adhoc

completed
2026-09-22T17:33:18.721787+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
187.9 s
total steps
181
success_at_end
0
scenes
1
trials
1
errored
0

scene-0

completed

Stand all three bottles upright.

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteAll three bottles are lying down with their caps pointing toward the far edge. I’m approaching the left bottle’s neck to lift it near the cap and let its heavier base swing downward.
move_to
left_x0.4300left_y-0.1800left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7925, 0.609, -0.3763, -0.0208, -0.0284, 0.9986, -0.0154, 0.7879, 0.6033, -0.3847, -0.0235, -0.0353, 0.9998] state[eef_state]: left_x=0.2958 left_y=0.0013 left_z=0.1835 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2936 right_y=0.0032 right_z=0.1803 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.5128, -1.3197, 9.6205, 1.7607, -0.0464, 0.1197, -0.1538, -0.7043, -0.9094, 10.2222, 1.8095, -0.0171, 0.1734, -0.0317] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.18,"left_z":0.15,"left_gripper":1},"note":"All three bottles are lying down with their caps pointing toward the far edge. I’m approaching the left bottle’s neck to lift it near the cap and let its heavier base swing downward."})
tool
executing move_to over 17 steps (1.7s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteThe left bottle’s neck is left of the jaw center in the wrist view. I’m shifting toward it and lowering in a small step before gripping.
move_to
left_x0.4600left_y-0.1300left_z0.0700
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5766, 1.6379, 1.0054, -0.0708, -0.4694, -0.3523, 0.9987, -0.0193, 0.794, 0.6033, -0.403, -0.0273, -0.0364, 0.9998] state[eef_state]: left_x=0.4181 left_y=-0.1723 left_z=0.1319 left_yaw=-0.0099 left_pitch=-0.0554 left_roll=0.0237 left_gripper=0.9987 right_x=0.2916 right_y=0.0028 right_z=0.1749 right_yaw=0.0 right_pitch=-0.0244 right_roll=0.0016 right_gripper=0.9998 state[joint_eff]: [-0.3077, -8.1299, 9.0188, 1.7021, -0.3101, -0.0171, -0.1538, -0.0342, -1.6615, 7.2821, 1.8926, 0.0122, -0.0513, -0.0122] camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.46,"left_y":-0.13,"left_z":0.07},"note":"The left bottle’s neck is left of the jaw center in the wrist view. I’m shifting toward it and lowering in a small step before gripping."})
tool
executing move_to over 4 steps (0.4s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe neck remains ahead of the fingertips; the bottle body is currently closer to the jaws. I’m advancing toward the narrow shoulder and lowering to bottle height.
move_to
left_x0.5000left_y-0.1050left_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4107, 1.8145, 0.8776, 0.2333, -0.3813, -0.281, 0.9985, -0.0193, 0.7841, 0.5823, -0.3965, -0.0277, -0.0364, 0.9998] state[eef_state]: left_x=0.4455 left_y=-0.1184 left_z=0.0551 left_yaw=0.0474 left_pitch=-0.085 left_roll=0.0319 left_gripper=0.9985 right_x=0.2892 right_y=0.0029 right_z=0.1693 right_yaw=0.0003 right_pitch=-0.0289 right_roll=0.0019 right_gripper=0.9998 state[joint_eff]: [-1.2513, -9.853, 6.0376, 2.1221, -0.022, 0.1587, -0.0366, -0.212, -1.7436, 6.9265, 1.9853, -0.0269, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.50,"left_y":-0.105,"left_z":0.025},"note":"The neck remains ahead of the fingertips; the bottle body is currently closer to the jaws. I’m advancing toward the narrow shoulder and lowering to bottle height."})
tool
executing move_to over 5 steps (0.5s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteThe left arm stopped short of the neck at its low-reach limit. I’ll grasp the bottle body first so I can bring it closer, while returning the idle arm to its parked height.
move_to
left_gripper0.0000right_x0.2940right_y0.0030right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3931, 1.8652, 0.8291, 0.4145, -0.3748, -0.2626, 0.9984, -0.0193, 0.7719, 0.5537, -0.3878, -0.0277, -0.0364, 0.9998] state[eef_state]: left_x=0.4546 left_y=-0.1146 left_z=0.048 left_yaw=0.0482 left_pitch=-0.0131 left_roll=0.0077 left_gripper=0.9984 right_x=0.286 right_y=0.003 right_z=0.1614 right_yaw=0.0003 right_pitch=-0.0366 right_roll=0.002 right_gripper=0.9998 state[joint_eff]: [-0.3624, -8.3761, 5.4359, 1.917, -0.1636, -0.0904, -0.022, -0.1709, -1.6205, 6.9675, 1.956, -0.022, -0.0611, -0.0122] camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"right_x":0.294,"right_y":0.003,"right_z":0.2},"note":"The left arm stopped short of the neck at its low-reach limit. I’ll grasp the bottle body first so I can bring it closer, while returning the idle arm to its parked height."})
tool
executing move_to over 10 steps (1.0s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteThe gripper closed empty, so the bottle was not secured. I’m reopening and centering over its body for a lower, closer grasp rather than repeating the reach-limit attempt.
move_to
left_x0.4300left_y-0.1450left_z0.0650left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3916, 1.8645, 0.8291, 0.4999, -0.3862, -0.2668, 0.0187, -0.0193, 0.7963, 0.643, -0.4629, -0.028, -0.0437, 0.9998] state[eef_state]: left_x=0.4651 left_y=-0.1162 left_z=0.0655 left_yaw=0.0624 left_pitch=0.0673 left_roll=-0.0276 left_gripper=0.0187 right_x=0.2882 right_y=0.003 right_z=0.1802 right_yaw=0.0046 right_pitch=-0.0468 right_roll=-0.0035 right_gripper=0.9998 state[joint_eff]: [0.0615, -8.5949, 4.5197, 1.1941, 0.0611, 0.0024, 0.8669, -0.1162, -0.759, 9.9487, 1.9756, -0.0415, 0.0122, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.145,"left_z":0.065,"left_gripper":1},"note":"The gripper closed empty, so the bottle was not secured. I’m reopening and centering over its body for a lower, closer grasp rather than repeating the reach-limit attempt."})
tool
executing move_to over 10 steps (1.0s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteThe left bottle’s body is centered between the open jaws. I’m lowering to the table-level grasp height so the fingers straddle it rather than close above it.
move_to
left_z0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5106, 1.8225, 0.8204, 0.3321, -0.4637, -0.3443, 0.9944, -0.02, 0.7704, 0.5964, -0.4446, -0.0307, -0.0437, 0.9998] state[eef_state]: left_x=0.4305 left_y=-0.1465 left_z=0.0521 left_yaw=0.0466 left_pitch=-0.0293 left_roll=0.0096 left_gripper=0.9944 right_x=0.2834 right_y=0.0033 right_z=0.1697 right_yaw=0.0061 right_pitch=-0.049 right_roll=-0.0019 right_gripper=0.9998 state[joint_eff]: [-0.1436, -10.7009, 5.3402, 1.6386, -0.3004, 0.0464, -0.0757, -0.3624, -1.2513, 6.9538, 2.1026, -0.0855, -0.0611, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.0},"note":"The left bottle’s body is centered between the open jaws. I’m lowering to the table-level grasp height so the fingers straddle it rather than close above it."})
tool
executing move_to over 4 steps (0.4s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteThe descent stopped at bottle height with the body between the jaws. I’m closing to secure it before pulling it into a more reachable area.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5205, 1.9415, 0.7826, 0.6281, -0.4797, -0.3489, 0.9957, -0.0204, 0.7406, 0.5488, -0.4202, -0.0307, -0.0437, 0.9998] state[eef_state]: left_x=0.4453 left_y=-0.1571 left_z=0.0429 left_yaw=0.0545 left_pitch=0.0931 left_roll=-0.0614 left_gripper=0.9957 right_x=0.2792 right_y=0.0033 right_z=0.1608 right_yaw=0.0057 right_pitch=-0.0425 right_roll=-0.002 right_gripper=0.9998 state[joint_eff]: [0.3761, -4.6564, 2.3043, 0.569, -0.0708, 0.0415, 0.1245, -0.335, -1.4838, 7.0222, 2.0781, -0.0904, 0.0024, -0.0122] camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The descent stopped at bottle height with the body between the jaws. I’m closing to secure it before pulling it into a more reachable area."})
tool
executing move_to over 10 steps (1.0s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteThe second close was also empty; the wrist view shows the bottle still ahead of the fingertips. I’m repositioning above the bottle farther forward, using the overhead view to correct the grasp location.
move_to
left_x0.5100left_y-0.1700left_z0.1050left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5224, 1.9034, 0.8658, 0.482, -0.5125, -0.3664, 0.0175, -0.0204, 0.7166, 0.5072, -0.3992, -0.0307, -0.0437, 0.9998] state[eef_state]: left_x=0.4548 left_y=-0.1578 left_z=0.063 left_yaw=0.0876 left_pitch=0.0815 left_roll=-0.0491 left_gripper=0.0175 right_x=0.2757 right_y=0.0034 right_z=0.1523 right_yaw=0.0057 right_pitch=-0.0391 right_roll=-0.0021 right_gripper=0.9998 state[joint_eff]: [-0.2393, -8.4171, 5.4632, 0.8913, 0.0904, 0.1245, 1.4921, -0.3624, -1.5111, 6.9949, 2.0244, -0.1099, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.51,"left_y":-0.17,"left_z":0.105,"left_gripper":1},"note":"The second close was also empty; the wrist view shows the bottle still ahead of the fingertips. I’m repositioning above the bottle farther forward, using the overhead view to correct the grasp location."})
tool
executing move_to over 10 steps (1.0s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteThe bottle is now beneath the open gripper, slightly left of center. I’m correcting that lateral offset and descending around the body.
move_to
left_x0.5050left_y-0.1450left_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4824, 1.9636, 1.2255, 0.091, -0.4946, -0.3676, 0.9943, -0.0204, 0.6926, 0.4706, -0.3779, -0.0311, -0.0437, 0.9998] state[eef_state]: left_x=0.5037 left_y=-0.165 left_z=0.0996 left_yaw=0.1116 left_pitch=0.0003 left_roll=-0.0065 left_gripper=0.9943 right_x=0.2729 right_y=0.0035 right_z=0.1461 right_yaw=0.006 right_pitch=-0.0303 right_roll=-0.0022 right_gripper=0.9998 state[joint_eff]: [0.1846, -9.3607, 8.7726, 1.4872, -0.0269, 0.2076, -0.1783, -0.5538, -1.2103, 6.8855, 1.917, -0.0855, -0.0269, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.505,"left_y":-0.145,"left_z":0.025},"note":"The bottle is now beneath the open gripper, slightly left of center. I’m correcting that lateral offset and descending around the body."})
tool
executing move_to over 5 steps (0.5s)
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 jaws are down around the bottle body, and the descent has stopped on contact. I’m closing and will check the jaw opening before lifting.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4313, 2.0666, 1.1198, 0.3561, -0.5098, -0.3389, 0.9956, -0.0204, 0.6777, 0.4446, -0.3672, -0.0307, -0.0437, 0.9998] state[eef_state]: left_x=0.5134 left_y=-0.1374 left_z=0.0557 left_yaw=0.1606 left_pitch=0.052 left_roll=-0.0061 left_gripper=0.9956 right_x=0.2704 right_y=0.0035 right_z=0.1402 right_yaw=0.0057 right_pitch=-0.0307 right_roll=-0.0024 right_gripper=0.9998 state[joint_eff]: [-0.8, -7.9385, 3.9043, 1.1795, 0.2906, 0.0269, 0.1245, -0.3761, -1.306, 7.1179, 1.9414, -0.0904, -0.0415, -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},"note":"The jaws are down around the bottle body, and the descent has stopped on contact. I’m closing and will check the jaw opening before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteThe jaws still report an empty close, and the bottle shifted during contact. I’m lifting away to expose its exact position before deciding whether a safe grasp is feasible.
move_to
left_x0.3800left_y-0.0600left_z0.2300left_gripper1.0000right_x0.2940right_y0.0030right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4305, 2.0682, 1.1587, 0.3054, -0.5098, -0.3676, 0.0197, -0.0204, 0.6598, 0.4179, -0.3573, -0.0307, -0.0433, 0.9998] state[eef_state]: left_x=0.5178 left_y=-0.139 left_z=0.0603 left_yaw=0.1762 left_pitch=0.0409 left_roll=-0.0235 left_gripper=0.0197 right_x=0.2676 right_y=0.0036 right_z=0.1345 right_yaw=0.0055 right_pitch=-0.0296 right_roll=-0.0021 right_gripper=0.9998 state[joint_eff]: [0.5128, -11.7128, 6.2838, 1.1258, 0.0073, 0.0513, 0.9402, -0.335, -1.0462, 6.9812, 1.9414, -0.0708, -0.0464, -0.0122] camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.06,"left_z":0.23,"left_gripper":1,"right_x":0.294,"right_y":0.003,"right_z":0.2},"note":"The jaws still report an empty close, and the bottle shifted during contact. I’m lifting away to expose its exact position before deciding whether a safe grasp is feasible."})
tool
executing move_to over 11 steps (1.1s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteWith the arm clear, the left bottle’s cap is visible near the far end of the row. I’m making one corrected approach directly above its neck, rather than its broad body.
move_to
left_x0.5600left_y-0.1600left_z0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3759, 1.2972, 0.9993, -0.3126, -0.4713, -0.3527, 0.9961, -0.0204, 0.794, 0.6384, -0.4637, -0.0311, -0.0521, 0.9998] state[eef_state]: left_x=0.3907 left_y=-0.0641 left_z=0.2214 left_yaw=0.1917 left_pitch=0.0235 left_roll=-0.0254 left_gripper=0.9961 right_x=0.2874 right_y=0.0032 right_z=0.1786 right_yaw=0.0106 right_pitch=-0.0497 right_roll=-0.0085 right_gripper=0.9998 state[joint_eff]: [0.2667, -5.4769, 9.4427, 1.6581, -0.0562, 0.0806, -0.1148, -0.4444, -0.8137, 10.1265, 1.917, -0.0952, 0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.56,"left_y":-0.16,"left_z":0.12},"note":"With the arm clear, the left bottle’s cap is visible near the far end of the row. I’m making one corrected approach directly above its neck, rather than its broad body."})
tool
executing move_to over 14 steps (1.4s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
assistant
agent noteThe cap is now aligned with the jaw column at the bottom of the wrist image. I’m lowering just behind it to grip the narrow neck.
move_to
left_x0.5450left_y-0.1600left_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4328, 2.1059, 1.5227, -0.1226, -0.5243, -0.3977, 0.997, -0.0212, 0.7635, 0.5865, -0.4339, -0.0315, -0.0559, 0.9998] state[eef_state]: left_x=0.5488 left_y=-0.1522 left_z=0.1097 left_yaw=0.2013 left_pitch=-0.0368 left_roll=0.0173 left_gripper=0.997 right_x=0.2833 right_y=0.0031 right_z=0.1692 right_yaw=0.0122 right_pitch=-0.0413 right_roll=-0.0116 right_gripper=0.9998 state[joint_eff]: [-0.6359, -12.2598, 8.5128, 1.6044, -0.1832, 0.0513, 0.0806, -0.841, -1.6205, 7.159, 2.0049, -0.1538, 0.0464, -0.0122] camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.545,"left_y":-0.16,"left_z":0.035},"note":"The cap is now aligned with the jaw column at the bottom of the wrist image. I’m lowering just behind it to grip the narrow neck."})
tool
executing move_to over 5 steps (0.5s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent noteThe neck is aligned between the fingertips at bottle height. I’m closing gently to a neck-sized opening so the bottle can pivot as it is lifted.
move_to
left_gripper0.2300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4507, 2.2189, 1.3808, 0.1207, -0.5415, -0.3954, 0.9971, -0.0277, 0.741, 0.5449, -0.4191, -0.0315, -0.0582, 0.9998] state[eef_state]: left_x=0.5406 left_y=-0.1565 left_z=0.035 left_yaw=0.1958 left_pitch=-0.0393 left_roll=0.035 left_gripper=0.9971 right_x=0.2789 right_y=0.0014 right_z=0.1592 right_yaw=0.0069 right_pitch=-0.0455 right_roll=-0.0134 right_gripper=0.9998 state[joint_eff]: [-0.1436, -11.7402, 5.135, 1.7021, -0.1587, -0.1294, 0.0024, -0.3761, -1.6205, 7.0496, 2.0928, -0.188, 0.0464, -0.0122] camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.23},"note":"The neck is aligned between the fingertips at bottle height. I’m closing gently to a neck-sized opening so the bottle can pivot as it is lifted."})
tool
executing move_to over 8 steps (0.8s)
step 123
top_cam
camera top_cam step 123
left_cam
camera left_cam step 123
right_cam
camera right_cam step 123
assistant
agent noteThe jaws are at the intended narrow opening. I’m making a short lift and slight retreat to check whether the bottle follows before raising it farther.
