidden directly beneath the gripper rather than sitting ahead in the wrist view. I will lower the fingertips to the bottle’s neck height before closing."})
tool
executing move_to over 3 steps (0.3s)
step 177
top_cam
camera top_cam step 177
left_cam
camera left_cam step 177
right_cam
camera right_cam step 177
assistant
agent noteThe descent stopped above the target, consistent with contact at the bottle. I will close the jaws and use the settled opening to check whether the neck is captured.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0719, 0.7494, 0.622, -0.4572, -0.1131, -0.0883, 0.6522, 0.313, 2.1941, 1.2728, 0.3653, 0.0246, -0.0105, 0.5992] state[eef_state]: left_x=0.2833 left_y=0.0032 left_z=0.1848 left_yaw=0.0587 left_pitch=-0.0192 left_roll=0.0017 left_gripper=0.6522 right_x=0.5518 right_y=0.1778 right_z=0.0375 right_yaw=0.2725 right_pitch=0.0161 right_roll=-0.0066 right_gripper=0.5992 state[joint_eff]: [-0.294, -1.7709, 6.612, 1.8486, -0.1148, -0.0122, -0.0122, 0.3077, -7.8154, 5.4222, 0.9988, 0.0366, 0.105, -0.0952] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 177): [image omitted: streamed camera frame] camera 'left_cam' (step 177): [image omitted: streamed camera frame] camera 'right_cam' (step 177): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The descent stopped above the target, consistent with contact at the bottle. I will close the jaws and use the settled opening to check whether the neck is captured."})
tool
executing move_to over 6 steps (0.6s)
step 183
top_cam
camera top_cam step 183
left_cam
camera left_cam step 183
right_cam
camera right_cam step 183
assistant
agent noteThe jaws closed empty. In the overhead view the cap is behind the fingertips, so I had advanced too far; I will back up and approach the visible neck from above.
move_to
right_x0.4700right_y0.1800right_z0.1300right_gripper0.7000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0719, 0.7494, 0.6132, -0.4522, -0.1131, -0.0856, 0.6522, 0.3138, 2.2017, 1.2804, 0.3904, 0.0204, -0.0246, 0.014] state[eef_state]: left_x=0.283 left_y=0.0032 left_z=0.1819 left_yaw=0.0573 left_pitch=-0.023 left_roll=0.0044 left_gripper=0.6522 right_x=0.5561 right_y=0.1804 right_z=0.0416 right_yaw=0.2845 right_pitch=0.0413 right_roll=-0.0156 right_gripper=0.014 state[joint_eff]: [-0.294, -2.0991, 6.188, 1.9023, -0.1245, -0.0757, -0.0073, -0.5538, -12.7111, 6.9949, 1.3504, 0.0366, 0.2173, 1.2234] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 183): [image omitted: streamed camera frame] camera 'left_cam' (step 183): [image omitted: streamed camera frame] camera 'right_cam' (step 183): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.47,"right_y":0.18,"right_z":0.13,"right_gripper":0.7},"note":"The jaws closed empty. In the overhead view the cap is behind the fingertips, so I had advanced too far; I will back up and approach the visible neck from above."})
tool
executing move_to over 7 steps (0.7s)
step 190
top_cam
camera top_cam step 190
left_cam
camera left_cam step 190
right_cam
camera right_cam step 190
assistant
agent noteThe wrist view now shows the cap well to the left of the jaws. I will correct leftward without advancing and lower beside the neck.
move_to
right_x0.4700right_y0.2500right_z0.0450
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0715, 0.7391, 0.5941, -0.4408, -0.1131, -0.0856, 0.6522, 0.3756, 1.8091, 1.0832, 0.1478, 0.0498, 0.009, 0.6947] state[eef_state]: left_x=0.2817 left_y=0.0034 left_z=0.1782 left_yaw=0.0577 left_pitch=-0.0203 left_roll=0.004 left_gripper=0.6522 right_x=0.4782 right_y=0.183 right_z=0.1162 right_yaw=0.3034 right_pitch=-0.0055 right_roll=-0.0049 right_gripper=0.6947 state[joint_eff]: [0.0342, -1.265, 6.6667, 1.9316, -0.0562, -0.0611, -0.0122, 0.5128, -11.453, 6.8444, 1.9219, 0.2466, 0.0952, 0.1001] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 190): [image omitted: streamed camera frame] camera 'left_cam' (step 190): [image omitted: streamed camera frame] camera 'right_cam' (step 190): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.47,"right_y":0.25,"right_z":0.045},"note":"The wrist view now shows the cap well to the left of the jaws. I will correct leftward without advancing and lower beside the neck."})
tool
executing move_to over 6 steps (0.6s)
step 196
top_cam
camera top_cam step 196
left_cam
camera left_cam step 196
assistant
agent noteI have not obtained a reliable neck grip, and further low corrections risk pushing the bottles away or into each other. I will withdraw both arms to leave the bottles undisturbed and stop this attempt.
move_to
right_x0.2900right_y0.0030right_z0.2200right_gripper1.0000left_x0.2900left_y0.0000left_z0.2200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0715, 0.7326, 0.5804, -0.4305, -0.1131, -0.0856, 0.6522, 0.5323, 2.0125, 1.0603, 0.3202, 0.1551, 0.0795, 0.6967] state[eef_state]: left_x=0.2812 left_y=0.0034 left_z=0.1757 left_yaw=0.0577 left_pitch=-0.0173 left_roll=0.0036 left_gripper=0.6522 right_x=0.4612 right_y=0.2442 right_z=0.0415 right_yaw=0.3334 right_pitch=-0.0512 right_roll=-0.0133 right_gripper=0.6967 state[joint_eff]: [-0.1026, -1.5521, 6.4889, 1.8486, -0.1001, -0.0513, -0.0122, 0.4171, -8.8957, 7.241, 1.9023, 0.0659, 0.1587, 0.2125] camera 'top_cam' (step 196): [image omitted: streamed camera frame] camera 'left_cam' (step 196): [image omitted: streamed camera frame] camera 'right_cam' (step 196): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.29,"right_y":0.003,"right_z":0.22,"right_gripper":1,"left_x":0.29,"left_y":0,"left_z":0.22},"note":"I have not obtained a reliable neck grip, and further low corrections risk pushing the bottles away or into each other. I will withdraw both arms to leave the bottles undisturbed and stop this attempt."})
tool
executing move_to over 21 steps (2.1s)
step 217
assistant
agent noteI could not reliably capture a bottle by its neck to stand it upright. The bottles remain lying down; I have withdrawn the arms rather than risk pushing them farther toward the table edges.
give_up
hindsightOn this attempt, lateral corrections at low extended poses sometimes did not track, and actual yaw drifted to about 0.3 rad despite an unchanged yaw target. A body grip transported a bottle but did not rotate it upright with pitch and roll pinned. Confirm cap alignment and a successful neck lift before attempting to stand a bottle; an opening equal to a partial-close target is not evidence of a grasp.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0856, 0.7933, 0.7139, -0.5301, -0.1207, -0.1047, 0.6522, -0.297, 0.91, 0.7769, -0.5381, -0.4759, -0.3725, 0.9995] state[eef_state]: left_x=0.2863 left_y=0.0004 left_z=0.2002 left_yaw=0.0603 left_pitch=-0.0431 left_roll=-0.0043 left_gripper=0.6522 right_x=0.2989 right_y=-0.0031 right_z=0.2063 right_yaw=0.2724 right_pitch=-0.0139 right_roll=-0.0051 right_gripper=0.9995 state[joint_eff]: [-0.4171, -0.7316, 10.8513, 1.7607, -0.149, 0.0611, -0.0122, -0.1436, -2.5368, 9.5932, 1.6142, -0.2222, 0.0952, 0.0611] camera 'top_cam' (step 217): [image omitted: streamed camera frame] camera 'left_cam' (step 217): [image omitted: streamed camera frame] camera 'right_cam' (step 217): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not reliably capture a bottle by its neck to stand it upright. The bottles remain lying down; I have withdrawn the arms rather than risk pushing them farther toward the table edges.","hindsight":"On this attempt, lateral corrections at low extended poses sometimes did not track, and actual yaw drifted to about 0.3 rad despite an unchanged yaw target. A body grip transported a bottle but did not rotate it upright with pitch and roll pinned. Confirm cap alignment and a successful neck lift before attempting to stand a bottle; an opening equal to a partial-close target is not evidence of a grasp."})
tool
give_up: I could not reliably capture a bottle by its neck to stand it upright. The bottles remain lying down; I have withdrawn the arms rather than risk pushing them farther toward the table edges.
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 · 14.7 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
  "role": "system"
}
{
  "content": "Goal: Stand all three bottles upright.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7925, 0.6075, -0.3763, -0.02, -0.0284, 0.9986, -0.0166, 0.7883, 0.6033, -0.387, -0.0273, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.2956 left_y=0.0012 left_z=0.1828 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2934 right_y=0.0035 right_z=0.1798 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.6769, -1.4291, 9.8256, 1.7705, -0.0611, 0.105, -0.1538, -0.759, -0.9094, 10.2222, 1.8535, 0.022, 0.1587, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f231fb811c5ea658c7659ea9f435f25edc5ff1d6a563910163957b1a0063d4f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01683a73fc65a3bf968fb5a1ec6262b31e84e80dd63a48995a5ef4f1daaace5f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a205ef029fff50046b314d9ea58a0edc1dfbb94169868a4742470dc6ac1945d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 14.86 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqssZwDloecn9taf4o_C57XrgF8eIkYOx1GkdFdH6gyJla2REJEvqNaSL_6ld0UwFyfLqkzpcgaok2RmsW1KFKzwuX4yeO2SbJm5vqqobakXyccgQn9SJ2EC02pC8Y3ApQy__jNRXQvHf9nrkqOlExT8JoaOQXT8eZVUgzlJQUinFeH6XD9u0J-MX_3jA1k1qlFpVsIMhuS3fMiEuF5bjHqwko60ol8mGhfuKIVZQzZhUWWSHUoBs-YkbqxDfOL1lKjxq0zy_R67o5cPbeymto9ga7xyCPZEVA-nPtGZ4PW2B7_LJIKsm6hjRiOsFRfqksNpcAnjWV409zB1sIdG_LaZSn_Jsq-sItQlWAUyvxRsy2ZGpZIVvAQcwS4A1uEHfdckWv6eQEv6PR5rb2bGxH7fFLQO7_es5N0UCU96PIwBV81uYR4oLRS7Y7tr50eBMftdRVtzzw-HjM01Dzc0F46HwFgeNBCLGSkmVMdShZ9p9BL2zGOayesnd3tttzsABPa9Jm9_yrA2tsWGIFSmeSpymghqkd8Xo2WMVkj0kNG4ViOBZn4kwKRTq_xlyvZLQmWL4rXAHHopEWBTTkJDs-nDM7PD5RfBKhurDVoJeSYfdJjqH6TGXYZPNxk9IjutHUnqs89-myWtsaTGBd-2hRF8IpS-MjM6o5ELxF5ef0paPVqdUu3CqbwpeU9p4Z-Y9u2yuvEfnIZJj_vrND0KtnDG7Xwe8prNfCP_-NjGxaQ40J1ujmqAAQy1h4aP082nFp1y-En3sMHIQslb1XLdrx73wJMlOJxeDpEEX3omfyv4Mrj5ql98KVOKkxlzmANQW9gi69AID59Yv3a0Fbpp_GDRjSirGhwqtrE-CKNO_rS-7TFugneI4Iq4Ji5ZKo23SWpknzb3WCWpX3OQj5L6yX7AXvv3-VmBlL3faoMDvoEkCJ6-NsCuhJfXq2wcOE7_ak4eIQm-39u09JBrvA28sgCJFmiNAzYLFlRQnVNiAkyVkmVIi3YUNRYmN1Nx_zluRoq4J_3j5a2PnAJ_WbYVze2o7wK44RCoD8W0PaHUNLzYPqcdHYJ38vM3C6UKMoLb8fOed8La38RKEAfm78brMevQaBDsdGuuVeY5o_gnD8GQe4HbWuINFBqk5uIb1ysHyvnRQGN66W8xAj2n2Kee8hahz_VK-QplO0WRoM6lavEDaCBMzwPla37KWvj7sHlGUEGtBJuGou_HiDgjxyhCzc-nMKfbGguDzLz-e6NQhRMk_9cZYFwp9YA7QxbOm77PSVK5a946yQVyCtiKiphpn6jhMqPjFueFM1M72DEBM9DaLOnCMcopwJ1Kmqu25c1wYUMhuqPyfLVpXFyE3mtguw70IsXBTGyFd6PkGDWJV-bvVsTXkdv-vrNuGULSTzz7uJR4w5fbTdyQSnrDH7jhymldYZdFaAIr51YnE1vyMom_0UoijWHXwAgizqQBsYDhxOZffHQUq_qBk3hWHauwhD71hmsgjoAmBZgPeR9AA1OH29qq4blyyM4o3v5wPb0Fde2OaQNfuIP_E83NzHocj19_1oBZNUcW7ImNPwEcd0debIzoeAIgKa3KwdV6FrosLSqeKlEL1YPNeS8MHCJ8spC_fAV2Z_bs2D60LCKClKI9RcFzdmIZuEQLdZrWjD1gPzpixOK_tn_tDDBRJzIlG70NZDsXaU3kL6f7w53JjUdkpdkEuumiCt4Qkh7OEVauMDM65cQ6KMhL7vpwdyWR-E3K2VyekXhkg9WW5RZv8PJJ5HuKQ7NdK3qVDZFmR8ScIKVZCmsQ8s1Wt0eGmDAg4f1NdM0HfaqtzQAuh3NnPihyO2UsnjkX3b5BJfyKKWZcXFByx2F4mZEmVdr5gUjO0-8YIXXXYMfi6vx-qES1t2z96JM8V8CQ9hUOozDJZCCqbRYAvNfqTSK1Y_c7Mw1AoM-SgP6u3LWC-3HnHa_QdsG8SBQD6Jq2T-TduE_vQYBIOQL-5dcUHngcVreMuCRUx-7QNT_rnb-yo2PVFx9SKt5F3jFOkTpG9uL2jRwYBLLje7EvZxyF6jZAyAzA6G07dXz5J-Cav89pZvmeEEMrd9LE_xv2qGAIGbO6S7eJdrmXv3p7e2inOiWPN_Cnqy1eUOIHRcW5LOGlbIhA6dUyqaXw1-U7pIFOzmMd0JYlagnhGq0B_dw72lne6GN4ctI9szS1dZpw==",
  "id": "rs_036936bd1de6d2ab016ab2c664837887d0852eb6c0c305454d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.455,\"left_y\":-0.145,\"left_z\":0.13,\"left_gripper\":0.65},\"note\":\"All three bottles are lying down with their caps pointing toward the far edge. I will approach the left bottle’s neck so I can lift its top and let its base swing underneath.\"}",
  "call_id": "call_JBPmP60h4VZKLg4SgjjRmlL5",
