adhoc

completed
2026-09-22T16:48:12.206086+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (71 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
164.2 s
total steps
112
success_at_end
0
scenes
1
trials
1
errored
0

scene-0

completed

Stand all three bottles upright.

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteAll three bottles are lying on their sides, with their caps pointing toward the far edge. I’ll approach the left bottle’s neck so I can lift it and let its base swing down.
move_to
left_x0.4400left_y-0.1350left_z0.1500left_gripper1.0000right_x0.2940right_y0.0040right_z0.1900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7937, 0.6083, -0.3767, -0.0227, -0.0288, 0.9985, -0.0166, 0.7887, 0.6033, -0.3855, -0.0288, -0.0345, 0.9994] state[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1827 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9985 right_x=0.2936 right_y=0.0038 right_z=0.18 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.6632, -1.5111, 9.7436, 1.7656, -0.0122, 0.1343, -0.1685, -0.7726, -0.9915, 10.2359, 1.8974, 0.0708, 0.1587, -0.0806] 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":0.44,"left_y":-0.135,"left_z":0.15,"left_gripper":1,"right_x":0.294,"right_y":0.004,"right_z":0.19},"note":"All three bottles are lying on their sides, with their caps pointing toward the far edge. I’ll approach the left bottle’s neck so I can lift it and let its base swing down."})
tool
executing move_to over 13 steps (1.3s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent noteThe left bottle’s neck is left of the jaw center in the wrist view. I’m shifting left and lowering toward its shoulder for a centered grip.
move_to
left_x0.4900left_y-0.0350left_z0.0650
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4408, 1.5845, 0.947, -0.0319, -0.3607, -0.2672, 0.9985, -0.0189, 0.7967, 0.6109, -0.4301, -0.0292, -0.0353, 0.9994] state[eef_state]: left_x=0.4269 left_y=-0.1285 left_z=0.1325 left_yaw=-0.0097 left_pitch=-0.0576 left_roll=0.0156 left_gripper=0.9985 right_x=0.2889 right_y=0.0033 right_z=0.1722 right_yaw=-0.0015 right_pitch=-0.045 right_roll=0.0003 right_gripper=0.9994 state[joint_eff]: [-0.7316, -7.706, 8.9368, 1.7021, -0.2662, -0.0366, -0.1636, -0.0068, -1.4154, 9.7573, 1.7558, -0.0366, -0.0317, -0.0122] camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_y":-0.035,"left_z":0.065},"note":"The left bottle’s neck is left of the jaw center in the wrist view. I’m shifting left and lowering toward its shoulder for a centered grip."})
tool
executing move_to over 9 steps (0.9s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteThe bottle is between the open jaws, but its narrow neck is still ahead of them. I’m advancing slightly and centering on the neck rather than squeezing the broad body.
move_to
left_x0.5350left_y-0.0100left_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1226, 1.8431, 0.8581, 0.3504, -0.1379, -0.1127, 0.9984, -0.0193, 0.7712, 0.569, -0.403, -0.0296, -0.0357, 0.9994] state[eef_state]: left_x=0.4738 left_y=-0.0303 left_z=0.0502 left_yaw=0.0398 left_pitch=-0.0657 left_roll=0.0017 left_gripper=0.9984 right_x=0.2858 right_y=0.0033 right_z=0.1654 right_yaw=-0.0014 right_pitch=-0.0343 right_roll=0.0001 right_gripper=0.9994 state[joint_eff]: [0.1983, -8.5812, 8.5675, 1.9805, 0.0806, 0.0757, -0.0317, -0.335, -1.7573, 6.7624, 1.9853, -0.0659, -0.0659, -0.0122] camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.535,"left_y":-0.01,"left_z":0.035},"note":"The bottle is between the open jaws, but its narrow neck is still ahead of them. I’m advancing slightly and centering on the neck rather than squeezing the broad body."})
tool
executing move_to over 5 steps (0.5s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteThe neck remains just beyond the fingertips, and the bottle has slid slightly forward. I’ll make one smaller advance to put the jaws around the neck.
move_to
left_x0.5700left_y0.0050left_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.062, 2.0369, 1.021, 0.4603, -0.1043, -0.104, 0.998, -0.0193, 0.7536, 0.5373, -0.3931, -0.0296, -0.0357, 0.9994] state[eef_state]: left_x=0.528 left_y=-0.0108 left_z=0.0418 left_yaw=0.0671 left_pitch=0.0097 left_roll=-0.0211 left_gripper=0.998 right_x=0.2822 right_y=0.0034 right_z=0.1577 right_yaw=-0.0014 right_pitch=-0.0385 right_roll=0.0001 right_gripper=0.9994 state[joint_eff]: [0.3897, -8.9094, 6.5573, 1.7118, -0.0562, 0.2906, -0.0464, -0.2393, -1.4974, 7.0085, 2.0147, -0.0513, -0.0317, -0.0122] camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.57,"left_y":0.005,"left_z":0.025},"note":"The neck remains just beyond the fingertips, and the bottle has slid slightly forward. I’ll make one smaller advance to put the jaws around the neck."})
tool
executing move_to over 4 steps (0.4s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteThe arm has reached its forward limit, with the jaws around the bottle’s upper body. I’ll grip gently here and test whether lifting lets the heavier base swing downward.
move_to
left_gripper0.3500right_x0.2940right_y0.0040right_z0.1900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0574, 2.0487, 1.0389, 0.4637, -0.0933, -0.1036, 0.998, -0.0193, 0.7326, 0.5022, -0.3771, -0.0296, -0.0357, 0.9994] state[eef_state]: left_x=0.5332 left_y=-0.0106 left_z=0.0433 left_yaw=0.0621 left_pitch=0.0184 left_roll=-0.0277 left_gripper=0.998 right_x=0.2787 right_y=0.0034 right_z=0.1504 right_yaw=-0.0014 right_pitch=-0.0366 right_roll=0.0001 right_gripper=0.9994 state[joint_eff]: [0.2256, -8.7043, 6.8171, 1.619, 0.022, 0.315, -0.022, -0.4034, -1.5111, 6.8171, 1.9805, -0.0659, -0.0611, -0.0122] camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.35,"right_x":0.294,"right_y":0.004,"right_z":0.19},"note":"The arm has reached its forward limit, with the jaws around the bottle’s upper body. I’ll grip gently here and test whether lifting lets the heavier base swing downward."})
tool
executing move_to over 7 steps (0.7s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteThe jaws have closed around the upper bottle. I’m lifting and drawing it inward a little so its base can clear the table and pivot downward.
move_to
left_x0.4900left_z0.1450left_gripper0.3000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0593, 2.0495, 1.0496, 0.5117, -0.0875, -0.1005, 0.3567, -0.0189, 0.7902, 0.6006, -0.4301, -0.0296, -0.0387, 0.9994] state[eef_state]: left_x=0.5422 left_y=-0.0131 left_z=0.0574 left_yaw=0.0541 left_pitch=0.0757 left_roll=-0.0346 left_gripper=0.3567 right_x=0.2872 right_y=0.0034 right_z=0.1692 right_yaw=0.0006 right_pitch=-0.0488 right_roll=-0.0022 right_gripper=0.9994 state[joint_eff]: [0.1573, -8.8137, 6.0376, 0.9646, 0.0415, 0.2906, 0.3394, 0.0615, -0.8547, 10.2222, 1.7265, 0.0024, 0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_z":0.145,"left_gripper":0.3},"note":"The jaws have closed around the upper bottle. I’m lifting and drawing it inward a little so its base can clear the table and pivot downward."})
tool
executing move_to over 6 steps (0.6s)
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 bottle stayed on the table, so that grip did not hold it. I’ll lower around the body, secure it, and pull it into easier reach before attempting to stand it.
move_to
left_x0.5050left_y-0.0120left_z0.0000left_gripper0.8000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0727, 1.7332, 1.0538, 0.1394, -0.1131, -0.104, 0.3015, -0.02, 0.7609, 0.5518, -0.4026, -0.0296, -0.0387, 0.9994] state[eef_state]: left_x=0.5022 left_y=-0.013 left_z=0.1392 left_yaw=0.0639 left_pitch=0.0258 left_roll=-0.0187 left_gripper=0.3015 right_x=0.2831 right_y=0.0031 right_z=0.1604 right_yaw=-0.0005 right_pitch=-0.0407 right_roll=-0.0023 right_gripper=0.9994 state[joint_eff]: [-0.5812, -10.6051, 5.9829, 1.873, -0.0855, 0.1001, 0.1099, -0.294, -1.4838, 7.0222, 2.0733, -0.0806, 0.0122, -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":0.505,"left_y":-0.012,"left_z":0,"left_gripper":0.8},"note":"The bottle stayed on the table, so that grip did not hold it. I’ll lower around the body, secure it, and pull it into easier reach before attempting to stand it."})
tool
executing move_to over 9 steps (0.9s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteThe jaws are now alongside the bottle body at table height. I’ll close fully so the gripper reading can confirm whether the bottle is captured.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.078, 2.0403, 0.9245, 0.6449, -0.1211, -0.1078, 0.7972, -0.02, 0.7376, 0.511, -0.3779, -0.0296, -0.0391, 0.9994] state[eef_state]: left_x=0.5203 left_y=-0.0157 left_z=0.0425 left_yaw=0.0679 left_pitch=0.0947 left_roll=-0.0279 left_gripper=0.7972 right_x=0.28 right_y=0.0032 right_z=0.153 right_yaw=-0.0003 right_pitch=-0.0335 right_roll=-0.0028 right_gripper=0.9994 state[joint_eff]: [0.0479, -6.1333, 3.4256, 0.5397, -0.0952, 0.1099, -0.0855, -0.5128, -1.3197, 7.0496, 1.9316, -0.0611, -0.0269, -0.0122] camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The jaws are now alongside the bottle body at table height. I’ll close fully so the gripper reading can confirm whether the bottle is captured."})
tool
executing move_to over 8 steps (0.8s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent noteThe fully closed reading shows an empty grasp; the forward pose is not getting low enough. I’m moving back to the wider, nearer end of the bottle where the arm can reach lower.
move_to
left_x0.4350left_y-0.0350left_z0.0250left_gripper0.9000right_x0.2940right_y0.0040right_z0.1900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0792, 2.0117, 1.0016, 0.5449, -0.1513, -0.1059, 0.0135, -0.02, 0.7216, 0.4778, -0.3653, -0.0296, -0.0387, 0.9994] state[eef_state]: left_x=0.5334 left_y=-0.012 left_z=0.0656 left_yaw=0.0914 left_pitch=0.1025 left_roll=-0.0136 left_gripper=0.0135 right_x=0.2766 right_y=0.0033 right_z=0.1445 right_yaw=-0.0005 right_pitch=-0.0381 right_roll=-0.0024 right_gripper=0.9994 state[joint_eff]: [-0.5265, -10.3043, 5.3675, 0.862, 0.2222, 0.0464, 1.2576, -0.3487, -1.5521, 7.0769, 2.0244, -0.1001, -0.0317, -0.0122] approver: 8 step(s) modified (delta_clamped ×8). camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.435,"left_y":-0.035,"left_z":0.025,"left_gripper":0.9,"right_x":0.294,"right_y":0.004,"right_z":0.19},"note":"The fully closed reading shows an empty grasp; the forward pose is not getting low enough. I’m moving back to the wider, nearer end of the bottle where the arm can reach lower."})
tool
executing move_to over 9 steps (0.9s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteThe bottle’s lower body is centered between the jaws. I’ll close here to get a secure grip for drawing it closer.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1738, 1.8435, 0.6678, 0.6754, -0.2295, -0.1623, 0.8945, -0.0189, 0.7895, 0.5987, -0.432, -0.0296, -0.0395, 0.9994] state[eef_state]: left_x=0.4541 left_y=-0.0353 left_z=0.0473 left_yaw=0.0925 left_pitch=0.0759 left_roll=-0.0209 left_gripper=0.8945 right_x=0.2866 right_y=0.0034 right_z=0.1682 right_yaw=0.0011 right_pitch=-0.0518 right_roll=-0.0027 right_gripper=0.9994 state[joint_eff]: [-0.6085, -7.5966, 3.3299, 0.9792, -0.0708, 0.0073, 0.0855, 0.1162, -0.7863, 10.5094, 1.7802, -0.0464, -0.022, -0.0122] approver: 8 step(s) modified (delta_clamped ×8). camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The bottle’s lower body is centered between the jaws. I’ll close here to get a secure grip for drawing it closer."})
tool
executing move_to over 9 steps (0.9s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteThat close was also empty, and the readback shows the fingertips are still above the bottle’s midline. I’ll open and lower at a shorter reach to get the jaws down beside it.