move_to
left_x0.5200left_z0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4503, 2.223, 1.3739, 0.2333, -0.5774, -0.3977, 0.2357, -0.0341, 0.712, 0.503, -0.3958, -0.0391, -0.0586, 0.9998] state[eef_state]: left_x=0.5525 left_y=-0.156 left_z=0.0517 left_yaw=0.226 left_pitch=0.0544 left_roll=-0.0117 left_gripper=0.2357 right_x=0.2754 right_y=0.0011 right_z=0.1523 right_yaw=0.007 right_pitch=-0.035 right_roll=-0.0097 right_gripper=0.9998 state[joint_eff]: [-0.3077, -11.5897, 5.4222, 1.2381, 0.1294, -0.1148, 0.2125, -0.6632, -1.2923, 6.9538, 2.0, -0.1636, -0.0024, -0.0122] camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.52,"left_z":0.12},"note":"The jaws are at the intended narrow opening. I’m making a short lift and slight retreat to check whether the bottle follows before raising it farther."})
tool
executing move_to over 5 steps (0.5s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteThe left bottle appears to be following the neck grip. I’m lifting higher and bringing it inward so its base has room to swing down toward an upright position.
move_to
left_x0.4500left_z0.2500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4702, 2.0781, 1.3731, 0.0315, -0.5774, -0.4278, 0.2344, -0.0353, 0.691, 0.4709, -0.3771, -0.0502, -0.0586, 0.9998] state[eef_state]: left_x=0.5306 left_y=-0.1574 left_z=0.0938 left_yaw=0.221 left_pitch=0.0098 left_roll=-0.0014 left_gripper=0.2344 right_x=0.273 right_y=0.0028 right_z=0.1469 right_yaw=0.0152 right_pitch=-0.0271 right_roll=-0.0038 right_gripper=0.9998 state[joint_eff]: [-0.335, -13.8462, 7.4735, 1.4042, -0.2759, -0.1294, -0.149, -0.9504, -0.6906, 6.8581, 1.9853, -0.0757, -0.0073, -0.0122] camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.45,"left_z":0.25},"note":"The left bottle appears to be following the neck grip. I’m lifting higher and bringing it inward so its base has room to swing down toward an upright position."})
tool
executing move_to over 11 steps (1.1s)
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 bottle stayed on the table, so the gentle opening did not secure it. I’m returning to its neck with the jaws fully open for a firmer grasp.
move_to
left_x0.5300left_y-0.1750left_z0.0450left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.564, 1.7531, 1.483, -0.4908, -0.6281, -0.5076, 0.2342, -0.0349, 0.6777, 0.4469, -0.366, -0.0544, -0.0586, 0.9998] state[eef_state]: left_x=0.4583 left_y=-0.1628 left_z=0.2173 left_yaw=0.2087 left_pitch=-0.0324 left_roll=0.0147 left_gripper=0.2342 right_x=0.2709 right_y=0.0037 right_z=0.1415 right_yaw=0.0191 right_pitch=-0.0266 right_roll=-0.0015 right_gripper=0.9998 state[joint_eff]: [-0.6359, -12.1504, 9.9077, 1.5458, -0.4225, -0.0611, -0.0317, -0.3897, -1.2239, 7.1043, 1.9072, -0.0757, -0.0122, -0.0122] 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":0.53,"left_y":-0.175,"left_z":0.045,"left_gripper":1},"note":"The bottle stayed on the table, so the gentle opening did not secure it. I’m returning to its neck with the jaws fully open for a firmer grasp."})
tool
executing move_to over 12 steps (1.2s)
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 neck is directly on the jaw centerline now. I’m lowering the last few centimeters and closing fully to distinguish a real neck grasp from an empty closure.
move_to
left_z0.0050left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5087, 2.1674, 1.3334, 0.0887, -0.6071, -0.4702, 0.9968, -0.0341, 0.6643, 0.4232, -0.3588, -0.0566, -0.0586, 0.9998] state[eef_state]: left_x=0.5186 left_y=-0.1697 left_z=0.0435 left_yaw=0.2282 left_pitch=-0.0313 left_roll=0.0246 left_gripper=0.9968 right_x=0.2683 right_y=0.0044 right_z=0.1356 right_yaw=0.0218 right_pitch=-0.0296 right_roll=-0.0 right_gripper=0.9998 state[joint_eff]: [0.7316, -11.1658, 7.5966, 1.7265, 0.0611, 0.0904, -0.0659, -0.6085, -1.1556, 6.9812, 1.9658, -0.0611, 0.0024, -0.0122] approver: 1 step(s) modified (delta_clamped). 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_z":0.005,"left_gripper":0},"note":"The neck is directly on the jaw centerline now. I’m lowering the last few centimeters and closing fully to distinguish a real neck grasp from an empty closure."})
tool
executing move_to over 10 steps (1.0s)
step 161
top_cam
camera top_cam step 161
left_cam
camera left_cam step 161
right_cam
camera right_cam step 161
assistant
agent noteThe gripper again closed nearly empty, and contact displaced the bottle instead of securing it. I’m withdrawing both arms to a safe parked position rather than continuing to push the bottles around.
move_to
left_x0.3000left_y0.0000left_z0.2200left_gripper1.0000right_x0.2940right_y0.0030right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5049, 2.2044, 1.3003, 0.3454, -0.6456, -0.4728, 0.0232, -0.0341, 0.6468, 0.395, -0.3492, -0.057, -0.0586, 0.9998] state[eef_state]: left_x=0.5382 left_y=-0.1719 left_z=0.0576 left_yaw=0.2692 left_pitch=0.1206 left_roll=-0.0886 left_gripper=0.0232 right_x=0.2653 right_y=0.0046 right_z=0.129 right_yaw=0.0221 right_pitch=-0.0307 right_roll=0.0003 right_gripper=0.9998 state[joint_eff]: [-0.5949, -7.706, 3.1248, 0.823, 0.188, 0.0024, 1.0965, -0.2803, -0.8, 7.1043, 1.9853, -0.105, -0.0611, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 161): [image omitted: streamed camera frame] camera 'left_cam' (step 161): [image omitted: streamed camera frame] camera 'right_cam' (step 161): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":0,"left_z":0.22,"left_gripper":1,"right_x":0.294,"right_y":0.003,"right_z":0.2},"note":"The gripper again closed nearly empty, and contact displaced the bottle instead of securing it. I’m withdrawing both arms to a safe parked position rather than continuing to push the bottles around."})
tool
executing move_to over 19 steps (1.9s)
step 180
top_cam
camera top_cam step 180
left_cam
camera left_cam step 180
right_cam
camera right_cam step 180
assistant
agent noteI could not secure a reliable grasp: repeated closures were empty and shifted the left bottle. All three bottles remain lying down. I withdrew the arms rather than risk further uncontrolled contact; the fixed pitch and roll also prevent a controlled wrist rotation to stand a firmly held bottle upright.
give_up
hindsightOn these bottles, attempted neck grasps around left x=0.53–0.55, y=-0.16 to -0.175 produced contact and displacement but empty closures. A commanded 0.23 jaw opening did not hold the bottle during lifting. Do not infer a grasp from occlusion or the commanded opening; verify object motion and a nonempty fully closed reading. Fixed pitch and roll require a verified alternative righting method, not an assumed gravity pivot.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2874, 0.9272, 0.7956, -0.4656, -0.4843, -0.3649, 0.9972, -0.0341, 0.7967, 0.6407, -0.4713, -0.0574, -0.0662, 0.9998] state[eef_state]: left_x=0.3117 left_y=-0.0027 left_z=0.2234 left_yaw=0.2974 left_pitch=0.0385 left_roll=-0.037 left_gripper=0.9972 right_x=0.2867 right_y=0.0039 right_z=0.1775 right_yaw=0.0266 right_pitch=-0.0569 right_roll=-0.0042 right_gripper=0.9998 state[joint_eff]: [0.1846, -2.1128, 7.5829, 1.7265, -0.1685, 0.2906, 0.0073, -0.4718, -0.8684, 10.0308, 1.9902, -0.105, -0.0171, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 180): [image omitted: streamed camera frame] camera 'left_cam' (step 180): [image omitted: streamed camera frame] camera 'right_cam' (step 180): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not secure a reliable grasp: repeated closures were empty and shifted the left bottle. All three bottles remain lying down. I withdrew the arms rather than risk further uncontrolled contact; the fixed pitch and roll also prevent a controlled wrist rotation to stand a firmly held bottle upright.","hindsight":"On these bottles, attempted neck grasps around left x=0.53–0.55, y=-0.16 to -0.175 produced contact and displacement but empty closures. A commanded 0.23 jaw opening did not hold the bottle during lifting. Do not infer a grasp from occlusion or the commanded opening; verify object motion and a nonempty fully closed reading. Fixed pitch and roll require a verified alternative righting method, not an assumed gravity pivot."})
tool
give_up: I could not secure a reliable grasp: repeated closures were empty and shifted the left bottle. All three bottles remain lying down. I withdrew the arms rather than risk further uncontrolled contact; the fixed pitch and roll also prevent a controlled wrist rotation to stand a firmly held bottle 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 · 12.88 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, 0.609, -0.3763, -0.0208, -0.0284, 0.9986, -0.0154, 0.7879, 0.6033, -0.3847, -0.0235, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0013 left_z=0.1835 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2936 right_y=0.0032 right_z=0.1803 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5128, -1.3197, 9.6205, 1.7607, -0.0464, 0.1197, -0.1538, -0.7043, -0.9094, 10.2222, 1.8095, -0.0171, 0.1734, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6cd9b544edfc251ddb111f8696c68fa48d2a65f206ca3dae0d5b8a7fc80d9e6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:138e33088fac744e7e5ac398d6484b44b5669d497e14a8a35ed856e3a7e42e3b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cfdb1c72ae63ee99da12baf09825df94ec450883e28e496416d0f5302d52a35",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob a6cd9b544edf
wire blob 138e33088fac
wire blob 9cfdb1c72ae6
call 1 attempt 0 · /responses · status 200 · 9.396 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqsrv4tzJpaqTuA29M4Eksu1lg1Tr8thUMI1sdoPdQtuRoACodX2BhM1_sC8rPrsxZfup0xMt9Fg9m6Q6ova9k6sFKJKXxeuMetMgE_ZHxjU6s_fK3G9pvrP0Do2pKMIdEtnQ9wcovBi_ZTtrWI5SBGej_QFCH0Pk6orf6dCS0-tRQdXseHbgrnUYqX0rlB3fUlSusTgOlu-Ck2r8MZjAhm4FK4CC5XSgA4akthyuRqNeKLkl58Z0LuuIozdcb1Ebdh7HzrRuNYgHY49iRn3kq6EIxxnvjCyTm2T3xw4dvnthWQbOUahzgQyr5mGBWowAkJXFQpSXQdVfyP6cncBQzU0LgXeivcJW3CB9Afw4MDRn8g2WtQcSw9QJeAvzgvJrA1ZvTNIw6KQMAeKCccHYx0S5Eq8Ve1ezPSJffMo6U4EsRh_MBOCSS11XOdCQYOLx-JxNPZ7sI9XkvyJLdNWAUfAao3SOxz6OafmdB7Z_WNMMX32er-hva08r0cDwT0RGsNRIPPR2G8ux_VMCshJwtr82EDndPBzsfO5z6qK_WnK93CmD1TebrdsgeMOW6VaV8beh3dP_m7ULXY2IqtTKdgUK4m23WJI6Ox2G4vnDaAenKnwWpiDODJxVGfEhAQsuPBZrCESCp6zj4XHsACzuFbkPnSHydOfWlHOED4tGOqvrzrQNbcdYDbYzCj_geQlnCHVw0IhEJ4W351GB5piuG3zHKqBoDT3ZYsPIdyXeenA_tErwBAMuXKdnS4VE9IWzcN8ntTZEkIW9u431GGUCFyGftTMiKg0YFKXyPRe2IJQbY_j9CrMRbDF7sRuExJp3h3XJDOPDuuIzO5bxWJKHnnxazFhKQy1zhTKPkRoqPQ4-uipKOOOyg40OQ0hb4vk2z1DMmLFJRIunXaOcqOIXsrFeaXEYGQyrkBU91kTFhhLO--u37FGgI3VnOjScyZfDH8UIc1o_sxh7pshjLadzUr1VbvR_zUJm0hbw9Zj4oQxdKKEZFpqn01z7BEZwamGOCoKkG1OtHzMCshTrZKla8n-HCguo-FhhpxX1cvk3vpi28oVHKfn6aGV4mr4Fr2x-mXE17ZD8HIJqkOGWZPO79_PgJeC_3nTjLm1nDHGmQlXcohJ98R2XKie7jfYD6nJ7Nh-ipf6bZ8hNC5XGh7tqQsTpj6bH5eWGsMEQ7TlV5qe06Imvb6kS_zFuIoz4gzpZm2o8kNkbN1monxsx6xoo4VubBJTKho_x__UAJJIr47PJohJbdZ9QlMcUSaP5ZVl2OCZo10bbJfEnWe4Zv4uWcAJOczRIBnK9yUdM4BCMpmXKIF_0Qyz1RQ-cSK0gTXDVY1Yx1Q0gE8xxuNK4n-L0GH4r46E9qOCbHdtkpGmIqxn80b0jIhvWs0RdDXV8SxE9dZS3xNmO2iuwkH4LWNltOBYwvwZxmPPdIeTiGA3uJ72dS3ytHiOMDtyysFVhiIHckmm4wh2IJMFZuHN48er9M_V4faxNosmkyX340DKOKzL3008tg2trHHjeM90KxEeHZI1Qa9pDpUF3voAcufyBzVAvnQFFYeRnSFtaBZdhXTmjdq-NDDa-wyLruD5pl7Pmg_pXs7leq9qOgB0EBORfqyUTtxqffOu97EyjcA7LDRW37SOU_xXP3hvxzzWcyLntMSGlycVe_dv2-OeU7RVAxkdN_MCQDbjq3463a3dYa_cdci0BolQoGwy9d2iIH3m3yiO1j5gLYTSf2QmCOAMLNJ2KRtpetmm6ztkPa4hau1cK6oXQNfQgQArRopFaNiAGaZk2S9JvoBFLROk0zl6hfhOwJ2jJV2tJuFF0QSiweL_dTu1pktiggbGESEcsF9Di1MJ32ftjpwaVJQ1BsrWlarDMj6zxiTaQpzfiyWW_bnTCa2jfJh7GPbXAa5KAGx6wJignR_4gd0tmGUiB6xkcnUE9LchzJszb6SteYEC8NeFbN2N6RAK9PJ05mV0cLFWCvqAwX0VwFDdnDhsCsoAq8MmK5lGb9dpMSVPNJrWfPkTNg0bXMWnK-e1oMKAmxYMmsuw6PfXgDpagzhU14GO2zPJk7jkGDeC7ejafSaDYc-oLg7PxHaSKKwnrn11bC3nYipuMZwELp8zeG3gMoBvSicBfPoiTiBywDB-V9U0C3dpQ3ZclwMaPz0LB02HAF8eV3_3fV0_auweT9cOjWFdAm7hRbQBudx6rzQJvhu7kQ9jBrRxI=",
