adhoc

completed
2026-09-22T16:19:27.624364+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
187.5 s
total steps
177
success_at_end
0
scenes
1
trials
1
errored
0

scene-0

completed

Stand all three bottles upright.

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteAll three bottles are lying on their sides, with their caps pointing away from the bases. I will approach the left bottle near its neck so I can lift it and let its base swing downward.
move_to
left_x0.4100left_y-0.1300left_z0.1300left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7925, 0.6079, -0.3771, -0.0189, -0.0288, 0.9986, -0.0158, 0.7879, 0.6037, -0.3832, -0.0288, -0.0341, 0.9999] state[eef_state]: left_x=0.2955 left_y=0.001 left_z=0.1828 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2939 right_y=0.004 right_z=0.1808 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9999 state[joint_eff]: [-0.5265, -1.4154, 9.812, 1.7949, -0.0415, 0.1245, -0.1636, -0.9504, -0.9641, 10.2085, 1.8828, 0.0562, 0.1587, -0.0269] 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":0.41,"left_y":-0.13,"left_z":0.13,"left_gripper":1},"note":"All three bottles are lying on their sides, with their caps pointing away from the bases. I will approach the left bottle near its neck so I can lift it and let its base swing downward."})
tool
executing move_to over 12 steps (1.2s)
step 12
top_cam
camera top_cam step 12
left_cam
camera left_cam step 12
right_cam
camera right_cam step 12
assistant
agent noteThe left bottle’s cap is still forward and left of the jaw center in the wrist view. I will shift toward its neck and lower the open fingers around it.
move_to
left_x0.4650left_y-0.0950left_z0.0450
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4671, 1.504, 0.7841, 0.0296, -0.3744, -0.2745, 0.9986, -0.0189, 0.7921, 0.6041, -0.3897, -0.0292, -0.0353, 0.9999] state[eef_state]: left_x=0.3942 left_y=-0.1224 left_z=0.1098 left_yaw=-0.0172 left_pitch=-0.0731 left_roll=0.0287 left_gripper=0.9986 right_x=0.2934 right_y=0.0032 right_z=0.1785 right_yaw=-0.0021 right_pitch=-0.0103 right_roll=-0.0006 right_gripper=0.9999 state[joint_eff]: [-0.5265, -6.8034, 8.841, 1.7314, -0.1929, -0.0855, -0.1538, 0.0479, -1.5521, 7.0085, 1.8046, -0.0415, -0.0611, -0.0122] camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.465,"left_y":-0.095,"left_z":0.045},"note":"The left bottle’s cap is still forward and left of the jaw center in the wrist view. I will shift toward its neck and lower the open fingers around it."})
tool
executing move_to over 6 steps (0.6s)
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 fingers are beside the bottle, but its neck remains left of center. I will make a small forward-left correction at neck height before closing.
move_to
left_x0.4900left_y-0.0750left_z0.0180
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3088, 1.8412, 0.7815, 0.4351, -0.284, -0.2081, 0.9984, -0.0193, 0.7918, 0.6029, -0.3897, -0.0292, -0.0353, 0.9999] state[eef_state]: left_x=0.4517 left_y=-0.0884 left_z=0.0421 left_yaw=0.03 left_pitch=-0.0345 left_roll=0.0067 left_gripper=0.9984 right_x=0.2932 right_y=0.0031 right_z=0.1781 right_yaw=-0.0025 right_pitch=-0.011 right_roll=-0.0006 right_gripper=0.9999 state[joint_eff]: [0.3897, -7.7744, 6.7761, 1.4921, 0.1001, 0.315, -0.0366, -0.2667, -1.7709, 6.2838, 1.8291, -0.0317, -0.0562, -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":0.49,"left_y":-0.075,"left_z":0.018},"note":"The fingers are beside the bottle, but its neck remains left of center. I will make a small forward-left correction at neck height before closing."})
tool
executing move_to over 3 steps (0.3s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe bottle slid forward during the low approach, leaving its lower body between the fingers. I will grasp it there first and draw it back into a more reachable area.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2573, 1.9972, 0.844, 0.5274, -0.2424, -0.1833, 0.9983, -0.0193, 0.791, 0.6022, -0.3893, -0.0292, -0.0353, 0.9999] state[eef_state]: left_x=0.4752 left_y=-0.0775 left_z=0.0114 left_yaw=0.0337 left_pitch=-0.0432 left_roll=0.0044 left_gripper=0.9983 right_x=0.2931 right_y=0.0031 right_z=0.178 right_yaw=-0.0025 right_pitch=-0.0107 right_roll=-0.0006 right_gripper=0.9999 state[joint_eff]: [0.4444, -9.7436, 6.5162, 1.9365, -0.0171, 0.1099, -0.0171, -0.1026, -1.7983, 6.2017, 1.8632, -0.0562, -0.0611, -0.0171] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The bottle slid forward during the low approach, leaving its lower body between the fingers. I will grasp it there first and draw it back into a more reachable area."})
tool
executing move_to over 10 steps (1.0s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteThe gripper has closed onto a roughly five-centimeter section of the bottle. I will lift slightly and pull it toward the base to bring the neck within reach.
move_to
left_x0.3600left_z0.0850
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2359, 2.0243, 0.8574, 0.5503, -0.2424, -0.1829, 0.5374, -0.0193, 0.791, 0.5957, -0.3893, -0.0296, -0.0353, 0.9999] state[eef_state]: left_x=0.4817 left_y=-0.0685 left_z=0.0081 left_yaw=0.0547 left_pitch=-0.0345 left_roll=0.002 left_gripper=0.5374 right_x=0.2923 right_y=0.0032 right_z=0.1751 right_yaw=-0.0022 right_pitch=-0.0171 right_roll=-0.0003 right_gripper=0.9999 state[joint_eff]: [-0.3624, -9.5658, 6.3795, 1.8535, -0.0073, 0.0952, 1.033, -0.1573, -1.853, 6.694, 1.8828, -0.0708, -0.0708, -0.0122] camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_z":0.085},"note":"The gripper has closed onto a roughly five-centimeter section of the bottle. I will lift slightly and pull it toward the base to bring the neck within reach."})
tool
executing move_to over 10 steps (1.0s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteThe bottle moved with the gripper and is now closer to the base. I will bring it a little farther back and rest it on the table for a neck regrasp.
move_to
left_x0.2650left_z0.0300right_x0.2940right_y0.0040right_z0.1830
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3603, 1.4345, 0.4667, 0.2276, -0.3019, -0.2405, 0.5394, -0.0189, 0.7845, 0.5823, -0.3882, -0.0296, -0.0353, 0.9999] state[eef_state]: left_x=0.3462 left_y=-0.0705 left_z=0.0449 left_yaw=0.0142 left_pitch=-0.1385 left_roll=0.0319 left_gripper=0.5394 right_x=0.2904 right_y=0.0033 right_z=0.171 right_yaw=-0.0018 right_pitch=-0.0229 right_roll=-0.0002 right_gripper=0.9999 state[joint_eff]: [-0.1709, -7.4872, 7.1316, 2.7814, -0.5201, -0.149, 1.0232, -0.1983, -1.1009, 6.694, 1.9023, -0.0659, -0.0366, -0.0171] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.265,"left_z":0.03,"right_x":0.294,"right_y":0.004,"right_z":0.183},"note":"The bottle moved with the gripper and is now closer to the base. I will bring it a little farther back and rest it on the table for a neck regrasp."})
tool
executing move_to over 7 steps (0.7s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteThe left bottle is resting lengthwise in a reachable area. I will release its body before moving to the neck.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5739, 1.1873, 0.0692, 0.3569, -0.4248, -0.3389, 0.5394, -0.0189, 0.7856, 0.5816, -0.3923, -0.0292, -0.0349, 0.9999] state[eef_state]: left_x=0.2512 left_y=-0.0714 left_z=0.0035 left_yaw=-0.0458 left_pitch=-0.1187 left_roll=0.0406 left_gripper=0.5394 right_x=0.2898 right_y=0.0033 right_z=0.1694 right_yaw=-0.0023 right_pitch=-0.029 right_roll=0.0 right_gripper=0.9999 state[joint_eff]: [-0.1983, -3.3846, 6.9128, 2.42, -0.5934, -0.0024, 0.9206, 0.3077, -0.8684, 9.7026, 1.7851, -0.0073, 0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The left bottle is resting lengthwise in a reachable area. I will release its body before moving to the neck."})
tool
executing move_to over 5 steps (0.5s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteThe bottle’s neck is now well inside the left arm’s workspace. I will move above it with the fingers open, clearing the bottle body.
move_to
left_x0.4450left_y-0.0750left_z0.1400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6029, 1.3201, 0.0051, 0.6445, -0.4721, -0.3595, 0.9954, -0.0193, 0.7723, 0.5537, -0.3923, -0.0296, -0.0357, 0.9999] state[eef_state]: left_x=0.2559 left_y=-0.0743 left_z=0.0048 left_yaw=-0.0295 left_pitch=-0.0248 left_roll=0.0028 left_gripper=0.9954 right_x=0.2854 right_y=0.0033 right_z=0.1603 right_yaw=-0.002 right_pitch=-0.0435 right_roll=-0.0001 right_gripper=0.9999 state[joint_eff]: [-0.8684, -2.2632, 3.6991, 1.79, -0.188, 0.1001, -0.1245, -0.3487, -1.7299, 6.9402, 2.0293, -0.0757, -0.0708, -0.0122] camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.445,"left_y":-0.075,"left_z":0.14},"note":"The bottle’s neck is now well inside the left arm’s workspace. I will move above it with the fingers open, clearing the bottle body."})
tool
executing move_to over 15 steps (1.5s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteThe cap is aligned with the jaw column at the bottom of the wrist view. I will lower around the neck while keeping that alignment.
move_to
left_x0.4470left_y-0.0690left_z0.0270
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2527, 1.5429, 0.836, 0.1249, -0.2077, -0.173, 0.9963, -0.0193, 0.7498, 0.511, -0.3698, -0.0296, -0.0357, 0.9999] state[eef_state]: left_x=0.437 left_y=-0.0715 left_z=0.129 left_yaw=0.0034 left_pitch=-0.0063 left_roll=-0.0179 left_gripper=0.9963 right_x=0.2816 right_y=0.0034 right_z=0.1514 right_yaw=-0.002 right_pitch=-0.0412 right_roll=-0.0002 right_gripper=0.9999 state[joint_eff]: [0.4718, -7.0769, 8.2667, 1.6484, -0.0122, 0.3004, 0.0806, -0.4034, -1.7983, 6.9812, 2.0195, -0.0659, -0.0562, -0.0122] camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.447,"left_y":-0.069,"left_z":0.027},"note":"The cap is aligned with the jaw column at the bottom of the wrist view. I will lower around the neck while keeping that alignment."})
tool
executing move_to over 7 steps (0.7s)
step 75
top_cam
camera top_cam step 75
left_cam
camera left_cam step 75
right_cam
camera right_cam step 75
assistant
agent noteThe fingertips are positioned around the narrow cap-and-neck area. I will close gently enough to retain the neck while allowing the bottle to pivot as it is raised.
move_to
left_gripper0.2300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2485, 1.8408, 0.7094, 0.532, -0.2081, -0.1585, 0.9965, -0.0193, 0.7258, 0.4717, -0.3504, -0.0296, -0.0357, 0.9999] state[eef_state]: left_x=0.4457 left_y=-0.0718 left_z=0.0333 left_yaw=0.0003 left_pitch=-0.0232 left_roll=-0.0012 left_gripper=0.9965 right_x=0.2779 right_y=0.0035 right_z=0.1437 right_yaw=-0.002 right_pitch=-0.037 right_roll=-0.0002 right_gripper=0.9999 state[joint_eff]: [0.3077, -6.8581, 3.5077, 1.6435, -0.0952, 0.0269, 0.0024, -0.1709, -1.4154, 6.9265, 2.0488, -0.0611, -0.0513, -0.0122] camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.23},"note":"The fingertips are positioned around the narrow cap-and-neck area. I will close gently enough to retain the neck while allowing the bottle to pivot as it is raised."})
tool
executing move_to over 8 steps (0.8s)
step 83
top_cam
camera top_cam step 83
left_cam
camera left_cam step 83
right_cam
camera right_cam step 83
assistant
agent noteThe neck appears held between the fingers. I will raise it slowly so the heavier bottle body can swing below the grasp, while lifting the idle arm back to its parked height.
move_to
left_z0.2600left_x0.4300right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.247, 1.8446, 0.7002, 0.6327, -0.2321, -0.157, 0.2346, -0.0193, 0.7055, 0.4393, -0.3355, -0.0292, -0.0357, 0.9999] state[eef_state]: left_x=0.4554 left_y=-0.0692 left_z=0.0496 left_yaw=0.0216 left_pitch=0.0649 left_roll=-0.01 left_gripper=0.2346 right_x=0.2748 right_y=0.0035 right_z=0.1371 right_yaw=-0.0023 right_pitch=-0.0343 right_roll=-0.0005 right_gripper=0.9999 state[joint_eff]: [-0.4444, -7.8701, 4.4923, 1.2869, 0.0757, 0.0024, 0.2173, -0.1436, -1.1829, 7.0359, 2.0147, -0.0464, -0.0806, -0.0122] camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.26,"left_x":0.43,"right_z":0.2},"note":"The neck appears held between the fingers. I will raise it slowly so the heavier bottle body can swing below the grasp, while lifting the idle arm back to its parked height."})
tool
executing move_to over 14 steps (1.4s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteThe bottle stayed on the table, so the neck grasp was empty. Its cap is slightly farther forward and to the right than the previous grasp; I will correct to that position.
move_to
left_x0.4850left_y-0.1050left_z0.0650left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2623, 1.4452, 1.2034, -0.358, -0.2432, -0.1841, 0.2348, -0.0193, 0.7033, 0.6167, -0.5274, -0.0296, -0.0425, 0.9999] state[eef_state]: left_x=0.4356 left_y=-0.0692 left_z=0.2373 left_yaw=0.0295 left_pitch=-0.0183 left_roll=-0.0033 left_gripper=0.2348 right_x=0.2698 right_y=0.0036 right_z=0.1794 right_yaw=0.0017 right_pitch=-0.0464 right_roll=-0.0057 right_gripper=0.9999 state[joint_eff]: [-0.6632, -8.7043, 9.1692, 1.6874, -0.1245, 0.022, 0.0122, -0.4444, 0.1299, 10.4, 1.9414, -0.0513, 0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.485,"left_y":-0.105,"left_z":0.065,"left_gripper":1},"note":"The bottle stayed on the table, so the neck grasp was empty. Its cap is slightly farther forward and to the right than the previous grasp; I will correct to that position."})
tool
executing move_to over 12 steps (1.2s)
step 109
top_cam
camera top_cam step 109
left_cam
camera left_cam step 109
right_cam
camera right_cam step 109
assistant
agent noteThe open jaws now bracket the cap in the overhead view. I will lower the last few centimeters and close fully to check for a solid neck grasp.
move_to
left_z0.0240left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3161, 1.8671, 0.9478, 0.2779, -0.2901, -0.2134, 0.9967, -0.0212, 0.672, 0.5701, -0.5083, -0.0296, -0.0429, 0.9999] state[eef_state]: left_x=0.478 left_y=-0.0994 left_z=0.063 left_yaw=0.0309 left_pitch=-0.0491 left_roll=0.0113 left_gripper=0.9967 right_x=0.2656 right_y=0.0032 right_z=0.17 right_yaw=0.0 right_pitch=-0.0426 right_roll=-0.0061 right_gripper=0.9999 state[joint_eff]: [-1.0188, -8.5128, 5.6821, 1.7851, -0.1929, -0.0073, 0.0806, -0.6222, -1.0051, 7.0632, 2.0049, -0.1343, -0.0122, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.024,"left_gripper":0},"note":"The open jaws now bracket the cap in the overhead view. I will lower the last few centimeters and close fully to check for a solid neck grasp."})
tool
executing move_to over 10 steps (1.0s)
step 119
top_cam
camera top_cam step 119
left_cam
camera left_cam step 119
right_cam
camera right_cam step 119
assistant
agent noteThe fully closed reading confirms another empty grasp. I will lift away to expose the bottle and reassess its neck position rather than repeat the same approach.
move_to
left_x0.3800left_y-0.1200left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3199, 1.9678, 0.8776, 0.5354, -0.3, -0.2096, 0.0151, -0.0212, 0.6411, 0.5308, -0.4923, -0.0299, -0.0425, 0.9999] state[eef_state]: left_x=0.4843 left_y=-0.1016 left_z=0.0403 left_yaw=0.0331 left_pitch=0.0342 left_roll=-0.0099 left_gripper=0.0151 right_x=0.262 right_y=0.0033 right_z=0.1629 right_yaw=0.0001 right_pitch=-0.035 right_roll=-0.0057 right_gripper=0.9999 state[joint_eff]: [-0.0205, -7.5692, 3.959, 1.6093, -0.0611, 0.0171, 0.906, -0.4718, -0.7043, 6.8308, 1.9902, -0.1294, -0.0171, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.12,"left_z":0.15,"left_gripper":1},"note":"The fully closed reading confirms another empty grasp. I will lift away to expose the bottle and reassess its neck position rather than repeat the same approach."})
tool
executing move_to over 10 steps (1.0s)
step 129
top_cam
camera top_cam step 129
left_cam
camera left_cam step 129
right_cam
camera right_cam step 129
assistant
agent noteThe wrist view shows the cap just ahead and left of the fingers. The previous close also settled too high for the narrow neck, so I will approach this corrected position down at table level with the jaws open.
