adhoc

completed
2026-09-23T23:10:36.859210+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
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
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
174.4 s
total steps
154
success_at_end
0
scenes
1
trials
1
errored
0

scene-0

completed

Stand all three bottles upright.

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteAll three bottles are lying down, with their caps toward the far side of the table. I am approaching the leftmost bottle’s neck so I can lift it and let its heavier base swing downward.
move_to
left_x0.4000left_y-0.1400left_z0.1300left_gripper1.0000right_x0.2930right_y0.0040right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7933, 0.6075, -0.3771, -0.0193, -0.0284, 0.9988, -0.0154, 0.7883, 0.6029, -0.3866, -0.0292, -0.0341, 0.9998] state[eef_state]: left_x=0.2955 left_y=0.0011 left_z=0.1824 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.2934 right_y=0.0042 right_z=0.1797 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.4171, -1.4838, 9.812, 1.7998, -0.0855, 0.1001, -0.1294, -0.7179, -0.9778, 10.2769, 1.8486, 0.0317, 0.1783, -0.0415] 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":0.4,"left_y":-0.14,"left_z":0.13,"left_gripper":1,"right_x":0.293,"right_y":0.004,"right_z":0.20},"note":"All three bottles are lying down, with their caps toward the far side of the table. I am approaching the leftmost bottle’s neck so I can lift it and let its heavier base swing downward."})
tool
executing move_to over 13 steps (1.3s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent noteThe left bottle’s cap is visible left of the jaw center in the wrist view. I am shifting toward that neck and lowering the open jaws to bottle height.
move_to
left_x0.4250left_y-0.1050left_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.514, 1.4914, 0.7742, 0.0147, -0.4107, -0.3069, 0.9989, -0.0151, 0.7959, 0.6491, -0.4808, -0.0296, -0.0395, 0.9997] state[eef_state]: left_x=0.385 left_y=-0.1323 left_z=0.1096 left_yaw=-0.0172 left_pitch=-0.0716 left_roll=0.0283 left_gripper=0.9989 right_x=0.2863 right_y=0.0045 right_z=0.1794 right_yaw=0.0036 right_pitch=-0.0556 right_roll=-0.0032 right_gripper=0.9997 state[joint_eff]: [-0.5402, -6.6256, 8.9231, 1.8193, -0.4078, 0.1197, -0.1245, -0.4444, -1.1692, 10.4547, 1.9219, -0.0855, 0.0122, -0.0171] 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":0.425,"left_y":-0.105,"left_z":0.025},"note":"The left bottle’s cap is visible left of the jaw center in the wrist view. I am shifting toward that neck and lowering the open jaws to bottle height."})
tool
executing move_to over 6 steps (0.6s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteThe wrist view still shows the neck ahead and left of the fingertip center. I am making a small forward-and-left correction to grasp near the cap rather than the bottle’s wider body.
move_to
left_x0.4700left_y-0.0800left_z0.0230
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3843, 1.8046, 0.6449, 0.5549, -0.3206, -0.2623, 0.9985, -0.0151, 0.7589, 0.5938, -0.4477, -0.0296, -0.0425, 0.9997] state[eef_state]: left_x=0.4206 left_y=-0.1062 left_z=0.0332 left_yaw=0.0134 left_pitch=-0.0074 left_roll=-0.0265 left_gripper=0.9985 right_x=0.282 right_y=0.0046 right_z=0.1709 right_yaw=0.0053 right_pitch=-0.0407 right_roll=-0.006 right_gripper=0.9997 state[joint_eff]: [0.6632, -5.6, 5.2991, 1.0037, -0.2711, 0.4811, -0.0513, -0.4855, -1.4701, 6.9812, 2.0293, -0.0708, 0.0317, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.47,"left_y":-0.08,"left_z":0.023},"note":"The wrist view still shows the neck ahead and left of the fingertip center. I am making a small forward-and-left correction to grasp near the cap rather than the bottle’s wider body."})
tool
executing move_to over 4 steps (0.4s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteThe bottle has shifted slightly with the open jaws, and its upper body is now between them. I am closing gently through the controller to secure it, then I will check whether it lifts with the hand.