  "id": "rs_0784084afcd16f38016ab2bbee05c087d0b52949b0d3772beb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.18,\"left_z\":0.15,\"left_gripper\":1},\"note\":\"All three bottles are lying down with their caps pointing toward the far edge. I’m approaching the left bottle’s neck to lift it near the cap and let its heavier base swing downward.\"}",
  "call_id": "call_SUpGuMQy39jizDzTgH8UldSf",
  "id": "fc_0784084afcd16f38016ab2bbf6a38c87d0923b2e45f48352f0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SUpGuMQy39jizDzTgH8UldSf",
  "output": "executing move_to over 17 steps (1.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5766, 1.6379, 1.0054, -0.0708, -0.4694, -0.3523, 0.9987, -0.0193, 0.794, 0.6033, -0.403, -0.0273, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4181 left_y=-0.1723 left_z=0.1319 left_yaw=-0.0099 left_pitch=-0.0554 left_roll=0.0237 left_gripper=0.9987 right_x=0.2916 right_y=0.0028 right_z=0.1749 right_yaw=0.0 right_pitch=-0.0244 right_roll=0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -8.1299, 9.0188, 1.7021, -0.3101, -0.0171, -0.1538, -0.0342, -1.6615, 7.2821, 1.8926, 0.0122, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6224006156b2e7b45f40cdb1df19fb72b384926706286e8cdd02348d587b7ff6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ba7d07c1ad367f266b4113e389748081c6d3e13bacdbb6dc2fb10b8647e6339",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e0c27d0c53100c3df6cfd4c1b93868891304173c8beb606636e5e60b4d11894",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 6224006156b2
wire blob 3ba7d07c1ad3
wire blob 1e0c27d0c531
call 2 attempt 0 · /responses · status 200 · 7.778 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, 0.609, -0.3763, -0.0208, -0.0284, 0.9986, -0.0154, 0.7879, 0.6033, -0.3847, -0.0235, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0013 left_z=0.1835 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2936 right_y=0.0032 right_z=0.1803 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5128, -1.3197, 9.6205, 1.7607, -0.0464, 0.1197, -0.1538, -0.7043, -0.9094, 10.2222, 1.8095, -0.0171, 0.1734, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrwDltjhKcX_0ReYeJBFB3KGdZtS_RgygLmNzwBr2jn3oIHyn57hlhG32MF_3jfELd2xrD5AgXwKJePgkUV9MBpKmqia77BGc2PeY9BceAUXKv40paRdzWhxBfr47vM6AT5Y27wBFJg1ed_V5pbg6kPwg8pNQGT-uR7w7q77kgJzl47Dtwr404cX9463lk92frYchAHcobYVHGm0G0-QevuL43SpcdX8A4WRiA2YIIocQV4EHBjp6YbUBRS-h5vSGSzQEZ4shVw-NT3m1dFjHxqCISMn8MHKJiSHKbFOT-buwvrtWTmFYyZQ7A0zYTX-B4tUpQ65UKkzK25bgUt3x0E4HbAmGNockzbYB9xpeuvKQnXyNXtbwUTYfnh4aGP86l16k9QrmwYGCPl9mlw4HZi1tAsguYNKu8WrENjEA2khxW_t21Z-7H36OFTBWeEEAx88bOOXyLD-HB0RYgOugtop6kJ20xuOO363h6c5XySf3yghPYtkB-kELLBcJaZExq5_ypk_rZY3iT1HQC2e2tNVIivgS4r49PIFuwYHi6oQOPySePSt4aI0XIZyyb4og0OvCO4CCMDxFW51yzvqvLLOHPNvHgnMO8_TaL4P-9XFbuAdjuhI7_3kvtiiIjZZpq0wzjlIaN8JN0lxRDSzXPxUap7RfUuyCQK0XVAH8zc7IS4D-uxl7bccn7il1C32oEp1-NeEHUN4ze8dlVlJrIR_0DW-8rnlpXaqU04w3q_x3uRhFjoZuMpjpiY6nwVJQo1b3un-at0YtOY8dGAdC1v6-n0CA6hkEmUYOCCgljcy2LI0c993CLrOGSWF_9n6OASCOE3ml5gjlkYOT7pIwRV7m2B7XL28eiv5DBpidbW_Ny0jNPrsYtAJGe6kMQrHDgVEdikUYUvAlJzcX8RDj4-_-iQu6DLhz2o_uawPnz9kPGQ4L4t_zzd0hBZ8z95KFleRC2lPNtmkQiUG3XGvNX7V6XwS55OMiQC20y41C7VWSRRlXtmXBFxvqdeNCXcu_E1dbCUsDpT27VE6Cn1R-uJabBdLZGs1nImWYa2oWSzlDGZAVdwQbapQHQyjzvEE0pRzQZhoaoBeVqLsjVIwq9yUijAqKl_O_s9ajFKjzsrx24CvUMnuGcKMnCIWKxznfzVNaleWrUWH6Po1Ir9x_68UKjh0Gho6n0Lpf5Gapghy5iW92TNAyfJBccvEE5L5wPGWx8OhSOeh0i2e8ujcRZJU58bZJaRdnrkYcElPJ_yTgjVHdYAmgFxQsb0tIUGLXg-yV-OUh8BqDvr5CtZWPz6K1Y09N6WY2debsqAcDhPvFwxqgDB-zZIEj_mOSKIqVfnva3anH13vLgPuzwg-zPX01pTKLRClD963Nay7FTc2U25YWfPLMVIyHeaSYuOywG7BPswEmb6gQLHNbxFJgtEHH_xWwBjpv4VSndIpA2jehXtIWrbZEHCwAi1qxNgXChCNT2-nI_Ls9FRjTG3dos9yH_YlVEHVGijRqXdOo1sF4NFonXYyIgBgE_zoKghKUPoboBlPZw7pnlsiRlvtuedP0dzJrmBJN-awQ5kymUqVXGo5ZyT8gnsJGDcXc-JB5m5b6fnkCwqmXFm6Q1SrFO9kHVAkZ6Nnd3AHoQvT2ySF_06Ot7MIlC_40y6Mk62Wo0dkgm6KnPudBvaiTt5T_vg3z6FtDSVscx61kJJCS30RrcNkJ9q21YZNytjSvrRpuxX9lTH6eThSMlk0eV3vKlbA4Fb4FNhuEDQ-ikh55Jqc4Iw=",
  "id": "rs_0784084afcd16f38016ab2bbfc641087d091440c52929074b5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.13,\"left_z\":0.07},\"note\":\"The left bottle’s neck is left of the jaw center in the wrist view. I’m shifting toward it and lowering in a small step before gripping.\"}",
  "call_id": "call_1tppFSA7bTzqbNGJpQ4l2COY",
  "id": "fc_0784084afcd16f38016ab2bc01d42487d0822669d534ba93d6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1tppFSA7bTzqbNGJpQ4l2COY",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4107, 1.8145, 0.8776, 0.2333, -0.3813, -0.281, 0.9985, -0.0193, 0.7841, 0.5823, -0.3965, -0.0277, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4455 left_y=-0.1184 left_z=0.0551 left_yaw=0.0474 left_pitch=-0.085 left_roll=0.0319 left_gripper=0.9985 right_x=0.2892 right_y=0.0029 right_z=0.1693 right_yaw=0.0003 right_pitch=-0.0289 right_roll=0.0019 right_gripper=0.9998\nstate[joint_eff]: [-1.2513, -9.853, 6.0376, 2.1221, -0.022, 0.1587, -0.0366, -0.212, -1.7436, 6.9265, 1.9853, -0.0269, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2684a6b8aa8a929cbd49338dec0b67adfbdc582849aef84e10d21d35998d028f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa6762d731f6bd976c9dbc49ed6d69559272a830917f2fcfa5a51868533c7162",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:449257f85703853ee0798c96a8905b6f811d5ffdee3c6d5f1ffcc1b266e96aff",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 2684a6b8aa8a
wire blob fa6762d731f6
wire blob 449257f85703
call 3 attempt 0 · /responses · status 200 · 8.064 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]: [-0.5766, 1.6379, 1.0054, -0.0708, -0.4694, -0.3523, 0.9987, -0.0193, 0.794, 0.6033, -0.403, -0.0273, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4181 left_y=-0.1723 left_z=0.1319 left_yaw=-0.0099 left_pitch=-0.0554 left_roll=0.0237 left_gripper=0.9987 right_x=0.2916 right_y=0.0028 right_z=0.1749 right_yaw=0.0 right_pitch=-0.0244 right_roll=0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -8.1299, 9.0188, 1.7021, -0.3101, -0.0171, -0.1538, -0.0342, -1.6615, 7.2821, 1.8926, 0.0122, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrwLkevIvSFrwHXXttlZYezhsqvSscP3kqNtX21x2Eq5LD8SXQKlCO36TEnk1mZSrhm4Bt_i-xe7AFk5lwAckUjy_aOfD5UPHLX8h3C7D5vHYKbqpM7vQx3WUJAe4WZJJn9HJeB5tAl_QruKFN-VmORox6LkCe75FgPKUZW3gATC4DiZ0OxfIvq9hOYIjWfMdyUy0nAN-gYtApG5nw2_BQo_Qv-Ch_5BRHv5xgeKP10H0Fv1otXIKcF9jIxHYKfxyDIZMzA5R838hvn1lu28Fa9rlPANF7IEhFljQOjzHxvyofirrkwlHgt0fytTGQkzQE0cNqB_qqFU1A93zn8DnoyfO3VKSMNHofgvArwUGdBTqCcCCaNb_jfdxr_jEKsVOectI32aTFpH-iOz6D_mtHqeZS_u9tKbDeYmcbKGd6vs5gmAAnt_4AcCY6mRJQaHGQUReFC4vF7rmG5YgJ1YPCWamNijq3pce9lqe0xKOzY5PGidXeZ91Lwnhc7tlITt72ODo-Jv0LKLC5aYA9gbwsHttZRaOD1pcevkiyFKYhq66Bbq5HJZKx_40Fd4btRKqTDeauaUdYdTtNX5NrVwLTE9-4wFz9aF51vt9UbiAW2yiwhBctDiLmTEzf_H8t6y28MCusX3mTV8rQazSNJ8H38ba5bgxu730J8yDDpRfBi3M3XhBQgR05SH1DBQIwdvjZste-ZPgdtoHxWPOGQue0tB_J8qEItf1sDHuIVhARrGhwwwurWNGhP-kicA9V5nHNWL1UYaGR8bXMVFztmlRxRYVCArUPhNVRUzaRDIRj04KU_k5-Hxy9gzwbkVWQ_V34A5NYCNfCGgQ1puUzIZLqQXuqFjYQw4b9VcG0TtmbOS38n7UOm3VYCboth1lQJnxZdmNDcJHZf1RMVTc52jMtkIP6XH7RTMT2hm3UfTw9ZOXcejkRtJGI5q-Oe1WklfvollOZjdZm3-zSWnAF-brfVZEG8JXfmMj8TqwOzvkPLnvjELWg0VR-Tq8Sa4STnstTakuTfgWi2TLRe3MBUdRBB3aG9_qi4cNlknImKz88qKLhV-YUDxgL4-WqSXQYrZSEJ0oYhYkyuR-rCZKf0kfxb-T1qkBdGseDvQ9-xgHRcQIOGX-aa29BOkPKdP5m19Cm4nuGepeOrZEYbBdY1wpkHDqGMb-rOs_rvZgeT-fMU4OveVU5wgBPXi9C3R8E6JaqYnJ5ixIBty8DGm-dgoDT0J7DOcNjtn-ThVU6uWxDuWxdEm8yHTZjkPgLYEKLj5VDtaVLLcQiFJF1dwibTTQQFEcn_CNzrQnjJzr-dsk43x1ZAWM78BfOg_sa9hv3xMXrG244Znr9KIwoBLfhrLJYc1dRYEzxtXEXJGWlJ1dcwy3eXnBs9Zs958EGHEiVUguP88A74H7AWxqidw3tQ7vVljszNBKyHJXw_41KL8qQbBZhoKTC6NjYod0_tM-JZk21dmnt1kKT6Q-i9oCo2oeL0F_nkA3rf7H9SZMK_Vq5pwKx8=",
  "id": "rs_0784084afcd16f38016ab2bc0622ec87d09841a3ef9eb4b00b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.50,\"left_y\":-0.105,\"left_z\":0.025},\"note\":\"The neck remains ahead of the fingertips; the bottle body is currently closer to the jaws. I’m advancing toward the narrow shoulder and lowering to bottle height.\"}",
  "call_id": "call_WeXq10QfYOFE9W0WIapFou15",
  "id": "fc_0784084afcd16f38016ab2bc09cce887d080d8cbb5a28c164d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WeXq10QfYOFE9W0WIapFou15",
  "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]: [-0.3931, 1.8652, 0.8291, 0.4145, -0.3748, -0.2626, 0.9984, -0.0193, 0.7719, 0.5537, -0.3878, -0.0277, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4546 left_y=-0.1146 left_z=0.048 left_yaw=0.0482 left_pitch=-0.0131 left_roll=0.0077 left_gripper=0.9984 right_x=0.286 right_y=0.003 right_z=0.1614 right_yaw=0.0003 right_pitch=-0.0366 right_roll=0.002 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -8.3761, 5.4359, 1.917, -0.1636, -0.0904, -0.022, -0.1709, -1.6205, 6.9675, 1.956, -0.022, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74ef84821a66e7fa6b10d001529c715c8d5b0fe545c133b79092ec5ec2e6c708",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7774cf2d0357f8dc50f02bfd2a73ddff02536d2f6d17c6d84ff264696a31290",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d4449b50436d9ee3cd8b9825da4a18e7ef266ffca42be598b200c9edaca3d45",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 74ef84821a66
wire blob a7774cf2d035
wire blob 6d4449b50436
call 4 attempt 0 · /responses · status 200 · 12.15 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]: [-0.4107, 1.8145, 0.8776, 0.2333, -0.3813, -0.281, 0.9985, -0.0193, 0.7841, 0.5823, -0.3965, -0.0277, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4455 left_y=-0.1184 left_z=0.0551 left_yaw=0.0474 left_pitch=-0.085 left_roll=0.0319 left_gripper=0.9985 right_x=0.2892 right_y=0.0029 right_z=0.1693 right_yaw=0.0003 right_pitch=-0.0289 right_roll=0.0019 right_gripper=0.9998\nstate[joint_eff]: [-1.2513, -9.853, 6.0376, 2.1221, -0.022, 0.1587, -0.0366, -0.212, -1.7436, 6.9265, 1.9853, -0.0269, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrwUTxDoksyTOenuLHJ0AKspvFcrYlDG5OsyNev9LVboKDn3DkWwOoqzEOkgZXorb1y9Ej1IQa-mrzR7JSAOAQYjuQupMVDwlv7ah6PPZj8iTPVoB1HhuqhlTRbqW0JY1MbiG_kSuvEl-xZriKZReULIk5bV8HJsWrabwmOvFFrGvBCNYJGUVn8Wuf7a6pBxRrSM46XnS2YjvawQVkCPeMrFQIMAL43VVngPMjElNKfwSXVIbwvH7g9jVXtR1lz6Uv9xk-RJ8fHSk4cAGq9fxuY4OB8B4iH3Pe2HbJD4q9tPjdVTdvz2Nctb3AoHV3oSBDf0a8DVpciOQAGZjG_ajtxeK3Ctsm6TGnVbtwDb8jmgIxQ07QXd9eeRYHKeh3kX3QvKmAH_T0kfOP2A0uyfqysp4kOgkpsxlIasZ46k85-obaVrZ6UjO-CfUU7LJIjpBuKsU0H7a9lgXYA18deLmzBn_40W2rSaUbbBTH-_HiFCwlnFIyaC-YYIAAgAoxAxM19qWNZmjbcRSA6yC7v3q5Ei479VmfnYVsdw-XaEW9UBEWOnfDTK0js9h1qbFxCkZ3ypLDBUoMzOQBUcndcKTnL_AWnRjEVZOUjR4v0TwxR_DqFHH9iZ5YKaZbgLrxi_t8UvCxByJ_6xHQptSi3SNop8YETRS4GbrznUM56O1y5sV_Fhi8BUGAKOgQQLTLFefvEnWHaqvtorOEQvJDQTvcNQge0twbVSu-peP1G6R2fziXBYY-1RyZr07worrCSOJZFElsX1_RRKHs6_0-EnQe_XWmPEHX0mQCdNxePhLZpHV2zxfl0pCa0o7i7C-2-XECWOwFBS_7Tfe6KWrfy0R0aGj0-zmNNTgz1h4WU0RVm0sKa2OGCxT5N4rx1RK9xP6zS5sd3cEDJIUwR4f06IBpC0ZmEZj_YQZjYeDbY_lYikIgeB5Zo9hUgaPYAAns7DbTuy8DQDPEHAZQlsjNxT-Rpis88wuurp45bGjveFGz6GqfdQrOf-OjqE-3rGG4-vFroRL1yjrht2vulTQpoue1KA89x7zfzXAU4uQ9SO51JVlzq8yeSAgIkTBW_6A9jw84kpL69U6lKIG3XL9NIVDZOiIn98KTY8sTEMRvJcE9pKyNXDcZCPZoCMok-DIkLGHaAV0sVR5AD8r9-MORwuXNCeEXtQDmHy_OOHxNrdBL4AioTR99hxDKM-1r4lRsP4Pjiiia4mvHDBn5iWveWxvrVDHeKfgJqXNn1GT1HywX4XsAZAuBD80NGbFoqR6V3387XNM__VtWIv47fNsMAAWHfgkHpvyyIomba1RrSQBXSMh1ianA9UUTQxOXgXuuZOYBmzyuQ8AGCtp83iqKunF0mBaGl3r51WkY2q2Q9QBzoTiL1npeIv39tL-HuUCnt22d9etQPqvLoeHy6M5KjQWD7bwMkJJViONfXf2q0AabIdt0k=",