move_to
left_x0.4350left_y-0.0850left_z0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.503, 1.4113, 0.7849, 0.0261, -0.4244, -0.3172, 0.9946, -0.0212, 0.6189, 0.498, -0.4782, -0.0299, -0.0425, 0.9999] state[eef_state]: left_x=0.3895 left_y=-0.1272 left_z=0.1473 left_yaw=0.0093 left_pitch=0.0208 left_roll=-0.0219 left_gripper=0.9946 right_x=0.2594 right_y=0.0034 right_z=0.1562 right_yaw=0.0001 right_pitch=-0.0315 right_roll=-0.0058 right_gripper=0.9999 state[joint_eff]: [-0.253, -6.6393, 6.9538, 1.707, -0.2613, 0.0806, -0.1636, -0.4991, -0.5949, 7.1453, 1.9609, -0.1197, -0.0171, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 129): [image omitted: streamed camera frame] camera 'left_cam' (step 129): [image omitted: streamed camera frame] camera 'right_cam' (step 129): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.435,"left_y":-0.085,"left_z":0.0},"note":"The wrist view shows the cap just ahead and left of the fingers. The previous close also settled too high for the narrow neck, so I will approach this corrected position down at table level with the jaws open."})
tool
executing move_to over 10 steps (1.0s)
step 139
top_cam
camera top_cam step 139
left_cam
camera left_cam step 139
right_cam
camera right_cam step 139
assistant
agent noteThe overhead view now exposes the cap forward-left of the fingers; the bottle has rotated slightly during the attempts. I will move the open jaws toward that visible neck, staying above the tabletop.
move_to
left_x0.5150left_y-0.0400left_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3176, 1.9324, 0.6449, 0.6697, -0.3023, -0.2085, 0.9957, -0.0212, 0.5991, 0.4717, -0.4709, -0.0299, -0.0429, 0.9999] state[eef_state]: left_x=0.43 left_y=-0.0822 left_z=0.0024 left_yaw=0.0365 left_pitch=-0.0244 left_roll=0.0141 left_gripper=0.9957 right_x=0.2567 right_y=0.0034 right_z=0.1505 right_yaw=0.0003 right_pitch=-0.0308 right_roll=-0.0061 right_gripper=0.9999 state[joint_eff]: [0.6632, -6.3932, 4.6974, 1.1844, 0.2418, 0.0269, 0.1001, -0.6496, -0.7316, 6.694, 1.9853, -0.1197, -0.0317, -0.0171] camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.515,"left_y":-0.04,"left_z":0.035},"note":"The overhead view now exposes the cap forward-left of the fingers; the bottle has rotated slightly during the attempts. I will move the open jaws toward that visible neck, staying above the tabletop."})
tool
executing move_to over 7 steps (0.7s)
step 146
top_cam
camera top_cam step 146
left_cam
camera left_cam step 146
right_cam
camera right_cam step 146
assistant
agent noteThe neck is now immediately left of the gripper, and the bottle has shifted toward the outer edge. I will make one small lateral correction before closing, without pushing farther forward.
move_to
left_y0.0120left_z0.0050
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.144, 2.0106, 0.9306, 0.5159, -0.1844, -0.1482, 0.9958, -0.0212, 0.5774, 0.4461, -0.4637, -0.0299, -0.0425, 0.9999] state[eef_state]: left_x=0.5068 left_y=-0.0371 left_z=0.033 left_yaw=0.0794 left_pitch=0.0083 left_roll=-0.0134 left_gripper=0.9958 right_x=0.2541 right_y=0.0035 right_z=0.1455 right_yaw=0.0001 right_pitch=-0.0273 right_roll=-0.0059 right_gripper=0.9999 state[joint_eff]: [0.1573, -8.8821, 7.0769, 1.6777, 0.1197, 0.2711, 0.0024, -0.5675, -0.4034, 6.8034, 1.917, -0.1294, -0.0122, -0.0122] camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":0.012,"left_z":0.005},"note":"The neck is now immediately left of the gripper, and the bottle has shifted toward the outer edge. I will make one small lateral correction before closing, without pushing farther forward."})
tool
executing move_to over 5 steps (0.5s)
step 151
top_cam
camera top_cam step 151
left_cam
camera left_cam step 151
right_cam
camera right_cam step 151
assistant
agent noteThe left bottle has shifted against the outer edge rather than entering the jaws. I will lift and retract both arms to leave the bottles unobstructed and avoid pushing that bottle off the table.
move_to
left_x0.3300left_y0.0000left_z0.2000right_x0.2940right_y0.0040right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 2.0762, 0.91, 0.5884, -0.1112, -0.0921, 0.996, -0.0212, 0.5587, 0.4248, -0.4553, -0.0299, -0.0425, 0.9999] state[eef_state]: left_x=0.5057 left_y=0.0131 left_z=0.0074 left_yaw=0.1118 left_pitch=-0.0121 left_roll=-0.0025 left_gripper=0.996 right_x=0.2523 right_y=0.0035 right_z=0.1418 right_yaw=0.0001 right_pitch=-0.0216 right_roll=-0.006 right_gripper=0.9999 state[joint_eff]: [0.1299, -8.5128, 4.4103, 1.8486, 0.0415, 0.1392, 0.0073, -0.5538, -0.4171, 6.6667, 1.9023, -0.105, -0.0171, -0.0171] camera 'top_cam' (step 151): [image omitted: streamed camera frame] camera 'left_cam' (step 151): [image omitted: streamed camera frame] camera 'right_cam' (step 151): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.33,"left_y":0.0,"left_z":0.2,"right_x":0.294,"right_y":0.004,"right_z":0.2},"note":"The left bottle has shifted against the outer edge rather than entering the jaws. I will lift and retract both arms to leave the bottles unobstructed and avoid pushing that bottle off the table."})
tool
executing move_to over 14 steps (1.4s)
step 165
top_cam
camera top_cam step 165
left_cam
camera left_cam step 165
right_cam
camera right_cam step 165
assistant
agent noteThe left arm did not reach the requested clearance height during retraction. I will raise it more directly and slightly inward, away from the edge and the displaced bottle.
move_to
left_x0.4000left_y-0.0350left_z0.2300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1192, 1.602, 0.7017, 0.2012, -0.1658, -0.1238, 0.9963, -0.0196, 0.7944, 0.6365, -0.4812, -0.0299, -0.0429, 0.9999] state[eef_state]: left_x=0.4155 left_y=-0.0168 left_z=0.0641 left_yaw=0.077 left_pitch=-0.1262 left_roll=0.0238 left_gripper=0.9963 right_x=0.2846 right_y=0.0033 right_z=0.1741 right_yaw=0.0019 right_pitch=-0.0716 right_roll=-0.0052 right_gripper=0.9999 state[joint_eff]: [0.1983, -6.3521, 8.8547, 1.6239, -0.1197, 0.0464, 0.0171, 0.0205, -1.0598, 10.2496, 1.9902, -0.022, 0.0562, -0.0122] camera 'top_cam' (step 165): [image omitted: streamed camera frame] camera 'left_cam' (step 165): [image omitted: streamed camera frame] camera 'right_cam' (step 165): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.035,"left_z":0.23},"note":"The left arm did not reach the requested clearance height during retraction. I will raise it more directly and slightly inward, away from the edge and the displaced bottle."})
tool
executing move_to over 11 steps (1.1s)
step 176
top_cam
camera top_cam step 176
left_cam
camera left_cam step 176
right_cam
camera right_cam step 176
assistant
agent noteI could not obtain a reliable neck grasp to stand the bottles. The left bottle shifted to the outer table edge during the attempts, where further corrections risk pushing it off. I have lifted the working gripper away and stopped; all three bottles still need to be stood upright.
give_up
hindsightClosing while descending produced empty grasps with the fingertips above the narrow neck; separate descent and closure and verify actual height first. Low open-jaw corrections repeatedly pushed this lightweight bottle sideways. Once a neck grasp misses, lift completely clear before lateral realignment rather than correcting beside the bottle. The left arm also substantially under-tracked the final combined lift/retraction, so check clearance readback before any subsequent traverse.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1558, 1.2732, 0.6449, 0.0448, -0.1921, -0.1349, 0.9964, -0.0212, 0.7448, 0.5629, -0.4252, -0.0299, -0.0505, 0.9999] state[eef_state]: left_x=0.3806 left_y=-0.022 left_z=0.135 left_yaw=0.0669 left_pitch=-0.0098 left_roll=0.0062 left_gripper=0.9964 right_x=0.2806 right_y=0.0029 right_z=0.1651 right_yaw=0.0045 right_pitch=-0.0395 right_roll=-0.0122 right_gripper=0.9999 state[joint_eff]: [0.1709, -4.8342, 6.9538, 1.8242, -0.1587, -0.0855, -0.0073, -0.294, -1.2923, 7.4462, 2.0635, -0.1636, 0.0513, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not obtain a reliable neck grasp to stand the bottles. The left bottle shifted to the outer table edge during the attempts, where further corrections risk pushing it off. I have lifted the working gripper away and stopped; all three bottles still need to be stood upright.","hindsight":"Closing while descending produced empty grasps with the fingertips above the narrow neck; separate descent and closure and verify actual height first. Low open-jaw corrections repeatedly pushed this lightweight bottle sideways. Once a neck grasp misses, lift completely clear before lateral realignment rather than correcting beside the bottle. The left arm also substantially under-tracked the final combined lift/retraction, so check clearance readback before any subsequent traverse."})
tool
give_up: I could not obtain a reliable neck grasp to stand the bottles. The left bottle shifted to the outer table edge during the attempts, where further corrections risk pushing it off. I have lifted the working gripper away and stopped; all three bottles still need to be stood upright.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [0, 0], left_roll: [0, 0], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [0, 0], right_roll: [0, 0], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 13.26 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, 0.6079, -0.3771, -0.0189, -0.0288, 0.9986, -0.0158, 0.7879, 0.6037, -0.3832, -0.0288, -0.0341, 0.9999]\nstate[eef_state]: left_x=0.2955 left_y=0.001 left_z=0.1828 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2939 right_y=0.004 right_z=0.1808 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9999\nstate[joint_eff]: [-0.5265, -1.4154, 9.812, 1.7949, -0.0415, 0.1245, -0.1636, -0.9504, -0.9641, 10.2085, 1.8828, 0.0562, 0.1587, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35ab0500adeeac66787020a0a3185dd1c71dba3312fb69c1c00a0396c39190bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc7f1515c9884b79eb2723578c5f44c23058aa942bc4c4846fb3d5a40de63521",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df0e4566bf7087eb63b7f2c6dd8c402d3edf38e3bf4a3885267bc1953a18e589",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 35ab0500adee
wire blob dc7f1515c988
wire blob df0e4566bf70