move_to
left_gripper0.0000right_x0.2930right_y0.0040right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2771, 1.9255, 0.778, 0.6239, -0.2535, -0.2207, 0.9984, -0.0154, 0.7368, 0.5537, -0.4255, -0.0299, -0.0425, 0.9997] state[eef_state]: left_x=0.4709 left_y=-0.0842 left_z=0.0405 left_yaw=0.0432 left_pitch=0.0568 left_roll=-0.053 left_gripper=0.9984 right_x=0.2789 right_y=0.0046 right_z=0.1629 right_yaw=0.0052 right_pitch=-0.0365 right_roll=-0.0059 right_gripper=0.9997 state[joint_eff]: [0.2667, -6.9265, 5.4222, 1.2772, -0.1001, 0.3541, -0.022, -0.7179, -1.5521, 7.0222, 1.9805, -0.1538, -0.0317, -0.0073] camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"right_x":0.293,"right_y":0.004,"right_z":0.2},"note":"The bottle has shifted slightly with the open jaws, and its upper body is now between them. I am closing gently through the controller to secure it, then I will check whether it lifts with the hand."})
tool
executing move_to over 10 steps (1.0s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteThe closed gripper reading indicates an empty grasp; the fingers were above the bottle. I am reopening and lowering to table level, with the bottle now centered laterally.
move_to
left_x0.4800left_y-0.0800left_z0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2611, 1.9316, 0.807, 0.6888, -0.2516, -0.1829, 0.0106, -0.0154, 0.7929, 0.6426, -0.482, -0.0303, -0.0513, 0.9997] state[eef_state]: left_x=0.4875 left_y=-0.081 left_z=0.0623 left_yaw=0.04 left_pitch=0.141 left_roll=-0.0468 left_gripper=0.0106 right_x=0.2851 right_y=0.0045 right_z=0.1771 right_yaw=0.0103 right_pitch=-0.06 right_roll=-0.0123 right_gripper=0.9997 state[joint_eff]: [0.0205, -7.0359, 4.4239, 0.7937, 0.0708, 0.1099, 0.8181, -0.8, -0.5538, 10.2085, 1.9219, -0.1636, 0.0317, -0.0073] camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.48,"left_y":-0.08,"left_z":0.0,"left_gripper":1},"note":"The closed gripper reading indicates an empty grasp; the fingers were above the bottle. I am reopening and lowering to table level, with the bottle now centered laterally."})
tool
executing move_to over 10 steps (1.0s)
step 43
top_cam
camera top_cam step 43
left_cam
camera left_cam step 43
right_cam
camera right_cam step 43
assistant
agent noteAt this long reach the hand stopped about 4 cm above its target, so I will not force it lower there. I am moving back along the bottle to a reachable body grasp so I can bring it closer.
move_to
left_x0.4350left_y-0.0900left_z0.0050
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.268, 2.0109, 0.8619, 0.6926, -0.2699, -0.1886, 0.9947, -0.0154, 0.7563, 0.5831, -0.4469, -0.0303, -0.0544, 0.9997] state[eef_state]: left_x=0.4989 left_y=-0.0844 left_z=0.0461 left_yaw=0.0509 left_pitch=0.1237 left_roll=-0.0381 left_gripper=0.9947 right_x=0.2806 right_y=0.0046 right_z=0.1669 right_yaw=0.0119 right_pitch=-0.0478 right_roll=-0.0151 right_gripper=0.9997 state[joint_eff]: [-0.1026, -5.3812, 2.7692, 0.9353, 0.0073, 0.0855, -0.1636, -1.1419, -1.7709, 6.9402, 2.0391, -0.2027, 0.0122, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.435,"left_y":-0.09,"left_z":0.005},"note":"At this long reach the hand stopped about 4 cm above its target, so I will not force it lower there. I am moving back along the bottle to a reachable body grasp so I can bring it closer."})
tool
executing move_to over 5 steps (0.5s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteThe bottle’s body is centered between the open fingers at the reachable position. I am closing here to obtain a secure grasp before repositioning it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3355, 1.9369, 0.7174, 0.7258, -0.3195, -0.2142, 0.9961, -0.0257, 0.728, 0.5373, -0.4217, -0.0387, -0.0547, 0.9998] state[eef_state]: left_x=0.4582 left_y=-0.0972 left_z=0.0366 left_yaw=0.0374 left_pitch=0.0958 left_roll=-0.027 left_gripper=0.9961 right_x=0.2769 right_y=0.0033 right_z=0.1585 right_yaw=0.0089 right_pitch=-0.04 right_roll=-0.0108 right_gripper=0.9998 state[joint_eff]: [-0.5538, -7.3094, 2.2769, 0.9158, -0.1148, -0.2857, 0.1343, -0.4718, -1.4427, 6.9265, 2.0586, -0.1734, 0.0269, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The bottle’s body is centered between the open fingers at the reachable position. I am closing here to obtain a secure grasp before repositioning it."})
tool
executing move_to over 10 steps (1.0s)
step 58
top_cam
camera top_cam step 58
left_cam
camera left_cam step 58
right_cam
camera right_cam step 58
assistant
agent noteThe second close was also empty, so the bottle is farther forward than the wrist view suggested. Using its position in the overhead view, I am moving the open hand farther along the body while staying above the tabletop.