  "id": "rs_0784084afcd16f38016ab2bc0f21a087d0b31fb8fb3c935d56",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_x\":0.294,\"right_y\":0.003,\"right_z\":0.2},\"note\":\"The left arm stopped short of the neck at its low-reach limit. I’ll grasp the bottle body first so I can bring it closer, while returning the idle arm to its parked height.\"}",
  "call_id": "call_xCU4PBtFZuonCloejc02gPt3",
  "id": "fc_0784084afcd16f38016ab2bc11965087d0885ceb5dc99ab7f4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xCU4PBtFZuonCloejc02gPt3",
  "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]: [-0.3916, 1.8645, 0.8291, 0.4999, -0.3862, -0.2668, 0.0187, -0.0193, 0.7963, 0.643, -0.4629, -0.028, -0.0437, 0.9998]\nstate[eef_state]: left_x=0.4651 left_y=-0.1162 left_z=0.0655 left_yaw=0.0624 left_pitch=0.0673 left_roll=-0.0276 left_gripper=0.0187 right_x=0.2882 right_y=0.003 right_z=0.1802 right_yaw=0.0046 right_pitch=-0.0468 right_roll=-0.0035 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -8.5949, 4.5197, 1.1941, 0.0611, 0.0024, 0.8669, -0.1162, -0.759, 9.9487, 1.9756, -0.0415, 0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d39290f7199aede0f828389066dbcf577fdd8727a94091152ae93baea932a12",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:deb19bab348803623f92ce4f20311e9bccce4443c6c070f246847861a98e707a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03839f2d01bce2331acd42e01425b9e61dd060c90da19e4c4dbc7c7c7e4e73b7",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 3.458 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]: [-0.3931, 1.8652, 0.8291, 0.4145, -0.3748, -0.2626, 0.9984, -0.0193, 0.7719, 0.5537, -0.3878, -0.0277, -0.0364, 0.9998]\nstate[eef_state]: left_x=0.4546 left_y=-0.1146 left_z=0.048 left_yaw=0.0482 left_pitch=-0.0131 left_roll=0.0077 left_gripper=0.9984 right_x=0.286 right_y=0.003 right_z=0.1614 right_yaw=0.0003 right_pitch=-0.0366 right_roll=0.002 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -8.3761, 5.4359, 1.917, -0.1636, -0.0904, -0.022, -0.1709, -1.6205, 6.9675, 1.956, -0.022, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrwhdKysz4vlfaCe0oK_H9zso-Yzu6DFNtu443tQTSvc6y_w8XNTFJ7p6Ay-TLL7J_6Px1RQsnEW3MBz36mxnOuwd3-2WRD-bXYQpNgwYy8WJfv0TYGY9BajJmLQPjQSXYaTkui-h_M26HiD7YXHyCpCqlReDhkF0Ft66s1ac2Za32vGBUYNUIHl_3L7UlYG0eMv2IuT-FWhq_T3AeAAxE2mMGvwo0RBxEcKEXcoHllOepDhkc02l4IpiLdjIgGI_pAm2ca2pflwmml-X0FVMRsP4jSVwS3ksrR5n7iB32W7I_ivUU6pWFo0hPqg6c6eC9Gl8OpIhYoPmoUmu0a-HiXMrmA8xdNhHbQ6ffwSfHyc5CEEF5MRgquZTYQFC72iJVSnqnmWV0ZFsNX6JhP7ayaMVlvnp8ZJlLRiPyXZrLfXdWMSNlhjHNdEYbF3KZWCNk_4283yafrs_0Ykutq5AdPnbbOVCD8glFEx2DbcMPdqyXciqytiQeN1xDzGxKWI3uogDtoBnVpEgzWRYwZPZ3hcIwOYVGPEKSH3Qxw7IbdtBNbMLiPPjllfAPoh6_hGElq5bREG_swO_TBYz7h9uFEgg4KSS-61kj5mhesQRH3D5ruY2EA0hBEs7HOvUXo4TjLuCCJUkeyeJRpDyNKo3dt7nTMD34XNuId1EZnbFckBE6ke4gpse3OwdezfrjlRo6AJYrb1D4TXMtmq6WX99D__lP3uIlU2DzX4gwzQjBJdUS2a6C8W1HdkIFO4WBXEWMwpxgk5OQptOw3svxzaH8LW32yoo6cMSxTgcfHxcl2uAenD4CyqskMg-NUnKuXTrxz39ylbhy1HhkJYgUoag0JljdqHqmHjRXrgS2MlGXOW90gBIrk19Gzk4fACPiIxtjLFyMwdeRH3B4xSKDLiOqEibkLZq__33Ya6atQx6z5BfXSltpXjiIP733eUcvb0NvzFGP7TeSwFUsxDf4ytJuqhCMbpDljdy7CIpiDh2opZWQ5Jv_0VrN1yE4_5LTaAa6jCGh08qgtfHiTnvHvyyQERfX00zeiwDcA7QxwGyo6ZqO92AztWOhVHYFl2ynQA_R41Hq5hHM7gkbhO8dcHSk07DjB-_U5kPKZ29XIPn07P_9lv1mqsDRfVnuUKlZ1ztJ5YONEZDJNAgZbIoMiVVJcj4_AyzS7dPOJghupiT80McWhwoEwetZ5jqBxNWoaqOxTpxAS6zwcVbm7sVfZvz9b45DGzViPHirVEFxHXc1__-0mPo7_diHGTBWFevUGYMBL9CrB5TvtWsKEqbIg90XX0SAIwbKkvJlCdCFh_VKfNb1QrTbpJGciZAjMxsg6fSFSB1EK8lrwRDKZERIZtVmoj4EvendzbVhAuAKhFK3f6abh_sK7dN_IJS3Ab0NJrCwABRKkpqVxPtkIKBPNXHNqxIR15bfSmyMOSKEx3gSIt0KWKTP595WB4JJ24ruklTqhIxZAkFNN-4mZCrQXIheRK2F-UyP3v4i4oItLISnmEeGKMMzLKflGKtSJym69l2U_NHaDRMeF3LmLJ4HlC2meBloltkwS3fT6Jbm98MeHWu4xbxA0LdtmFgw6vC5ZSkHsQ38qF6PdynbvfZoTe6zanNyN0nnEIZehddADZ1MWYASlAItg5S9tIH11YbSvjDUlI1S8ky6Zjf5tRpEhWJ8DVfnCDSFySH_Nswnoi-xKHtdKCLchZXuiKquXqzkOOfdcUTUCUxvv1YvmB8RgvqT7vU1sqlZ2oBUaszoX2ORIMu2I6_rZe0ZcKeqdGR1kl7k4WLlnebNjRivprIKHKw9M-YfgB6Cc7fRE0enyYmNO3kDE_O3NE8VX_CQ9d3wMR4SWeIy00sRUTlKkon93TbCU8FVNzW4Oqv9vXSHorosEKh-bwepe70EWkdeq3UhEXC8YXIZCfsZk2Lfo2gmYjNuSa3VxPMbbzjaG2PMy59UJOG8s7BWHINQdRY1uANfxAyyA6Ge_XZU9lRsuGwAjSCDqNBg==",
  "id": "rs_0784084afcd16f38016ab2bc1878fc87d0830a60e139561764",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.145,\"left_z\":0.065,\"left_gripper\":1},\"note\":\"The gripper closed empty, so the bottle was not secured. I’m reopening and centering over its body for a lower, closer grasp rather than repeating the reach-limit attempt.\"}",
  "call_id": "call_TWFR2pTElATXqJ6ib9Q2XIAZ",
  "id": "fc_0784084afcd16f38016ab2bc1e57e887d08c880f34928781fe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TWFR2pTElATXqJ6ib9Q2XIAZ",
  "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]: [-0.5106, 1.8225, 0.8204, 0.3321, -0.4637, -0.3443, 0.9944, -0.02, 0.7704, 0.5964, -0.4446, -0.0307, -0.0437, 0.9998]\nstate[eef_state]: left_x=0.4305 left_y=-0.1465 left_z=0.0521 left_yaw=0.0466 left_pitch=-0.0293 left_roll=0.0096 left_gripper=0.9944 right_x=0.2834 right_y=0.0033 right_z=0.1697 right_yaw=0.0061 right_pitch=-0.049 right_roll=-0.0019 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -10.7009, 5.3402, 1.6386, -0.3004, 0.0464, -0.0757, -0.3624, -1.2513, 6.9538, 2.1026, -0.0855, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f362a474c56be8390651e654bf41f59b7817dbc1efdeabc07724ded1bc99ced",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f460e8c15a297e36d1631134476e82fc06089f6788ba331c5484233ff301764d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8ac8a77a0f8079bb6bd8612d02ec56cd7087f0569b9d202cf30ae8b73c3dc1b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 5.064 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]: [-0.3916, 1.8645, 0.8291, 0.4999, -0.3862, -0.2668, 0.0187, -0.0193, 0.7963, 0.643, -0.4629, -0.028, -0.0437, 0.9998]\nstate[eef_state]: left_x=0.4651 left_y=-0.1162 left_z=0.0655 left_yaw=0.0624 left_pitch=0.0673 left_roll=-0.0276 left_gripper=0.0187 right_x=0.2882 right_y=0.003 right_z=0.1802 right_yaw=0.0046 right_pitch=-0.0468 right_roll=-0.0035 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -8.5949, 4.5197, 1.1941, 0.0611, 0.0024, 0.8669, -0.1162, -0.759, 9.9487, 1.9756, -0.0415, 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"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.0},\"note\":\"The left bottle’s body is centered between the open jaws. I’m lowering to the table-level grasp height so the fingers straddle it rather than close above it.\"}",
  "call_id": "call_pRSFw6tjtvuXLLvlx7IGHISR",
  "id": "fc_0784084afcd16f38016ab2bc244b0487d0a1012598f4670eb3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pRSFw6tjtvuXLLvlx7IGHISR",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5205, 1.9415, 0.7826, 0.6281, -0.4797, -0.3489, 0.9957, -0.0204, 0.7406, 0.5488, -0.4202, -0.0307, -0.0437, 0.9998]\nstate[eef_state]: left_x=0.4453 left_y=-0.1571 left_z=0.0429 left_yaw=0.0545 left_pitch=0.0931 left_roll=-0.0614 left_gripper=0.9957 right_x=0.2792 right_y=0.0033 right_z=0.1608 right_yaw=0.0057 right_pitch=-0.0425 right_roll=-0.002 right_gripper=0.9998\nstate[joint_eff]: [0.3761, -4.6564, 2.3043, 0.569, -0.0708, 0.0415, 0.1245, -0.335, -1.4838, 7.0222, 2.0781, -0.0904, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad07e2f1733111eb7ad048c4273a1ff7a1cccf853ae79659e1df26c2965fdf55",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b75ab24ccca6667d1c0fcda870cf2a93f846c8edd453813e1acb2daad351d5b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e6e92a9f5ba3df8cbd14ed16255a0076056884d02b54eec632db4f4d4e215e8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 9.393 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]: [-0.5106, 1.8225, 0.8204, 0.3321, -0.4637, -0.3443, 0.9944, -0.02, 0.7704, 0.5964, -0.4446, -0.0307, -0.0437, 0.9998]\nstate[eef_state]: left_x=0.4305 left_y=-0.1465 left_z=0.0521 left_yaw=0.0466 left_pitch=-0.0293 left_roll=0.0096 left_gripper=0.9944 right_x=0.2834 right_y=0.0033 right_z=0.1697 right_yaw=0.0061 right_pitch=-0.049 right_roll=-0.0019 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -10.7009, 5.3402, 1.6386, -0.3004, 0.0464, -0.0757, -0.3624, -1.2513, 6.9538, 2.1026, -0.0855, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrwrSsYM-K8Z8Ms7OtUt3bsnIsVWCdFJXlONWaH030l7PdUh2KlVQUh3TFuKPFrw0YPf4_s3DusmGSLEAMQICJwhX2uAY13fUL6eUUlqLVSpdwHcJ2WfXIlnj-I6n3wbYb5aV5Z-bCL_XiYY38ugK6hpYhTjsd2Ww2Bcs8XGnl3j2m4oAjPISXNlSt4R0XTRSpfzBpIR5SUTm5PCNu9X4gJgeZIYDj6iFOpI_7MImtGqFmIL9DkKl-4l-g3cnBm2ZrrwscHHdsHgrkKcjEZq4EJrFbQ2bYvSKqgXgt86RaKL1YqjGD1eSI1k-t91bBKu_qiAVmU_0zpnIja2EDiB7dwd0tj8-RPvft9zwzEtkey_hrab7kPBSgmSZcrkO-UtqF4BO8NzEObwuxLB66m2Lxga8HaDLoWdMYKANFar9CBdvQ8gu53EvdOZxlEWxv-8xds4FYCUvrn32Hg5XXZAOwUwG9Yvn3hgWi6sqnCUlh-qbyxyYr6Nf_-ubkqgAfMKdVnIPUbHnicNmCI0CMLDbmTMrevy06F8hVUG6ogBah4iA8hFHAgOKu1YupaZ_CIAKoXhX0Dqhnmp5VxQZRMDxZOk6JAdTi04QXu4MulvVmJ8Ya54KFYNYoMdp_pL8wyZ8ch8lIaFsZvQyWJK9jSMDEY3r0UZWc2HSy6CTxuJBqir14x5phgjCu4sn7Aq1gg1lWW_u-hrhzHLWqsNy0ObXWyGqXZLfi-GPp4FicqxD4hihcnM499lF8Vj1C85noZCkQh2KAiz2GkGtENSZd2AWyr07mRbG2sAF6Aa6hRIkN_mKXuLyCTmI8uw1APiCTwE1Ftw9qY1TFSIaAIj7_pkQgv5j4ZVnMi2EORr1DvSzgtl9FVrlofN14s5HpixZXoqhObrk26p1lVyvrYA75nAioOCgA2jJvcTjOBt3tPKiQ1VrMsyAQsfXu9xxG-f7Yd7JBA7PlTXYOb9MexbyjsECa93MYqAOepBOb1tvg7SwDlZFAOb0eoWm8xJEM41MgaAlbTY8RF9KJm6fA3Y4KefGYwGIrNcLHiM1KcMX8VkReLupFHbAbKZC6Vp4V_rcsyg6g_XnhjXrT5CfLFyRFY-cMz5OT3KIQ7oW2UznBJX5RVg-EFB2UgjtVK4Rujj6hgNSyRCWM0vI0LPJH06F1xQCzaQQjhbx5KjQeXWPXc8RIYKBAOgiPKPsipPM3t2_4V4CPlURM6DwxcG8VdFjR_-49nLynoHnukV6Hk3iMFvEgCNaLMIP59wRM4nWQlTReFJXTJtTElq0cTxxdQmwh8YpyzWQZvKnFd9N4jWLcElFYhTyXk=",
  "id": "rs_0784084afcd16f38016ab2bc28c7d887d09b0956c41a4ea480",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The descent stopped at bottle height with the body between the jaws. I’m closing to secure it before pulling it into a more reachable area.\"}",
  "call_id": "call_yvWvsL4DXn3mmM7R11FfGrwE",
  "id": "fc_0784084afcd16f38016ab2bc29703887d08fc5c469cbe3c9e3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yvWvsL4DXn3mmM7R11FfGrwE",