move_to
left_x0.4300left_y-0.0400left_z-0.0200left_gripper0.8000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1753, 1.8095, 0.7231, 0.5823, -0.2447, -0.1642, 0.0142, -0.02, 0.7589, 0.5468, -0.4004, -0.0299, -0.0387, 0.9994] state[eef_state]: left_x=0.4622 left_y=-0.0348 left_z=0.0632 left_yaw=0.1047 left_pitch=0.0742 left_roll=-0.0144 left_gripper=0.0142 right_x=0.2827 right_y=0.0032 right_z=0.1591 right_yaw=-0.0002 right_pitch=-0.0415 right_roll=-0.0021 right_gripper=0.9994 state[joint_eff]: [-0.1299, -7.9658, 5.6547, 1.0134, 0.0513, -0.0024, 0.7546, -0.1709, -1.7299, 7.0632, 2.0244, -0.1099, -0.0317, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.04,"left_z":-0.02,"left_gripper":0.8},"note":"That close was also empty, and the readback shows the fingertips are still above the bottle’s midline. I’ll open and lower at a shorter reach to get the jaws down beside it."})
tool
executing move_to over 8 steps (0.8s)
step 87
top_cam
camera top_cam step 87
left_cam
camera left_cam step 87
right_cam
camera right_cam step 87
assistant
agent noteThe bottle body is just forward of the jaw tips. I’ll widen the jaws fully and move over the middle of the body, keeping the approach low.
move_to
left_x0.4750left_y-0.0250left_z-0.0100left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2047, 1.9549, 0.6369, 0.9558, -0.2821, -0.1871, 0.7947, -0.02, 0.7372, 0.5056, -0.3775, -0.0296, -0.0387, 0.9994] state[eef_state]: left_x=0.4638 left_y=-0.0424 left_z=0.0498 left_yaw=0.1257 left_pitch=0.2139 left_roll=-0.0635 left_gripper=0.7947 right_x=0.2793 right_y=0.0032 right_z=0.1507 right_yaw=-0.0005 right_pitch=-0.0381 right_roll=-0.0024 right_gripper=0.9994 state[joint_eff]: [-0.7863, -2.8376, 1.0051, -0.1001, 0.0366, -0.0611, -0.1587, -0.5128, -1.7026, 7.0359, 1.9902, -0.0806, -0.0171, -0.0122] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.475,"left_y":-0.025,"left_z":-0.01,"left_gripper":1},"note":"The bottle body is just forward of the jaw tips. I’ll widen the jaws fully and move over the middle of the body, keeping the approach low."})
tool
executing move_to over 4 steps (0.4s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteThe bottle is sliding ahead rather than entering the jaws. I’ll lift clear and turn the gripper sideways for a different approach to its body.
move_to
left_x0.4500left_y-0.0350left_z0.1400left_yaw1.5700right_x0.2940right_y0.0040right_z0.1900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1501, 2.0163, 0.7818, 0.8497, -0.2504, -0.1925, 0.997, -0.02, 0.7166, 0.4709, -0.3603, -0.0296, -0.0391, 0.9994] state[eef_state]: left_x=0.4966 left_y=-0.0272 left_z=0.0484 left_yaw=0.1545 left_pitch=0.1888 left_roll=-0.0726 left_gripper=0.997 right_x=0.2762 right_y=0.0033 right_z=0.1437 right_yaw=-0.0003 right_pitch=-0.035 right_roll=-0.0027 right_gripper=0.9994 state[joint_eff]: [-0.1709, -4.9299, 4.1915, 0.0024, -0.1978, 0.3004, -0.1245, -0.4444, -1.4427, 6.8034, 1.9805, -0.0904, -0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.45,"left_y":-0.035,"left_z":0.14,"left_yaw":1.57,"right_x":0.294,"right_y":0.004,"right_z":0.19},"note":"The bottle is sliding ahead rather than entering the jaws. I’ll lift clear and turn the gripper sideways for a different approach to its body."})
tool
executing move_to over 10 steps (1.0s)
step 101
top_cam
camera top_cam step 101
left_cam
camera left_cam step 101
right_cam
camera right_cam step 101
assistant
agent noteThe sideways turn did not track, so I won’t force it near the bottle. I’m withdrawing upward and inward with the original orientation.
move_to
left_x0.4300left_y-0.0300left_z0.2000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.149, 2.0243, 0.7921, 0.8631, -0.2478, -0.1944, 0.9972, -0.0189, 0.7906, 0.6014, -0.4328, -0.0299, -0.0429, 0.9994] state[eef_state]: left_x=0.5004 left_y=-0.0277 left_z=0.0513 left_yaw=0.1553 left_pitch=0.2033 left_roll=-0.0802 left_gripper=0.9972 right_x=0.2869 right_y=0.0035 right_z=0.1689 right_yaw=0.0032 right_pitch=-0.051 right_roll=-0.0053 right_gripper=0.9994 state[joint_eff]: [0.0205, -5.1761, 3.412, 0.4713, 0.022, 0.2418, 0.0024, 0.1573, -0.6085, 10.2906, 1.7802, -0.0171, 0.0122, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.03,"left_z":0.2,"left_yaw":0},"note":"The sideways turn did not track, so I won’t force it near the bottle. I’m withdrawing upward and inward with the original orientation."})
tool
executing move_to over 10 steps (1.0s)
step 111
top_cam
camera top_cam step 111
left_cam
camera left_cam step 111
right_cam
camera right_cam step 111
assistant
agent noteI could not secure a reliable grasp. The left bottle slid toward the far edge during the attempts and is now beyond the arm’s demonstrated low-height reach. All three bottles remain lying down; continuing would risk pushing the far bottle farther away. Please reposition it closer before retrying.
give_up
hindsightOn this trial, low forward targets did not track: commands near x=0.475, z=-0.01 produced readings around x=0.497, z=0.048, and full closes were empty. The open gripper contacted and slid the bottle instead of surrounding it. Stop earlier when this height shortfall persists, and have the bottles placed closer to the bases rather than advancing into them.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1291, 1.4391, 0.9436, -0.0975, -0.1421, -0.1215, 0.9972, -0.0208, 0.757, 0.5468, -0.403, -0.0299, -0.0505, 0.9994] state[eef_state]: left_x=0.4327 left_y=-0.0273 left_z=0.1733 left_yaw=0.0412 left_pitch=-0.0242 left_roll=-0.01 left_gripper=0.9972 right_x=0.2822 right_y=0.003 right_z=0.1591 right_yaw=0.0054 right_pitch=-0.0421 right_roll=-0.0118 right_gripper=0.9994 state[joint_eff]: [0.4171, -7.9385, 10.7419, 1.8974, 0.0904, 0.315, -0.0171, -0.5402, -1.1009, 7.2821, 2.0293, -0.1197, 0.022, -0.0171] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not secure a reliable grasp. The left bottle slid toward the far edge during the attempts and is now beyond the arm’s demonstrated low-height reach. All three bottles remain lying down; continuing would risk pushing the far bottle farther away. Please reposition it closer before retrying.","hindsight":"On this trial, low forward targets did not track: commands near x=0.475, z=-0.01 produced readings around x=0.497, z=0.048, and full closes were empty. The open gripper contacted and slid the bottle instead of surrounding it. Stop earlier when this height shortfall persists, and have the bottles placed closer to the bases rather than advancing into them."})
tool
give_up: I could not secure a reliable grasp. The left bottle slid toward the far edge during the attempts and is now beyond the arm’s demonstrated low-height reach. All three bottles remain lying down; continuing would risk pushing the far bottle farther away. Please reposition it closer before retrying.
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 · 10.89 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, 0.6083, -0.3767, -0.0227, -0.0288, 0.9985, -0.0166, 0.7887, 0.6033, -0.3855, -0.0288, -0.0345, 0.9994]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1827 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9985 right_x=0.2936 right_y=0.0038 right_z=0.18 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.6632, -1.5111, 9.7436, 1.7656, -0.0122, 0.1343, -0.1685, -0.7726, -0.9915, 10.2359, 1.8974, 0.0708, 0.1587, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7bba57a494e4a026fc1aadddbb61478b51efe301a434d918b7b289fd4d31364",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc97086cedf69ff40d103e7452847ca7710b6bc972c2d5cebb0a090d7f3b4961",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b62699ec23bbed6d99c131f5e43b812610f862e7fb4860a53abccce01fdfb64",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob b7bba57a494e
wire blob bc97086cedf6
wire blob 1b62699ec23b
