adhoc

completed
2026-09-22T17:02:55.526521+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 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
194.5 s
total steps
151
success_at_end
0
scenes
1
trials
1
errored
0

scene-0

completed

Stand all three bottles upright.

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteAll three bottles are lying down, with their caps toward the far edge. I will approach the left bottle’s neck so I can lift its top while keeping its base supported.
move_to
left_x0.4300left_y-0.1300left_z0.1300left_gripper1.0000right_x0.2930right_y0.0040right_z0.1900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7937, 0.6098, -0.3763, -0.0189, -0.0288, 0.9986, -0.0158, 0.7891, 0.6037, -0.3874, -0.0292, -0.0345, 0.9999] state[eef_state]: left_x=0.2959 left_y=0.001 left_z=0.1835 left_yaw=-0.0001 left_pitch=0.0004 left_roll=-0.0005 left_gripper=0.9986 right_x=0.2934 right_y=0.0041 right_z=0.1797 right_yaw=0.0002 right_pitch=-0.0004 right_roll=-0.0003 right_gripper=0.9999 state[joint_eff]: [-0.3624, -1.4564, 9.7573, 1.7216, -0.0366, 0.1441, -0.1587, -0.8684, -1.1829, 10.441, 1.8584, 0.0464, 0.188, -0.0269] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.13,"left_z":0.13,"left_gripper":1,"right_x":0.293,"right_y":0.004,"right_z":0.19},"note":"All three bottles are lying down, with their caps toward the far edge. I will approach the left bottle’s neck so I can lift its top while keeping its base supported."})
tool
executing move_to over 12 steps (1.2s)
step 12
top_cam
camera top_cam step 12
left_cam
camera left_cam step 12
right_cam
camera right_cam step 12
assistant
agent noteThe left bottle’s cap is left of the jaw centre in the wrist view. I am shifting toward it and lowering to neck height before gripping.
move_to
left_x0.4400left_y-0.0450left_z0.0450
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4385, 1.5703, 0.8467, 0.0414, -0.3538, -0.2638, 0.9988, -0.0189, 0.7929, 0.6106, -0.4309, -0.0296, -0.0353, 0.9999] state[eef_state]: left_x=0.4135 left_y=-0.1224 left_z=0.1102 left_yaw=-0.0114 left_pitch=-0.0727 left_roll=0.0216 left_gripper=0.9988 right_x=0.2885 right_y=0.0034 right_z=0.1729 right_yaw=-0.0021 right_pitch=-0.0408 right_roll=-0.0001 right_gripper=0.9999 state[joint_eff]: [-0.3077, -7.3368, 8.6222, 1.7851, -0.2857, -0.0024, -0.1392, -0.0479, -1.3744, 9.7709, 1.7265, -0.0611, -0.0269, -0.0122] camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.44,"left_y":-0.045,"left_z":0.045},"note":"The left bottle’s cap is left of the jaw centre in the wrist view. I am shifting toward it and lowering to neck height before gripping."})
tool
executing move_to over 7 steps (0.7s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteThe cap is still ahead of the fingertips and slightly left. I will advance and align the jaws across the bottle’s neck, avoiding a squeeze on the wider body.
move_to
left_x0.4900left_y0.0020left_z0.0280left_yaw-0.3500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1791, 1.7458, 0.667, 0.4969, -0.1734, -0.1459, 0.9984, -0.0193, 0.7712, 0.5701, -0.4107, -0.0296, -0.0353, 0.9999] state[eef_state]: left_x=0.4377 left_y=-0.0446 left_z=0.0504 left_yaw=0.0336 left_pitch=-0.0117 left_roll=-0.014 left_gripper=0.9984 right_x=0.2849 right_y=0.0033 right_z=0.1644 right_yaw=-0.0025 right_pitch=-0.0393 right_roll=-0.0001 right_gripper=0.9999 state[joint_eff]: [0.3077, -6.2838, 4.4786, 1.5897, 0.0024, 0.3248, -0.0513, -0.1709, -1.812, 7.1453, 2.0, -0.0659, -0.0366, -0.0122] camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_y":0.002,"left_z":0.028,"left_yaw":-0.35},"note":"The cap is still ahead of the fingertips and slightly left. I will advance and align the jaws across the bottle’s neck, avoiding a squeeze on the wider body."})
tool
executing move_to over 5 steps (0.5s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteThe arm stopped short at the low approach, and the neck remains offset from the jaws. I will lift slightly and move over the cap to avoid dragging the bottle.
move_to
left_x0.4800left_y0.0270left_z0.0900left_yaw-0.3500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0334, 1.8233, 0.7109, 0.5777, 0.0292, -0.0113, 0.9983, -0.0193, 0.7502, 0.5354, -0.3958, -0.0296, -0.0357, 0.9999] state[eef_state]: left_x=0.4603 left_y=-0.0169 left_z=0.049 left_yaw=-0.0635 left_pitch=0.0261 left_roll=-0.0104 left_gripper=0.9983 right_x=0.2814 right_y=0.0034 right_z=0.1571 right_yaw=-0.0023 right_pitch=-0.0381 right_roll=-0.0004 right_gripper=0.9999 state[joint_eff]: [-0.7043, -7.1043, 5.9556, 1.5751, 0.2906, 0.1685, -0.0171, -0.3214, -1.6752, 6.6667, 2.0635, -0.0562, -0.022, -0.0122] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.48,"left_y":0.027,"left_z":0.09,"left_yaw":-0.35},"note":"The arm stopped short at the low approach, and the neck remains offset from the jaws. I will lift slightly and move over the cap to avoid dragging the bottle."})
tool
executing move_to over 4 steps (0.4s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteThe left arm is not tracking the farther target, indicating a reach limitation rather than useful contact. I will retract and raise it before trying a shorter approach to the bottle’s shoulder.
move_to
left_x0.4100left_y0.0250left_z0.1500left_yaw0.0000right_x0.2900right_y0.0040right_z0.1900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0338, 1.8233, 0.7109, 0.5758, 0.0448, 0.001, 0.9983, -0.0193, 0.7307, 0.5011, -0.3779, -0.0296, -0.0357, 0.9999] state[eef_state]: left_x=0.4598 left_y=-0.0199 left_z=0.0486 left_yaw=-0.0836 left_pitch=0.0245 left_roll=-0.008 left_gripper=0.9983 right_x=0.2784 right_y=0.0034 right_z=0.1502 right_yaw=-0.0023 right_pitch=-0.0351 right_roll=-0.0005 right_gripper=0.9999 state[joint_eff]: [-0.5675, -7.1043, 5.8598, 1.5507, 0.1832, 0.1734, -0.0171, -0.3487, -1.6479, 6.7761, 2.0244, -0.0952, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.41,"left_y":0.025,"left_z":0.15,"left_yaw":0,"right_x":0.29,"right_y":0.004,"right_z":0.19},"note":"The left arm is not tracking the farther target, indicating a reach limitation rather than useful contact. I will retract and raise it before trying a shorter approach to the bottle’s shoulder."})
tool
executing move_to over 7 steps (0.7s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteThe bottle has shifted slightly toward us, and its neck is now aligned with the jaw column. I will lower around the neck from this reachable position.
move_to
left_x0.4300left_y0.0200left_z0.0270
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.0826, 1.388, 0.7403, 0.1936, 0.0452, 0.001, 0.9983, -0.0189, 0.7727, 0.598, -0.4469, -0.0296, -0.0391, 0.9999] state[eef_state]: left_x=0.4242 left_y=0.0307 left_z=0.1636 left_yaw=0.0321 left_pitch=0.1068 left_roll=-0.004 left_gripper=0.9983 right_x=0.2834 right_y=0.0035 right_z=0.1693 right_yaw=-0.0 right_pitch=-0.0491 right_roll=-0.003 right_gripper=0.9999 state[joint_eff]: [-0.4718, -1.8667, 7.5829, 1.3944, 0.1587, 0.2271, -0.0171, 0.0752, -0.3624, 9.9624, 1.9267, -0.022, 0.0073, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":0.02,"left_z":0.027},"note":"The bottle has shifted slightly toward us, and its neck is now aligned with the jaw column. I will lower around the neck from this reachable position."})
tool
executing move_to over 9 steps (0.9s)
step 44
top_cam
camera top_cam step 44
left_cam
camera left_cam step 44
right_cam
camera right_cam step 44
assistant
agent noteThe left bottle slid away during the descent instead of staying between the jaws. I will clear that arm and approach the right bottle, whose neck has more open space around it.
move_to
left_x0.2900left_y0.0000left_z0.2000right_x0.4500right_y0.2200right_z0.1300right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.0441, 1.7847, 0.5922, 0.5583, 0.0105, -0.0036, 0.9983, -0.0193, 0.7433, 0.5499, -0.4221, -0.0296, -0.0391, 0.9999] state[eef_state]: left_x=0.4207 left_y=0.0203 left_z=0.0184 left_yaw=0.0257 left_pitch=-0.0737 left_roll=0.0038 left_gripper=0.9983 right_x=0.2792 right_y=0.0034 right_z=0.1602 right_yaw=-0.0004 right_pitch=-0.043 right_roll=-0.0031 right_gripper=0.9999 state[joint_eff]: [-0.5812, -7.4462, 4.3966, 1.9853, -0.0806, -0.1343, -0.0122, -0.4171, -1.6205, 6.9402, 2.044, -0.1001, -0.0073, -0.0122] camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":0,"left_z":0.2,"right_x":0.45,"right_y":0.22,"right_z":0.13,"right_gripper":1},"note":"The left bottle slid away during the descent instead of staying between the jaws. I will clear that arm and approach the right bottle, whose neck has more open space around it."})
tool
executing move_to over 19 steps (1.9s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteThe right bottle’s neck is to the right of the wrist-camera centre. I will shift across and lower toward its upper shoulder, within the arm’s table-level reach.
move_to
right_x0.4850right_y0.1600right_z0.0400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0502, 0.7918, 0.6319, -0.3939, -0.0608, -0.0563, 0.9983, 0.6121, 1.7969, 1.1233, -0.0418, 0.4587, 0.3065, 0.9999] state[eef_state]: left_x=0.296 left_y=-0.0005 left_z=0.1907 left_yaw=0.0199 left_pitch=0.0079 left_roll=-0.002 left_gripper=0.9983 right_x=0.4363 right_y=0.2151 right_z=0.1136 right_yaw=0.0385 right_pitch=-0.0564 right_roll=-0.0379 right_gripper=0.9999 state[joint_eff]: [-0.212, -1.2923, 9.5795, 1.6337, -0.0366, -0.0952, -0.0073, -0.0205, -9.0051, 8.7453, 1.8388, 0.4322, 0.1636, -0.0269] camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.485,"right_y":0.16,"right_z":0.04},"note":"The right bottle’s neck is to the right of the wrist-camera centre. I will shift across and lower toward its upper shoulder, within the arm’s table-level reach."})
tool
executing move_to over 5 steps (0.5s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteThe bottle is centred between the jaws at its body, while the cap lies beyond low reach. I will take a gentle body grip, then test whether it can hang base-down as it is lifted.
move_to
right_gripper0.4800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0528, 0.8021, 0.6441, -0.4267, -0.0681, -0.0563, 0.9983, 0.4252, 1.9533, 0.9932, 0.326, 0.3584, 0.1932, 0.9997] state[eef_state]: left_x=0.2938 left_y=0.0001 left_z=0.1867 left_yaw=0.0234 left_pitch=-0.0226 left_roll=0.0042 left_gripper=0.9983 right_x=0.4778 right_y=0.1522 right_z=0.0512 right_yaw=-0.0052 right_pitch=-0.0158 right_roll=-0.0369 right_gripper=0.9997 state[joint_eff]: [-0.0205, -1.5521, 6.6803, 1.9316, -0.0073, -0.0562, -0.0073, -0.1846, -6.694, 5.6957, 1.5067, -0.1734, 0.0952, -0.0269] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.48},"note":"The bottle is centred between the jaws at its body, while the cap lies beyond low reach. I will take a gentle body grip, then test whether it can hang base-down as it is lifted."})
tool
executing move_to over 6 steps (0.6s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteThe jaws have closed around the bottle’s body. I will lift and retract slightly, checking whether the bottle follows and pivots rather than sliding free.
move_to
right_x0.4400right_z0.1900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0528, 0.7944, 0.6289, -0.4168, -0.0681, -0.0559, 0.9983, 0.4187, 1.9732, 0.976, 0.3767, 0.3206, 0.2012, 0.4883] state[eef_state]: left_x=0.2928 left_y=0.0001 left_z=0.1839 left_yaw=0.0232 left_pitch=-0.0204 left_roll=0.0043 left_gripper=0.9983 right_x=0.4783 right_y=0.1558 right_z=0.0436 right_yaw=0.0149 right_pitch=-0.0123 right_roll=-0.0044 right_gripper=0.4883 state[joint_eff]: [0.0479, -1.9761, 6.3795, 1.956, -0.0659, -0.0904, -0.0073, 0.0479, -11.4667, 5.4085, 1.6532, 0.3053, 0.1148, 0.3883] camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.44,"right_z":0.19},"note":"The jaws have closed around the bottle’s body. I will lift and retract slightly, checking whether the bottle follows and pivots rather than sliding free."})
tool
executing move_to over 10 steps (1.0s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteThe bottle stayed on the table, so the previous grip was empty. I will open and make one farther approach, checking the actual reach before another grasp.
move_to
right_x0.5300right_y0.1500right_z0.0550right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0528, 0.7891, 0.6147, -0.4084, -0.0681, -0.0559, 0.9983, 0.4664, 1.6268, 1.0946, -0.141, 0.329, 0.205, 0.489] state[eef_state]: left_x=0.2919 left_y=0.0002 left_z=0.1806 left_yaw=0.0232 left_pitch=-0.0207 left_roll=0.0043 left_gripper=0.9983 right_x=0.4367 right_y=0.1599 right_z=0.1552 right_yaw=0.0529 right_pitch=-0.0586 right_roll=-0.0268 right_gripper=0.489 state[joint_eff]: [0.1026, -1.7983, 6.7214, 1.8926, -0.0122, -0.0855, -0.0122, 0.1162, -10.5504, 9.9077, 1.9267, 0.4029, 0.2515, 0.0562] camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.53,"right_y":0.15,"right_z":0.055,"right_gripper":1},"note":"The bottle stayed on the table, so the previous grip was empty. I will open and make one farther approach, checking the actual reach before another grasp."})
tool
executing move_to over 8 steps (0.8s)
step 92
top_cam
camera top_cam step 92
left_cam
camera left_cam step 92
right_cam
camera right_cam step 92
assistant
agent noteThe farther approach reached the bottle’s lower body, with the bottle centred between the jaws. I will close fully to determine whether there is a real grip rather than an open gap.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0528, 0.7792, 0.5972, -0.3973, -0.0681, -0.0559, 0.9983, 0.3553, 2.048, 1.1358, 0.2199, 0.2268, 0.1249, 0.9962] state[eef_state]: left_x=0.2907 left_y=0.0003 left_z=0.1775 left_yaw=0.0231 left_pitch=-0.0173 left_roll=0.0041 left_gripper=0.9983 right_x=0.505 right_y=0.1489 right_z=0.0351 right_yaw=0.0691 right_pitch=-0.0988 right_roll=-0.0365 right_gripper=0.9962 state[joint_eff]: [-0.1026, -1.5385, 6.8718, 1.8388, -0.0415, -0.0415, -0.0073, -0.9094, -10.4547, 8.7179, 1.9853, 0.0317, 0.0757, -0.1978] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 92): [image omitted: streamed camera frame] camera 'left_cam' (step 92): [image omitted: streamed camera frame] camera 'right_cam' (step 92): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The farther approach reached the bottle’s lower body, with the bottle centred between the jaws. I will close fully to determine whether there is a real grip rather than an open gap."})
tool
executing move_to over 10 steps (1.0s)
step 102
top_cam
camera top_cam step 102
left_cam
camera left_cam step 102
right_cam
camera right_cam step 102
assistant
agent noteThe fully closed reading confirms an empty grip. The cap is now just beyond the fingertips, so I will reopen and adjust forward by about two centimetres for one final alignment attempt.