call 1 attempt 0 · /responses · status 200 · 6.731 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqsqqpUYDHI4v6Cl1sR3WSJUitKPuzwkUe1QyNg82Y5HVdTKBNybKAIfU7fKLY8s0kEioxsdJZsyIv4rc-yiS0AedKcd099sSMkAFnsMN0MCRopQOXr1U9e9p_wBmWfRifi261i4NHIjW-FguJiZX275bsof9nANJQNJLVnDp6a6LBnqgxUZRJ1jCyBPyGuF0HKPIxfQzhFg5-OWry52MKJHzNmBY0G4CMiV9IgYnDA0Yu6nQyCE_TfmfA3cgRf04Er7edgR8GVPOk5BycfXGTjaqTxfDh4lK4EPoPX6lnx_jPGyaG7ZolPZnUYSum1nTjleHLjK4I9E8dSW44Q7OoxHG66nBJ_xQkiwqZxjm6wx5Izl9MUTvONehYDCoWPxXnNgBFVJLGLO2CbANO9MO2qzievO27m9vGbPKAxlrCBP6LHNbOebkRxKuj4hVWfT0QregGvaQnk6NnNxHASNlkXeW8WLd8_iTxlks_RmsIg0r97VtEhkOfxxkTouODQ3ukRB_WPZDSBDrIoheJTYV-g4tSE7TDq1sbB2XJVyIH4-UDmHA5Yi9Pm3LkifrSzIw-w2YNag6zQtLLAOv31IiykuOz9JYSUJ4WRSkdayw47pgsL1y497otwV2Ex8JCEqkOKTNHmRd2c9EbdhIcB93gO-OhEIeovU98SGLduOXn9U_42upddJBpyIAyjg814qll13PefwCtJQCEuRg4FE6rhR7h-X6WZMl2713CBivY8GQgh32X0omwO0oCyyNSm7KaIDvxVXImHgpXrn1ESiEOV3S1sRH8eh6b0sGrp9TcN49hM_73n190-_FSP13d9rfLZO9SbZDCx0_DmZXyF5uIUaGaPj-asReHecNqkPskPqveTc2eXVKKZkLvLCwkz6KjA5hqTLSe6p0nDmQR8h9Wi9rYec9-5yPNf8hYAvzZOqULN3ubkUNZkrFwEQQi0BKoULlmq4clwhwM9k3AxOyNs1k8KGfAVfbarEfp6bca8_cyruC0HgrZMx7JXXfQYaSWQ3iLNUGcnpzTcmwk1fwmMIgJO53OAvfd_mVaow8wzEM7EIWZMq7prCwzgV3QXerhmtekHs9237XaHT-Pvuu3fKkWFwSqddkhk9TniBrze6GVSxhJupOnhgjH2cKgepnY1qoTyokylS35a-4grEwEQx7hwIUV7Nu3-pM41ukMIxMdgZ0-pUhz7uup4PMrLy6J7zIKqSjHDsqNqJn8LIhr-9fJohIadWajmrg95qjkbia24wlkm1eKGeubY1VdengiUn6B9ppdwWPDD_cNrkFeA4HNZzaFJalr8QDBI0VmYZeMV33Wh7tGZOIaKfXQEVUD_WamoB1Y1ybUjZPlaSePcxB_NUlI3U9sxHNoag_PCosz3W8EJaO3RYvP5_gyB0lrupNsdUqjPOB_gk1POEGWRZCBKDpB6rp3UDK1xNZqk-msd3mOMEnnBiMo8ywD7-TKGWzyl5wZKw1Eq1QioiTWKEzIJMNwFyYcW6kN2WDpZv4e1f8RAiDokHmN5goe3Z9BFUrOdxGtg0StvBsLICEnuiq9JnAl-oQnW49wEp-VY09Fm55bj3JeQ8vLq-OCBQSv8KSkI9mNflIhInCs9KBIOvlySzSJCyLvqHccUHkXtOU19WcRxz9qHmWex7kgGXMUothkXnkl0mO3tbKUCspkUzZJMDSpoAOu1XZ2TlMyzLOiVPA_L47Zu4JaJnSJirrfD4lttV2tgOtZs2Bpoyt9f4kNerjGNngc60mtVNKFpszqIzpKAqCUFocCqZUj0znELanbbOdxZ1j_mFliujTsBThXPXIJaAE5BvYwwM8dv0rOfbIcRhxfcuZEXsWVdGQmwx9o0T5yTdtkAvaSSk63nPKmeVeexcUZvT_Or958pbWI2NDvQbZU0McQAsld2ku2MPIEkofw6lfdh6l7XiW11CEklYVxTf06Ss-w0IWeaBFTn4VlyhZTt1hf5FgRTkLiTPWCrTCs4oW-Y9p6xC25h83MCq46KHOvcBqlSDwrQwAo6IIRLxNVGexLxyEULwCA09vcS5Lo5RwSY6hfac6BsJF51zZ1xxvoU90T4yciDJZilv6GOzZTi79yYAHsLh3cDKWg3yuMyTM9P27VUDs6BlDmEtmhcewP0mASCITcU54RwxkvIc_5FsnXMSMEqIcsst6gC3ffmR7uz1eZUfPqGeCigOWhbMR9WWTALbLqOeBtmwB_rvlZw9IO4Js8ZnK7PaU5",
  "id": "rs_0cd95cd036c83185016ab2aa9f092c87d0b43a262a6df289f0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.13,\"left_z\":0.13,\"left_gripper\":1},\"note\":\"All three bottles are lying on their sides, with their caps pointing away from the bases. I will approach the left bottle near its neck so I can lift it and let its base swing downward.\"}",
  "call_id": "call_YyWqvpYHv7oFlj6B9yd8hPOY",
  "id": "fc_0cd95cd036c83185016ab2aaa7789887d08c61fd87b880cb99",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YyWqvpYHv7oFlj6B9yd8hPOY",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4671, 1.504, 0.7841, 0.0296, -0.3744, -0.2745, 0.9986, -0.0189, 0.7921, 0.6041, -0.3897, -0.0292, -0.0353, 0.9999]\nstate[eef_state]: left_x=0.3942 left_y=-0.1224 left_z=0.1098 left_yaw=-0.0172 left_pitch=-0.0731 left_roll=0.0287 left_gripper=0.9986 right_x=0.2934 right_y=0.0032 right_z=0.1785 right_yaw=-0.0021 right_pitch=-0.0103 right_roll=-0.0006 right_gripper=0.9999\nstate[joint_eff]: [-0.5265, -6.8034, 8.841, 1.7314, -0.1929, -0.0855, -0.1538, 0.0479, -1.5521, 7.0085, 1.8046, -0.0415, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6005a1bc98b62c8ec3fb4f34c4006d3bf1368896ac5f73a98bb924d6f3139af9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4918bcffe4adb143ae6e6daadc3316b0acfb8dd71060b48342db7e5ec58935a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc922f624d647ecee6e91c2182b7762545c0a243e73d2630c6b2e0fe812b70d6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 6005a1bc98b6
wire blob 4918bcffe4ad
wire blob cc922f624d64
call 2 attempt 0 · /responses · status 200 · 6.65 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, 0.6079, -0.3771, -0.0189, -0.0288, 0.9986, -0.0158, 0.7879, 0.6037, -0.3832, -0.0288, -0.0341, 0.9999]\nstate[eef_state]: left_x=0.2955 left_y=0.001 left_z=0.1828 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2939 right_y=0.004 right_z=0.1808 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9999\nstate[joint_eff]: [-0.5265, -1.4154, 9.812, 1.7949, -0.0415, 0.1245, -0.1636, -0.9504, -0.9641, 10.2085, 1.8828, 0.0562, 0.1587, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqqx_jl9meW-BbHAAwlSarPYpWfV-JzhUG3eV8l629OCm7jfcI3EGmgunmz04G7eUBns51Zs6ry6ZkKDbSF9Xc6pa58KeYTIa7fd2xmzB1v1GiisEjdbVu-JgpLsScWBPrJRYi7AvlrEgVCCul3Psn53Gfo7OZLFW7L8-0HoCRY5aCPSLNTlOxipFAlEgbpF32n6y5MU8gXu21eoW1UoM1LKRoU9sYXG1ENPXbCJ2I_vMj5yydg4pFad5s2rGDLaoc7ovuxJggkBEH64PnvMhYFl90UYxrFpPnRc78LjJliFcIQ7VRUx_6k0ExBP7VIJ7vyKHzf54tq3Qf2AYlF4lHTqJs-u3JQZq81OgEbFpxU1mFCmDU5sttmRy6wGaW8FnE9E9a4VX03zJsQnTvtLt1ITlD18ao_ByIAfXdtrlF_wlZoaE2Ofbmz0feGRPsjkbEQzJxyjkbQILnwPe_up0mo1ewQzQA9rRh50qTxCiyVTjpr2tN_I1chCo_oRw_MYALeMfKpP7e1dibb9DRpB2ERS6Ed-SG-2H89JdAqqGdgEDaIVPcUtS5bcMU4n1lzcMWGBPWxkWz7xbQ9y29Kw4XU634a9PnCWO1Q51yK_8CVzWLfnHWyrtxHmayhwH0eOA9p3kJ94dAl4dGS4R4Dw0veEs3241_YpEKF_hp-cutPctQ5m_aHGEruZI1GVPOO6c63Rac57seGKk9KSkfkgusF_EZQQYYMU-J9fbERa0BZUDQZd3NiaG_qrI4xVPrCdlzD13wRyu8EyY1JFpTzTgmj_4zHzCK-ndajapm_IXduiFdlhDGL_Ij-gvpVm0kqt2-tVmBfkjxRQCF-xZ0hmkz9RxYjeZHYGHg0YZk4x9Zz82SdNWpNHXchup2yYFdF_mS1_WVUr6AxKj4xlushuIX-9IziME-T2TtkAVdCgJI-Sufgc_KgKo3kTRsCboBA40Xjl2Y9Sf7nnlt0zdesneDQTKTKn1UANC7YAXhD_25I-t5KNb3u5zi_RBDRF_8M1ZHJCSplYmNlUe95E6Pci0aEcWZ8Hq3TqZZV6LfgPhMDzZ1LEIzmfn7h4MucG7n0Gtdc3TpDyY_LGGEj7BixWmIOlJj_j_FVsMpyQZ1q-FjvYlvnRXwdbVAT5lTXW-smnTVGBhpwKgwJ59fKfPMDaYIZqd8I4hKGQI6vpzaCMSFkPfgbB6whOMIW8qfgGfq8kiy416VhGxy0rviTWxRqkf3XQA-FX_G1s7ZiVtrpSSsvUe0tU6Dm-Dy-a2LgZLyaGck3OEEfU53HLRMukBh40-QQeHf8fwyhViTZGdO9BaFVDGiNwUvKyaOM7vMGbTUpWVTVcJXxocL2cV2sMJpFwwv5jap_v6Sh7OoJ68n7UE30CcRmXbL0sqFoYHIz8u6XuATBnxqdtzftREIa3JCp5pd_ADRvEFHU1Za7iaL7eOarqualTVeuUP1kKfcItrKizRGEQ7VfUdTcSUfydSDy6uN43_SklLEjZ4XpfZVaTFaYzVLT92yjyNWk9f36MvG_xq8toFFARnG7FvC7jbnwKObAxkwLD1uiGsvlqTbLRkOn_KKM=",
  "id": "rs_0cd95cd036c83185016ab2aaacb7a087d091d84a94299b68bc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.465,\"left_y\":-0.095,\"left_z\":0.045},\"note\":\"The left bottle’s cap is still forward and left of the jaw center in the wrist view. I will shift toward its neck and lower the open fingers around it.\"}",
  "call_id": "call_SVyGmQhFZoKzDCaSSDOaqXYG",
  "id": "fc_0cd95cd036c83185016ab2aaafdcd087d08bc06b112f190dc5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SVyGmQhFZoKzDCaSSDOaqXYG",
  "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]: [-0.3088, 1.8412, 0.7815, 0.4351, -0.284, -0.2081, 0.9984, -0.0193, 0.7918, 0.6029, -0.3897, -0.0292, -0.0353, 0.9999]\nstate[eef_state]: left_x=0.4517 left_y=-0.0884 left_z=0.0421 left_yaw=0.03 left_pitch=-0.0345 left_roll=0.0067 left_gripper=0.9984 right_x=0.2932 right_y=0.0031 right_z=0.1781 right_yaw=-0.0025 right_pitch=-0.011 right_roll=-0.0006 right_gripper=0.9999\nstate[joint_eff]: [0.3897, -7.7744, 6.7761, 1.4921, 0.1001, 0.315, -0.0366, -0.2667, -1.7709, 6.2838, 1.8291, -0.0317, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d42e3d9a143f7cc19c1edb1f7c4f504c82ddbe42ac375da155b4722f5c1be935",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b7157a49f9193578be9c6e9c150cdb351bb29bc72981ee90a979ea734a124ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9074e370754f9e45e583099e50ef18f57044fe93a58696ae9721863d95b8353e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob d42e3d9a143f
wire blob 9b7157a49f91
wire blob 9074e370754f
call 3 attempt 0 · /responses · status 200 · 9.39 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]: [-0.4671, 1.504, 0.7841, 0.0296, -0.3744, -0.2745, 0.9986, -0.0189, 0.7921, 0.6041, -0.3897, -0.0292, -0.0353, 0.9999]\nstate[eef_state]: left_x=0.3942 left_y=-0.1224 left_z=0.1098 left_yaw=-0.0172 left_pitch=-0.0731 left_roll=0.0287 left_gripper=0.9986 right_x=0.2934 right_y=0.0032 right_z=0.1785 right_yaw=-0.0021 right_pitch=-0.0103 right_roll=-0.0006 right_gripper=0.9999\nstate[joint_eff]: [-0.5265, -6.8034, 8.841, 1.7314, -0.1929, -0.0855, -0.1538, 0.0479, -1.5521, 7.0085, 1.8046, -0.0415, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqq4QXK59jUxJoQV7lWuAs5nd3H38yJAlokqC4_SvI1IXTUlAyPlk8wj7Fl-hH5qwpU9Wn2r088ffvaMsLW9vRExedbVyOY-FXBumJFEujQsakvhtf_C5mRuuS0osym6O7919H1vxWxdIrTlohn2-2GA_6RF53FhQiz7ufvLlmaTs6QLd7YXWK9xkMz5H7tp7z9aNEDWBdf6OsK0fZHCnFQ7n4Cmf6xzzleGHjskodrsY1yCDr5scNCaIJ2MrMZeRBvC4zYsrcKshbw2kx3qz1vLbsPWq6z0eFVURVzuO62gJehS5yNzbMqTgHNn0yFhl1vRiNifT26xmDjLb5yWxn6JpDQfqoBUVoi1avd_tGpRSK6tme4n69-v60dy5rySQF9Ceb9ZbziY7395wzA66gCW-WuBbdzeORU6o3Wq_rG3MwxJgZx_0Uhjwtpv5L1h_gBJkXRLs9OOznGxBbMlBjwZqqbXAslVIqeILxtKgZh_gP-7Z5ZtbF-DniZXCi4XJdQA2uzGFsTnlFL907gew8e_b8GxFTvCoL2AUH2DeigrZKeR9fUMhYShrqaRrBaGBsjpnIQjuTQRuJUtLsvw7RuiiQ4tTNOXv2ZnJzkpi4HG-EMq9u-CWXQ-aWwAU-Xttci6b0HPnSBWXgXvExyjCl6y_8n6AgKwtpCUxymnkaDzN18-dMKsgFdIqgbNTgo2Ni98waJxleI-C4np-nRriu5MlUGCB38eP8q-LPsztmA673YkoLnMjxvQx7e4uhczz_iJ19XI7JQilnn-kBXqCvPcZdN_UImcsy4FLYRsQkAGEatbAXu_aVk9zaV0CMMP3nDUpJF5LPswYuZMGHd1TNAkOzaRd9bIBil711U5y9ZQ0oF7SA-L_3cUGrQiJWkOsgXI2dXTX-MrR4axih2VDl7m-OI_fZq-WCT-po5svd9MshPwxroy1cvf8ebTaaiihPehjf_et7MqGWuQtYDWAMzfBJ9pwrJUyMXHEZEvXQY4YELy43LM4NF8qoxwBKJuMS68fouoSuLH9gAx7d1E9f1aDRc-ntPmqV9x9rxJAVYGywwvM-C2QqgA08C9lKqFvtpeAmSWBhH7vVdniEL0V4vh1gF9zkQhJ1iIHXieYLLDuKZDG9U1JBEqaQn6PGWnjvutx95dZztPkVPHIiQCiGp-6z8CfqWnrPQQ16oeBUaguTkfR-85Gem1eSAzsoiTaP4K7lTia-Jt9hQUtOL63B9r0NNZt-vYorsLPtz0IJG-1QGpE4fZlrerXT_rfhRgMJbY3uypZG-caGXvyy-a98yiMIKxyQWjnWl-jah2K6LxPY-KPXiyOCC9DuFQbsfwuosttE_NHEAOmQoAgQVzSD2iUTHAsNd0X0IcVSsFYcuJAT1JrT0yvtbO42r2-3ExBu9D1_Di4gGnwMysk-N9Dj6w0gquqYg5aJexoGmXwAFQnZMt3umJ0Y8r4gLHTl7Mf_GQ",
  "id": "rs_0cd95cd036c83185016ab2aab51bd887d0a1a4257062520221",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.075,\"left_z\":0.018},\"note\":\"The fingers are beside the bottle, but its neck remains left of center. I will make a small forward-left correction at neck height before closing.\"}",
  "call_id": "call_t97WPi9TO3umvQVYUwWbt5mp",
  "id": "fc_0cd95cd036c83185016ab2aab7270487d0bc030cf832c33b9f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_t97WPi9TO3umvQVYUwWbt5mp",
  "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]: [-0.2573, 1.9972, 0.844, 0.5274, -0.2424, -0.1833, 0.9983, -0.0193, 0.791, 0.6022, -0.3893, -0.0292, -0.0353, 0.9999]\nstate[eef_state]: left_x=0.4752 left_y=-0.0775 left_z=0.0114 left_yaw=0.0337 left_pitch=-0.0432 left_roll=0.0044 left_gripper=0.9983 right_x=0.2931 right_y=0.0031 right_z=0.178 right_yaw=-0.0025 right_pitch=-0.0107 right_roll=-0.0006 right_gripper=0.9999\nstate[joint_eff]: [0.4444, -9.7436, 6.5162, 1.9365, -0.0171, 0.1099, -0.0171, -0.1026, -1.7983, 6.2017, 1.8632, -0.0562, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:024dbff03e2757076909d7f59d476688975e580388e93673856802ec5cebee93",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d81332d3e68cb62f997aab41c76fcc1a984d558607e9a88654ff8099390039c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc7399047af5bcd42cfb0f1473c39742b2c7413c992e3dd4778c16500455b248",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 024dbff03e27
wire blob 4d81332d3e68
wire blob fc7399047af5