  "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]: [-0.5224, 1.9034, 0.8658, 0.482, -0.5125, -0.3664, 0.0175, -0.0204, 0.7166, 0.5072, -0.3992, -0.0307, -0.0437, 0.9998]\nstate[eef_state]: left_x=0.4548 left_y=-0.1578 left_z=0.063 left_yaw=0.0876 left_pitch=0.0815 left_roll=-0.0491 left_gripper=0.0175 right_x=0.2757 right_y=0.0034 right_z=0.1523 right_yaw=0.0057 right_pitch=-0.0391 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -8.4171, 5.4632, 0.8913, 0.0904, 0.1245, 1.4921, -0.3624, -1.5111, 6.9949, 2.0244, -0.1099, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc0049b4de8a9bc4650c470ef56488ed8db27527e56939793348bd5502a22439",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7cc217d28e7d3e582664745d718d2dddd8d4cad110a283bb6ef0b49fd0c2b63",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a566d663f5f4ee2b988642bab65d2bf6f597ffc9c861bc14c119ee815df4ff8c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 8.153 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5205, 1.9415, 0.7826, 0.6281, -0.4797, -0.3489, 0.9957, -0.0204, 0.7406, 0.5488, -0.4202, -0.0307, -0.0437, 0.9998]\nstate[eef_state]: left_x=0.4453 left_y=-0.1571 left_z=0.0429 left_yaw=0.0545 left_pitch=0.0931 left_roll=-0.0614 left_gripper=0.9957 right_x=0.2792 right_y=0.0033 right_z=0.1608 right_yaw=0.0057 right_pitch=-0.0425 right_roll=-0.002 right_gripper=0.9998\nstate[joint_eff]: [0.3761, -4.6564, 2.3043, 0.569, -0.0708, 0.0415, 0.1245, -0.335, -1.4838, 7.0222, 2.0781, -0.0904, 0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrw14_ZCJyPTyqCpqeYNEZm-Glsv9dG0Baz_H4Ta0b6Mfa5SeD7Va_uAMj8HP8eEh8n24xdlQtOSLtF2kC3GLXbcfY0EBwLxV1iKs4Gh5BevavEf5hgczg1mPmhXm8CyyDDt0hXibEBdkvZDLW7Xtz5tyU-QfiTw87aMYm3H5bgRfhtDmWXtyihsVZxH2dX3huwpnBryTBl1hI7jnUANOIBKpBfBESmlhQuyEd4ycOzMFt2_8wzNYZiKQyVCPTUlX-KOjAXj2oPBAXZuFZ7XvtPxZRh_OJt5OPyXXcJwlfDm6jOKVBFyyy5kxG00UuPaV1DsIuJIyrNHAaH_dIaDTa5D6cpw2HPi1IvwOrY1L3b3XL7ErCIMqGU4pulXPHsoVZs-mVWl0WXPw0d8JQo-4oIUJQQIH_4WcTHciJTuNi_gerYRWGMei-BqZ40Mh3NtPBeSfVKDZaqFxgrGXlP8Xi_uCHYC4l0g5wG389jarRlHNJwF_orWSAGEF61x8jh2qLHMD2nPe02w8ilwkBoC21Ob3POFb-PyYqBHOgswc1j7KAgRuPpVX-7i1EgNq4649JuNaozgRT1yO5qQotJg_bn4hwY4xIkIlDVUMEzR6DMq8xHiMdIuf0hTJdfvD20vhpN2Ez06Ihd7eJnF2ZPad4X69lSsFoMnLcQuzu46VURDXP3IfcJs35_vI3jEz6yVlCmVUv8JxAhIJO8dYdREY8UZti5NzyF4-zYdPbORD_gGP70YEJksSp2b-EXcGYPFVSN8Bs3hr_CBBA-v1p3iSIZCkGlW7J1BglM-U-u5mGqja5oa7PlHAXAMuTmVG5LenjOKTnhQWe3bMTdILaQ5-3UbLfezpySX9MFXOPOF4KAD5bTkFs1RUhLKBggFQY1e5KnuAspRqasG1ZwbaUci_8mY-tqAfNW4Rea-GGeOuDsvctJi6necee_CuTvDUdLwZzZThkPLNKdIXVkh_mlrFZO2p5C-0MvsCWENsABLevGxrJlruesn_JAfjeGfY1MW6dZavvJMLqktLnY1Ft-oxBkdm0UBH3JjhxjkFVSXHIcURQWG1ErRn1jawTssv5MbcRlBhNQIozlM5qpbtgno9CHGwTfNzdOL6x8tYp0vi92Z7u4ZyTDS3MqcQgU7c6tWyCmMmdZ7-Ggz7kKDd3dH2MTPViEaRpaiokWiqJrqNnyTUEHuu8JrSL00__0eODLCLNDG78kQaMwOA21eRah0hKkz5Mjc-mPWimMo8S9RVvKX8B1b5VzToZe0Ls2uDugK6dznIIHWg8g4qWNH-7JHJZqercyQ7J--vaaIQZkaJ-01XoxB5ryeasBuc_xpAkhqWQVEiddi0nlt7y8m2k1YJkCgLE3y0LqzfcgRaBdACs491ByuKa6xOA29s2c-8Ukkokbgr8xNawhWVh8xppkJMqqGzSvCKk_ISlU6g0CPcCMBRn0pZA2LDQdfsopjxBVkg3CVEG_I22xaHS8wmf98oxKBLZu5Q1_zG0q74zccUftb0ft0fYSLl3P7MpE9KQlYRhJscGBWfLW6KRsbGwcvO-sBgbQfAgrPQrEmiCuibXMozY8Q1UutQzJ_d2VwW6UiOlrlDwSxlJlryChBrnVRQYWvyjT-L-2Jew9JD5YETzdIGsPxxVApa3qE3xEaszd2uoEIewDDN-eEwe5JfCVBt4gpLbyMtaz0Mz8BOuFWJvqo00jllpNP8zZupKUMYKlfIlzolXKGvuwnjSAjQv2B9As7OK2CllnyIraDoQPmzQq--c9Nuizzn6o6I2abbr2QBZe6",
  "id": "rs_0784084afcd16f38016ab2bc2e0c5887d089bec1c86fb6db8d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.51,\"left_y\":-0.17,\"left_z\":0.105,\"left_gripper\":1},\"note\":\"The second close was also empty; the wrist view shows the bottle still ahead of the fingertips. I’m repositioning above the bottle farther forward, using the overhead view to correct the grasp location.\"}",
  "call_id": "call_vvnAuBoQTLdv0k0TeTpDrVQ8",
  "id": "fc_0784084afcd16f38016ab2bc33573087d0a1874d8493b58ba7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vvnAuBoQTLdv0k0TeTpDrVQ8",
  "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]: [-0.4824, 1.9636, 1.2255, 0.091, -0.4946, -0.3676, 0.9943, -0.0204, 0.6926, 0.4706, -0.3779, -0.0311, -0.0437, 0.9998]\nstate[eef_state]: left_x=0.5037 left_y=-0.165 left_z=0.0996 left_yaw=0.1116 left_pitch=0.0003 left_roll=-0.0065 left_gripper=0.9943 right_x=0.2729 right_y=0.0035 right_z=0.1461 right_yaw=0.006 right_pitch=-0.0303 right_roll=-0.0022 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -9.3607, 8.7726, 1.4872, -0.0269, 0.2076, -0.1783, -0.5538, -1.2103, 6.8855, 1.917, -0.0855, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b03153286c4a4cc4e22c5d6b03bd51433ba8ea42333bac784f156722340614a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e89e7c171c4b2b97e89528329e3819e2f221b5e47ff8bbc1a21086cc9d20ea5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a9a091c9efaf64e304604dcebae9545a5a30271dd4d6266e40665e8e0eca324",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 4.956 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]: [-0.5224, 1.9034, 0.8658, 0.482, -0.5125, -0.3664, 0.0175, -0.0204, 0.7166, 0.5072, -0.3992, -0.0307, -0.0437, 0.9998]\nstate[eef_state]: left_x=0.4548 left_y=-0.1578 left_z=0.063 left_yaw=0.0876 left_pitch=0.0815 left_roll=-0.0491 left_gripper=0.0175 right_x=0.2757 right_y=0.0034 right_z=0.1523 right_yaw=0.0057 right_pitch=-0.0391 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -8.4171, 5.4632, 0.8913, 0.0904, 0.1245, 1.4921, -0.3624, -1.5111, 6.9949, 2.0244, -0.1099, -0.0415, -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": "gAAAAABqsrw-J4-9sJGs5i7r_BracNVCtJCMxHIZaCf4PqmPX4OYWc_vgKxXAtYi8XVTyxYKWChGnti2gbIKU2tzoKEM7d9vBco1uMxJTGxNgJ7TR_liDGnZr2GrF4YOq-dgKovZIgNUxn2UvRzGsnCDbnD6zDBtCV3cg0xHl2NmvkZiPtxPerBw8QODbb6gVvVomlkkSPrSksV2k5x8BMCD_0nFiwW724SboaV_z9sL9oZK2DPVG7ZylGxEOmKiMCUW33Phcf2JjP9NGHR0Z4ZcOWpAevHovw3arcE_T1JlTzAQUsJ1SOg6k_XTJrWcbAu3SjzVyq0i4swqAT7tOOtTwJIvZOyXbK_MaJcsamRUTwVilJtquWgjUOIj7VhLM0Qsb0_Sel2np3DTNYIiYOWgRqHRy7bDEzwTBFKpy_r1OEDVUiNloAFI0fh4WyXRdYde25UrpIcUcYozylvVU7T2k2005nRPdjz6_WDLC3O384qF16s4KhRlINiByO3c1elMapDztCRRbiKCUrXprO4iDNfzLWGOLkAh1ECrao0P6DanSB90qJmmYeXKrLiGzbYwV1o0E88f7cab1_tBdrr9wN5uruCmOl8M-brvdWSwQdzajNFNEavBUXOAec3lOxkyDn5Lyrm6CGowSl_iXY6KF2OzFzmRheA_tII1CuPX7tRR8HfwK1hWQ1V50TgiPxUtZ37HRj5xqGPlRKCLIo8uB_IXhg5lkmudrgV9f4VGG9Kd7w7-7CXnYzvnZ1SUN4KXEsXICJd8st6btgmo63F0r_tEFG0P3p4VN4bct1Ndzkvqtp-ZhpKbwkb4mKsoDiJV64ZJMFylU-83PJq7SEVFfrLf-TOsQN2qqoREPKf54U8Ewyd6RB_oAYOg6B_oKNejSLq1BDkkeAilMymGZrKiYHnLuHgscYwAs5Ij-X4FjJ6Kat63j0hB-KuUIScOCX-0Ery766IYJIFCdpDKx9PXn95e2TUja0Cex7KtVr99qLG-nNhIh2Q-cKtipQk44x6IWBJzXsML5IECPq8Ss6VP5JNuglVZpORgUYU44MQWwhNw8KPKKt9bbwGkwJPktRRdnDGgnSyibIPagwrIGlTDbG_IMAUnq4VS4-bdANmTQW1IyYTcasIctygd6KzQunB7oXBKwPW8kH79vAU0sRvOiaqBKGYPlYZOeY8elg7OgdX9orJTZtPjUbmBvi04b9ghF-9eBNDc2gVL-i9R7adwFvClt5adqCLVopA3SqyPLZmQ5FJ5Yh35xpbv8sEnydzU1-kB6f07UO7HKAsHWD23MzLgJlg8QqYG81Q57mMFFqk37FeLr4OliuYAERKrqyp-A1R2xvs5OCfRkNsRrk5uJOf4QrYnFJZTdeECB2dqWL4miq0xcX74xPfnANbVLSWY3lbJT0LRkMKQ64ajFEwsTTKcdQUWh65zRYk2HAtUK1JRU3oUOWXDAUArD1kCAP8cmbHkYI1olpEUWdvcP0oSd3-h5arCpAuBYM32Je9PBmWd-o7yD6dIdL0N3k69CWMrmQeQZjcqjlbhTlr08oIKeeHfeUyEWMXO-omzjuHVtUIikoIutmlxXSoeLlsSnlFMk4XqXLzeOMYXlex74VPeskbnbm9cBg==",
  "id": "rs_0784084afcd16f38016ab2bc38c1e487d0b9a3b8d84548037e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.505,\"left_y\":-0.145,\"left_z\":0.025},\"note\":\"The bottle is now beneath the open gripper, slightly left of center. I’m correcting that lateral offset and descending around the body.\"}",
  "call_id": "call_0utJaQFLPN6OysW8HJuK5sI3",
  "id": "fc_0784084afcd16f38016ab2bc3ca34887d0869541a3dddc63da",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0utJaQFLPN6OysW8HJuK5sI3",
  "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]: [-0.4313, 2.0666, 1.1198, 0.3561, -0.5098, -0.3389, 0.9956, -0.0204, 0.6777, 0.4446, -0.3672, -0.0307, -0.0437, 0.9998]\nstate[eef_state]: left_x=0.5134 left_y=-0.1374 left_z=0.0557 left_yaw=0.1606 left_pitch=0.052 left_roll=-0.0061 left_gripper=0.9956 right_x=0.2704 right_y=0.0035 right_z=0.1402 right_yaw=0.0057 right_pitch=-0.0307 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.8, -7.9385, 3.9043, 1.1795, 0.2906, 0.0269, 0.1245, -0.3761, -1.306, 7.1179, 1.9414, -0.0904, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5a3123c0918b74bfdd103b2bf0e43ea6dbbebde804f545c6e688e35ca5458dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:479da18ed58555011e0b3d267ae1b5d55c34aeb8f6f282c269ec819c6115a352",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e96ab01db88d35a968ae377406b5819a6283cd203d76c1f1d3b3f0464dfb9e6f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 9.225 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]: [-0.4824, 1.9636, 1.2255, 0.091, -0.4946, -0.3676, 0.9943, -0.0204, 0.6926, 0.4706, -0.3779, -0.0311, -0.0437, 0.9998]\nstate[eef_state]: left_x=0.5037 left_y=-0.165 left_z=0.0996 left_yaw=0.1116 left_pitch=0.0003 left_roll=-0.0065 left_gripper=0.9943 right_x=0.2729 right_y=0.0035 right_z=0.1461 right_yaw=0.006 right_pitch=-0.0303 right_roll=-0.0022 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -9.3607, 8.7726, 1.4872, -0.0269, 0.2076, -0.1783, -0.5538, -1.2103, 6.8855, 1.917, -0.0855, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrxDV-9RD6ZRxPyxtbruCmNY7ACQ1CQWj04q2FrTTQr-F42rfHo467C1r5QYtRPqLf15Aztr4FxyyPGStUUcLwk6WfcIVlnb9U57w0muc-lC-ncXpUUoFuAz1enUaW4nqDFt3cyI61Q_XqI0y7Qk-_p1iaPjZALWCVADoLHgZVDIzFR-_qAuEVIKP1u5C_oh-2FiDr3mCVwgDKJf8Ivz3dQMd-AhvPsNUsWHPlL-8pHYe8GNBl47c95CrlyaQLa0UceJy4hHJ5pX9_26cv0lwpmcfNJCmqbugRecvyA5Kuo_SxuOPHIRIrRc2gUISliI2ZIJxu2p4zQUO2IL1zLNwddtZGw1SAp8Yhzf6bp09Wxx3C0PZ5ttV7Mu3UBA7-TiApsbYCnEtUSgbxZ7VSgXpIOYsEbtZfqJAGBipMEYbU4OStJqr-4mEeVp1ym439RGg7-c-AEOvlOci-c7dwPIFIYQ4zDdLPM9x0G9rbZyu66ySxyVobTZpTmw331LVL-slVlfUwqyEsoekjXmqCRD2wwkIM6BhaG0gbrXM3a2PjaQGqDTybz1DSpSDBCWxEGJA4Noq57BabwmNFBqn2Ceq7FvIg1PWznv8YCNNYBRV9pmFIxh56GJRZcpnzXbwzfIJ2qQ6RYSJWwM-vCahPqnMEoXpnCtiBp3aPkXsp-E_dGoqDyRQHSPDtk8STf53YjMUCcNeAlwfkRzQ9VNNJ87-w14Stq6KePepIkdem4vRiBV_uo84GivGNx3lYGw4PJ3qcjS_DFTXmKPJOANuvtxBEg50QYp7F13WkJtQsKAPOgsbC-KZ0NyGeJdNdoJJ_s_4rFVVstf4WwiwVr-dbfNZQnY6Rlf5Iy2uBuHREiMZ5xJ9-_7dhokc05UPDpfzjLvJDuP9odydCSnj0stbisLV3lGtpcqFGg4Pp7tBmD44ZKgtvJgpNNRlUAODlCLnNOofH95fJUlhKHobrzVg2B42KtBl3XtGTHZUYpt0vO98VlrM3YEk2oSKkFfH5JnlIEk1_SgtTUmehpwhbEYt-ZVopbDDAWUeSFxu5pXhbuYgebJE601cJSX14rORpPZ-HxzaIUoluiaq-n8YwXi90AvzJudoEhCQjeB5hlwDl64Mqch3nomN-rxgOOqCJveO3iNuzXTFpFOkDNhd_y1U8od4LMQKzklOCo-mv2MmwF4DvyjosVcMAPoYQGh8LZuuo-eBnWe7MGHvuKtaeJ6fkQACJI7yu03vQTUFowCTa7w-SL08DH8ocy62agEG_4hQV4VIssV",
  "id": "rs_0784084afcd16f38016ab2bc41553487d0a50f3773327df6dc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws are down around the bottle body, and the descent has stopped on contact. I’m closing and will check the jaw opening before lifting.\"}",
  "call_id": "call_5Nz0Qs4MObd7dvOqNc7JZbcS",
  "id": "fc_0784084afcd16f38016ab2bc42755887d08f952d7956715879",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5Nz0Qs4MObd7dvOqNc7JZbcS",