move_to
right_x0.5350right_y0.1500right_z0.0300right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0528, 0.7757, 0.5823, -0.3935, -0.0681, -0.0559, 0.9983, 0.3542, 2.0521, 1.058, 0.487, 0.2054, 0.1211, 0.0137] state[eef_state]: left_x=0.2892 left_y=0.0003 left_z=0.1724 left_yaw=0.0232 left_pitch=-0.0249 left_roll=0.0047 left_gripper=0.9983 right_x=0.5165 right_y=0.1564 right_z=0.0555 right_yaw=0.0884 right_pitch=0.0761 right_roll=0.0223 right_gripper=0.0137 state[joint_eff]: [-0.1299, -1.8667, 7.2547, 1.9121, -0.0513, -0.0904, -0.0073, -0.1846, -10.4274, 4.4513, 1.16, 0.3492, 0.0659, 1.199] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.535,"right_y":0.15,"right_z":0.03,"right_gripper":1},"note":"The fully closed reading confirms an empty grip. The cap is now just beyond the fingertips, so I will reopen and adjust forward by about two centimetres for one final alignment attempt."})
tool
executing move_to over 10 steps (1.0s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteThe cap and neck are now between the open fingers in the wrist view. I will close and use the settled jaw width to check the grasp before lifting.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0528, 0.7662, 0.5644, -0.3744, -0.0681, -0.0559, 0.9983, 0.3443, 2.1086, 1.153, 0.3866, 0.1768, 0.0887, 0.9958] state[eef_state]: left_x=0.2889 left_y=0.0003 left_z=0.1707 left_yaw=0.0231 left_pitch=-0.0143 left_roll=0.0038 left_gripper=0.9983 right_x=0.5282 right_y=0.1602 right_z=0.042 right_yaw=0.1207 right_pitch=0.0132 right_roll=-0.0065 right_gripper=0.9958 state[joint_eff]: [0.0615, -1.7709, 6.5026, 1.8291, -0.0317, -0.0904, -0.0171, -1.935, -7.9111, 7.3231, 1.8144, 0.0562, 0.1441, -0.0611] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The cap and neck are now between the open fingers in the wrist view. I will close and use the settled jaw width to check the grasp before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 122
top_cam
camera top_cam step 122
left_cam
camera left_cam step 122
right_cam
camera right_cam step 122
assistant
agent noteThe second close was also empty; the view now shows the neck just to the right of the closed jaws. I will correct that sideways error and lower the fingertips rather than continue advancing.
move_to
right_x0.5200right_y0.1300right_z0.0050right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0528, 0.7643, 0.5632, -0.3714, -0.0681, -0.0563, 0.9983, 0.347, 2.1048, 1.1614, 0.4152, 0.1677, 0.0769, 0.0129] state[eef_state]: left_x=0.2891 left_y=0.0003 left_z=0.1713 left_yaw=0.0233 left_pitch=-0.0105 left_roll=0.0032 left_gripper=0.9983 right_x=0.5335 right_y=0.1654 right_z=0.0532 right_yaw=0.1372 right_pitch=0.0522 right_roll=-0.0032 right_gripper=0.0129 state[joint_eff]: [0.0889, -1.5658, 6.1607, 1.917, -0.022, -0.0904, -0.0073, -0.5949, -10.9333, 6.1607, 1.326, 0.0366, 0.1441, 0.8425] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.52,"right_y":0.13,"right_z":0.005,"right_gripper":1},"note":"The second close was also empty; the view now shows the neck just to the right of the closed jaws. I will correct that sideways error and lower the fingertips rather than continue advancing."})
tool
executing move_to over 10 steps (1.0s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteThe arm cannot lower to the requested grasp height at this reach, and the bottle is sliding rather than entering the jaws. I will withdraw both arms safely instead of pushing the bottles farther out of reach.
move_to
right_x0.3000right_y0.0100right_z0.2000right_gripper1.0000left_x0.2900left_y0.0000left_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0528, 0.7643, 0.5541, -0.3714, -0.0681, -0.0559, 0.9983, 0.2794, 2.1109, 1.076, 0.5606, 0.1001, 0.0433, 0.9957] state[eef_state]: left_x=0.2879 left_y=0.0004 left_z=0.1671 left_yaw=0.0231 left_pitch=-0.0196 left_roll=0.0042 left_gripper=0.9983 right_x=0.5338 right_y=0.1385 right_z=0.0463 right_yaw=0.144 right_pitch=0.1002 right_roll=0.0085 right_gripper=0.9957 state[joint_eff]: [-0.0615, -1.6752, 6.9402, 1.9121, -0.0366, -0.1001, -0.0073, -0.7863, -6.7897, 3.959, 1.2625, -0.0855, 0.0659, 0.0269] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.30,"right_y":0.01,"right_z":0.20,"right_gripper":1,"left_x":0.29,"left_y":0,"left_z":0.20},"note":"The arm cannot lower to the requested grasp height at this reach, and the bottle is sliding rather than entering the jaws. I will withdraw both arms safely instead of pushing the bottles farther out of reach."})
tool
executing move_to over 18 steps (1.8s)
step 150
top_cam
camera top_cam step 150
left_cam
camera left_cam step 150
right_cam
camera right_cam step 150
assistant
agent noteI could not secure a grip that would stand the bottles upright. The grasp attempts were empty or slid the bottles, and the arm stopped above the requested low grasp position at long reach. All three bottles remain lying down; both arms are withdrawn with open grippers.
give_up
hindsightAt the right bottle, targets around x=0.52–0.535 m and y=0.13–0.16 m did not reliably reach table-level grasp height: readback remained around z=0.046–0.055 m. Full closes read about 0.013, confirming empty grasps despite the bottle appearing near the jaw column. Low approaches also slid the bottles; stop earlier when alignment cannot be confirmed, especially near the outer edge.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0528, 0.7712, 0.6312, -0.4553, -0.0685, -0.0563, 0.9983, -0.0959, 0.873, 0.6708, -0.366, -0.1841, -0.1421, 0.9997] state[eef_state]: left_x=0.2862 left_y=0.0006 left_z=0.1833 left_yaw=0.0237 left_pitch=-0.0333 left_roll=0.0052 left_gripper=0.9983 right_x=0.31 right_y=0.0062 right_z=0.1929 right_yaw=0.1082 right_pitch=0.0148 right_roll=-0.0086 right_gripper=0.9997 state[joint_eff]: [-0.1162, -0.6632, 10.6325, 1.663, -0.0366, -0.0757, -0.0171, 0.1299, -1.6752, 9.7162, 1.9756, -0.2173, -0.0513, -0.0415] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 150): [image omitted: streamed camera frame] camera 'left_cam' (step 150): [image omitted: streamed camera frame] camera 'right_cam' (step 150): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not secure a grip that would stand the bottles upright. The grasp attempts were empty or slid the bottles, and the arm stopped above the requested low grasp position at long reach. All three bottles remain lying down; both arms are withdrawn with open grippers.","hindsight":"At the right bottle, targets around x=0.52–0.535 m and y=0.13–0.16 m did not reliably reach table-level grasp height: readback remained around z=0.046–0.055 m. Full closes read about 0.013, confirming empty grasps despite the bottle appearing near the jaw column. Low approaches also slid the bottles; stop earlier when alignment cannot be confirmed, especially near the outer edge."})
tool
give_up: I could not secure a grip that would stand the bottles upright. The grasp attempts were empty or slid the bottles, and the arm stopped above the requested low grasp position at long reach. All three bottles remain lying down; both arms are withdrawn with open grippers.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [0, 0], left_roll: [0, 0], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [0, 0], right_roll: [0, 0], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 13.28 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, 0.7937, 0.6098, -0.3763, -0.0189, -0.0288, 0.9986, -0.0158, 0.7891, 0.6037, -0.3874, -0.0292, -0.0345, 0.9999]\nstate[eef_state]: left_x=0.2959 left_y=0.001 left_z=0.1835 left_yaw=-0.0001 left_pitch=0.0004 left_roll=-0.0005 left_gripper=0.9986 right_x=0.2934 right_y=0.0041 right_z=0.1797 right_yaw=0.0002 right_pitch=-0.0004 right_roll=-0.0003 right_gripper=0.9999\nstate[joint_eff]: [-0.3624, -1.4564, 9.7573, 1.7216, -0.0366, 0.1441, -0.1587, -0.8684, -1.1829, 10.441, 1.8584, 0.0464, 0.188, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:063b959a32f57ccf14bbf0b0878e98686ad2c2cc300e5700f05d78568fbaa1c0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cf2304c526999bc2fe269f58d41c405726894b8940336ba7f54e0e5aad72d9c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3624c04c07f1af31819a9d1064e1a859c84668093eff080ec32875c4295acba9",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 063b959a32f5
wire blob 0cf2304c5269
wire blob 3624c04c07f1
call 1 attempt 0 · /responses · status 200 · 9.729 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
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  "id": "rs_05e55fc5735e8d1f016ab2b4cf2c5887d0a056aa89b983f1be",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.13,\"left_z\":0.13,\"left_gripper\":1,\"right_x\":0.293,\"right_y\":0.004,\"right_z\":0.19},\"note\":\"All three bottles are lying down, with their caps toward the far edge. I will approach the left bottle’s neck so I can lift its top while keeping its base supported.\"}",
  "call_id": "call_3ZBbK0z7faMgnO5XEtGCehsQ",
  "id": "fc_05e55fc5735e8d1f016ab2b4d7c3b487d0b61793dd5f23b54c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3ZBbK0z7faMgnO5XEtGCehsQ",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4385, 1.5703, 0.8467, 0.0414, -0.3538, -0.2638, 0.9988, -0.0189, 0.7929, 0.6106, -0.4309, -0.0296, -0.0353, 0.9999]\nstate[eef_state]: left_x=0.4135 left_y=-0.1224 left_z=0.1102 left_yaw=-0.0114 left_pitch=-0.0727 left_roll=0.0216 left_gripper=0.9988 right_x=0.2885 right_y=0.0034 right_z=0.1729 right_yaw=-0.0021 right_pitch=-0.0408 right_roll=-0.0001 right_gripper=0.9999\nstate[joint_eff]: [-0.3077, -7.3368, 8.6222, 1.7851, -0.2857, -0.0024, -0.1392, -0.0479, -1.3744, 9.7709, 1.7265, -0.0611, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f104bb23b4abb71bfbc9ad3bdcecfcc9f52065918eab7c1588e6c1f8f209fe06",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b60a66c0e2dafa81d93ef579ac824f2acc5320f7a7517f0cb5a3998a06af84a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cba5ec350abf3a5b228b60d23226957db369ab7af515e7fc0731dc51b0ad7a01",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob f104bb23b4ab
wire blob b60a66c0e2da
wire blob cba5ec350abf