call 4 attempt 0 · /responses · status 200 · 7.488 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]: [-0.3088, 1.8412, 0.7815, 0.4351, -0.284, -0.2081, 0.9984, -0.0193, 0.7918, 0.6029, -0.3897, -0.0292, -0.0353, 0.9999]\nstate[eef_state]: left_x=0.4517 left_y=-0.0884 left_z=0.0421 left_yaw=0.03 left_pitch=-0.0345 left_roll=0.0067 left_gripper=0.9984 right_x=0.2932 right_y=0.0031 right_z=0.1781 right_yaw=-0.0025 right_pitch=-0.011 right_roll=-0.0006 right_gripper=0.9999\nstate[joint_eff]: [0.3897, -7.7744, 6.7761, 1.4921, 0.1001, 0.315, -0.0366, -0.2667, -1.7709, 6.2838, 1.8291, -0.0317, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqrCX0br2TRHgYybu6w-U6d8k_3_xXaeahc6h3sGBzQbkqUA1hwzJQyX0rP8Jb_fAM9C6jofYbzcapOW_4-CkgImkEPklV-DwTMNz9HjXTTm3FgS1EnDoDwtuoxblbWMb50VcVxwO4bWBQHfU2Z1iMp-ZM_5PkC5pkVBsZFjFaeiNGfPdlDIqHiW7Bpr6mObhr2Bi91C8VBt79YkA7Oz_eeKjWovLzZYhq6lf7BRXvJBkKbtwHXltQUBltoW6a7NA7EsyoEWjEORQNqVvRLK4dtcarVQ0Syb7Wyv0gpBwREGP87CpOsanoKY8xW29Z6ifq5E2rA-4xFWNPsK7mcxSDzkrHTSw9_VNJIQr3-zRNt6NXeN7G0RA7dZhrMr4LIDsob9KIaYVbBhCZcldiY5J6V3IDNWfgAhTUmJ_SFkWTw5EitWouKh2H04z39W9oyPKaVQ6v1cSdI6THClNeoI5GXQkCh7dtZygyPrCJ1WaueCzDCRU_sCHZnSlyU5jLX9SRc7HzdqFiT4LxYTJwd-NsW-A_RQ7bhG9Uf-dIVMk9tDvhz77su76JaQPOLX47RpFhhz5Xd8P2ojLNOJfUbNoAnm7HvMt4DonoJsq7AazRP504yUpJXk7Kb7SByrhQWgra8ixnEFpzaJMYe0bpVJFNU-NtsLvxNf5p6aJcDA75d2teHyB8jJPDihL3FRrXwZl9ehfBwRCE-FG4AQXWuulHiBHD5zlObU23CeiBsk1Tg8G7f0vgQSOIaCe-EsxEcd5lD7qFJMKNsBCPu2B1uSKnLuhv1HsIRzaKMDYfVK_ejXyJIT7EsuaWr19e4B9OXJCs8cZXyxALr9xjGkWuLl2mRYJepJU8KPu26xyGvRqJ2fHUbmIf3_YmmOu66qS55d-scMKvuxEL_hFePxi3JSFYgOiTM4UsxjSOAAmQqr814z6s5GlcYcr11L8nPINtEZpfEhEEYAByexXe3M2EiR_JLAiAjZ9SMWDBJTKgqfVOTyO1NHlTEi1WnIfTsrIKY9zWH0kykPfkZsaAHPxA3CGtGjNZ1cOxNHQEDhZTuTb-Blg3ETobsZaQJB7AStxc1r-R2YeoVbKJYv1EJ5WWsTBTEwDewljN5s1ut3YWFf0ELDXP_3DifyEcYhvb8Txmt9Fc9LLbPomMv3BHNU0cE0wePiytkcwJ1Jys9OndQgwqJojWQUk9i0BfBlbLcokTuGAwl_ZyRsx3TSjL_qvcUCjlK-a5f2hcIXAlBOgrSG6KbrayX7ENNCyfZ0n9JLrobaGx1P1w_Z5cAA9TlVZC4rbQD8SHCrJ4TC9nf4x1IUTHvrzgmCbj2j7QsWXQ-OQvjMeipwnplhrgdcYejnAdnfKA7LquxjkIrN73rz9yNMKTaIcIcn4A2YasEUTQovrdktkjcG0YLN-OWoEX_9MWeISUsb2XjtCCFKy0tbwpmrZ2NZgu7bYf1N2aC1beXPo2kxIKXqcP-t7KuoN9x99tcneCy6abOuWomVV4-PYnEAO8gOZyk1jdFK8maGuOIJjJjK74Ry0DxOD8cOQCTH32htuAJk5Q5S8aq9rGat-TR9A1jsTkKemkVx5FsUIBczjCEZ9doKkKM0DMwIiOiprwag5FSOYjGl-Ve0AoDNE-jxn0xOT1PfPruetu0D6UJpfh4DKg-03BRBN5YZwjmMfejeDfnk5XPcyuZcr9mzPFmEaDO2NbjYqFwGsTktsWfP1aRNrthm1ai8En5kX-WLVPGNF6KkP1zscNWYtrrtz3n8SBTR28faTiRhDvlNdX9Behr9mThqGhoRp4PlxOB9smecqM0VQI_GKOdvyorBffM4xYUodk8Im1TJEIzUNBbgti8Hhxj24LghO5fM-ztk020OMU4WZNXUhPskR4UESqN7POtvsBvJn09yy0YGH460vrod87nDNTPMNsk02x2EwYqR2cEH1TvOyWElih14MxCckY27d6dt5dbOAxxoHyj_5114XU7czIxN3xct9FPJrS_5OEIk8g==",
  "id": "rs_0cd95cd036c83185016ab2aabbc25087d09c322683a24ee406",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The bottle slid forward during the low approach, leaving its lower body between the fingers. I will grasp it there first and draw it back into a more reachable area.\"}",
  "call_id": "call_boxnpYklHWwGsbAdkZxRgjbQ",
  "id": "fc_0cd95cd036c83185016ab2aac0706c87d08c1147a538912948",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_boxnpYklHWwGsbAdkZxRgjbQ",
  "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]: [-0.2359, 2.0243, 0.8574, 0.5503, -0.2424, -0.1829, 0.5374, -0.0193, 0.791, 0.5957, -0.3893, -0.0296, -0.0353, 0.9999]\nstate[eef_state]: left_x=0.4817 left_y=-0.0685 left_z=0.0081 left_yaw=0.0547 left_pitch=-0.0345 left_roll=0.002 left_gripper=0.5374 right_x=0.2923 right_y=0.0032 right_z=0.1751 right_yaw=-0.0022 right_pitch=-0.0171 right_roll=-0.0003 right_gripper=0.9999\nstate[joint_eff]: [-0.3624, -9.5658, 6.3795, 1.8535, -0.0073, 0.0952, 1.033, -0.1573, -1.853, 6.694, 1.8828, -0.0708, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4ccb154fd6e3ddf4ab1b241035bbe25101f715c22edc593854f90a338f5ded5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68a88728aaccfa71fedbdb5c390f7666253cac271d7af19fa6b91e7d083e1d0c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef98afe5cb40edb9e0b8190b6823b5c804e137d893cd187dfd9f6c57b752f8de",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 5.179 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]: [-0.2573, 1.9972, 0.844, 0.5274, -0.2424, -0.1833, 0.9983, -0.0193, 0.791, 0.6022, -0.3893, -0.0292, -0.0353, 0.9999]\nstate[eef_state]: left_x=0.4752 left_y=-0.0775 left_z=0.0114 left_yaw=0.0337 left_pitch=-0.0432 left_roll=0.0044 left_gripper=0.9983 right_x=0.2931 right_y=0.0031 right_z=0.178 right_yaw=-0.0025 right_pitch=-0.0107 right_roll=-0.0006 right_gripper=0.9999\nstate[joint_eff]: [0.4444, -9.7436, 6.5162, 1.9365, -0.0171, 0.1099, -0.0171, -0.1026, -1.7983, 6.2017, 1.8632, -0.0562, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqrKrNvx1P02GsKDZPLeMXSIkj9gbbf1MIzZfkDvU_ITIRhqJYKeZVFKiCR6KljHFny8UiavNMvYGuW8FpL_vkcOiz-ibLafCJxaLmIYjC3pkRPZ3AQZ42h962GlhMuopyPfFM5lCfMMZsPsr2vVUoKmrKYLaHAUzbxJt_t38Z6zqx1u2kPeNPlxOLbNArXR2_WlTf4q5YSmJ_-zWqljql0O-Maln1qh6YFSBhYl-kzeDGXEkRbHasHKvQlscy5OB1U1PI9678U4zmOCY5Cc__0spkkHZRzmIiwgzSGMlRlKaLfwBdmNtzCeuqizAZYuKjr0QZ9Zn6FaIU1DIRxKX_NkxNn-aB5xxEqJAKFvudOAn-00tnzRezCAfq22gECFOX4WtO6b3q71IWdJoUyg8pDDhvHoqqhjyUPj05KqL5HczMbmIOIi3sVK_fuNA-Wm7zStAuLEzBT6BRz2ex9ARWMpgV2jDerNENPl9baLGwqQobQTm40hKd_mJ52AtT58Mew-uSfv6DkJSXUG1Fua5BehmRssowlyASb1Vqu77Jn0lmLy6_TEv4aR2klfKH2lPPGUdnYtnLdXwxXEcQp8FH6kMjwRjtnAwAQDn7EgKODQPd1Js6UXjwEa4giLXr8mzGLftcHebojqWl0oytJV7gwtyIqKLmFpFAfQdIkUOJ1P2o5HCnyh44vJMFWGGB44bsLpnDhzxlliPRcmscVGNWU2Lrfc-J4pu2E6eGPq1MW-yPIQzZ_lX0A_NcY4Uey_BTdyVhlE92ngoKYm3Qi5g21wWUpRmiHe7aO7gYDKGlGm056X8n3FPBXApdUlVYS2frOcPc4bZvy7vQIA7biLEKDLwXVz249xIqamvQ9QOS7BVv30xs8u5_81AWyeTPirwq0pJ38NzkLAiZU4KLnM05q9BDhvmgX6nuTR7cdRMnRlE-TTSk7Gyto3cfa4wTUz17UEpV3idXaveevWbFH7BamciZRLtgQH3fDGi7mhzLQUIAVgiWtDTGMHvyWCbKdRjbcvbR1jovXWmGUGg8tkfQfS_GP9OfOdAXAdPvWpG6YFnYoDlPIXmEsT18vFLcKrf0pQpAgfWNxQN1n1-79L8UptzG44V-2pc2T3sP6qBCrUl-60tBkUTX1C7ndIJyBnm7t-AP9oJs1Gfh1xxAorCHDRubxjem2FemarJLEpJGMNyzNyPjMN8cMLGbLGYrVzOHogL6HaWudpzhYwE_GWBqKeUcRbqpfjM6s6lHUbRXuqd6mCvgQBVVJG6jcesENB0owh",
  "id": "rs_0cd95cd036c83185016ab2aac80ed487d0b12997f5e4e64757",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_z\":0.085},\"note\":\"The gripper has closed onto a roughly five-centimeter section of the bottle. I will lift slightly and pull it toward the base to bring the neck within reach.\"}",
  "call_id": "call_GOfAnwlD6r7MygFFN0Y0Y9N1",
  "id": "fc_0cd95cd036c83185016ab2aac8e90c87d08da7cf19ae08b568",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GOfAnwlD6r7MygFFN0Y0Y9N1",
  "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]: [-0.3603, 1.4345, 0.4667, 0.2276, -0.3019, -0.2405, 0.5394, -0.0189, 0.7845, 0.5823, -0.3882, -0.0296, -0.0353, 0.9999]\nstate[eef_state]: left_x=0.3462 left_y=-0.0705 left_z=0.0449 left_yaw=0.0142 left_pitch=-0.1385 left_roll=0.0319 left_gripper=0.5394 right_x=0.2904 right_y=0.0033 right_z=0.171 right_yaw=-0.0018 right_pitch=-0.0229 right_roll=-0.0002 right_gripper=0.9999\nstate[joint_eff]: [-0.1709, -7.4872, 7.1316, 2.7814, -0.5201, -0.149, 1.0232, -0.1983, -1.1009, 6.694, 1.9023, -0.0659, -0.0366, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c2ae6c20f470c1f1a734df2e08ebc7d0d51bd23a7666a4023fa47f96b297ebf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88a81f5b6df3f76769bb9e183c081c8d141f19d9e865c999a76c0a39cf787c19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61961b95fdcdde95397bddeafa0fbb889c77c9a1cacf241f3cb2ddecda673ab8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 3.161 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]: [-0.2359, 2.0243, 0.8574, 0.5503, -0.2424, -0.1829, 0.5374, -0.0193, 0.791, 0.5957, -0.3893, -0.0296, -0.0353, 0.9999]\nstate[eef_state]: left_x=0.4817 left_y=-0.0685 left_z=0.0081 left_yaw=0.0547 left_pitch=-0.0345 left_roll=0.002 left_gripper=0.5374 right_x=0.2923 right_y=0.0032 right_z=0.1751 right_yaw=-0.0022 right_pitch=-0.0171 right_roll=-0.0003 right_gripper=0.9999\nstate[joint_eff]: [-0.3624, -9.5658, 6.3795, 1.8535, -0.0073, 0.0952, 1.033, -0.1573, -1.853, 6.694, 1.8828, -0.0708, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqrQa6OIIs3e3rdKzNlUgf_WdylYL7swfkMNne2syz4uqEDhXbmrDwOE5_aJFLboBsbM4CDD_8mttptLhQ4scJDQVJU0AH2NRsISVf0pc3KdUI0X6UjX7ej2pWdSs-__Wq3dWInXXsp6-7bhFAa5fBM9Q_AWjxUGHJYRLWJSQD7lm_JWoPWvdkErDWsgpC79zkIpNV3K_LA7-bwbyn7JWo9v9hBTm8GPFQrA41hJimZfbZpr5YpqBiq4elUimX3qKT6ux5yGWS1bxMWaE_gtQ-5hHsXYbagD4CTQSnybjQiLLkwlHYvGbUdCJY5U3FQHkzLnTSsItdyCm6kHqGwFYSUp8YhFJE3eFsRUQLdbCY0XxTRp8oFfKBeY_gxn9fs1BCzg0wBfbt7FLYWzbBWOH5ns065jS_x0fNYQDhpymPnmSaaG3WA8989v89ktig3MgkGbPkzgeb78oTInU1g0mS9aCiTNQ97ByJ7tPqdDdKW11ttImNXW_L1z7N6H4fdjrwn_moyx084WbhZ74oQ8iZAfRu4zl6KJZSKp2YZiJ6PX82AVtf8JbPTed1OG4TWzypLh3Yz1qYkOPBt13m-MqhEYASQcSTBtG8IyHWTv1FHcBaZkj6ZVSRXNQcc0QILyYCZ2w3-S41kuamFtHnSe6idRd-DPds6ywR3nRcCQj6AnglYS0wx4CQaE02U8FFQ0X0zLZzCZPSAnL39IYHfbN73D7o1_sXOfRcinocbH9N_kabHCHBLEVsXzY8f2Gdosj9fMO3-HeqSreBvYbqnPw5R52NjkY0sxlg090bGnfEgyypOGG9Owbyy4aKUd8RhDR005XBjV0WHrh1lIQ_IqSWOy4A4d4qlTBectUM4Tw9G-3u-HhKO8QCfQu9HhmZ59okSaJ2sFnDqERgthRDP5DRSnjBEL4z-TAjFaHR3ysBKEgdcoCE3B_Cg9orYk8pGGsXEUx3Tasxo3lAdSccdWsLKqsm0G4CNNf5uJ-tyQQhA34ePORxtq--Cd2Rrbd5EuQ74ZOUfonChoI4byd6jOfnXYxkSI6XFifoKARfjwJtsBYbONI-akjN28mYP_H011Ve6i7hpt9oMCD4qD9BIEANUSE63ihUKK5_sP-RhYc0ALoKqjTEJSf1ZOlU2ovG_L3PjOlJX9O9PrKx94CmeRojZRwVQ0cSBmKhgylPRvKQFu2vlBnKzWdeYXCnWM-XJ6Z4_zvVUkLCB7FGDJEIW2qhdKxTubmjrC3QxO77W8MOr7gyuH7f-pYxsOojAIlJm2l3dPc4QO88P51k5v-Ei_GP5gKtSNY-3dRQvWNFx9AvUfdSt6Y2EBDIhwH2vdTBJXRRjdFX-RIyQFUbMSsHoaAQTeAA==",
  "id": "rs_0cd95cd036c83185016ab2aacdb68487d094c1b44034857b7f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.265,\"left_z\":0.03,\"right_x\":0.294,\"right_y\":0.004,\"right_z\":0.183},\"note\":\"The bottle moved with the gripper and is now closer to the base. I will bring it a little farther back and rest it on the table for a neck regrasp.\"}",
  "call_id": "call_a2IsGforXnYsLxVbctGIhy29",
  "id": "fc_0cd95cd036c83185016ab2aacf124887d0ad0b6ac9cf8d2be7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_a2IsGforXnYsLxVbctGIhy29",
  "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]: [-0.5739, 1.1873, 0.0692, 0.3569, -0.4248, -0.3389, 0.5394, -0.0189, 0.7856, 0.5816, -0.3923, -0.0292, -0.0349, 0.9999]\nstate[eef_state]: left_x=0.2512 left_y=-0.0714 left_z=0.0035 left_yaw=-0.0458 left_pitch=-0.1187 left_roll=0.0406 left_gripper=0.5394 right_x=0.2898 right_y=0.0033 right_z=0.1694 right_yaw=-0.0023 right_pitch=-0.029 right_roll=0.0 right_gripper=0.9999\nstate[joint_eff]: [-0.1983, -3.3846, 6.9128, 2.42, -0.5934, -0.0024, 0.9206, 0.3077, -0.8684, 9.7026, 1.7851, -0.0073, 0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:272c586007cbf4ed7210bf0c9138664967080c593124de03eef0a040e13f1190",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:809178da633b27ab74ab6d058a6bd91af11463b6cb960195b3c8f8b9e1ce4c7d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2841603773b74ccfc25ab29621fafe68cc5ac2202b751e17124934e6e64ef302",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /responses · status 200 · 5.694 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]: [-0.3603, 1.4345, 0.4667, 0.2276, -0.3019, -0.2405, 0.5394, -0.0189, 0.7845, 0.5823, -0.3882, -0.0296, -0.0353, 0.9999]\nstate[eef_state]: left_x=0.3462 left_y=-0.0705 left_z=0.0449 left_yaw=0.0142 left_pitch=-0.1385 left_roll=0.0319 left_gripper=0.5394 right_x=0.2904 right_y=0.0033 right_z=0.171 right_yaw=-0.0018 right_pitch=-0.0229 right_roll=-0.0002 right_gripper=0.9999\nstate[joint_eff]: [-0.1709, -7.4872, 7.1316, 2.7814, -0.5201, -0.149, 1.0232, -0.1983, -1.1009, 6.694, 1.9023, -0.0659, -0.0366, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The left bottle is resting lengthwise in a reachable area. I will release its body before moving to the neck.\"}",