  "id": "fc_036936bd1de6d2ab016ab2c66e0fd487d0996e1b26a9f7885f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JBPmP60h4VZKLg4SgjjRmlL5",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4458, 1.6787, 0.9638, 0.0448, -0.3656, -0.2703, 0.652, -0.0193, 0.794, 0.6033, -0.4038, -0.0277, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4412 left_y=-0.1369 left_z=0.1133 left_yaw=-0.0065 left_pitch=-0.0577 left_roll=0.0174 left_gripper=0.652 right_x=0.2915 right_y=0.0029 right_z=0.1748 right_yaw=-0.0017 right_pitch=-0.0225 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-1.0325, -8.6632, 8.5675, 1.6825, -0.2857, -0.0366, 0.1099, -0.0479, -1.6752, 7.0222, 1.8926, -0.0415, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7acf33391eacd3d2d0322fba47e1bbed79052a0d709a6433e12501dc7b4c74f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd83d9ce19e0c1212408f3fc056c84cb9c260e53a77587fa3e9a560336a37f4b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee9b741b8b8137cad4a74fcc30f79b6bca954f2f182db3bb49f544480f1153dd",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 2 attempt 0 · /responses · status 200 · 8.313 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 2 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7925, 0.6075, -0.3763, -0.02, -0.0284, 0.9986, -0.0166, 0.7883, 0.6033, -0.387, -0.0273, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.2956 left_y=0.0012 left_z=0.1828 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2934 right_y=0.0035 right_z=0.1798 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.6769, -1.4291, 9.8256, 1.7705, -0.0611, 0.105, -0.1538, -0.759, -0.9094, 10.2222, 1.8535, 0.022, 0.1587, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssaA6bkKJ9PnTt0HlLh8PN_J-Ctg3DC37VvuSsSt6jeUir7QA5cyKtR2PAPho9kKKfp0ccPrFKLHgTNUyEJzjtg8lnnTnyPeUS8os4zt613nt0NDvVNTXI76ntUMLyp5r5TAgztOHkXnBcd6oHbRWNX3SCelTwbakZE7uBPOmDQjdqQhrr2pwJ-tGU8O3S9ZusvuM9s2I8WWtShH6-merr7ORGRNM3db-gBG102CHzdFqSLKW-pctR1sFJst5aHnl8KMm-Q60x1iuZZGMAhSKOhqILig11e_QQRaU09YkyJWkrGeRPc2cu6B39F7mWrhzOo9VP64FpgfHhsVEj7xzbf5oFdxrHV36j9eFalQKJTxNntyC67SxWWZ0nQ9Px-Nr16DzSkMxJSN4N8IOmMe6ye9M2rox_srMrrLCYQ-ThUBC47Ls2p0DSeVp1khlt0NTpc5gZ8fBqVwwZviwB1O7GsViKSM316l2UTvAPoGYHMpSZsueA4CBNnLpDT7LjVeenzjA04bYhXoF6ggFkm_ksl2LtxnDem7oaSQScTubc05286w2kt_VultwTj32k5JxFQFR6nfwlWh1nv1PAn8syxt2f_HQ54bYSq5uj4jqukSfvsR4RBhImNdf9qQ4KrP3wsLNRxUx-9bYPHrj5yu1le-YZryI0bQPlu78TlamM0iZPQDIJQBei3dgX3iGlDLC-MalkH62NIZe6sR82T9l665TtYC3muigtQ9ybXAedb2AXKw9rY_AFjp4AvNQ7TZn3gJaJ7tc1REeDG5njgJlhkxT6hWGC05emvQdiWdI46QKqo8EnNSvyBz7FSGUMwsuu9POguktSmuA8w7Kc9ZTRhO0ezuOIYoICY8AEjFoOyI_wRr0bZQF7yDFaGdngaw_t3QAE5eO2QfgifE-rQWQSEWWJOtKivLI0ch9A944pCf9oOPGQRDaJoig6Jcq_nKU7EgWX85zka604fLOuDjMD9KhZQA1FslsiVHryrzUKnWkS8Bt46_f7Hhav2pWrZI2Wp3odSe-GyKxfbSY5zbyZ8Qf9h7-mUb_0mbaFYqUOIb8WAHZV43fUaoBtOc3IbqtiJ2JJYNobf-oEz9d5lPyXqo3V3RnPLCFr08P23s-2GRBTFutHuI_PSNmrk_00msNPpj_ioUI2wVLXM06y7DMOGuOVdkiWeiH8rvL8pVEN7gWXNL5lswfS7TSy9yws7lB0Lcy-2SVOpLLHHssVcdxpOGqDe8YUMfMCmpIoGJJnvcveGGReAB3StWW2WupLP7OohZxLycTaiLjV6eAAXPymJVfEp4kInDvnNqLg7qy83VppGE6BYMmoCQ3ZBArgRc1pz0v0kyLTS0IpyV9NO3nR0e-bA-Bhoza_wy8nc1UsduuP865h1f7pFQjs83xCZUw_XBqAAv6NnNpnrLdJ5eoPIeTCyENOn8QeJAdN6vv2HsZ8O13Cibz5wulfZefApQEeoCFrTJQwwVfDgsQPbxcghXfei3YvQT4w6Bsvvt9D2KbhsKNqB2p3cpPTDWf9p1lEFQm96U6sya6sQvnirB26xb8b5x75d-L9k0nc9DRdGyV90oaDVSRydlIUA2bC2_6I9HfbKC-TIh6ZFfc2eap76jAJUWvwOQCIzB6Uqj6FbS-Ocuw78x-K2exA5bFOcxmqkMVG2qlYhV5jT4Wl6js2be3bur11Mwp0STo5z92fW5-GYmaMCHAlMKqCqHGcPmED9I_XVISw0pbwoenw4ilJjLKUGQaWcUPWqgFbCza-pwW-E=",
  "id": "rs_036936bd1de6d2ab016ab2c67667d087d08ff9e0ec2afd4c76",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.475,\"left_y\":-0.19,\"left_z\":0.045},\"note\":\"The left bottle’s cap is left of the jaw column in the wrist view. I am centering over its neck and lowering for a gentle grip.\"}",
  "call_id": "call_r9lCIHRze9f70zdAhxusXKAD",
  "id": "fc_036936bd1de6d2ab016ab2c67b7b0087d0b690c38cbb4a13c7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_r9lCIHRze9f70zdAhxusXKAD",
  "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]: [-0.5381, 1.9862, 0.9993, 0.2909, -0.4271, -0.3126, 0.6522, -0.0193, 0.7864, 0.5835, -0.403, -0.0284, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4592 left_y=-0.1847 left_z=0.0344 left_yaw=-0.0258 left_pitch=-0.0623 left_roll=0.0294 left_gripper=0.6522 right_x=0.2886 right_y=0.003 right_z=0.1679 right_yaw=-0.0013 right_pitch=-0.0339 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -9.5795, 7.3231, 1.7607, -0.2466, 0.1343, 0.0024, -0.4171, -1.5385, 6.8034, 1.9512, -0.0611, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:582e1e7b076479b73f7be60b59bdd4307a80bd1be126278c8f9315e441313868",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10fd53fbc22e88a1f9087f75f4984168db3ca8c078c2b81eee18367ec1ec9809",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa328e236a240e9ef5663e093b190178c01865fd55904fd508f7719e519533e8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 6.639 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]: [-0.4458, 1.6787, 0.9638, 0.0448, -0.3656, -0.2703, 0.652, -0.0193, 0.794, 0.6033, -0.4038, -0.0277, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4412 left_y=-0.1369 left_z=0.1133 left_yaw=-0.0065 left_pitch=-0.0577 left_roll=0.0174 left_gripper=0.652 right_x=0.2915 right_y=0.0029 right_z=0.1748 right_yaw=-0.0017 right_pitch=-0.0225 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-1.0325, -8.6632, 8.5675, 1.6825, -0.2857, -0.0366, 0.1099, -0.0479, -1.6752, 7.0222, 1.8926, -0.0415, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssaJf4hQjx2mLcEgvIINIeZvdBEry6En1067Oe7KklrZqT10OZmbTkslB24C1PcwrHHVw_njOrs7Dr6XqJeNy9GedQZSr_7lBC9lhkpViYbtlSFkMwkUJpaRbDmaXM5lyv2bOXTSnUHfkIgpaxcF1YynwdzfEwprRxRe2kXvOHaEWzRcqtoiLmI8UlWitd1tthShNI44LH5bDGAbH5jVAWdqB-q4BAfWCR02DY7wicvgO_hey9fRqXtPlGlwfiGTH4NCPnl0-DQX55rmVe5AqE0iWnTvYz7cTVdyo0YUBVxMHVjxWaMzxlcOLzs8hNx1E_RHT2qJS8i8NX1frshke0Mq2YqK-49sD1G0BnslK7Hlv-5_lniaZiJjJncBYLktu5u91vhI5M5Z-LKZ9SJZVzd0_5aQaFjrU8XavavzVcknc8PJSvHFztb3SspibWRhL1Gf4HfQDc2aDLOAr_80KGjqh4MR1XfU32OImjftPLvGAPhFtDrtoWiWcSpvNZmj6rCUsBs2RAU7586Nlr7RLUGaX-qJ7zqpbYOXIh1JdD0AGYUNqsJ3JaQd0x8xnG9Txlzj0zHigoBTRXy_m4bFUx24uMAcmSy35EVNhOmhXkKEEJ7Q2QRmWQXf3qHpHShWUrzyRGawt8ukkZJMzCSTM7nmzdiTO8Xve1cYEWgoUOVfhbOeawZ0Tr6Ztdc-hOSVzu1yJpatMngzSieR9FCfjk_yU9fB2WA62yjuWWV5U_h73W8_htMBfrNZ5wVsrAmygOsiOfgwur9Br7jdDdSpMIRgk2rOx5HuxQeYgtDaUcUdlYzC7MMNL17vpiMIIUEh5RlrMTApVL_yOMW7BLXA4kdPqeg3Xn7GdtK_YoQfVBpWm3q1r17LQIQf80ZHNv0RhVaG7fAhXLi1GJNAUIjfS8dPiuGgxeN8T_PVdPIkLIz2HKOZEW2rnPC0Te3Dl5uas85x4W8Ba5STJCwwJjnbYpnPCvHCsHYAMn3Hw0mg7n6UViBMCMG5NtkW89GKiCAxuRu2fGmxqFDOKTQoJJRUt0-uJEv3qbsqnu9t7jMH4ky-bnzw-B5hBBQY5WHx4V9AR3yyBLXysPN2SB9tnAJrdt9c1Xw1LQXaoRu9cJKA4pdtbB3BV9DdoVrz5qFQJXFIa8cBpuf_FLyWE-O2bs7G8oN7XaT9Q-SfiUWWDeocpczcWRHBpq7TtRMWC27S5HkiAbofC2lb2mHHSSPHKD5wyqqkyaKHTCPaq05bSgLmCISeW0zx17LVqNC4tgfGetrO7YaWaulaOpv0pzrIFgWbsZG7dlSGldSwj_Ef_KPRE1Kej8ZBouuV4tlZtvD_kye3ahb5KszVG1YhoOBwmyQbWy697XSQ-Px-jHaHG3kP73H992hlZInR_hFKlSDr8gCiPS4L1TPP3E_rVvNF6-UQG4DVhCGjQ0w_Xhk6p7UOUuvmbc-D2-NMhKaRmlIfL8eVMqQGFXSXOhge0uCOTsMB0AsVjCc-1Mim4evRJ8FcFmuPAg6BUZTqwsAJjDhoKxiLtfD7CixiLoYTTv8Q199hQ8xyFxg7Hi30fe6xudyyrIbcgA8D4_lmx3_K0gHLeCtDtFFpmwNm7KkOQXSTc1YXD5MNskvBGceqdq4oAvmPXpyK4XqsGMBQCzF-ATfFDmWVreHEqHqgQsHrO1kyYvFIXrl3OwdIOwY4F3GR3fosR69fmhc=",
  "id": "rs_036936bd1de6d2ab016ab2c683145c87d0a3b8b4c7651b0780",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.11,\"left_z\":0.055},\"note\":\"The neck is still to the left of the gripper, so the lateral correction needs to be reversed. I am shifting left with the jaws open to straddle the cap rather than push the bottle.\"}",
  "call_id": "call_FUhd7aEgRZKXc0fUkZrSuigf",
  "id": "fc_036936bd1de6d2ab016ab2c68752dc87d0806029a45bda1e51",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FUhd7aEgRZKXc0fUkZrSuigf",
  "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]: [-0.5388, 2.014, 1.01, 0.3252, -0.4389, -0.3225, 0.6522, -0.0193, 0.7712, 0.5507, -0.3882, -0.0303, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4648 left_y=-0.1862 left_z=0.0318 left_yaw=-0.0123 left_pitch=-0.0435 left_roll=0.0192 left_gripper=0.6522 right_x=0.2855 right_y=0.0034 right_z=0.1601 right_yaw=0.0005 right_pitch=-0.0366 right_roll=0.0014 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -10.0581, 7.5009, 1.8144, -0.2515, -0.0513, -0.0122, -0.3077, -1.9077, 6.9265, 1.9853, -0.0415, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3aaf844e8fd1d3dc2189129f169e4985af916e2c5685788be26ca54abd0efe68",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28980034a9188d7745aa82e46a3607a2fead3db56361bc5ebdd82dde2d9ae18d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd1a0908e5b5270dcc79fe00337c82c8128d7f9942a55b3b62493ea9fa04e2b7",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 8.687 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]: [-0.5381, 1.9862, 0.9993, 0.2909, -0.4271, -0.3126, 0.6522, -0.0193, 0.7864, 0.5835, -0.403, -0.0284, -0.036, 0.9998]\nstate[eef_state]: left_x=0.4592 left_y=-0.1847 left_z=0.0344 left_yaw=-0.0258 left_pitch=-0.0623 left_roll=0.0294 left_gripper=0.6522 right_x=0.2886 right_y=0.003 right_z=0.1679 right_yaw=-0.0013 right_pitch=-0.0339 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -9.5795, 7.3231, 1.7607, -0.2466, 0.1343, 0.0024, -0.4171, -1.5385, 6.8034, 1.9512, -0.0611, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssaQBxdSN9PX3egaJh4Eicj6l_smG10OH2HcWmfI6PRKQzwT-gCr9MedoesKwq-fhao0UVEKUaqpSZ8jGEM3EtDRpsjk7nN0t6gxIwnG_j_XCgT3opH_YTAYpWF7Yde-fXQH-E3Q2YEUygIUdh1l5dM2Z7I6zINBg5mJQT2SYUudRx3bYsiHphkRVDs9kpcOM-BJ6oM-N3SWmQ8bkb1dMXfB5fEZey9K2DDEmi7Fxvh0W_uBOJIjwKs6MDL75Gm-kkJnam9RaegQ8YIvX9GYBsWlDHmFGElwup8YRTEq9Ur_dw12apYrHgchPUT7QBiG1eXeEP2wquBDKMpqb8qIDqs2SL9kH4OnQnG8QU-dppDsTMLvoivCjaJzafk4IPgjemACeADxXPbZGeC1fH2GXUef0fgtJVw5CA2AFodb5mGjRTRyFOSK8FKgwBYcIK7UfcGfwUsODHOdNq6ZDESKQc-6DhkZvWcz_VppMxf6uhtRCRaVjS5MWvO76bp6GimdhevutbZ4NkeQkjZsC8N_g2QFbpIdz4RMYq34goNZeOkOpDdmDyS0hR-ZU0awRTEDUF8nS4o8v4e9GVCkDOnuqoo4h-YM2Vf8T8hFCWN4fQwyOWcq37YlPSyeuM6nY_NyAGv6PdjM9kHd5mzb30n80UwyK_qP07SVl_ukUuJemYY5kpdUhAu5KDlHTAZQHr7h1hSd8YUnN7DlQ2MA7FWaRBPDxt3LzdfBkCA68RcA4KAKApYaWkhk84z6kFqLx_vQkgtKpN0f0gThNAbLpg7bKx1v3kdJqIBq6fszOrTPpkNnk_w4q9nAMK5u4Rlk9bsYyvnw6enVnetRfDEtKkRON5f3tfcvU-A15OMNODGM_lrkjzHq7Kjk6T0ASKOdTulEAFo1Qu_Rmhm-edKDR90jlnhTfiqdxZndwInTrlTH0jRnfKLXY2SYD6rJa96pgHHBnMtPCPl2r5j_Ksx4ZzymSzkhkPSVQhjWqp9Pu3CT1fITpRdKKVDPlTy6PeJ2DYy26wfc1Nd7Tsf-syo9ZMQNUxJA7v-LOVbDE6EunKwlF1UeSZFQODuXlaHw4DJAw-64RrKOCRH09fDDGSTkEiGYZjW1F_V-mfZL-rlyFzqxK8pi4CssnRFka7nww-QMIksUJiH22RS3bxrTLUnnezPywI8shOQQXqv17TdNITdkcLTlWPpdxWDM9_lvQHqFTLtLuez05bDsvc3w6W_9y8yBpioQKVcBiWp9gOiMahZQ8wKiWgoVm8uvTYXgGg6T2D86X2ITk5pdELo9QhbCHgET7bmi6UJ14HAnMRuPo6iIQ0-ESA-urauu_jfWecvDyLOQylhA",
  "id": "rs_036936bd1de6d2ab016ab2c68c9cd487d08f44941213e8adef",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.40,\"left_y\":-0.11,\"left_z\":0.18,\"right_x\":0.293,\"right_y\":0.003,\"right_z\":0.20},\"note\":\"The arm did not follow the sideways correction at this low, extended pose. I will lift and shorten the reach before approaching again, and return the idle arm to its parked height.\"}",
  "call_id": "call_9xrOTNAW8pKXEmywiC9YDeiI",
  "id": "fc_036936bd1de6d2ab016ab2c68e4ecc87d09fd7012c4fdc33fe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9xrOTNAW8pKXEmywiC9YDeiI",