call 2 attempt 0 · /responses · status 200 · 9.195 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, 0.7937, 0.6098, -0.3763, -0.0189, -0.0288, 0.9986, -0.0158, 0.7891, 0.6037, -0.3874, -0.0292, -0.0345, 0.9999]\nstate[eef_state]: left_x=0.2959 left_y=0.001 left_z=0.1835 left_yaw=-0.0001 left_pitch=0.0004 left_roll=-0.0005 left_gripper=0.9986 right_x=0.2934 right_y=0.0041 right_z=0.1797 right_yaw=0.0002 right_pitch=-0.0004 right_roll=-0.0003 right_gripper=0.9999\nstate[joint_eff]: [-0.3624, -1.4564, 9.7573, 1.7216, -0.0366, 0.1441, -0.1587, -0.8684, -1.1829, 10.441, 1.8584, 0.0464, 0.188, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrTkAK3UJLm7zEH5fpWnKjomGziDd9WQ7SBwZI3pCe98E72l3OYaIveOkttZfKxvFnakxIpukI6_dROtuyCccQ_B6xKUPsqEXBBXvQeRTiF-bihxcMgLQ5owrsFRIluKNGPJEfLs_DAcSb0P5XwGQvUFm3wVa4rWq-uuaRFCMPAkjiXZhD-Z80TNHKDVFfISwspS0VJf46-pPxtjDkG9QadBzROrJhL6Ejivl0xtbwErnkyhO-7H4bex39b2Y9HSleNaDLPPyXd_HcbeEBwHoZeMyzcjcyALWnsa7Q3WadMVzkKc3qDU9zYkjAP8eXC7KGg6RoHtNo57i1PPQ1icguwSAefPdR43lL16pH2o4PAnfJqzJRfdmM2Fb08kkqmxQw9uw75pswRzhARgcJlKQ6U35eTt2elJ8qaRV9jKIexDOzs4yiVMJ24sRlbEZ2viOugpL_aoMV1DwEoNiw_DJQAdGjBhEDE650AFDafsWuCkRk6mz-u2hUucPirj8nV9F77mGMikeYcwBu8bQe3S-jmCKJ5vImtAl7S-D359Vg6c8RHmdyUT3Dfd7bPKuAP3qplDUVLrdFrQKEecpUDlWzpl9stn6NV-r6XvXUF9-ipen3HF98wOf82yhxBN3y3-377CIcCn_JHNf9YtHiNEug7YjOoG0HuXAJoTcBz1JCxhohBdaqrPyGiecaPMsBHStlWUon45m_LOc54wmGmPAmugVzKTz-hpy4W7kcHsOEjj3uPr5FN9I4MBCC4KkAKq1DfnRDtysGhVtazL_5eyP5pNyoowWT9VH_JyKiLI2MHzLsBR_byyw9Sp927Cw1PlIFKQ4yNyfvIuUbIuHjQUi1hloQfNTeEwLNYnUA6Bcy5Wcat-cgGGRX1icJM8fqpcHPXbYtM3GQIWZhNLBhxNsf3sgGztcXROpNMhGBkBVPmt5esdkeYO6HkDm9GTzv9i-BX8KnaPzGqCSC5QFCEtC5cdG-h6b8_DjH2UPXgSFlPUMxwmg0o5AaSLFEzL9_e1pV0OwcZ1cWEnDo5V9qWDhYh8sAoaxyVznYJF0OFRc0vfXetzZQxiJvcaI9N62qjNZwIXJpU4dYUo8ddmLTGbuEktTynpEILA2sb_5ZBseQjMPWcF8WgKRJTCAldvlhdiSCNwFYBvlhIGhbmEOqgpu9gJMP1l8xYOln2QOhy8PV1Tzd_kUyTpzlWDYlfj4Tt3BR5K1NB6689nWWVAISC3a28_aAOJWa-qvJ4wbfsxA4PlAaNc7eX3A0o_qq5A9sfivncq2IL53vBWZGHvuCSqhm9MxMjgwYSK-LB4pHkF_NFjJeXR4-3eDG9bB1Md46b2G6fr_HAdHzwDMXi6Vnjm8_rJYhxO9CSJWgtwDxvMFTt154l54zi5orwU7d4cRx0iPviyQRIP-1-3ByBzWlfHYs9bHyCfWpM2uwpeGusTX9TCzSFa7HojfhrJDzZuajAljBk74DYCVCrX9GIYYgIBuMVcYw-BNL_2gT_MpJYShm5yN0SveIbAoaXJwoYpy5h3GmBOMs2Ev5DkbUpf7qe4h4SZKaLSpNlXxgBMZIbs9-uzwbjSirI_A5D9pLXsDC9MHFqKEHZ9WK92rLuYNh1SlRtxGSU7OFaP5k5xkHgXfZSPZeDG_E_N3igfHcJkPLuNOfDv7OaNkvQl0f6qlFe8N8V603TCphnMPcXFr0Yt_lVQAqRTg6bbC4ugtwU21DWKR-89CrSyYLJ4vC3gp4TrTrFf4InqDHhpKQVv97RK6Ksu9ujwvLc0EPHUR0upZY_iZ5nzPfX7JRRLF0CFn25JB4Mfu6khPQIQYNpOGCNcePRZtNCj8jD5fUsv7K9Ew0K-TotZ",
  "id": "rs_05e55fc5735e8d1f016ab2b4ddc27487d08d616f8718515b4c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.045,\"left_z\":0.045},\"note\":\"The left bottle’s cap is left of the jaw centre in the wrist view. I am shifting toward it and lowering to neck height before gripping.\"}",
  "call_id": "call_N5vG5hYfuQ7LUZ7Fq9pQx0pX",
  "id": "fc_05e55fc5735e8d1f016ab2b4e3362087d0a66495b407bc4c4f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_N5vG5hYfuQ7LUZ7Fq9pQx0pX",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1791, 1.7458, 0.667, 0.4969, -0.1734, -0.1459, 0.9984, -0.0193, 0.7712, 0.5701, -0.4107, -0.0296, -0.0353, 0.9999]\nstate[eef_state]: left_x=0.4377 left_y=-0.0446 left_z=0.0504 left_yaw=0.0336 left_pitch=-0.0117 left_roll=-0.014 left_gripper=0.9984 right_x=0.2849 right_y=0.0033 right_z=0.1644 right_yaw=-0.0025 right_pitch=-0.0393 right_roll=-0.0001 right_gripper=0.9999\nstate[joint_eff]: [0.3077, -6.2838, 4.4786, 1.5897, 0.0024, 0.3248, -0.0513, -0.1709, -1.812, 7.1453, 2.0, -0.0659, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96cf19021f647762601318971a03413f868f2286619bdd3f2647e7e80d157157",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a9040607cfaaff5682b1f75765d9331797e9b4194a5aa94f832afb5d42a5177",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebe47cb6e82df9ee8dbed9463036a9d97cf30373c7de595bc770e80c83bfce16",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 96cf19021f64
wire blob 7a9040607cfa
wire blob ebe47cb6e82d
call 3 attempt 0 · /responses · status 200 · 7.846 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]: [-0.4385, 1.5703, 0.8467, 0.0414, -0.3538, -0.2638, 0.9988, -0.0189, 0.7929, 0.6106, -0.4309, -0.0296, -0.0353, 0.9999]\nstate[eef_state]: left_x=0.4135 left_y=-0.1224 left_z=0.1102 left_yaw=-0.0114 left_pitch=-0.0727 left_roll=0.0216 left_gripper=0.9988 right_x=0.2885 right_y=0.0034 right_z=0.1729 right_yaw=-0.0021 right_pitch=-0.0408 right_roll=-0.0001 right_gripper=0.9999\nstate[joint_eff]: [-0.3077, -7.3368, 8.6222, 1.7851, -0.2857, -0.0024, -0.1392, -0.0479, -1.3744, 9.7709, 1.7265, -0.0611, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrTu3k2KPJDO2AZGjYXJROOR07iSfLQJ0jm_8Dn-fK3pbhmyeZeOC-5zm8BMuhCHf68IeSVeqXIz4WSCqQudfgvKksbV5RxtJh3nxXMzALpVOynUNWW73LOVw3MsXJcY6VibH9hCuFWLSuHeJZXsSrE04AzOVROFDk3RJAlF8i0pmo3gVGMD9Qgr1Ccqm6iCdkUfJ6WJB0EkW8z-0lRRk7RE7iTh4zIXD9UXybXsvPuPavmJMPUbYcemvDnOHZS34Tujm7qMNtFjdY10oBGPZ-6b5bMJYdxoM8hCYOY2KC_Jxyir794txejArF89pyc3fVxxiCzDrEdnk7H1fY4BLKwDBzVw4S7U_dsoxvK7K4x_2NGHuvMUJPp4xoAwj-Tg67KlchJgOiP4lmcO6oiFyonqpKCwF0clfx4pNs5s_6sjIBq7N63NoWBIeonlJSFN2iHF4C-LnGDYM8kR_Zd3lsyA57ovVvr5LLW9bcvq7Af1VT4G-9sztvgkphQ_5auS1j20bliQM_7y-Z69K-LAkIgAtn18y4GdxqEqkusKZptgV_Ml4WXLt6Jjp6x8NRWApg9zAUf7H2L7qY3EYcqHmNGh7DbZzo21z7exEkMfCwrmW8JGF0L5ai3t9JSYivwwg_Os4nnEJCButHxxEnu7KoR8QkFJmUkFjICLr6hp8tHXWB0IeMoTdpRUOLRp2doXNRDRM7xuUGEVja26VwuWxhv99XH-S4Vnwb27jMxTW-xHjvqL7psbxwRYjCCfM2PaSBxk8iohqou3C0h0_L0Wo1ptM0R_WGiHEpQLiItO3e-EA-t-ECws0eIux789iA-1sxqNwsZnEAVcGUwxn4nV7TB2mB93CgqC5kdaqgnGEfnzBX3KIMmEllc3Jd_lccxL_OSozoduSQiAGqLsCAWgiP24vIVNcU3yg2RFI_WeQpWA-DjeMdAunsn9wnBrQ0dpgk--2Bia7L8HNYNRzNTGNDezklZMGvM04vWvGbM0wIlWDammr0Ff1MfkVzPGEHIlLbYnfW3FNumB6VR6mk50S0KOn7xxhfiZb9giOpj5YkJqETP9HfkFq7YyuaFSP1gFaCWQC1FxbPy7SG3VBh68e4n26xq9pmBhujUf069jAX3ViBlOnkQu13EI1EQy5U0_UI_L7-ll2RrD1dVEEv3S8dONwnHfaxYiMEl3Aox5M1dokeyRGDpHMG5r7Lwd5j1rWY3bmMEbl-9bp_7UiVRkNP__Ddbz1gYEKLalZ9H_Q2YUVIhkmKpmxbUHad32kQuKXwJCWTDoKyJetkr6gL2-5qLSRmQyEa5Qtvwm_6bxOYVWZi24_-f-p-2TULDilx_TvtKrNxXcJOpuo4QyJtxBYWU0j7yP1R4Hl_tEw8Pm8QkpB6sixvYUMp4Fvp1hNR58AZfWc5OzbtcArV0XCvDUfR7dZA==",
  "id": "rs_05e55fc5735e8d1f016ab2b4ea4a1087d0affa48ae3081fba2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":0.002,\"left_z\":0.028,\"left_yaw\":-0.35},\"note\":\"The cap is still ahead of the fingertips and slightly left. I will advance and align the jaws across the bottle’s neck, avoiding a squeeze on the wider body.\"}",
  "call_id": "call_nxylbqvVhquIZXIcl55Fsuwb",
  "id": "fc_05e55fc5735e8d1f016ab2b4ecb9b887d094043d6f7e2806a9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nxylbqvVhquIZXIcl55Fsuwb",
  "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]: [-0.0334, 1.8233, 0.7109, 0.5777, 0.0292, -0.0113, 0.9983, -0.0193, 0.7502, 0.5354, -0.3958, -0.0296, -0.0357, 0.9999]\nstate[eef_state]: left_x=0.4603 left_y=-0.0169 left_z=0.049 left_yaw=-0.0635 left_pitch=0.0261 left_roll=-0.0104 left_gripper=0.9983 right_x=0.2814 right_y=0.0034 right_z=0.1571 right_yaw=-0.0023 right_pitch=-0.0381 right_roll=-0.0004 right_gripper=0.9999\nstate[joint_eff]: [-0.7043, -7.1043, 5.9556, 1.5751, 0.2906, 0.1685, -0.0171, -0.3214, -1.6752, 6.6667, 2.0635, -0.0562, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89af1811e0d7a24c47b671c1d05eb4eb984dae0f5d2c56f1b4b8a8d1e7f111b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c674b4c88d72f5d88f65b6867584adc61767eda9b90c08a6208ab131e853f6e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a0a3e4f69adfd3f9bcfeb4f69b15704d2c07e466dfbc53c3284ed7258811cd3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 89af1811e0d7
wire blob c674b4c88d72
wire blob 9a0a3e4f69ad
call 4 attempt 0 · /responses · status 200 · 5.779 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]: [-0.1791, 1.7458, 0.667, 0.4969, -0.1734, -0.1459, 0.9984, -0.0193, 0.7712, 0.5701, -0.4107, -0.0296, -0.0353, 0.9999]\nstate[eef_state]: left_x=0.4377 left_y=-0.0446 left_z=0.0504 left_yaw=0.0336 left_pitch=-0.0117 left_roll=-0.014 left_gripper=0.9984 right_x=0.2849 right_y=0.0033 right_z=0.1644 right_yaw=-0.0025 right_pitch=-0.0393 right_roll=-0.0001 right_gripper=0.9999\nstate[joint_eff]: [0.3077, -6.2838, 4.4786, 1.5897, 0.0024, 0.3248, -0.0513, -0.1709, -1.812, 7.1453, 2.0, -0.0659, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrT22TUSHhxPM5372IMl3F2qqj2urK7q0OTxhdZAAU5XF5Jgix93dp_1K2UE2pnyZXSO8KMMzdlRc585tottTI121nAdYG3bPH0sesVUMnVq7qZdsTtUZ77Cb7o-WOUTL0U43anpjHfnQnTTT6sgZzH7Fje1Dd2iMSw4FQKdNTPMqGdbz3bkURU9GfIHus0IkEi3RfaiG2foTUqlL3_YXkyaeS0U-fTMN3hraD7xwh-Up7FZuCFpNnVAzQdytqAwPOzCy8BS9JJ1GSpfj0uovJs-rasZRci3wISzvVZgONfAy6UG9K2M4c9bHtn240Am3Jjd1HStZEaq8T20SLSOChM2lj8Ee6MlMImFxykegp3R03ENxiyQKeNREuaXFO9myUu6C2oI6mittE_S1Uo98oUrke1kl90d4sn_YJr4bTca9BHOhLNraZihQfk77fI1L4caQH0XGiLKDsF_LtjSFaLUsYZ8vo51cJ4c95Cfp3q9KFSWsVkq8gCepzQEzDGey43lX4gYBbtsO0v17UWmcm9t129BS980ny2bWPdAdg7Zpf-UEKjPoH0FNgCfri8F_SFJUfqoyDCxtgBfdwRI5AzDVKmtCvfklnB6Wmv7iSYPiZYaxFxG7RjhJjTTV-WvYSXZcefI0ISB3TrxmA0snfz7pe4wue-o6hBFeZwMH0O-COoUpgGQzzJsDEj7cXAoyXua2AfNatsYiqDMv_Kcifxgz5rRC763KSTNujsH5fvQGDGx9jhJc0J2j2BDcz05Ak9WBQ-f6lp9gw-AQv8MG2pKHo_3OE9B4nXoRZQp4ct67JzuBmzL4XGy-zYqTUgMD8Os7YkIABIek7TK-6TgfcHE65VqJz4nSyFhiW9rem6Qt3OHDtfH5BIfdFkOf15DLbnrzBX1WF-lIyIM6J4TfC65QaJyLeLFm8BcbtIdHJ_Db--8F712Q8zzfOo9kv98QSkX_m2fRkA6K5_JHy537uzyHsg5PxmlROoKmls7jfq2xlGZRtthuHp5s4ykXFpH3ZUemQjuAsH6ynUnwn8ZlIPnBGnDBGZgGIePKomgW4GJtixT9sYMyvS_kUkaJpsUwH0RkRJBAdKBjQYDB7LbwUhvmo2pnR6YnB7D-ezkg4GR50qPkDia1Cfx7Gz5Vyrj5GCdx4S53OyPZMulhdHaYdZ6DAEmhex6Gj2bEsKz6eELle-inrNkKZ0NpPGnm_SCGBi_F3tJS7TOYgzG1rnzG2RdPFXZ_R7H1LA3utskh4EDv_aUgeX__Bzyk1ySItS7mEHWFfEpB6oEvcJR6nUpR6lkJUtiihXJGNpIpQMpYjHux6l5ArpZDPEY3GtrKvb1z6zONew1anqibzc3OZVUWskOk0hcgNeGKEKn-WuU88FuGdKYLBQoUKjzX9qUIduSFYkSH7hoCLkllNMMuO1wNHFFfe5DueCXMIJzw2eDlR5ovZAdnyjdShyAIUBf2lgnGLlRNngXb23psjH5TGHkO8lrqik_1mpzOKHnX0EFii1wbr4=",
  "id": "rs_05e55fc5735e8d1f016ab2b4f0b4d487d090d87c21ad710307",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":0.027,\"left_z\":0.09,\"left_yaw\":-0.35},\"note\":\"The arm stopped short at the low approach, and the neck remains offset from the jaws. I will lift slightly and move over the cap to avoid dragging the bottle.\"}",