move_to
left_x0.5100left_y-0.0900left_z0.0200left_gripper1.0000right_x0.2930right_y0.0040right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3397, 1.9186, 0.6945, 0.8379, -0.3611, -0.2371, 0.01, -0.0284, 0.7048, 0.5018, -0.4026, -0.0528, -0.0547, 0.9997] state[eef_state]: left_x=0.4631 left_y=-0.0937 left_z=0.0617 left_yaw=0.0871 left_pitch=0.2012 left_roll=-0.0741 left_gripper=0.01 right_x=0.274 right_y=0.0051 right_z=0.1523 right_yaw=0.0181 right_pitch=-0.0328 right_roll=-0.003 right_gripper=0.9997 state[joint_eff]: [-0.335, -5.9692, 2.2769, 0.3004, 0.1978, 0.0122, 0.823, -0.8547, -1.3333, 6.7624, 1.9707, -0.0415, -0.0171, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.51,"left_y":-0.09,"left_z":0.02,"left_gripper":1,"right_x":0.293,"right_y":0.004,"right_z":0.2},"note":"The second close was also empty, so the bottle is farther forward than the wrist view suggested. Using its position in the overhead view, I am moving the open hand farther along the body while staying above the tabletop."})
tool
executing move_to over 10 steps (1.0s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteThe forward correction has brought the bottle’s body into the finger opening. I am lowering a little farther and closing only to roughly the bottle’s width to avoid squeezing it sideways.
move_to
left_x0.5050left_z-0.0150left_gripper0.4500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2943, 2.0418, 0.9924, 0.5228, -0.3397, -0.2398, 0.9944, -0.0284, 0.7933, 0.6407, -0.4755, -0.0563, -0.0616, 0.9998] state[eef_state]: left_x=0.5144 left_y=-0.0907 left_z=0.0459 left_yaw=0.1082 left_pitch=0.0689 left_roll=-0.0282 left_gripper=0.9944 right_x=0.2859 right_y=0.0054 right_z=0.1775 right_yaw=0.0247 right_pitch=-0.0551 right_roll=-0.0055 right_gripper=0.9998 state[joint_eff]: [0.4581, -7.3641, 5.7504, 1.2332, -0.0073, 0.1245, -0.2222, -0.7863, -0.6359, 10.1949, 1.9316, -0.1001, -0.0073, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.505,"left_z":-0.015,"left_gripper":0.45},"note":"The forward correction has brought the bottle’s body into the finger opening. I am lowering a little farther and closing only to roughly the bottle’s width to avoid squeezing it sideways."})
tool
executing move_to over 6 steps (0.6s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteThe hand has stopped descending against the bottle, with the upper body between the jaws. I am tightening the grip slightly before a short lift test.
move_to
left_gripper0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2966, 2.1094, 1.0092, 0.6823, -0.384, -0.2386, 0.4555, -0.0284, 0.7582, 0.585, -0.4461, -0.0566, -0.0612, 0.9997] state[eef_state]: left_x=0.531 left_y=-0.0893 left_z=0.0527 left_yaw=0.148 left_pitch=0.1763 left_roll=-0.0536 left_gripper=0.4555 right_x=0.2811 right_y=0.0056 right_z=0.1675 right_yaw=0.0248 right_pitch=-0.0463 right_roll=-0.0054 right_gripper=0.9997 state[joint_eff]: [-0.2803, -4.6974, 2.4274, 0.3736, 0.359, -0.0659, 0.1734, -0.8274, -1.5795, 6.9812, 2.044, -0.149, -0.0024, -0.0171] camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.2},"note":"The hand has stopped descending against the bottle, with the upper body between the jaws. I am tightening the grip slightly before a short lift test."})
tool
executing move_to over 3 steps (0.3s)
step 77
top_cam
camera top_cam step 77
left_cam
camera left_cam step 77
right_cam
camera right_cam step 77
assistant
agent noteThe jaws are now partially closed around the bottle area. I am lifting and drawing back a short distance to check whether the bottle follows, rather than continuing to press downward.