  "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]: [-0.4316, 1.42, 0.8742, -0.049, -0.3656, -0.276, 0.6522, -0.0193, 0.7948, 0.6441, -0.4755, -0.0307, -0.0437, 0.9998]\nstate[eef_state]: left_x=0.4055 left_y=-0.1133 left_z=0.1655 left_yaw=0.0099 left_pitch=0.0103 left_roll=-0.0194 left_gripper=0.6522 right_x=0.2864 right_y=0.0035 right_z=0.1786 right_yaw=0.0048 right_pitch=-0.054 right_roll=-0.0039 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -7.9795, 9.5658, 1.746, -0.0952, 0.232, -0.0122, -0.3761, -0.6496, 10.0718, 2.0684, -0.0757, 0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73c2777da58cb6af87a966930e3b5a8e39f55e4053236ba119cbdb1976ca70cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f2f124d78c7636ab8d8b17eca0581e9de8b476c3a3fcc8409b34960207c9a87",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6beb5d9d0cd5ec9d068bc53ef2c6eaeab0df863dd28dd0e80b869ac3b3bbece1",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 13.71 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]: [-0.5388, 2.014, 1.01, 0.3252, -0.4389, -0.3225, 0.6522, -0.0193, 0.7712, 0.5507, -0.3882, -0.0303, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4648 left_y=-0.1862 left_z=0.0318 left_yaw=-0.0123 left_pitch=-0.0435 left_roll=0.0192 left_gripper=0.6522 right_x=0.2855 right_y=0.0034 right_z=0.1601 right_yaw=0.0005 right_pitch=-0.0366 right_roll=0.0014 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -10.0581, 7.5009, 1.8144, -0.2515, -0.0513, -0.0122, -0.3077, -1.9077, 6.9265, 1.9853, -0.0415, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssaaqJFdtSaXIL2OPOl9RVqLBCNe_O2VxW7_Qn8F7TEn61kPtMj1VTWd097B7Zrkc1TakDQimmDe_C0PVj8WoKRVgo49igxWpMdohMaBKCOk79bv48CAOJXLR0KlzTd1lQufgJUHw6vltoW1VeFyLyB1e-MQRo6gM0hRklBSUYHguUCEayGJz4kICWuLDvQ7tsyTjWtZw8KFzC6gCz60Ot0b2BDRv7-WjsepXQISAztjHPTaYlBfwI7w9woE6kWi7IzghVqJGkrZN7pR_Q-RGJb-I9Jh01rO9M5k0lhpnnWl6taLvc4oo0asfCVYnK35hLlHI_LLJYwAW-NFBFFAYrwaJExgLPhsxP6qY0B7U5V2En9J1aK9U3cXAxsU1iiuTA5RNCySu0vRGnjs349QpSKcO1A9tUrsOepXA3xxTkaNkut06bl-eyiY7cDLpkLKDUKT0g5GNMy3jLZUMkGC1nFsgXk1LQYRsGg2wqfLGlIipDV-r1BCQt-bT_I8N8G0cf-VpcV_pH6vqp-qOh1m_MZzxEwiJOtebCmk4uwmL16KHpFhpj0RGXrMcDTgRd5frE5IrXYRQ_qmcYjn-Jgr-a4Nn3bJ4MdnybF7dfGch5zqMzj1uBusZ6PryTHB_AiIXhbSuppZbe9hEdUmgWZEDmPp56HLCncjiVcQ1CjeXBwFbZiDkBSuJzPAxjJFSsmWlJaQca4T_SXkKDVG1F3_PCGm3huGLCTfVi5RWomzcIzs4cCJdClEGcj0qzqhU6I_uYyZ72A90Xxz1ptY49FAby6SFOI8vwO-kDmV1B9I9PZwhPYNzMruvCPIalvf0f5dsh49V8OsaReJaSIBZvAQBF9__inAUm0m4wZBIcr9PoJsh4ldTF5eQ5qbchuz14AGu9xZ-svmN5-qWU9goY1GV-KX9jYAo9PYdR03KpTdgxK-T4Bn60J8NsaGOfB3sYDd3iiOi2fZw87UndMpFv2V9jCiWCPrx-N0X9_Tuowbtr5hZwn9y6V5C1zalyiQZv63yTNl8_4B7x-dpvrCWnXycYrkvSzFr3W6XnQQT42dBAJH3yzbQ5pEGzovJqxCZpyYojFzadPOMp4cLGAQ7cwFgh-MmPCQ8eleQuH-DgM6SPyViNj8M8xE5p5shMK_7vGqkuvpuo2TFNtdNwiQSvKt6lUBp-bDcoALMxHLUq4ejQ4K5T_vX93o_03DRRxEYSW___0n0itLFHz_9Xi2AGF73DXPAE4uiytaLsGwgSqEfWF9k30Ul9b5lDImaW1WXZMlVsshQhhwh6m06LWx8Lh-d_ninx9AvKgkBUHLpyyI1XN1HPsj-2nVDQXaNvbS2ftImq9x004JorGxjlEXVTNku9uIF2xpNOPBmNiGtCseHEMU02FWnZmpT1-yYjwYHntio8xYEiW7D_TjnE1S4sC8a5pMibWTLQEuZH0MZtqxJ-ndj2smFwvNcRoay5lijmzCjxUGSUtLCzFERuRWoDr5cjorjDZTJ9XIWlyZbZKO7JB1YYQHYbfSyY3qSZtTzDw4ayjQ6YE_o5O74UyUdjlIptEzxDk6xu2TQXs7QT4e5ltJ1m5s8g96pMPRyxWA6piQw9wXUrQZRL8F2XNKowDBV7gKt-i1ko9-QTAqGw0TNR-WOkqNWsODl2KCAUTB_mnu0aLKo3nkZuU9pX5eHoHL06FxgA==",
  "id": "rs_036936bd1de6d2ab016ab2c69568e887d0906a746ab371555c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.25},\"note\":\"The working arm is hiding the left bottle in the overhead view. I will pull back clear of it so I can identify its cap accurately before another low approach.\"}",
  "call_id": "call_IU1hMbHfAzTfmoFv3w2ZQKxG",
  "id": "fc_036936bd1de6d2ab016ab2c6989a3487d0b188302f0c1f672e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IU1hMbHfAzTfmoFv3w2ZQKxG",
  "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]: [-0.0635, 0.8448, 0.8486, -0.5644, -0.1074, -0.0959, 0.6522, -0.0208, 0.7609, 0.59, -0.4454, -0.0311, -0.0437, 0.9998]\nstate[eef_state]: left_x=0.2986 left_y=0.0036 left_z=0.2399 left_yaw=0.0663 left_pitch=0.0043 left_roll=-0.011 left_gripper=0.6522 right_x=0.282 right_y=0.0032 right_z=0.1691 right_yaw=0.0036 right_pitch=-0.0441 right_roll=-0.0039 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -1.7846, 9.894, 1.7851, 0.1294, 0.1978, -0.0122, -0.3077, -1.6205, 6.9812, 2.0586, -0.1245, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:621247b29afe96e8a9834a5e2cba5ac2e57e6880b435d08f17222934dfaddb65",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a23af88276bb210420d22af4c4a896c5c65c3ff30a087e2df3097911235461e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa825a827ccca644297c3dc3a38594a3ac29b2ede778cd45421580be3331e68a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 7.161 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]: [-0.4316, 1.42, 0.8742, -0.049, -0.3656, -0.276, 0.6522, -0.0193, 0.7948, 0.6441, -0.4755, -0.0307, -0.0437, 0.9998]\nstate[eef_state]: left_x=0.4055 left_y=-0.1133 left_z=0.1655 left_yaw=0.0099 left_pitch=0.0103 left_roll=-0.0194 left_gripper=0.6522 right_x=0.2864 right_y=0.0035 right_z=0.1786 right_yaw=0.0048 right_pitch=-0.054 right_roll=-0.0039 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -7.9795, 9.5658, 1.746, -0.0952, 0.232, -0.0122, -0.3761, -0.6496, 10.0718, 2.0684, -0.0757, 0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssapH3G2YoG8CYvuaJ63wklCQp8LAMJxo6uCEU1ewv8gB3zQCNl5t1oG1SuvCWyq68vl0Vr58M-2yRblZjybTYhq_-seO4kxVEEyveTH0p_Gb0eNoxgFtvuAqZKuZaZ00X_MYBIfobZ-h6IBEHCp0FJX36blJ0_0koDe_NuFSTzXIvea_1W2xxLWGxgLd3_z9rsshGzvj4vigqae1Ff8TL6yNQ9AD4SsnosjtteCmMjLsQ5BKIWgdnIUfrN1i-JsNFo_zMKm43kyFBFKdY5OGI_HSBHzRX2Ofog1EGgWxxa1KDcyG7hb2ESHPgU68GUNblnTpN_V9LrluFJoPN5agYne3pc5lupq17B7N89Dfx9rtR04HBH34KD2cQ--tb_vWRAwoDyl6B9lrZgbw6UJPUChK20o-FS7tKDfHg2nvLZubMSk06XnuS1jivGhAV4XABXPGRGk9U1jD1ha-y5hLD90h9c7FWYlu_OAJMBTgorrqPo1InuFwBUWpZ0mh_rRC0Lq9kf1ZifiWwFCXRZuVMEsuSwy5zCiJHPJrQqRGOHnS4SRQrqk45lVrROnFKZDcWO0zSgVLIvE4ZdD3BMfJYf0TRroS87H4nnrrUwocvjBSYvYULn7YWYT52U2kRCh5ygrjoEEL1dr7ma0L-r-MUp6gc6yhB-KVchozQ4e55wmFDPqLpHcaBSYNhL8GdBR19uAIR7sPGfSmQfLWHVZJAec3q1KX8B8z4Q2ij4dNXBR9SDHu9jOx_SPsZPABJhzIy7N092Bv3xbuOvI9PKaQ7qRyqbX7DyGZnOiHOde5POBdnVw2_FjUhRK-P9E_OyNHCJKwQOW4mbN_V-N0GjupODfyAVJ6SE9PGUvYyYo_8Fj57hF4fZLUG6Che2OgwwyIniPW1AR13GILu4bxBB-KawDXyvgDYqme_hbV36n0U3hql628zO05HpY3JfqNTeywuZmI1ecvjUV15n4_tzD8-dhVTQ7F1G75Vs7LAokwYS7Yd3CgPDYMDytO7H-JMjG-qm8GLT0PF4ca-eC8-Gx8EeMdteHKzRxgktgQnIGvSZp-SG7CCxI-ImLes3Zc3GLea8nSiN8NJDiyun2ERLKR_2VOsF90PPaF5aRDaJ78e9wNimhQGBU2x5KsNowAYZNgKIMWXbHfsrf-FMNp6uEZPr4-f6joWmxAbDmEp_GNj6yHHPJAU9lRkzvwXHjX8u7u2eqgA-geYrBm9gWI2NwFN9EfioYHQ68X699D_m0NzXxB7uOgMaILDTa0-ZPL8EvUGGcWQ0K-gJI3RanBQ3WjfQOXa5-zSy3gGftTn9U2rvNwRy4ljFBWu4GYEbwgE02a7DAL2EGroB-txP386cKwC0Cba1nwxeH7shOrOhgUJ8vCP616g1Y9W4qQBL7H1Q2i-o8iZ9HGINeDj6UzArYe6yvoR7eGxiBXimskjYCP9cqDURS_MqVBwUnPYZWHcfLCAz07wdREvkpu8PBi6VmCHcD4KxlNYTMfZ2x5VKua4GDYrP2GhbgmYT4lc8fHNQ2fcAJL0yTntEY362243nDXnKfEL0P7L3eqtt0yf2uD7Nn3gFLWJGUsl08pe7YbhBZdBvuHP1Ij_2FJFJzZnfywPNsA9BJYvELbCK1Tyuy8JF_CLZ5zmQJsTYMSI70neN79xUaVgdIdXvCeBI_TCQhliFoIfi1jJjwQdJub-6Vs-wppJEDd1xb1jOeRZBkrqzqotlRMqWz9kNzqmWxqF2VsE8x7UZCy3mA9RkYrWvX6WILQvdjZ803IzM52Q-0DEsjSYn-ATtF5qti_4PQ5mLxCuK9i3fgVGvrqokaKTJfMiwhY4sTd9-rDhIrcTqMNXio0TOKGL0Kog7nQ6YOGp0o6to03VmEyOlQl9PatI25L4tq6ggQEQ3d5fH5ytZ1-Os3WPPvcrLO1Yjo83LmM3MltvtD2w==",
  "id": "rs_036936bd1de6d2ab016ab2c69f95fc87d09566de4921e904d1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.18,\"right_z\":0.13,\"right_gripper\":0.65},\"note\":\"The left bottle has shifted toward the near-left edge, while the other two remain clear in the center. I will work on the right bottle next, approaching its cap from above.\"}",
  "call_id": "call_zi2vbviFIjY3jXfNhyklVpTc",
  "id": "fc_036936bd1de6d2ab016ab2c6a70c8087d0b396d945aa95237b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zi2vbviFIjY3jXfNhyklVpTc",
  "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]: [-0.0715, 0.8566, 0.8589, -0.5919, -0.1131, -0.0895, 0.6522, 0.5465, 1.6558, 0.9485, -0.0051, 0.4023, 0.2584, 0.6519]\nstate[eef_state]: left_x=0.2971 left_y=0.0023 left_z=0.2357 left_yaw=0.0597 left_pitch=-0.0241 left_roll=0.0014 left_gripper=0.6522 right_x=0.4132 right_y=0.1746 right_z=0.1096 right_yaw=0.0455 right_pitch=-0.0735 right_roll=-0.0411 right_gripper=0.6519\nstate[joint_eff]: [-0.0752, -2.0581, 6.6667, 1.9072, -0.1245, -0.0806, -0.0122, 0.0615, -7.9111, 8.841, 1.8681, 0.5006, 0.1734, 0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5351b4e420afe64add47148f97a47e48117e60c149caea6275eea32337c8f1d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87f11fde73388bd2b4efbbdaded3dcba737d7518097cd183a18af6beae4828f2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:520c1384dbdd4ad7a200955cf3fd14dfb42f2b2ff11bb2c926b8f1d106a01ddf",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 17.01 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0635, 0.8448, 0.8486, -0.5644, -0.1074, -0.0959, 0.6522, -0.0208, 0.7609, 0.59, -0.4454, -0.0311, -0.0437, 0.9998]\nstate[eef_state]: left_x=0.2986 left_y=0.0036 left_z=0.2399 left_yaw=0.0663 left_pitch=0.0043 left_roll=-0.011 left_gripper=0.6522 right_x=0.282 right_y=0.0032 right_z=0.1691 right_yaw=0.0036 right_pitch=-0.0441 right_roll=-0.0039 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -1.7846, 9.894, 1.7851, 0.1294, 0.1978, -0.0122, -0.3077, -1.6205, 6.9812, 2.0586, -0.1245, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssaxPE6hslxZBaC0o0L0m_k2FvZOZ6_-yvTHXQhvXvhkq6JJRuARqO3cOvXcGq-yWJ6U8xTrgkx3ROTFyoS-5qlefNYW5vrn7mydszRXiYXE-60wrO3PIuuimfG8keWZUfertoK4G39Y8EjU-7G50ys5unfCHoqINHTTq6ICkJWR0r8cZPQiPiXDKrVv2_3_5k7UODOpvH7wrgBhCLWHA75gOROzjKm2MQ_sH2IRomBgplO7RPKujthciWpcVnvtcHiGcKl2E9Y3HE0mGqBssV6-TmLRQnN9PwoMqMiuYOx_dpgMU-8ZTQlWdxM-SwYD1zYyJcd2qcazPFppBIINRuKaqpuIKnBmQvXXybDTyniMeSv49Bbvd4IpcWZF77I5mNFU5ylyli6jux5ewUJwqVR0sB70HxLIa3whyVOKMTCERpoJ0qKt2fqIctSHan9drgKUMISEKaLqQO-il4cBGskerdhtXrqOpm_3U5XIRFpVJ-ksOzejj-XzOmXpS3uJurqDlDLynwbRzXcj1Q4AQ4yUrjVctXp-iZUxJJE7BoRrSEQRVet9ygreddHcmvtqAklnz3qzxgqjzwis2H_K28Tlc8mnui91Tj3ULLfNVLSk5-sifamyVmU7cTbz5ljf6zkliiCuH9gaZdK5yzeBuhbe3TrjBvWQcjiUWd5IelACty9o3QUILBx9wA_TFooj6JoP3TPByCSyL5a3bjF4nvGjvu4YrWQm_2dpbHHLP7T3kCLqQmMzkDnXkHUDInxnRmqnP8tIRi9ReszsO614eG2ImZp0XyyvytvVsKMyLRHapyuuYDsnCXmWwhmbNaVwhq4elWpX10xoqlYphGLcuq-JKtVqCXq-3dq7STk9GKLjytQjIl6kRSZGY20vJO5378opriI9RZm1-113s7qp3BzHaQeuG6f4-bTJVTg1M1m6vevgKhsAXbyThukMIZz_rRBTuO7eGppQFcNzPlRfLe-DnhlXe5n0W35KR4KbV-w2W3UT5PhtMzKXqEfx9e1d3bjRw8ZBWX5ZIE-cyD-GnqqqbDUF25grDA_f5BiixiNGvzIb05kjcbLa-fgQhCakDSKbXkJ1EprIQ16m01l1TrUK9LJC300aooBU0CS9S6kH3a0T6vSr0rpoT66c_TSULkNftWnFn0djtwcU4rmu8ysHWvBl4rHV3NL88sp4XiSV4Oj1iHFELrifrSvYisVvGjfbVT0HY-UgmchxjtLKvvc4pPCsLbm2QwDLu06tKl_IHffP-NgVlk31g_Ry-oT02E8pTaFozgHy53rlEBQaJ-AB8EF1iNoh_C0lGW3PIGBciQnwKs81-UofV9LkfLXEdvb8PbAXXIHUvPx02vg1XoHqswzCqF2g9OXpa0o2hX72zqTDc1CY72rDpwMn4avNhD8qJE0n6D1hoFFP6n6vcvxvBxLnlEkndbdZ1P3dyDSiDfMwe_suKnMaaXdI3k9PRctldKcIFrswOkr74aiyai5ESqJGYMd-JxRJlroG_eT0yFE=",
  "id": "rs_036936bd1de6d2ab016ab2c6ad2dac87d0bc87ba591fc4a71e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.155,\"right_z\":0.045},\"note\":\"The right bottle is aligned close to the jaws, but its cap is still farther forward. I will advance to its neck and lower to cap height.\"}",
  "call_id": "call_UTEhm0j3vwyO2lw7aqNbF02f",
  "id": "fc_036936bd1de6d2ab016ab2c6b0341487d083d12e399e0ea91b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UTEhm0j3vwyO2lw7aqNbF02f",
  "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]: [-0.0715, 0.8448, 0.8402, -0.58, -0.1131, -0.0887, 0.6522, 0.403, 1.9606, 0.9768, 0.3397, 0.3115, 0.1665, 0.6522]\nstate[eef_state]: left_x=0.2959 left_y=0.0024 left_z=0.2329 left_yaw=0.0593 left_pitch=-0.0192 left_roll=0.0013 left_gripper=0.6522 right_x=0.4766 right_y=0.1483 right_z=0.0425 right_yaw=0.0271 right_pitch=-0.0365 right_roll=-0.035 right_gripper=0.6522\nstate[joint_eff]: [-0.1983, -1.9214, 6.2701, 1.9414, -0.1148, -0.0513, -0.0122, -0.6496, -8.8274, 7.3504, 1.4725, 0.0366, 0.1148, 0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:671341aa84621d8a0e00b9de206936afcd6dcf0c1379f1826ce70b0a736523f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62d64537c5067d2ee91a46f004ded4722a5edec7b7d73f30df0ab0df691a7511",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b712ae8adb20a96aad8b39dcf4f0e5dd969afd685a7881c88436273f7eb053c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 8 attempt 0 · /responses · status 200 · 9.002 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 26 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0715, 0.8566, 0.8589, -0.5919, -0.1131, -0.0895, 0.6522, 0.5465, 1.6558, 0.9485, -0.0051, 0.4023, 0.2584, 0.6519]\nstate[eef_state]: left_x=0.2971 left_y=0.0023 left_z=0.2357 left_yaw=0.0597 left_pitch=-0.0241 left_roll=0.0014 left_gripper=0.6522 right_x=0.4132 right_y=0.1746 right_z=0.1096 right_yaw=0.0455 right_pitch=-0.0735 right_roll=-0.0411 right_gripper=0.6519\nstate[joint_eff]: [-0.0752, -2.0581, 6.6667, 1.9072, -0.1245, -0.0806, -0.0122, 0.0615, -7.9111, 8.841, 1.8681, 0.5006, 0.1734, 0.1294]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssbDDiJpjhBVqlgXwSQ3NLdVRswihPLWCPljFX8x8dWtohsO9EWV20zpVQCFX5Zs-qisOHjKnESwB-O-8KrdGFOv-MSdQ9xBd51HEuU_cCVnMCfSF_3dAO-D9veRzGSbslBUiKDMYrNMHph5ZMAnl5BdtrbarZlVCWU9hdnq47Rb67bw2Z6-5T2nqem1Ly2G2vSM_xAOqPuO0Y_deAaA2JIbrxdPakRZro064SJbFtfjjln5vbz8in4zZf955Z970Lw4T4qABDhIgYufj4Q0tTk_x3I27Prnlp5pb-99p2t03e88PeT9dseD6bcR4HDgkB8IZKzxg9YNbzh9rOm-5XpLSVopl0mUoRnRvz4D02W0iwDjPNsqsx48dtgb864e_d-7mEJBzmiuPYKtCB7_gA-LSvhw5bFbfqkw1V0e9m3rpgBetbzQvwh1gQcxREynLgltnfSz9VaWbzhkvC6Vv3w44w1VpgVYnCfAKPhhq8N3Vm9sKFCWsxGORNcPXRJL7tqzRh_MT3NE3x_dti_U9VC3XE1sLWNQG6JVTznX2JxdrMZnGiKwZuGd9adwNTbPc0jw1ojCt6DpfNFtRYfgKoetIk6Sn16REKrj4yz-d7owJOwfzrOTEjj9MLNa-ZFHIRAIaLqqd6GN8JulU7ITRogi_pGlVHb3ToaMrNgEspHPc6_B59L5ueVgeqI_ulXJOv-cEnyBnNU8R3a85cUk_-hRhvyjB0zjMizzqEKLrnQN_edecEzSh0qsv34yxTxXSU-vPTc0poN6lY3cGVpxrHnT98sbSAlpg4uAs2cmQ6_p2zzgPtmTXMFeIm6NusUzh5eSlANbzRxAX6j0cKYQULxB4gCT8I65kqFuW97M_lsnNrnh49O-K4DEB5B_-_61ELg_75_juF-ChWuRzy8rAI7WcJN6vzWeNPM3ydRUQqyr1111HzmhuuBlGEJJBDcgFFtajCAkdIACfIcVDCegWD3VuPeTsWj_D-nzFnqz1YVpf1aLxKUuSUHrEHssBGi8lwP7EIAcgEs3uOzATtG35LuBlcykeYqsrA45_LknuMk9yLgt7JTqn3BKToiAzgYJRsJzjQj-O5RcH8E4LYvTBzJzUAU1yo05ogx86VfXFRwioV_MWsfL7sUEv-NWa7BDVT1818h5745G-jNKIa9bRaRyPJyk7bMhQQYvszyLNQ9kl4U3WnA92nVU8ZjiXH_IAscqBZGRLg_yjImHxDycnLba_eCCnDwEeh1UwicZU3f__yW8AyEH69Pk_Hk183u-s1k6ZTAvP7KPrn9N7HIIjSqv82p-hTZ1PNSlFQ_eMxM-x31Fjg42o3cx2nCM3f0pC0HTpqd2Wthc6DXHYjCcpCwWDZtZphCbU4XCIrFLAaSP3wjCLP_WoNdl9k-53otZg2Xu5q_bZU3u-kjijxJNmmare2uI6n4uT8EDPcNemBXgjW2wKBzQ0KeLe2CmA6ff-TgRQc4VsLOWPpsL7KcfVEDCVZlaCC4FBVptSfoODTmp4Nevp0URb1w_ReRhR9lBYbCkaYh44nb3vyB9oU2Bg4I-_k2oUrMOcXmBBXQdyZll3C3muwq5ArR0DN1T-rB8j1hgC6fOey8-wV5GFecDV3TS1L_C9vh3RbIAVbMsh8rrJ5lpTCCNPZNR6IzmfU_tWBcWdEuYWtFNiauU_qWDAQwJIRQJloz6ime7Rj4mv0-I_Mj2sOoiGSJMEgFdk9Pc4ykOGInfZA8MpTTvDb7driWshZFF09cuMHwfTJZZWxhsEvx8y6Njx7PGY0u3fQHnaEiQgHRChHm6uCeIrpMeBHNIyQWoe0yHx4jC2fP80MS2Ll88Po9BkpPiGdQwzHzfxVZkfZ9QxjXYQEjzn_4AT8PG7DhIkQcVVPa_kNCTDofYPJ97VEY-duUN-r5M116VX3f2_vnSOibrTa-mFDdTmbFj-lCr3KjbLZ0CZnYCtvUvbCc5aP0UajUJ7sOzYNvt8jQGvEaQBnqfjbkAtg2uKMzptvBYMTQydysAIVG5cSxh8cbbAePH-qPXllQNrId1DS0IOxpnh4NtdddLDMYGvB6wj7bu4dHKPddQZu8b0vvWJMPKYNB-4uDi9FEkfm_vHyqjna29YePRfdLO--62_IS-DK9JI3SMEjUCrZ_4WdW1sOCjLpc2wB447cLhPlTaBaJRxCq2Td86m6z6o5xIlsKh2IndRBG2nmFUNkxGBJiCBxzrL1WMCoIpVs6dQkuxRPWbKh8W87L_uyQHBMfVzZ2bW4Y0Itkpc3ploD79-5gkhCM0WZOHqg78zJFtsiXGk6t2QwJjUtfKAFk6yer_wawIRFk086FuNqJQ4kyDq0tRcQONmzfuPCvB-BBvHBVCCdwc",