  "call_id": "call_jYMYlxK9zXPNBIKBBURu6tvV",
  "id": "fc_05e55fc5735e8d1f016ab2b4f4479487d0b7f3a98802358a63",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jYMYlxK9zXPNBIKBBURu6tvV",
  "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]: [-0.0338, 1.8233, 0.7109, 0.5758, 0.0448, 0.001, 0.9983, -0.0193, 0.7307, 0.5011, -0.3779, -0.0296, -0.0357, 0.9999]\nstate[eef_state]: left_x=0.4598 left_y=-0.0199 left_z=0.0486 left_yaw=-0.0836 left_pitch=0.0245 left_roll=-0.008 left_gripper=0.9983 right_x=0.2784 right_y=0.0034 right_z=0.1502 right_yaw=-0.0023 right_pitch=-0.0351 right_roll=-0.0005 right_gripper=0.9999\nstate[joint_eff]: [-0.5675, -7.1043, 5.8598, 1.5507, 0.1832, 0.1734, -0.0171, -0.3487, -1.6479, 6.7761, 2.0244, -0.0952, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54005a96cebcca6448b422188b95f1291667b8ebb2020b63a9de89cd9a1461b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daa75836e4118d796f54d8d27dd09764d55c6e52311b6dcd4d23b1449d312bce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47985daa240d5897ee8ef86b19bb63c6a6f660feedebddf8bee6d37f85a98e63",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 54005a96cebc
wire blob daa75836e411
wire blob 47985daa240d
call 5 attempt 0 · /responses · status 200 · 7.581 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]: [-0.0334, 1.8233, 0.7109, 0.5777, 0.0292, -0.0113, 0.9983, -0.0193, 0.7502, 0.5354, -0.3958, -0.0296, -0.0357, 0.9999]\nstate[eef_state]: left_x=0.4603 left_y=-0.0169 left_z=0.049 left_yaw=-0.0635 left_pitch=0.0261 left_roll=-0.0104 left_gripper=0.9983 right_x=0.2814 right_y=0.0034 right_z=0.1571 right_yaw=-0.0023 right_pitch=-0.0381 right_roll=-0.0004 right_gripper=0.9999\nstate[joint_eff]: [-0.7043, -7.1043, 5.9556, 1.5751, 0.2906, 0.1685, -0.0171, -0.3214, -1.6752, 6.6667, 2.0635, -0.0562, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrT8qpg5NpDnxhZ3l2yBc8SOCeC69ofO7528TIf-KZu_tAtN9J6HHKannKnuEorwIlUG_6PxhXGpCIFSP_ZE1a3luahKItS3Ac7m6AHMFJngp-8w-i109JYc36XekwHP_gHBxt_E5JIlb-5cDysmlMhcvrpTin-MrCwqJVy01O2ftOHSc4rYUbKEmooF1_vCt9evSX-dPQwtFuHfOZF66S-6plWMRToRC4ocm2buT7LoDvN8WGmP2j9Asn1XO-XSDcp_zXo-5YenaIjelrg9PLk7nMNek_po1ShCmBnxPv0eKai27mI0eBZ1G-phaI4D3bXxVbZ24WV426n1UZgBv6Eq0bndHNlXTTGqLwPCFNPOLrj1n0Qb8YUlmR4T1bKcsfRAq0Y9con1XdZ8Mu8m2NsOJHRW1jdoU5JLCZ-8IxUwyqmIYQYWaHVYAp9rB4qQv3Q-1UE32aNDtXJGwgtJAIn0qremEn4aYNoz2HbCs93QL_BOhWx6Hl6ST3pm2q5Hu1iDcPf5Nlp2Hbp4CXPqlFPghkPa73XiLdzjnFVcRHWAiaCGJNixJ3iIF5IFzFBRFi3j5b8W9qwfCr6bzCMoV1Pigvb3CkTPFRjyC1gVbC-3XifrHatUoJIWcnMKqhGixWcmpSigDOe2bjRGHfsQVSBEV8Xgj7TvcW7tS2T7oZp0HriHT_r8KLPwInl1kjNEBOGVXQhHYHXc4RW5BYfaIbxVsGytYBpZnSy_SnIloUTJD-0vnCR__tR0wDF6xGiGVU6LrOYt_xyND1B4Yy64qppE3neHdJJ8SqOfyPnf_WEzdI0HDsIv722pzkTxdLnnTi3voMPYstZ8GgeFAxGb7O9kVAu3Ruem4ezhUOI7ZVzDEdCYtBryInjYbhJ-CRMiRkwIqZ6NmegM776C48SwR1FeKeZhwwQg6T-nyoxua_ILtkp9PuWd3di8cBfxsWOfrWIFNa4nl5SV4HCEqWSOCnXQi-Gg7roJipuEgbXjL4a7Oymm_mb1Nd-sYcao5AQUfaEdRrmBnHb0iLj8pBGz2fmHMTYPs8G8syO0F-m_QRq1VQk0XfDFUzp8qSGH_YW2eQ6ygkgM84b6esu4QuXtKZBY7itLmNIIWlds96Ex1-sXBQ_3TAoxNT3AM8psJ8VvWm3ucBg4NhO7VhYKnX1dQRhgvRezre_0B19lsPddO_7DxNXZfJQw2FVejmkzRWW3yLFGtYJ1BTkP16PgZ_7sQagLTuN11Ot6VhGPEX5EedR5Zi1vvKbDfB6C7CAQ6K4byXp8QIaEPOP3rLlt8cjTzOoCAQ==",
  "id": "rs_05e55fc5735e8d1f016ab2b4f9881887d0b243c75815850db7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":0.025,\"left_z\":0.15,\"left_yaw\":0,\"right_x\":0.29,\"right_y\":0.004,\"right_z\":0.19},\"note\":\"The left arm is not tracking the farther target, indicating a reach limitation rather than useful contact. I will retract and raise it before trying a shorter approach to the bottle’s shoulder.\"}",
  "call_id": "call_Yxdw3qB7IzSBK16ccQjUz69n",
  "id": "fc_05e55fc5735e8d1f016ab2b4fabdbc87d0ba3f7536cdbc355a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Yxdw3qB7IzSBK16ccQjUz69n",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0826, 1.388, 0.7403, 0.1936, 0.0452, 0.001, 0.9983, -0.0189, 0.7727, 0.598, -0.4469, -0.0296, -0.0391, 0.9999]\nstate[eef_state]: left_x=0.4242 left_y=0.0307 left_z=0.1636 left_yaw=0.0321 left_pitch=0.1068 left_roll=-0.004 left_gripper=0.9983 right_x=0.2834 right_y=0.0035 right_z=0.1693 right_yaw=-0.0 right_pitch=-0.0491 right_roll=-0.003 right_gripper=0.9999\nstate[joint_eff]: [-0.4718, -1.8667, 7.5829, 1.3944, 0.1587, 0.2271, -0.0171, 0.0752, -0.3624, 9.9624, 1.9267, -0.022, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a48fba882be70b87d3fae2fb27b98a5a26d69421952aa9980a98350eaf50915",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc76d1ac3d7980f718070d63f7ee74f6ebefabf7372d111e08692b794e24d21f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0516bf47b4aafd62c147853e1314bc2d9f702b146e1dcf5e710dfbe8ead86a79",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 5a48fba882be
wire blob bc76d1ac3d79
wire blob 0516bf47b4aa
call 6 attempt 0 · /responses · status 200 · 19.58 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]: [-0.0338, 1.8233, 0.7109, 0.5758, 0.0448, 0.001, 0.9983, -0.0193, 0.7307, 0.5011, -0.3779, -0.0296, -0.0357, 0.9999]\nstate[eef_state]: left_x=0.4598 left_y=-0.0199 left_z=0.0486 left_yaw=-0.0836 left_pitch=0.0245 left_roll=-0.008 left_gripper=0.9983 right_x=0.2784 right_y=0.0034 right_z=0.1502 right_yaw=-0.0023 right_pitch=-0.0351 right_roll=-0.0005 right_gripper=0.9999\nstate[joint_eff]: [-0.5675, -7.1043, 5.8598, 1.5507, 0.1832, 0.1734, -0.0171, -0.3487, -1.6479, 6.7761, 2.0244, -0.0952, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrUF3BNBEuJbYksaA7DBx8K_1fEVUK-jWl2h8lhgso5YI2iBE4KYny-RBcBE3j2T5meejJyQIfIsaIuT8_hmh2WiVrWuMg-rejtjqVy0gIqb39SdvJEt8AD_4kYb9l_-x4yYpYVWqdf9cKKXfqKqYjDY-et67HnnDQ7GB3Kwn5ziJ-uPZ8vkoGZuJV4AF-Jvl7N9zsmNCxTYrSxopsOTadqrD7sPEGUkJcxwOjfjW5pb6n-S4jxUZIzpptl0cOlrRuP8TLF-7WaXKFNFLatZGZGflbCQgKZOFsTcC_XenL0qU4QGHfrigES8yN-IBUF949UFKg7Si3_00KRRezO5qVgx3BM5bBcVklwNX9aqK3rHLpPv2lV1Xx5CwC2DZD5o6aXI6_z2yTMCX1Cf3JiPibWkug6qm5svxgsX2YwJI-ulgUg_8nkbpM-ej73h0Rv1BVNY5LAzoiGDQSOUtD3MiENvXKW4qpEKwbbLZXCHh2FtiX_9eEfmi9JGQvzLFpPCK8MP2mlixb3F5_sbR5Dqf7IGgNh_QGzwrUp_6Ll4aDrsbJLbdZCsQY8ooflbxz15GPdlM96uoxFtODkZEeela0cU9lTK5POiZD_4KAXhHonNqbg6nDeAVnwQAzl-8nOJ2eigFUbOXlIbkNWr_qxvAMhccT9By3PYplznjxEIYYs9el2IFJ_jKXWyUvV9zIKGk96OyI7CSSevGFCTwAB6w0I9L6KnpHbM2EjM4AtE0r5reFtH_3ulaDMb8Su3tGmGyyrjbEZo4weW9Wdd_p2UVa6i42IxO_iRJTEQQ8eTi_bMXRacTV3Mr-eC0Hnv0FLGZcGRK60EXvD2h5hxwG-cYqC0v-AVxuqFLDqBGoNK6O1OEJD1FoV60VkfOtE9Ak24UlNeVjyB36hAIkM_jRhz5cgWW4OLYFZ-zgjAAdIQWebZeCVSMP0buxvL_cCfY-vxqSoXvPlhtH3XBj09F3XzYfUUFDBaxJSsjLTs826LGJVy8PnLXBct_cxs2wyxmfYTEgU3nZmDCKsjFSK3jeUd1Vn0Xp2f877a1EZ-ktWrm_8E-ZNcvvkWbH6YbZ9DykRs5aRDJwdqb10nQfiVxQlXdh3qKNrcaymQUIOEkx148HIOrz2Aj29b2zOT3ugTKSfMK9elehbIVR8hrVu98rX24fxYx3NIhG4FvtIxX9anC2iOvlQtkmdkCtn6VgYiJCGXGvOGHDx8-OiFFgj0mzV4sR9nMeyJyF5KF1YeI9tVAt030AkslqDhJb_ot8lsq0VG6zWuDBmNZ9XOSwuN2sudwGEuTNU29DlZEoORwVpwcpby703FUInpArP8kSI5mdPqNhRsjiirVr_IxDeN28gQdJKflbhiwZNdDjV8COKRvQ2DBqduKO1l8mUBfPDkoF5Kc75-gFGNY0A0L01GzMGtkZNKg9eDojdOHl8HsAqeKV1l08Ke25tUCWvWGtHoVo0K0RokFAQK-RTLLVvS_CgDf-q4TWNRryAuw-skD5xQPBUJ2otZvsDOx6v6pZZCFZ4e_UeYvfTljcerBm8dnyS4uvLgNUZEUSuBD37oMrm7IGlbclU6YsIal1wB4IfPRM8iDLomG6UBr19yrFSctkqTpgq_HLjFfFd8lbdkz2fu5X3QoZM=",
  "id": "rs_05e55fc5735e8d1f016ab2b4ff68c887d0b97f499c96bcd4e7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":0.02,\"left_z\":0.027},\"note\":\"The bottle has shifted slightly toward us, and its neck is now aligned with the jaw column. I will lower around the neck from this reachable position.\"}",
  "call_id": "call_jpNgS2t71behiGCQ57FwgrkY",
  "id": "fc_05e55fc5735e8d1f016ab2b50327a087d09a3eeb72a5cbe19a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jpNgS2t71behiGCQ57FwgrkY",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0441, 1.7847, 0.5922, 0.5583, 0.0105, -0.0036, 0.9983, -0.0193, 0.7433, 0.5499, -0.4221, -0.0296, -0.0391, 0.9999]\nstate[eef_state]: left_x=0.4207 left_y=0.0203 left_z=0.0184 left_yaw=0.0257 left_pitch=-0.0737 left_roll=0.0038 left_gripper=0.9983 right_x=0.2792 right_y=0.0034 right_z=0.1602 right_yaw=-0.0004 right_pitch=-0.043 right_roll=-0.0031 right_gripper=0.9999\nstate[joint_eff]: [-0.5812, -7.4462, 4.3966, 1.9853, -0.0806, -0.1343, -0.0122, -0.4171, -1.6205, 6.9402, 2.044, -0.1001, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:507bf188e89da8ba0f61000e9850b1f38e7666498e9e6ebf1f1afc9e19ff757b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fb37b1edde5581ca84137d033093c23587696e248a0317985fa1cf354849d5f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6445e47f84eb6ec96c3573fbc0c6342c2dd83a2ca4a7543d800f183ddbeea125",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 507bf188e89d
wire blob 7fb37b1edde5
wire blob 6445e47f84eb