  "call_id": "call_mPHAiMOnLFjGIw5BXFl0Kc1H",
  "id": "fc_0cd95cd036c83185016ab2aad3990087d0bac362b297e399b2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mPHAiMOnLFjGIw5BXFl0Kc1H",
  "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]: [-0.6029, 1.3201, 0.0051, 0.6445, -0.4721, -0.3595, 0.9954, -0.0193, 0.7723, 0.5537, -0.3923, -0.0296, -0.0357, 0.9999]\nstate[eef_state]: left_x=0.2559 left_y=-0.0743 left_z=0.0048 left_yaw=-0.0295 left_pitch=-0.0248 left_roll=0.0028 left_gripper=0.9954 right_x=0.2854 right_y=0.0033 right_z=0.1603 right_yaw=-0.002 right_pitch=-0.0435 right_roll=-0.0001 right_gripper=0.9999\nstate[joint_eff]: [-0.8684, -2.2632, 3.6991, 1.79, -0.188, 0.1001, -0.1245, -0.3487, -1.7299, 6.9402, 2.0293, -0.0757, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bbf9977e608f4ef1849876919aeb826834da473dba15ef2016121f9ceb40d93",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5223a230ae70da4866af5addb3e8f6c00ac309fa652cd99f31bf19d0a2b40c72",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c7acd2e2e982e8cd66c4289fdcd9ce31e8508e756fbfb1802d9a7c466a9346b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 4.237 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]: [-0.5739, 1.1873, 0.0692, 0.3569, -0.4248, -0.3389, 0.5394, -0.0189, 0.7856, 0.5816, -0.3923, -0.0292, -0.0349, 0.9999]\nstate[eef_state]: left_x=0.2512 left_y=-0.0714 left_z=0.0035 left_yaw=-0.0458 left_pitch=-0.1187 left_roll=0.0406 left_gripper=0.5394 right_x=0.2898 right_y=0.0033 right_z=0.1694 right_yaw=-0.0023 right_pitch=-0.029 right_roll=0.0 right_gripper=0.9999\nstate[joint_eff]: [-0.1983, -3.3846, 6.9128, 2.42, -0.5934, -0.0024, 0.9206, 0.3077, -0.8684, 9.7026, 1.7851, -0.0073, 0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqraLgVV9HlW-0FoAKtfW_Yhw6-DGICSz0xevEBqec0JJOlVzO0w2aUPJ8pzBWzGJAopcs716rDMqtopahErl1VBSDHO4MZZHRnGyCkhyYIgIseudYyw4AOzstCuRVbOPZrCMZJqF8lgDc4X6nb-sBUuZDQFMkVuYBqIUfrBq_qNRTe170eUTFdwvIv50gqUaXsvPg28NqhFKTZvmaf2amQIXmpLpOSfW6F2f7rojpUaHyjqwtDF3_LBDbrkV1yw6f-DrOS0dVY7XwerCwOmloVWL8b3Cr86Fzuz8SPW_Ly9vZCVcNtDA_UhxACxfjWP444pBrM3RhmNHDk2-OOCnUx_AyFba_8T1seU6h1t07i4Tk6gAL667SM6Po3lTABIEtgTGXoGdx0uYwBM8qJaiGXr7dUeh2QiCvC9OWQfd4lJRAsC0p_xeaYZWH3xzSg3W46SDBoG22n3ZxEqiAxnHz1Tn_BvGKFp3rcuPAHSzSK__IQk2KGsH8dH49per2iryApC2atquT6vdconuYAVjc7loph-Tqo3zEHCtVi6Yfo7tVhYsPxIVMswWv9Mu5mXJnHzxrHj_aMWcu2LmnhN8vfHAbP4yvfrkyMnnMahJ91KnRgObp0zpZG86-99P5xi9-gZw3BOr0R_13Z7LTyWo65881EHCoynPQhrU8GWbNtoU6-8IlXiPP3Vxt2YB5qGvvJ7jOyKKXVRD3ZxUck5zJx3Rl4TP1zcw1JD5OUYc9vn2jVvm38Lfo_ZzRcKvhnm1C4b9EmXLQBuMBzqLblM4o221Tms8FQQYEk0Z9R18yX_RwH07ThIe0KOzDQc6x6ulXhFEnL_L24tgSIXoNt57JytS54LiYUFXLi7Mo98DkO9YsHUiEgjP9vMcuk4CWChQYc-NekV7fXPPbeeGCIZ7VMID-EAATrb4VxuaSnMl4ZXdtBICpMTSObC0BemrMN9DQyN1lsMenBhgd8Y9z1iuEc2spaYVFHWyzMsHV3g16V5U-UoqPiumtbWGHyBo8zZPInamEDMIdPr0rbRFOCV5ptdax_MDYVMZKGhzhV7Xa2WPd5XvO1iOo6DYWl5iHBJoetPLf8TwAiX9blfVZqkR9TF9oqHIVxhvyaALa_k0TbT3Ma2eY1DGvGkaTKwY8_R8Zx_37yIKfWEeS5RNkdo-SfcDpRskodFqLyqa7Q1dYpgJpK8wwBFoYqE7b2c2u2YRZTDXoPAJH8KfqwLMgC-K5NLDeFG1SXn6MUcufWCe9GefjE_NqU7iQVPrRAhA_nsIRr8Q7c3BiDcOECkgJB1ynf-WfQWQXqvzkPgeydy4oACjp4MlPGxhBa4_fs3INqbjELAbpTtdAJ6NFcDhkmLKnEjwQ==",
  "id": "rs_0cd95cd036c83185016ab2aad7ac1087d0b249877c7d20b393",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":-0.075,\"left_z\":0.14},\"note\":\"The bottle’s neck is now well inside the left arm’s workspace. I will move above it with the fingers open, clearing the bottle body.\"}",
  "call_id": "call_RRg0q2molirXu7WuCNtmMPgg",
  "id": "fc_0cd95cd036c83185016ab2aad9187c87d09fcc98b2cdbc669b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RRg0q2molirXu7WuCNtmMPgg",
  "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]: [-0.2527, 1.5429, 0.836, 0.1249, -0.2077, -0.173, 0.9963, -0.0193, 0.7498, 0.511, -0.3698, -0.0296, -0.0357, 0.9999]\nstate[eef_state]: left_x=0.437 left_y=-0.0715 left_z=0.129 left_yaw=0.0034 left_pitch=-0.0063 left_roll=-0.0179 left_gripper=0.9963 right_x=0.2816 right_y=0.0034 right_z=0.1514 right_yaw=-0.002 right_pitch=-0.0412 right_roll=-0.0002 right_gripper=0.9999\nstate[joint_eff]: [0.4718, -7.0769, 8.2667, 1.6484, -0.0122, 0.3004, 0.0806, -0.4034, -1.7983, 6.9812, 2.0195, -0.0659, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a801de4b2c373fcef4c6f7344b1107bfbca25a59bd8467fe6ec390f0ad0430f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25d324dc1e42a7864e9e86cf8f07b9cd322e916261f4b6142ca617e357123a7f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f5249a7f30d5b7695d06459659fbdc8fecb7e46b78da0bbc2b2470ef2347cbf",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 4.587 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 29 changed as sent

message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6029, 1.3201, 0.0051, 0.6445, -0.4721, -0.3595, 0.9954, -0.0193, 0.7723, 0.5537, -0.3923, -0.0296, -0.0357, 0.9999]\nstate[eef_state]: left_x=0.2559 left_y=-0.0743 left_z=0.0048 left_yaw=-0.0295 left_pitch=-0.0248 left_roll=0.0028 left_gripper=0.9954 right_x=0.2854 right_y=0.0033 right_z=0.1603 right_yaw=-0.002 right_pitch=-0.0435 right_roll=-0.0001 right_gripper=0.9999\nstate[joint_eff]: [-0.8684, -2.2632, 3.6991, 1.79, -0.188, 0.1001, -0.1245, -0.3487, -1.7299, 6.9402, 2.0293, -0.0757, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqrgcQ--Dy6byImDSat9I_ghrhyyVhylSczWXzfrAqgDz-gDso6CyFAQL3JVWLTN6CEO1mjAgMiI7h6FZiYO5rOywY1TUaVIPl11eNwBcqxyLZ6HIB5b9hGucJaF8FARGEZwevOu9rEwWiadjs2-qZRQ6n_wMUxo9BqadixQCc9-dPNtSeGEB3ixIjWHZKYqk_6PdPG0u9axKKhVnuMq4WOh9qH5EUh8lnn5WaDxZslqcW1gYRMwZ_5IBlpE9JHafB00w8jXDMDrycnp7_-tP0X9GPbdR8Wm7touhCMUN1hwYA2rDgFVwGFo9HV6lJL71uy_JjCMi8He-zmPIASue_bU6KUeO4WnXDgKM3MIjCZpvqdpLhhBt71-Dr2ii3xTr0iYYCy14mQFkAw89CmaBiS5EiCA8kKRa4kYzeLv2yrmZn7zLwk1CVm2H4a9B8lD792Qt4gkkkGvptloG9QNMerPZ8ojLu7qeNpeJ2AmEUpvZsVU_tr-giROgXKDN5UJz9VFKgNDaVRBySAayT6jH9GwBnbrliafoX6f16-1Ltbk3JO-maPWasFkF39cwivqbB0fCUxHAiJTmfQrPDztCDa0vE_eFd5F3mYp165HD_mYAKzYMD2f2CoFXzEkH01w-JvUFK5IG5lGpaleYeHFCRZObfgQQAG6Los_PjbuarXpablZMiYGG9_N24VdO9xkzdw75bHlVTpjw7gf5XKDVgQrSaxBLpUfloCjo1JLH2udEIOg6sli8GvrETLBuXEqL2wQZFAQ8QHkgZfXp0J-ZMam-Uf7eaY6psvvdRFlBQ5eodoqo2cPa68wKQOZYIRcDUDZ-BVEd0R3DIaM9WUF_kqyl_Ku5t36XQN6hE497In_KYUcAnPGZHpUgbwnYPzuTSuIp3GlDhfk8bqmwuxdCID3_JAJGuEtc3N1FGwohxUxlSKXebV78WwT6C3lt8lpMC5ynJ4_ddIHF6bjemeQtiMfv3kumACYpWKOKAyoab5wV2tk0K4K03C4zNwzKRF4XrcaGntVn8OUD9WbhNJ5VAvOc2j1QYRHGKwT5Mr3VkGXVeMEFJU9_EvhkNXEAR2NqvXZdm12TMeJl7poBzp0T--HizZOEkGijubT8kozzpfjQ8bmtmOhhjH4imaCngafzf7z_gS_kli4547JjbPPrI1t-5xh6lhbqqHRQun0IAmQbtdGicY_xmrWXHvkLnhWvIh-rbG86asZ43cWcI8Fyiwhu5K6O6NWzQdjUpnNjREHFSikgNN4ROytX4kVA6o84zCtOYVIis1uuXkh6VpXzxMzLg==",
  "id": "rs_0cd95cd036c83185016ab2aade47cc87d0b9bf35feb16f741a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.447,\"left_y\":-0.069,\"left_z\":0.027},\"note\":\"The cap is aligned with the jaw column at the bottom of the wrist view. I will lower around the neck while keeping that alignment.\"}",
  "call_id": "call_1r8RpwxaOIRkIclE4wg8ciVb",
  "id": "fc_0cd95cd036c83185016ab2aadf12c487d084cd05f36e95479d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1r8RpwxaOIRkIclE4wg8ciVb",
  "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]: [-0.2485, 1.8408, 0.7094, 0.532, -0.2081, -0.1585, 0.9965, -0.0193, 0.7258, 0.4717, -0.3504, -0.0296, -0.0357, 0.9999]\nstate[eef_state]: left_x=0.4457 left_y=-0.0718 left_z=0.0333 left_yaw=0.0003 left_pitch=-0.0232 left_roll=-0.0012 left_gripper=0.9965 right_x=0.2779 right_y=0.0035 right_z=0.1437 right_yaw=-0.002 right_pitch=-0.037 right_roll=-0.0002 right_gripper=0.9999\nstate[joint_eff]: [0.3077, -6.8581, 3.5077, 1.6435, -0.0952, 0.0269, 0.0024, -0.1709, -1.4154, 6.9265, 2.0488, -0.0611, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d3ff223037444b535c044224d4542458a506159a0940f6c3d98cc84f70cad23",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9893ae179e8d2d99a0776035eb4bf53c5d427e9d8ff2c590dc3043a4cd72493",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58ba7ca8e578aea586177d0231ce2f12b2bab18435358c6ff3a4304f88addbc6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 10 attempt 0 · /responses · status 200 · 6.434 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 33 changed as sent

message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2527, 1.5429, 0.836, 0.1249, -0.2077, -0.173, 0.9963, -0.0193, 0.7498, 0.511, -0.3698, -0.0296, -0.0357, 0.9999]\nstate[eef_state]: left_x=0.437 left_y=-0.0715 left_z=0.129 left_yaw=0.0034 left_pitch=-0.0063 left_roll=-0.0179 left_gripper=0.9963 right_x=0.2816 right_y=0.0034 right_z=0.1514 right_yaw=-0.002 right_pitch=-0.0412 right_roll=-0.0002 right_gripper=0.9999\nstate[joint_eff]: [0.4718, -7.0769, 8.2667, 1.6484, -0.0122, 0.3004, 0.0806, -0.4034, -1.7983, 6.9812, 2.0195, -0.0659, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.23},\"note\":\"The fingertips are positioned around the narrow cap-and-neck area. I will close gently enough to retain the neck while allowing the bottle to pivot as it is raised.\"}",
  "call_id": "call_SAk5C98arIQpewDXap0lUaLZ",
  "id": "fc_0cd95cd036c83185016ab2aae3b56887d092dfad3b46fc1d19",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SAk5C98arIQpewDXap0lUaLZ",
  "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]: [-0.247, 1.8446, 0.7002, 0.6327, -0.2321, -0.157, 0.2346, -0.0193, 0.7055, 0.4393, -0.3355, -0.0292, -0.0357, 0.9999]\nstate[eef_state]: left_x=0.4554 left_y=-0.0692 left_z=0.0496 left_yaw=0.0216 left_pitch=0.0649 left_roll=-0.01 left_gripper=0.2346 right_x=0.2748 right_y=0.0035 right_z=0.1371 right_yaw=-0.0023 right_pitch=-0.0343 right_roll=-0.0005 right_gripper=0.9999\nstate[joint_eff]: [-0.4444, -7.8701, 4.4923, 1.2869, 0.0757, 0.0024, 0.2173, -0.1436, -1.1829, 7.0359, 2.0147, -0.0464, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b958822e69c9a1d06b40f693a75fd14554f1df31633eb7fa1efce95d2938745e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59b4a94535557cccad9a0b76641ab818eb2afafca3d3b4eea4876d9a8e9b442b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4487933ee080a62a640d37bd04efde29d22bd833ebfef2adc4afff56b2fcfbb",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 10.92 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2485, 1.8408, 0.7094, 0.532, -0.2081, -0.1585, 0.9965, -0.0193, 0.7258, 0.4717, -0.3504, -0.0296, -0.0357, 0.9999]\nstate[eef_state]: left_x=0.4457 left_y=-0.0718 left_z=0.0333 left_yaw=0.0003 left_pitch=-0.0232 left_roll=-0.0012 left_gripper=0.9965 right_x=0.2779 right_y=0.0035 right_z=0.1437 right_yaw=-0.002 right_pitch=-0.037 right_roll=-0.0002 right_gripper=0.9999\nstate[joint_eff]: [0.3077, -6.8581, 3.5077, 1.6435, -0.0952, 0.0269, 0.0024, -0.1709, -1.4154, 6.9265, 2.0488, -0.0611, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqrsHbFutOSxEmTQYDqiV9hAoU32dAUhcNostdj94hQasZqmrUdTi0tIvSjVA3If6wrVPlERLvxSjhyMzEnVP6QZSrCbiIRTp0dfoj7ULYOm9NuVr01K3OTJaf1NCdsMW_9-ZzqxhUqMN0ZnnjfRXLL6g_A3r_wwxkPWHBKNK4iL3n8j54TCkdzsfcV8Nk2hXPKfNic-11r_UZTVB4vwQ_OR709y4sVuL2CaFUC8pQ393X9eXmvVyrsAbASFm_Vl_ICbk_4KDQB9--HdDTGYyKMOH9IOEnWVoj9KsWJ7tjZu-OvsXQf1TLs9-SODWNFXgVKyuJ9LiKjw0tGn1wzyFJDo45ZswZCVLOQAijpuhmVNy8EqRMClgOebwzK97E4k4n6mW6w4gQpr8WDhJgJw0vfY76T4aurSZZun3qJLDlDisI66CcDKZx1MTbPiX_WGy13g6sepBEGdd7v68UB4FU5K1fbtHWaW8YtDwQIaq9GzmDz9HdANXta7nrqz58nBhnN5ouYXb287HqapBrz9Y7VqOd4uA-YylMz0XIiP9B-7f7b_ZcdtAj8Hlt6DoEbY-xuaii6ZfG4-zFBpwxd7p1nUh1g7l2lOqod8CYSvGDz4HMPr3NOtH7939EudttqSn48vSlTKjisgeDRT0-xuFgzLzHrcZQTX9_H167w7T0tN1pl42axbgkGGy0VVbHF2hRgcKF0aFYJ6tR1_Ry7a3Z-JhsttUR1qBQV0nTto4Ebb7XwAXe1zxhIV--d9a4YsrdTozyF2m-mMrZMXCZI7Tk7ITkFmAUe7c74zrdyUlMmAknKpXj2LdwPx3oCqJtZM5Ok7alXaG1Dursn33FyLue863sPpKvcRgjw5F7NnDviUoU1eks5nyr5KbDlEva4YXzzjUfN4gEls8h8UWNZGTZAtc0NqADRO3_Y27sK2GxteGWB1gvU5vPa7gCDDYCKjkh7lLNwOa3OG6SrnWv9E50eChOv5ql10CW3z-2HvF6BDhyy1Bn1zXI3Yora0Syt4p9nbG9beYXaAjiqteK2RsMZPz7LgszxKynJRHYItjqnOYizPIvgWGxxX4ulW-KeznyYYslKY0yg9IGcGKPayeVGrmByqLPDqNUaDlXajmUaUgACFByxpgMm65nJbu3xtksBKZmZVugV1cAQf-xsGI-5ugafIrrfZuuoJo3y6q7mXmK30dbdbH7Q_hdNmyklZStxMTxZht2rY6F3VtXc-NpX1rN7UKyTQoW655BkAxcWOyyWxpBGc_vS2eKe3m_ym99U5UK3kTzEt53KiJZC8SqNu0aea1aR7S4z2bRAAoXCskAoeUuk23j-rS99XoqE2Yz2G",