call 1 attempt 0 · /responses · status 200 · 21.76 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqsrFkzHj3NzvVzC8oOqjp2aEZ4z2x7W9jVKE9GCDwv6GgV1b9GdrGF1vwzPB11KOmE18whDy--QBPWWBa4l7hhf0RyLSO5YVX4n9gjkb1xp11EhcSp0pDAGRhYcARlNyQrNbL6eYCiwwzvfHAR0-f82nDwFWr7sgT5InheXqhUzKGX4p-m4DSntoGAJ4poqrHNwwyGrD5Oaf68Fy_oD8X6Iu3lq2jDXD-u7NTIlmosaUDRPHhGGBGpt6r3OfYB2VxhSuWYAq9G_t-BaQjObpeQnXMW5_HrYVddJ7v5kelLQJDjskw_TJqe_Ck6R88OWX5DNjd5sMFt4EVZDpbVDLDo0TNerRTFygQZzWnQV0Od6Z4MI2Xc2sWkPwSDb22oP3sqcOTG5dNuoee-sZOcFHk7GP-uItZcezTRAyxAItVzibGuHIHeGojYFx0w7dlwdMPdVdp0zl9flvc9tgb-HTgpdhke4NTLl4CiPr0veVX85Ly7IVshRynzsjhgsSow7nlJ_-ZyJBzUDrh8xpBuQP2cEDQEda0rPkjTpbFLO0I35bEVnOI-njrdvu2ZdOvNps0JkxZUwaEZagjI1VeMlphcomtHnt2NGVH_zcQTlZg0c_NaDAVhqQ2J3iTkm8v_JR__TrDw-ePsrgNWyp-lnvA7pHbZfP_t2394pzJ9uMcurdRLtwNn3PR41XkkVWH0S87NcHFEut6cV0CDO_AtUhFPzmksiqG-O0y4wpw7aotmz7zsIX2FLp029P99DFa3FRrq6_qFX8a5Nd1JX2w7Vk5DRBVD6mnRFlrws1SKs2m52gtoNu0mtXZEvROSev_7WsAowmdxKFtUI-sbXdi24XCtxGn5-61RfW1CP6YC_jT7qapgX2fhWV9OhM2DIphW1R7QsUufc5gSagTntaM4Ylq6FKBZVVcr4_hhAphwjqKk4MbpwAPSQR2vWjQtMNgVbVmOCGSlnVqdbRvFn1UJz9qIm7oTkyAlqYFq3CMeoMkcw81ONCIhz5xu-xgukWwPXL50TwWQRLcTdlHx3Y7JThEs5PkfhbVwJnfjWYtYnLrLYU-oi77BEDBWBtUbi6uZW_bsGtz8KFKjxY4rr8o_PuWafohjcD7HSKxAoA2Pz-kJ8xbBbIdYxQIckx7HOn4xIqAqmumNRI6I-3-FoDNJdqUTHx_9OfoCphoK5aqy4glea0oIXTgAVZfUKp1B9M5KsH7ktGV91HQvpXQJBsKGhYMTwlgmMGGjudEpCrMe-clJb4UPgjDX6qFjGjMPtLt0LIa-PAvx9QSW84QuxPxsA_DeLs7xi2-TCer8NQ1cW1Ai6zWJnp5rkz9lR4PE7mbONRV3yyptVcQRaMr7mXoqhiSUtEjg-GZ-ruYMVyhbrevqoX2DIIuBfykNzpO_Y0wAqB26rQBC5ovgTiSo_Rh8qjTLwFITwI0mqo3x9oTfZCBY4taqjyiTAWj0jqS6hjeDSApnPQT3C7EhHHRkQyYX1oudQu1t1uKzRkF5AvR3w-znsnoH9U0ppJDU-piD9QtxkwHSMEKSrWg9lhBespB_ddR3Yown9huiKC9Hvo1aOrneHkVXV1KVxAQiyUU9rup6tqcMEC1aVG1V8zI5-pfMwYrQxF1FM5iZK9z-MHlV5srUPZUGfyi3xm0H9o7n86ddLmPJo1h5ysQ3G8eNYg8DromBxE9umloBAofiYmEPlYCaubvrjr6XXqiWPJuSvWTCD0KQpz4S2fWDUklnLaPbP6IJRDtNZMGZ2qeHHrIiOIQQbcHWkKzn7eWfm9eIA_hlc8ieFsIPj1cXYd4vNdGCdb0pIEBZXc7CS7T5FSEOwrT9M7Zu7T5fDu-buSZZR-xnjHgRD4esuvkIZuIZgnOVoIgM2KeIpZZBIi2r1j7MyCx4OdzmzvPE78QiX83V-Y4I5GPlF4D-Tqu3dTqB8BpUEfXCm90Z4sOvpeJPYlWo6n_aGBeLERS3q-03mPeQS2GTYTtlQnY",
  "id": "rs_00ef67f8974b703f016ab2b15ae0a487d0b8448978eaedeab2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.135,\"left_z\":0.15,\"left_gripper\":1,\"right_x\":0.294,\"right_y\":0.004,\"right_z\":0.19},\"note\":\"All three bottles are lying on their sides, with their caps pointing toward the far edge. I’ll approach the left bottle’s neck so I can lift it and let its base swing down.\"}",
  "call_id": "call_t8pjo2R7lSxkiBrp76DJ6dV5",
  "id": "fc_00ef67f8974b703f016ab2b161835c87d08b7f9aa3b877ec05",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_t8pjo2R7lSxkiBrp76DJ6dV5",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4408, 1.5845, 0.947, -0.0319, -0.3607, -0.2672, 0.9985, -0.0189, 0.7967, 0.6109, -0.4301, -0.0292, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4269 left_y=-0.1285 left_z=0.1325 left_yaw=-0.0097 left_pitch=-0.0576 left_roll=0.0156 left_gripper=0.9985 right_x=0.2889 right_y=0.0033 right_z=0.1722 right_yaw=-0.0015 right_pitch=-0.045 right_roll=0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.7316, -7.706, 8.9368, 1.7021, -0.2662, -0.0366, -0.1636, -0.0068, -1.4154, 9.7573, 1.7558, -0.0366, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70d2a5864d82b099eaa285d42bc885a74f9d3dd4cd7efc199d67f3de34cab4c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cdcd19290145fa6d3d6945ce1aac5cc2ece7f89cf0cd9cbba59157c935c846b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae75c83892d704805d307937b2559cec689a53f91d36d1c3f5418d50b1021e9a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 70d2a5864d82
wire blob 8cdcd1929014
wire blob ae75c83892d7
call 2 attempt 0 · /responses · status 200 · 9.511 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, 0.6083, -0.3767, -0.0227, -0.0288, 0.9985, -0.0166, 0.7887, 0.6033, -0.3855, -0.0288, -0.0345, 0.9994]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1827 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9985 right_x=0.2936 right_y=0.0038 right_z=0.18 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.6632, -1.5111, 9.7436, 1.7656, -0.0122, 0.1343, -0.1685, -0.7726, -0.9915, 10.2359, 1.8974, 0.0708, 0.1587, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrF6NYcr9t1l15QHvE9SkDlReyKLs1SgitfIQ3ohAYHsE3iPIcmT7la4X2jLxrQG0_Hc5y7-eObhA-PIvpszdsL7_9-th4uUPkkUfq0vbG6W-PCRIF8xC5SpR4y3aqtbaaz1K97IWV8NwKq7nzV_E4jgt6vKp-971DQnLCN5HymYOuFWaLRe6HZrqb0yJz2L-gE8I-rv-ih0bVKFB8of7JU9ErrpaUVZvGjw2RZkkw88lM7Yb2iZ9i5zPc4Wg-Hkh1Pg_2H4wVc5ETrdI4PhGAs0uPPI6rcuhLN5xPNNNtmNi8yqqZG2exFzns0jjEjETcHHw4pjoi-9OgJGwjGGPIKuDZPJ2knK3AJcZfomlIXaWMUOIyumqNUjMgRPHTke78pJrl40RCeBwwD6FX_NPr3KYW7rgIU6qKMoPLx_UMB6ljSS4NZA2bQXEo1Z7ggRPI7G1VYhdtkCLBtWI8TvsE_4xSV02KNu089n2QKwYkcf00CYETD082KT1GQRF93sVATne87JsGq-1i6yNgHHTrKA7IwsIGdHEWiy0QQfIzMc7_Td6I9bWkLc0hACSbusIthRXzivv1TL90Y3w1yS3Z0YetvUYeXgV4DFXycQzOdkZsrE_BjfyBvTt-0R6uMyEDWZeAmRYTLOyjArTZfX4HvvAn-BF1d6Pf93ezDwARguINXjZIAzjieg89YmXgLCxBUkenx-RWS-5v50EJx3V7aEopJQj7vWhNgba0UL-mrtOlJ-dTmYRw2z20G3F90PIufiU63RnG0thz5JIfxQzFd6Q2C2qb35EVBdxLxM1wYCIGHISj-ki9hgzVZTbbIYIRpMdiBkItA4No9g85vqG6R3eE3UWTvnYcYy-2U33E-M85JHmdDMmtWd_NZPkEmPNWe6-G22rvOgn6v3Ylr4aYU1FFZnrt8rtV6TmSqLqU2MAzTl1c1qkoR1aH3YIi2fllBJSSncc_ck2J3pETH2rj4_VQQKKgHJZ8QzDtehMo6qFnCYF1FfBUmKVbDEtN_SQP9eERz_VlSliyI2csyEdryIackXcSibz2nhbjsq-8kvgHl7FVhqUtZuaO9krOE2CFazykCpofV5eRNKXGuHTH_ALJTScdxTQY7Q4HhCwlJ4QqGJaoTQifnPSC7t725g8UZB2ycfpcSfeIx5Jx3uITxHVy52vjLdfUjSeBkwDKPVz43M9ewx1uEKBsLmeaxXuHqgJ6h_XqKSIcvfVIHvXBEANsvJWoF8blh7tbwYhqFB_ZJBXQp1-GwiG95yjUpzvOsQMD7d1b1PBwRBlJgGCjC4jJh3bp8aJuqS0f86rd9T1IP7AVNiaVh8-h5Eo-Yl8dAUfPGhgXyhpGhDdFqq1ev73TuQXZVYZrcSjWiIdt5-6grMHiI9QSaTXquTcrwDan_uij_KqiykvKY5uoP2V2OJU-3OWnszbXpcLESV-1b5kZvdZADPKfTKg2eCmq7cehFpKMYI6x3aQEphiigUYyu9xJt91v8QAyX6HJQDtjZPKKJ9SrUYP5PsM-4nhSUijx42nKcduIkb-VDyDo8iKgN7XgxEd_u4qyTey4_MO6zCndtJuynVgYM6jYg6ZOExH5-oKcZDX-w_Z6e-X6lOdlKjmLLQsYmhC8zuU2o9dxWaD4XXSdzSOm4ALAunJCw2Gs45pSAczGjdXVQM2jGn1Z6vww9ER_ZD8riqxwtj6kDlGwKix_RQizTfnmyNladDuYp2ycyV3VNv9UTjhq5FpUgR2oqxu117JXP9iNV3mDZ6a5xNrzg6GDHJrZ37TZwlet1WxxRTbz-0UFYDBEGJM0VTnLeCpeatVKc2qbAH4ASAy3msRuJgh57ZWqhntp_ypSDDpyXbLPTw-xOHUdwjqcZr-vhv_bc8Q4YRhW7QWaHIOG5u8Y8R6JAHW_VCoUiWxY5ttCCan_0FReR9vG1Ti5ZOHbMbHpGbzw-rGFLhzyZEqxNHqeQQHi9TQT_UO--4nI4q1kXtfhX6SFrrYPE1eOn_xyd6SIkVvVSG1oVuvHjgi1CtZ3nwjIBBBRAOuI21N5JnFSAPVgyLKaJXAryfqH_gCeWnYCnGdAsNDBSL25fD4Q8aSDWm7C99ESHct4k23oGybtwjctDYTXdfIE8t-dUsZ_94Sp7V4OIT59wbPC1biEZjrtvQS1kBno8l0g_-VyMpNxBR093rZ8lDfI9VBsl0XrV2a2-wiBm0hgtwKI2s86J3_E1Ynfj9rWFaKa9FJ9PnlglMyIBEb2LQinQs8FlLJn5QUwOsYU59HfzKbPcKcZPgg15nlVBPsRQOEceBFqZYb2mqkF5vAn3JFT0-1S0r_2ktlTklKgpUbo3gWKulvt4VKm8EftuZ3cKb5g92q16Mkq6lkeu0RZRQ1D9CroWwhrEFQJEitPPjCPUxTWWqj-hU6DKzujX301YQDBifJ92J4TOhg5J-pvfL2GqIJfihxiF2-2xq9rOxUDp-0StW_awp9z2Vmvn7Pf081o4-FjRF94bQOufCzWDwwAWLfMf0ABOvA2kxr3IG_N8YiHVISNiY5c_aNkNj0zlD2J94-d3fzjgnSHg9GN2kqX6KhzeEiXuc8KTqGvwuN2EQGhrTiqAsGrjIjvcgzqQUiRh3xYEY84xe7yUkjO7Lxn6teXM1xKGVUj1_6viSepdSZRbz-fVHJB-WhY0AYx80XjbLt_3mjsfmf83hb3sN3IL5EjcNgYCKzSfr9t7UmrJ1RMZNCS4Q3ic206Jr2CzKwARumFB0UtBI6GVLfldGWCMguUcuX5lQN_sgDIwcdMOkX0LCfVm-vAU_kR2GyOCNB3ZeiA6w1dd4aRR-IuHUo51JVaDI0aWtm_GqNvjIP7-VgxaxyJ2OJ1kd8GkhQ1FN6XyFJTDwgp73SnlO9RyY0MBH9P_h0IfGEyNzLlhTeKpcurwlGqSGMEeQyNm53ThbImnBnCePHu7eFkB6mEhQKujaZ08KLduAQ_tZn1ufYvoaAqs2yNCVbfmVhdQw-zKMeo2uBWBBioMGUL_70N_geDBOkyuPNJCTne5BFUYiDoM0LRAzJn-mICHhXZ2uRArpWzrF4jCyx3OAv1rTn-J1eHPA5Khrd4dE6J6zR4ibSXMnrbMWqJ08GxFgHdmWmNbXAn6fUmq_Lly-5iiiExi8Taa815bP_b00t_OAd-54QVqbvSjidaz9H1zy-J9hzDcOWGNlpBYf5b9l7b1HWt7N5ZZt07vogGgAOL4B9a_hpkiITuqxi8b05bg8PQ844X6pSJdQfu_QDmYbFxntTkZHMk2SLcqahQSCIeF9TInXrhtOUFyIxpXiYmj3NscsF-kftPoL530wkLe0f2qfNRDzUAjPFtoBVQ==",
  "id": "rs_00ef67f8974b703f016ab2b167820c87d0be0e719c115869ce",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.035,\"left_z\":0.065},\"note\":\"The left bottle’s neck is left of the jaw center in the wrist view. I’m shifting left and lowering toward its shoulder for a centered grip.\"}",
  "call_id": "call_zuntdB2IfMh1af9hasQS3Ptz",
  "id": "fc_00ef67f8974b703f016ab2b178825487d0a90b4ba21b0179d4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zuntdB2IfMh1af9hasQS3Ptz",
  "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]: [-0.1226, 1.8431, 0.8581, 0.3504, -0.1379, -0.1127, 0.9984, -0.0193, 0.7712, 0.569, -0.403, -0.0296, -0.0357, 0.9994]\nstate[eef_state]: left_x=0.4738 left_y=-0.0303 left_z=0.0502 left_yaw=0.0398 left_pitch=-0.0657 left_roll=0.0017 left_gripper=0.9984 right_x=0.2858 right_y=0.0033 right_z=0.1654 right_yaw=-0.0014 right_pitch=-0.0343 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [0.1983, -8.5812, 8.5675, 1.9805, 0.0806, 0.0757, -0.0317, -0.335, -1.7573, 6.7624, 1.9853, -0.0659, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac4d92bf760c6600d65d9cc80b4c35cff2fb91c7a80c2045f9669be455dbe520",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b5af46c25daa562bcc0566fc6d66bc95ebd532c88f27d10aaf222976881e9c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b99b4aea6a1f5a2256a0c7b96655d58cd57d1aee8274ba5fe4bb492fc92b211",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob ac4d92bf760c
wire blob 7b5af46c25da
wire blob 2b99b4aea6a1