  "id": "rs_036936bd1de6d2ab016ab2c6b664c487d08dff014ebcba265f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.525,\"right_y\":0.155,\"right_z\":0.03},\"note\":\"The cap remains ahead of the fingertips. I will make one short forward adjustment to catch the narrower upper part of the bottle, while checking whether the arm can reach this low pose.\"}",
  "call_id": "call_4jmAicEymXpqqltVNTxMIsHN",
  "id": "fc_036936bd1de6d2ab016ab2c6c1195887d0aa8c929bb18b18be",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4jmAicEymXpqqltVNTxMIsHN",
  "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]: [-0.0715, 0.8391, 0.8238, -0.5728, -0.1131, -0.0887, 0.6522, 0.3801, 2.0918, 1.1175, 0.3943, 0.268, 0.1516, 0.6528]\nstate[eef_state]: left_x=0.2949 left_y=0.0025 left_z=0.2286 left_yaw=0.0593 left_pitch=-0.0226 left_roll=0.0018 left_gripper=0.6522 right_x=0.5174 right_y=0.1602 right_z=0.0404 right_yaw=0.0484 right_pitch=0.015 right_roll=-0.0018 right_gripper=0.6528\nstate[joint_eff]: [-0.1162, -2.0718, 6.5709, 1.9023, -0.1001, -0.0513, -0.0073, -0.9915, -8.6222, 6.7624, 1.5409, 0.1929, 0.0611, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1612d4eb6eb86120deb2596e697ec7b99c5ebd4d01c02fdf242159ec5d261f3d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe1774fc5337446b94b311cfe4cea21c9651da581189407802c45a97a1452c9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d6a771f3a9e9e63fc40a484b82fee74315cd52dbc3cb3c1d526a784b15a7b28",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 13.89 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 30 changed as sent

message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0715, 0.8448, 0.8402, -0.58, -0.1131, -0.0887, 0.6522, 0.403, 1.9606, 0.9768, 0.3397, 0.3115, 0.1665, 0.6522]\nstate[eef_state]: left_x=0.2959 left_y=0.0024 left_z=0.2329 left_yaw=0.0593 left_pitch=-0.0192 left_roll=0.0013 left_gripper=0.6522 right_x=0.4766 right_y=0.1483 right_z=0.0425 right_yaw=0.0271 right_pitch=-0.0365 right_roll=-0.035 right_gripper=0.6522\nstate[joint_eff]: [-0.1983, -1.9214, 6.2701, 1.9414, -0.1148, -0.0513, -0.0122, -0.6496, -8.8274, 7.3504, 1.4725, 0.0366, 0.1148, 0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssbMbmisErqwShoSIrx5QhNHX_etSEHUx_aas3tV4lwu5PZhgjxIO8HlFeA7Rei6a1fUKf14R_1SBaWQ3y8CV5FpKfhX4DiBE80NFN4IxroeZ4vnbzm5PciX_roM7drCJY9tkC1LCSF2NF5F3tJGR4fPoGg06MamdbDRVlT_s8aROU44hngrvF-QcsqM1XgUDW8Mxl3uz7eepdQf8uJ_vsA4Foynfb8Vyomq98zZcsATUhrae2h8m3pCRVriWMLfOqJY_s4le5DixEJl0Z2gSFBioyCsm2wq3cqpqCnnPSl0r98-rBtzoTT0ytAME78BqC-28oVIF6HIGbkLVs-p7hbpTTFpWCo_o255QkVQu5sWchwWzDeXBhmd62kX7IC0GGfipm3gKlwQufR14Leo5zoX7f_lyOFwITqBRQnzFk4wW5R2vMu9EcjHyFqMlPEnfWSZITvc7-5yRWWL0RpRiAWpX1Uvmp0McGAhGw_4S8TTbdAJWpYIiyNJ-7GObT0DYdumjsnzP79Oy7S7jxu3-zqzGviClfwN2Z7xbzG4k2g1XIAgYdgijiElF_Cp1kBscqWp_Lhwq4v4SXKvA3JRgY_5gQhZDfz1VUD-QUBHAfPeI65Bu-EkTSiI4xapWuwOlKe5Ffw_0cNSK7WWgC93O3EI2DtpAh9E-IfwY4zoQ15mY83lzzQ0U3DHSba1a_Nosm33KwzGrzm4TqeF6WRKxTwaH4Mw3RjOqHPWRPA-_ZoZ1A8twIhrU5gNkajBlZP6MtGxAeLyCTHTV7tH-4r6BNh7vbtS7MrDZ2ouiXM5sqsWPupfARv7_6W7OAiyZnhZ_-OYEKcD3sp41qtONFH39B5eRzzFtP65jJPyIzA06X4OAM36SbDGRWD5rJX48Jct6iEslB35FecxRvzNuG3KiYUWuonXVXEQK4weu3YvqFzbKCY7JhXz5l-l7_Kh6uqrjkKC36RytJ7EBdacTnxkMvzoizY3fG8E59juGkM2mVMqenYBdf0R-cjUiVGUdVap7TtSTerxRKTA0dafZ4Rs1u0XfannFe9sz3tIgzFsCbhIkhc13hDaKgvCYDiAf7FD5UCiVljsOjpv3pYf1ji_N1eRv0oZoNKO5we42Ue-H-KHdJYsLv8ZW62wLo-cw68Z8bSMnD0NtL-ZE-Wx0dd-CcKRe4sTGRrek7NrVpm5rhuPYV2AmM-b7CxnaMYOdSCj7uML61v09NUBZVms6szGa1GH151e54-yvVIZnxYQsouHul9wdGPkklIUE5J4E5f_OCzkR16I3yyno1Bwqe44XVImElYAe4_wvW-jl3WC-E9xgQKMsM5iWHIs8MTLoIw-pRgnP_OF1BOybXVeHFpnOAtkKc0hxMPBodXbI-DlX85hLHX-WVmnXgD5NyxRSolHaHOEmMQ8R7uhM-wOT-HdE7YGkp9wF2wMdGAFlQyahGL3vw0b_N31icUS07OLTPsxEF_JSOnuRWgXa5vKOL7-mFWc_697-bH5lG4x9RkKpxJgymDClUlHMCEtVbUSNCPHRMC1FYTfqOp9TplCXHKKIZtuG7CX42UHSCMLfvLg7O2x3ivLp0oTjcmGpozcA3TBamKyJasIJr2iSB2GWWtj4wtBQq3_vNOH3Q_mXGgwKaYnOKC49eAaSRDf0ZJ58cKc6ButsMK_gzXPEJVOyV0ixC7D5KZFyreAWQF8iKC3jjKW1mEopcJAjgr-AyBQrODMVciGQZ6rgPT4tquBMNBWEN38fA==",
  "id": "rs_036936bd1de6d2ab016ab2c6c639f887d09bee431c2234beb3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.16,\"right_z\":0.08,\"right_gripper\":1},\"note\":\"The partially open jaws appear to be crowding the bottle’s shoulder rather than surrounding it. I will open fully and move back slightly to get a clean grip around its upper body.\"}",
  "call_id": "call_y25l9P0c2dCIoIl7tgccZOKB",
  "id": "fc_036936bd1de6d2ab016ab2c6c9fb6487d094f2d59b19d4c281",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_y25l9P0c2dCIoIl7tgccZOKB",
  "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]: [-0.0715, 0.8318, 0.8043, -0.5575, -0.1131, -0.0887, 0.6522, 0.3737, 2.109, 1.1381, 0.3981, 0.26, 0.1482, 0.9956]\nstate[eef_state]: left_x=0.2946 left_y=0.0025 left_z=0.2249 left_yaw=0.0593 left_pitch=-0.0196 left_roll=0.0014 left_gripper=0.6522 right_x=0.5233 right_y=0.1602 right_z=0.04 right_yaw=0.0504 right_pitch=0.0205 right_roll=0.0017 right_gripper=0.9956\nstate[joint_eff]: [-0.253, -1.9897, 6.5162, 1.8388, -0.0659, 0.0024, -0.0122, -0.8684, -9.2376, 6.9265, 1.619, 0.1587, 0.0611, -0.1832]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93573fd6116d7863a0a16d1f5c0df3f038baae70aab5c77f0aec1b6c41d3cdba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39490308d481e694c429e3ab4571c96f3180b68a6cc217c6ae361d9d62304747",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f30db8ac83343023fd8086e2b1a0852734da1fd073a76721de4ffa83928f9ba3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 5.486 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0715, 0.8391, 0.8238, -0.5728, -0.1131, -0.0887, 0.6522, 0.3801, 2.0918, 1.1175, 0.3943, 0.268, 0.1516, 0.6528]\nstate[eef_state]: left_x=0.2949 left_y=0.0025 left_z=0.2286 left_yaw=0.0593 left_pitch=-0.0226 left_roll=0.0018 left_gripper=0.6522 right_x=0.5174 right_y=0.1602 right_z=0.0404 right_yaw=0.0484 right_pitch=0.015 right_roll=-0.0018 right_gripper=0.6528\nstate[joint_eff]: [-0.1162, -2.0718, 6.5709, 1.9023, -0.1001, -0.0513, -0.0073, -0.9915, -8.6222, 6.7624, 1.5409, 0.1929, 0.0611, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssbamfuF9r_zpiPgpfIa9awUQfw9x83UiL3G-ZnAdivWpo-mby2Ax1OGha8PirXH0quUvPv6Li6TICmbiNSsAZzixtryev6UiBRzRe2J4WtC0LGBUmMSGDz_15veGSd5Mq66w1CJvRc88MIuoBKUVdjnp7PLqFIHUyIrh_q6Gg4ydv4p1Qw8tFlW5hzJSd7HM7Vp2A95VXSSvKbSsXf66GwbKO6swixeiHPu0lTckvP6XWjZMZiqj5Vg5DKxbDH6hsNXIcEqkzzScPWulKRH5SbOwFkfOeWDeEcvDmEF1SULumtxRNZ5XlnieKNnjyPaTy3fRWICv6T6Iccz3J4gWOvEf8mFAwvRgRmrEcuPOXkZcMCTdN0cZ7lgBENU-1NIgZiccSuOP31ClHTtgdr1mwwiK41OIcW2SP-5328HRwn4_E8F7S7IBaQ_Bt4rxzDKj650DUUIwXTe-B8dGHuAyTS5HLiGEgmr2rlyrEmxmHoX6ly-adk9s9suYwSavFp5VkP7Lyisn9L16h61NjemyqcIO7QT3i8F6FG520D6Zixx_s5tqh9vz8vKDWgtjRmc8BF1dFj-dImLYmyuDW955MPvGr1OfFUxiwqVi8c_9q0aQa8VjyBEdn0QwTMfvgWlM_BORhLVNSyF0QiWxVzNmnqOCOEFrW8_QpmVdVpMO-IlNgBwKRnH1tIpZEe2G6gNfRkRnpofQ6PToulbpjIpNDefwS-40h-iwxVfjm2Z3akePlmxNhfyBjPnUrJeTJaG19qdC2KTtb5sBjL-Z9V-3eTWf0D9OIf7WX0kM3fRhEW_-X6F5j6x-nD_RiCikOmLkcx9JwFCDr097ZJi9WZ1Gfr4Ym63_nP5rqOxX3qZsZ6D0Bo-z0HHpWk2Vj-2NaDg5QL1E34KxXiRD9bl8l1B6nvHZGy4-TyUcow5EGUkY2gWAGcJj2GOaCUEy73OfiEzRbaNEokN6-w_ajMpShPc1GLTxvzUjAS1_81WaSqRnr_W-AxYcC2cOWcLeAdrYxegkq6vvI3YWtHqzojqsKH-Z5IkNu6TRgd1KJoSoSrzOmkUkqER0qv60bGzmOM0Wiafq_sbs11IWi32cGVi4_tgnWkPxkUyFo5joMhQjON8auWbFOzTkaGRQWuhGFZDaYY8fqfKgevReBiusgjdW6myNogr4RufNsb7wQ6-4dlfwN9NZD0coBlavh0nBG6unZ23Ef_5FDHb-ADGgiRi4zp2lF5kt3SGlL_gT9M7Fg-9YugTD8z5-rxEcQCT0d1CzE6jEOOWT79ZF1gJE5Km2BhTwEIfSNI0LLLzpGUzc6nT_rVp33n_jGQvFitqDBty4d3pDdz_uH41z7PgXNCSUPlfxhBQzM1w-TS197o4WVNbLJB4-NhHYU4G3IH1JgX3l7U4-kIRkMIu80B6tw2NfzB86XsHigLi2_LBTay4EN8T8uf2Af2eHB3vwTUD1sYh5YqZVyvtRgKjb9uXr0WJO5B6hrdqyFjDB41zf11D-O7WWizW0JA5SV2RkCkrkeJgOxfiZLrGLP89ba2nXyZSUB1t3Qii4zVrAQMC6synqjMKvUtp2r2aIQw7HPlLV3k-4bl2-JVbsktkdybNJLOVg3scqx2p9TOehsGfJjexdnEEIQFjdnsZ39KAKYRv-JbJvTb4jmvu8hWIadHVPrWn6sfuf8OHENaYya23xkar0r-QOGah9No8fQ1aYUoyuxO2cwFKbZPNYxKuJvEWwDX8j0oY2tJZa31wDX5Vqt4QcIAp-r1vUbEJl1duySAMHTLWiwAkwjjCS4mmQplN-85qDsW6Dwn9FXyY-cnKKRLvkqIvAAtZzdTX4dHvQWNJh-OJuJHYzCvj3qllXgpZUwbiossbUvC659VisRxurf9yw78evDbRpgubWABK59n3OAMAkyGQM6bv38oj51Etrbxv55AlGZp2ajq0Qz1VTPi4DDpJyrOL6EiaXvPnrRgEN7AeDhN2khi9guysbiIsED6AZ2n35tee4K5aw2LEPCD-YaMY8kdJrqR-MEPBooOlkWs_l4ucGO4vM6goiqGOeqTIn-jQEFhw58M3p0kBj0q18SW0iBELvtFdYt9TH3KRAJLryajYZ_yCDAIAWvnULkqHhtInIQcjhuXNHRMGlT46fGSvyumhTQQHQNByNhai6qoiK1u8VDGYTEH3yBLsd61INGTTT6TJzcOHUBrr5E0Ddeha0GVJgojloRGtC6w-g6l_g-qbTO2ULzMhKGcU5WC42ofn9RZxgK460p_vCMq7MwaCHIzd8vcFwvZkPaanBjmjJ4OLC2IYXELTFhFSgLF50Hy7lFBMZRl8rm54EQQJ5iavX_F0NJMh74wpzWvkdfxReKCjHd_us2k5X086as_6qRZl0CPEOX2XBMCfDcysFZRSrVsUWioMOcVnPgVZkQXYSIK1uBWyWPVw1HjZDmUM3S0OpilOmjHuayZI2TZVFaYoJn9JP7ocVqBa3XDrnOXIS0dVZbev",
  "id": "rs_036936bd1de6d2ab016ab2c6cead0887d08530270230c40b71",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The bottle’s body is now between the fully open jaws. I will grip it here first so I can pull it into a more reachable position without pushing it farther away.\"}",
  "call_id": "call_Rtk3V7TWZZszhGLX1M2ge5Z6",
  "id": "fc_036936bd1de6d2ab016ab2c6d8ec8c87d0a982f81fe755d663",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Rtk3V7TWZZszhGLX1M2ge5Z6",
  "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]: [-0.0715, 0.828, 0.7933, -0.5499, -0.1131, -0.0887, 0.6522, 0.3717, 2.1067, 1.1419, 0.3897, 0.2581, 0.1364, 0.4829]\nstate[eef_state]: left_x=0.2943 left_y=0.0025 left_z=0.2225 left_yaw=0.0593 left_pitch=-0.0192 left_roll=0.0013 left_gripper=0.6522 right_x=0.5237 right_y=0.1597 right_z=0.041 right_yaw=0.0565 right_pitch=0.0181 right_roll=-0.0081 right_gripper=0.4829\nstate[joint_eff]: [-0.1026, -1.9761, 6.1333, 1.8974, -0.0952, -0.0513, -0.0122, -0.2803, -11.1932, 6.8171, 1.37, 0.0073, 0.0757, 0.9158]\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,$blob:5e2d4df523b46834b7374bd1281dea04a7598b5954d3db818f1ddd8e648f855f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1e391a6a1c91cfd787378ead49877f26a6e07b540175eccec00b0f3e088e370",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7342d84f1e6bbcf365e6bba036071f9fe7233607f5338a0e6e2ef880f4789ebe",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 8.75 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 38 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0715, 0.8318, 0.8043, -0.5575, -0.1131, -0.0887, 0.6522, 0.3737, 2.109, 1.1381, 0.3981, 0.26, 0.1482, 0.9956]\nstate[eef_state]: left_x=0.2946 left_y=0.0025 left_z=0.2249 left_yaw=0.0593 left_pitch=-0.0196 left_roll=0.0014 left_gripper=0.6522 right_x=0.5233 right_y=0.1602 right_z=0.04 right_yaw=0.0504 right_pitch=0.0205 right_roll=0.0017 right_gripper=0.9956\nstate[joint_eff]: [-0.253, -1.9897, 6.5162, 1.8388, -0.0659, 0.0024, -0.0122, -0.8684, -9.2376, 6.9265, 1.619, 0.1587, 0.0611, -0.1832]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.16,\"right_z\":0.18},\"note\":\"The closed jaws stopped at about 4.6 cm, consistent with holding the bottle. I will lift and draw it inward, checking that it moves with the gripper.\"}",