  "id": "rs_0cd95cd036c83185016ab2aae9750487d0947a74e47a5a7692",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.26,\"left_x\":0.43,\"right_z\":0.2},\"note\":\"The neck appears held between the fingers. I will raise it slowly so the heavier bottle body can swing below the grasp, while lifting the idle arm back to its parked height.\"}",
  "call_id": "call_Z61c7KUVfOKGPwBMPvUH4JVq",
  "id": "fc_0cd95cd036c83185016ab2aaeac12c87d0aec5b13a825be13e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Z61c7KUVfOKGPwBMPvUH4JVq",
  "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]: [-0.2623, 1.4452, 1.2034, -0.358, -0.2432, -0.1841, 0.2348, -0.0193, 0.7033, 0.6167, -0.5274, -0.0296, -0.0425, 0.9999]\nstate[eef_state]: left_x=0.4356 left_y=-0.0692 left_z=0.2373 left_yaw=0.0295 left_pitch=-0.0183 left_roll=-0.0033 left_gripper=0.2348 right_x=0.2698 right_y=0.0036 right_z=0.1794 right_yaw=0.0017 right_pitch=-0.0464 right_roll=-0.0057 right_gripper=0.9999\nstate[joint_eff]: [-0.6632, -8.7043, 9.1692, 1.6874, -0.1245, 0.022, 0.0122, -0.4444, 0.1299, 10.4, 1.9414, -0.0513, 0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a54694e6ee47eb0d79377e78945997ececbe0ca629397fd6f1324c2d4efcfbe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:438f0b183ce1a9db054f94a744d2cb6003ac324e3bc66eee64080268d828350e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b87442acd07022b026a0147818c1db596c2d5fe6aceea924b0b7e09e6eeb4775",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 5.064 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.247, 1.8446, 0.7002, 0.6327, -0.2321, -0.157, 0.2346, -0.0193, 0.7055, 0.4393, -0.3355, -0.0292, -0.0357, 0.9999]\nstate[eef_state]: left_x=0.4554 left_y=-0.0692 left_z=0.0496 left_yaw=0.0216 left_pitch=0.0649 left_roll=-0.01 left_gripper=0.2346 right_x=0.2748 right_y=0.0035 right_z=0.1371 right_yaw=-0.0023 right_pitch=-0.0343 right_roll=-0.0005 right_gripper=0.9999\nstate[joint_eff]: [-0.4444, -7.8701, 4.4923, 1.2869, 0.0757, 0.0024, 0.2173, -0.1436, -1.1829, 7.0359, 2.0147, -0.0464, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqr5KfTbzeKjYWGxRpstL_KxTjUGd3XBzWAxX-jFy_kZSGksMpwEBHVX9GcOTmKaCbMganUnCdJATl4mByHmUHyyw7Yrd8IoZSLUJquxoDbynitxVykVpL1baFDgkd-jBLerv1lYeUR4K9P0tz00qQ0merANX_LSKF6Hkyz06tjGNj7EFxQRad-zCgqHHNmmmXsMzkYVmnh_xKlT59CjFeBPfABRnwQNZOPYS6qs7jmAWCn2bujO5QE0gld6sB9Le85-ecIVS-Q74YDk3PUeU3HoMWRKPaTKR7vRRMvzwURuKKl_PGH1Uxv3uVy91-InFr7ps4cOggzkJDVhyeA5hY8YFP8kt7mQWgrN5pYBCK-KbC0pdl8MLQQJwaETXVAqP36WpCPh1Ei4UznKOoS6MF_nasV5wLJ2h0MNCGzoj84HPRY9lv56NaE5m9MFLhsRaPbzB4q0LesgM8T3DSjisP9m4thNSPxtemOpywdPgDfVqrvq3mmXahU0H8H079h5A_rHCwW_g7DB5hVzW4zwX6El5kuSTNOwrlBmRm0lyk4zVYaZir-6N2vAy_V52jP2npzOegzNpCF_NAKOjt2GNmkk-iCyo3yEcKa4Ouzz3Hj7l5-kxH56EzvEcUvWKzZSnMx7s3Is4_sSYSW5k1m7sBTEJ5sh5NqKi_88lGdm7PktEJvc0RHk8LQuLIu4kaIj-DMLdWRDxthf1VaSDF-ydC2u8SyRxcHlKmCdwwrEl8qmPf2ldn3RCu_QeIt7sgAWLigYrEQB2bmFG9jxN89DLtOUPlyf8lxTc0mc4R-7AbDR5SXS_sNvJLUAtTLueTxZ3-iq3E91PcCxmpAE4DbEJmdgbLIxNz5T4mQk4MOPJZZd1GOe4dzkvRhHztEzJRt9Di0C1L_-mfrMTnv_htwRhL-IV0odzoANixlR_ypyRRVfQYLGEFeL1tWjpGE_sxw4DMwkkgJhCHpE6Ky3DrZA0ZiWkQkZDHwyIS8KV5tEY-4zA3MsaUUrLCInIiNv9aE7j2ffR0t57HR-CbEKES2si1bZHqkH2cQiaez5BvG1YosKcX1uf5eQpYMtOeqvw7XQqaUJJjhno-zQCIQ9Q9V2y07KVKvWRlOrn6K4ErtkUO710aMPbEzgUB8j2b8yl8EqnoZqOkYo_TmDJ0fFGrYdmdVRhjgxDRXlP87ox1sWFaniKorrEckeQo4qalF8na9kpxn3-pB0M5BcNis1kChULkNUlpzu-PfO6W4AdrPYuieLbW5VYXOXq7vFAFIqcMuqESwV3_IJlVjCv4CPZfYcIrvUQ0hvBPkwZBOpfNHJRqawLkGI1KWMkms_5qM_tnyMIFPaMvqRFH_8bOCPkcrdjX1tbYNT_F42_hyuU0dYsZG76_Ztzk9BJlcUIubJKUEPeqRJi9EoaK5oyGYvLpOcttEdReE3iZawgFaQtFLWSh7-6vTMXcPhT4IWeCmirKqqjZDD9s1AUzxzp91tS-V5JzXXFHp4DsZqBAiIuOjMP1zZs4C97hVq_SK0lDgaC-0Ja_-1aNVMvss6Acu7_Oo4QV-gHMdqXU9ldGZ7d7mTdQTqxIPme4k4zAh15uDccGKCpLdieOynWAnwNMuXL1qqZ_o3Ka58go98gsck2DE2hzZ0mLhdelGbEGfUSImMbf51HVjCBQNrcV1B-ZZulxCANuPz59V1qwKCHcTV213HVdevA4_WTcUDCACptlQ1-V33AFQOiQYdffq0hDlq67mQbIYk8VSG_JhBaEtvSXpPKUxftEVEgtMcnWCtcJY4blMmdemoZtVV33kc100Ii-XM5fBoSQ==",
  "id": "rs_0cd95cd036c83185016ab2aaf2ab1487d0bcfa2fccbd333585",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.485,\"left_y\":-0.105,\"left_z\":0.065,\"left_gripper\":1},\"note\":\"The bottle stayed on the table, so the neck grasp was empty. Its cap is slightly farther forward and to the right than the previous grasp; I will correct to that position.\"}",
  "call_id": "call_tmSkfkMmu0N9tGsThq1r5Jxe",
  "id": "fc_0cd95cd036c83185016ab2aaf74f2087d094d1f7755d2a76f7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tmSkfkMmu0N9tGsThq1r5Jxe",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3161, 1.8671, 0.9478, 0.2779, -0.2901, -0.2134, 0.9967, -0.0212, 0.672, 0.5701, -0.5083, -0.0296, -0.0429, 0.9999]\nstate[eef_state]: left_x=0.478 left_y=-0.0994 left_z=0.063 left_yaw=0.0309 left_pitch=-0.0491 left_roll=0.0113 left_gripper=0.9967 right_x=0.2656 right_y=0.0032 right_z=0.17 right_yaw=0.0 right_pitch=-0.0426 right_roll=-0.0061 right_gripper=0.9999\nstate[joint_eff]: [-1.0188, -8.5128, 5.6821, 1.7851, -0.1929, -0.0073, 0.0806, -0.6222, -1.0051, 7.0632, 2.0049, -0.1343, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f3321266595f5228383fc774b01c361fc3f417b7a9a0c65b272e6313a1357ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acafa126105d72cf8324ae36a906f97d46922fe1cb8955bded0b9f5f5e9fad55",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6286df8a9a984ba4b118aea73db3eaa498548cf77fac44edcff0fd9d9790b5e8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 17.39 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 44 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2623, 1.4452, 1.2034, -0.358, -0.2432, -0.1841, 0.2348, -0.0193, 0.7033, 0.6167, -0.5274, -0.0296, -0.0425, 0.9999]\nstate[eef_state]: left_x=0.4356 left_y=-0.0692 left_z=0.2373 left_yaw=0.0295 left_pitch=-0.0183 left_roll=-0.0033 left_gripper=0.2348 right_x=0.2698 right_y=0.0036 right_z=0.1794 right_yaw=0.0017 right_pitch=-0.0464 right_roll=-0.0057 right_gripper=0.9999\nstate[joint_eff]: [-0.6632, -8.7043, 9.1692, 1.6874, -0.1245, 0.022, 0.0122, -0.4444, 0.1299, 10.4, 1.9414, -0.0513, 0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqr_olseK6yaoCWCN7aLeQIqX-lSf9DHK-U4RY20TbIRNnIU1YvYurG6NWmxuoH0wcq0hzPrFJFP3Frdl01yxYxgpBlo_Ry_d8tcU1Naqo5HTGztFoNCPQe7l_bwopqUo7P7EItreN9utvZpw7KHiHKBZdjd8Gr6L_uw2FSrCTA8In5jYd2JoFMcewR4lZQAgV-QeWYGO2RpvTZZF2y0RS9rT4aRLeWT-eIPZKzKwXZHKHkHeF8ZBq8j2MZt6-pul6GtxRDFI-8brNivLVh9hIfEMigG-fKNcvPQKaUT36V7I8IrN6ANnaq7FOOqG4-TT24Ujk6F8B8_r4UUQQDeJ-Qi_B_iIHlXytOzD4OjQdvAp6Hsfa9CYI6jtCFA1vc1qkKWKQd8rZUJ_cbYpcEyci8kjrQuK1_Flfn5A1hZ9NvyU2yqUR0IQVb0TnSptgNrAJvB_bhfRbx8DeFMYU-CnITucFmTknuJAEc7MdwTx4GcMjcykLwAUHlPeJGSrbn-Rt0gsWuESW3OWjpi08n1OcIJa7hlyeAMCcDHUXJJFZUG1omGaV2apr8qn8XLhTrPRUs6Ckp5MeAXPCWxyjmvvPSCpztt5c-WnPnjnVicN9jDofhFmnbo2GYcEOocq0T4p79uNvIquEgzVzUbi1tUReqtKi6mgX9rTQ44llEguWvKZyqFeNknDmUdj1jcyx9o9gcbPwK9zQbZcyT6vS8TSk4npVevjQqkPDaDB_K1QKqAYnttdEDM3L9oSuy1A3uFqH4G-y338tbN1T_CcKMEEJbWkYkdInWTUm5MUcCKhE2plwTy3wb9TMT4cLXOt3XDd1brexeOZO1Ooez2XUIywoI1mGz94yuaUXQYXV-zFYz9wfNFUUswvQpmD0LIjqNn_VI5slswZuplZbsL1q6e1xA31V1Y3CpzZawB2sHBOB3dGwhvmW-n2sWuEwAfOzDnlhjQaxb3x6zznjwXUAgaFwaz6MqD2YFMlzqMUCXMI5zg2ObQmKQ1cojg0bD_e8-eSPpfy9tjSar5-Cw_5TjZS0iN2lvBaY7B7o9igGsARIFFfSN8bJbDMLo19cPfpkD0YWefso3sVMNL2xBDJ4HRK7lszy2pQXS-fIqoNiBHMj8RopL9i1L2L_yH7-Sw8pwyUAdypLO4AHur4E0ImESo9svRG32RJtf-8prRiJ0sTfzxK3AsYjAYdpgZ7bLVDRo7MZZFrGZ5dHq5mhkbEt1ZXil-iasZowbnRxYomwNkO4XQ0MvsncaB8MgkXqZu5kevZFZ_WKw2_vLTuIt59UACCjnyJA==",
  "id": "rs_0cd95cd036c83185016ab2aafcac5887d0b56508abf141cc5f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.024,\"left_gripper\":0},\"note\":\"The open jaws now bracket the cap in the overhead view. I will lower the last few centimeters and close fully to check for a solid neck grasp.\"}",
  "call_id": "call_p7okchY9MthKJLOPCFEExbCI",
  "id": "fc_0cd95cd036c83185016ab2aafdcff887d0aae2e4bcffbaf210",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_p7okchY9MthKJLOPCFEExbCI",
  "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]: [-0.3199, 1.9678, 0.8776, 0.5354, -0.3, -0.2096, 0.0151, -0.0212, 0.6411, 0.5308, -0.4923, -0.0299, -0.0425, 0.9999]\nstate[eef_state]: left_x=0.4843 left_y=-0.1016 left_z=0.0403 left_yaw=0.0331 left_pitch=0.0342 left_roll=-0.0099 left_gripper=0.0151 right_x=0.262 right_y=0.0033 right_z=0.1629 right_yaw=0.0001 right_pitch=-0.035 right_roll=-0.0057 right_gripper=0.9999\nstate[joint_eff]: [-0.0205, -7.5692, 3.959, 1.6093, -0.0611, 0.0171, 0.906, -0.4718, -0.7043, 6.8308, 1.9902, -0.1294, -0.0171, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:260d70851a7e857936231f90b524f4626f56b5a44334e20f96995f2cc4175bd9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a5464c168a86918359ba1c8418503db78a24cda940b99edb1656ab5a0f52652",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b991e56e525932515f87dbf1501b856ba6ac1b341b6de9d21de693e8840b7ac1",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /responses · status 200 · 8.341 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 48 changed as sent