call 7 attempt 0 · /responses · status 200 · 8.516 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]: [0.0826, 1.388, 0.7403, 0.1936, 0.0452, 0.001, 0.9983, -0.0189, 0.7727, 0.598, -0.4469, -0.0296, -0.0391, 0.9999]\nstate[eef_state]: left_x=0.4242 left_y=0.0307 left_z=0.1636 left_yaw=0.0321 left_pitch=0.1068 left_roll=-0.004 left_gripper=0.9983 right_x=0.2834 right_y=0.0035 right_z=0.1693 right_yaw=-0.0 right_pitch=-0.0491 right_roll=-0.003 right_gripper=0.9999\nstate[joint_eff]: [-0.4718, -1.8667, 7.5829, 1.3944, 0.1587, 0.2271, -0.0171, 0.0752, -0.3624, 9.9624, 1.9267, -0.022, 0.0073, -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": "gAAAAABqsrUZ4b6w5dyR1GXubQg6VqDP0rUP7rI4v7tIiP_7pXAoxQUzJC-ZEPCiofEKEhvziYmgQX1GCdnR63RnIVXsMpwAy-_x_jL3E7pTk0VCPD3eBjLBJRUeyIQYRd_C88gDHiTuV0zbAEUGHlmlCnyrnqHLeRSI4GihgVS_kqXnRCuATZdVnC2vFSJ8mHFAbfHCRStM8H4vaHcsClFBt_2mMLs93ZDbXuOrfbI23mq5okrntUtvdMl4aNzH7uxV1DBspF5n-rO6MlW7cOQSmVNM3ujiNVXNgArZocteoya6l5IUEJ8mkneQ2H5IvMXlYckIZSL-eQIMQ2SMHzk8jfUvPGswBfsbxq29Zcyx5gTdmBOaEesmAT2OB7pCMgIki5TkAWt9ceGIp59lFUGca-AwzzzDvS9AjbP-Zxvzpaex18eyNbvWquH5nFUOpqRUDIjs1kaIXjYFwvbY_bJHEr2U6yHkUnh2kv_Bj7VjIZQJ3fQT3uEejhkZjzUUexL7AChWw2B_4XuhJc_9OdFZV_0ORsxx7ZBYk-Gz-xYH8HloNfmQdqi__k3KO02kMePj7B16GfJdBdZlA2gxNOc7lxfowZl9p_EmA4egDdKpuQyLJxinRM5vqNX8iawxc1zHx6Uc-bMp88nCsA48yk7T-ppRHVVdopH7Pk0BK9EBarq7PKCPJwf4_xm6TYzv-w0l6Wd_5DmJEfw_YDSXh14NprrmClBperfY998eSOOvAtkYYKYZKUlyT3t6_hNwGRMYowhQqy-PcxAbKbplovyeVET2z3BuSBq7FXE3bYArzKNrR7WHdpievL7Ct7FGh3pE7LuA8utp9nmD15tbjfbGiZfxa-ZVfNJoS_-LUEpFGLbm-_vzkraA61wAjkxfR-oefA42ejuMuLgiL92fcrycxOuKAPr41dTvGIE4RsT0LFxvMhXhcQof9_mf8Fkzqn9fwHtNwl1XSqKjbt6KsYns2Y8jWJLMy-QYxoHYX2z2lwlGUofJwCw5oSKvCUj2FRwp0sfYkuCYXikQGAh6I62SxdmfRq7MK5oLU2jOpGMBlenmzgFzFntrGHyYZabyotn6uF9fIus_8JfYm2nANHpIjdWIHcOyS3CZuw3NmazxIo-fkE-x2fb9nwCdztRiQlZ-KBVFTTcsN-Kxiqd7R5RWDSW21gKYZ_HGkp4jq-BNMGEjm6X3Xd_OLeBUH4Zm1DxiwfG5UMkftp_XAckVU9q8rDuG8C-WEKpe5B9yXXNGKF6kk-DQpUrEYbEWGGQkC7okjqmka14iGWl54gPB2UjOFYXp6e21eCrXrxAZb8ZDEu-ZiI07tS2Ijg8ncLwV6n1YMtR95_cZ1g8P2Z4seMblY4gW3fUWMlFn-gf6n1VfGKMAw58QWlxIDtc_NM9wp1PaW7dW4bGtvN9h88v0G5wtWflk72XXg0R3gbf5SglEAfR33saU4NSCjYF2Qvl4PdsIecVYU4Nz2DFUx-UY85lV99XQJv0obuvQ3TwnLLEtPukHExWXFrBd51B_d-6S7Vo8TFV4w929FQNdNXcS80EVIHMRDagYz7ytz2QPKPufK-3cXVP70Oi8Z9OJ3JovbrLvYMjYZNz3UztSFS0pdYVZfrfu8ByQBsYnTSt50WnTdO1OD4uje6xAKl4VTdf3wwx3QqTpruAwXUDoWcof_NbLNwhLJYGWwqHWc8Eq83Y09igRjg0I7SxblFBmuO-7BreDOTD3s2DXhd9eQMWKBqeZc4ueGKnXwB0HZa6yN3BB25M3GCC0ua3JwhzW0AGLpCsHhb1ACOSlGT9VNMlsl9_8hcYlYgRxYlcn3acpR0AB0rkn9VtGcb8SSzKxG9fe7WzG6S1h5DQeX-evzSVmHBq1uLq-oVM3efMC7L7263yhan5_U9hhuQ1f3kqkIMGsq5PrkVVaBznmFy3jJOkGgQpI8o45ydImFqEBIa3cm9F_et7OVL_RcFXwJGadciW6OntMC1kBsyFQhGVNQAzGSvGMDt3SybhE3fJX7otGNfQGkPpqfaa-bnrQSiuV_EatyC43HwoBjUrFeYIkArqJR1Ewl0DXZjdCWf0fQYNl4hvDRddlfsoWYg5t9VKnr45T5noZCapLJooPHx4f08iIfbEMGvdD4VaPuK2S9ln0oUjwBjWgE45ysXM5mcXEVBlroNZ1oCbn55urv0amzu_Q5255PtOo1Oru-QtPNyyCgNaJUd_9N0Wa1J9KnbIJG8jklbBCrc9OR6jHKo7Y1wZbDNdv5S0kToGXgUIK2hGxajObjTHI-ZhSyrv3i67yuLkjuyvorrLX-CNQO1IbIMKYf4wVHjozrNHWyw89D1mLD4Riku4c2h2nyLiJOg8F80cNAOoDhBQG2hIzRp5cGB4K99M-i4VBZSVaVXNzDvf_ZQ9zyDfdWuMSRS4AmwlOOtui6x0YEANSNQ7vHxaoQ9eb5Vv9fBHpU8x4zaS4E7JFRmbFqkRzP3fUwcc_PWAPNdtCcc0TuOWR73dmOOJJOOpRyJNTlrTOivH9lpeEPCj1PDkwsNZGwHEQMn-_roMxHbjNz11gm5PQM__kVBPF-S3CNDcYewiKvXpOIsEY7yUXt8-gOfC4eznWPS-VbZcsBcfbivf5I501vE6aGeTy8M0Ob9Qhjv2AZ8jVpJND5X1va4g6bz5EtzHk0mnSvGwgOwiRc2TlxCiosPqFF7TUMUz8ZnYR_x-jyeZRnR_1ZL8G-OXSqZYrN6yR6Rqe6tqT_1M-D9MTyTUMa12n1GdtJ3OEUQxRW8-L_ahQfY-Zb3Pf5RbFhPPX3XBYPnW9DenNmVlq7Lj_f17maJo3g7KDDUlald9J3nWIPRjEoojqhTdmrbu9e6ibZV6kvQ_i7Qt0shtl_Hp3BDu_mk-KkBqSORNkh0w2VL_k22QAzut56__exTHF5LdfBll77F0wiP6S7mptkRy5PxLBjsQWC73wultp3a5t1dwNSXmyinLRJinop-u7hxwnETCUs7PEwKgzXp9npUbgDjTKxCJBEYcdOJzkYP63MoyLOLq-7A==",
  "id": "rs_05e55fc5735e8d1f016ab2b509648c87d0ba4b9d097e3d6969",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.2,\"right_x\":0.45,\"right_y\":0.22,\"right_z\":0.13,\"right_gripper\":1},\"note\":\"The left bottle slid away during the descent instead of staying between the jaws. I will clear that arm and approach the right bottle, whose neck has more open space around it.\"}",
  "call_id": "call_oOCqeBaJwhXSmqK5TS4SSxmG",
  "id": "fc_05e55fc5735e8d1f016ab2b516bf2887d09909235a849e4595",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oOCqeBaJwhXSmqK5TS4SSxmG",
  "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]: [-0.0502, 0.7918, 0.6319, -0.3939, -0.0608, -0.0563, 0.9983, 0.6121, 1.7969, 1.1233, -0.0418, 0.4587, 0.3065, 0.9999]\nstate[eef_state]: left_x=0.296 left_y=-0.0005 left_z=0.1907 left_yaw=0.0199 left_pitch=0.0079 left_roll=-0.002 left_gripper=0.9983 right_x=0.4363 right_y=0.2151 right_z=0.1136 right_yaw=0.0385 right_pitch=-0.0564 right_roll=-0.0379 right_gripper=0.9999\nstate[joint_eff]: [-0.212, -1.2923, 9.5795, 1.6337, -0.0366, -0.0952, -0.0073, -0.0205, -9.0051, 8.7453, 1.8388, 0.4322, 0.1636, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54b6d4b5897681a909a0916aca3fd244ca0d171d14843dc66ba83e84f0a37271",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad2250cfe79b0c08f906c2f90a5c9d8b9fe4fb40b12021ec1c9cfa7cc942bd14",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ce37f1fcb795681683d2dac091d0f0ad53d766713ca30fef734766c73c7962b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 54b6d4b58976
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 10.68 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 26 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0441, 1.7847, 0.5922, 0.5583, 0.0105, -0.0036, 0.9983, -0.0193, 0.7433, 0.5499, -0.4221, -0.0296, -0.0391, 0.9999]\nstate[eef_state]: left_x=0.4207 left_y=0.0203 left_z=0.0184 left_yaw=0.0257 left_pitch=-0.0737 left_roll=0.0038 left_gripper=0.9983 right_x=0.2792 right_y=0.0034 right_z=0.1602 right_yaw=-0.0004 right_pitch=-0.043 right_roll=-0.0031 right_gripper=0.9999\nstate[joint_eff]: [-0.5812, -7.4462, 4.3966, 1.9853, -0.0806, -0.1343, -0.0122, -0.4171, -1.6205, 6.9402, 2.044, -0.1001, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrUj3wfPHoeSbO7lTKOI9Ox21V1C1AxHEaOoNv0TwW4n9iw-Udk6MSaxlH907S1agup6qdPJZOrg25yQ3YS0X8s-4nX9lgDoH8vWEecX9SY7v82PHr0N99YS0qT3zvLG6OfJxXS64ra0qFMZawVRr9H8EYSWE4UTlfsXUe-YN-v1HIPgF16AMLjEUcBAGMzT2qt9HM_LobnQL2e1zVbleEQ6OkchVgQ7tMqDpDJD4J4MJPSibf_lbrC9avH0rKignQkxMQB7PfY5qk7UC7RYQv7k9fCr6OV_yp1XIFeVuhC50cEF_RNvVNnX2hzFCqs-hjsEFTiM-6FdAIYFAQJL2FdGEG3qSwmi6E_8cZJmG0WFgmSR9idEMNLBINXzvU4U4Qj5SJdSvvq_vDl8uirjRbpuCKP5LeQVnC0aT0GAEaJH99jZL3kBWtP7AfGo-NTm_tlN9ir6TEb-lkWiSbDIo7VYPXDd-gsbfJ4riJFM-HxsIAGavmrNoe2ZTpdU4PSO7ndTcSSL0Tsc77Vr-Fzbei1ixll3H5XRqTGVBkLS0uf66iGoFQ5p_hAcVSOtl_P7Ejvs_FhoXNdBHSnUwIbSJnmtyyzccIpky7DcE-QTgYsw7ZBcs-RBAumu8C_0ADk0ICkxqFGdXK9x2AWaUQpnAwp3U_O_m1ChtnlDnbV3Yk5OnnS3mW_MxPcD-l8v_x2G0IaH6Srenm03dFx-I7_U2nkAQ67T-ysaa1XAmbG_vA7ywbmVDcwLFtZXOcznK3-J8LDZAfMWcz2_ZlPOkKchR2LJqpWTUrtsgm8HnfjIPY3eIGyMghokS_YLtdvCMizv_y2Isr8nqza3qJ5iRb9hB_UBy13EcM6rSSrD1TJ0urDSeBPfD8DzmU_gDdOMR2adtwiX5oJPa4zuhufMPEShD6WglIexIra2YUc1T748-_KE0oEoqMcYY46X4Q29pEnmXTwMVjMM7WweOMojL5zGHy4XHbsfEnCsNOv3AcbqbN0jGSwnVj0yPfPIlgoylJi3ODlU83RZNP3fuN0f0DTuSKxbC1x868jts13lpTbLvUHfl5ibXgC3eDeE4hofBj8WPwBq_jeBLOZ-xMwlfYvbUIKCcBpxegiTegTfht_lrExeUrOEj5o4t1On1pOpnOJvr2z8esGpI2n0be0Q2pkOVXTQ9lPOR-fpOBD3p3rCqqAD7BoeOrSJp3Zp1EtEiRymPdjAQD_xlW6wwunSf5NrWRMiG2WsJf3VwvOSVFfejxIjGd1sj8XQGlBQyTUlf4POo6shmu2eFz83sQRjNUBzVQeZfo19Vl88ZC6AJ2c7-mZiglpRHhsgowXwj_YWGyrCjt8ZebWo_1mVbVrcqDUe-RdhKRHq_faIek91foGgED2SnuYlYzcxplZrv8tsKvPGauOQ1yPiEOQO7ChyW6R4P0fc68th2W1XM4N6gglR6cnyLN4--XHXk6EFgO-ZTIjH4ELbwVLaT8X_ApkIDoSsc447COtdqb0bUVkWhBJEYoBQBKUS3pwCtMXyj6r6z0oaUcfwVYvI9LIzabJ9x_IQBiAnvdQgKM6LwEmEjNKWJn71JpVa0R8dNpFTPMljVcbkyBV2vdEtD77-lfIyFG31jsZmuw==",
  "id": "rs_05e55fc5735e8d1f016ab2b51dc14887d0aa777e6eb002060d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.485,\"right_y\":0.16,\"right_z\":0.04},\"note\":\"The right bottle’s neck is to the right of the wrist-camera centre. I will shift across and lower toward its upper shoulder, within the arm’s table-level reach.\"}",
  "call_id": "call_YR8XK0gtNqcqZQSFnINLfwxi",
  "id": "fc_05e55fc5735e8d1f016ab2b521d31c87d0af5494f9d73fe040",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YR8XK0gtNqcqZQSFnINLfwxi",
  "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]: [-0.0528, 0.8021, 0.6441, -0.4267, -0.0681, -0.0563, 0.9983, 0.4252, 1.9533, 0.9932, 0.326, 0.3584, 0.1932, 0.9997]\nstate[eef_state]: left_x=0.2938 left_y=0.0001 left_z=0.1867 left_yaw=0.0234 left_pitch=-0.0226 left_roll=0.0042 left_gripper=0.9983 right_x=0.4778 right_y=0.1522 right_z=0.0512 right_yaw=-0.0052 right_pitch=-0.0158 right_roll=-0.0369 right_gripper=0.9997\nstate[joint_eff]: [-0.0205, -1.5521, 6.6803, 1.9316, -0.0073, -0.0562, -0.0073, -0.1846, -6.694, 5.6957, 1.5067, -0.1734, 0.0952, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31e50791b03c8cb8ef7236b05ac392eba872dba9faea9d5a4111561d55edceab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:975ee0c7408f4be6e1f06feeb3818885e5b149212150d587cd3ea29235e75aac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c53067f8e41bc6513fee2c2f9992adbe6af38f4e3d6859fbaeaa875e13ad0e1",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 4.556 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 30 changed as sent

message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0502, 0.7918, 0.6319, -0.3939, -0.0608, -0.0563, 0.9983, 0.6121, 1.7969, 1.1233, -0.0418, 0.4587, 0.3065, 0.9999]\nstate[eef_state]: left_x=0.296 left_y=-0.0005 left_z=0.1907 left_yaw=0.0199 left_pitch=0.0079 left_roll=-0.002 left_gripper=0.9983 right_x=0.4363 right_y=0.2151 right_z=0.1136 right_yaw=0.0385 right_pitch=-0.0564 right_roll=-0.0379 right_gripper=0.9999\nstate[joint_eff]: [-0.212, -1.2923, 9.5795, 1.6337, -0.0366, -0.0952, -0.0073, -0.0205, -9.0051, 8.7453, 1.8388, 0.4322, 0.1636, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrUu4tlpCZxgpiYBL5AwmRxU7ce4UXDX3E1JQzbb3tFagJtl3ycx7lMRukHWuyT7V3CqUtWlyiW2VSYk2pVt9a1q4bt5m5mm550T11dy1XIr8s7n9h41CdUkhw7TNkPVTzF5pD9EihpCHxPe-7_HeQO8Gtrd6qoO-GY_unRmSqOKDV2kKNkH5teNHlEGolVHZ8fIlreufIQgjPayvtwxbDa9VvWgm74ja1r_WDjDL8kbTCsLpn4vSEaJbNZmOBOteWLSGeHf1jkp7-3INNrpw-mgbI9989NlngmOJvB9Ew5lyFffUSyCumEkrVj20dmpJhh8XWUBgMWbtAKvVjRmFxpC00BIXOxLCz5aWawFjPqgK0G-Ht71UCXibK5LZfiHvYElWrQFqtM75ar-awiWF6pYdWWLgnikfWyUnGhMX8_0C489xi9duQFTFNJBdvl-qH_-4fGlNSIyoWYs1GaAcNMb9r-7IurM6aKrrikGuSYgwz9VRYXDxZCy2mNNMkjFYG1wUnKv-lmsrA9mc9820vC8fEXnclgTDH2L4hMthNUiheedsWCfdQCPyXhAicRd82FLgnGxo24eP94yGBRHt7MlOzIVEKNqflJDVhXk5xXey6EyjC7aCD2w4gF5Kp_vDp6Uij5eZmpAAd0HLVXlEWypRqEA04SqOGpteGk7ty0_QyFIXkkFFAI_7UHOUszRmG_iaONaeSQTh4ASpJdl8i5Pm-WI94sqLPujPXxUTsQzg_ObNAz-JC3PGNrfp1yywEFFu-KTlRo4YrB3zePCy9wY8I0MIpHPac88CKrL3YaMa-nNZ5KeRiePDn1bOeWxXO0tNXyf9iqna_Tgb0ePqNEaLKs0NZ5HxRVcByISftO89GPoXzvjltkzJSBOdVpcwvhymXG0UtXnl9ZB6FlGUc524KAz_iytniPR0MzuEQVzLw-L52CXBN7K-rQA_mFEYjSDcwHabsxUWdt-qDV5ASCa0iFhMh4FX0LnjaIdCzVTCG99YH5O5L9PyElx0cWVF7aBLZc8t5bq5IkYq8pmGB3DPQ9hABUnLD7W7rJX6UCSzmee4rwhmeTNDhhd1-69L-6WTyL6CxpMsEYkIJLPPR_W2Xwjcf1P7MopozuPQbmD7eEglvjq6mO0d6pMwvYQkNuTQX6sdzpRUrrH7vVWtwd_wk20-L4xb7AgSu4Bf7wQ28pgKmZmEPkFvgUuNbKpeSe8nHPf2JcGykEafG_YvvbLYtJezTvbOAAdy5Ba2-lgij5-8YYf_EeLa8_Pfr_KEIEn2-XYDMWehHCVxLUJ1d5ZmEpjfi-egohQ-4s1x5VEurFVU0ff1xEYC57hiEFeHuS7snGTAJZYdLZUZf-C_E8VJJLJQLmtc_0putH69wOIt_AXS5CeLevTa62iwhhhBooNJ_15KjSYlNGd1hf96JTkAaFmY1jjI9l7lbUMezzI0nJh8O-uKj8tJozRMeyo4pY-bv6nOrzPQ1VesI_bZrED_-zgTEaFK3OPQM-dDoU6HSnhxJWRAISQlgGydtaTK0VUnxOs_Ist0WSl1nmACLHsmOrcjeUckf2f2JHI_NVsuqXEcCo8KOuPi1wZIpOoB2XbzW2yrEMZX9DXlxnNSJ9BxXXYVwsfICVHNlRnjkqOGk4eeMDNukRy5fp_rpaRFTVPn6GqJXp6oSs7L2O7RLCka8IRZF-XYB5upRpHZc02E6MQgecxuY_N9GCL20UA58q7K6eKn3pESIsE_rvJPVDkVw==",