  "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]: [-0.4305, 2.0682, 1.1587, 0.3054, -0.5098, -0.3676, 0.0197, -0.0204, 0.6598, 0.4179, -0.3573, -0.0307, -0.0433, 0.9998]\nstate[eef_state]: left_x=0.5178 left_y=-0.139 left_z=0.0603 left_yaw=0.1762 left_pitch=0.0409 left_roll=-0.0235 left_gripper=0.0197 right_x=0.2676 right_y=0.0036 right_z=0.1345 right_yaw=0.0055 right_pitch=-0.0296 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [0.5128, -11.7128, 6.2838, 1.1258, 0.0073, 0.0513, 0.9402, -0.335, -1.0462, 6.9812, 1.9414, -0.0708, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e38f43c27b6abdbfa7f03e083e08c675fbb0e0c53d102512fe54f4de405f806f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b35b0fd6a15b506bba67528795fac45b1322a2123dade80a8f4e1eea243566f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28c0ce79671f7d4ee477651a50c0b08c60d53581df906ba645d2d12caec364e3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 13.43 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]: [-0.4313, 2.0666, 1.1198, 0.3561, -0.5098, -0.3389, 0.9956, -0.0204, 0.6777, 0.4446, -0.3672, -0.0307, -0.0437, 0.9998]\nstate[eef_state]: left_x=0.5134 left_y=-0.1374 left_z=0.0557 left_yaw=0.1606 left_pitch=0.052 left_roll=-0.0061 left_gripper=0.9956 right_x=0.2704 right_y=0.0035 right_z=0.1402 right_yaw=0.0057 right_pitch=-0.0307 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.8, -7.9385, 3.9043, 1.1795, 0.2906, 0.0269, 0.1245, -0.3761, -1.306, 7.1179, 1.9414, -0.0904, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrxO5WoOyiaVu5ItfcEBlZhZWFNmQIZ2dquMu6_G7-MZclSXf0KtFmJnivUROHIZM0wq4XGw6rpkj6DMVl3Q7jx3oCnoMQUEvBi8OHixOE1FNVuedoVbO6fcMX0QJWXZw34RzSeuGkMApy7iKjMI2edodkUiviw5S7kYWN4ulzuCiSIfCZbFesGGdeO7wHzyRMOv8r0EhcCVq4gi5VeRbVQEb732C8ScufqMEAWK66LAX2MIa249wcdBGGiXLJksEgzdZCejsc8S-Kp2CCrAqbbUHPWmrixrLKise_ojNR3cef9jmecITM01dgCsdH0h6ypFvF8AYpZQWes2770Xtsn7FgP8Loxsh3Zp5GnQ9FXwlFug47OE__7m-XERzg1A6V5nRxSUqWMb7bAmGf7rUmzSHca0s0EdQhYZi1vsN2_ktxM_Ek8hOs_W6Oh8fH24uWm6CofzC9n4w1QdZ7U5P95r2Bvbmn6MtmeEtGUU3rnu6xCplHHo92hesAAq9gXB-A2O32hxp8AdLLPIbLCFpELneUYlAyo1Qem4JECvDAXjrdlWqgHYsnB1DJBhinzkFj8wSPnpyGcNQg2_JGy81yHrUXLL8ESw3ApzpXB1uwsQ3c6I4fGCaJGd4-whDLoswFn_OHS_NRMu2P1M-O-sE9kRYUZiF-7gxdBPhQYi5521JEsiqvgVi285DnF8sh-m-Rwt119mu-xzY6AYIuL22tcXJYE7mGqLP3-REGptg5wYuEWKINi7vlL7vCoyB6jDgb3s8YsN3v5tIL9XJiZRycg6iKNKtUFE9rwlp74fUrw1fSh8zRgUWKB3K1t0-LfRDtFSuBkk_-THlop6iOv2JyXacmB5xQRHd5ezmJkJ9Aq6a1FR1I_j6JmsC6rsZ4E3QzbILfcySoKZ4hC4jR9lGEtGqIuLgRYqecwtHY7RV3eOEvdKyJaA2Ji6qOSoHLP1UFUxnW9HojwVFGOLqWtASJThflJWnGVhTffEWeUztpinTqa5OocPxBKgg9IKzWoyQC02OwO6DNdNmku9--lOaLUC46KGdCAXF1FugF330EXINYWazh93gagsPEOdcwIbi_KuL2UrW5FRa8NsB5cXs68m3ahxjAE86gxHNa0-29FaW7ovooYadZFwJDlx_kBZP92pR5-h34TVJZGFceFpwwodQyosmOVISyR8nhVUyW6sfm80lofPmreKxlDmrz5tzgcBjGCGNHVJgBDlcWT_w5nWe8Hdj5QROqAVwRdsQQo4JR0vNw1QBUewtvtZ2vD8hyWRbXHsS6zcBWi-z1zrMqpRleb831_Ki50u2aPTz1CH97NHHQNQy3VM2YIfgPvMqgHwLYLMJkmp1Zym_sv25LMyjVHW-eezQLDELDKUkdz_JVPntGospEcG16rgMjzDYDbtEihCYWvl5jFrRMSdqOCbDepsOKKeu45CupD8haPUpCPz62MSnAMFpStRnwEAGUCUh8tOyBEZBQr8_qOkm4T29uSs-nEvK7kkDBW-RH_MhVitJfZFSaC8KDGlnns4na-qm3V-issM7a0YkSG9L9nJhKqDngjOBfmxPrds7v1_k1P07VGv5reebJC3oaVgw9M89Qx2NA3N1RWo7TsBU5MJCKOQ4lsQjHBy07MncAsD5NxX9pAcOd0cAJsiNRY1zCg5QowIKkp0t-m9QIjUi5yvMHCLOc-cdacr5mN0wiB7du8hnI8B02_pXq93SeO9McWffTrjI4h5u1s1T-kTvXWI6BceVZ3XKIX5PMbaZos71v216boWhCcK1FhvVUl1XMI-7vmNcejFF_9Gq90l8sIVLkC59KUzahultJWwzZ06xTDHf_Q-ubog29ifDB8S4eSM7iSqfLyUinI2S60I47mRUBym4D-EBN1UFt52U1YRFiYPK1mlynMo_XqNRdzbVHxk",
  "id": "rs_0784084afcd16f38016ab2bc46ac9c87d08e2b5004bd744884",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.06,\"left_z\":0.23,\"left_gripper\":1,\"right_x\":0.294,\"right_y\":0.003,\"right_z\":0.2},\"note\":\"The jaws still report an empty close, and the bottle shifted during contact. I’m lifting away to expose its exact position before deciding whether a safe grasp is feasible.\"}",
  "call_id": "call_kwIEgMshNq1ItpmXf9hiZVqs",
  "id": "fc_0784084afcd16f38016ab2bc4b68cc87d0ad4bf894ff218ab4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kwIEgMshNq1ItpmXf9hiZVqs",
  "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]: [-0.3759, 1.2972, 0.9993, -0.3126, -0.4713, -0.3527, 0.9961, -0.0204, 0.794, 0.6384, -0.4637, -0.0311, -0.0521, 0.9998]\nstate[eef_state]: left_x=0.3907 left_y=-0.0641 left_z=0.2214 left_yaw=0.1917 left_pitch=0.0235 left_roll=-0.0254 left_gripper=0.9961 right_x=0.2874 right_y=0.0032 right_z=0.1786 right_yaw=0.0106 right_pitch=-0.0497 right_roll=-0.0085 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -5.4769, 9.4427, 1.6581, -0.0562, 0.0806, -0.1148, -0.4444, -0.8137, 10.1265, 1.917, -0.0952, 0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d921e628bb9eeb3513d5214c2c82798caad82acd94b2ac8fdcd61065d5311b3c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d17d75e8f135e2766aa652b3a6dbdce6454c2e724f24c520c93ea6a1d569fb6a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cec97c7cbf1b0f4f5bc8990cd33b5b464a4cc680a9b8a35cc74ec65bed43dc8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 7.393 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 41 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4305, 2.0682, 1.1587, 0.3054, -0.5098, -0.3676, 0.0197, -0.0204, 0.6598, 0.4179, -0.3573, -0.0307, -0.0433, 0.9998]\nstate[eef_state]: left_x=0.5178 left_y=-0.139 left_z=0.0603 left_yaw=0.1762 left_pitch=0.0409 left_roll=-0.0235 left_gripper=0.0197 right_x=0.2676 right_y=0.0036 right_z=0.1345 right_yaw=0.0055 right_pitch=-0.0296 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [0.5128, -11.7128, 6.2838, 1.1258, 0.0073, 0.0513, 0.9402, -0.335, -1.0462, 6.9812, 1.9414, -0.0708, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrxcdPtkAtleo9x40J9jBW9uXJnqLrUzTXDSrM-eaoBdwjyXXxaZ03pkYFc-7Y7Hpi1XwuxqrkbFBb_Z_vaoW8rLVFNiqdEttjOapABqhHbuAlEWs9I2WpGZCDBpvFXTvhzBe3WmqeVz_7vMOgeq3SgFUj3o6QzBl3wN1KpvMb8fcDoMQeorv_Pbh11vy-wZ2_i-rGw8qC-GrtInw7up8cHFvLICo-MUB596EghnNu0-uwcUpyJkyG6n-jhMjn7LxFEc8zi6sqAvY4pA5maSuj5qvOVLGkyVnZWL8UQ7FIj5QJV2IF1FxTn-L7ZUFjfS4fzTQ2C-SBUPMVdAvsFoT9exQO3eNPPBQ7Bj60Bed-Prs2nN0OViiKzGpAfl0HbFBqxl6IzdH1l9x4OZhPTobgq7Ho_-vXN_qtayOcaHjv1O4fNwAXi3an9FLbANRtrSEuQH3kB3ntLvRNXJRfppe2kayTPJdNnvQ93UAbMBVDp_sWkaelMiqjPtj3uM9ND9Fmxe_AaM1qs5nGv-OM10Ni8zmUMPciA-jF3ta62Ti94CVKOLCuqPuXZGxoGewQ9ar92EpX1D1hplhQWVUH5O30rccixjlz8bS78pB-AnGH2GLvrSULBri_Bj_3UqnRrpMNgO5Y80XzoBSq1NiB-Rh9S4RpU510IztQ4uz5ZfW4tJkZhIz4Y3XMA_y1rhUuxsfyjDxkenJ4vYo1raTnEfI1DGxI5Pb-NILeCHkxnbXzRzgw10gkJq-tv8umWG5OcrJW4syAQsEttTy2Qva02CcrekcPLXDaDDB1vtY_onvb7eR4N5gMaNJRNhZ2kmvIWL0vWBW0HEdpn4ryx6JOxpdgI7eo-m1v9LWruJ6bJKpC1-UyEpPGQZvOLVKEOqbxDO9P9cOd2O7mLA7szKHk4PDCvERq10CBEnK1iJOCCCGmLsh2k1bzxlDSjTjQaVTjFca53qAvH_85-7qnkMX6jh_zAhwTjoHQxOFW2x0iLGoxnDdcYFBgGHnjqXKyoCsf8fV0dskFBAl8SLgvYvlex1poNnT7KdnakoIKT_KuuhObncUyaOlbQvLlIyV3w1fyXJcshwWi0oSyJRwU9qRs5_7owwOncw6jw6_y6sItIEiwJ2x8QaLEWQuDpRdszdNDIyvaVcer6QhrjFK8XHiMZiseK6fACsNb2w_CqnWIKVAWrafofVfFaqHQCnEiO2sgBUbJvWWw_x8_XZ109TtTsszIGOVtIXKbd31AouK206SiTes9z_LCGiIuhisNXfG081a3nPzK_zjrpekKyCNM_hy8lM7CKmW9Wj7RIHkShcScnb0zYy5Dggi_N5ilUN2V1Pg_P0bbISIBhp5vxc_JDeNMr7k-2vNa_Gl8SN-kZWJftQUgy7LxX8im0du7VefUYSBBJwjlispUiZoo9xDkxc7FJzJYMlLMl0e9wWofejWAliBwuo5fLNfKqZwdZUkA5dLGIKi4MjulKyt_QYZNhk-wSoR90ghWuW4wuw2qBGQUYmwBt0PVt089O7nIHSnEssFh3qZdV26ALQr-1jNXlgnfnx5737bAFDJ4GjTuivalr3qSpk1dZJuxDzBYwGgS8gAgz0957NjMUzEXexzR1Jlc3Vk_ytDqHFuZnDatywJGgNuQMZWNj8emyxoEtvTmUVtCdwas1FjyZ8m4vSoY2Xz1Tu_j2dqTrnOlhwDpZoOqPa7jJzCf9p2WHmQPcq3AfAVMP_jdftXARDwgI5bIjEOG9RE4CxkDPyJpTeGSpTnieuzezBZwb37rH6O9bReAo0Ba4i9tomkIHOPrOz8DrtWl8XMwqNdF62MML5lKotOQz_Bo_09QJd_arQyEf8m5fVUXZkaaA7Ol3DnlE5wKHhGolZNwGhh9VoSU1uQ7cUCuf9eTt1WcWxyEiaZdTD0EyLctkAbcZQvUHXuPiJTfwYgc_O9zG0m_8KPFxN8P_vQuOMqECp5fyWFi_cxsOoQf6678p7pRhd3KcVCndz2TUk6FRLxZzNqrzlsrdywXsVKDLJqqFiEi2EESM1meLWSG54icy99fD9dMqIWz5Wovv83iI9UOYXyQmyRDuccMmKUiwt8L63QpX_iV9Lkpj9aDfv0i8JCvbUozQ3jFyfVduT7qPPiapNyIs7wuv-CgNVq5O1KQ0Z2xaOo8zl5AIs8odvVKuo",
  "id": "rs_0784084afcd16f38016ab2bc51699487d0a34183ebdfc37b9c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.56,\"left_y\":-0.16,\"left_z\":0.12},\"note\":\"With the arm clear, the left bottle’s cap is visible near the far end of the row. I’m making one corrected approach directly above its neck, rather than its broad body.\"}",
  "call_id": "call_DLbXEBUnYlxzqpE3DvarERJx",
  "id": "fc_0784084afcd16f38016ab2bc5a499887d08530c416fd1d54de",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DLbXEBUnYlxzqpE3DvarERJx",
  "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]: [-0.4328, 2.1059, 1.5227, -0.1226, -0.5243, -0.3977, 0.997, -0.0212, 0.7635, 0.5865, -0.4339, -0.0315, -0.0559, 0.9998]\nstate[eef_state]: left_x=0.5488 left_y=-0.1522 left_z=0.1097 left_yaw=0.2013 left_pitch=-0.0368 left_roll=0.0173 left_gripper=0.997 right_x=0.2833 right_y=0.0031 right_z=0.1692 right_yaw=0.0122 right_pitch=-0.0413 right_roll=-0.0116 right_gripper=0.9998\nstate[joint_eff]: [-0.6359, -12.2598, 8.5128, 1.6044, -0.1832, 0.0513, 0.0806, -0.841, -1.6205, 7.159, 2.0049, -0.1538, 0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ceb683644712d8c96bb65f293eba6d88f14f84da0504d51f53e174dca1b17779",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d0edda3eba4d803f84b455565ece27f2e18df6c83ceb929fda8c5245bf6c2e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28f7f3c67742bddc473fa7144a26ba63c878daeaad59c329190c3ce80142548b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /responses · status 200 · 4.688 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 45 changed as sent

message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3759, 1.2972, 0.9993, -0.3126, -0.4713, -0.3527, 0.9961, -0.0204, 0.794, 0.6384, -0.4637, -0.0311, -0.0521, 0.9998]\nstate[eef_state]: left_x=0.3907 left_y=-0.0641 left_z=0.2214 left_yaw=0.1917 left_pitch=0.0235 left_roll=-0.0254 left_gripper=0.9961 right_x=0.2874 right_y=0.0032 right_z=0.1786 right_yaw=0.0106 right_pitch=-0.0497 right_roll=-0.0085 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -5.4769, 9.4427, 1.6581, -0.0562, 0.0806, -0.1148, -0.4444, -0.8137, 10.1265, 1.917, -0.0952, 0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrxlYmuS3Q-meOpX4rGWgz8nX5z04shaNJzdPiBlyDyDqNOwX_VKBtsGQh92_yhIwpHjhpEr8UUv9-FxweQFva64aoR60s222TMWIF8Px2EMRYBCzdNwuajCICZSfyKy4zZduKd0XzoJcMGtT5NGNIegmHnpS9VfhI9PQlk4KvCrysghxZo6IYQrlnIhkZJ37dMZ1dYL_fY7zRyye6imJB8D0JlLsSqK0QaMb-lUl8lxC00EMSpj46z4z9LRW7GcEBziMwT6-868p_qMkOyYEgpeuGGvFkwdr-3DX8Vfl5K3E96vUtdfWYmKS_DAET--7jQjz4azamuHN8f7yR3zasclKOsVQe2fneRSBvSq1kogu4jJnn9mA0Gf3sv43yRijfESCxsA5u0_DvPxcGJt1Uutdgm_pENClu-bqlUzU_FjSTw3DHiMAnHlT6DF08DXSCVKGksAon5b3QSZVIPQ6Slw7xa8kJe_w-XdPeAeCZfsfv55KgI86C_sRPFQPPt-qlQsOvdDZBwAhCID2wBxmQ4ss9DKD89FVXdUsQAIWe_2ozai6-oGqxZODaTxCu2x8tcrSMyVCbzPwg35nu0SZdw67FoyLa6o8ph1A3MyNtgf0uM3FqJoku47d9YkY_-BFAYvR-53uX3GqA_G2DQocYVpO5Q2C55aPhRjxv7JM3jcgRoIkD5ZwMYpKM6w7alvMJuB24M6zqcvJCEyL5LMA8fvbAYCwe3PY3lbbk2mWpMe6cu32ZU7e10W3O42Z3QhMSeKxFajOp9IichlljbtcrJrMtFQuyEsxZEcW7A-qItIAr4BrqmIhfXzJH6aJj38b3aD7CjC-XwEp9EgEe9ba5gZ4DZK5C_BK2lmc5waJCMZX7rgPZuGF7uv3k7l7xkaye9gOfgiOAE9_UOReDgOaJkJqjzmNYq6TeQTxqMdj7RItuCTu4TTwXi1O24WGTcp30Ikd1Y03p4LWbTKSFTNRYUd2H8LvS7acjTv_nKf91glxCKN7xWWiRRy049TDFc3C1-g2j35dStF_S43lXYa-jeDR_KthjjSFkF4mVYXentvuynXN6GKsvmENFwlliDMGb9XLohmyjr7RH7r67VQFlf8fPJkgdnBNhPIEF1O2eu5IE0AoE2kL3037v4tApm6eEqQBOxeEtSGy_DezEaf31BvZN4PgEtNAhFCD3K-N9BjHXn5pwJvP1ZwBnTsReTTuMtVV9LG7g8GZxP3uCBLTU9iLFxTgqj1kGu9M1JzLbOrPI-ofXBf7vJIg2pZrn6tutyMyePOFEuf6Hw1I4iWC7_TfcmyRPZ5avABn5ylHStgaekH1WLnYzqDnjj84VRL5oujG-LSFVXfgGwkLqeGxNwwFjkT9cYpuGTNG0IlaxC-TLE3W81bpUsg3-2zY4mjiRZh-WTuzvZcMAma2NmO3FmsSi8uykhXV9tO-1__YCJkSmEG1Gg9QxFghpJrGxsdc9kIHjoiFD_DpbBvhzft3BKoVB1lFECBcgyyDH646W5Rd6ACE5Ud7Pee3Y9v5Qq5Wmo0",