message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3161, 1.8671, 0.9478, 0.2779, -0.2901, -0.2134, 0.9967, -0.0212, 0.672, 0.5701, -0.5083, -0.0296, -0.0429, 0.9999]\nstate[eef_state]: left_x=0.478 left_y=-0.0994 left_z=0.063 left_yaw=0.0309 left_pitch=-0.0491 left_roll=0.0113 left_gripper=0.9967 right_x=0.2656 right_y=0.0032 right_z=0.17 right_yaw=0.0 right_pitch=-0.0426 right_roll=-0.0061 right_gripper=0.9999\nstate[joint_eff]: [-1.0188, -8.5128, 5.6821, 1.7851, -0.1929, -0.0073, 0.0806, -0.6222, -1.0051, 7.0632, 2.0049, -0.1343, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqsRYsIkgEWqdgTgy-z9WABiakiC4tdK0nqJJpf5cT6imDaCycc5PzHbGXP8WYKYim3kuOuWowCsTL3yfLT7HllS0AJM_E-ZVS_SEhXil-4A9mTSOb8XLgrAUmyXE2_gQfCyYdH5TUFj_8Q-swt1OnYJ41D-SeMqsOj1pi1sf64DGDnu2FL-vz7j_LDGVxbrOdlKo0pZWi3WfewXRzi53cGE93LLMZCkoetZ4Tu9dMt7hrb0MZk9IcUi1V_rVTLM-f8wwE-jQspNYkepNL800QU8lkcsuQRyerrqy_Nec6gBkdzFzyoKmKrupIRGZaF0zXGYheIJ3XvZJATT1IkA2zZoYwqBmNkNS9czHoMApIX7XRdHgfItDjDDKswFdspNXtHT0XedTcuFp49FlNm5QqjG4KuN-HrrvNYy2OXDu-CvdqTS3BXr5A5CRJv8MnE_GlxqecKCbKYLhnvaG-4xdz0ki8c_OHPriDGkUSAI80viJXfYLbhbBx9LZb8gNiqJ_LBQRWJ3wQY47PeK2NuRF3Mbu0tu0rshxjR3-TVNgXoc0pnrojFtfmcRj9wXMIkDtlOURTFzJoyMuN1nL3C6apjsUjqWWuuKzCE-Otq9u3sJNkcpCoiFnd7ncjOUhKGrZIFYzn4hKr_WEImIuN9Be6x_uCR_ZeVydIfPqjPOUjjMdH9cXVzeKeNJkNP1MVDxZA7-6W3eGtG5aQDRWo3Cc14ochOOpJUYD3hYI4qzx8sQQD4Xpetm2Rlms9K2GUsTHxVMAATJd8MjmMdOq3qJWG8qagUYRpxC2u0otBBPK8-AyNxXu9u3sOaom8ywY_Jt98KyUE1DGAzlcerm6JSoOOEu8Q7uKX2u07BwgSWZL13hC0ONzXm-WnKIDDzNgQ4plDozPrujj9SCmabE1lr4CS7YNK9Nd3n0TV7QjGpLB-9RPwdngOps8AGCoogudIs9sMQX6QY4cUTZB0ZIHffyOR78ZgJyWJ53NdI-P7Ts70gZVM2warGfloxVIYAUqdWNpfqEePIzrsrO-7vQGDZra-0sNN0VAWq52-UwF8FLoXNoqdG7J-KhOv8SGDaL-Ybqt-RhnVWhPHI2wl0bZPUKN4EWAzp0SVCufnUXZoWT8QjQdke7npg5BUN4qAfjDO8YBUL-06LWox20k_lS0Cmx2ULT1Vhf0a1vOf3gBXMWCp3U6hUbN0CAbKSvBJJUr1HymaEYeho9MIXTzOk38IkWKoaSmDmTYJrWPk7fNH2PLmPUmB0IdiG43mGXHSHMs56Ww6zdAFgdBA7eVKb1Y_B3HsSE5TQsSvoum_QkzS4HB9-TkZcwX_HkgzfPnVEhbkvz5GFArcoNKTxzEr9MkHXnt793YnfMUgdK1v0kNWHSIJrf-3N-1ZzFSy_I3-Q2ZJK0fwdbxoHYKinLT46SXSGhATXFMjuEYM4ZJIud-K9oaihRk6N2QCHwoto6iHhGJYOkBfpWBFXwwrDtfE2J6C0LDOzDE177-QDYNZge_Zjpy8ZWExhrnmpxY3H8U9VY5nrkEYDRRy2Yxr-HDVKZOpmp6dWrAirp85T0afAs38CgRQ0SfECLni6hTTEuinWGesJv-5G3PQqbesRpvygpUPsSDH40nBhX7lcziorpIaJTHOowYdKKut8mE8Da_TsabV9YQ30oLbuA3BqTrXcpeYgmqG6Glp05Ok-Sox89j-o_nD_DW1tW95d0gBhhj1ylEe--DHgCByOQdNF1VPxVkOWsHyaJKGxS-igOZZX8Y272tnQw5RieU3PEP4zC2vDfv6QC3u0bQntABvzOZiWlcMvPPg9Li0C4KRi3fgt0hh4mNGKaFEh2sGbKzLNYeOB-iIH-3yE-JWyLcu7Wm1ONVYJ6G7uPa7CKLCpe9Epj-ZbdeJXFXf1OwA1qYX8ycOTNf0ULzRw0KTnz17XYzIK7_jXFZmFSZZyMNmzcN5Wnej-A--C2USr2wA40QQ-YACuZHnPFBgN8_kuxt6qX1TqOzZNtm0elivEa7TkA488Lob-s3I8jygaEoeGF4I2AnJ-ELkqfBqhyiT0VnQs3oHcx4UehDw775ngGcPTkv5gCmwKS0XJugMkiOqQsFHH1Qw2sHdRhEP6Q2U-lIfJPrJC1RRPnL8elBP06rV8rLpOVoNAxzcdqjUKRikIngC_IpCF0aQPfS2H1bnW1bFvMIyUmb3ti1ljrC4eLs-bcD0CLkG7neAd4gWTpWXWTqoezFSNzTZqhmq35lH8FUr5cGwkLmplvN8vswC86FsnpvFki0wHbxQ-KSQS1RZT4qahadBN913-6-lFaWTPF9RNAJw63X4CzQ9E1bTBNS-m4sAMbmt0U4J0QMiaiJ6f0-RoLPF2I1EiCCqJU2KU7uwSCYBdTdTMnRugva6uQIkVcN5HFLQQMJQNjMDqRsy-_FrocmTJfwDKrq57NeUyQTFIqeY5yvacQ9mx15A==",
  "id": "rs_0cd95cd036c83185016ab2ab052d5487d0a8a670fe5fc10c03",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.12,\"left_z\":0.15,\"left_gripper\":1},\"note\":\"The fully closed reading confirms another empty grasp. I will lift away to expose the bottle and reassess its neck position rather than repeat the same approach.\"}",
  "call_id": "call_m3EKGrX1xdVeM49F1RG0OG7v",
  "id": "fc_0cd95cd036c83185016ab2ab0f5cf887d0bf862bcb4a05ff70",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_m3EKGrX1xdVeM49F1RG0OG7v",
  "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]: [-0.503, 1.4113, 0.7849, 0.0261, -0.4244, -0.3172, 0.9946, -0.0212, 0.6189, 0.498, -0.4782, -0.0299, -0.0425, 0.9999]\nstate[eef_state]: left_x=0.3895 left_y=-0.1272 left_z=0.1473 left_yaw=0.0093 left_pitch=0.0208 left_roll=-0.0219 left_gripper=0.9946 right_x=0.2594 right_y=0.0034 right_z=0.1562 right_yaw=0.0001 right_pitch=-0.0315 right_roll=-0.0058 right_gripper=0.9999\nstate[joint_eff]: [-0.253, -6.6393, 6.9538, 1.707, -0.2613, 0.0806, -0.1636, -0.4991, -0.5949, 7.1453, 1.9609, -0.1197, -0.0171, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2e79079dbb95cf3b44b45852025520f237e55bbf20fa5bc5b204350ee904dc4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85d728707a5588469297a57731f45789719313a681a07801da2cd5e6ade6b605",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2466f546b5b110c9816dbac9ef1e84032e1378b8698dde9309e728c5c6ae672",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 11.93 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3199, 1.9678, 0.8776, 0.5354, -0.3, -0.2096, 0.0151, -0.0212, 0.6411, 0.5308, -0.4923, -0.0299, -0.0425, 0.9999]\nstate[eef_state]: left_x=0.4843 left_y=-0.1016 left_z=0.0403 left_yaw=0.0331 left_pitch=0.0342 left_roll=-0.0099 left_gripper=0.0151 right_x=0.262 right_y=0.0033 right_z=0.1629 right_yaw=0.0001 right_pitch=-0.035 right_roll=-0.0057 right_gripper=0.9999\nstate[joint_eff]: [-0.0205, -7.5692, 3.959, 1.6093, -0.0611, 0.0171, 0.906, -0.4718, -0.7043, 6.8308, 1.9902, -0.1294, -0.0171, -0.0171]\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": "gAAAAABqsqsanPyQKjvGmXztq6pe_GOkksq8rqJqV9MTOenXtZZGPU0lP2BXsBK5U2tCYK84D8RjH602POfLg0uw4-lGRt7_ja7RqTS5ojblr2au45YetuNsFj1OEPiKQBTbBB52a7VgptNjFf5z_9P7gZ_3HNflNFLl_8Wb3ncH9H2q1-9scg9Ofrh_uxD-KDYofsUn9JptaXfhbK7QoQZbWO-nYSNI_EeFBYG4O5qtNZiLDw5OxFo15RmQeE5WHZCWzxEffR3HhJmxxPZaf8F-OlearfDhnnJWtfJYQRx4XIFNKRXAiUKfyLiW2hSuO0EB7Tu7B4HK-YNNuokPzDhhlDHtOe5hPxC8ztvH-OAlhl8y25WgxjuG28jUgan_OXyWjmJo60qCM-4l5moOdVwVXsDdgY-_TGr2AuExwUfsmbPCj9kAIUj4LLySeoCpust16H4yX7CZTtYn2OczNaOQjmOeBwgVuFuKizPsNMvUExHQLfQ1R4DyYeo9mqqqdFtm7z7np19A3CKuXw_QijMYrZDM_41RRexURaBPygOZqaSO4WyH1AZHGQo0N7KvRrv9CBFcI12Ni0xt96QnuiWbzYAMYWrOwZ-UuFT5y9fctfeipRVoeoWaLCGIhiA-zMfA2vR738KHKVaI7luwEKF71g8Qq7E2X2RllrLFNPBF07TWZKe_bsmf60bl7tV34TdUyRlsxo3ksXzBDIoiHZLwsuMoOoqoo4BSUB4EErRwzxPfhXFAVpCmtkisSXKzPN_8QM7Sb_Eq3QAnCSAsw7OSPm5QXShNa38XrU9IMJd7U8442Fw0aenZNhJWjqdTTsBNX462OwLNtuIktUiErzaxbYlRwCO0Y9Ccb62LvI7DOS59p7Ef4VyDd_FqD6twKvKLkT645aZJVWZfQgUHlFjYG1RWn9oIVOpihXM3B0E_4q8v2W40NVDZ_LCPU0FGON9r1vAo76Eot9jxE985nsKTuHrbvzDU6pqDKivOEcOKewT-pu2l-4hgGLdBVeAPiWV0qEeoVXovtQO4UIST6E6j6yZjxU44Vrmj2LcBMYoCm0KBy6eggFX4OiYgCSUwEjOd9-6iJStYEAPb2OCemJkqdofuf1IuJrhtepUE96ZLQuQaqqc3hFhxe1XK_jHet-z87spmt0Ugu_wfU_uaTo8g3LSyAFaWXRJvCKIZVUKin8Oax_1-zhuZYqFVuWp3p_UEqm-aOHWI7DTONrB7h_H0kcadRnVffkEii3gdlat3aw5AkjiaRjWWBy4UoZanIqUm5JA5_mmgxNktIzj_1Emmjb425_SvpexDOxIOaC4f8FOSHYZ7MCIjNEj6qHvYpwYqqJ6hB4qcAzGV4zrHFwNop7NvaE1tuixcZTWCP-ubDdCsBr5dqFlxUQXwZuZUJT6DGbiWFxE1xrrQgjF5TAsclAfg1cYWZ1ftGM0uPLt66JmR9e0PUEmRvtrzsJbl8KfHGSucGkC-eKP10Ei3dxzFpuwgXf2qHiaHY8QY0cERSLaLk-9fB8ycfWfEPIMCwvkBJANvvJ3B-hVerxx0GpVJxJ5q6RV_9w3Z2K_7LPua0b3K1zJ-6lSwnabQx-074U_NLST7HPeO4nR_c9JSYxnXJ4wQ_sGxcg==",
  "id": "rs_0cd95cd036c83185016ab2ab15587487d0a74740e54594f313",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_y\":-0.085,\"left_z\":0.0},\"note\":\"The wrist view shows the cap just ahead and left of the fingers. The previous close also settled too high for the narrow neck, so I will approach this corrected position down at table level with the jaws open.\"}",
  "call_id": "call_av54QREfXw3Q5zVlmyqxCAJU",
  "id": "fc_0cd95cd036c83185016ab2ab185e9c87d0ae9a3c8e0ccf8c12",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_av54QREfXw3Q5zVlmyqxCAJU",
  "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]: [-0.3176, 1.9324, 0.6449, 0.6697, -0.3023, -0.2085, 0.9957, -0.0212, 0.5991, 0.4717, -0.4709, -0.0299, -0.0429, 0.9999]\nstate[eef_state]: left_x=0.43 left_y=-0.0822 left_z=0.0024 left_yaw=0.0365 left_pitch=-0.0244 left_roll=0.0141 left_gripper=0.9957 right_x=0.2567 right_y=0.0034 right_z=0.1505 right_yaw=0.0003 right_pitch=-0.0308 right_roll=-0.0061 right_gripper=0.9999\nstate[joint_eff]: [0.6632, -6.3932, 4.6974, 1.1844, 0.2418, 0.0269, 0.1001, -0.6496, -0.7316, 6.694, 1.9853, -0.1197, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df514e728b2c1c9d63295b248c8987ec5befc35c555264a2536460bdd663b253",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35acb492eebdcdd9814f27bb0aabb6bddd2b65ce9427901e46bbf706599658ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3c3d5b2dc93f6900ec77c63ed280ae76b345b4e4d8d5517203ce124d51d52fe",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 8.122 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 56 changed as sent

message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.503, 1.4113, 0.7849, 0.0261, -0.4244, -0.3172, 0.9946, -0.0212, 0.6189, 0.498, -0.4782, -0.0299, -0.0425, 0.9999]\nstate[eef_state]: left_x=0.3895 left_y=-0.1272 left_z=0.1473 left_yaw=0.0093 left_pitch=0.0208 left_roll=-0.0219 left_gripper=0.9946 right_x=0.2594 right_y=0.0034 right_z=0.1562 right_yaw=0.0001 right_pitch=-0.0315 right_roll=-0.0058 right_gripper=0.9999\nstate[joint_eff]: [-0.253, -6.6393, 6.9538, 1.707, -0.2613, 0.0806, -0.1636, -0.4991, -0.5949, 7.1453, 1.9609, -0.1197, -0.0171, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqsnNIUXwcbExOFOqBJX9qowdVNAq9D_aXB6h3inBLdbM0W3_PZoKGcWDNTWrDVcM-rDeGihYqAqSx9EZaHLCRbCCFhLDBa5YD7sP__LRfrrAjmOme3JfszBcJDHH2EL61l60Lcu4emAvN-qRKh-6QmOsUU2NOGX2FGBaqjehPVyOfLEYbMtQSC6GiFZytqaaEQT-m66JARmjreUx9lgMPeSi626ZNM4QqURDfEPqHudy94Ev7mNrJhtaq9U__JKnzn4aQXW5Y0fl34HOQ3MFwEKFUjhYpMYsN5gpN87e7drwZPX2vRypi1NBv63j9moWcqpdw89q-CNU4x5k-eID8BJRzgR21s0s_zq8c0WZ8gAl7KpC-yTDo_984ivAJogUiXPzBjzTnDyQBnbAwNJBHYXUaxOiA0aAhSH00mWYZuW1R5CzSS7NpIC_n4D8b_OmDngq5zTR6iDQG7bXelJAKSlyU5VKvZmdrkwFItTZaJF0ozMlRNMJB3-3hg93ofDTUuk6bfxuvxi6KpTUgw4Qqo6MKT8eZATAWQJdryqtBrb1cs28dui0GEOHnZeltCSYEv6LwDKAIaF1-lWZYLNRAXNqW6oRDwHuKFg1k6I7vbv2K-27JnpPyi8wEK7B5DsAmdhQbpHAXovbzkVm1rQrIkhw1r-owhV3NxL2tNqDPOtbWQts5QX0vauaMU1TTQawsjbTqGqaj-JBG9q2PS2GuVWnLANLJyvFmrdL67ricC_Gtz5f0gzYnlCL8hM_K8Ny1TekZ0tuSZZNOJnX16Bfa3TAoOGEorSAcceFtm8kpDoBdVP0fgvOvV_6ETeRUoLpIto2oQek11kKPmsVoEPA955Ak4D71TSZ_MsQcuBlzHByhCFgfqBomBNdgoAHnW8N4RgOty1zvYwhuk2tHLjFzzjvV5tCKem26Dcbe3IERMYsXvYv1BkjwDVEhE5yEYzyKZgkbwx2zwE3EHBVu2WSv0dup8EeGKy3y0-7r6kityFSIJcUPvqa0v2UwnPw_cb2sKXHyboYKIsxR5bsRC1J5YiEsyJfV89gz5cV6p1gm-P7_Rv4vxBAbL6jppFpHvEnmkwyrKPJEQLOY6fwcL-nTjCnbVZfgIgQrXOKLZzcSvWUVqVgVqGFmPPPkJz0QQO9XfWJ9uEOPDqD_PDUmLBC0n0hDjgWjlURcFLIKmzS_1VVOqL7KP8qKVY-f9J17yVkiPEPvxkPnqQcr3VVgoRGNA1benNoYi2mrHjSaruI5n__PS4B5fDuZRI7kqlFil_1VFURCagZ9CCjnMD3sPACVXQxbF9UrpvY7-KmqSDdy0Q6jfPSUw0pSxGhOQkNx_xC8OPGd7WEvqjM8CkfsJTv65mNdRKQCl39dlTIGhQm3aMo9atbbWxlgcTZ-eAstLXXNQhBdJDJgR7B-cZbSJuNz37SsDUWxaCygilQgpwnr_KYNWhyp_Byg9YyiWUK_Dc32w_tOQ91lC0qJahaPWJy5keXyWv2xim0-FlNLrsOv0HKx87YtX3KDt14x8EElelBEIWEPG-1iyFKIQjIqDDKJHORtGunejSPR_6-LsH6S1oqlO925N6pVm1QmshWRjvoMMx",
  "id": "rs_0cd95cd036c83185016ab2ab22051487d0961e9adb8e1e6b4a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.515,\"left_y\":-0.04,\"left_z\":0.035},\"note\":\"The overhead view now exposes the cap forward-left of the fingers; the bottle has rotated slightly during the attempts. I will move the open jaws toward that visible neck, staying above the tabletop.\"}",
  "call_id": "call_7CZISPPLp8hCJuJI9vCYrTr9",
  "id": "fc_0cd95cd036c83185016ab2ab25599c87d0892a96c369bec9b9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7CZISPPLp8hCJuJI9vCYrTr9",