  "call_id": "call_uPZEephAeedUg9vIBQEPfqXz",
  "id": "fc_036936bd1de6d2ab016ab2c6df907887d0a09d5f6c13747840",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uPZEephAeedUg9vIBQEPfqXz",
  "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]: [-0.0715, 0.8227, 0.7784, -0.5369, -0.1131, -0.0887, 0.6522, 0.4667, 1.6222, 1.0424, -0.1272, 0.2985, 0.1875, 0.4846]\nstate[eef_state]: left_x=0.2942 left_y=0.0025 left_z=0.2199 left_yaw=0.0593 left_pitch=-0.0158 left_roll=0.0009 left_gripper=0.6522 right_x=0.4264 right_y=0.1607 right_z=0.1366 right_yaw=0.0885 right_pitch=-0.0979 right_roll=-0.0338 right_gripper=0.4846\nstate[joint_eff]: [-0.1162, -1.4564, 6.4889, 1.917, -0.0904, -0.0513, -0.0122, 0.5949, -10.947, 9.2923, 2.5421, 0.4029, 0.1832, 0.1587]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bf03f7e11f0f390aab7f1cd162bd67285a217ff9f6ec49b8b5e347e70e47470",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:784dcb4f1bb9c44379752b0c7461937fdbe8317dcd7fe450593f3488c988cbe2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c04a4aff01b5169d737a7301716d7eece5def44f47a694938807c3866315c98a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 7.568 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 42 changed as sent

message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0715, 0.828, 0.7933, -0.5499, -0.1131, -0.0887, 0.6522, 0.3717, 2.1067, 1.1419, 0.3897, 0.2581, 0.1364, 0.4829]\nstate[eef_state]: left_x=0.2943 left_y=0.0025 left_z=0.2225 left_yaw=0.0593 left_pitch=-0.0192 left_roll=0.0013 left_gripper=0.6522 right_x=0.5237 right_y=0.1597 right_z=0.041 right_yaw=0.0565 right_pitch=0.0181 right_roll=-0.0081 right_gripper=0.4829\nstate[joint_eff]: [-0.1026, -1.9761, 6.1333, 1.8974, -0.0952, -0.0513, -0.0122, -0.2803, -11.1932, 6.8171, 1.37, 0.0073, 0.0757, 0.9158]\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": "gAAAAABqssbqqA8MepDtPpPQ-uN1isFCq41FrJiusdIWW7DLG5zq30nMXArRuTWU-Q375JNyCJTj75FHMfeT7roh3kO8b0xWUE1GLv8izLwG6keqbB2I42IeUBHYrAi8GmC4AWCaE6Cu8qvFXZyfUWwHrKOXY_-ZILBNSCrxcnAz8pOPIWQEKN2_XtB0C_qKZr2AJAObThzYW0LqqeAdQ_pba8_Pm9hCYIDO0qfrh1hMGhs9wyszxm0WL_SzigUsE_BiMrx3eh_-PMefZHRNo4FfJHIeyww-d_AWvO-e8pk5pL5zT1i1zIQUzE6f6B2XUq1WwHLFkgl-WWVM8d47xkDFZVjzKtlfJSWVlMnrMjEDS1YWpG1QQdl3JXQqH1Sv5UKRh-oFRh3OqfAvN32HChyLdx_ZA5jI0FjVMT4d2EjgsrdnhAWqZhbNmPhzqOAkQONKFYnQtDAQDJhxg1Fyj2hgftz1mAqZTrE6ny8V8B_ZpjEzXcJTnE3XlJi24yq3lLgk7mKlUtrfWdd6rZfsuwFPZbX75lQ6TrHJor_6dT16UkJ5yGKbMYvOnETHB00aEAFBVQaWmxnvJhLRGkfb7zxSYmjmD3vtf-mELjVQiFOLR1A2xm6Wr1g8OEQNZxHlivTcGqOCjTpeKfpCl2tIX0XU_8FaECnI2DEhKejxPJ2ByNK-4hTciDhzZrNMNT5h7qBfl6e5WgVOBTysHXYX7RIzyBVuN_CXdnEwwVoj9GN1Nf842Vd5nNY1qOVQPZG5mCeotTWPxGYEZUeOW9FKHIrZABBcAt7pGlsvhqm9AzBzkwXTXFwvxm02Wz3pPtfXkTZeyBzyoH1nykCX4xn2YSolaPuWAcEyvLVW99KUoERA32RcjAoJ1pnevQMhFaSZLZ4UKVYBIyh37QiEXN0ZQIDT4dSpTzF-0ojNuhyYD4zyJycdVsq98ymP-LgUUw5NaijoFaVDMoXOnQEpNT1TrW7NcRb7myN1hi0DxRrAMcxLCrmKW4ZbJzswUrdzSf1mCVbjRp82WdOE91unIZjf3ZfGfpgkF-KHPGH59USwpd8tfwfcKtBkfrao73ibV9A85mF8eDrPpQitJFe6dE3WSUXjsWHpotxGuPOK3nWyEa1Kgjm7skZqwBjHRNN9-qrJOJRha-eSClvylsRWVk_Cdzv-RqTG37lg5hZM01zmSLlVYw-6u7kjjsAneFhGx7Nbl2P4U6TwzcQ59btG-3MWVb5emN2RHwDU7KmLoZ0DwAGPET6OTp9ihQz24uigLe5ppcjbx0a7E0r8wnTYdQBLRHl71SDcUFYNCLq49GGR2nzEqOFwuGDBygYcDWb_9YqZB-JV5meom-kNvVPPSkje4S4Jg2LdRjtyOuak3SqDXEWxp5sNfeadoNWsWGJ0qVsUiufFxapZTa4gXwLhKdH2YmSeaI422DWrJOtcxin6t_AtPWlZsTM2Oq_ECDUBPRCAEVBNP8BFPgSyAxKZi5C00oSuvZaTJ1elP90q8PMPo2GKsk8GYftEd7aSstULV1xlOTIYp9qaikKKVZURyWSVtUWglBk48slRETNvcdOXwdlrfiq7m_16uV1ewzliXjVeV7SQVsfbgFluX3J6rA3waq-Q0FpVx-RA4M7TSEqzCJc8ni2nE3BHjBs4tVsfErH-OrLqCgQLCxHj2R4eKbfarFRogInYJ7UuNg==",
  "id": "rs_036936bd1de6d2ab016ab2c6e475cc87d083f26f7fa3f2fcdb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.16,\"right_z\":0.045},\"note\":\"The bottle moved with the jaws, but it is still lying across the grip. I will set it down closer to the base so its neck becomes reachable for the upright lift.\"}",
  "call_id": "call_EU8kK79AofrKWsnqYsjEbA11",
  "id": "fc_036936bd1de6d2ab016ab2c6e8d1b887d0bcb5302173583c40",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EU8kK79AofrKWsnqYsjEbA11",
  "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]: [-0.0719, 0.8188, 0.7654, -0.5297, -0.1131, -0.0887, 0.6522, 0.5171, 1.6905, 0.6502, 0.3901, 0.3462, 0.1947, 0.4847]\nstate[eef_state]: left_x=0.2936 left_y=0.0024 left_z=0.2166 left_yaw=0.0589 left_pitch=-0.0177 left_roll=0.0011 left_gripper=0.6522 right_x=0.389 right_y=0.1564 right_z=0.0503 right_yaw=0.0974 right_pitch=-0.0339 right_roll=-0.0335 right_gripper=0.4847\nstate[joint_eff]: [-0.2393, -1.7436, 6.612, 1.8193, -0.1148, -0.0708, -0.0122, 0.4034, -4.9299, 4.5607, 1.326, -0.0317, 0.2515, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea62126485b7c6209d40f6ddc51c49ba31f804993c87a32160d229e94607b62e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c54d076cce49fab1b6dbf047f653f6d2fec906adc51f0547b3501226e1025f67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebf2c9ee039525b03c6f418f6b786e5cabebf72b43624391f5c0a04eb9eb9b24",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 13 attempt 0 · /responses · status 200 · 6.17 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]: [-0.0715, 0.8227, 0.7784, -0.5369, -0.1131, -0.0887, 0.6522, 0.4667, 1.6222, 1.0424, -0.1272, 0.2985, 0.1875, 0.4846]\nstate[eef_state]: left_x=0.2942 left_y=0.0025 left_z=0.2199 left_yaw=0.0593 left_pitch=-0.0158 left_roll=0.0009 left_gripper=0.6522 right_x=0.4264 right_y=0.1607 right_z=0.1366 right_yaw=0.0885 right_pitch=-0.0979 right_roll=-0.0338 right_gripper=0.4846\nstate[joint_eff]: [-0.1162, -1.4564, 6.4889, 1.917, -0.0904, -0.0513, -0.0122, 0.5949, -10.947, 9.2923, 2.5421, 0.4029, 0.1832, 0.1587]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssbyMfJ80j2a_tMVlsI7cbdazGStLopMP3Ia_WRiGm0NpUkEjBh3ck2jdckDMGNRH6ImMfCdOTYhwJDJrEQFQS4p3RtNTXdER9uf8D4gYQaUKIFe4hgeWo1wx1qpPnPx5cS5qPtOYYexCRZWUHamdF-kojsBu4W5vlGqAVdLccNwjze-1YoPScA-e_nQpZ5H6QNQfxdTKkG4X96PdZBftzO3hewcujrLydAuzvLjTMeRr_-is3GHnJG0Dy4812v59aPvUzjiQSAIc_uasFbCu67STA_-TuB03Mu6oscagGoViFRjPGfKL35-2gylLVP49eClbbV4rjjq9yDVqlwZv4DiuqJMJHhceHEiCiUafsCE2GOYli8R6RjmOPI-6ehR8R7G5k7zF4w5OkLsW2iRksBZOtd7KHSUwJ_IfSU9h1Pekk0AITAbeoKWhC2YKi6zYZeLhgIYzrACJ7lLUojLtDZjQKueSRwNLDot59ah-qViUOPYunCEKpeohLHFJ_R_5suJw5mCzzp2970lkb-0fTRxkEhgkE78BjXZ-PRaGcbQxPjdU1RDOD4BzS3AV28ZewHMtV6MovFONrx_ueQzOENadH96yfLNLvyNzi4BN0VmNvG5Khdsn-Kg69ggfL0V48pIdw8aj0dzxiJeTLBB2q8W64NhI2lRm2jw4jXEorYhlxt8gNklREHRJzzeGB7W9eO6TbBp06w054Sk3GUiNxKEKNavD0nPd0RiUPxw1PGtkeNTdAYtRicm4us4GMyS9MmO6B64sBHBqugl6FkwsMfw_fIQKeP9IhBPMwDMzmDMBvBABjFJQ65QaAXt_0tI5G20Ld8tUSCE62iyMhiwSz-hVoCtly_JikLXOWC5KXh9TG2In4SuIj-tIEXSJwEaVpnTVVh-85_xwksaa6KLT8sUBbtAeiUi3LqIuDJUm34BrFDelLK7a5BxT9K4FALA2R2lR2u-IjS-mtD70kOWgxZKoEB1p4FZeTYz7R6HgdXEijPcCOjEv3EWcohI5MUIPbu4Pza_UKbf4DXFIGlMSEFerYVjyD1pn0SOpz09aVnt7os9ye6WdStklDigkG_0ov0e4JSUqo14LvKd2oxXU_mjscCWjQ-QYt_GFJ4PXEbKga0IqzRfyM0XxrVBZsneaDR7JLVMilYuYGB9sozqI4NpmhcqzKB43RyqojLfrUag-EhP8kqbKf70Y4oS2iCG20OnhriI_bPJEOk63DLoK63vhhEr3HiWDDiKfsh4pTY1JhyEBMM5Ib_P6mhq67IC-hL8NWvwnr0qViVZYoox1UmhheEjKee1c8GPrGJwdy0VtLANnDNPm9nVdG_2KoHUkXiD1pb2NaZjXswwWAKvzLSE_fCM3m9xRt3IiWNNSpDYZASoBw72TvTHoetu6zpPTFrnjrh2l_jI3mZpqU6DcueA_2a3wSqVUrsuG-jUeSo5jjt7PdlAa9c3eYZwH0bRhH-rYF-fNtxQlhyrzYdN8MatgvsLG28xABUzC83F8LMKVxw7PS7P-ZOmrRLSqOSXTEXM1L7UgwDIaYFCrJ-ZCVFQ0FntlknelyLKNQ0D8PHLF_Qn141B-SyXqct6qpNtCXex",
  "id": "rs_036936bd1de6d2ab016ab2c6ed596487d0b73960d489f81514",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.16,\"right_z\":0.055},\"note\":\"The bottle is supported near the tabletop, and its cap still extends well beyond the grip. I will bring it another ten centimeters inward before changing to a neck grip.\"}",
  "call_id": "call_NOpyeyIutvxmlsWTfmehhRsz",
  "id": "fc_036936bd1de6d2ab016ab2c6f12c3887d0b5af7aeace48374d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NOpyeyIutvxmlsWTfmehhRsz",
  "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]: [-0.0719, 0.8124, 0.7502, -0.527, -0.1131, -0.0887, 0.6522, 0.7536, 1.3979, 0.3672, 0.3607, 0.4931, 0.3378, 0.4846]\nstate[eef_state]: left_x=0.2919 left_y=0.0026 left_z=0.212 left_yaw=0.059 left_pitch=-0.0237 left_roll=0.0019 left_gripper=0.6522 right_x=0.2947 right_y=0.1668 right_z=0.0528 right_yaw=0.1386 right_pitch=-0.007 right_roll=-0.0029 right_gripper=0.4846\nstate[joint_eff]: [-0.2667, -1.2923, 6.653, 1.9951, -0.1099, -0.0708, -0.0122, 0.1162, -5.2034, 5.4085, 1.707, 0.315, 0.0904, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:777e9140e1c6228a24ac91af590e928ed3c547ea0866357d894104f6b97a2d2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c93475e477707d953afb11597fd2e17ca29a7ad6d629508069ab73a4f3c237ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97d25bbad64f65836cd2fa3089fea049e3ef21b4ae2f0d1324e176e5d68c2c32",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 4.552 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0719, 0.8188, 0.7654, -0.5297, -0.1131, -0.0887, 0.6522, 0.5171, 1.6905, 0.6502, 0.3901, 0.3462, 0.1947, 0.4847]\nstate[eef_state]: left_x=0.2936 left_y=0.0024 left_z=0.2166 left_yaw=0.0589 left_pitch=-0.0177 left_roll=0.0011 left_gripper=0.6522 right_x=0.389 right_y=0.1564 right_z=0.0503 right_yaw=0.0974 right_pitch=-0.0339 right_roll=-0.0335 right_gripper=0.4847\nstate[joint_eff]: [-0.2393, -1.7436, 6.612, 1.8193, -0.1148, -0.0708, -0.0122, 0.4034, -4.9299, 4.5607, 1.326, -0.0317, 0.2515, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssb5I6IR0NKujqAVzNvG5WXqphjdyQUOCT7Vpe9k3Q7Y7eup15wU0QB4DMMMuuEM5qFivfRL1h6xKH7iDQzHo4dv9Z-RMlwnr8x73EnoQ5ua3LG7O_AjuPC7i9DwM06awLb-rGU7Ec9OBZ2Q5oM9IROvhBV8-DFKwSGoLu3J0NW-dEAPLJMF4AvhvzKm6e8iEMIwgsJCPXeGyZX5vntWx9NsXu78iRlC5fDQCuQCXXVdk5Phr-2Agi7dBYVGfuvA_jTBsvQlRe9_stnFHq5ea_TKhAumKkG21WPQmnuLHb8VajIGF7ccPbF-lOpzZSA15i6Vo33P_yIRbczRhEgke7s7PVGK5-3l4F1gLtROCbaWeb8i670UD4AxKCz_PBBmJ08XeqZZ5HBP0jBJ52ukVewYjVvvcWnLSL2R5YldYlEkYj3YEhSiFdA3TLDGeHzRwVPqQwH1ykdjVYXgwXSW4OdRvm51vCJb56n4qjHqsDPzAxvPsdPDMFARU-5YjHqP6numyiYB0KFtFgwWhHSd3yLcoLThDdcnkU2hi_O85az-zMJaue2u4gAmb8Qh5BTuDCQgVPz1hwGFMswtC1i4etb3JjyPpaLzXa5oAYyZXXBABlHSm_HrCn_crqeyuYRo4YxRFYhPMjV0qrXJya5DbyFuQFUirzA6rwHcb-FQSyAcpAirSgTPVcxc-giPGI67CdK3cQunPqhlE10jdzAHF0bag6XAns1tOPPGCiehtfHM5b5Pn-XwKZk8vefsBgx8LXWKlF36ulmSrvKvQfr0ekbfMqOuBtARCeplJ306h9xQA_exlvybTIrpznh3T1YnRKYv7WxMxJOmEC_h4nR6QiAy7c84lRDTTWIkpkHoqfTxLcj8aMk6K6SX9Htvk4LKdb1ztS1qbBIaw6Rs0qvh6ig4Pp0E49SEswnehdqA1sSYcHwruABsi0SkA5CAklfBASXVJu-LUYK-rzKonBISzaHglSmCssSlGLZGDYwnU7MZ4PTuZP0epL33Oj3S7HwthxTGBQU196h54zHPomTx-5sgMNls7U00fAPGfLbEFuCke6SLFgeohd8bxpvukJQN5I3STI8bBf1rytMriCDqBwuJnG4_beLucz51Ri8vPxet7jcYQyAekQTnjyDmEG1XKOnq13N2VQLQkH8loSH-k7SNDyvvL_HDubqHnvuxOuuYjehZvzKpGwf_OYcnT7qO0JZEu8DDV80HHft2RraGj6yuZjsi1_HYesgtGVpGtBejGnnC71kKOjCQn9Y-1HzyTEvug9IsMOvBw3lc2Ikxe-SQhQiQPPcoI-9TI_mvuGlq5kaZO2oR7x5q2Wu9qJtZXx4P5mpldWUAStt3XInb42N1Vr99l1sdrS5ZI9-Sad4AF7o=",
  "id": "rs_036936bd1de6d2ab016ab2c6f6458087d0a4ec12ef0df20069",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The bottle is now closer and resting on the table. I will release the body so I can move the open jaws to its cap.\"}",
  "call_id": "call_XAyep0Fc6y5iXBhVDR2iwbwU",
  "id": "fc_036936bd1de6d2ab016ab2c6f8500487d09aa5a3a04e8f658b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XAyep0Fc6y5iXBhVDR2iwbwU",
  "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]: [-0.0719, 0.8036, 0.73, -0.5194, -0.1131, -0.0887, 0.6522, 0.757, 1.3926, 0.3595, 0.3408, 0.4931, 0.3344, 0.9955]\nstate[eef_state]: left_x=0.2902 left_y=0.0027 left_z=0.2068 left_yaw=0.059 left_pitch=-0.0275 left_roll=0.0024 left_gripper=0.6522 right_x=0.2905 right_y=0.1644 right_z=0.0482 right_yaw=0.1437 right_pitch=-0.0251 right_roll=-0.0185 right_gripper=0.9955\nstate[joint_eff]: [-0.4444, -1.935, 6.5983, 1.9219, -0.0904, -0.0708, -0.0073, -0.253, -3.8085, 5.4222, 1.9414, 0.149, 0.0464, 0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64bbdc2e10f51177782de7444280a77694b49c0e153f4eecf7c692959af798ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70e397f45671f2ed60f045146ef99e9893c22ac8699143e9d9e1b7a7f9e59451",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c222d43bbf0bda8158434235050bc3aff2b2a1d8c2be4230e196a8985417f8d3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 11.7 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 53 changed as sent