  "id": "rs_05e55fc5735e8d1f016ab2b528016087d0bf2757c2e1f5cadb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.48},\"note\":\"The bottle is centred between the jaws at its body, while the cap lies beyond low reach. I will take a gentle body grip, then test whether it can hang base-down as it is lifted.\"}",
  "call_id": "call_uHOKkbGRcbAazoS64awWbGFA",
  "id": "fc_05e55fc5735e8d1f016ab2b52ca28c87d0bc34b377fce4a762",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uHOKkbGRcbAazoS64awWbGFA",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.7944, 0.6289, -0.4168, -0.0681, -0.0559, 0.9983, 0.4187, 1.9732, 0.976, 0.3767, 0.3206, 0.2012, 0.4883]\nstate[eef_state]: left_x=0.2928 left_y=0.0001 left_z=0.1839 left_yaw=0.0232 left_pitch=-0.0204 left_roll=0.0043 left_gripper=0.9983 right_x=0.4783 right_y=0.1558 right_z=0.0436 right_yaw=0.0149 right_pitch=-0.0123 right_roll=-0.0044 right_gripper=0.4883\nstate[joint_eff]: [0.0479, -1.9761, 6.3795, 1.956, -0.0659, -0.0904, -0.0073, 0.0479, -11.4667, 5.4085, 1.6532, 0.3053, 0.1148, 0.3883]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8975fff68538d54c063726fb747f85c9ebfa8efedca5fc2d39904e9043d59c2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7e07c7743636fbee9fb4d10320c94b5e05a887371b9cfa2a9bc54d3f2fa3d86",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4f741fad8f243193b46827f05a3424f3cd8d4887d82e6eda85bad9d4f0d3e95",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 22.97 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.8021, 0.6441, -0.4267, -0.0681, -0.0563, 0.9983, 0.4252, 1.9533, 0.9932, 0.326, 0.3584, 0.1932, 0.9997]\nstate[eef_state]: left_x=0.2938 left_y=0.0001 left_z=0.1867 left_yaw=0.0234 left_pitch=-0.0226 left_roll=0.0042 left_gripper=0.9983 right_x=0.4778 right_y=0.1522 right_z=0.0512 right_yaw=-0.0052 right_pitch=-0.0158 right_roll=-0.0369 right_gripper=0.9997\nstate[joint_eff]: [-0.0205, -1.5521, 6.6803, 1.9316, -0.0073, -0.0562, -0.0073, -0.1846, -6.694, 5.6957, 1.5067, -0.1734, 0.0952, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrUz-fl9l4t8wgbLBCzNt3dXjFunQHpHLWgskNv9C2Lor6XaUJXOiQk6D1L0EuEnoiDH6dONZD83jt8t1mReQvBBuo3pFOYh8Za8LCwAMQEkYslL2g0tWfwpVfeU6uEZSS77enLlU_7SbjMI9UcBPMUOFrKsj746zWpUUlQsBweOhKBIRtYhaoinbq8teiuW-LdaCzfq-rO0VE4raMga54crDd1cGNTvI5cz1BmXLEwXmNM8tQlQM-ky_CeyjxHYuodr3QoAwlaN2m9C_H5J7PHAb-yH0q6EgUxVZ9FkLh4RgAZXoqMw19omRtXAWdYG9aiHFFdMFD_cMvwk2LzrZBLmcjKWdTbWQMy3fHhmB-xoNqPnWjRYk6sJp-QV3PdF8o_3dsas6kAItmkP7hnjBcAHTsC1MIDtCNWknI6XWSe3E76tS7eN1N12n6NAJPhC-25t_dqh2xiv4UDvxL_AYMoTbFZSzcGCoh8wgXdggCogPRJxZfdqFHCPc_KurOo8cm_8ZFVeLRy-EafcKZO3LkhI3tB1Jg6Z1B5LHdxluD7KQyGG_UX0DGRQKf-Wdcjz99Elp7GsiOEleFZSJUJU0D2uIM8aI6dvS4-mEBA0Pj59BUuRYEYi89Pqor6FV66lAV4jWrKB6pQ7K72FBkuyQYU_wRHzaJCyjbPlcc3a3vyRMMosUXtdQpyX1hNxWBjuhDr2ZPBe1fI3K1GTAXzUKf9GuYPKXE7ITr7LbGk3waisYZg7OK0QGpRnDbMBhnloQKyo_7S4PhwxBJAjhdWa8XnG1WQuc-CjHr-e7v6-8OnEwsKZ3beNRvBP1l2hV18MHfQ4531fj7Xy-4DTPM09UqL1x8dDBDLQV0SVMrx9dZ_StNMFXZZtcJ24CZ6HJlfZ8vL_PxK6P3hL-qt5PAd-ZlBjdM1ZL-OlDG1zZP5DPawSWCzeDO8H6z6C21FNm42FrpnYHbzPUw4M3s5LirzvD_I-NVydipUyvbPxshfHFLu_FH__ftPlRNJLSFTTnZoiqYCMI1p3SWj8WIEeKL_o6QfGUe8C_T4VJtcDp06tgS3IhM3Pi-NLT7KRB_hBf9OLP31wXPNhs_wcmhVPn8P2fiOBGabMWn6T3mLH7nbPyfZI9hIAe66eSPSYFRs2n-0t90z4rt_Au2MSfTbIz-oVfD3Od-Go1y3FsDQAaYnptFk6EDWJftti6jIi1EiJSZOUt5uwYTXEBXOoI6vz85Tkg7_Ga4EY-581E20QksSB0SDU4zUe7PCHxc8azLXBc8e5mF3B",
  "id": "rs_05e55fc5735e8d1f016ab2b53180f487d08255779f128aa006",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_z\":0.19},\"note\":\"The jaws have closed around the bottle’s body. I will lift and retract slightly, checking whether the bottle follows and pivots rather than sliding free.\"}",
  "call_id": "call_ddfGw3pw3a1y6lLJugrWCKzh",
  "id": "fc_05e55fc5735e8d1f016ab2b532597887d0bef3aff0b1d50e21",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ddfGw3pw3a1y6lLJugrWCKzh",
  "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]: [-0.0528, 0.7891, 0.6147, -0.4084, -0.0681, -0.0559, 0.9983, 0.4664, 1.6268, 1.0946, -0.141, 0.329, 0.205, 0.489]\nstate[eef_state]: left_x=0.2919 left_y=0.0002 left_z=0.1806 left_yaw=0.0232 left_pitch=-0.0207 left_roll=0.0043 left_gripper=0.9983 right_x=0.4367 right_y=0.1599 right_z=0.1552 right_yaw=0.0529 right_pitch=-0.0586 right_roll=-0.0268 right_gripper=0.489\nstate[joint_eff]: [0.1026, -1.7983, 6.7214, 1.8926, -0.0122, -0.0855, -0.0122, 0.1162, -10.5504, 9.9077, 1.9267, 0.4029, 0.2515, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc12b9e18db0bbe8ef38a4bfbdc5cbdac6801c2f2e65858c0c95249d026fdfc6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56e8feebcc103fe0cfed594595684606c5fec98088ae324a2193853f2b214082",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ca98478000f12f181a591b7a224f74c26d11faa59d4a19c340122e1506642bb",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 7.771 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 38 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.7944, 0.6289, -0.4168, -0.0681, -0.0559, 0.9983, 0.4187, 1.9732, 0.976, 0.3767, 0.3206, 0.2012, 0.4883]\nstate[eef_state]: left_x=0.2928 left_y=0.0001 left_z=0.1839 left_yaw=0.0232 left_pitch=-0.0204 left_roll=0.0043 left_gripper=0.9983 right_x=0.4783 right_y=0.1558 right_z=0.0436 right_yaw=0.0149 right_pitch=-0.0123 right_roll=-0.0044 right_gripper=0.4883\nstate[joint_eff]: [0.0479, -1.9761, 6.3795, 1.956, -0.0659, -0.0904, -0.0073, 0.0479, -11.4667, 5.4085, 1.6532, 0.3053, 0.1148, 0.3883]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrVLA_QyaZEAFom7vem4qup-Bf0WCig1hF7RipjmBe_yh8-xOqFgKVgIQElvyY8sT33dFbPQjiz4UI1k1ohpmAp4Iy2m5SAXcrKcCTPL4k5m3o-tQ6mbDpGBfwbn9brBfIKJ1VxDSZqzwvAUJ9uNIH23-hWQcF1FXQgMh_MWahU96uSPcM79BDItyT1jCMjMb3dOYhHJtqy2T7H4JaXTqxAzPuE0KNt0ioOULr8dLUAdlX5aEMtcXsIx6aE7obur1xzwtimZT6vXKCYYstkp33q9ybQd9Os0EApJ8JWI3fe7WhhIiMGBp30-6WceP4gdZYd7JYIitKJlAd8DVDFqRlmLo6Qdu-RfOZFsaMhYdJwtlFLCp38SMZc_KPJrqkNCfbnmJUhXzTZfFEAUGAG7pQUcDWFrVYK7iqoWqPh5useCeMYLBWtmpmVzRZclYQ6a912vgT1MuBxHaeBExAMqLzQ1nT98IOKUJhlOh6amqjFM9WL56r8WuwcL0oX_Z6dHKBhYgfYi-rOQkM0pprTel5CmErTruxeGZfp6fUa24hHkOHaJnNU32zBft-KyMymAze3vrKeIgaKGBBrxbv4bRVhrcwjz66s-vC6EcH8dmDhUam9PpFSBi9rhqQRAFIV_98DLu_3WLq1jj0tX6zqzAZ0RTHNA09D_Ed2ppVYezSYFHtg298X7B9t9RmmB2WJE_O1d0k_byI6xX94Pe6pFFoosFXWB1RfWJYIEKGZiG30rNmq01aH0_dDRUDuG11WAN2fqcw6sJ5rTQ98sO40LHkHJQN7dBx5Y4-3K9E1zp-KcWZZUG3BKU4Ata6Fnq8IfFrhWC54SbwPnDsIiyAHNoZj4-TDCmn1xegfWWiKHrssHVQr_e36gbl41vG4pLtcIpmj2JM1fIRIwm-tHVRWfiEOsSxBXIMNM-Ch8AwUA39SrBGA72OsQGILui-d_xiT4od4Lvqz9KhEVnf6dQ4IbDRt-YPzLMH-KkwI-8pLZdq7RcNQ-7pGH3sR0xcoyQxrP8xvWYA0O6TIdQl5lSU8VB3tQGaX7O6ppx0ehn8vO_RwE76T28CrUAAx2MjKi7jOyDr_bicsAvvhvlmHN6dgY3kE6XkAMN55y-49qFzprPAfV9NdthXpQqwhbdwA9tmweNacc9OXomEfGmEe1SZOlpnAVsVSG6iCxeLal42zthpP6-MoDpO7yI8SSdMpfe1eNbrrNJGQlyvDrWAt3jnWVXirpTbbG509SNmcI04nKD_Wuxz8bxbVyU7EIY7mpm52PetBRV-Oy_GcnKDp6qhnuw_ui1WiCsNYn-XIvKPUbrTSUGvo7Hu_UuY4iagrGrcLyrxGqoyQaogMvnna856nkikAKbvLgqfbOwI-EsPjpwmY4hDyqAw8xI9HNN58Sq1vlI7Jy1LTv_JZOTIFs9uAMZPP0hlytVEp5u9fNM95aeYNXeHnEQOepDZ3ZlEjUK2K6tq87Lj0zI-tJhtcFLWBaDevOLsJprtgOuH22OErUgGLIOkozjl5264KPwSzv50uxOecnKCzDEWnQzTlQHXvA8geNseol0dGrIZCnyccC4AGejvL-L7fjDemg39MCtlw9KCu1lGdhdyjIL2eLXGBiZ0Q_87N0qPULJ1NRCNlY-WI5ocEOfDVBpLqYDSMKgDBTTgyX3Xicp1sUFC3IzBV9NA9-i64UX5OsvOmCPD454WwfWOsXxtK6nKmBs2fRJySWtALE_LlDY2QZF6Zx3uzOJefIvs64otC_GkW_IYvxcIk3hc4vmaXprEKRvvJsDrtDuvgSjEzVVUSHsCq62Q-EPz-sBKu8_lZ6D_XQkIak7oOacGlDc_IoPDsmgmDF0dCJniwYC98eKLjYb2brs3p5biK56AXtp3mFnMGFBOclUx9NAAnLMkSCVyd9TlRuhV5JobwOaI1SOjnJxFpvKcHa6yiazHmTmKCyrsoztxUOg1T8yITfuy__yDWwIQgvn2LCaysZbSQEUK81omMu6vIGX_pJJHZqKrFV00xMKyE3KX4lAJ9iF11Cz3VYeQN0lVLbDYLd2nkYuznizU8JGi06Ehk1xOxyCZF2NowlsXytyDPIJb15oiiGgXzXZvr-duGe9ExSpvmgleLBKY280ziUmzprYa-R3dG4LqXq79ytpdyXSt5ASJNkBXFI7p-zSLxeIDxh1ZBuRHjpBvGpc1_Umi_T671SGAVS54CLluKcy1pKmKhZ9PyeAXp7YibWgmDAIu5Mb8_0fdb4X8xdjV4pZT8MAJLK0SOYyPrqM__rBzSfGadV3KKtZns_b63ZofYGweizcrbwU-_z7CeySZNDReDUrCWJXgdMNJDZzGv1cdWgJMfwgOEDvrBEH0WEV3AY0q0tc7Zx8LLHtjRQYu8uMg-Qp86HatGSZYcLFO0d2-FZgNUivMWjntjKhjSjJUonUMosGe0FtTg9Wwv8oDg6D1ydt6yTNFsMY0Eyaxs0lK4X97n8sHcqAE5MeJR08A87eL7G36Gk_TQZuawKrCLckF2uoZ0NFyAJi9q9MNE5a2FLFIrcxKZfD_JXL29um3Gtjycgh4wgUKGTTFmB-w62GdYhyvC6V3uwAQd4njyoYn53-F2FAGVn0zkfj0ogAqSMegar9A8AdXy19nIDY03F2KYl_ujiMSDtX42GhZ_o7EL5pYzrjlIyovASkPhqUaINBpm91KfBjh2Wxwr0JP1GwObJRy3ULK9QxGHWpYRtUCl9uLm-RgUrsQwP94KJi1Xuyj7WHyN67WFkPxGWcKheOPvc-ChGXifuqkQXhxozCWzul_8VwucCUi7IVHZzmrrbRbuSVcq6DI8cSUwS37j8wtDOmc5p6XfP2pcj0EhDaxZ92AvhB_5O3n7XnVkK7lhM6xU7pnFrB82_8DTYH-sXE7FRVHUnchzEivvYdmPLrGfP36O8SeoPYLlzhU0sIJzcTsqWoFfLkheoB_-4TvIau39e2hG5VYUFesWvFCwCkBD9-pkjPN6pwbmrtBZ2XFYuvOaIQYTcUkuERzJPugES2-4Ih0C2c0-sMkBz4N7zzrKSpH-VOkl3FOgW2ptgul0ZieNNEI6GKdor_HmBQBYvBBH0m5rk1id69Sa8jRzp70SC-dqWRYJS3Xa6ZFqV_Xo9kLIrzm4SyQ9IVU6xp8erRbkzBIW5jKx1jH8DrYxuwjtQRiJaLJvNESbkpAQPlpMen8zrNApoMQpBGILNniVxxsHOL4pbDBS099H21wqVR_euboGmLCkx9NzLBi05CDBoOj-iEioHGK2sZ3LHxxr-bf5K1dRXmCzKrkB-qy-AiZZ7LzRsmbrXkdRPKY17JwdODs1Z6t5ZoTgmA5ort8RHI-8Tzv--3GHdiTcaNEmr0b1Ta0jSU8W3cc9pu33rg_sJ1M8y2XxokrBLjt62yAr180jwjnQdhVu8oSoM4ZVhjOGnftx83a5LyW2bHgMZZGisbAMFdIUA6nqG05m8hEAkGtnohBNwg33L5OQ3Z9WNnh3P6oV6kgvgpFW0-tENnxpfh9LNA7brdmd5tdI0IIe2iTHouhL6OTGlKgFp9kdm_vT98s_8YNOkWZ-SnrdBa-q4LnVdUHUK6KsZ6J6hE96a8Q0jLqqxXvL0j7uKz9DDIOR_avyU9uLoEo48xo33l6BrJksVWKihY5aeDyR95hLCsWrXgoSIknfipEMuAL_IpbyXWN-Xolh9HOqF9UOMDFevAnxXJCnWYA-dzKAmHt91GMXieAMrRMjtI0msJeihpup2Y3vnqoLoV7DRc2joulfSKMLL4g8s6aKLAqSU4Es-Fho4nYkjXfDN2SNVe8gz6ROB67gF2SSJ26_gElSv6yHdUFahH_C9o5yZ2YeSkYzyTaEQW-ZlXdWAcAI2jwtAKftkVA4gaR8R6Pe3Cy1lP2d3D7pu7HLCDU9iGe0SDjJm1RMUwIhuj4j558iZ4U79TKzdJGkCu61i9ukfkxLk_dqtpwF4XvThiLXn4gCCV-cTcqzTugiypuHr4mNG9x-7RXg3yyI=",
  "id": "rs_05e55fc5735e8d1f016ab2b537219887d0a2e04c1ff22e59d6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.53,\"right_y\":0.15,\"right_z\":0.055,\"right_gripper\":1},\"note\":\"The bottle stayed on the table, so the previous grip was empty. I will open and make one farther approach, checking the actual reach before another grasp.\"}",
  "call_id": "call_14dJBrHpNTlUvIdUCHrzwnXD",
  "id": "fc_05e55fc5735e8d1f016ab2b549e4ac87d080d39b662ad7e5c8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_14dJBrHpNTlUvIdUCHrzwnXD",