  "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]: [-0.144, 2.0106, 0.9306, 0.5159, -0.1844, -0.1482, 0.9958, -0.0212, 0.5774, 0.4461, -0.4637, -0.0299, -0.0425, 0.9999]\nstate[eef_state]: left_x=0.5068 left_y=-0.0371 left_z=0.033 left_yaw=0.0794 left_pitch=0.0083 left_roll=-0.0134 left_gripper=0.9958 right_x=0.2541 right_y=0.0035 right_z=0.1455 right_yaw=0.0001 right_pitch=-0.0273 right_roll=-0.0059 right_gripper=0.9999\nstate[joint_eff]: [0.1573, -8.8821, 7.0769, 1.6777, 0.1197, 0.2711, 0.0024, -0.5675, -0.4034, 6.8034, 1.917, -0.1294, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba420409601a961a62825bca8305d0cc29531a19b466566235e65cbff1ac4c78",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d9d156d2726ea520065b035134e480ca544705407d77ce0a756dcbbb2667152",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78268688d82946e4fc5824652dfcc2463e3091c9c8db551049ff9f474bf3a391",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 13.05 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]: [-0.3176, 1.9324, 0.6449, 0.6697, -0.3023, -0.2085, 0.9957, -0.0212, 0.5991, 0.4717, -0.4709, -0.0299, -0.0429, 0.9999]\nstate[eef_state]: left_x=0.43 left_y=-0.0822 left_z=0.0024 left_yaw=0.0365 left_pitch=-0.0244 left_roll=0.0141 left_gripper=0.9957 right_x=0.2567 right_y=0.0034 right_z=0.1505 right_yaw=0.0003 right_pitch=-0.0308 right_roll=-0.0061 right_gripper=0.9999\nstate[joint_eff]: [0.6632, -6.3932, 4.6974, 1.1844, 0.2418, 0.0269, 0.1001, -0.6496, -0.7316, 6.694, 1.9853, -0.1197, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqswf3FHbfdU5PZxKNoHV6ZqYCeSWuW8iaCmr68N6c25giTFlBJ_93i1jqoD9DY1kzBv2_tDawW9PcFTdEytzUms-eweIISJPnWdtW1YbegmwbjITimFYAgtxy63mY9cMlAldkgIexdbPwiRCdQYy1RFv2H7YFK81AEUhQrIr18iIyuuVsTfbEs-bAEMP2xFJ5ZrQws1GRBGUtVdIEEEPlxQWhZw0SM3aNCj3b3FTaZuKvEHUu8XrWRME3qp9BozBgPMAW0_7WLHIaXuEn3SOH0qH94RsidJDWLbVyFYwRocEtRhSRq1AQbRYZQCnJkIGOKsrC-cWyUZR2KTRAN-csX1Ob6QhUPlm8gJiYfCKTcGcILhjWNXLwRmKkgAo1sl8dbgzuVzWzK1awZn2ud4q0Ne4jT37ivpTJjb2C9wX1CJQBvVDo0gWegSBm-nbTMkotafPlEGdETAQAk8NfL6F8ihuM47MDt6z5UK4UQwYehESSV25dJvi2VJm3nnGsAhk41nBdfuPHTCyxJ9qsFF95qIEnKT20k-y4XVlG0LIAGz5SZDUCv2m6ShlKWeD5VmZ_EHqflRSS0_JIsvlsO3a8Mk8LWoDLa5G3XNbF8JAth0NuPzfzEpYy_j82Omo5Npq3-lV4pXqy7MoVO82W9-2ixDLpc9jic81xgT_FKQ6alj1Ts472cPlj4MiYYtniWCIwDeWP5VK_5l9wnHYViosUzHfjwQ18WXNl8pFllxecy0bgamLKmBxtkEV6wLi2MVI2MKnc4GcKg9uzSJSgoMRF6lU3CvAp3qlZ_NIs1xh1ueyNq8WklIXPO2SFoxccYN8KsVxAtd5eAlQv6NgG4swAXwm3sF8AOTTXFKiYtbnIvN9Vc9GXlRJRA2FTNl7sk6BuxCeimUYADC-lgQ5IDjauo28xr_IFX61L4DxMy7yBcNWEGMIVQ2G3EGQve6bUIS5gnnHt2aUEZ_qY4dPP65FvXcCV68rpa3y4EgzIVdrelN13l4KgtjZ1VWm3PstLuodWji8KmBKYRbQKzEHxgk0UxCub1rQQbYqRgAa3N8m-anSa8LqESfCvKhjk8s-EeJOtthRiQuq2JYqvF9aCV7chAaeBtiRX-tSSXugNYTdmX_xiTwmyS8wYA4GxONvjbquR0a-jE0izbZtmavMGXkieNNNaZQcIzWEJsf-YflIQEFZuoTdcybdqLD4LPKGFUf8oE1hzj8ZYcVLwHJAMAbSl6zZRszqjsjrWgTd6JnJMr4WZLA0dpyN7rmSX4gX4rcrQkoXqsKI2H4DTCP5uoLdLVbHSKSbVE1vRNKxegda5m17dI=",
  "id": "rs_0cd95cd036c83185016ab2ab2d761087d0b736eb882b6d12c8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":0.012,\"left_z\":0.005},\"note\":\"The neck is now immediately left of the gripper, and the bottle has shifted toward the outer edge. I will make one small lateral correction before closing, without pushing farther forward.\"}",
  "call_id": "call_WmWLDQZ9sqPgmn8fmCidlvgr",
  "id": "fc_0cd95cd036c83185016ab2ab2ed08887d09680bd515e90114e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WmWLDQZ9sqPgmn8fmCidlvgr",
  "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]: [-0.02, 2.0762, 0.91, 0.5884, -0.1112, -0.0921, 0.996, -0.0212, 0.5587, 0.4248, -0.4553, -0.0299, -0.0425, 0.9999]\nstate[eef_state]: left_x=0.5057 left_y=0.0131 left_z=0.0074 left_yaw=0.1118 left_pitch=-0.0121 left_roll=-0.0025 left_gripper=0.996 right_x=0.2523 right_y=0.0035 right_z=0.1418 right_yaw=0.0001 right_pitch=-0.0216 right_roll=-0.006 right_gripper=0.9999\nstate[joint_eff]: [0.1299, -8.5128, 4.4103, 1.8486, 0.0415, 0.1392, 0.0073, -0.5538, -0.4171, 6.6667, 1.9023, -0.105, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab71acee1070a911864cc25f9d7a2aae50226fcaef9e0ba6ff0a5601ac7d6140",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e194bcdc0cf6272356494fd72a6892de982ca2afceacdeb71797ad8ea3ded877",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26b7e892434be6f2e0469efc36233e1b46e51f705b169e1a8fd5cc64f2878b88",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 6.723 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]: [-0.144, 2.0106, 0.9306, 0.5159, -0.1844, -0.1482, 0.9958, -0.0212, 0.5774, 0.4461, -0.4637, -0.0299, -0.0425, 0.9999]\nstate[eef_state]: left_x=0.5068 left_y=-0.0371 left_z=0.033 left_yaw=0.0794 left_pitch=0.0083 left_roll=-0.0134 left_gripper=0.9958 right_x=0.2541 right_y=0.0035 right_z=0.1455 right_yaw=0.0001 right_pitch=-0.0273 right_roll=-0.0059 right_gripper=0.9999\nstate[joint_eff]: [0.1573, -8.8821, 7.0769, 1.6777, 0.1197, 0.2711, 0.0024, -0.5675, -0.4034, 6.8034, 1.917, -0.1294, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqs9b4axyBse8cdUie2xgOyB5Cr429rtIcEt79dQFt85FNyir_qhzGFCHAOg7dTq75yR0orL8kabzV_Vcud4Pd1ZE7dQXjwnvdOHtYhBW8I899mTQaSGrY7KyBvQJdPsieLqTpXaiEDBXMBK662tL4qcOhE23SA0l_HmZp4UxVuK9v5C37tMsvOxX37Evk5AdZ_FTeW6wzMbzIysc3-Co-2bMYsRk2qelWQ3B6ckvJRWhzNQRig5meOL3A2aqcv-JACXIpKyhxauBbYlH4lB_N704udcTYQP0cWb4UEbllBtGW-ktsh82_Y8RrelzBmf0I3q7yN8gD0d7jJlY1h_BpuZmTpU1WXDzjiATfJM7foLfG62S-1DkGrY4EYH5UCnQnFbWwgMncFuNwBPr3n4SmWz4GDOWmGUy6aRpZc01VaF74KYMK3nqI4opr8VCcoqqP7D4JUCPioUM09Q-QEWSDjuD7znQGkaMblYlkA47EyR-nCzMz1Dkhrd9vSITu6-FbUPYDvXanRVL-cyEw3rl9xG633FBsVhUdcHVFtMXRqZOo7yFmPFbkYemGOMngvSlb4TQ8AWp072mhgp9lxKPir0GqgWeTrDl-RADEhgEGBMs57Hc5k4ZF_x0ksmGqXpPfLZOboKAlxlw0LTV_Y3r0NMuWZlMqXHbc5hQIqPj2TX6Uew0CAMLEMtgR-8D1W7bbl32P9Bl-Y4miGEp9Uw_8tS9AzXJGBI2GRaLSr2t9WvzFmKEEbiemNsJYkXQIUgpS4ERXqNOI2UI87oWlXK9sFwzWtHASPV6QGN86EtW76i9slM0k0wHzlARCq1wpCgMn_HgLkCBufTqGLzL1_zKKZhhBAJQy0TLdLGWs5d5aD7i8BAEWQBstwxL1Hvh2elQORhC1KsmBD4p4nTPhJGxTMZiQx8_FY7ockDhW-jBAh_bljChqruU_QHS8I7MSaCarKiXkFFzzGZbkbWRW-OD4kNGSGE_UcMOUcEx_CSH-80V_PpOYm51-duG9hUcUQL0tvtCGdFkx_A4eJJKrmGHt3Ac6HsA_i_OU7jfR-ex2ViTGoqbC3q1pCTNYQFfQYfoXVQL9A3DRe8JR-MUAjJOGKP6xcB0gUgxO87PXevAqIrNUyRENtLl2bg4IFpq2zzCW7OY7nsMG_AofmAgnQr25R0ZETMnSG9NFb_ckdXfdvOV_RQTdknMzqNw4fPssTeAxS-n5MUA3wUBO4E-ZvoP_r1I0EGGUWX6-uiahhwWu9dzdVKmVWC7AQstw8J8e0wekH67Q1Max38hbhIjzONfXL9O1aAYG9uz-iRYOnsm2AfbLOje70Vg1ZTBmQ0YyjHJT-0httcL9hPyLqjhPZ9hXQHm881EH_Fn9jYRydaSK58ts7Zoe2frlxXOsHnlMVLCJ6l7TkaZiai9ugw9qw3eMHDV7spgMHFkkufN2RfkE3WyVku3V5IxoMDuXHkwryKyyGk-ghYnItKg4xlluI3KvME7gxD7-zVlpp7Tr3_z7EfhzFyVkxg64OMhVmxt-UyglTyFGpA8KBoR7hQVnvINdXZSG11vCZ8fK2yszmECGEpOwr_H6ZY8ZxiEntfEO7ibRG0JBMofrbrogtrSPnSSTcf5RScP9erBlS81uM2f8VcUq_VDDoNNk_HGSHL0LewBnxt6Xt65Qkd_u9mRKD5IZrM249DDalsZV668DfD1nJxQYk=",
  "id": "rs_0cd95cd036c83185016ab2ab385c7887d0856d7cbb7ff9d385",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":0.0,\"left_z\":0.2,\"right_x\":0.294,\"right_y\":0.004,\"right_z\":0.2},\"note\":\"The left bottle has shifted against the outer edge rather than entering the jaws. I will lift and retract both arms to leave the bottles unobstructed and avoid pushing that bottle off the table.\"}",
  "call_id": "call_rRfJaI5ibuhIzPxnWIeMLEQC",
  "id": "fc_0cd95cd036c83185016ab2ab3b77bc87d0a5e6bb65234e4540",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rRfJaI5ibuhIzPxnWIeMLEQC",
  "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]: [-0.1192, 1.602, 0.7017, 0.2012, -0.1658, -0.1238, 0.9963, -0.0196, 0.7944, 0.6365, -0.4812, -0.0299, -0.0429, 0.9999]\nstate[eef_state]: left_x=0.4155 left_y=-0.0168 left_z=0.0641 left_yaw=0.077 left_pitch=-0.1262 left_roll=0.0238 left_gripper=0.9963 right_x=0.2846 right_y=0.0033 right_z=0.1741 right_yaw=0.0019 right_pitch=-0.0716 right_roll=-0.0052 right_gripper=0.9999\nstate[joint_eff]: [0.1983, -6.3521, 8.8547, 1.6239, -0.1197, 0.0464, 0.0171, 0.0205, -1.0598, 10.2496, 1.9902, -0.022, 0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8e802325029b17357ac8ac0722eb08cb577d6efee0a5873f32b60be2039b844",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6123d4917cd7e20885e07da66717749c58728a88e5a2a1f5b05690d4a7689bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:990312efbbacb29eef252695ac13b8edd1ff52988f3d74db0924dccfe9ff3535",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 9.102 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]: [-0.02, 2.0762, 0.91, 0.5884, -0.1112, -0.0921, 0.996, -0.0212, 0.5587, 0.4248, -0.4553, -0.0299, -0.0425, 0.9999]\nstate[eef_state]: left_x=0.5057 left_y=0.0131 left_z=0.0074 left_yaw=0.1118 left_pitch=-0.0121 left_roll=-0.0025 left_gripper=0.996 right_x=0.2523 right_y=0.0035 right_z=0.1418 right_yaw=0.0001 right_pitch=-0.0216 right_roll=-0.006 right_gripper=0.9999\nstate[joint_eff]: [0.1299, -8.5128, 4.4103, 1.8486, 0.0415, 0.1392, 0.0073, -0.5538, -0.4171, 6.6667, 1.9023, -0.105, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqtFG3QERdWoIRvQwlIwa8aYIzJSI2t5m0gI2J2ApcDn1z7wK5kSpOAPz_BmzwEiDLTVAV8GQweBmwZ-OZi_saxFphxZ7a9JwZd8lZ5kyYfL0fMBQ6ZZpAkoxmqgq5b9eipiU2o8mzDV37L5tz4PHVaJPqLHusvRZ4xIh4m_jBHOF8p7aE5SyWia7YJJhyavtLfyRiA8RjUT99w8CR-cV2LkRKpnO27tFGji_GrAEV3ogJsq6F5NU5rYpwXRjimjA8ySK6zY5HKFA45kyaTrC3SbK7U-MRQMiDMS13Had5Tvo20fZ25Kk6eQSqiQKPZvJDs1iHvoV4XJ27Dxq1NoiB-LzeW5i0RYDZvSdx_byRqBTvysB_9sO1iwTwLR3eQqmUuRVLUmzp-S6cWuUoe99X8vk7udeh3YCFkMJvoOFuInRlq8RJeNpImpXxKyVaDtUCzhX0xspKYds9oG3hf1cMUWREG1j-7Cggt3CwlA15PThQqgQ9hDAptnLuOlnR8wrvi4x4f90CgCNjlLiR4Ez_hfAvtStDyKaKf8tJ9CbtcJSC56BsZmymc3TT3L3FPANFbB6QW0qy07MXyAMGkrrNPFGDdykl6o-Ewu5n2V1B2PtxV1V-BM8yy-NjpGMVOzl1xYOZ7dvSDMGaG6Nr8JbtnQ64avM05Dwfut6OeR9gESMiHYcWnCGA9j8ptL7WWrLXbLnmHWWVv9-2lLB_-8w46yy3b5KPln550ZTY_J_uNMZgkLHdH3CwfMeVUQmaNBUSg2nAvqSrtUsN3rnILi5J2aa5kGiOzHF4A9MclF2vt1toJJctfJ4cjPrlFHC6Ho-4PQW4F3Rgcd_wxbzDbYJ19UQhM-HC1-2dkDpCsFUmqx3kEaZ5wNBKP750X7moyzT-jMjIGKtWboBsBFglq_1F6T_USzmL9BKaORaXB6bcI9QF7xF8X2CqBwh0ymGEJH9y93jTd_WPQQ8Dc6uLH8qVMA4nbljEbWONyYJMst-7CkOC78PidUq_YsH3iraSQi73s2YZUt65BFil06zcFwAUjg9zFV6lX3MRcNeHiluwtY4wUv9Js5B8miVOmnILnmOTG4J6BaLD9rXuVsYVRY7pesfsQu1r_IcDuqnH5CZLc5pqqIhok84J3XLg58x2EYSvCAPh8DPWiQlosgIUMz63kI9kfN5O3RjhGWbJ5tVRVVf7zI49iXyhEIx4zFgAKq7veL9iuOcP_M-_ME83LlZ-G0dm4W4H98MzLctblVaLCqjvUKsAjkU-GB4LpHutudeXjthKzF_n4ngrfE9aIn6UWXdiUFNe69i19J36mqDIgmwIw8FuXTNYYWLt0UdkRoXqVayznbhvd1b6fV3gyP-psr9Q==",
  "id": "rs_0cd95cd036c83185016ab2ab42836487d087b37a2b6ce4d7d4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.035,\"left_z\":0.23},\"note\":\"The left arm did not reach the requested clearance height during retraction. I will raise it more directly and slightly inward, away from the edge and the displaced bottle.\"}",
  "call_id": "call_9DwKLfCeipHpWAv9OCxmSwYm",
  "id": "fc_0cd95cd036c83185016ab2ab43e59487d09e76b274400b7828",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9DwKLfCeipHpWAv9OCxmSwYm",
  "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]: [-0.1558, 1.2732, 0.6449, 0.0448, -0.1921, -0.1349, 0.9964, -0.0212, 0.7448, 0.5629, -0.4252, -0.0299, -0.0505, 0.9999]\nstate[eef_state]: left_x=0.3806 left_y=-0.022 left_z=0.135 left_yaw=0.0669 left_pitch=-0.0098 left_roll=0.0062 left_gripper=0.9964 right_x=0.2806 right_y=0.0029 right_z=0.1651 right_yaw=0.0045 right_pitch=-0.0395 right_roll=-0.0122 right_gripper=0.9999\nstate[joint_eff]: [0.1709, -4.8342, 6.9538, 1.8242, -0.1587, -0.0855, -0.0073, -0.294, -1.2923, 7.4462, 2.0635, -0.1636, 0.0513, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f90b137dedeede392694d3998c6f1207b4c69e2a3e14ef053c6bd40fdf468e35",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1f676b6cb77fd5391c050a8af0cffe252ccdd3f47b0bf4c7ad952b1cfdff966",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c35d0fb66656c8f73ebe968d82b8a1ef7c96d3d14c4c5ac672af6ee15cd789e1",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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