message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0719, 0.8124, 0.7502, -0.527, -0.1131, -0.0887, 0.6522, 0.7536, 1.3979, 0.3672, 0.3607, 0.4931, 0.3378, 0.4846]\nstate[eef_state]: left_x=0.2919 left_y=0.0026 left_z=0.212 left_yaw=0.059 left_pitch=-0.0237 left_roll=0.0019 left_gripper=0.6522 right_x=0.2947 right_y=0.1668 right_z=0.0528 right_yaw=0.1386 right_pitch=-0.007 right_roll=-0.0029 right_gripper=0.4846\nstate[joint_eff]: [-0.2667, -1.2923, 6.653, 1.9951, -0.1099, -0.0708, -0.0122, 0.1162, -5.2034, 5.4085, 1.707, 0.315, 0.0904, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.11,\"right_z\":0.15},\"note\":\"The released bottle lies diagonally, with its cap farther forward and to the right of its base. I will approach above that cap with the jaws fully open.\"}",
  "call_id": "call_Z3q7KIGe03c5lGcq54xgg7bo",
  "id": "fc_036936bd1de6d2ab016ab2c6fd20ac87d0bc8bb90d0ba61a89",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Z3q7KIGe03c5lGcq54xgg7bo",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0719, 0.7906, 0.7109, -0.5041, -0.1131, -0.0891, 0.6522, 0.2653, 1.6321, 0.9813, 0.0433, 0.0921, 0.0311, 0.9955]\nstate[eef_state]: left_x=0.2893 left_y=0.0027 left_z=0.2047 left_yaw=0.0591 left_pitch=-0.0184 left_roll=0.0009 left_gripper=0.6522 right_x=0.4565 right_y=0.1109 right_z=0.1346 right_yaw=0.1456 right_pitch=-0.0326 right_roll=-0.0129 right_gripper=0.9955\nstate[joint_eff]: [-0.1846, -1.7573, 6.1744, 1.873, -0.0904, -0.0757, -0.0122, -0.8137, -7.0222, 9.347, 1.746, 0.0073, 0.0904, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55149b3f6143de81b517c62138e72103905d2fc235f29af3b1e2b6061feea2cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7c496ebc0b888b39431c93afeafef58e6dd4db0c2db2e6a8a4a276ac47cf861",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54adc437bedf3105811c58e6efdc8e06bd9882fea28d11fcc8767113a7e0e5e7",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 16.28 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 57 changed as sent

message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0719, 0.8036, 0.73, -0.5194, -0.1131, -0.0887, 0.6522, 0.757, 1.3926, 0.3595, 0.3408, 0.4931, 0.3344, 0.9955]\nstate[eef_state]: left_x=0.2902 left_y=0.0027 left_z=0.2068 left_yaw=0.059 left_pitch=-0.0275 left_roll=0.0024 left_gripper=0.6522 right_x=0.2905 right_y=0.1644 right_z=0.0482 right_yaw=0.1437 right_pitch=-0.0251 right_roll=-0.0185 right_gripper=0.9955\nstate[joint_eff]: [-0.4444, -1.935, 6.5983, 1.9219, -0.0904, -0.0708, -0.0073, -0.253, -3.8085, 5.4222, 1.9414, 0.149, 0.0464, 0.1197]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsscLY_IcFx5p_IxBic8GLE4F6DNAL4znv1co6EwWLplLwnaVsJzhLnzJ7yA80zEr6u2FxcQ_u6-gMRjxc9FmtMRxyyLaXzQYrgFTW_lAAPwTaLg4rCWwJygKiYMHBPU6MTRIl51GtfWM3W75qm4tJJa2O4eRQLGpt0j56us_PlYog-uAhtSWpV-e3Q48n-kjyZKgGqlNgIV0WPlnBCOwMJMGWnGPzzYOwZAnTTKwe5ANh0SDoArGe7picx1MBCnmoTxmGEorZ1gK-XsXLfX9F96bUcNLi0NKHh37K67vkZcQLI_7Vs4c0J_C9SHpedDT-NuhPIIqUwajL1vsx0x-61ol47BYk2ABnB5USU5dBK-XiAnGpck3nZxokmSFmd5EPlEpuJNTh2EmtbzoYdLSHw9u-wT1Y0I_HTruiJvaTNjaRI2O54_gxDosmJRWTP0KO1hzCkjbUlCQAIQg1qVu9TzgES2qpayHGLnIiVda4dAFcTiKSUop7SOkJwll-bplcQimmoAklIKzYN00kn070riURo7G1eJHVZCTv-Yjg0A4ainl46wp-rsGNna7Vu97iNh1gZoij45lmes1bNw1N9mvQcWOHNT4opx3CsKbi7fn4o7wPrxW3TyErcPsA-KqvwPXX160cOm8ETdNugI9HSdQgaW7H-hzfFpp1SXCxXNev4hzSIRWc3TL583K7UlRbURQc72JrhcqngXEIWP82xjX4SWjQHU-_Mv6AV-usu9QQZkXaVXFTuiWgF9eQ-x0NVOvhpwrrDDvCqjdUGbiXaycS8GPkCCEnqaYJL8XbcTm3MwH7uQVCDswsgJvKQX_MMjv3ibXxRCFmJUE5oWKYRiV5IpwANp4GmDZL3o_H0A4Q0bf3lHmLlrF_FmMUOVgUrmNjlslRMYYLeb2_W2plMP59pm-JStA8TF_Fs2RW4nfo-byTj53lwp8AqPtLHTw5-7RGFgBLZyR1LUlptKy7lnIgSAWDEtqYPyqs4fLtFy62A8jb-yrSYYXJ4WazuG9Ux8HBuoufOAET__sQF52ywYnpCvEo-b8ss-yH_EcbWmLqT4_Ls5h8qIgakziYWcGKC9-sQAmt1XHMWWyidNl4aVKOef_uu605vxjam_7aZdBmFPYET7RkxO0KIX0OPN9Ujappj6beJA2HPkREkjijcqccgMmrx-2AptI99sicQFIYk4Nlp6xz11aAnVFjeM5Oih0Hy_epg7WznbvyY6w4wat4LyvaiWKi_3iU3ZpJmQMc1wUTU5OgxbtIJziDZd1wWzH-gFECv1MhKNA0tIW3jJOYC9hXV3KoGjg8YF9e9tAvuLP_CCXaEyXiImyXIXp_bFlgY2wAij46UKruqMoknN2ANVwlfN9TDLxZfaf1WAQ1xpqN_-9LuBJDU5tthYEEz1pEstIRW7LIURuNP6Bas5qi2cZ8JraKP7_KSwcuwa9oIIuVsekwTMMOsT1I6etKqOp-0wM-5LAhmdE5dcEXAVEzWzW0Jak9eUopbbuwMLjX3g_u-4jMkcRlFhfduprdLUJ3hvKOsQIrgOdauwCIvpopuOWQixvFgPytST1EojZKdxHEAxg9dW7QhC7E7_PhrSNais_DfLGchrJ9lgCAMBPGNGF_z3YsoF5AshmdawPvrmNKnwt1UJIgxfdEvnX3qqhRAyIhEpob9X2eOKsQ2Wm5ocEJnqrxPAnyAdGZzEHkjyhAZXmoQO2-b4PshuTh7YfBx2sxeZNEEskU9-ghmpOGxd_FNaQeot9aytnBTQrK6387BnhKzsKGyqymKGAXgHNqpog__a4gHMsiPpsvMNjz1N5jF4C-rN5fEQ7nDv8GBGpWXl1JZFgkAsdxblLRUsg",
  "id": "rs_036936bd1de6d2ab016ab2c7037c8087d080594a11764ca722",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.505,\"right_y\":0.13,\"right_z\":0.03},\"note\":\"The cap is near the wrist camera’s jaw column. I will lower around it with a small forward and left correction, keeping the jaws fully open until they straddle the neck.\"}",
  "call_id": "call_Tn2QNi9JiN8alzvVHTMKR8oE",
  "id": "fc_036936bd1de6d2ab016ab2c709aa2087d0b2d501fbd5ee6d9d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Tn2QNi9JiN8alzvVHTMKR8oE",
  "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]: [-0.0719, 0.7845, 0.6983, -0.5011, -0.1131, -0.0887, 0.6522, 0.2871, 1.9999, 0.9733, 0.421, 0.07, 0.0364, 0.9955]\nstate[eef_state]: left_x=0.288 left_y=0.0028 left_z=0.2013 left_yaw=0.059 left_pitch=-0.0218 left_roll=0.0017 left_gripper=0.6522 right_x=0.4922 right_y=0.1362 right_z=0.0335 right_yaw=0.183 right_pitch=-0.0322 right_roll=0.0042 right_gripper=0.9955\nstate[joint_eff]: [-0.2667, -1.6615, 6.4479, 1.9609, -0.105, -0.0464, -0.0122, -0.6085, -8.1983, 6.7761, 1.6435, 0.2466, 0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:498c9481fe0f8577392d60f3d6db2c8f38749b91e394960a7c0601a989d18844",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8aec70f2a0fa8382f3613d395376a78213cf3c0ca51d90af09c7c5a07424c3ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4619966cee7e8edffaa01c3ed55f165c5ae8b64fef817e83c3ccaf11e167fcc2",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 17 attempt 0 · /responses · status 200 · 16.23 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 60 changed as sent

message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0719, 0.7906, 0.7109, -0.5041, -0.1131, -0.0891, 0.6522, 0.2653, 1.6321, 0.9813, 0.0433, 0.0921, 0.0311, 0.9955]\nstate[eef_state]: left_x=0.2893 left_y=0.0027 left_z=0.2047 left_yaw=0.0591 left_pitch=-0.0184 left_roll=0.0009 left_gripper=0.6522 right_x=0.4565 right_y=0.1109 right_z=0.1346 right_yaw=0.1456 right_pitch=-0.0326 right_roll=-0.0129 right_gripper=0.9955\nstate[joint_eff]: [-0.1846, -1.7573, 6.1744, 1.873, -0.0904, -0.0757, -0.0122, -0.8137, -7.0222, 9.347, 1.746, 0.0073, 0.0904, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssccH3VjnneXGs2reOZphpDbKwW3078ULvP4_TWniRdHQPCZ54XGHOXmaiL_z1YclTHiyqdOFvlrLSGDC1u7pVoDCcg-UbU78JaZya3XSghDpmFPI33t5j_X_EkMSuARqO8W5GTcNYs2xBGbMp35HBNLLMttGXJ46l8S8SRo5CWKRSRkVRZ1PK9x7qR1qQ5iyWYa6OAMoV-dpfWrB76aH2To3hzLN_xwYJDXEMjbAoyWjg4IzS_lO7EfF1olB7Q4ygOYS84KSbeXhv-lteDSjoNNgE_ZDS0hn4ozbirWPnfa5GLROjxP_XIMEm-yB_p0rCicbbZUm2GAvf6o33M99iXq39JxCZAnDi_iL92HyINRNJqKbGQdWowuJ3HR99zKBJGM8dals0ZS1Cy0c1f_wfYK2f8bIFfDijYuCT1sgj93SWiPMKYvZzFqe0bWiM5g0a2kc_0XKj3xUFqCJkQhThzs6sqA_6WVEGd1C-vqnE1quYB0XcPIdpdVVXcoukvfpbxWdJz8qCwFiAk1EgZYq5DMczL4zbjq6fRlnLGXfkmrmoW1tcdU0_jPqlpkPdRR2h5PWlBCPGXL834qKGAhvaQW5yxuQrGB_Q4nZME9Vs1t7HpeNb9ckVLuqXre4hg-4BceAOUP-aqJ7MK6EZVKe9J4hYfrFnuWPv6KzTxtXkLwY0LmoTeW2azAKPeOCDVMTJJ9r7OL6vXEoesWpSZJ8E4y73ixP5Jx9NtvWyogzpLuiTjo7MD47E40L70fPt4u3Bvu9VBCLY5nPsrO-r1FdMwMticCySUsuhWSjf7vVaBDiQTnNhj4LeRpnBimxFBbzFz26v2j_n_UaCPvcnRtG0JEPvEJKOf052ULcYFlRHJ0VeAbmmue_hGLMJOcKK4w8y9IOgACMi0Nkm0pUEu9dgr9398WfrfdjGtdgQeDl4sAaGbvH6ZLprdaGPRhbDEvQAEb1cK6xaTHMtg-bfA3ESt_3kKPbdbe4zsPKWVg2Wltxg0ANtPZYC9IAHUM_0QEpo1Y4Qa2P-wK5oYjuX4giJk68gGVuab-f8b9Tk4iHmq0UOlguuA-QD6d13opyh5ZXd1UlN7suSoeTwiYkxNIHwT3jolrJjEq-PWLmzfVhZ_KA4b4RLZkuBPMHVyQRk3wrZ4DEr9yLEkzUmLX-O_cdtTfQNnzETsYFXlcXF3CskBTwkndLI2WbpkaClrq0UgcQK7bfz7-_p8xYNA8QNjvHW2yhCOx7OXKx9TKSiSNqt-oEhX3FCY2Fue3Hjf42-E-oPZ_NVg1so7bn0KQTDBwZBcWXiw3MiJ5M6z2e81pSKkn2Mx0KrRSEiiBd_4mFQjK4VAj7fzdCv9w-MCN1hMGUZwEnGQpN78p-47yXUm_tvAyX883efks6Nn-53v19QX7KadvnMvZVWLBCxtzdyX1uhNLlecoXGx0smyrt6McXC-ZHfVZyN02yZnREX5kQGMk2A65h_IfcByHa1lBdagFwxIPLSP3G3Bov78MZ4XrjOV0KF5rRo-pRL1CzTicq1iV_4KanhR9gm4afkusUDHMUfiTXWVqmDfu2umj_j56qD0EryJ6faov16OYxCC6oFQSAS5AF-_uwGv0qOeFytu1KgujedcXAqXXGRM3Mvv19ZAOv4xYegEYkli0mmhXGHtfqPFeAh_0nYmrsG2Si85--R0hO5QTmThkad0ycB35R8GvSG-g6xnzgVbtfMnnhvU53u5rhCBvFQV0p84YoaTqeRUQbytkShITChOjzAnMe90I5iC2XrCcbPN0L9XM5Zt55B-xhrda_CUQNlGuv1FtWwNDImLwm2Rj_B9PPtUEO-l-hgxwcGo85j9e7Hn5_7e8gtU5pSBBfbhEkJrWU3FQ5iYHOOw_2pvqrG2DylzM_BTIRFI19UbGz1AHTDCZPq04gWWY0qmRyrZsN7LfgdBolLpfnBD5S-egFqCxSrHocpXz8syVnpD9aeK6lxGblsqLnB5KLCwj1QNXYnFmsqjxJjLLA--6VtuTcb02xO6MdKiwRVgGnc_kH46e-xp_SxTDV-Q4DUDHMaHtm6ZelN2QXa-7pBHIH39gsff4pwmVceeHMw_nb4XrlTbPfUG4glOTjmknMx3fpZFh6o61GaCEQi9tZOp2II28HiVAB_-jlqcpJLyw-Z5It_YSWb0lz8-_16YElkoDMB8DG7llnjAFfv41WzY4S3ImnqytMjtlS7L962GtdcHfjLClqqyQ6qsqtmuIn1ctTyuNJRqFDPwKclzBDf6wIMuTSCVanLbM6397KbR1i1B2wKk-lqBG460myEoO3coAQd6uvwxyARZ_q0J5kBWCQrO2xklp3OhsdjMssEXyvTMsSPq-f5YEkeIVYmvWguZ69l3VVof2H1bT0cXNsg==",
  "id": "rs_036936bd1de6d2ab016ab2c7100d7887d0a6dda03733cea2e0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.555,\"right_y\":0.14,\"right_z\":0.045},\"note\":\"The cap is still just ahead of the open fingertips. I will advance five centimeters at cap height to bring it between the jaws.\"}",
  "call_id": "call_6mHajZfkkNCgQ1YfRffQKyc5",
  "id": "fc_036936bd1de6d2ab016ab2c71b359487d0b131bee66e20e06b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6mHajZfkkNCgQ1YfRffQKyc5",
  "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]: [-0.0715, 0.7734, 0.6811, -0.4873, -0.1131, -0.0887, 0.6522, 0.268, 2.1319, 1.2079, 0.3401, 0.0433, 0.0017, 0.9955]\nstate[eef_state]: left_x=0.2872 left_y=0.003 left_z=0.1992 left_yaw=0.0593 left_pitch=-0.0143 left_roll=0.0007 left_gripper=0.6522 right_x=0.5429 right_y=0.1449 right_z=0.0404 right_yaw=0.2052 right_pitch=-0.0113 right_roll=-0.0078 right_gripper=0.9955\nstate[joint_eff]: [-0.1436, -1.4701, 6.735, 1.8388, -0.1245, -0.0513, -0.0122, -1.1145, -10.3316, 7.9932, 1.9512, 0.0464, 0.1783, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c1be2b703d14cacd5758facad73710b5d789354e3e9455960e0fd40993657cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:224d6dc563ddc4c1fd8209822d9fd3d8fda9ebd70038b01ea7b1d898831ee9a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f85855d9b44216002afd5de902edcca99cbbb3febbcee9254a57239db7f6931e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 5.195 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0719, 0.7845, 0.6983, -0.5011, -0.1131, -0.0887, 0.6522, 0.2871, 1.9999, 0.9733, 0.421, 0.07, 0.0364, 0.9955]\nstate[eef_state]: left_x=0.288 left_y=0.0028 left_z=0.2013 left_yaw=0.059 left_pitch=-0.0218 left_roll=0.0017 left_gripper=0.6522 right_x=0.4922 right_y=0.1362 right_z=0.0335 right_yaw=0.183 right_pitch=-0.0322 right_roll=0.0042 right_gripper=0.9955\nstate[joint_eff]: [-0.2667, -1.6615, 6.4479, 1.9609, -0.105, -0.0464, -0.0122, -0.6085, -8.1983, 6.7761, 1.6435, 0.2466, 0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssct0YJxYRxAkllGLw-P3iD7M0C185vwcTTbvkHWO1LMVko2riKP2F9Gfi9Sa--4N2Omfb5PoiDia3Njc52T_HWjDg4_ztP3R0ywKMfMlcJiKGYFcnwnu-ZCL1Ii-hKU_GTERhJR0_TsfOZ8RXQFI1dmAndF0vRg_09xyP8Wl2nFSRa5UQdJGMJoVGnO-zWOxtQf4HYZd80qqvl0HkOleXG2FrdRDM13RKz_s8onYBAXo-yRtyVrwLYIs01fw4JyWmbheP0Q0_8HbgEkNngjaQ9mc8YY7AjpjIWKzRjdjEf0E5whXViu1E6LxxZ6vinOikrwvtIj5j1qt58u47BZ8yiP4k4lNBj0zutKooqqmNYyeTAbyXZ_LhsquC1V2jFymcPMxfapwUYgMdRqx2osV-sCQcJiaRDsTW8GIO0N3F7UfYLLJ5qSFD-O0lTumOEqz4aZSfWne7rDVa0IrHj_JmA7tWCtq75Fp1LYoiWHuxi0-_EMGg3AalkUnVbrkcsgmScUxYLFxoDk4ye0uqIb_zBK4FH75EoENGH6a97YA3aNrdn4M6O_nSxbXwY422Z7eqkrW3EkOVAZFZcqXResx-mj94uIcYpOtCu3REk6QeoIr_WqQG0vk9AuHstL-NkpRzTZKGjyjylpSEu5F40C-5PGpNOFGNIxAyRdW5rDkmQCg0TJ_21FD93lLsPaA3_T7yiE8lLvfG1ssPKjmyvnOvLnuuj3CCVn0tTi7QheFnKF52XnopPZv9CoL1jueBURfZwnhSuG5h16msUSdtdhbshSZnXeoJMka6TeFJ1Gr85jKFa-kN9HkfsYrbxkdpRu2BPWZqz0YzP5brkjxIchimJQXTh9OGgdfTz6pon20GAeyQc0r2pXJ1rq6pZ5YMI5DfhPXVskXITEM6cMubS4eII5Ow7qc3Ss-pNPPZtWqccrOYOwHjrvZvbQIzIf8ypRcIMUsFjihO_V2HzOBYrUUBaSE1_GgpcZNjwwatylEr2N0j514ZKfscwkrVmmbhEFfaosy3GsSbInI4DJWpTmfnY-NQadIGqbvDh6ba5O_AWfZm7Cc050_8KQ-6CDIbiKVeU6ngCy7Fcj6spWXozeSkB4gGWCwnXTuv2pYfecdWFcRMEFCnJzySdrGu01Ay4i0hbq1_CTo55FAdmseyyb3Kr1xWOxXWkFJ7ZBEqvwLf0JBZvl9kYSe96wbZlyAKjZB_RMonFFgvBQySyRUBbB03fG_eWAVhITsbCJYymbkNRvhQSr7ce-kFF1V6Npe3pVt4iL",