move_to
left_x0.4900left_y-0.0900left_z0.1700right_x0.2930right_y0.0040right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2939, 2.0853, 1.1419, 0.4686, -0.387, -0.2626, 0.2043, -0.0284, 0.7319, 0.5407, -0.4255, -0.0566, -0.0612, 0.9997] state[eef_state]: left_x=0.5471 left_y=-0.0922 left_z=0.0721 left_yaw=0.1624 left_pitch=0.1251 left_roll=-0.0497 left_gripper=0.2043 right_x=0.277 right_y=0.0057 right_z=0.1584 right_yaw=0.0248 right_pitch=-0.0437 right_roll=-0.0055 right_gripper=0.9997 state[joint_eff]: [0.0068, -12.2872, 6.5983, 1.3211, -0.0317, -0.0366, 0.0904, -0.8137, -1.6342, 7.0632, 2.0244, -0.1441, -0.022, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_y":-0.09,"left_z":0.17,"right_x":0.293,"right_y":0.004,"right_z":0.2},"note":"The jaws are now partially closed around the bottle area. I am lifting and drawing back a short distance to check whether the bottle follows, rather than continuing to press downward."})
tool
executing move_to over 7 steps (0.7s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteThe bottle stayed on the table during the lift test. The overhead view shows the hand is left of the bottle, so I am correcting sideways and approaching its body again with open jaws.
move_to
left_x0.4800left_y-0.1450left_z0.0250left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3264, 1.7805, 1.1942, -0.0444, -0.4038, -0.2928, 0.204, -0.0345, 0.7921, 0.6395, -0.4721, -0.0677, -0.0658, 0.9997] state[eef_state]: left_x=0.4972 left_y=-0.0912 left_z=0.1477 left_yaw=0.156 left_pitch=-0.0105 left_roll=0.0024 left_gripper=0.204 right_x=0.2862 right_y=0.0057 right_z=0.1781 right_yaw=0.0305 right_pitch=-0.0512 right_roll=-0.0024 right_gripper=0.9997 state[joint_eff]: [-0.6222, -11.7675, 8.4171, 1.6093, -0.2711, -0.105, -0.0415, -0.9778, -0.7726, 9.9897, 1.917, -0.1099, 0.0073, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.48,"left_y":-0.145,"left_z":0.025,"left_gripper":1},"note":"The bottle stayed on the table during the lift test. The overhead view shows the hand is left of the bottle, so I am correcting sideways and approaching its body again with open jaws."})
tool
executing move_to over 8 steps (0.8s)
step 92
top_cam
camera top_cam step 92
left_cam
camera left_cam step 92
right_cam
camera right_cam step 92
assistant
agent noteThe bottle is now directly under the hand, but its body sits left of the wrist-image center. I am making a small lateral correction and narrowing the opening before lowering, to keep the fingers from straddling too widely.
move_to
left_x0.4900left_y-0.1150left_z-0.0150left_yaw0.0000left_gripper0.6500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4614, 2.0102, 1.0328, 0.3637, -0.5545, -0.3668, 0.9951, -0.0341, 0.7609, 0.5888, -0.4465, -0.0696, -0.065, 0.9998] state[eef_state]: left_x=0.4901 left_y=-0.1358 left_z=0.0547 left_yaw=0.1817 left_pitch=0.0512 left_roll=0.0041 left_gripper=0.9951 right_x=0.2816 right_y=0.0063 right_z=0.1685 right_yaw=0.0321 right_pitch=-0.0451 right_roll=-0.001 right_gripper=0.9998 state[joint_eff]: [-1.2376, -7.0906, 3.8359, 0.9939, 0.4469, -0.3053, -0.1099, -0.5812, -1.6479, 6.9538, 2.0293, -0.105, -0.0317, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 92): [image omitted: streamed camera frame] camera 'left_cam' (step 92): [image omitted: streamed camera frame] camera 'right_cam' (step 92): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_y":-0.115,"left_z":-0.015,"left_yaw":0,"left_gripper":0.65},"note":"The bottle is now directly under the hand, but its body sits left of the wrist-image center. I am making a small lateral correction and narrowing the opening before lowering, to keep the fingers from straddling too widely."})
tool
executing move_to over 5 steps (0.5s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteThe body is centered between the finger edges in the wrist view. I am closing at this alignment and will use the measured opening to judge whether it is actually held.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3511, 2.08, 0.9546, 0.675, -0.3748, -0.252, 0.6551, -0.0341, 0.7345, 0.5442, -0.4244, -0.075, -0.0654, 0.9998] state[eef_state]: left_x=0.5114 left_y=-0.1147 left_z=0.0454 left_yaw=0.0906 left_pitch=0.145 left_roll=-0.0555 left_gripper=0.6551 right_x=0.2777 right_y=0.0073 right_z=0.1596 right_yaw=0.0368 right_pitch=-0.0411 right_roll=0.0015 right_gripper=0.9998 state[joint_eff]: [0.759, -4.3692, 2.1949, 0.4225, 0.3834, 0.1441, 0.2369, -0.5675, -1.5795, 7.159, 2.0391, -0.1001, -0.0317, -0.0122] camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The body is centered between the finger edges in the wrist view. I am closing at this alignment and will use the measured opening to judge whether it is actually held."})
tool
executing move_to over 7 steps (0.7s)
step 104
top_cam
camera top_cam step 104
left_cam
camera left_cam step 104
right_cam
camera right_cam step 104
assistant
agent noteClosing is still slipping above the bottle instead of capturing it. I am backing away from the neck to the lower body, which is closer and should allow a lower, more stable grasp.