call 3 attempt 0 · /responses · status 200 · 6.682 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]: [-0.4408, 1.5845, 0.947, -0.0319, -0.3607, -0.2672, 0.9985, -0.0189, 0.7967, 0.6109, -0.4301, -0.0292, -0.0353, 0.9994]\nstate[eef_state]: left_x=0.4269 left_y=-0.1285 left_z=0.1325 left_yaw=-0.0097 left_pitch=-0.0576 left_roll=0.0156 left_gripper=0.9985 right_x=0.2889 right_y=0.0033 right_z=0.1722 right_yaw=-0.0015 right_pitch=-0.045 right_roll=0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.7316, -7.706, 8.9368, 1.7021, -0.2662, -0.0366, -0.1636, -0.0068, -1.4154, 9.7573, 1.7558, -0.0366, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrGFj1ntlAQqmY6SLw_4C9sUa8zn934ZFGtBCBRz1bBBEv7hVpqfD6_chcXF7PSXtW9HQybjK27YZeHIU0ndQGqLtXr03zEw64OMczNIwoetjQHth9ZyHKSs7E1qC2wiVLKJWufK5StKIqO6vS7TENS_mtMBvbEEEB7-AbyQTYpOBO5DlhNOAwmh0Y2Z4dkF0ihFLVEJ-dR7NVEGVFRIxRknPxUjocfNNH1NaHRudeVxusznGw8-rmbdushHRfYIBEH6Mb7b1y7bfB1bowIdUAlBt9VQKanuvf_7ux7jcnU9U5X-OxLj0J0KDpNiDmVR3C6GoVHImB1ZRTf80UfGOslteJhN8TEwzT4Q-8jt6iOtF9MrX8y1XFSS2tLBCyCv8sid-22dp9-ja_C7DQjPTxYZNNvl91SGRxboD2xxdown-wut0evVF2bb_DEb53iwormvcv9sbUGQhn70im31N2Inn7AGh2jlsFBVX2EKxzn0veXGSwbm6Sweno6DCwMkMOc31QtPS1V4WyGey_bo3N42w0KhCGwnZsihvhaKi0xnP5v3xBZolSAdbgo3cXgr-CaOvcRRQezvJxS7WGZ1QiEC2yMCj38c4cyMQ7gcQWdrh8rIrxrJBLTazySmOSHUIOIIrB6jHVQ7phTNM7zvpS2HReicUwu-5oNEHB1WGAFMsWjNfmTBlAxl7BbDxhG8_H8WjiWqBKrUz2aPIfG0nnepZSdxRjzQwlr3V24e8MpKfZ6qObGs5N_JcR4MfAHn3o_8-RGi1sj9sr2IgTokC_mOnpViogtcM1nIHCUwc7VZrQ5MsV3e-wARokSIK9kRNeKHfDrcwu4TQiFotxnMiclSc5qER--KCHOfL59AGn7De5CX8tn6hEqrLvj6wGtZe338UDWUYFzdPM8_6sCEQHS0nOmUaSrh7FMRrZdtLvp2eCChbSC4E5kqvWVsmX4miczKD4bUKcS3kG2vzOoPYLUByKDkiWh7K7zjpfWHYDbJ8GgKtC46OReKqwYPUnrr4F8ip19SbkOGGIu9P6zFDKkfjCoJeKvVsqXxY_fH000APmcfAB4BWX6Q-2jkfNUYvffmSFh3sRXrpoisE--2go66-Lz6vYUrABsotMwLUOXZUjX1-LCsrtwMRVZyeONkQS2gKTrrp82KY188WiKHHA4JFMqPVCGsVn4p4ctBie0gEG6vpV0TvDm86yM6WX6zIQ3L4MaqrtCpM75qcM62vf6cRY2otIE5AqKn7RmkJjDtROp9zLdqUMBNBpC82vnXZxXkVIDa06M0Vx7Tx4PBk1vVKmmCKisR7RRkIQPDamXtC7e1iy6Q20REv7vnnWq7tzt8K1gcixWugpmslTJ3DE27-ZmxVsX_KJj6Y88ualD4Sjk9VExcpzzjhBXO_adN999-jzrB_lxnxpi_676YK6dRWu58n_LPKQ0TIgKoYjMCZW4vkm6Gw23ZgXznnLQ6llDzhKVXVbN-ZEn_CtMcZeSbMYUUVU7eoo8TLDq0WnTOH9xCIiq6zLhHiuqUImmIhoRjDd8CJD10YolGyQJAUGRtmYhQDL4jr2oZgdg7MWJNDG4=",
  "id": "rs_00ef67f8974b703f016ab2b180487887d0a319364db99ecb11",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.535,\"left_y\":-0.01,\"left_z\":0.035},\"note\":\"The bottle is between the open jaws, but its narrow neck is still ahead of them. I’m advancing slightly and centering on the neck rather than squeezing the broad body.\"}",
  "call_id": "call_qf9YIwLfDg2UBSFLTx64wNL7",
  "id": "fc_00ef67f8974b703f016ab2b1839f0c87d086475416abe80331",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qf9YIwLfDg2UBSFLTx64wNL7",
  "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]: [-0.062, 2.0369, 1.021, 0.4603, -0.1043, -0.104, 0.998, -0.0193, 0.7536, 0.5373, -0.3931, -0.0296, -0.0357, 0.9994]\nstate[eef_state]: left_x=0.528 left_y=-0.0108 left_z=0.0418 left_yaw=0.0671 left_pitch=0.0097 left_roll=-0.0211 left_gripper=0.998 right_x=0.2822 right_y=0.0034 right_z=0.1577 right_yaw=-0.0014 right_pitch=-0.0385 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [0.3897, -8.9094, 6.5573, 1.7118, -0.0562, 0.2906, -0.0464, -0.2393, -1.4974, 7.0085, 2.0147, -0.0513, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7be7517e67550507b3e8dbf9dbebe780becba30d6dfee2fc5279966b38b87948",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5dbfba05badf896f3958240abc4ed3f0292b68b9f6723965f4769405847aa89",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97bf1f8adf5029582e4623f749c391d62550dfbdb1aa61ef1af5e39a61fa89f9",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 7be7517e6755
wire blob c5dbfba05bad
wire blob 97bf1f8adf50
call 4 attempt 0 · /responses · status 200 · 7.14 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]: [-0.1226, 1.8431, 0.8581, 0.3504, -0.1379, -0.1127, 0.9984, -0.0193, 0.7712, 0.569, -0.403, -0.0296, -0.0357, 0.9994]\nstate[eef_state]: left_x=0.4738 left_y=-0.0303 left_z=0.0502 left_yaw=0.0398 left_pitch=-0.0657 left_roll=0.0017 left_gripper=0.9984 right_x=0.2858 right_y=0.0033 right_z=0.1654 right_yaw=-0.0014 right_pitch=-0.0343 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [0.1983, -8.5812, 8.5675, 1.9805, 0.0806, 0.0757, -0.0317, -0.335, -1.7573, 6.7624, 1.9853, -0.0659, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrGMWGypKQGsVKOfZqnTbmnHgtZtCLq7jiG9g21xFseF-uIqYCVUaZOI6Lk9co0dJ_2g6gWXBjmWTxDrdit2VeGhvu7mfXS8nq99-38ojjO70S4bE0qUiPX3b2D_TWNo_XqqTDX8qKQHX_hvG1_PSnOwkQ9mnKuuggXaCwrGgqgZ67O7S0dIiTs4JcGvPM1T4uhKpuSjU6ps1xc-fuZ5-6PeMbSJLvvQithZ4yGoG-LtrcsTM1p5exF3883-A9KHfr0a0f_ug3Ez9k_H1M2iMygLmMycIuVlYyxJiXLg5wEWp1YrnsKFoi-YJXqf4gkifYTxmoAsxhKSQw3vrTgdqU7-OOpXTF1Gz8tz0F95YsUQIgqOb2ly0SyAejzzwJFu_ZjS8H7poqrP-ViUKi2Z8vrVGrbEa9UAH0z-6qDCc1aH9QBN4QpJZQrvOufPJnWl9QUjMCVdpASR4Z32uoWfCFF_3MqPhMFidtGh55OEJKVBlZulJpapxd2BfggnZtBETN4Q_kLdLLzNRRxXZhe4kX0zrz8YG7FqvC-N2PzRssdiuUCK8DQuW9TMUUeDnGazm23WwflWL-WE3-6FN__nBn1UTNqSwy6VBROtEKZ_wHTPYFskZT9o1zDBlTxV8VnpCKXQ41BkmxlvEsqosle0aAZH8-HmyEcqI_AiQjfvxwspOPsBD0lF9UqNsdX109S6x-IfUrLXblaSiMqh70WR3iD0dk1a91XgfZ2hBdhUwBEyAayMxbCLrUP3onTqvpPj8P-3IL-DSZGT_rTJVZxsmHGRPxSM_L8qp0TwUssRBasOy05Et4USIcL-pYcj_aRGL-OnAilar7SS-XheTXRrPcqlHK8O8XtmwijdURhGxZlkCGucrAzktySYuMKtNwam7VuupcLIEx2ITCgpiuzdX86Av69QV1zmzWXgt-Mb57Lmac0LiN_8l0lAXHck8lkPODiNWmzQR4k2q-aMp3D5QfxC26YJ62nrIudh8mvX2dXF9it8fdMxFNZ1Zr0cIJnQGniIy6YIQagv3LndnbC60_HW2IAWxTTwBaZJJvs6lTRFjtfl2efU7UDX1EWMG8WCC1hqxXc1RS-_Zqjeh_fLD-vcaMt311-jPCVvkvOnOKPv7TjK5Q6NtHhUT26srsh-NqZqoEAIexoVhN6j7yGswZnjAuioGRGRQrrmRSyxnvufikUsoX0L7b4WaJgOvnyhX9mVsRXkW6ETcsHIe9ftwrwD80YI_HQ6sW8BYxUEPiAO2mMkKddFBxlQnv_JenwXxB0HWIdpO_tMI-jlszNKUdfLvQXOuvDo83FMW2r1DloGvCuEnKIGRYH92BpGAcTZwXDSSs6HcuyUimewyMyDLzZb-dZBSlral0mVYatnwpoRD4NzTjKWkyO7_bBUeF1ykZKP1el-V2rm6nfFINRb75XRNArk9brwhEwmvNKA0rfXdQaQ0cTXbWVJFTcJKjnbYgyx",
  "id": "rs_00ef67f8974b703f016ab2b1885f5887d0b43167f6faf90d8f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.57,\"left_y\":0.005,\"left_z\":0.025},\"note\":\"The neck remains just beyond the fingertips, and the bottle has slid slightly forward. I’ll make one smaller advance to put the jaws around the neck.\"}",
  "call_id": "call_o0vlTWmzHHjqgdioMCwfNXy8",
  "id": "fc_00ef67f8974b703f016ab2b18ae6a887d0a533b0bdd9921418",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_o0vlTWmzHHjqgdioMCwfNXy8",
  "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]: [-0.0574, 2.0487, 1.0389, 0.4637, -0.0933, -0.1036, 0.998, -0.0193, 0.7326, 0.5022, -0.3771, -0.0296, -0.0357, 0.9994]\nstate[eef_state]: left_x=0.5332 left_y=-0.0106 left_z=0.0433 left_yaw=0.0621 left_pitch=0.0184 left_roll=-0.0277 left_gripper=0.998 right_x=0.2787 right_y=0.0034 right_z=0.1504 right_yaw=-0.0014 right_pitch=-0.0366 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [0.2256, -8.7043, 6.8171, 1.619, 0.022, 0.315, -0.022, -0.4034, -1.5111, 6.8171, 1.9805, -0.0659, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b24a45a373ae01813afcc558c02da0475eb6b8ac0507d5333adf40afe03b1906",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5ace53e58aa21f5526b57d422daa6537d8e2b2ffa670aa7e6f5b319b9194fa1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:288eccca0be3bc76395afb5930958f40c91b1381139a6d0b1702a7b8a0a16e2b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob b24a45a373ae
wire blob b5ace53e58aa
wire blob 288eccca0be3
call 5 attempt 0 · /responses · status 200 · 3.928 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]: [-0.062, 2.0369, 1.021, 0.4603, -0.1043, -0.104, 0.998, -0.0193, 0.7536, 0.5373, -0.3931, -0.0296, -0.0357, 0.9994]\nstate[eef_state]: left_x=0.528 left_y=-0.0108 left_z=0.0418 left_yaw=0.0671 left_pitch=0.0097 left_roll=-0.0211 left_gripper=0.998 right_x=0.2822 right_y=0.0034 right_z=0.1577 right_yaw=-0.0014 right_pitch=-0.0385 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [0.3897, -8.9094, 6.5573, 1.7118, -0.0562, 0.2906, -0.0464, -0.2393, -1.4974, 7.0085, 2.0147, -0.0513, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrGUUR2NVdp8f0-IxCruWtJOvmURO9CWM-OVaMRlWRYnPXICGvArC_b3kd1m4ocNFgJnizdX48L_As1I-wULpnr99W2oV0NOZehyFBtAa3XwgMOBXCsi2qeWbJullS4DTyl_d5yLwd9STGqBrpoKj-612AJi5XCe47gV0nB8Mo4szh2uix53371AdKhgjQCzNu3YP7yPhFDuKuQ6EQ6BKcHvDMEl9KL9rI_zn_Buz9vOPlFjosATLmJeI587hwJvPDqBpcH15CJ1RrKUN0Kg4hh5TFUW97luDWJtXT6CBAQz3LhMJ2GrkYuMkeayHdGfPoNCsxJkeOWtoPy7LlHLbEU4MhaKkKsshKVXafLX44zx6OHaUjr9k4ci40aIwmzU_7LBfGPV2JsodNyRWoHe_7ejTJJTuYAGNo5CXgO8mtDFnL9O9vWtLhrB0M_qV3K-57s3O5iOnoTjdWpGI3PmgAziN1k_kQME9x248hI9NpYHOSgRwXxSlctrYrPtsxeZsM7yzsigKWKy0gGE7DA_hW1IZXm8hChVyzHrNq3AeCEOneJBRBZpvwykQohvELSqK0pkLle1BhaHZzTTxSZ0VW4tf96KhYytnadRTYl8ydEIQnkMISZsBWK7WBpvUvkBS9eRYenRxLQLJuJMjBkBeebeqs5d7XdkRCy-PUthTo2Zv1WR9LFst7tY2SyzmN705D_yeboS8lfeSIUBDne7gTZxVcKPVWFbRGRuQ4rpckMWJhWwh_iMgm92TqY_b9TRFDwVSi5fhtVPnCZqwNlMkdaf9-vQ4yQBvQHekU7MVdHqR1eorSbJaXycwypvv-0SR-th9PWzppX9rT0pcCekojR4yWhn1VtRNEEggXErrTWMgbCY15X0kQSe-ABESp2eYY_CiQx89monSDaVzrHEhAYZCee3UtxtOomD3IefXC6LjvSjjrtBQozKpJga9GWUJcYU3Gn7wiu12GQqT2Asx9xD9Lpe7JLW1wr5YrVQlTwJX4q8_ow0WVQNKkTfbNVG04SABuCe0UQY78hdF5Rq8fEQVC5GuLjzzE-ZhgOrhgh5pDfruZTw3xxyiUkAFIdnX6YS95RxjdpZ0J9067RNYbMkrtG4Z9pNJmSpFwZRtKp83VNoOeLjMLYkpdCJKQjBKIlGHCoOvP5RVdxzIOvj-fre92FeWO2REF3nALY5qXIbA9cpngPAwPZkaHPkdaKqgBbr5XeKM1gO3_4VoX1yaQ12FuM5P1puvtOoBOSw23vTm-vBd1sE-RS_ZzbrGaTpI7E5EI_Nf7279NgsMxdUAsmugT30g5FVXmcbvVMT_rHsxaFZSYVqLkIwXrt_jJfy9gAN6M-0WMpS44wZlCorihKuhyYFIExHL_yvqR8a5WfhzDQ=",