  "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]: [-0.0528, 0.7792, 0.5972, -0.3973, -0.0681, -0.0559, 0.9983, 0.3553, 2.048, 1.1358, 0.2199, 0.2268, 0.1249, 0.9962]\nstate[eef_state]: left_x=0.2907 left_y=0.0003 left_z=0.1775 left_yaw=0.0231 left_pitch=-0.0173 left_roll=0.0041 left_gripper=0.9983 right_x=0.505 right_y=0.1489 right_z=0.0351 right_yaw=0.0691 right_pitch=-0.0988 right_roll=-0.0365 right_gripper=0.9962\nstate[joint_eff]: [-0.1026, -1.5385, 6.8718, 1.8388, -0.0415, -0.0415, -0.0073, -0.9094, -10.4547, 8.7179, 1.9853, 0.0317, 0.0757, -0.1978]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:172c038713913d7df54ee01c213f581b7b5c02355f4a75acb6d9953060aa6dcd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e4485c5b2b9df0bce0747d0e189e599d11e5f3471adc48def95acd4bd30e6a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d91641054e82b4311a4177455f268aae5a7a6aec525cb27b556127bd04a66d20",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 12 attempt 0 · /responses · status 200 · 9.672 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 42 changed as sent

message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.7891, 0.6147, -0.4084, -0.0681, -0.0559, 0.9983, 0.4664, 1.6268, 1.0946, -0.141, 0.329, 0.205, 0.489]\nstate[eef_state]: left_x=0.2919 left_y=0.0002 left_z=0.1806 left_yaw=0.0232 left_pitch=-0.0207 left_roll=0.0043 left_gripper=0.9983 right_x=0.4367 right_y=0.1599 right_z=0.1552 right_yaw=0.0529 right_pitch=-0.0586 right_roll=-0.0268 right_gripper=0.489\nstate[joint_eff]: [0.1026, -1.7983, 6.7214, 1.8926, -0.0122, -0.0855, -0.0122, 0.1162, -10.5504, 9.9077, 1.9267, 0.4029, 0.2515, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrVUcEJ8A6-DZiZczutrsdt4usKwGBOnfFMVqEuyKGbc9BWmJq_q2iwsOhHwGEKhNbKeVziOZ_EgLd0ian3ll-89eN8RYAGbzsKd17AaA-yF1D4pzG3Dkhyp9YdOfAM2sjnQKdNiZUQDxT23n1vTcTOYwjTt9g4u36Zi53osXMwfm4_MFlWjUKJ0oWXBJmP5WHqLKZZz5ZwALBbrvcLucA50Tdyic8Si-tv6W0ca_8jS6KD-tEc8CVyvv17iJm809XUXGCMORfQI2g9j6NVXrBBmIO-2w51wDOiCjMA1Kp4B8yPlxgz2OjltNMgw_B_wS0tvwvFrISdOOJsMrDcKCKCjUhd_ufU4d7vwL02_jcdh65CZFq06kbcyYOTbasRPLwS2hbhyQvrNatcw2KjQNPpqmG97GHBgD2bcF_W1eVaGeD11U2XGFS8VW5uMke5OhDqj7nUJg_OGRAk04Gjt6iqA917qosf_ZBr-Mt02gPCh1DQiFE-2ix2DcOHk0bxH10U5Cl8UOD9BQi-ctNYzXf4lucssKTGVmLoFz7fbyv6qFJjgt56lP79com5aZUiEcV13Fzxr6t36i_gy0RnA-y-l6T6rgps2wmG96GkPr0ktZm6lX8AcsnpydzAKItCoaltSxwZ4gRZlAVjtev3DQublg4-7DK3uUgLQza7QZrrmPgob5ZPAbVPBsTr-YlgrHEgQ2n3Dgj7JYS1W5be93qZtFdD2WHsC1oGB-NN6mURDYW5IVJ-hZiniOGH93ZN8tP9221ZR9vE0eZFCLs8fmWQ3uwlNnNni4Xapydj708Ph8JVCvgkvlmq_xBn4nv8_WsxAqOQZhzpW3avTinA9urrKs0t7YigA3tQBzam7b6NpDzEtw3zBJz-ShJBcy-Fh3nUkItiiLDCkLuFl6UvhBeUKi3zNGjqs9NZyxyPvMt_EP7u7wvSPLFXz_JXe3nCHxTFRlEbKo53Y6HxJiEXFKAkTF896w0wieva5AXBYVvcplhqG5ghpieAgNv3_6vjqyplRHU34NW2VkQ_Cb4TVV1WNRA8UKb3jEOL3TKOjwS2LSnZCiAMOHkk8B3GjSHL7swGAyR0XRGaiX7BnaWHx7z4s5VE3kw9yWEMSOaEjG0F5fYJ0JwKQokQjNFhN80ZD8pn8EXtJ83dOD3yVpOcQxKtawhcUsVv6_mpSfMKHwjvzxPrLvYqJjVQsvmiMg2SnszL7MFq0UPx95l0syTVqbsbGCj0nce670dVEYViV4IjYoqAv0il7kmmBKoQQaqkgoQ8wFx79xGZy_gVzhk2S3KlU7A==",
  "id": "rs_05e55fc5735e8d1f016ab2b551f29887d081e5ac3c4df1f39f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The farther approach reached the bottle’s lower body, with the bottle centred between the jaws. I will close fully to determine whether there is a real grip rather than an open gap.\"}",
  "call_id": "call_jd6ALW3aKv6h06fDaAN0jIdH",
  "id": "fc_05e55fc5735e8d1f016ab2b552d30c87d095f8dae99ffedf5a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jd6ALW3aKv6h06fDaAN0jIdH",
  "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]: [-0.0528, 0.7757, 0.5823, -0.3935, -0.0681, -0.0559, 0.9983, 0.3542, 2.0521, 1.058, 0.487, 0.2054, 0.1211, 0.0137]\nstate[eef_state]: left_x=0.2892 left_y=0.0003 left_z=0.1724 left_yaw=0.0232 left_pitch=-0.0249 left_roll=0.0047 left_gripper=0.9983 right_x=0.5165 right_y=0.1564 right_z=0.0555 right_yaw=0.0884 right_pitch=0.0761 right_roll=0.0223 right_gripper=0.0137\nstate[joint_eff]: [-0.1299, -1.8667, 7.2547, 1.9121, -0.0513, -0.0904, -0.0073, -0.1846, -10.4274, 4.4513, 1.16, 0.3492, 0.0659, 1.199]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1240c2b085dab6ee166649734609e9319d7803bdd9ef4fb999875664a6cd4176",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de06e6dd2b02987160f6d20358bfe5ac8c8c80b9abc088cc5b5dbb52ab5617c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ec8c110e724657b4af00c850bf4563a228a6e90e5726239d4c8d501eaca002b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 4.683 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.7792, 0.5972, -0.3973, -0.0681, -0.0559, 0.9983, 0.3553, 2.048, 1.1358, 0.2199, 0.2268, 0.1249, 0.9962]\nstate[eef_state]: left_x=0.2907 left_y=0.0003 left_z=0.1775 left_yaw=0.0231 left_pitch=-0.0173 left_roll=0.0041 left_gripper=0.9983 right_x=0.505 right_y=0.1489 right_z=0.0351 right_yaw=0.0691 right_pitch=-0.0988 right_roll=-0.0365 right_gripper=0.9962\nstate[joint_eff]: [-0.1026, -1.5385, 6.8718, 1.8388, -0.0415, -0.0415, -0.0073, -0.9094, -10.4547, 8.7179, 1.9853, 0.0317, 0.0757, -0.1978]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrVeNvUDHugksRdU-29hxxt4v4yZ0-o1BaYtmpJV-ggUXspUD5iGR2e0S-amupuPG6_nfNUaJuXN1-RAC-YDZwoEZKPyBDvhbDppCVAFAZzAYCQNOEONtz7dpwis6-tZPIijlPegDvtudkGDkDwzlPEST6CsGL66KUroGTVu0xRSrs2j_goEM-h40kYgeqOJjosY_nRqOQdPzojfloPNi3YaiOdFh6NVcPDG5gRrKZBCOBPrkeUskCnBqDxiqQw8bOohCb5NzxKCnt9yP0qickIPx8ObV6ozt3h3bFXgoyGCggGP1BKvTqrc_39X1dpqVwR_eZ6yyXG_C4f7kI9hVyHHmoS6S_aNbGHEv45BSOqpjNo_ylxHdO9X6CDR4C6w7uCvK_qXrF3jjVOOgw-F2sqyKS1d0qOcB3T1F5-3Mb23_CsiDn6ZoNcndA4wtPYBYic8K6tKvdezPRu4O3otFEaO8LlkiEcGXqngN0uo3cTf0vJPCaVCFaFZAa_TQMZv3iCDAU4gbOua3IWb1FNQA5rlmhNcWSNzVbrNRQUyKAn8dUNNLYOI4VP9fpsatTvApFf_KIv9MlE2MxC5a8vvf6CGvOF9SbpkKAm26eBx9mqrlLKPDb6apR6ObK2rV0OqvwpmdxJhQ_BdK7s1A0XsBv8llANYsTQZBJ1-XR2AczegIQ9gn_grF-uQkhE3bXxl8vmX0Xob2YKVFp3JQB8xZn5lxSAqPJnscZ6hIWSHb0RCmV2OBBAqRxaxv_TVMWa02cyan9QOkCav5zxqwrCWYdovzZHtYaBxrzk6KO8amEs0JRym9j7WnPiuPS89_kNMfTl8GFPfwdPzbqQjQeQrUGhLa6SX0TneyMcIZhUWysyHiMmlYvS_z89AHj1dCWjE-PkU8rDpN7nBl5ISmVD0N5n8j3rJtai8mYnsXGuS8o_rZFqbxjWDHF47b58zgxq7TgqLUgsh9xQTx5NUW8tz3uZ0cm-Ft1zz1sLJhFvqPjKLFxsWzokQF5HwxvOU0hl4PeG9sB3Cd6mtNllodFze98kUz5u-I6ar1mLtJUYjjZgb7QNEks1M6jFTH4fOxoSX1PQojkIBtUvU_Ix4ewyo9VhBVzT5i91dn7eYtcUwvpmlt27ni3ceEGdy22SJlEpfS-3kCkDsypT1PEgmdrZpFPwSDMEWyNnqGr17-HqiGZ-XpBFwXPx1neWATgjXYJqG88c1ifYrctmCsjXuRcxextg2z9wtzmLd_fD3rEz7cCuqM70efX6cGXRL5CVhgr6cFbWnPtWaO8q-VdyCn_oHmaBYvWNWYNa_0i6Z1bKa7DwaiTHbGqvxaDKSf-uRqS0Mg-x5AAfvTIVpKM3ryhP1JNIhNUDwF_c5PTsGjSe8oH5B-1DvjzfDB8a5-__gq9Ht6kOdNdnrAyNJK-vJMYDp2oV3ecdfJ4llIcW9ckwR-BbjGz18jb1DGVxHpK9mbZRS11PDt1gVLfyN46tThzcgTLtbkflOZCktSKQtJR8J9jTj3z2nrehDHgcxHYi1-vFrJ2uI8udfH7-jTCnbk1fa7aderQMaEiBTBeLexjXS4MYIT1dOLLhKQvsxdbBhehF8-GKSIbGCAiqTgKUv0Chs7utJGdOXVh3iMwWd97PxOR7GINbWs2ucSnTB7ZzBY5ewKXkIKGhW4FSnXd1M4mFGPyhrTWtdxHcOs0WIGSfKqB-khCCe30z-7FrWn38RbNnSFCNgm08PzvLB1tL_DS8M4HYFKiegqVFuCHkeBCjsJgszxjlbdfMwV-maVWRiG2uVCsMr7fbdQxmf7kq5ReeR6AL15ThhU65m90cxx_yOl0CZ3bE=",
  "id": "rs_05e55fc5735e8d1f016ab2b558506487d0bcd6e03a98488039",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.535,\"right_y\":0.15,\"right_z\":0.03,\"right_gripper\":1},\"note\":\"The fully closed reading confirms an empty grip. The cap is now just beyond the fingertips, so I will reopen and adjust forward by about two centimetres for one final alignment attempt.\"}",
  "call_id": "call_2lDyr7KowMDXN1Vgmzwo8lEo",
  "id": "fc_05e55fc5735e8d1f016ab2b55cae8487d096214a017767bb75",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2lDyr7KowMDXN1Vgmzwo8lEo",
  "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]: [-0.0528, 0.7662, 0.5644, -0.3744, -0.0681, -0.0559, 0.9983, 0.3443, 2.1086, 1.153, 0.3866, 0.1768, 0.0887, 0.9958]\nstate[eef_state]: left_x=0.2889 left_y=0.0003 left_z=0.1707 left_yaw=0.0231 left_pitch=-0.0143 left_roll=0.0038 left_gripper=0.9983 right_x=0.5282 right_y=0.1602 right_z=0.042 right_yaw=0.1207 right_pitch=0.0132 right_roll=-0.0065 right_gripper=0.9958\nstate[joint_eff]: [0.0615, -1.7709, 6.5026, 1.8291, -0.0317, -0.0904, -0.0171, -1.935, -7.9111, 7.3231, 1.8144, 0.0562, 0.1441, -0.0611]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7b0387b35822efb0140bf978ed7d8871876ee07e39c6714bc6130276b642ace",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85bb30b79a34527af6cc74eb7ac0b020f59303a314906b4bae81c665df1f14db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67f5556b344e04a593ca2ebcf121d3e5407e42d2ada3521ee0a820b10212103c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 11.61 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 50 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.7757, 0.5823, -0.3935, -0.0681, -0.0559, 0.9983, 0.3542, 2.0521, 1.058, 0.487, 0.2054, 0.1211, 0.0137]\nstate[eef_state]: left_x=0.2892 left_y=0.0003 left_z=0.1724 left_yaw=0.0232 left_pitch=-0.0249 left_roll=0.0047 left_gripper=0.9983 right_x=0.5165 right_y=0.1564 right_z=0.0555 right_yaw=0.0884 right_pitch=0.0761 right_roll=0.0223 right_gripper=0.0137\nstate[joint_eff]: [-0.1299, -1.8667, 7.2547, 1.9121, -0.0513, -0.0904, -0.0073, -0.1846, -10.4274, 4.4513, 1.16, 0.3492, 0.0659, 1.199]\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": "gAAAAABqsrVksn0v__f0DKO5D3Dp9N3hrUDD83WiqlnIJYA0Js211-VsG8EzfL0d-KIxfEP6pLGXvOW1-68JmFv1izFyLihyuJli3K9Wz4B5oI70OrD1LU9GsKW9rEev5E7urwPxQ5ruMlgCDyQu-Ln3FdSRYkCI4PQu8Ay8IF4oN7efBXN7d6PXlxHuFLcqsw3rCnWfTCO6s7vcq0eWuydynMC9NIbFkV7MbdqjhcW6fGJuNjdpUNM5A1b9g0nStTVm40xG1fRR6_I_khJuy96f5p86vCX2ZxMJY1AR-rR84j5jiYUhlrUcJ51ficlttooeysBc6bT-hoZLiXACcU4suNPusIIZSxDRZQScZqAgRV9VFxJcttnnRkVZSbgzIdEE5oLJNg0wQYu39OIS8wsNoQCy3xxqOTNqyU8YS9tcmcL2xtMLLaoFWC3d2oErSGpq7nPbONPJn-RN5eWSqEFIcgYnRm150X3GwOl-_jXEvGOGyayeXpvBWi5WZqP_zIbqbve-84L656qHq6H0294kTT7uDLT_GurVEqv9dBHOmUV5QAVvCM_evJJhaI5K_i_j-iflOUTuh7TtomBRF8p8hRuUiIcnL8_5moeXyi-O6TV0J6E5ra_XC99S0TjyerLs9VExHD6-QCU78SquG3QCxoWMF6ItRe-legp2ixoHHwP3Wl6d5VFt3O3q0333FgJBfpBZEQZ9MCiyF4fJhbjV8Vd1FNvNdJNr1h0XPqCtuLElVKeNptXDFtjG_C_j6sj_v0uyguOFuj_03rnwct9Yl65J5hz0jaONWGGJOJbyvS4KGNqZ6MUdqftInzqMOZ-5d4tUUGQi8adp-C-_EnmjH3BC3vmqTcAeN6c5jCRKRorICyKy_CT_Y89PGLyREkikbKMePNGGMdZfeqcrvgGyLlDcRON62C6_QNPSdbjLf3Kl9UiAGpGP73qvPzbNszbjBz6nAN88Fv98SCHQvHPn5VPZdDp7bwhRFUvnzrKgPq3iPF7DBhUPF6GuZs8SnZD1zfrgU-5tnidq3H20FZVpfG1APjkeyR5xlG3DYKTd-eavbONtI4JZ9zzkDlONV2KqeQWcjUqWH53yEmwdPMwo2F7DRvxKDtPshC_I-biFK9zWGCsiGJQ55nH_2Xicsp1tpF6t7XjciJh-XxpWHbczqQTknBryhVU_gnnRkyabj5PIxqY_f-odKRwzL9mm-Q2ZEessxLOSjmiL5E0xa_EZr9Rydfc3Ge5vSOPqRQUAXvMTkEEadkY=",