move_to
left_x0.4550left_y-0.1500left_z0.0150left_gripper1.0000right_x0.2930right_y0.0040right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3367, 2.1036, 0.9436, 0.8364, -0.3214, -0.2092, 0.0107, -0.0341, 0.7113, 0.5056, -0.4023, -0.0753, -0.065, 0.9997] state[eef_state]: left_x=0.5222 left_y=-0.1199 left_z=0.0633 left_yaw=0.0464 left_pitch=0.2544 left_roll=-0.0854 left_gripper=0.0107 right_x=0.2748 right_y=0.0075 right_z=0.1526 right_yaw=0.0369 right_pitch=-0.0342 right_roll=0.0015 right_gripper=0.9997 state[joint_eff]: [0.0615, -5.9692, 2.4957, 0.1441, 0.2955, 0.0269, 0.7643, -0.2667, -1.3744, 6.8855, 1.9658, -0.105, -0.0464, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.455,"left_y":-0.15,"left_z":0.015,"left_gripper":1,"right_x":0.293,"right_y":0.004,"right_z":0.2},"note":"Closing is still slipping above the bottle instead of capturing it. I am backing away from the neck to the lower body, which is closer and should allow a lower, more stable grasp."})
tool
executing move_to over 10 steps (1.0s)
step 114
top_cam
camera top_cam step 114
left_cam
camera left_cam step 114
right_cam
camera right_cam step 114
assistant
agent noteThe lower body is now visible between the finger tips, slightly to their left. I am centering on that section and closing to a moderate width while staying low.
move_to
left_x0.4800left_y-0.1300left_z-0.0150left_gripper0.3500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4721, 2.0117, 0.8909, 0.5709, -0.4438, -0.2955, 0.9949, -0.0437, 0.7944, 0.6415, -0.4767, -0.0841, -0.0841, 0.9997] state[eef_state]: left_x=0.4718 left_y=-0.1517 left_z=0.0364 left_yaw=0.0456 left_pitch=0.0712 left_roll=-0.0191 left_gripper=0.9949 right_x=0.2859 right_y=0.006 right_z=0.1776 right_yaw=0.0451 right_pitch=-0.0552 right_roll=-0.0072 right_gripper=0.9997 state[joint_eff]: [-1.0188, -9.5795, 3.4256, 1.0916, 0.0806, -0.315, -0.149, -0.9641, -0.7316, 10.2496, 1.8974, -0.1294, 0.0317, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.48,"left_y":-0.13,"left_z":-0.015,"left_gripper":0.35},"note":"The lower body is now visible between the finger tips, slightly to their left. I am centering on that section and closing to a moderate width while staying low."})
tool
executing move_to over 7 steps (0.7s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent noteThe fingers appear to contact both sides of the bottle’s lower body. I am testing this grasp by lifting and pulling toward a more reachable part of the table.
move_to
left_x0.4250left_y-0.1500left_z0.1600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4587, 2.0003, 0.9409, 0.5457, -0.453, -0.2989, 0.3569, -0.0471, 0.7609, 0.5861, -0.4465, -0.0906, -0.0837, 0.9997] state[eef_state]: left_x=0.4857 left_y=-0.1496 left_z=0.0554 left_yaw=0.0699 left_pitch=0.1048 left_roll=-0.0363 left_gripper=0.3569 right_x=0.2813 right_y=0.0063 right_z=0.1675 right_yaw=0.0469 right_pitch=-0.0465 right_roll=-0.0039 right_gripper=0.9997 state[joint_eff]: [-0.0752, -8.9231, 5.559, 0.7497, 0.2125, -0.0513, 0.1392, -0.5265, -1.3744, 7.159, 2.044, -0.149, 0.0171, -0.0073] camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.425,"left_y":-0.15,"left_z":0.16},"note":"The fingers appear to contact both sides of the bottle’s lower body. I am testing this grasp by lifting and pulling toward a more reachable part of the table."})
tool
executing move_to over 7 steps (0.7s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteThe bottle remains aligned with the fingers during the lift, although the arm is tracking somewhat short. I am drawing the hand farther back to bring the bottle into the reachable working area.