  "id": "rs_0784084afcd16f38016ab2bc602fd087d0b637c83527fc6f47",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.545,\"left_y\":-0.16,\"left_z\":0.035},\"note\":\"The cap is now aligned with the jaw column at the bottom of the wrist image. I’m lowering just behind it to grip the narrow neck.\"}",
  "call_id": "call_TGxsUCWJzP33VGvdXt6PZJET",
  "id": "fc_0784084afcd16f38016ab2bc62dfbc87d0b417dbbe9ddaaf73",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TGxsUCWJzP33VGvdXt6PZJET",
  "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]: [-0.4507, 2.2189, 1.3808, 0.1207, -0.5415, -0.3954, 0.9971, -0.0277, 0.741, 0.5449, -0.4191, -0.0315, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.5406 left_y=-0.1565 left_z=0.035 left_yaw=0.1958 left_pitch=-0.0393 left_roll=0.035 left_gripper=0.9971 right_x=0.2789 right_y=0.0014 right_z=0.1592 right_yaw=0.0069 right_pitch=-0.0455 right_roll=-0.0134 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -11.7402, 5.135, 1.7021, -0.1587, -0.1294, 0.0024, -0.3761, -1.6205, 7.0496, 2.0928, -0.188, 0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10f8ad1c8e757bf6ccdf89c0d0672b50c3e37d954fd49c4d6b06b40b3b6215fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d405fee4802735ab8feed6d75545b85c19f24b33f5ef0f69ec6acfdb573e389",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40b65befce05c40a069f735b4c7d263f0e86702f31f8a24feec863431bdd0566",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 5.058 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4328, 2.1059, 1.5227, -0.1226, -0.5243, -0.3977, 0.997, -0.0212, 0.7635, 0.5865, -0.4339, -0.0315, -0.0559, 0.9998]\nstate[eef_state]: left_x=0.5488 left_y=-0.1522 left_z=0.1097 left_yaw=0.2013 left_pitch=-0.0368 left_roll=0.0173 left_gripper=0.997 right_x=0.2833 right_y=0.0031 right_z=0.1692 right_yaw=0.0122 right_pitch=-0.0413 right_roll=-0.0116 right_gripper=0.9998\nstate[joint_eff]: [-0.6359, -12.2598, 8.5128, 1.6044, -0.1832, 0.0513, 0.0806, -0.841, -1.6205, 7.159, 2.0049, -0.1538, 0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.23},\"note\":\"The neck is aligned between the fingertips at bottle height. I’m closing gently to a neck-sized opening so the bottle can pivot as it is lifted.\"}",
  "call_id": "call_2EbeNZN8wSuf6dRV1I0uJQOM",
  "id": "fc_0784084afcd16f38016ab2bc684b8c87d08b35f0cdc35b054b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2EbeNZN8wSuf6dRV1I0uJQOM",
  "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]: [-0.4503, 2.223, 1.3739, 0.2333, -0.5774, -0.3977, 0.2357, -0.0341, 0.712, 0.503, -0.3958, -0.0391, -0.0586, 0.9998]\nstate[eef_state]: left_x=0.5525 left_y=-0.156 left_z=0.0517 left_yaw=0.226 left_pitch=0.0544 left_roll=-0.0117 left_gripper=0.2357 right_x=0.2754 right_y=0.0011 right_z=0.1523 right_yaw=0.007 right_pitch=-0.035 right_roll=-0.0097 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -11.5897, 5.4222, 1.2381, 0.1294, -0.1148, 0.2125, -0.6632, -1.2923, 6.9538, 2.0, -0.1636, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:308708f2c7d4c76c2de70482bf5aa2260f8e58909f5c44f9d9e6be5b3acbfdcc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e860eaaf563bea5200bbf6b1b99658c6dbe17ea001fe17708997503028756e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d624b5f3d5b03ac66fc8d90568db741f2b84019aa7e3a8a5ade4804dfb38d8c5",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 4.601 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 53 changed as sent

message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4507, 2.2189, 1.3808, 0.1207, -0.5415, -0.3954, 0.9971, -0.0277, 0.741, 0.5449, -0.4191, -0.0315, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.5406 left_y=-0.1565 left_z=0.035 left_yaw=0.1958 left_pitch=-0.0393 left_roll=0.035 left_gripper=0.9971 right_x=0.2789 right_y=0.0014 right_z=0.1592 right_yaw=0.0069 right_pitch=-0.0455 right_roll=-0.0134 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -11.7402, 5.135, 1.7021, -0.1587, -0.1294, 0.0024, -0.3761, -1.6205, 7.0496, 2.0928, -0.188, 0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrxwpgVR1kOcUjJZcSicgdefvZjqVwHu_--uSVgOIC2CF7R1gFA9UteXFupmszg1UWXQcSmSKaSKF8u2Vonjb1OF0Islj5LccwscawNJQJDr2Z9oUKb0yHh20ZVscZf7rZFv_gmIsTT_EzsMM6Tf9jWJvjLIeo84dsw73nuU2dxV4t6mB7ZMjnVtDYFcUZPjW-Cs4Cbri2SUxDBAhhM9TXsZCLw3zAGPk31rUpd9Qg22JqwhrbisAhlulHtiAaLjfSXBLJu9vXMQzUTtY4RsC0-fME1W5x3W1JXwz_GSgMp-95aoxkHY4AqYcW4mBe0nAsLIh70e-1a1iahZb9VToPUTgKGKuSzbrMVSJcDAYB7hjUwIOt_jt-fqtyYfkZu-fAD66g85lhaxvTlnj4lnVYrnv7RdruP5MB44x2FQCZDtm1ajfUUPFs_WiTB0Nkarzda_cyZ772M7pqxFf0G5oF70CoJKXzNqAFXd29Lcfud72pcO9oKaBQ2tRRs-_3_dfHpFgyo6dJ98Kn36V-gZk5PxPFf81hFWSY4LhT_px-iv2z4TmQbLnuCAGZek3IXiYvoOvveMBmt8x7d5nND_2KBfJhjMI4NeHygRvi4tHSfipJEk3roPVLB1uuPVqJ7yBU96s4eSuFYkmqZoqLd1Cn74rRBo2-lmbByQ_mJBs9yCc9J-CUlHbg1szHCdDW1uw4iDloMTB6qV267JiA7DOBa9BjP9rciP4ykQm-owGKdhXAEOCoDSKi1KgQINCOGtkQHjeRaDcORWzVw3am6dJzLmSaA4ZHf_nU80r3C0f2Ompg5RRM7MEk2JKqkVD-8osXa9hdGAu6yjyqgkJ-yKben4R4230sp_jaNLrYQLsDgnxNQW8dKmjHGmVcTMzPxg9b8-tuvaM0E0dI8cgxeZ6NdqLYn9Nm52qzMxB3HaJKz3--6Dh-X8SP97JNCsHVoPkvhTEcV81SmVdQ3VoboGK1jn1LY794VVqIhR74mdwfTuqnZpKJxVJWWmXCq0UwYIdZunJRI45KxAmjjdfvUvlW_ojC1HyHbjMK-2AoO9naQVR8EPu659VloTPcRBI2-grfZQLYw_w7hMB5VhATEna2mYugvBfYczD9eeno4ZnBFpm4t7OK6poWWZmLn_epsuv3TxCWHd2e_GGeVMX_9YNP-2xg17jr9-WIwSPvvXww1CLqWEPigHqXoRGwwpFh8EfpeQ",
  "id": "rs_0784084afcd16f38016ab2bc6de39c87d082c68f2706dccf2a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.52,\"left_z\":0.12},\"note\":\"The jaws are at the intended narrow opening. I’m making a short lift and slight retreat to check whether the bottle follows before raising it farther.\"}",
  "call_id": "call_GhEtXXbypRYRiSLz2cYUlwiT",
  "id": "fc_0784084afcd16f38016ab2bc6e6f5087d098847d33241a68e9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GhEtXXbypRYRiSLz2cYUlwiT",
  "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]: [-0.4702, 2.0781, 1.3731, 0.0315, -0.5774, -0.4278, 0.2344, -0.0353, 0.691, 0.4709, -0.3771, -0.0502, -0.0586, 0.9998]\nstate[eef_state]: left_x=0.5306 left_y=-0.1574 left_z=0.0938 left_yaw=0.221 left_pitch=0.0098 left_roll=-0.0014 left_gripper=0.2344 right_x=0.273 right_y=0.0028 right_z=0.1469 right_yaw=0.0152 right_pitch=-0.0271 right_roll=-0.0038 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -13.8462, 7.4735, 1.4042, -0.2759, -0.1294, -0.149, -0.9504, -0.6906, 6.8581, 1.9853, -0.0757, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0039f5f1e35ea9186678e6294d7a93404c9c1b0777ab366252c785251c222310",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1792c95de27c6b50b8ef6ab16782d1960344fbd9ef97e582c7a53ded587235a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66e5d6ed6c9b0f183fd19f591f5136f6627dc3aa9c0ab5cf5e07eedef2b80dde",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 11.12 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]: [-0.4503, 2.223, 1.3739, 0.2333, -0.5774, -0.3977, 0.2357, -0.0341, 0.712, 0.503, -0.3958, -0.0391, -0.0586, 0.9998]\nstate[eef_state]: left_x=0.5525 left_y=-0.156 left_z=0.0517 left_yaw=0.226 left_pitch=0.0544 left_roll=-0.0117 left_gripper=0.2357 right_x=0.2754 right_y=0.0011 right_z=0.1523 right_yaw=0.007 right_pitch=-0.035 right_roll=-0.0097 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -11.5897, 5.4222, 1.2381, 0.1294, -0.1148, 0.2125, -0.6632, -1.2923, 6.9538, 2.0, -0.1636, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrx1BV6azcSvFmtN7Cu5Z0LfgARIEjvT2bwGOCy7wLhddBdeVcLXoLAi2ZINDzH9NWPtZQHLcjLMZmFiYlVQcuCefPqOT9fyliw85DmTTN02_Aq-Ri1CZLTeHqrJqecTKA2mpDZC9xfgvVHIu5rBKKez_zQ2awWGZTXUC72UAWvXgjr5lj-lJwx3QDi1usqS4eGXEoFkglMhOT0NFeNVTwoeg0k2hTwKOXHw1N70AdvPPoE3Y1B6hWE7C7dYQZOYhcZZBUjFDXNDxDmoOqy_CmOTNDbdRnD1URr03uEbS7eWJ5tFKsU5cLwT5Vz00FrUOslxxj1rDv3QXHdEzhOF8Lj5vxVKiwCZsIUoebJzwy57TSo8lb2NUgWyxLYfkcP0DX6l0VkjkVe7knpYo-hBBmCu7cnVSYvjCdv4z8JV1dURx2anjYpBH_Tjy107Lgkq-Ji8jOP1tXc3VPR4CnI5reyhYBQuyL_T80AUMlEB_HmbJZ7OVRSHBg-3iJGBRjtFGWFDNApZFSh74xu29bWRidHPsL-COZB2KF6iW1KtYwLQqAzaQCfcJ-U3kBVtTlaSjqATs0vw37t3a-a_z5DXHwB9hAKa9-GvaHigrD4Tq-Za3KsEmLU5elmd3b-L1a2brt6jhJRL3-kg6PkVhDXMdEnAJ8l3WAnKkKzk9D0Gq9OQIrElFMWOcoGGW-2gZR3StncNarh7bVra_Jj9mkSXzY01GEOf5CCv0gY-t_Sv1gR9tkmrvQu3hQuTQ-I8ix6JZR2PndR2ssII0lLHHt_ySVV7P9Hjk5DOnpsv8OQznZTYP5jOJLDFIlsWKpN1aaML1ha7v-vBKfpRbMGwdOSP_WAEX1DSZQRWIWiSCmBTv_iZErypBpqbGehWKPlpp6kFpwF-bzFyuj-u26GAPcAii1zMbsPi4blsSu2WIxeAT6LljIcATEoLBE_01WnngJIDogcJZEUBM2Afn3Nk5clGcMfsdH_66UuxF3qMLkz4LQzgOdvLJDWvUACz9aCLnmjP4TOhuQHGi69oVvc_v5RDoYoVpeursde8zvLGjGQruQnDbevQ1A-MLVFih-U9LuFq5mNaqK7rTw0NQO1tzA-S_1dJDrdm2TXGzD2jREvbmdP5Es5nA2UylhhE79xQ0VVbS1t-xec3XVRDeMDNLma2ZHaM4_mUvtVoIzXfOTVduzWVn5h6GbOK5c0_CCxDCE846T6fvROJOhSWJlh5oBMi2jC2cZsSDSICv_JdfZ4NA6H2_3A0gi-d5nunIcrDXAB7CmEA",
  "id": "rs_0784084afcd16f38016ab2bc72b04c87d08a263d3852caf19a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_z\":0.25},\"note\":\"The left bottle appears to be following the neck grip. I’m lifting higher and bringing it inward so its base has room to swing down toward an upright position.\"}",
  "call_id": "call_5wZyT0wCQPyj8WibiU7jbDWU",
  "id": "fc_0784084afcd16f38016ab2bc73854c87d0bde06c77f200d3c9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5wZyT0wCQPyj8WibiU7jbDWU",
  "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]: [-0.564, 1.7531, 1.483, -0.4908, -0.6281, -0.5076, 0.2342, -0.0349, 0.6777, 0.4469, -0.366, -0.0544, -0.0586, 0.9998]\nstate[eef_state]: left_x=0.4583 left_y=-0.1628 left_z=0.2173 left_yaw=0.2087 left_pitch=-0.0324 left_roll=0.0147 left_gripper=0.2342 right_x=0.2709 right_y=0.0037 right_z=0.1415 right_yaw=0.0191 right_pitch=-0.0266 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.6359, -12.1504, 9.9077, 1.5458, -0.4225, -0.0611, -0.0317, -0.3897, -1.2239, 7.1043, 1.9072, -0.0757, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8012a6767ee0c776d72aeedc7ab7fd0aa6b76abffa4e68afa97af75748244c77",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:027772283d573ec81ef4f9d095c83f6ea2edbe95f8b9133960b6323561fa2bfe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9534671fa591e4c253fcb98a42a56f9492db85fb4b4183e7b442cc83c6e012c7",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 7.344 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]: [-0.4702, 2.0781, 1.3731, 0.0315, -0.5774, -0.4278, 0.2344, -0.0353, 0.691, 0.4709, -0.3771, -0.0502, -0.0586, 0.9998]\nstate[eef_state]: left_x=0.5306 left_y=-0.1574 left_z=0.0938 left_yaw=0.221 left_pitch=0.0098 left_roll=-0.0014 left_gripper=0.2344 right_x=0.273 right_y=0.0028 right_z=0.1469 right_yaw=0.0152 right_pitch=-0.0271 right_roll=-0.0038 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -13.8462, 7.4735, 1.4042, -0.2759, -0.1294, -0.149, -0.9504, -0.6906, 6.8581, 