  "id": "rs_05e55fc5735e8d1f016ab2b562467487d0bd67d5ea00751341",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The cap and neck are now between the open fingers in the wrist view. I will close and use the settled jaw width to check the grasp before lifting.\"}",
  "call_id": "call_St3Tw1sV7B3VPczXIVFAgSog",
  "id": "fc_05e55fc5735e8d1f016ab2b5634c0c87d0a1928b7b318edcbb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_St3Tw1sV7B3VPczXIVFAgSog",
  "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]: [-0.0528, 0.7643, 0.5632, -0.3714, -0.0681, -0.0563, 0.9983, 0.347, 2.1048, 1.1614, 0.4152, 0.1677, 0.0769, 0.0129]\nstate[eef_state]: left_x=0.2891 left_y=0.0003 left_z=0.1713 left_yaw=0.0233 left_pitch=-0.0105 left_roll=0.0032 left_gripper=0.9983 right_x=0.5335 right_y=0.1654 right_z=0.0532 right_yaw=0.1372 right_pitch=0.0522 right_roll=-0.0032 right_gripper=0.0129\nstate[joint_eff]: [0.0889, -1.5658, 6.1607, 1.917, -0.022, -0.0904, -0.0073, -0.5949, -10.9333, 6.1607, 1.326, 0.0366, 0.1441, 0.8425]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08e33473d902feccff79c003cdd5db7f82e18c61e735928187954c268ac2b4fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cee03dec376e570c9084581e76895cedf481593f773996b0d8ddf24c92cb250",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fa134f483225635bb304bf936b861aa97882ea856cb157abe523026c14bbf97",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 11.13 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 54 changed as sent

message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.7662, 0.5644, -0.3744, -0.0681, -0.0559, 0.9983, 0.3443, 2.1086, 1.153, 0.3866, 0.1768, 0.0887, 0.9958]\nstate[eef_state]: left_x=0.2889 left_y=0.0003 left_z=0.1707 left_yaw=0.0231 left_pitch=-0.0143 left_roll=0.0038 left_gripper=0.9983 right_x=0.5282 right_y=0.1602 right_z=0.042 right_yaw=0.1207 right_pitch=0.0132 right_roll=-0.0065 right_gripper=0.9958\nstate[joint_eff]: [0.0615, -1.7709, 6.5026, 1.8291, -0.0317, -0.0904, -0.0171, -1.935, -7.9111, 7.3231, 1.8144, 0.0562, 0.1441, -0.0611]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrVxjyUALg7jnsG7r1XJfxSqSCRGsN1-S2NGRDee_OTzm9IBeNDM3ut9i-rUQcN2Y1qSWfS5Q7SK6fpmIQll1wVq2a0IxejhSZmPNdYH0J1tB_rcvgey1izsIZ09Ab8x4QYBprdQJ19RR0JQWpn0HoFqEoCtHauyfW36D6RIZefsZnNzYLRKFmG7oUpeC5NrQ2uB0ty8nQy-ekvaAGcRL8rbI8-SKMpvVx1C6z-u1IqTgUyuG4RcODCJIbUFHE1QkI5cMPYJCUvEi6xUfF-qxqKIGdCtTLGBI5mcT9doXdLYSmd8DN9rNT3vzhkbBBFcqHcCx5JRjKE8S5HMZSX2nBq9E-6DoEKm3YQXI45QNjQavR24dgAT-4csu4R-tSopjn3BCrYrIu7V90f9qwl3tyDnLDCtHYDAC5h68E1_JHP_qL2Y7L2Ln0KVLVhW_w2b-wR9g06ai0hvv_EG_oIPoJZ2rx4TKMEd4QbSOiLb3Jgn1WPFhIDqRnqPLARlN7lT2ttewHmfAiCx4HsGTLzxC1n7rPB9xox1wRk-UOiBr5nN3WujUlF--QbKuKuP-yntUgfwnastgxQK809HzV0IZz_WcmjHODl_Y8YV6upFWAUDkQgo9GjGWeaR-M_aYH25yySqwf_F0aOQuWYP0pYT3tVnCsX-hzKb2ret5xRufC8QvaGyKRjDi0i4MqikMQjo5i_6M-nWW7WePg7mJ3972gS1T18ppkzqXqAvXp1elh4aGv121o4G6c-vJ5F4-mpTXs-EhK_j9FY_dvjjA6tfxwvdVXpmHZltz4qjEylWmE-R-ZdNdAfdlVIzam_QIx1EHsQBkrov6Con21Fo3VtXodZ6_ejR8Bl4DtD5pkIQtKXAPODtgdDALpFNGp3AO2c8_5zz0UtLbILkelf_vxWJtxjav1KjAElzKkSDjpacQpmzalT8rqR1VHca5c7Sl5e9IB8WzRWlz1SGUc5Il_uGQNg2Hk89H748ZWWDzlGXZWu6hV-uw_sITJj-MUGL-VvkQQB3ZA8QXUKLPfiqxn4hw3ipJNuvZYUKmhfnwrD-VZI0gM0bPI0cdEmxhtGYx0GGIRa6BbqkRqgXKoemaJVcUIhRJTiZ0hp2ncgOVaoGuPyzPIq3gJPZzpMjWJ13vz5J3L13x9E6oXa_BeQUzrSwRBpmOUF9xlLlceptGWuJsibzBJ4o370vXEWTS3Gs-0wgxHe_1oiuPLwev08-hv1caRtdx2HqPeq2KxbMAFPVK_aOtEw3fiitKkXKJNNK1ihDWFiGWC5xjTSH3D9qVLhVbLDTr6WXTn4riteeTJREhSh9b0yb5AJPMogshjNVigNb_wZw2Ym6XQy10fzcotRPUdSklbJBFk2t5q5rpL9Hlikj2cZEmtXXR3cHv8XUArLOw4M2FyVjTszjf4Typ9m6EA9GT06_OSVcXelJ7cFyry10CFg0IBPf-fDljtU8X4lq5IaAT850LnJGS1xF_z9zB7cE4_DC9c7GJpDMgTrLXnp5gMnOUi6pCIdNI1d38OtDs92aj3wsLlrMuKp8IBaA40s2I6-H8lVC5GbCFEs216OiwhrxmYfId-bQNt-ZL5Fb2KTuV8iZYpHUC1GvlPXjA13ntKrJ8Szw53aUX4dmvaVH8_2AjgjnRlf_OirbSCcx7H2e5sJ8MwNscdfktsAOXmPtALWTqmKCSDzeGuHZqh4MILI=",
  "id": "rs_05e55fc5735e8d1f016ab2b56af59c87d098407ebde3169e3e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.52,\"right_y\":0.13,\"right_z\":0.005,\"right_gripper\":1},\"note\":\"The second close was also empty; the view now shows the neck just to the right of the closed jaws. I will correct that sideways error and lower the fingertips rather than continue advancing.\"}",
  "call_id": "call_xX0FXhKw0aWlt26vrDglbbD6",
  "id": "fc_05e55fc5735e8d1f016ab2b56f111087d090453806bc9908ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xX0FXhKw0aWlt26vrDglbbD6",
  "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]: [-0.0528, 0.7643, 0.5541, -0.3714, -0.0681, -0.0559, 0.9983, 0.2794, 2.1109, 1.076, 0.5606, 0.1001, 0.0433, 0.9957]\nstate[eef_state]: left_x=0.2879 left_y=0.0004 left_z=0.1671 left_yaw=0.0231 left_pitch=-0.0196 left_roll=0.0042 left_gripper=0.9983 right_x=0.5338 right_y=0.1385 right_z=0.0463 right_yaw=0.144 right_pitch=0.1002 right_roll=0.0085 right_gripper=0.9957\nstate[joint_eff]: [-0.0615, -1.6752, 6.9402, 1.9121, -0.0366, -0.1001, -0.0073, -0.7863, -6.7897, 3.959, 1.2625, -0.0855, 0.0659, 0.0269]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0df8e5ad44648b90c9eca04f1b511632028680ae5cf2c23df0d3df672ca10515",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d777e4bd850afae6a34d8febcd3ff56513f7958f4879ee3b7724b7c41add083",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adaab3040331f772f7166336fffe5841af3903d8950466d87477e3be311a994d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 8.085 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.7643, 0.5632, -0.3714, -0.0681, -0.0563, 0.9983, 0.347, 2.1048, 1.1614, 0.4152, 0.1677, 0.0769, 0.0129]\nstate[eef_state]: left_x=0.2891 left_y=0.0003 left_z=0.1713 left_yaw=0.0233 left_pitch=-0.0105 left_roll=0.0032 left_gripper=0.9983 right_x=0.5335 right_y=0.1654 right_z=0.0532 right_yaw=0.1372 right_pitch=0.0522 right_roll=-0.0032 right_gripper=0.0129\nstate[joint_eff]: [0.0889, -1.5658, 6.1607, 1.917, -0.022, -0.0904, -0.0073, -0.5949, -10.9333, 6.1607, 1.326, 0.0366, 0.1441, 0.8425]\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": "gAAAAABqsrV9TIwdTaO1s0cuTKt0Waupko76I1EyHjb3uNMGYLyWdhGUAkset5s6CeVb2eZjL27gQOYQ-k_sdgckOUIgfCX0nFHAsTVmiS9Qlf6ZTzY4z75ShKIYMqSt3vOnFOIoarcnIbVDo21gMj1MYSzC6jngzE2ObolexxBLug-Auj4r8SAWmXDEhGjrLS5dK8zxQtTI6lYuPikDyuNhNavdxokOPUPvbuyuYjR0H8DOCuZkpUl2y8fKEA8ogAZ_kBmIYyo7UlqVMDZ_mh3sIRMJB-DCsig_XSM93UMEZBLlBNSzBmh1vFM1qxSsSct0N1gPY-qqA600DxE6DdlnUwHeluWUMdLKnDwS6lkj4ytDNpUl-vIIiz7WRYmJdg5GSjdQMiiV5qXb0FZ8gIEpB6flVRQcdA7cWlpnB9C8RqZNCNQzi79cK_fBE15DDKZQ4KNavI9VFLKMnT501gSN0gGhFWHRSq0i_f2PaEXtY457uK_97LhcZSu1MPYO6NRrxJ2XafTdipg6nGgoaJT9Co4cr4dh3OhsMuj9EtvmXsW2MWYeD9QDgvp7yei5LoPPviOYaooSfMtJTApI0jtHM2IvyVqd6QRsRF5r8Gqu3nCnyUDGyLyqKlHAb7YYgU7fj94mlAfgxoOFj_Mav3dA8AllYvUzCsyObNq_TJlWP6PpHVOhB--YJnVbqB7qAbB6nQSrtMEcAOb3VnaUMAJpR6nx3YjgeCabmpDAAysoUGcu5Qr8AnZYr4WxDweXDaqBijJZ7ibUMhVWPLwcbd7_60DN6YZy35wg3G2aoReEpScxQ9RgPiBX-G0uBKzcnEs-VKeccxgO3rMY3H_Y1WiQntVw1Gm3JIJTed7k8t2jU9fcyI_LWDOVLjsGSpNXLqDXoGNREP2mw_9MtfbfuDT3R4dlCUts4-r8i3D_u1NgYHWIzvXA07tatuyKKmoonq2m0aM2kvWiUw8zfONPXfmltsUTpT48nvtQMbDEq04o5haSAUciCsm7vSPpBvCFuO7-mTG__txgcCM3F1_zTSU41SnIctKov3DZAZ7Lszz8BzH2Ex2z67oEl45LpFZld1tJtycHFlQXoIzFYHA9Czg1sPJU_eMKVV8xXseDX-nxqJMwUM2_Ccke_GxeTlP_AxzX45j3tIowE7wRNE5tS36XOX3GbtZZzRMVvyQUTEBK-P5BljgWsJSBOhMyV1VZQM0rpwoV-48KlopZhbvmnoqRi1ZmjGoeWSU4tVmbmuL_vsmd44OPuzxGc-FjOkH3qs9gnJUfXD3Q4z5tNehIAq201mtbN-vbuVqv_TRCw0UF_wIqEslCf6TWdnYCMx7GKG-8fWmeKbCyT-7YfgGxM9TYYzpnx5T1RpLMPQiryQUHyj1QWUELQyKx6RReCiCFy6RS1gnjNxKDyJI89tSj_TCJiATvnU0GQi60HyyO0T1OBVHDo5HW0ogyNpLvjtawzTwYBi03unDDOxZzbHLYpDAUKV-UGdBjwYLvUFNybOykN-4RREd-YoeMya2JoqUJyMBx23kyDXDaO21DxlZIJLPaKMrfDFSt4QM_YW6lWFn1ZybFJngIwGm3vn8NLkmHgnz3PQOgpRAaXnFBx1vzoeZ-COObIecRvrOJ1KBycqOpBZu7oV6N6hMYaCrPlLdxkwWEK2jCxZRwgrWZyVnhFpm3FCAad59dM180tqFfEu2SPnoIurwr1eu28W6Dxqxh3P5jPBJlW1KOoXlWLHr5Sc01Vd6gCy2IcFVbPfzrY3KoupVT0C46fJU70OrJBsFoBD43Y_Fe70jeiDfkuw0iJYQzKWbDarwe1JVPagY65lNAigUxl2tHSm6AbLSLASSrwln92X9WcV2OctxQi1s0ZdvxvzWUFkcLC19JilQ2jSygAmggL_RiiIZYJeJGMSmBfcn-DQnsqjbR-xAuCb5tZooBafUxttrHsMRBK5Bxqte28VnrDaBHPMb8GtBoGmE_ynnLnenpvt2jLPum3az_CU14EU_rY5B1PqdqfmGPI5n-tJ_6iz63OU0_djBkcQ7UTlvvQmsr9-BZHopZ3P4ku136xvARhoCnmuiUIGxMJyr-xzcmio38j9ieBjqZAUUFWuAALrabkwk1dj444vJFKr8nfO77kiVgFyMrUkSCE8hQXkvKm1a2Fw46Eojq3FENTnFYQDOOw2sv",
  "id": "rs_05e55fc5735e8d1f016ab2b574788c87d0ba14313cfa59d5f4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.30,\"right_y\":0.01,\"right_z\":0.20,\"right_gripper\":1,\"left_x\":0.29,\"left_y\":0,\"left_z\":0.20},\"note\":\"The arm cannot lower to the requested grasp height at this reach, and the bottle is sliding rather than entering the jaws. I will withdraw both arms safely instead of pushing the bottles farther out of reach.\"}",
  "call_id": "call_5qHj4tkwB0QNCedMm511e1Ie",
  "id": "fc_05e55fc5735e8d1f016ab2b57ad74887d098018fe43d509488",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5qHj4tkwB0QNCedMm511e1Ie",
  "output": "executing move_to over 18 steps (1.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0528, 0.7712, 0.6312, -0.4553, -0.0685, -0.0563, 0.9983, -0.0959, 0.873, 0.6708, -0.366, -0.1841, -0.1421, 0.9997]\nstate[eef_state]: left_x=0.2862 left_y=0.0006 left_z=0.1833 left_yaw=0.0237 left_pitch=-0.0333 left_roll=0.0052 left_gripper=0.9983 right_x=0.31 right_y=0.0062 right_z=0.1929 right_yaw=0.1082 right_pitch=0.0148 right_roll=-0.0086 right_gripper=0.9997\nstate[joint_eff]: [-0.1162, -0.6632, 10.6325, 1.663, -0.0366, -0.0757, -0.0171, 0.1299, -1.6752, 9.7162, 1.9756, -0.2173, -0.0513, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a480c79553bc90941f6bb077973c3520cd83d503d1fa431c87b5ca1bb5026f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01fc89039c90873fe11f3f2c0105cf3c24c8d1dcdbf6ecd5b274c43087f52c56",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a09708fe233b1282a323a52ef2b26c493a0b09b31ad4a92c74bba40dc9c555b8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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