move_to
left_x0.3300left_y-0.1500left_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5282, 1.7557, 0.9794, 0.2245, -0.4835, -0.3534, 0.3567, -0.0475, 0.7303, 0.5411, -0.4198, -0.091, -0.0841, 0.9997] state[eef_state]: left_x=0.4564 left_y=-0.1671 left_z=0.1241 left_yaw=0.0529 left_pitch=0.0794 left_roll=-0.0517 left_gripper=0.3567 right_x=0.2778 right_y=0.0065 right_z=0.1604 right_yaw=0.047 right_pitch=-0.0343 right_roll=-0.0052 right_gripper=0.9997 state[joint_eff]: [0.6085, -11.2889, 10.2632, 2.1172, -0.3736, -0.022, -0.0269, -0.7726, -0.8684, 6.9402, 2.0537, -0.149, 0.0171, -0.0073] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.33,"left_y":-0.15,"left_z":0.2},"note":"The bottle remains aligned with the fingers during the lift, although the arm is tracking somewhat short. I am drawing the hand farther back to bring the bottle into the reachable working area."})
tool
executing move_to over 10 steps (1.0s)
step 138
top_cam
camera top_cam step 138
left_cam
camera left_cam step 138
right_cam
camera right_cam step 138
assistant
agent noteThe unobstructed view confirms that the bottle did not lift; all three are still lying down. The low approaches have repeatedly stopped short and shifted the bottle farther away, so I am parking both arms rather than continuing unsuccessful contact.
move_to
left_x0.2950left_y0.0010left_z0.2000left_gripper1.0000right_x0.2930right_y0.0040right_z0.2000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7227, 1.2865, 0.9314, -0.3294, -0.6106, -0.4816, 0.3566, -0.0475, 0.7113, 0.5095, -0.4023, -0.0906, -0.0837, 0.9997] state[eef_state]: left_x=0.3417 left_y=-0.1615 left_z=0.2008 left_yaw=0.0239 left_pitch=0.018 left_roll=-0.0236 left_gripper=0.3566 right_x=0.2753 right_y=0.0065 right_z=0.1544 right_yaw=0.0464 right_pitch=-0.0294 right_roll=-0.0055 right_gripper=0.9997 state[joint_eff]: [-0.294, -5.8872, 6.6256, 1.58, -0.2906, -0.2125, -0.0171, -0.7043, -1.347, 6.8718, 1.9902, -0.149, 0.0073, -0.0073] camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":0.001,"left_z":0.2,"left_gripper":1,"right_x":0.293,"right_y":0.004,"right_z":0.2,"right_gripper":1},"note":"The unobstructed view confirms that the bottle did not lift; all three are still lying down. The low approaches have repeatedly stopped short and shifted the bottle farther away, so I am parking both arms rather than continuing unsuccessful contact."})
tool
executing move_to over 15 steps (1.5s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
agent noteI could not obtain a secure grasp to stand the bottles. Low approaches stopped above their targets, and closing the jaws either missed or shifted the bottle farther away. All three bottles remain lying down; both arms are parked clear with their grippers open.
give_up
hindsightFor this bottle arrangement, wrist-image centering did not establish that the body was between the fingertips. Several approaches around x=0.48–0.51 m with targets near table level stopped at measured z=0.04–0.07 m, and closing shifted the bottle rather than holding it. A commanded partial opening is not evidence of a grasp: the bottle must visibly follow a lift. Stop and reassess sooner after repeated empty closes, before pushing the bottle farther from reach.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0711, 0.8158, 0.6922, -0.44, -0.1337, -0.1104, 0.9975, -0.0593, 0.7948, 0.6472, -0.4835, -0.1089, -0.0895, 0.9997] state[eef_state]: left_x=0.2982 left_y=0.006 left_z=0.2028 left_yaw=0.0893 left_pitch=0.0048 left_roll=-0.0086 left_gripper=0.9975 right_x=0.2856 right_y=0.0059 right_z=0.1789 right_yaw=0.0532 right_pitch=-0.0552 right_roll=0.0031 right_gripper=0.9997 state[joint_eff]: [0.1573, -2.0444, 6.106, 1.7558, 0.2125, 0.0366, -0.0855, -0.5675, -0.5812, 10.0581, 1.8486, -0.0855, -0.0122, -0.0415] camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not obtain a secure grasp to stand the bottles. Low approaches stopped above their targets, and closing the jaws either missed or shifted the bottle farther away. All three bottles remain lying down; both arms are parked clear with their grippers open.","hindsight":"For this bottle arrangement, wrist-image centering did not establish that the body was between the fingertips. Several approaches around x=0.48–0.51 m with targets near table level stopped at measured z=0.04–0.07 m, and closing shifted the bottle rather than holding it. A commanded partial opening is not evidence of a grasp: the bottle must visibly follow a lift. Stop and reassess sooner after repeated empty closes, before pushing the bottle farther from reach."})
tool
give_up: I could not obtain a secure grasp to stand the bottles. Low approaches stopped above their targets, and closing the jaws either missed or shifted the bottle farther away. All three bottles remain lying down; both arms are parked clear with their grippers open.