  "id": "rs_00ef67f8974b703f016ab2b19030d087d097a9dec1ed1a61c9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.35,\"right_x\":0.294,\"right_y\":0.004,\"right_z\":0.19},\"note\":\"The arm has reached its forward limit, with the jaws around the bottle’s upper body. I’ll grip gently here and test whether lifting lets the heavier base swing downward.\"}",
  "call_id": "call_FJ8abg1MbBxtz2pKXbUWLpdt",
  "id": "fc_00ef67f8974b703f016ab2b191b48c87d093bce9cd02d86b31",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FJ8abg1MbBxtz2pKXbUWLpdt",
  "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]: [-0.0593, 2.0495, 1.0496, 0.5117, -0.0875, -0.1005, 0.3567, -0.0189, 0.7902, 0.6006, -0.4301, -0.0296, -0.0387, 0.9994]\nstate[eef_state]: left_x=0.5422 left_y=-0.0131 left_z=0.0574 left_yaw=0.0541 left_pitch=0.0757 left_roll=-0.0346 left_gripper=0.3567 right_x=0.2872 right_y=0.0034 right_z=0.1692 right_yaw=0.0006 right_pitch=-0.0488 right_roll=-0.0022 right_gripper=0.9994\nstate[joint_eff]: [0.1573, -8.8137, 6.0376, 0.9646, 0.0415, 0.2906, 0.3394, 0.0615, -0.8547, 10.2222, 1.7265, 0.0024, 0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:297ec39bf4002aaa20b12b05ef1cfbece8cb03d9d64537db579e48b746b5e273",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8460d840c8d9b07da4589727ff423ad1e732dce77d0aec237443df29a3713d27",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07fac16fa2710c2ad5b09fcc3cf9bb1233587a6622c197d9b0110104002cb489",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 297ec39bf400
wire blob 8460d840c8d9
wire blob 07fac16fa271
call 6 attempt 0 · /responses · status 200 · 8.086 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]: [-0.0574, 2.0487, 1.0389, 0.4637, -0.0933, -0.1036, 0.998, -0.0193, 0.7326, 0.5022, -0.3771, -0.0296, -0.0357, 0.9994]\nstate[eef_state]: left_x=0.5332 left_y=-0.0106 left_z=0.0433 left_yaw=0.0621 left_pitch=0.0184 left_roll=-0.0277 left_gripper=0.998 right_x=0.2787 right_y=0.0034 right_z=0.1504 right_yaw=-0.0014 right_pitch=-0.0366 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [0.2256, -8.7043, 6.8171, 1.619, 0.022, 0.315, -0.022, -0.4034, -1.5111, 6.8171, 1.9805, -0.0659, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_z\":0.145,\"left_gripper\":0.3},\"note\":\"The jaws have closed around the upper bottle. I’m lifting and drawing it inward a little so its base can clear the table and pivot downward.\"}",
  "call_id": "call_vJvAG6lpCsWcyuvlW8ddv3cO",
  "id": "fc_00ef67f8974b703f016ab2b196d88c87d0a569c4062d621c46",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vJvAG6lpCsWcyuvlW8ddv3cO",
  "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]: [-0.0727, 1.7332, 1.0538, 0.1394, -0.1131, -0.104, 0.3015, -0.02, 0.7609, 0.5518, -0.4026, -0.0296, -0.0387, 0.9994]\nstate[eef_state]: left_x=0.5022 left_y=-0.013 left_z=0.1392 left_yaw=0.0639 left_pitch=0.0258 left_roll=-0.0187 left_gripper=0.3015 right_x=0.2831 right_y=0.0031 right_z=0.1604 right_yaw=-0.0005 right_pitch=-0.0407 right_roll=-0.0023 right_gripper=0.9994\nstate[joint_eff]: [-0.5812, -10.6051, 5.9829, 1.873, -0.0855, 0.1001, 0.1099, -0.294, -1.4838, 7.0222, 2.0733, -0.0806, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:971ed501b944a8c12216921fffff2396245a1987794d5e515b5f7c2f5b1ad740",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ba58cff8f577d6b3b06725e2a0fc9e43d7ab0d6c6c69c977553060d9ce2ba6c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b40344a7a34d13541fc5629baf7c3f06b3496a8de98cfe9f6cca00e48ba01540",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 971ed501b944
wire blob 2ba58cff8f57
wire blob b40344a7a34d
call 7 attempt 0 · /responses · status 200 · 5.514 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]: [-0.0593, 2.0495, 1.0496, 0.5117, -0.0875, -0.1005, 0.3567, -0.0189, 0.7902, 0.6006, -0.4301, -0.0296, -0.0387, 0.9994]\nstate[eef_state]: left_x=0.5422 left_y=-0.0131 left_z=0.0574 left_yaw=0.0541 left_pitch=0.0757 left_roll=-0.0346 left_gripper=0.3567 right_x=0.2872 right_y=0.0034 right_z=0.1692 right_yaw=0.0006 right_pitch=-0.0488 right_roll=-0.0022 right_gripper=0.9994\nstate[joint_eff]: [0.1573, -8.8137, 6.0376, 0.9646, 0.0415, 0.2906, 0.3394, 0.0615, -0.8547, 10.2222, 1.7265, 0.0024, 0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrGhHbpQ6hmUFa7dG6jxoWhtnHXRjNrSalQAJZPnkwsT3v8YcTbuP4MCIJguoj29OgwQ_3iU6SShsfaaIqn9A0eElB9PYw8VXJRW7vdWj4di4rrHNz1F4m9BqOqE07hNRPRTMm-rTeTyWZMC9eXnFDDKHowWYUz-hye6yvKhQsBWr0V7HP2MQqZyavsu5OgU-Ouj2F62me-4fI2XV5dJVEwHroP-087py8whEx-BSoib81f6p8EFrH1LddvZrrk27Kru_mCq3-nySXPXnMZpEMyQvMvDnpcVh8bGRRNl60tMrPy1TOcJ9WlIRNSx0aJ2mSrgNayXJar0vW5J_ZGdEfnJQGYwOyjOD39gaHhi7UxQF-jDTobcSSMo3h8brjLdZwxpyZKuFqxe-XGpNTsGBWrL26bGc-IhfTaNoWWra42cmPGhhrsGVXOWSFL7-7B6fIMX9Gpe226kYjGbVYLJ9YOqmwO-du1rqsHlAvSLfYFMTBNsjIxawQgTOzTHw1Gl5iwbsjyOEbT_Mb9BP-H4TrrFp8XHgRjLN8dLYLCDy0NR4OakWnwzrFJVqd6tADq6r4gVssY6Cwgn5cuvIAhLNTBJv2gQMHzqzT6WEFJy9IZgo24RkDEVWazjkMIS9t_u5uWxAVGbzu6H21yj0hoLypgM5sWE3OPeoem9woDAz_OkGc_-8m8JN9d5oj6Xk8RQpe-0YJs9tQ97r-TtzMCxxC9wDTtfjURO3XIW38HE5zCxDE9TVncXw6hkENSxW7q9anpmusu8EUfrSEkPjF1fujsa0YIlJLd-rVaDoAjv8Zc6l200NrM_i2opQvxakr2U4hF0oaMDx6xxQ_vvnxtzyl7xsi0YsZSlVl4VUAcAmZ-4-ZP7NasrhhAVcKO0sZmhU9QHKDk8edgASEZKVTi0Ez2OmcdJ0QfPWNX3CFlpPyOvYrEX88_5H2eLxOqNgjcnC0EEdQgENSQ9cIfJ8IQvEKsgXBI_GmHQVHPnTLDSgM3QZA_ErqGXTd-UkVB4QLdHCwsh35ydAtPLWwYmkftPaSfNZOBupF5RBhnb0UNeh_OcpUox_xEQ_TYAd6UI5GL2IKCNB7mw4m9f84bM0MhNlproo4Ognigf326qg14BvZoPWfO1_k4pc6sL2OC5kbtNbpoYOQe4wdlkaCwopohd-hH44AFnC1lEEdzTUWqpEvKy-QiqwdgAwUyWJ_0v9vGZVno8PGU5Dw7_U42nZeW0zZd_48NDUisFRt2vtj7WErbzB0abJCmnKQBt59MR1PNRTiCMohb4u_B264uHHSw8kdaR5E5afKWQK8iVIZLRqotoagCshGH6SHaunZyqseUXWecZiYXQWWOcHhZpzqx3I4ZT53pTEl78uvtEkYLwspFK38jRkQkHalLTKKPR6b35DhiXvvbfQRN5yz4gjSyL9sf9jPKNpTzWYBiAZULGcSEsNpNY4oKuzpGP4gLsKyxdVn6lg81FyLRDcrFx7nNmMbXtc-l8yU4g3uwedJ80K5Bmi2Vg5T_0BW46y5AdYY91kwBGW5Sh8qsXeWNDhaFqZZg6zHStDHbtbDFqYckqP8NVt-ae2DRaDllExUfMwdJZiekxvAyr4C3R8geePcpdZbNnNsBPpJ2-lAcskVmv1qBv0tRdYMbGw9wnTnL5yRlzNIhYbE2VIDW6Ia5Ih3f7OBTrQZoftgE5aob-Y9ltdSBlxTmTEQ7s5QpXcZ0dOwDL3AX2QHC40MwHKumqQfx14ABRFyvF0nRLgNFjGjS3KtIO6xyVzjL9W1YzEa4SgZ_LSWZq",
  "id": "rs_00ef67f8974b703f016ab2b19aee5487d08f8e14dcc14ace9d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.505,\"left_y\":-0.012,\"left_z\":0,\"left_gripper\":0.8},\"note\":\"The bottle stayed on the table, so that grip did not hold it. I’ll lower around the body, secure it, and pull it into easier reach before attempting to stand it.\"}",
  "call_id": "call_tGNYTGPYk0KwH9vLyeHeKUlr",
  "id": "fc_00ef67f8974b703f016ab2b19f3e2c87d0b8077318f40ec543",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tGNYTGPYk0KwH9vLyeHeKUlr",
  "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]: [-0.078, 2.0403, 0.9245, 0.6449, -0.1211, -0.1078, 0.7972, -0.02, 0.7376, 0.511, -0.3779, -0.0296, -0.0391, 0.9994]\nstate[eef_state]: left_x=0.5203 left_y=-0.0157 left_z=0.0425 left_yaw=0.0679 left_pitch=0.0947 left_roll=-0.0279 left_gripper=0.7972 right_x=0.28 right_y=0.0032 right_z=0.153 right_yaw=-0.0003 right_pitch=-0.0335 right_roll=-0.0028 right_gripper=0.9994\nstate[joint_eff]: [0.0479, -6.1333, 3.4256, 0.5397, -0.0952, 0.1099, -0.0855, -0.5128, -1.3197, 7.0496, 1.9316, -0.0611, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c297713739c3476282f09d92ddc69b223769b8593932d9d6e0bc0489afb0fdd4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc3ca16cf4f9541bb8564cd0aeaa34e5d3bfc0d72b2b7983ede2bd72625a835c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06869f64a797c35a3e8560d3a0664ea75febdb0b26cce247a0edd9c0d3c4a07d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob c297713739c3
wire blob fc3ca16cf4f9
wire blob 06869f64a797