1.9853, -0.0757, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsryBeEvQ6en9U6BwM0Y-sKnr3nQGuLZ586hZ8EcCGYRFG7Ia07dZY9FphgQld-TRjIwcW4kv3SA8LL-AitSQLaJ7Fg-S8zQWsHMT-HlF0TBRznxgJrWVZYw_hm_pGu3MuUGa8TWvp9y0DlWXak7wyPa84cGOpsEB8bg4C2CQazoBI83pCPMgrF194_-OsKtSJOjYZ9xPcbTsmY9esdofhC4j8PSD5v8L-98CNI3hSBTXaxl9YlMcmbS_ZWjqNdbvhTXk4a9xSloRb9Y0XwQTGIA8CjSEgGm9nTIOPxhjNi-_GlDsm0SyP3UAEO9gHupzxNPOprACyv3zNixvnDvS_XfnjVwMh9H7hgrIJUxJ3vLwlKzbbp-81NMqpf44aw005G7dINy5S98EUioPsgKxNnV8leUUXhjwKP0WAvkK9-DWZQIeOL5V4JTz0ip2WDA4EjHndhg90q2v_9beY6lw--iBeHvSlGmFf-wx4qR-59Y2puDJCdgCEBOtYqnM1jfsfJGx4UstfY9faB4ZHNuBpZi8066biDbZz5k6yKYvepaeOENzGU-1JzjcwM-7PEFn70q8zdvxxNwVy_F6kIiDhmnaz_M9LNenbdFqdilAhJasw6gOfoaDKa18gB00Y8FWAixfiathFv5QhYxgAs0Ol4XGOgLK3tG5t8Cji3SaA4jBI11C_3jP3So-OZwbvn6D2zqWCQqov6YCK6pC9zGrxEYkd0TCtHVdpz2ceTOMc-nKmU9FZ25fqkPbISTCzvKSqeFraoyt8piSeyoy7Y5BKQcl0aNzpGkym8y4G-046idm5kYy7E6rGwZLEcaU4FpurUilR-Gof02PBESPyaS694hskp0fbQGXqbUAzDlBBrOx6OSEueafq-aV7j4fgZI4CaAeqJgH0l0SxwYiMHiK_0IpOUX3S28o6Vv2oYacKpsimMR-UPu0lp22iLdhOmJGi7YGWq6i8KU-4XjcdX-Iym0Nx-mUf4pSGMZlW8G5XHwLbi7tlVjKYIT_SOSRaGvCUo-OU0objk7ScQFEmeUHKhLrgqODUBBf0HQCvkH0xS_mRBposQCQYzlRPuWp5WtEHnZfL7Fx-iOMdwkOYWOx-e4NrGPm8to0Llq0hzKOsuMw9k7isPL-u8-aqQmHHboMd7kkdZdwKLkyEnoT_l89SVUcbuH6dRAa3NFOehRutLSA0bTnmhL-0B9YbVflpKGBTbf4aFLsuh59YW9m-JVnz9ElOJH-yy5mLLCe-en8dXbvjT4BwFiwRbtocPV1mLSYf3HhGzV0bE2LlhIXsit9tFnCcdGFd77-fYibeNzf8hO4hEvSDHKeg7v9hwWZN-xNJf-tGT3Goyees-ykqcVAMUaABPhWJlMVWNuWPcMY8NHuI8rg0EN3ChlI6U6jtogC15GS2vZ5a5jP4iYDjsEqpuNcXxslfUXa7OnpqZ1XfGDgJIgX495s2SHac-pxNscqnjVrobVQ56EzRguKmxKVTD6ygK6wg7vseunx4zAceA11NBX-2YWsu-XHXo8kBjd33w_sB-L--8DuogELu4nLL_PzIpsL7AYxKF25JyOforfbRmaxIISaHZzcgnYQPqDMWkG5xRaWaDzzPsSxvoPJYdOUmCMpjJ_M1r0v2FvtgGn6TRoSQ4__2ndxfJqyJHF63ncVouCveY8thywOAZTwGPi2HYccOA9PdXRz8HY5tYAyGHoqQBUZYccApsRH36B-fDr7sAB0H7WvyPu9d6LunFXkLSoIjVHtpvOQByLxTKJPO9tUU6pLQGGcRl1CvBus3q_9FWPEL83r4CPFz7J4UtZ2Fzu91JYb_VkittsMGpDlMTPsuLUggveUBryiNwqEjcSgFSKn6T94mOLKH8_W15dy2d1pH24KWgxaVkALWndeGykc-8k5o-7MMVgnSJd0kc9oUgljlu-uqdEpSrzo6WzRgf9JnquTnDIwDZjDEY-ZXgDTsJ527ahHdoTzR_CJlqiljwQ-C85QHRDKWMXaln77bo3NbIADvg003XFQAKcbksybx7jEZ6TgqSEbF5aKOk91AsiALR22HtntkBHyvgRHsL0vaJdhQOGpHeZUovJice9eJIpd69K6D88N5kLSc6pmy6uXKkaku5Ops5og2RiNHs53uCpjLDx1os7Ut1rmS8meGtjII3NffltaxO_bG4YqI2v7yjssb307Y018l8tKQg==",
  "id": "rs_0784084afcd16f38016ab2bc7875d087d0b2f18f732f782c8d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.53,\"left_y\":-0.175,\"left_z\":0.045,\"left_gripper\":1},\"note\":\"The bottle stayed on the table, so the gentle opening did not secure it. I’m returning to its neck with the jaws fully open for a firmer grasp.\"}",
  "call_id": "call_s8bcSgTx2imInkC8lmJpEZkl",
  "id": "fc_0784084afcd16f38016ab2bc7f6a2887d0a2248be9a35ade8b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_s8bcSgTx2imInkC8lmJpEZkl",
  "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]: [-0.5087, 2.1674, 1.3334, 0.0887, -0.6071, -0.4702, 0.9968, -0.0341, 0.6643, 0.4232, -0.3588, -0.0566, -0.0586, 0.9998]\nstate[eef_state]: left_x=0.5186 left_y=-0.1697 left_z=0.0435 left_yaw=0.2282 left_pitch=-0.0313 left_roll=0.0246 left_gripper=0.9968 right_x=0.2683 right_y=0.0044 right_z=0.1356 right_yaw=0.0218 right_pitch=-0.0296 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.7316, -11.1658, 7.5966, 1.7265, 0.0611, 0.0904, -0.0659, -0.6085, -1.1556, 6.9812, 1.9658, -0.0611, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51a06a84a7b5174b7fb3bfa289851055bbec1be3c26451e3773a8060a859f152",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d3d79eda611a371dea0adb9d095fe8feeaec49cfb69c4d338bb193b15eff2d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faaab07cb3a0c3de259544ac4190c6fc3677dd043ae0bea8368fc1017fdf95d1",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 10.74 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]: [-0.564, 1.7531, 1.483, -0.4908, -0.6281, -0.5076, 0.2342, -0.0349, 0.6777, 0.4469, -0.366, -0.0544, -0.0586, 0.9998]\nstate[eef_state]: left_x=0.4583 left_y=-0.1628 left_z=0.2173 left_yaw=0.2087 left_pitch=-0.0324 left_roll=0.0147 left_gripper=0.2342 right_x=0.2709 right_y=0.0037 right_z=0.1415 right_yaw=0.0191 right_pitch=-0.0266 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.6359, -12.1504, 9.9077, 1.5458, -0.4225, -0.0611, -0.0317, -0.3897, -1.2239, 7.1043, 1.9072, -0.0757, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsryJBqMz2zyj4fm1FaS-TOngB1AEJEfao8nqnJAjGH0IJ4XCNKa0nkQvmxZevwKfPVHCDKeh1xD81qRlubGYP-l2YYGLjGIZ8ZylQFf4s-jLI4g0JxZ9bsKYyJI84_pgzpXNVoOjv2U6KXg-ntwyd6FYf3KGHPjPtVKUpkgnPPlEe_0gnHSUAsCliIt-FhP0W5o6Or_Q0CPWQrGnBR-uV4P5jWlLdC1c5g8CHpjEPcGm7ynT8xrzxo4wUPOGvVMSlcsbVxrmkxxko5w_PlX2c0Lj0hsUlWzyHzxIemYIpV1Q332nZn6NNmsg_3RJBXTNr26bZ5voYjCT07GRCfHvobBVpL9A9DuXePKUVfxLGBQV_VRG1r_yEBsFZehZv4bP2ZiDKxUUmcdJfc1slCyh70lMxYLCEVb36JYe4Z545BmpnnbQoc_khNaW59eMbVk0pqDcYKUnbbHJsHob8dKQK2fRAsp5giLpD3j_gaLvceIU6b06meQwv6sWXJpX0ImGhvlJvrp5kYYtAg_DavR2-lY-qmf0GMbGc8GFI81sJe-BYmZzUM8XhXqkKwDOrVS4RsRvfkR276bKa98rJ5L3QuGQSvRLeYUoAkAZ4t5gRQAhiGlLYMQAbpMuK7jtM7Gm6g4EFCl9FB5gMth2jGbk3HHsbMFPN48TigapBra0py_ml7gynFZ0rWbsZ2xXZQKnGzKb5rmn1KLGqj3aYtyBHoU6_uOTK8pHEqXhuZfQtU-0DgC7p6wM2wrccU98RZLdLzL1wC_SOprXdp2tqCuHlGQMUXGeJ4QGWfksdlLijUAwb06hOLw-BSxIxQIuKtfuHOCJuf5TZVBr-g3U_weMP4G5TTtZmJiU99OE-y3AqTJ2kKHTOtd-A1zaR5OcO9hLQSIMl2kY3vOESQ-UHSUied1ieDz3Z81XvRpLzG8iAVPAmRxXPK6LOSzLR1KqMc4mQBajjHfnPUQdPjbVsvQzNu_tF3C167S7IR95oegUJhHx470KmRyWxy58hsAOEwN06TzfZK8dNsE4QkCkhJv7zMabsyMeVD-VZRxVKtBCOHJ0bJkMZVxHBiLkq-cfHLNG0LsTFt4EQALOVwZR0GIEsQCW4j5-8UGyP8yzGjYNjA49D8ozf5NEJuTdOEXbcqskghXUDBrnQVe9G04tp83x6I4MchbqirO5lV94pNmavGK-9ugoiK9iTPrpeNCcHJxBODV6xIvx54_qo16Mqxw2wQHKfsrbgIdvuNWcI2hoz-h-2945CoQXZKBtjrOXxl5jgkRp3g2N3flYK63sk7VOURhr-4COk32ELnvbLELVvI5Y3k9QxtGwV6ousB75GFciO5ScISkggLMuvsJekccYqlVxbEYt1Y-WAS87GlPVoETduEQ=",
  "id": "rs_0784084afcd16f38016ab2bc84bc3c87d0ad2a5da145391648",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.005,\"left_gripper\":0},\"note\":\"The neck is directly on the jaw centerline now. I’m lowering the last few centimeters and closing fully to distinguish a real neck grasp from an empty closure.\"}",
  "call_id": "call_K5ikoRpNKpJtlLw1tDPHPVHs",
  "id": "fc_0784084afcd16f38016ab2bc878ac487d0ac4c386d5b201d2d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_K5ikoRpNKpJtlLw1tDPHPVHs",
  "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]: [-0.5049, 2.2044, 1.3003, 0.3454, -0.6456, -0.4728, 0.0232, -0.0341, 0.6468, 0.395, -0.3492, -0.057, -0.0586, 0.9998]\nstate[eef_state]: left_x=0.5382 left_y=-0.1719 left_z=0.0576 left_yaw=0.2692 left_pitch=0.1206 left_roll=-0.0886 left_gripper=0.0232 right_x=0.2653 right_y=0.0046 right_z=0.129 right_yaw=0.0221 right_pitch=-0.0307 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -7.706, 3.1248, 0.823, 0.188, 0.0024, 1.0965, -0.2803, -0.8, 7.1043, 1.9853, -0.105, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:910e667fa55e372d4f848ddceffb2e2b194b05766382b4f0f940f55088684cbe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf6e4bb2f8806601d5c032b3711ec0b910d3f63fb0b0b2f6f3f9b43a633cb28f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efbdac1fd741f7ccc012ebd415c222cc940f5128a19e8539514de2a0ffae0dea",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /responses · status 200 · 8.364 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]: [-0.5087, 2.1674, 1.3334, 0.0887, -0.6071, -0.4702, 0.9968, -0.0341, 0.6643, 0.4232, -0.3588, -0.0566, -0.0586, 0.9998]\nstate[eef_state]: left_x=0.5186 left_y=-0.1697 left_z=0.0435 left_yaw=0.2282 left_pitch=-0.0313 left_roll=0.0246 left_gripper=0.9968 right_x=0.2683 right_y=0.0044 right_z=0.1356 right_yaw=0.0218 right_pitch=-0.0296 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.7316, -11.1658, 7.5966, 1.7265, 0.0611, 0.0904, -0.0659, -0.6085, -1.1556, 6.9812, 1.9658, -0.0611, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsryVD1TFdMBeOkCJC13O0la3bYvULtF6Y2BYAnJFWBnZdR8Dv1StKw9xBcNpsZgcwVOk7B8f_37NkD_oYw0CDs1JfPTy13EO9_YHoj0kl03kze4RmPpc26ke0BHnrW6TwQQedv8k5rznnCOGVJ-fxuGI228-gZhmKzo40hKROQd1t34VtsKSzxhB4jVNTgVU4E_i9mGlgvcnoZRR4fLl4YbCic2SK2nHEEoHxiTHwNjmVA97s4mah8IKVB8A6b4GxPX-8CDqwaaBeEPhVw2IJhVn7stpsBSEnv9RLXGMQUeUTQV6inzBxu2LyUweYu_fwNVyVKGS6zHknnSAUL6hTbN7bUz_rZFBWhhQkS3qzH2qvKd1XnMJnqvrE9x7YJqfE07XPBlHw0pCeSgg8hubm8IoAt2CuJRO886NriIvJENSX73QjsHBkPIYjVo6u49TxO1fWEL2XhZjZVh261qS_GbXUR-qS-CW-GZcvBG6Oq2JPl5ebr757834LwFjru884mAVD-wRpS3yiEZSweXRUoXUCF4al3fjKuVefCbBe73I8JaEKcnp4F7H7RLZ-JSi-6YJBQtV5Qo1_4Z2eBo88oDfTuyucuiqXJGXJkL13XgrWJk6__hxkQ6udANAPuLHQtIYW5bQ6oqsVXWSal7jZoNDcqHumV5Dt_0kv_fjofHC4M1CVVJ7M0p0NToiNOUXauMmncz0-sKKDqU7Iu95wj1AYej8I36pgnXQbFwPklfP52NHK1tB-X_wcgbUvzf6pvGltU9b4RRTBm5ocVT6EnLFeKe6j4e-nq3AFQ36Zz6tSqMkAl2HZzRsFrblF7u_PluAr8RDIYkqAULW1MqjhN_aJqcPRAasevwRwVIf8F_ZtBaRs4tD1GRqJTem74DEKckXtJAVx3X2nSdSGzDLHDG7zLoy2mZvbvkZdgQO7e32h7kQnWKuctvqAhxo4xpfNMULSOtxb4zAWVL6P6QStxZoEAKDtbSBQSg17GI44UVSahE_Jxm6q1Ysj2rE0BCJKcIP3huVisgifE4CpczabyBILFMD_ub-QJUCxlQDUpc0WbrcInbY7VgdenTuJgmCxvviz0amXuv_mtKZObZ_co7g0yvbJ3bfLZKmpYbdJX0gWIg2FROQteK7m_b4tTFnqsEuOJgM_M9xmREdmNTTwqR5EahyJJk_A8wskyKNbevG-z-FQC3tBzv2rWEHDSh1icnLrduR1yYfGJZRiHbi8ENpcDsaDfh8ku2kww5UpMJpbnYStFcKUEvzPl4S2RHV-qz9Fa06CaC-OH7metWi0LtAGtEmT-WXzqSe_LBEQg6SfgGe9Gd5I74RlatIh2SC9T7C0VnhTQb4CI10KrDjEJxY2w1AQOW-3I6HNKUvujDNxqi9rTU3SXSy3H2PEzsyH_S4F565VSbBPzrlRsC3Ag9rVmxVXIWzznmiEcEVGFUYDK3XEaKyTePGusLYG9M0HfbNgqpE59qkKFPb7jQCgdUvOUkrfnWzJqUUQXEzRzVP6rMuLmmamqZlqzsJSqHZLCEYzDCW30Wx6xqqhyUc1OKHkNRkQE-l2TT1Q-3bl6UvCAbLwRC1gRWAVbFe_dZkY_8PhuYjROr-T1B1Q6rpKIQ1p6DAy4tiIYDHj0HuU2fJPzrZ4zhRqI0IRexR2xfLZlf3O2Ab8i-Lxh8gHivwxmeTwrR_n0RbWHrXyh5umNd0VDrKihUUG64hZaqY2-Upe1b8",
  "id": "rs_0784084afcd16f38016ab2bc8f6da887d0881ecd37335590af",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0,\"left_z\":0.22,\"left_gripper\":1,\"right_x\":0.294,\"right_y\":0.003,\"right_z\":0.2},\"note\":\"The gripper again closed nearly empty, and contact displaced the bottle instead of securing it. I’m withdrawing both arms to a safe parked position rather than continuing to push the bottles around.\"}",
  "call_id": "call_xL9blQ94LErto967lq18zfev",
  "id": "fc_0784084afcd16f38016ab2bc935ef887d09ac0a406b6d00f1c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xL9blQ94LErto967lq18zfev",
  "output": "executing move_to over 19 steps (1.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2874, 0.9272, 0.7956, -0.4656, -0.4843, -0.3649, 0.9972, -0.0341, 0.7967, 0.6407, -0.4713, -0.0574, -0.0662, 0.9998]\nstate[eef_state]: left_x=0.3117 left_y=-0.0027 left_z=0.2234 left_yaw=0.2974 left_pitch=0.0385 left_roll=-0.037 left_gripper=0.9972 right_x=0.2867 right_y=0.0039 right_z=0.1775 right_yaw=0.0266 right_pitch=-0.0569 right_roll=-0.0042 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -2.1128, 7.5829, 1.7265, -0.1685, 0.2906, 0.0073, -0.4718, -0.8684, 10.0308, 1.9902, -0.105, -0.0171, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:044099fa694130a1c21adc7fa5a7b7daf36a4efbf650c31f5b137911a7d2d0ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2249ec2d18f6f8fcea60ad8f99d98588e76e22713d1a357d201e50440f2d04f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8f5b99304f87e0bacff777123d956304eaa5d4f157c32da4c4ae32c3b211940",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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