  "id": "rs_036936bd1de6d2ab016ab2c72b154487d09ec00137ae496e26",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.22},\"note\":\"The cap has reached the fingertip area. I will close gently around the neck, leaving less squeeze than the earlier body grip so the bottle can pivot downward when lifted.\"}",
  "call_id": "call_UDkZxklOL66qhXynqF8ZHlHS",
  "id": "fc_036936bd1de6d2ab016ab2c72bffe487d0af23bea96bb0469f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UDkZxklOL66qhXynqF8ZHlHS",
  "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]: [-0.0719, 0.7719, 0.6666, -0.4828, -0.1131, -0.0887, 0.6522, 0.2653, 2.1368, 1.2385, 0.3191, 0.0231, -0.0017, 0.2253]\nstate[eef_state]: left_x=0.2862 left_y=0.003 left_z=0.194 left_yaw=0.059 left_pitch=-0.0226 left_roll=0.0018 left_gripper=0.6522 right_x=0.548 right_y=0.1484 right_z=0.0457 right_yaw=0.2214 right_pitch=-0.0073 right_roll=0.0007 right_gripper=0.2253\nstate[joint_eff]: [-0.253, -1.7983, 7.0359, 1.8486, -0.105, -0.0317, -0.0122, -0.8274, -10.2769, 7.5692, 1.7998, 0.2369, 0.1587, 0.2369]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b079c1f53647427d552cda854f62a4864ab46f6fb5c01ef9826e0d0c819cfff6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c7eab610662f6d3d706954a64c7250dd0d2e6e952463c98a14113185efd8dfa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d23fac3bfd55375a8d3bacb45461b442c083a8c431bbf9d6cc9920de9a70f68",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 13.68 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 68 changed as sent

message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0715, 0.7734, 0.6811, -0.4873, -0.1131, -0.0887, 0.6522, 0.268, 2.1319, 1.2079, 0.3401, 0.0433, 0.0017, 0.9955]\nstate[eef_state]: left_x=0.2872 left_y=0.003 left_z=0.1992 left_yaw=0.0593 left_pitch=-0.0143 left_roll=0.0007 left_gripper=0.6522 right_x=0.5429 right_y=0.1449 right_z=0.0404 right_yaw=0.2052 right_pitch=-0.0113 right_roll=-0.0078 right_gripper=0.9955\nstate[joint_eff]: [-0.1436, -1.4701, 6.735, 1.8388, -0.1245, -0.0513, -0.0122, -1.1145, -10.3316, 7.9932, 1.9512, 0.0464, 0.1783, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssczPHV9aWROSFiTioRQq-tO5_m_st5GetBvIdVM2wZLk2duzM2v5aEwz7Q1cph3gtIdBgnsr31K7iPWGeUG2wECq1t-6styNa8bTRed7cWhSTg-2ynCYvO40JR6WUe4SKoOTu1DyZM4UDS4suI0YjE0lACqY0ZH585qUPMuMEjaKvEyG8YQkZ6ZD_oQ-9ArPH7fhWdbhEBREMaTxFasrpbL5J-5wB0jXEfPFHMWhntU2nw6rlq_ZllWYhGeTCA7W0QNj000fd0zgfja1PcyHlLLA2Tzf10qkArf5FwhEAR5CvaocYCtMamQ1bh5GwV0wimfNvOEGgFMkJWanuwnxgCgZN_AUbkUPv25lZVlpYCVzJGsELJktELfm00uSYwr5Rk0RXc5ZUqCZcHNp415QvWOPY4uE2Dul6xEaZNMSR_JAYF10cq5-iFnH2JB6Ss_OWgbBeJgasjIxAiNCHe4pgM7zCWy9XB8C_0wJ20I3J3hcPjoPpTXYGXgnxDjLXtQZoabfBgL1iipDkVoSflcKv7CrLIdjpQXqwqoD9LNhzuCWG17lQS8Z-MQsxZyrr9hF2-9RlL7vIdojEOwiUr5BlTtcnCsfQOKW3pxr2Ug9Z4qqJaKSu8j0bMCtSmxzw3fHWTFlr0x6P4KNd-GpxIjTaHiiRlX-IFwnDYwBniTHXHxTqvdjTWf8sO4jp90rpFIFRxnq5k6EGmfY2hgKi6oZq_cStoFe7kruBwR2QxjTyor-4P_x-rL0HQLFVHBlC83hDBCxLlN3Scep8QyKj7zkoB_tyfTQCT52_UgKq-cK4dfiaKHlGanaHK_TB6LJRL2txEP9frOgVK3RHKL8zc1xIg4Vkp2XqS8qzbTgCnP7Qfz6g0_MtKbkWsyPH5Cqy4Lh536m5k812wRKrXtxovHhjwCDcYbbN-fUBAJJ7d-ezPv9T-dZnExnOTBZp7ytJJHmlJQew3xSepzmygpNeJQ0GO3sxBAdspqgGvGcVGnuiKuixiqTvnbgwvcTOvDktkYxBBcUBfOP_pT-owIGs4ijRbvvGmP8zu4UTVafqwABntAldkBtydFL5uHg3iRnX8adpghCK4hzy54kIgTjtCBgsHB3VzVRKGmy_o-9Hkp2WixFAGJYInT0SpTXZL0NsTE1N7gWLs0Bzhuap4fTIovEvMQCfbQkkVBHy1C4H1cR52Gx9p-39bk9BNtozYsOymDovzX",
  "id": "rs_036936bd1de6d2ab016ab2c731712887d0aeed33fc1d655ee6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.14,\"right_z\":0.27},\"note\":\"The jaws are closed around the cap area. I will raise the bottle’s top while moving slightly inward, allowing its heavier base to hang below the grip.\"}",
  "call_id": "call_TsneqZFnBgZoO2L3S7Y27VLH",
  "id": "fc_036936bd1de6d2ab016ab2c731d44887d0b2acb83d8f542b79",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TsneqZFnBgZoO2L3S7Y27VLH",
  "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]: [-0.0719, 0.7609, 0.6476, -0.4751, -0.1131, -0.0887, 0.6522, 0.2966, 1.6962, 1.4719, -0.4137, 0.0246, -0.0097, 0.224]\nstate[eef_state]: left_x=0.2844 left_y=0.0031 left_z=0.1898 left_yaw=0.059 left_pitch=-0.023 left_roll=0.0018 left_gripper=0.6522 right_x=0.4817 right_y=0.1464 right_z=0.2312 right_yaw=0.2556 right_pitch=-0.0659 right_roll=-0.0093 right_gripper=0.224\nstate[joint_eff]: [-0.2803, -1.3607, 6.8171, 1.956, -0.1148, -0.0513, -0.0122, -0.1709, -11.8359, 10.3726, 1.9658, 0.2027, 0.1685, -0.149]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:514e05170b0e1ba57fc6839b026c4726216bec70d26d76610e82fe45100e65c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:633b5877731763cc5a5d62eec68c6a6a60f6d612cb22bfdb40602329aedf5adc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86344a4dd93e792fcf88fe74c9045d73411f189ebd12a797f8f2f9d92bf460b4",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /responses · status 200 · 9.163 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 72 changed as sent

message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0719, 0.7719, 0.6666, -0.4828, -0.1131, -0.0887, 0.6522, 0.2653, 2.1368, 1.2385, 0.3191, 0.0231, -0.0017, 0.2253]\nstate[eef_state]: left_x=0.2862 left_y=0.003 left_z=0.194 left_yaw=0.059 left_pitch=-0.0226 left_roll=0.0018 left_gripper=0.6522 right_x=0.548 right_y=0.1484 right_z=0.0457 right_yaw=0.2214 right_pitch=-0.0073 right_roll=0.0007 right_gripper=0.2253\nstate[joint_eff]: [-0.253, -1.7983, 7.0359, 1.8486, -0.105, -0.0317, -0.0122, -0.8274, -10.2769, 7.5692, 1.7998, 0.2369, 0.1587, 0.2369]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssdCQHIrEGCbOIuh1_8V0noI9OwdmAtBOCKLF2xHV1VogICaGEBch8DgttpEN1UruOicQddn276eUNF2Bg4-FiuYLbT_9ReuOPC8umh5DkL0okapPJ3OTz8_9__SxJYgdrOJcc8ODd9aGofiHRWxQ_uFdaVQG1zvE3kRsZXLT0R-jIU6z8WCAdPyjbk8yAamxjxrxHAojmDY4U_d0LM2GFO59L8O00qkKGOIiRw1o7vNyxbV0RhSxF3oH4UvMCvLXmBNdc-8HxZvYJqsMJ3xAW4qGLDiJ1Qt7kpD7FL4Szq6rSSqoJXdZWp0h_ihru-xaIqAT40gXsQJKcOGx4PJq8eLzro0SmIH0lW8bli0hnaDrGJwrov2cmY8uhBHyr3mEjGnKMYZDhXbOxxp3kHPVkQ6W-LPdC6Llgk9oJzqg2eoQZbOBWnY9riHKolenFLfg3KNIYSFoiDUMjAj8BtphLRGEGz8pFopIrumMBUyT5NcstZLzne1twTaKNrgOH6DNNFe2FtyCdu-gy59W2p4LsA68Ask1zHWayTluNaZNK0u-EwjQfVrwgLAw-TQKRxRxhRiYjnvQK-SOswNo2SAdZqo9euqbY4rB1RMhYCuzPNPF7_3C56zNZJVMDahZYVp_2Ji4Zo3uzIOE2OdYxCDihj-axzdR8OXY_R8t8aJOQ6F1fUYkOqK_hftKF7ueU9UNCGOg8LdK8o-aELuc2tMu5EPNBbQEEllpyURXif7fy0cDxf4RO5wPJZcyIjYlnkL_857xT0XdfgA0Qih4k3ETbu9gttgk9nvS6Y_fb4HNuGzJdI9Ry0DYg5q253sZ_CwmGVgsrIX8vduRqzNpkr_GKsXq-oYRm8kfMOkfnvGba-w4d34qBTbm1rMDeSWEn3adB6QAA4gflaUDRDQoXXXEEomtYqlOm9SnSF4WT_HK1NxJzeFj6RK5QWK0Z1Jjj5PrrvPsGboiuYSuAjoHUpSZ9M86-GzZK3jaESy7u-9F_sfwhdSmGFqblJK-BlvgsluJDlKKdopwOaCXpRIIJeLxi8JcXnJfO03OvIfUQ6i2PGIXmIaAf9ByqfVQDFIrvjJ5-EmWky_x8FijjSz5f7TE2bxGk_vFvcfVtAzArCXkO9lPwSaccWRji2ODWE9itvhdPXGJ6qh_PbyM8n_DiXWWi23fgt00fy0pAaJyl6PHpEJEZueCbM36XCUmOU9McRiqWiZIaF7Z7vCpik96JKzhuiYNDbWE7VkEQHV19JvlAzSG8a2S7-6E63HPlzDztWDekZu8uJ4Y_xUKb0lqbL1IrwHU9RrkDTgK-jIPWh6e_htxPLnxyXkuDmEvqRziOtRMZuxOpIki5dkcosOoXF2x38mEexkE-XZh2CutJhv3RJOhAtB_YL9rWvxXANDUOTNqa4wZRTghblJH7AAp-MXodTrioFJLPJqc52CzRynLHBkjzN5dRhLxdVnrejRRCoPmNWarIV_VwFMCq7Bb4uiUYEh6GSidFJj5eLoQq1eLksKwgPVrjcTafEyr9HGb2aP-WBtfRU8Qf_vh1XwjFysw4-amef3LHu6W1iuqKn-vJ9LR_J3KO13-X0dPlqBQ66DAZPV_Yq79CwoWaHapkmJ_R1bWTDlonlZAAFQrOzSfLCEdj-u9QAvBKd-KRj5z5j-5iFjGbSjH5RwBcDqxqI-WXHcsAC-JrUSXGPXA3wOI5RWIE2oeeFqPoZpi66-gdcTEirds70TQzx_yftgwSGtkfbsvIKln7KVDWufLzxDNVhVFY2nBCxQYKScvKW0j4BW92P6O91GGXLPwrWYjhYrv7i-7kR3jWXIFa9iLytmpI0wzQSdFM36xF71KTBqFyzQLFY_cMp_pVNTlv7DAA-BGvsDNcpjSkKC2wh9PH1yjHJY6uy-AoRxTB70fOTuJAYX6CCm_Z5fn3gRgd8alEPhmr60Zg==",
  "id": "rs_036936bd1de6d2ab016ab2c73ad9f487d0ad01ef2921c5bc0c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.56,\"right_y\":0.175,\"right_z\":0.07,\"right_gripper\":0.6},\"note\":\"The bottle stayed on the table, so that close missed the neck. I will reopen and correct toward the cap before a lower, firmer grasp.\"}",
  "call_id": "call_Vi6hbQSllnLQR9KtyvXlcOSW",
  "id": "fc_036936bd1de6d2ab016ab2c740883087d08d2ee10a58957335",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Vi6hbQSllnLQR9KtyvXlcOSW",
  "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]: [-0.0719, 0.7513, 0.6296, -0.4606, -0.1131, -0.0887, 0.6522, 0.3019, 2.117, 1.3205, 0.128, 0.0216, -0.0128, 0.5986]\nstate[eef_state]: left_x=0.2838 left_y=0.0031 left_z=0.1871 left_yaw=0.0589 left_pitch=-0.0169 left_roll=0.001 left_gripper=0.6522 right_x=0.5395 right_y=0.1678 right_z=0.0516 right_yaw=0.2651 right_pitch=-0.0964 right_roll=-0.0111 right_gripper=0.5986\nstate[joint_eff]: [-0.2803, -1.5111, 6.5436, 1.8388, -0.1099, -0.0659, -0.0122, -0.1026, -11.1795, 9.2923, 1.9951, 0.0513, 0.1294, 0.0269]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29ef24fe7c63a23a21bf5aa49a9e3b8bb3ba9c967f3cca137671638e34be2990",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dc6b5d1c4eb8480d4d79780430ee2bf6c912d5f0f65e49658d457bdd624b522",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d6b4091aef6d0db81e50a24049159db25d8f6e40594163f18eea310cf7698c4",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 10.39 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0719, 0.7609, 0.6476, -0.4751, -0.1131, -0.0887, 0.6522, 0.2966, 1.6962, 1.4719, -0.4137, 0.0246, -0.0097, 0.224]\nstate[eef_state]: left_x=0.2844 left_y=0.0031 left_z=0.1898 left_yaw=0.059 left_pitch=-0.023 left_roll=0.0018 left_gripper=0.6522 right_x=0.4817 right_y=0.1464 right_z=0.2312 right_yaw=0.2556 right_pitch=-0.0659 right_roll=-0.0093 right_gripper=0.224\nstate[joint_eff]: [-0.2803, -1.3607, 6.8171, 1.956, -0.1148, -0.0513, -0.0122, -0.1709, -11.8359, 10.3726, 1.9658, 0.2027, 0.1685, -0.149]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssdMZpkjaDX1mB9mXwDfOCjIu41i6l_JKAC87EVDto8uMrXNd71duWjfhranSh-DMD5js305EBJMrtwNGPRH1yzhlUcKj-b6qmbIj65yypaahTH2k66vbDRs_-necBZSPVEe4AWjuqOBbvrvMgSwN9n9A8h0qO_20ry2GCUkE39BY3TSJ93BL7wtPxUGIsuSTW9G1uSUZWNPGfiuz_X6UcXAdWuUL3lWAKndAv-z8xNCfmRb2MH913eM_k7gzM_BVAJPFfph9LVEchudoYueJQDHmKVr8N6wS2DfYsz91r-KhVUwSK3thm1RNnGIILGtK8q1PFVFcqr-QcMFpGZrJaCjaFZhca7zzPUIjQHtvaQVhtZu7pt5l7yU4aM7kMrJmt7QHtDUC1lvpoLZa1X9Nx1vgMQL-Wd9QI8pMSb3GvvAY7L3NW9qX66ypuzbMqjxgD1wfAfE1iYnhyT9Tu0LcsY_0froRwdZXrzP1Qf3T3xvMYCh1HF4tA8wyIfVb1gTjhCVNfSdgjkDpDvIVH0Z9N5GUSQVu8NkpzsuRQOKRZb56u4xqohNzYqYp6bRwcOHy24YfFzteBYgakCiD1bx0DLgUPvTQcxrxVPE0Ve85d_FEHtRRKrbMrpZ1u5XKVVgmHJk7Z5QNFRkQ3gm7XqEI7PiIKXWbwSYxPQbUNffFS7IOeQanDkK5NG9qFPlk3omQzgvaHuDRwBLk5XEaS4DuCI1GxVrydYO6Vbqw3Tgb72zqF2U4VZHmVjhbL2Fij3N4HeBWRuLzdJ9DOPrFlcaNG5NYUCqR8pSBwk43pvrbBBZNylexUcaFCGnXquZBOqgfsy4wzdtdYSQERN4nMNQPL42tSuotbiEqJX4pXf5v9HKXRQ-ry63nCa0hev9AJSjThXgsxJTz1PQYsy1xOO8AxM-rGDdUKvudJTiDMBCL3vi5SQNC-dS0BbcrdGeSquT5RzcshZhM5hh-IOmlpnNid79feHRwbwzUqhHZsnh8pbsxYgrSK0g7r5g29p9WBIy8CDl26sHsdPriOjoxCJem1YFCyfOMkiuf-07RP2orvFPDWDmpNaq53FkqEbH5TGU-36jE5kUUH8kDPT4aPn8g9K5VqE8vb_CNcsZ7TCD7IgmVxWiAjmqhEkUqz6OW3nRX69_clGnDXlaErRZ0PoHD_dscAWtAsWvMXCp40JM21XM1rJMDiC0HnLCehZJem8kpZtvS5TKhPnY-qDMyPredx69mjl3b2zIXjLBnywV9IVccpJW0GngLIID3tuW2YkM4KOEOwubgCYhmbyfJvKxngTc5RBAXxbvrJKk1e3LZXg3fil6pk8FzMOD13KJdsGfTIJJSw_gEFzI7O5-apa-rydu0u_QqG1jGyDXcKtinP7LCFu9No9c1Bgxd7det8oFb4dpfa8_6GWTvtZFZdlunzwyy8qEV3aznOjaTsKNi0Laf922A5Wmzl2vOyWhMuztN-PvtkQXVWpuTPUYo8x6fwsb4uhEcd8LKKnkoZH_tpwU-SRFo_zRjmu8iOb2Ms5Latqr7eaQ7vELmIIakI6Jo9i90w==",
  "id": "rs_036936bd1de6d2ab016ab2c747ea7c87d08a98d3e4b6f41d84",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.55,\"right_y\":0.18,\"right_z\":0.012,\"right_gripper\":0.6},\"note\":\"The cap is now hidden directly beneath the gripper rather than sitting ahead in the wrist view. I will lower the fingertips to the bottle’s neck height before closing.\"}",
  "call_id": "call_Pw8otD3T11qfRvlFyi9Q1lIZ",
  "id": "fc_036936bd1de6d2ab016ab2c74a5d9087d08e2fb52753fd31ac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Pw8otD3T11qfRvlFyi9Q1lIZ",
  "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]: [-0.0719, 0.7494, 0.622, -0.4572, -0.1131, -0.0883, 0.6522, 0.313, 2.1941, 1.2728, 0.3653, 0.0246, -0.0105, 0.5992]\nstate[eef_state]: left_x=0.2833 left_y=0.0032 left_z=0.1848 left_yaw=0.0587 left_pitch=-0.0192 left_roll=0.0017 left_gripper=0.6522 right_x=0.5518 right_y=0.1778 right_z=0.0375 right_yaw=0.2725 right_pitch=0.0161 right_roll=-0.0066 right_gripper=0.5992\nstate[joint_eff]: [-0.294, -1.7709, 6.612, 1.8486, -0.1148, -0.0122, -0.0122, 0.3077, -7.8154, 5.4222, 0.9988, 0.0366, 0.105, -0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ae54701b6f5f1ba577572ac3fbe7a48aa6fe66afe3dffd12ba24359e76277b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31076e1b14e48c04d2673376976b6609dbe63b7389ad0712d3a94aca5adcfb0d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b6d9f083e025fee54a194e87558e0f0d3276a7a461f20a587a74ed18c383750",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 11.86 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 80 changed as sent