call 8 attempt 0 · /responses · status 200 · 11.51 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0727, 1.7332, 1.0538, 0.1394, -0.1131, -0.104, 0.3015, -0.02, 0.7609, 0.5518, -0.4026, -0.0296, -0.0387, 0.9994]\nstate[eef_state]: left_x=0.5022 left_y=-0.013 left_z=0.1392 left_yaw=0.0639 left_pitch=0.0258 left_roll=-0.0187 left_gripper=0.3015 right_x=0.2831 right_y=0.0031 right_z=0.1604 right_yaw=-0.0005 right_pitch=-0.0407 right_roll=-0.0023 right_gripper=0.9994\nstate[joint_eff]: [-0.5812, -10.6051, 5.9829, 1.873, -0.0855, 0.1001, 0.1099, -0.294, -1.4838, 7.0222, 2.0733, -0.0806, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws are now alongside the bottle body at table height. I’ll close fully so the gripper reading can confirm whether the bottle is captured.\"}",
  "call_id": "call_CxgEyHtdOBObdlLjmBLpAX3d",
  "id": "fc_00ef67f8974b703f016ab2b1a56d2887d0936ca2ba0ed32b2c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CxgEyHtdOBObdlLjmBLpAX3d",
  "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]: [-0.0792, 2.0117, 1.0016, 0.5449, -0.1513, -0.1059, 0.0135, -0.02, 0.7216, 0.4778, -0.3653, -0.0296, -0.0387, 0.9994]\nstate[eef_state]: left_x=0.5334 left_y=-0.012 left_z=0.0656 left_yaw=0.0914 left_pitch=0.1025 left_roll=-0.0136 left_gripper=0.0135 right_x=0.2766 right_y=0.0033 right_z=0.1445 right_yaw=-0.0005 right_pitch=-0.0381 right_roll=-0.0024 right_gripper=0.9994\nstate[joint_eff]: [-0.5265, -10.3043, 5.3675, 0.862, 0.2222, 0.0464, 1.2576, -0.3487, -1.5521, 7.0769, 2.0244, -0.1001, -0.0317, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ee9c587ef48ac8619c1267135a8a865e04f1df421c047c0bf4dcfc9c1546b4d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7353a2377267ace1fb41bc8292a23ed95633c71ba4ace67af305316e6ad34e1a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cde8581f6a7c9d22717153a62703ee2f570c4d731b5b6334ccf22fe3822a096",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 1ee9c587ef48
wire blob 7353a2377267
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 5.414 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 29 changed as sent

message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.078, 2.0403, 0.9245, 0.6449, -0.1211, -0.1078, 0.7972, -0.02, 0.7376, 0.511, -0.3779, -0.0296, -0.0391, 0.9994]\nstate[eef_state]: left_x=0.5203 left_y=-0.0157 left_z=0.0425 left_yaw=0.0679 left_pitch=0.0947 left_roll=-0.0279 left_gripper=0.7972 right_x=0.28 right_y=0.0032 right_z=0.153 right_yaw=-0.0003 right_pitch=-0.0335 right_roll=-0.0028 right_gripper=0.9994\nstate[joint_eff]: [0.0479, -6.1333, 3.4256, 0.5397, -0.0952, 0.1099, -0.0855, -0.5128, -1.3197, 7.0496, 1.9316, -0.0611, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrGzLbASiinCmw0tKZVb7BLPWpDyPgnP2db-9nbcGeux4_ftn4sElDFZdalDEEta2c63PctTAB3SPGjulDltFpH4HzeTFtzRYr8fwRKS46amK3N2pE6_BldRk5gGR8ec5zflPON1K_40X6jIFwYR4zbj7sRKEh6Iz_l4JHqQhJ-7ceUfS_0-0gMX5oD7lgfvw828d5mFKtwIY7mK4L0i2ehb4uAbmcfHRgQOTlJng54RZ9dyOZNLQzRj-Kyi1ivLpb5XG4ZGXcKRtC7zJAL9W91ybT5API-uKr3d2hmS4LL5hRNynN7xSbZMwGYGnZIS5sx2K2QpTatQP8JYgRFl0kTaez4MXK5ckgH6W2ZaDNn1IPdeasnMO8N0NaxIh8MdJPrVOlgb4igm2v9QH7Iw0ur5hJCwz3_YodTlnIMtP-IZU4MrS6ANeIx4AfhivCrgahSqANQUePrp3aU4L1Wj35XWS7XUbHx8N2k9nSm4yiGPrBrHBwD2uosC9W3IqBnTYENSNget2-m2aEvckG0LSOlNUHtNCA87k0Ocu-28gJ9-6AgAzNIwezAilY5DkLc4LddtUQvx_4dKjLhY4ahFHG-BPkeOVSaXerkPnBFYkPiqei6E_sEcbX0pI--4nuq6ZNJbd_NaNkruO0YQ8I65moruuHSelch6WeouBE3qcwTl4c701O9N-wBC_nvQB0Pg_zyi8tlWMi4-Vu_vKe7O2iFCzfjvVNuUptUvzCDDlWiR2ShSichTLt_yXPA83mFZs_h94T4CqyFjRsgt_CFd9Kj-nyYx0OMCgmXEMd9fcmY3VUcTqs5ryYHYJFnUdjZOtwvAguANDC_ZMLGcDqoBDjSm9wzx7-SJMMbyAtr5h39H8Gj41KP9D49lvhohGLBcSpygGVrIGzcgmQp9-E4k23QmbADb-6zk5dGAwSFcq4BwizPasL1927g774zg18lAdXhpmFDmTC-d1bt3FYrJiQY1XjsAwctigrIkaiUBL8vMPshfD6U70lU3xvY82VuguRkrJbx9FF_qOkgWMo2GO9n_s8Ab2uejP-iSJsfI7TpbRtjjGAfjEMWPQGGBPR0EFUCvg26wT6ebkib7EKkWomuPRm0fJFdmdmQki19NIWCU8cXy6FMta8GQvw01Evv3d6zYX1mlvjyz-9Ibhxv6Gu3WbU75Lby9H27_pguCnI5rWhHQ2s40i_l5b9AitesKpURIR9w5yhD_LokZe_0ZMyIR_LdfSapMW654jCOk7_KJPvK1KhNICWvdfVZkw3mtGtilq8OUk4LCwg07cbmHGIdLGg140YYBqbBdmbRo-mxYxhcfMm8p4DzwREWUykJykQxSNMGpGhGvsoKGsyPgyVZ51n4PfDnNqU9r84DCXOfpa2gMYUvkOSDpFgvdIpm8uwBXsvXz3w5Cck1QBYdZmsOXc8KdDBr6H0SeiV3RdfkLudaTsldW0Z8b_a9vHnF71qX2I7mmY8wNW-OsAh5gS5VBp3-6zsicBPtqwCvj8xjzgr69DFnsPx4zghaCWJb7mz-ifdykHqNK_pw898PQl5kyKqar_UtdJAsBs-dcNLi5vg8XeyVmbG1RKH77kxEaWdYRaBR9mG-Wt6F1McSHAV59veb71zlc8WvDz12rXICsNf49XSARJ2q87eNj3p7zSjXEgB7iPJWPmwaCJ1U1AMhzPkMOPZVrfMUpXeJA8r5QCoGMqXYd3na0dnoW9faz1V1X",
  "id": "rs_00ef67f8974b703f016ab2b1ac840887d0a2fce457257b6c7f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_y\":-0.035,\"left_z\":0.025,\"left_gripper\":0.9,\"right_x\":0.294,\"right_y\":0.004,\"right_z\":0.19},\"note\":\"The fully closed reading shows an empty grasp; the forward pose is not getting low enough. I’m moving back to the wider, nearer end of the bottle where the arm can reach lower.\"}",
  "call_id": "call_XycZqAzjvCawljpjd1DpDggG",
  "id": "fc_00ef67f8974b703f016ab2b1b1341c87d0b4d5794b6b5fb398",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XycZqAzjvCawljpjd1DpDggG",
  "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]: [-0.1738, 1.8435, 0.6678, 0.6754, -0.2295, -0.1623, 0.8945, -0.0189, 0.7895, 0.5987, -0.432, -0.0296, -0.0395, 0.9994]\nstate[eef_state]: left_x=0.4541 left_y=-0.0353 left_z=0.0473 left_yaw=0.0925 left_pitch=0.0759 left_roll=-0.0209 left_gripper=0.8945 right_x=0.2866 right_y=0.0034 right_z=0.1682 right_yaw=0.0011 right_pitch=-0.0518 right_roll=-0.0027 right_gripper=0.9994\nstate[joint_eff]: [-0.6085, -7.5966, 3.3299, 0.9792, -0.0708, 0.0073, 0.0855, 0.1162, -0.7863, 10.5094, 1.7802, -0.0464, -0.022, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94a791002cc1854c01edfecf0538c1ef6a2d8622346cbb8c5b835f2192413270",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82d23ebc99db28b2f1f20e39858c328209fa6b1c2aa273d6aab4c37206207ac0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:703c510e298370e228079c44bd22a7abe845808508aaf89c88462f59a3ca1de9",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 8.113 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 32 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0792, 2.0117, 1.0016, 0.5449, -0.1513, -0.1059, 0.0135, -0.02, 0.7216, 0.4778, -0.3653, -0.0296, -0.0387, 0.9994]\nstate[eef_state]: left_x=0.5334 left_y=-0.012 left_z=0.0656 left_yaw=0.0914 left_pitch=0.1025 left_roll=-0.0136 left_gripper=0.0135 right_x=0.2766 right_y=0.0033 right_z=0.1445 right_yaw=-0.0005 right_pitch=-0.0381 right_roll=-0.0024 right_gripper=0.9994\nstate[joint_eff]: [-0.5265, -10.3043, 5.3675, 0.862, 0.2222, 0.0464, 1.2576, -0.3487, -1.5521, 7.0769, 2.0244, -0.1001, -0.0317, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrG5lUQ_ugznK6QQljGXzOOKEYVBO8oAXTcMKK_cwZM4kWAlZMMAZ4VkfFCf-CPMUM4JLwA3vHHELlrehy9xYv9XZLr4Zi0IhlvGYcvWStm9R7AYZ42B5aU24JJ9ELdEjQ2TFdQAIe8KP2vp_ghNvQMvI6IFlog0_GMYP6O4mmq717AlZHI1U3zCO9zxqxgz6gDKoR2f07iCMZrb8AIVo7IfRFLfvyojiGsI9iTZlKPz6SZGz44L58nFe2bOQy_f1LgKLFSu6UUyrEWcxbF5d-3UeOCAsSrzWgjVX_G0DiMlK_rnSfgjOzf3zPlEF8mjQ1sW25KYegFrUedx_CIPGWGm_OAOefQdO-ymDzC_u9bEu5Vzat1XBUh6mpPdmjI0MuoIzBmaqkglvReJuCKB0MMz2vAZBp-kpJ-yuKPkLey0neMwLJaEDwOFzNTTkXxv8EixuzCwY_SBYMaewAV_xylN30A9zAoeUF569ErFjJucmzAOtSd97CFX8y-5XdiMiyHRq8S5tB8J2tD_I-HYv35gP0bG6ZkJ-p3VjArysq1iOXuw1iyU_TI0R92CtIEeJvENlpCLYskX6qHBdOFxeSpIxyv_QBItzLBvYxkR003juF2brrQ96BgY2BA3GsdCPlu8nGPwld8I8HCnde5he1wglCAeGOLJ3U32bqzX9KNT7ZbhVqNbY9q3FAZSS-9TA7psOfm2ZzDqIPucwnPvQ2f1cWwXGnfRWHDuhE-5uydZ6mpN0OwWTiXJDkQ7z-kdGQMpqfOFM-gsu5uZbuLez_XqhK5SK14DjIdhwsK7rM7UL52Pgqh4mzfSLOSK77SKiJ_K4iy9NyDEvjHV4NnMW28RNWPFhNm0Ov29q02v7uM8hAsN9R03E3chsIQ8YDP_fmDxLdDU5j8RGUjDrWZKu5qYKHwoSEIPWdkl6uawwe1Ys8ruE-OCnRzoFKIzYIEaaonpmtRoh9OVZUsdGqgWCtCk4efUIMsM-MobOVb-WmvutZR--oGvyhT3QVV3BuBAl8EM3eN2GjP9tEnsH_26NB5leVwSClCvLqe0yxac3JCKf5ELzYKNMpIntuUtHpSMd83J7BOX-BC-V8Bh21KNA0drJVIIqEARyBJYZWjWdnXTJv4p5U2WkBaAEa2NPVCUX40Q1E6D-grKtvRg4I3NYQSwLlBO8m8xlp4kn2ftLIA-YUkitzB5EUvIV0o4WeYiSb5e0lIu5dN4RKKj2P0bUYigDfUpK4rq8HOYmasQmvx2bu-IeR_RMRB63B7Ib-M3jjChFlZtDuv3PDEL7gWD_JICFk-3s0QCWU6JV1XxE1ZAZqs=",
  "id": "rs_00ef67f8974b703f016ab2b1b768e087d098c66a477f15f820",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The bottle’s lower body is centered between the jaws. I’ll close here to get a secure grip for drawing it closer.\"}",
  "call_id": "call_Yh47OBT1aCd7E3dGVeIcZXvO",
  "id": "fc_00ef67f8974b703f016ab2b1b87c5887d0a1014aef690859d2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Yh47OBT1aCd7E3dGVeIcZXvO",
  "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]: [-0.1753, 1.8095, 0.7231, 0.5823, -0.2447, -0.1642, 0.0142, -0.02, 0.7589, 0.5468, -0.4004, -0.0299, -0.0387, 0.9994]\nstate[eef_state]: left_x=0.4622 left_y=-0.0348 left_z=0.0632 left_yaw=0.1047 left_pitch=0.0742 left_roll=-0.0144 left_gripper=0.0142 right_x=0.2827 right_y=0.0032 right_z=0.1591 right_yaw=-0.0002 right_pitch=-0.0415 right_roll=-0.0021 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -7.9658, 5.6547, 1.0134, 0.0513, -0.0024, 0.7546, -0.1709, -1.7299, 7.0632, 2.0244, -0.1099, -0.0317, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f48865069712ff8b91cca4083332c4d149165768fdd7b48a3001b0661f5bf837",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0aca80288c70950085b06ebbb90cac5d787e3306bc0482b1fb9fd74be5369b12",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:453c0f02b9a2ab6c3101d78cd92b9e7992eb94533f6c765728a053eb14a73480",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 11.46 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 36 changed as sent

message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1738, 1.8435, 0.6678, 0.6754, -0.2295, -0.1623, 0.8945, -0.0189, 0.7895, 0.5987, -0.432, -0.0296, -0.0395, 0.9994]\nstate[eef_state]: left_x=0.4541 left_y=-0.0353 left_z=0.0473 left_yaw=0.0925 left_pitch=0.0759 left_roll=-0.0209 left_gripper=0.8945 right_x=0.2866 right_y=0.0034 right_z=0.1682 right_yaw=0.0011 right_pitch=-0.0518 right_roll=-0.0027 right_gripper=0.9994\nstate[joint_eff]: [-0.6085, -7.5966, 3.3299, 0.9792, -0.0708, 0.0073, 0.0855, 0.1162, -0.7863, 10.5094, 1.7802, -0.0464, -0.022, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrHC133V6nt_sfs9T05OuZgivxZSVwrVksOV2iiBYn04Vx56y0mZLt1wbmVoopw_g_OpPtA2lVWi8RbH2rzYkXFMlTO303fs1qrfebXnIiq_1hcRn7h6B7Qpja1Uo_CGJs9SNZwDs5v4Cks57nXsSdY6gjjLJ3KSHI_6UqV8wvN3PN-bYJ6mNh_4kqB5KWZOYyAlhxtpQeXBumQQgfcLs4z2qvmG9wW64CgJAqs8yYog3CSKktoIyJSPc2eR5SdFKgl55lwbtJ44P57kxNB9WoFZQe3I7qAqvmqgeARBspA4NZSOyYEdbrji47VbcIBd-UIze4yFGRAUbt-PPaWnPKz2buUBj-eJBFjI4m9suK9sPZGxaxtRA_5yk5s2lYSUuCmwQJJAf6MSaPVgUlKZNlt1zzTa4N-wAuYO1AgVn2QmBE9t2o6GCdXsva1f-8zCrTl9FebNBAnVyB8364OH9F5HhU4uLRzFywpHBfQ7IRp4uA2pRhon3hVEE_Z8fhn8Uc9KKKzE2zIY07gq1vY4RRc-5qLaU-gzD95cY9hP4QPgQNPpqTuJss1vhgw5DeI7yahum0N1VL5gsikyxfKaKwy3dA0TsxTI67py1oDvp7_3uo2b3euX-1VUN670h76wMe-qjti6AhoVF96dr7LwzK8wwdoTRjuV2CrWO0S2MR2NG6WN8X4eokpyztcuCCkuJo5-UOLApq3RYaOini-Y5gJ9athCcVDTbJ9uvmC9TLzjoCwijqvDSyQlL4MM9F9H2pT5b20D-b6Ws5mXS95hltBdNEMid0AE4mBHGv9oQ2Z-i-Ez0vebCZTeguVfZgE2QXx8KY7PutU3MaMQoRtn2ZDdXULZCvEOHddOEt0Wg2C0R4DbLuTnmH8Z-dV9RICQCbVR4V86ayD4omUoKy-p2MFtASvI7QnqGnCTag-bjC5uljY8uAyA2_U8K1dH644I4lmNk4Pv_a1RwaKlwUTIQ57beE6GTDgmZr7MXyT62ZU06KMiAZo_b-4ZkU6gjR5Mtr8Ok8TYxbX9k5u2q6Uyg2yM9lrrgxo0biGguG0OhfHeUYTPJhfRtlAuWyoGH4eVYbhCY6YkHcn3Zk-2sm9p1I8uLiiWeNZ9Q3jSjLUeGRtwMneCSUi69nzBPfGfMnNdtrP4Kq65m4Q6aM35CyCWkFEK2XFbpt8nXG0w2rGxexHdlz0zGvCfnQkRf-JtQ9k9tq7UPCF7CRy7FugSnzPvwjEJ0sgUnq6BHoGX9mb-3o2qhdTLVkpXq7QLmmkSf-CG4p-67O4jVanDYazYiNgOmBI31zx-oX9MF2b8wzg8wgwhBbkT88qLBWOmV4OoKcLN9Eztuzlx1RIEdJjLqaX-iHr5kfqVNlTLOquc9IASbwyektioPxJ9VhTmPieD2J6eMZe-7aWdDGN24mRvnSP1fXshIA==",
  "id": "rs_00ef67f8974b703f016ab2b1bf912087d09afc44fa187a7f58",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.04,\"left_z\":-0.02,\"left_gripper\":0.8},\"note\":\"That close was also empty, and the readback shows the fingertips are still above the bottle’s midline. I’ll open and lower at a shorter reach to get the jaws down beside it.\"}",
  "call_id": "call_vpwF5D8lpQitgOGv1YKgKG0X",
  "id": "fc_00ef67f8974b703f016ab2b1c0f4dc87d09b80d3772ccf550c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vpwF5D8lpQitgOGv1YKgKG0X",
  "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]: [-0.2047, 1.9549, 0.6369, 0.9558, -0.2821, -0.1871, 0.7947, -0.02, 0.7372, 0.5056, -0.3775, -0.0296, -0.0387, 0.9994]\nstate[eef_state]: left_x=0.4638 left_y=-0.0424 left_z=0.0498 left_yaw=0.1257 left_pitch=0.2139 left_roll=-0.0635 left_gripper=0.7947 right_x=0.2793 right_y=0.0032 right_z=0.1507 right_yaw=-0.0005 right_pitch=-0.0381 right_roll=-0.0024 right_gripper=0.9994\nstate[joint_eff]: [-0.7863, -2.8376, 1.0051, -0.1001, 0.0366, -0.0611, -0.1587, -0.5128, -1.7026, 7.0359, 1.9902, -0.0806, -0.0171, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cd5979ed02d0d9a6637d74363565b16dc80bebe6830ece3a9a27de4c3cda219",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9dd5ab00623c505f7072c2ffffb3da3ebea1ca2eb10fc1b00d626b454d2bb39",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acbdd7c3143efaac1434ffd05acf6c303039e6270429f684b3ad7763f0b2e0d6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 15.33 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1753, 1.8095, 0.7231, 0.5823, -0.2447, -0.1642, 0.0142, -0.02, 0.7589, 0.5468, -0.4004, -0.0299, -0.0387, 0.9994]\nstate[eef_state]: left_x=0.4622 left_y=-0.0348 left_z=0.0632 left_yaw=0.1047 left_pitch=0.0742 left_roll=-0.0144 left_gripper=0.0142 right_x=0.2827 right_y=0.0032 right_z=0.1591 right_yaw=-0.0002 right_pitch=-0.0415 right_roll=-0.0021 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -7.9658, 5.6547, 1.0134, 0.0513, -0.0024, 0.7546, -0.1709, -1.7299, 7.0632, 2.0244, -0.1099, -0.0317, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrHPTleZkf0HF04nDokwtsRLCSCxtg6C_38kGS9qbtxxblS5clfSlPDSiFRTINolWoGDMT7JdsP6yt0gSe-9rRmE1JlKlNu0D8b1W1yjwcLjLbbOkdHPcaGYJ5---n4WGKopgU7jpoH2ied0ADnkEZR0WO04aIr9gWVDhAKJySIUgRLQ0SahdKevMD5Nys_vwOv6ZREb3Yg56MxvMGSs55a1f-UMG_1dZhU2zrii0dAaWN8WOeOE153NvI-8jCAiN1oPEYDl6hyDxasDdDkZPYLfMCdkzy-_HhEHKW7CjuEawypaT5Aq6XLDPDSRKeEbyZFTRDqI55aXDYcKO7owqXRen0d-geAYJXQudhQ8Wu_iV5-rvUazL6jEG4Vkx9-rfQxrd3SLf92Tfe76Oh4G5AQcBhLwNAhfTOxkfgIti9ZCkXtpHVtHBtWaVTR-5DtSlDyG_miAAkWoXfmLHxAQc5BXCNkGpNnZbu4OmLEI46QZCtWv-zgx-gaeO6gOuEjB2Fd8WBt2QGN7o8stbf38Od7Xbx4jcHTiOq3cEs1wNsgJ5vmFI0_0f7E2xqvWx7FMUNAH8UniGgDSgvPTne9Fjo52S_zXkJF7jTlPCLF-tz_372NYJqap5dWrStHTcj78ZuXmYNdeRvTOpCliDlQ8IoPGMybqO-3kddrBORgCSOqWwAhhz47_S_-XDwIe0SsMq06e7pzLCiz7vx6CXypm4RJvVp8VjPQbnZqsw5lNCQma3MhJsmxaDfHjlXGsMLeT4eQsQNlCL8Jlj10WrcZASCzmOjvGs9jaqTWtP2ZLB2zv0pM44sPRQHlRZiVQmNWwsiKpAvoEt85BXZFPlFGMW_odyjqPyso6TQwtMcT_1XH_QIaAd6qTpdahLGFb7i12GDjLo6x3KuNG6ikw6Qa7T8ou7xwcOXmq3TdzorV0a7SUQuN1YV-WlfaExfCvRAsu8RETJndew7RC9ld0_0__sQzhImOaTK56TLPhWrTcEFsGiJST5tUso9LC5gYyGovfrtuldv8fpl9uJqKcIxDDPbExQeGD9hWTfWfjnhCyKRWCCK_Ryj3w4YNlIP5ulHXGPHbObjEteN0S4XPJDhAh27Oi3eX3lrSmhppHF6XtTugaAnH1lwdt9mmLMs0JDNjberBjkHPZpeGG37t_b5ZR81ybGdoSlJ0nBr6PNfGgZGecOiC2ao_vUDnlRTj7SHhygCqMw9XmL9ZrLWN9GC55vSHAV8JRwv4ait-It5P5UotBDIqw1w2dVvQN1WTChVAJ7pelw4S7ufDnkkxUytsgqLXWTx8CTL3T1MWdmQVBxLuyNIp_7wyZ9U7Fgt3nOu1gYFBb5i3x2wZkMPLRhhZkg9JnnatYjIUuzPinafz-UsrdgxdshedTRg_GzJol8YgWpXRrAdtwxfHHHIYu6HWtixv8F5vVG_BiX1Hi1hDmX1iv2caNXGvdhCRAVrxvy_HbgI1We-1vTkIP0UuZMPLhY2v1GRevt8FXMOR34vPF6V0unzfP4Qjwupt-mfWRcaAQsGpma9zw2NuhRo7kdiyQP2dNJqtYi6BVa2aLKm8MvOGyJU37qRV1akiPUnWQHancVjl75sSsi73W1eIJGOygqYiuEEGEVFtNr-B6juGVt7yRjqldC1JU28lktsz5gOFbYVllgToUTJ3czbaLGDjYKHHubpe15qohd3z7RhU6SqwhQDXJslX28BwWyN5Qh3rz0ZHXRpW2stKAnVndAEz6C2RT5VKpDwZQ_N7o3nbLFOAGvR9gliYrnlUhFpUBPbwYg7KVGlMehiNMVMe_tYIci3IUQX3jtG425laae8I7D6L43hY6nr-7jnaa23hxrXqVLNKNAe16ovYXpj3PJCSlGqF2OTA1-YwlvBJRgA2ixOvyVr9eJSQ1myH8WNcBIwt75PaXgG3dXM5hD_VpqT5T3eKtmvWvftAeLZwFv0UpCjjlejP4FT82j9FORkxyHhk5QVuwwYOaH_tK8cI7W8RbZfYkHJR412cbe0PKhZpVM74QQlRmdh8ntKdZGBzJrjyJPwXPkxNJS8If9clglK_9_3wl7-7VJDkMsUTVBDNrFrtqFTmSFzxBGYBsWv-SYTsQjf6Qfg4k_mzc5WqDndhg4RfKEA==",
  "id": "rs_00ef67f8974b703f016ab2b1c5bae887d093abc738321bf7e7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.475,\"left_y\":-0.025,\"left_z\":-0.01,\"left_gripper\":1},\"note\":\"The bottle body is just forward of the jaw tips. I’ll widen the jaws fully and move over the middle of the body, keeping the approach low.\"}",
  "call_id": "call_vnHl25w7P8N2GDzULmG9D52o",
  "id": "fc_00ef67f8974b703f016ab2b1cd2f3c87d0b8cea7563ad124a2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vnHl25w7P8N2GDzULmG9D52o",