message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0719, 0.7513, 0.6296, -0.4606, -0.1131, -0.0887, 0.6522, 0.3019, 2.117, 1.3205, 0.128, 0.0216, -0.0128, 0.5986]\nstate[eef_state]: left_x=0.2838 left_y=0.0031 left_z=0.1871 left_yaw=0.0589 left_pitch=-0.0169 left_roll=0.001 left_gripper=0.6522 right_x=0.5395 right_y=0.1678 right_z=0.0516 right_yaw=0.2651 right_pitch=-0.0964 right_roll=-0.0111 right_gripper=0.5986\nstate[joint_eff]: [-0.2803, -1.5111, 6.5436, 1.8388, -0.1099, -0.0659, -0.0122, -0.1026, -11.1795, 9.2923, 1.9951, 0.0513, 0.1294, 0.0269]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The descent stopped above the target, consistent with contact at the bottle. I will close the jaws and use the settled opening to check whether the neck is captured.\"}",
  "call_id": "call_StxzxUNRDeLXz8Fq4a0GJJ26",
  "id": "fc_036936bd1de6d2ab016ab2c755ce6887d087213fc82ceff8da",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_StxzxUNRDeLXz8Fq4a0GJJ26",
  "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]: [-0.0719, 0.7494, 0.6132, -0.4522, -0.1131, -0.0856, 0.6522, 0.3138, 2.2017, 1.2804, 0.3904, 0.0204, -0.0246, 0.014]\nstate[eef_state]: left_x=0.283 left_y=0.0032 left_z=0.1819 left_yaw=0.0573 left_pitch=-0.023 left_roll=0.0044 left_gripper=0.6522 right_x=0.5561 right_y=0.1804 right_z=0.0416 right_yaw=0.2845 right_pitch=0.0413 right_roll=-0.0156 right_gripper=0.014\nstate[joint_eff]: [-0.294, -2.0991, 6.188, 1.9023, -0.1245, -0.0757, -0.0073, -0.5538, -12.7111, 6.9949, 1.3504, 0.0366, 0.2173, 1.2234]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:158cd4659418ec125854d0450426b221fd92eefe281b0919883e08b5cff48c95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c6d129da0fa993658df393157078a372c5cefe428231b9bc21ef237799ce5c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e189ebd57f96cb893fb0733a7415444fe406ec1f944e9488354ad90369057b99",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 9.498 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 84 changed as sent

message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0719, 0.7494, 0.622, -0.4572, -0.1131, -0.0883, 0.6522, 0.313, 2.1941, 1.2728, 0.3653, 0.0246, -0.0105, 0.5992]\nstate[eef_state]: left_x=0.2833 left_y=0.0032 left_z=0.1848 left_yaw=0.0587 left_pitch=-0.0192 left_roll=0.0017 left_gripper=0.6522 right_x=0.5518 right_y=0.1778 right_z=0.0375 right_yaw=0.2725 right_pitch=0.0161 right_roll=-0.0066 right_gripper=0.5992\nstate[joint_eff]: [-0.294, -1.7709, 6.612, 1.8486, -0.1148, -0.0122, -0.0122, 0.3077, -7.8154, 5.4222, 0.9988, 0.0366, 0.105, -0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssdj1d9QfLltM2yGEgT7sxv563nFtwkIGXDxBcvme0AvKI0nolNz28fcg7oj2j4TDO8C6ssD3OaZZrnnHqTihHxC_CUy_JTbn0BcXrPNg7LgerjQNiraPNv1tloeC48zfQHqqIs35lSDJWJ-O0649_9jhCOAfGB38AuuPFiIbLGaNWSu-bc3XW8xwyQk58OnAQxiyoqmSfskwpE9KInIlCEqaKFcv0NTtBCUE7EH3F6_x20SgNUDo-6GYz3zExr-NThyEIhMJ1Ge6WryGfIbjRQFTNCqkYodVbupx50TfHMjwrkOnzGn6nEQaqhIxXwcgk0RBSaC0lWAdKAsnc6IZhAwWK8s5XsyZ5YJHs4BoUDHfeI4o1ZhWBePQu0LqfipK1x_rnw5U6SS5NhOjPRrKobjPz4oW4V1qY_PqLQ_uPmOrVeMDUw82DZNLhs8B4faZAW02XGulgQvFjFGIbMPcn9EU1rKM1t5T13GOVIrR2jcWjRT90lbaIBAAJj9-REzmaMU_vB8Cg7LfxkjsC_FghQcIdWKj6aC22Ke1ixbBArqafcP4CA14vZAjzYGLGHbaIVMtvy-EAp_gnM4P0cZWIYlWcckf5ucc-2zLoeEpsUAqWI2SZ7xWWQrNapfZeeKE6ksY3ph9xJurl9rz-Jvoz1Bipni6Q5YtDJ_E23gcRy5qN5HPUCYbEB5uBc-0zxb31ZgkGmYGyItoys2HZb9UrwFjHVgQDGoYshoxnRal45mrNnXu7fqcm_Ct6hIftMNVor7GEc9FrUbbnaclL2dUNtw_8Afn89MpqAA46K_MubueYs0pYvFGXgBWFO6im0oKqEEssuDvEiWMUobxk889xWKzS_KOdQGs5cWgEjH4QfJpVtX4CIP68zt0Kvq16cgEayygaaUA0Iyab5zzOs96bDHXx8ToZ3YaAFmBdgZas0GNzW9gwISoiT58G8ywdSIyoDTKbgG6LS4Skih3QlKECvVRx-Uqnj5eXbxilIOWQOxlVNmK8M2riQL56xRtFW54ddF62wxn1UJbdAiK3R4YUfsIEFlV9zZU6bVulDgwbxxYxIvZFhpVlk2NifLkIx8L7vBcd-5jPZ4uHxk2LYeJFfWQgWkOGWD-nb_J1k72vTy_8n4_ob_hdyDwatUu_ldcd84UC7Tg1b9wD45rU0rtgQ_ju0a9OZYnRTLnKkl8HRtfJIBwKmWKvQK4sGUvP5rhftVDPaj3QnOIZvu0XycFz5a90lxwcvOgEl0vNtaG2Z-Ft-5GhPu99Mz7RJa40_ihR6I90rCiw40AemJ8SzxtVxqVTqPnTXeilZNao9bPYsJsYYtKf9G0yyjrnGCOIE0Fuxq8gpRCguiV8tmLO2TNJ7TwtX2lfVjecBTNzuyiAXMFjsZO8pnYKfQk88wDpzhVdkGohK-nPekr2k1vb15a7lGX7E1QkqH389YDTiI_6IGq_t5xft4vaH93v1iRqXOKxq7C_Omyfdx-Wyd6j85_5EMcvctSliKGR_j5mtql5HFl-ehBVwnlYhNsUjfTpqSDoOQ",
  "id": "rs_036936bd1de6d2ab016ab2c75f017487d0b3e249277359731c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.18,\"right_z\":0.13,\"right_gripper\":0.7},\"note\":\"The jaws closed empty. In the overhead view the cap is behind the fingertips, so I had advanced too far; I will back up and approach the visible neck from above.\"}",
  "call_id": "call_k7Lw4jGSjo5klvnJvJqyrTyb",
  "id": "fc_036936bd1de6d2ab016ab2c761670087d09324f8e51b5e997a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_k7Lw4jGSjo5klvnJvJqyrTyb",
  "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]: [-0.0715, 0.7391, 0.5941, -0.4408, -0.1131, -0.0856, 0.6522, 0.3756, 1.8091, 1.0832, 0.1478, 0.0498, 0.009, 0.6947]\nstate[eef_state]: left_x=0.2817 left_y=0.0034 left_z=0.1782 left_yaw=0.0577 left_pitch=-0.0203 left_roll=0.004 left_gripper=0.6522 right_x=0.4782 right_y=0.183 right_z=0.1162 right_yaw=0.3034 right_pitch=-0.0055 right_roll=-0.0049 right_gripper=0.6947\nstate[joint_eff]: [0.0342, -1.265, 6.6667, 1.9316, -0.0562, -0.0611, -0.0122, 0.5128, -11.453, 6.8444, 1.9219, 0.2466, 0.0952, 0.1001]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c436dd2eed8aabe02d2c62c267552696a39715031cfb1a55363b463a41f58e90",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a44bdf58f97d870adf3e4578e2b2ebc66bd93946d7d47c0d4d8c554d908eee6c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c9690f600f499d05f7179d9c2ee1bda693a34421720c7a0095ad99e191466a2",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 24.62 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 87 changed as sent

message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0719, 0.7494, 0.6132, -0.4522, -0.1131, -0.0856, 0.6522, 0.3138, 2.2017, 1.2804, 0.3904, 0.0204, -0.0246, 0.014]\nstate[eef_state]: left_x=0.283 left_y=0.0032 left_z=0.1819 left_yaw=0.0573 left_pitch=-0.023 left_roll=0.0044 left_gripper=0.6522 right_x=0.5561 right_y=0.1804 right_z=0.0416 right_yaw=0.2845 right_pitch=0.0413 right_roll=-0.0156 right_gripper=0.014\nstate[joint_eff]: [-0.294, -2.0991, 6.188, 1.9023, -0.1245, -0.0757, -0.0073, -0.5538, -12.7111, 6.9949, 1.3504, 0.0366, 0.2173, 1.2234]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssdtRQEG-gsEmQCNp32ZTYo6npjzg8T3SC4s4350HzqbibbzFOdRA_szz_fXqT172O-ipcO5asG_qgYS5kR6C12n5arevvcXoMorFScvdoFYAxZ6OrHCeuZ9P2-sgueenxLoBMOT-arfB2OFnWadbX9KKu-a7QsMPeeTX7U_WMZNvknWOIlkc7cAn0eUVyadlGg02KDrPzU8YqYJCW8q-Sz_L5fhQ0jSqrWDcPMIY98VF4S3npbEjRIPyJCPA3aPy0WR5qFnmK38TjtoC1aR3G5XA5m7-z0YNXeL1em7Bl1ZVDUPfr357WAQHtzKMVCgvU3_aREfp7oUZA7I2gyt_G-BIAibQLfsRuyt0gWVFtxPO-v5UHxcyQZCQqG2HtWKKMgk7X8swZ8TOxhSR1ny6EFu1GO2VsDEa2t0uFU2-aBJ3GIZ6pGkRsE_lPlyhQd5DMiJHjfgqPe4jMDdKpYRe5a3sWbCTbi7n4KfZxcrvw6Nis0Q86uRZ52GsqD-jmto8SEDLGOLrkJIJJ0zCfq7mVOAwn-rwkGEl0sSVkfmBeps_W2L6oNr5Rr1kbo7GbtwlWGKbasMI6Jxr5Hsh2yHhwbF3ye0YJfnQELLq7e3C-0PGgW5-WSaBXQjMJsyo5EJnt45PorEnvwlO5dc5K1kAZRaqIROMrSVxlsk7LxDuV5ymTH6wpNIsdtBu8voRcnjm_s5NZHOWCRrPdcUnIgXecFyP_mosMvvzG3N2FRv92V2JLJPsluPYHiCUGWvu1Lg2OY0SMu_FoL2UXN-6qtZ9KIOvdtnRRntolX2A0r6DkYkgDOgYjZBvPvLC-4zFeKiE_BSrQn0QV2IF5BnCnEJ5nsxaW-jdtmsupm48h1M3QEKcuf2JIRSzSGEVV-hkzQWZBFkkWUvr2qTOK_aAOM05pPhp6CSEHkbevnbXicS5w_zWyQToFXwkntTIhAfgx2qBEVMPevrrI49LS1l0PQ7zfkoeHGe-448K12zNDe8Uf-DEYRnFLsBEtdhmim6cuHglWfcmdY8HGIzzaBdkrANruBrDI0fQykD7HwOtLWYDOgJnqDGv6Tl6dCtiaA6vPnzLmY7jAeDCg2RUkWcEO-fszhaqv28dPMAc-qB2C_M8dxmZh1FfLlVMvWMq5V7Pnh0S16QpNEhY3BRMnd0A9ugQ5VOlL-OQHgrQPDzqUNGlo_LHOl8T7UMdJRbGE3hJW7KgahzBi56PZ7XqmyOJbr3Os1SMEGuCuanBFx2vmZvKHJARmtypy56KlXtIjUvPDcN0q4OtQRtmMGApNwu4wpViYcVFsuxRnQaRjLa32SqrM-Y1mpyRX5q0QA9GfoCg_cckFeSs7dW7UJ0K_vSvKtRu87XvUOjSo-dRMcoFlDR_SB_jOjjldr97LBRF1q9NvpIjZGpFwfqLHZQAjciXob2bprGhXrZmt4a9YYoYw2YG9McOsLThqnTgVVRe-rsZGpe9BG53LKcAhS-MHAo-U1rTggL8RHAer8RBT2YmpXwxY5bWEfsFfXutpdryh6V6JlaR9l-uLDmHxMqpTiG6EPIUohMYZ1AToIQFp4eUMoc9rv8lhkC0LvmkDg5MTHfFY_NfeAIJ1hdB-tbzSyE5Jlt8jODIahivPHdDoq-Qc4mlaumPJxqGk-2Qm1X3cmBh59WGWxk",
  "id": "rs_036936bd1de6d2ab016ab2c7685ae487d08712e0d6939abeae",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.25,\"right_z\":0.045},\"note\":\"The wrist view now shows the cap well to the left of the jaws. I will correct leftward without advancing and lower beside the neck.\"}",
  "call_id": "call_f5jkKXBvm8c7r4cs9h8C9LQr",
  "id": "fc_036936bd1de6d2ab016ab2c76c732487d088cab7b7a19bd167",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_f5jkKXBvm8c7r4cs9h8C9LQr",
  "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]: [-0.0715, 0.7326, 0.5804, -0.4305, -0.1131, -0.0856, 0.6522, 0.5323, 2.0125, 1.0603, 0.3202, 0.1551, 0.0795, 0.6967]\nstate[eef_state]: left_x=0.2812 left_y=0.0034 left_z=0.1757 left_yaw=0.0577 left_pitch=-0.0173 left_roll=0.0036 left_gripper=0.6522 right_x=0.4612 right_y=0.2442 right_z=0.0415 right_yaw=0.3334 right_pitch=-0.0512 right_roll=-0.0133 right_gripper=0.6967\nstate[joint_eff]: [-0.1026, -1.5521, 6.4889, 1.8486, -0.1001, -0.0513, -0.0122, 0.4171, -8.8957, 7.241, 1.9023, 0.0659, 0.1587, 0.2125]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30999c425e824c2d166c153c850e8459d8ee600f4f4c88c8e07ad2b049b4b03f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d136ef39829872720a459f3e380da9b46c774c333e9e3731f7a4095c20325a01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4fb7a66011ba8ba71b2c5c51d0868887df3900a4dc916fcd122015348e23cb0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 25 attempt 0 · /responses · status 200 · 9.654 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0715, 0.7391, 0.5941, -0.4408, -0.1131, -0.0856, 0.6522, 0.3756, 1.8091, 1.0832, 0.1478, 0.0498, 0.009, 0.6947]\nstate[eef_state]: left_x=0.2817 left_y=0.0034 left_z=0.1782 left_yaw=0.0577 left_pitch=-0.0203 left_roll=0.004 left_gripper=0.6522 right_x=0.4782 right_y=0.183 right_z=0.1162 right_yaw=0.3034 right_pitch=-0.0055 right_roll=-0.0049 right_gripper=0.6947\nstate[joint_eff]: [0.0342, -1.265, 6.6667, 1.9316, -0.0562, -0.0611, -0.0122, 0.5128, -11.453, 6.8444, 1.9219, 0.2466, 0.0952, 0.1001]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
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  "id": "rs_036936bd1de6d2ab016ab2c77494a487d0821b77f8f2f14000",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.003,\"right_z\":0.22,\"right_gripper\":1,\"left_x\":0.29,\"left_y\":0,\"left_z\":0.22},\"note\":\"I have not obtained a reliable neck grip, and further low corrections risk pushing the bottles away or into each other. I will withdraw both arms to leave the bottles undisturbed and stop this attempt.\"}",
  "call_id": "call_LilpJxgCriDDKmAS8XL8Da5x",
  "id": "fc_036936bd1de6d2ab016ab2c7841c2487d0ad041fa0ffa13bd8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LilpJxgCriDDKmAS8XL8Da5x",
  "output": "executing move_to over 21 steps (2.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0856, 0.7933, 0.7139, -0.5301, -0.1207, -0.1047, 0.6522, -0.297, 0.91, 0.7769, -0.5381, -0.4759, -0.3725, 0.9995]\nstate[eef_state]: left_x=0.2863 left_y=0.0004 left_z=0.2002 left_yaw=0.0603 left_pitch=-0.0431 left_roll=-0.0043 left_gripper=0.6522 right_x=0.2989 right_y=-0.0031 right_z=0.2063 right_yaw=0.2724 right_pitch=-0.0139 right_roll=-0.0051 right_gripper=0.9995\nstate[joint_eff]: [-0.4171, -0.7316, 10.8513, 1.7607, -0.149, 0.0611, -0.0122, -0.1436, -2.5368, 9.5932, 1.6142, -0.2222, 0.0952, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80971aa1dc17cec9d306b957de28ebccaefe473afeeb6ab697bd8928fab521b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc4447fe5bdc1170a559042e67140ac2d2a8ee00908fb818636fea515f8a41c0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:467f7f86e07bcd0cdb0a4b22403d2785a8bf792b4902d2c69343978ea3821d78",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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