  "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]: [-0.1501, 2.0163, 0.7818, 0.8497, -0.2504, -0.1925, 0.997, -0.02, 0.7166, 0.4709, -0.3603, -0.0296, -0.0391, 0.9994]\nstate[eef_state]: left_x=0.4966 left_y=-0.0272 left_z=0.0484 left_yaw=0.1545 left_pitch=0.1888 left_roll=-0.0726 left_gripper=0.997 right_x=0.2762 right_y=0.0033 right_z=0.1437 right_yaw=-0.0003 right_pitch=-0.035 right_roll=-0.0027 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -4.9299, 4.1915, 0.0024, -0.1978, 0.3004, -0.1245, -0.4444, -1.4427, 6.8034, 1.9805, -0.0904, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46e87104a2fddaff156a24b8f0c3396edaa5b9f0f023bfa4a8527770b92ea466",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75f36564c021f1458363451b3e2fe31236bc319115e592cfd330442efc8dde05",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bd8451afbcda00196844b1a23c128fa01e09b76f1ce94cccdd59c3ccbb991ce",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 5.22 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 44 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2047, 1.9549, 0.6369, 0.9558, -0.2821, -0.1871, 0.7947, -0.02, 0.7372, 0.5056, -0.3775, -0.0296, -0.0387, 0.9994]\nstate[eef_state]: left_x=0.4638 left_y=-0.0424 left_z=0.0498 left_yaw=0.1257 left_pitch=0.2139 left_roll=-0.0635 left_gripper=0.7947 right_x=0.2793 right_y=0.0032 right_z=0.1507 right_yaw=-0.0005 right_pitch=-0.0381 right_roll=-0.0024 right_gripper=0.9994\nstate[joint_eff]: [-0.7863, -2.8376, 1.0051, -0.1001, 0.0366, -0.0611, -0.1587, -0.5128, -1.7026, 7.0359, 1.9902, -0.0806, -0.0171, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrHevvOMWkNbD00udCFGARkfXImkl5D8UUefAojjhQOR34hM3rpUyX4uY8MwtDIQUGS0zlz3ONo-E1jKNoM-twc-urb2k0vdeL8iHRbSbQetqABmVfWJ2iUjOWd0fXjTKsIe5oK8I3bJu_PDkiB9DFoIgayTvPS1vqPkOATn4kEj5LB-285Kd_jL7vy5RBDU0Z75JtM6gKSDBbo7RTnNjO-Mgv4ocKd12Sytu-ndrR44xGOVLqS53uP9UMgrS00ksy01Y68hLSrZG3tp2LqO_I67oAP0CEppG6Z1BJvKOYEIrmrAoa2MijnMpZPS9E03nq4vCAvYnH9GZIZ7KFT3I3YTyUiLpcbVn30GkMc_GFNmiE9I8ygC1kzaWGdp5QwH5eQPEoZWNCGFmN8p6-9_PRaxydXwFRg6wdLbbiujnAFbaGVoDp590-0ZhDAQ6WUuS39ayCEtNgjBaGBvzzhsuu1B8nsqncOM0YHgjQ3In0P_qxeAsjIRqW23360e7Lb3gF_PzBPAJLbfs0kiKZ1Wsx24EpCR_diPcYchZYVD-zMMB5DBOdwVs2OEG9J0-PljhMeyZxWKnqJCwzz12tEwrg0tDDrh1PrlayH3l6ouxwm6xYaW7EFI-cjKmTZDmQCkW0BxY6HHxmyKl30CEzThnDhnbuGRTOcS3SEHBX52-Qkpoy2VtJpLD5fFUNKwygANgR777oRUfU87uShj-CiVlaOmKk5_7m2tVUZ8lqUb0ZMr7qAEXk_r0NNcfdxLPvt_g08MOocb_pdTiKr9h1dZs3fDu6jdogWNj0dFae9EeuYlHFgOK6x78fLrev2tC7VeVeWg2DsoXcWXtqz8zptPMrZAu0KAhoL0SO0CxCbxYU6Y3se3TCHiqfTaA2rTw45aWBlMzUygw39q8h-_50PPcV4swjZ7KYqwT91caY7wcx8JGMBSbSv7gfkUKMtsCN3PSjhLrdeWGw81jnS5CahLyvVP2x1ziZQn0BORqEwGo49lQAJHNL0Aix0lS6dZbbgfdx-toFfaLXwMQCx3lOh4kXFMMDOx77HxrpGx-pe7ONs6pYsfFKX4paO5PZ4hPE83AjYygxfpZPKyc60COip6pyUB7duxyzu-5FXnWuy3WuD41TQcOrKFc6dvnWagmJDaHLvvXf7pey9zQaTpFGWQqr41FyVTtk445T0bNz_YQY-5DVQzCATP15rogP18Rng-x6gwiouC3SQyDuFO7gF-sO4es-NZNqW5GcPhDn2KzPeyL6vvk4oMphEWKserUfvySlvb0w2xUPVd9uKxQcP1ZnPmKZVUaXp_8wE4CKUTgzQNQhQbT6O026Ry7ptayqSZTvpvSonBJE7epoL4Ql41iOOKLH8AJURbDbhShLpUnyXfnV16-1LBS0plFlpT8IONDRZf1RhWjAE1v-dfTPpRKSxh0UBN8-lU7EmVp03_5Q_MkCSr9pxqQfu4w1IgP2Gzd4LzqlG5z30G3xPBfRvceOhZaaPOtzyJvotnDbbGTtdFhJyqWS0oBaXn7byxY2a4wDalFWONeEzoZzYvBQfY8TZ57YccWhk-32FsbJpNgcHwjXyA13dycucCqXD-mfcj9BtCAizG22D3r2p_LWWrh0XQHrNVn5YRQxcth0Qnmton3n4lyj66P-K6AjThEY3Db93c6rYiKI3pYWpq5q-fLYZeWmVs17bWU6lolEADnxmQhix_ILSEvuJYeOOYGOtBILOTHnmG9U7s7uBJiXl08Sg5qvHiFyIHmVzBoC10-SvjAsF6a78QqGXtS_Br-CuZSvMnYUV85g684Dl66V-JQt-xLgoMbh2HS37R7XEsLmUij32XdRD8qEPyxSJ6vB3KbBzoGsNgWdkaN7TMOvug4tfBhoIxB4-ughBqTqyqdVjDPObxcCDKU93bUWRGW5s2KnOiTAx1lChwA_KWgNCJkp9VhiUpy2_ZjCZVyN2Su0bX-eaQiYVcbPXeqGBdulBIXs_TwzqPleFFA2CxNiX-4JuZZ7XIIbIhaq69pjFsW-pCrEhK20dwkif0qLjySY77rTKAL5zYyZyjlFj1bWSeKufUXIzvwwO96IE-L8zqPuE0_l5GneMOtJYg-dL3Csxi_c2FGChn600MKvPZXJoW4QdJu1V5JicMKM9Iw8A8XqJZzgw4NXtNhasI4_prRqmW1VipK1ZyB8tpudduUGAz1AKRlfD0JvsH-yunuKdp1-rmKA83sw1-fkOPdFVBeYPMeI7Pk2UueYsKs887ve1UMh7sWgh4bJXU1DG8qMGmlPrn8h3CvyUamDvWCTi0df2QRvCDQFHrLUxkoqetyxeh6h7-wTrITPWVjWmEntsDpMnJ2Y-TMA-ia8et-sfCStu4Vpv7Hp85WsTkntRQ5q58GPGLN5WpL_8LYu11OfDf3kRY4Imx3jPbKsNS2gj9T114gKWi0ARPZXY2Xd-f6E7wIbRdm4hkDFkWftQ4f40vxtvyUpfYl9VkberLAizd1iVXq0IvjzXmI1xLrje7CTv8-u9bhTxOaDWu1c2Gf_cbiJ1U5wQ5NjFKSx3HQujwf0o7L4nOjkpRJDjwB4Ox1pb0Bn4abw==",
  "id": "rs_00ef67f8974b703f016ab2b1d1df5087d09a6220f18d00ad4e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.035,\"left_z\":0.14,\"left_yaw\":1.57,\"right_x\":0.294,\"right_y\":0.004,\"right_z\":0.19},\"note\":\"The bottle is sliding ahead rather than entering the jaws. I’ll lift clear and turn the gripper sideways for a different approach to its body.\"}",
  "call_id": "call_nx4k3OA3EG6b3b7N7ndPQ4lz",
  "id": "fc_00ef67f8974b703f016ab2b1dc4b5087d091e47561cd117935",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nx4k3OA3EG6b3b7N7ndPQ4lz",
  "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]: [-0.149, 2.0243, 0.7921, 0.8631, -0.2478, -0.1944, 0.9972, -0.0189, 0.7906, 0.6014, -0.4328, -0.0299, -0.0429, 0.9994]\nstate[eef_state]: left_x=0.5004 left_y=-0.0277 left_z=0.0513 left_yaw=0.1553 left_pitch=0.2033 left_roll=-0.0802 left_gripper=0.9972 right_x=0.2869 right_y=0.0035 right_z=0.1689 right_yaw=0.0032 right_pitch=-0.051 right_roll=-0.0053 right_gripper=0.9994\nstate[joint_eff]: [0.0205, -5.1761, 3.412, 0.4713, 0.022, 0.2418, 0.0024, 0.1573, -0.6085, 10.2906, 1.7802, -0.0171, 0.0122, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae4c172c74d5a5ab11075348a5f2c77f58350f7b7f09c05abb64a58468699d03",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe20f43cfed019674440bb10a2c112147af3fbea8d0ceb2047dfabb68facc940",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:168e1e826c8a2412ea6ae2dbddb2b3b9b2842ce293e0983cc43d1a3cfbd03f92",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 14 attempt 0 · /responses · status 200 · 15.61 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 48 changed as sent

message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1501, 2.0163, 0.7818, 0.8497, -0.2504, -0.1925, 0.997, -0.02, 0.7166, 0.4709, -0.3603, -0.0296, -0.0391, 0.9994]\nstate[eef_state]: left_x=0.4966 left_y=-0.0272 left_z=0.0484 left_yaw=0.1545 left_pitch=0.1888 left_roll=-0.0726 left_gripper=0.997 right_x=0.2762 right_y=0.0033 right_z=0.1437 right_yaw=-0.0003 right_pitch=-0.035 right_roll=-0.0027 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -4.9299, 4.1915, 0.0024, -0.1978, 0.3004, -0.1245, -0.4444, -1.4427, 6.8034, 1.9805, -0.0904, -0.022, -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": "gAAAAABqsrHkDzMoZGAe53NVbs3T-to6xvv0XzMj648yFHPLSfYw3Fobhx_LMfEaKQv9a6QZEuI0iKk9CPaZ8l2NzZc2bRK3k8nbO8IF55d1Dd5HJ5SvDjs92857sUYk_nXaBe4r354yuezTQ4EcIbyEe7lGA9GmHO3CnENO7HlNPI0H99mILsT9xq9eusiJPi9mm6E2xg0uw7entHKTa_9mFOWOGUeW5m3kauwfvBejsYiC7_bbJTxjILons44thDc6f00sxA_nSRoBC47xmLMZMJGF4-vcGWo4rHpjTYPQtO8c8Kay55WoKrKoiKk4FxyyUmmstEoKU9Qm4bnc5xFS125_tyW5NuvUAj1VgWxGI1CW7zMSbjpDk4dvJR9f1t16eHdzIyRDF_qSfOTxeYDZtQeiCbkM3pTMgg82jpTHmiNeWIktbaBKBad2u0AOenO1bxFl7b1zM0yLtVGbmAPdTeeZDeqUfKo_ylD-pO81DxUzpffe4WcAoajLOtUybf26ksZ5btrHWYJX-6CNBuGaHfEecWrwg6UWv6ZaLcf3BS60u2K9_IhDZNhqXDhE7Hsqkq8bW9JegmbaWuh_-zlduuOTWW0TtBGbDYeg33QpOHHidLRo5WPlNiHYRqcasBj4w7HVbbyiHkdN5pyAIWvC4OWin2Voks8Ns0Bl-qz2d2lgn6kzW_oq1wCKXv2ubGcUme2Sp2_t4BUtofIpJiRqmYCkiQXsBk9kULNzc0a_AFIHbvUrkW8VAJW9pb2JZ61_Zl8GUwZmCSVWx5B15p8EqBYQZoBmFoO7yvQLEwnezz65cmoBeYZl9FMpRVIUiXpWWoMcsceSLBhoKvOw4vqhBSH-Io6jrccuFZmXeJ4bZg-AjcsvUH2p8JbjNGiK_RxnalsZXf4R3aOBFGsTMITyL_hD4wYOOKsU6tHBBG8ul0_GTN-9a5p_XTValDw8aacIYiUxKLaN7sWTQ3ajrJKUXhIzN68s05DAvMwxSy3sT0sutgeyU5Q8Aec-hq5ZBYtnuccGYZshecyQgTx_N30zUSCgowjYssGvpSX77RPVwVK5NrDTuvCXJkL8_Cmjro0H0jlvrueZCMoHwh8D292n0jPg4YyPT4pv8IxGeneiHgAFvdOMEfig430IdSW1D-QKpu4k62HBIMC3H5dqqHIP3i03xhwtpFgOe9IoibU0jXsQQwZpKgloa_U5IerRRxqY0hZCpStkwPLGdjHgtyQSDgxdviF4KxByhqV1UrcN3lsXVXg0-iyGcQgTjI1vQljFt-ifXP9t",
  "id": "rs_00ef67f8974b703f016ab2b1e2339887d0b809c4f018c23a9a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.03,\"left_z\":0.2,\"left_yaw\":0},\"note\":\"The sideways turn did not track, so I won’t force it near the bottle. I’m withdrawing upward and inward with the original orientation.\"}",
  "call_id": "call_H7XB3lpUfO2EPB4ybwL0mwNB",
  "id": "fc_00ef67f8974b703f016ab2b1e3007087d0a71e747f6349ffab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_H7XB3lpUfO2EPB4ybwL0mwNB",
  "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]: [-0.1291, 1.4391, 0.9436, -0.0975, -0.1421, -0.1215, 0.9972, -0.0208, 0.757, 0.5468, -0.403, -0.0299, -0.0505, 0.9994]\nstate[eef_state]: left_x=0.4327 left_y=-0.0273 left_z=0.1733 left_yaw=0.0412 left_pitch=-0.0242 left_roll=-0.01 left_gripper=0.9972 right_x=0.2822 right_y=0.003 right_z=0.1591 right_yaw=0.0054 right_pitch=-0.0421 right_roll=-0.0118 right_gripper=0.9994\nstate[joint_eff]: [0.4171, -7.9385, 10.7419, 1.8974, 0.0904, 0.315, -0.0171, -0.5402, -1.1009, 7.2821, 2.0293, -0.1197, 0.022, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ca225a6f49e0d09f9fa83e305dd30bfd7e5f329e7c291f92c449cfccc200a7a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c68b7a5e75b3b703099f7e37e4dc882011a6658d4edd9349e120cfaef476584f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b410415901e21429e2d40b6d0ed3567cab4fd31d4f3de65d9ab725b63c306c31",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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