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 · 11.39 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "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.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Stand all three bottles upright.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.6075, -0.3771, -0.0193, -0.0284, 0.9988, -0.0154, 0.7883, 0.6029, -0.3866, -0.0292, -0.0341, 0.9998]\nstate[eef_state]: left_x=0.2955 left_y=0.0011 left_z=0.1824 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.2934 right_y=0.0042 right_z=0.1797 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -1.4838, 9.812, 1.7998, -0.0855, 0.1001, -0.1294, -0.7179, -0.9778, 10.2769, 1.8486, 0.0317, 0.1783, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a5eaa491cb1957ccebc8b19d3712f5833ef7a9f174b0202603f229ebde623c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f464c9713a128fb70f6fec05af05a135f97fdfbb5c5a75b8ac0f7e3ad038e97",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a466b2770e1253d68cf229f932a4e4da67fddbb8c8ac322112c8ae12743f6f66",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
wire blob 9a5eaa491cb1
wire blob 9f464c9713a1
wire blob a466b2770e12
call 1 attempt 0 · /responses · status 200 · 6.177 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtFyFZOI14oTAyQp7VOAu1mXZgPLgooRQl2k6pH3eudibk-uDqJs76IPBzywnMguiyppMVPyyHgqxiENZIxMLsNifAiqMjd8WDINT7M2ZVxLCQOEsPJyUUB4BvZcxNJsoCdyfDMze4Y5ayrxdlL_UmiU4Xv_hC6bL_z3JcnBVyxTdHTp8hnuzIr_ZM56-oSFKUm6A4MMYUGWK2ANNO6Nl64NXtcqqq0fOgngtDc6vwfn24wC7zBayGty0Pb8eKPerLmegt4TiXl7Qki13PNR-cgpFIMG8sjoPIEeCZAhSgrEV6uGU56wjIS7wlAlQ3dm6w1nR0jO1rvLgI53YI1CFb_j8Y_-Qcn5xE2Cz8U8jToAD2YJbUz7MDpPr_c5xRXEcTQ3rFQ09uGl45FEz8HqajfY9aVFqfOxkQxwVUkN5lkZPmuFOQiX53uv8GthYYhZMF7LsqgnWAJYZKrnyjIucPgbjVc-Rycr61k-dGcbmC7__1Tp1gjW-n7M-t2IkaKCMkLBq4hhVjSKqVLL7he70lUgByogSvQrLBKkmGNOSUcbgceut5EfCK6KRSBCLP0ZRxofoGk2QFwcRtYWvqZ4Q2o0QrUtykkksg4x_WxPooJh8RXaC2F9OjTV6twcICvO50vFoY1u9d8MjeORi1AcHrVKTgVEbPQ_tynAkF4-f0Pfb1NVoK08TBzGn2-A7_qBz9uiRG-OYZXo1FFQp9i1ysxE_L6QcYF753EMCUWMU7OI_r_YbxdmGZ_64FeClwn65jTryDKt1zi7EQRH4ryY087H5nWledBG2nLqdaIr67Ni4Uroeg1qTfC0rEo1xXch-EJe9r7xmyqPSZXs4JXLF-IEL_ROsI7xNJSKlINjNHUO-r58d7p7DrbBm2gTu2kYZ9_Wu9lyMR-0bPkeW-Os-m1mJJnKuHQQ33zdvb37WiIZd23jXyB--RNbRlQz0fwpUVbienieJklgY6nT7P06mExlcqGT7hsLUDohiIhM3UtdBsBZ_874uc-CplnBLj3X6fJbbRUKAVn4fE_EUKykIKgL0aeHX8SfiJxx93UhUbytfElrD1xBmzaZmF-WdNhHMmlO1-EPj8JJ3ygjxsfHOq3xfTZKWaDDpvnv8TKkUOc_TxwFjvUyJJDNTjfQbCoaWI7Z2w7PaqdD23tCrqpzu5XagLkPvWSKa4ZwTvodNGuGjSr0irsvXbPsTtxhzwJs926N8RgXYzubHLjtgbUA--CvGMMCa-LeA1JA2uYNpdb_uKnrgs4eM6AgDpjUHS0XPG0MDSuekqnFQOSV4hBfuQrA4_0OSu3GeMqaTLiG5wT37H2LCG-PYSF2LDB8L23ZaMFqp0fyH5C9X9eJHaJwp6BMOq4vrDRQn27mSl6Md2NdRyb0JDMpDpUo56pFtCjL6R3nCHYStISnfmt-_z2LVo7pSPwYWPr2SvuUIsCz_1v3hAh2wj-TgjqRRL-xSxRZLiXDM0lpg_14gHxBq4KLZysa-Vfv7k8vVD-e9TavhoylVI3gCv0YuzoAZSd796wEcICI348bl0Ttt0pop0Txo334D9GHnIPfCiuCrlH7yYgb8MAkDWwB8Hl7a3lDoDYpeF88YBwbKkzg7abExomHWHZKdg6V0ufQn8Q5QuANfeWMcefZqbm5V8sjOF9L7oteme-5iuEse_S0tziYa6iRZ3AFMScEkVz83GmkugNAJgOk22mq1eO7JueU4PYtO5M6rUzld4k75xz_gFj89ZeQkkICqnVEEILNVmPSlRQueeoqj1IJUINAuLKgANemvCuBbxu6Ltm1kGzVF2FAEh5QKnJ1kIzXBV05ZvYSJ4L82gX_bw6FCR6k9FeuTxIxlWi8eFHpUlGSsXAD9aZvJJ90bjcZopf5g5j3yMUDRe0ehMk55aFPXk3Z4PRX8nHf4elRKncNTzk_avgkbY0thpQEEfw4ezqZKOws28AH02RIz5bS46JJShI8Y9PpK33tRQXcQ56BgEqS7wfmWGdUJsjQuF7Fur_xD07ByE4FVsQ8RS6Dg-t9nW2pheAiRWkvXBwo4VCOqROsovolB4ZQTNCKbpOXBsRgOoyEOKzdvb54sTrvF0siBghHHV7DNUsQvzR0ZOklrSr9BnvloP75IfnNZRYARPzuhkvfpII19xmmCvrXBNX5unDGQQMfIlxR46TyC3T1dPOD9ovTp6TQbILfLMaYN_l2G37fU2Bq6xu8rQ86RHVs8D3Nhuco5uTvLdSXfVWJitdEeu0oJWGg2kabh6I7WkQaD_z2pIjBnTX1pRpKeOxB_c17v6UKoR1nYdtZ_Ofao5tv6LVvttRjcpzQ9c06If-0LBhEtaDhtJln90DtrJJ1ii8-4ZfcB6vZUAQmXKnNDYyveGWCfV1r5O-uMq_yRNBvwU1AK14HMcqIPGjglE2EEV2BtnIrqeDk2zhY00AsmKW0IQOmjfQTzJXoX7wgKxcGOa9nyIFG_8FolDcWkMpNQqmAx-PPvwgHWASqy9xzTosDaTg_VQvguGQp3OjfrWAZk1Py2qRsXwEwbVh428C5Fgw9-7s7zyjAQ2Xav0W4e9uYhPMn3oDG1_E74XQ4CRr1tkgaVzK_OpjnW11305mVDqHu9xYTagW6hUtoHAP4K18_9fvPJsiX0m1rQSzHJbpbDw4jj0vzmzKzqeZJbFVIYBpQ9cNS35fO6zkdfFWmEYkir9mnw9q3E3syyx2T34uaCcOdl9DXlWDgOtWLg9TyYuc46PK_OyGVH3Ze4URiClPc1Q9-f-H_QVMJgBA4ACkTmGHkwvyZ_AJsMPi3wL8fGq-9hncYHZMzFBW-loE2KyQ2eO4-VtDT3Zei9n-lIx3zF-rXluuuFx8Ak1E5Bhy-zBv5JQETt_eFGDZioJXpaEI4QpANG4_c9xqQzVbiu206_NFUv8ux28Y68sjI_2twfypnAPlJfBD3UB2ZhVI4GSkc7eGZon_YV3_XDZvh8f3wSCxwhtIoMh7X-NKXNpzyPm3qrrnpuSNZSroK8bUTz_VcBmG9oZxJConHmZ2nSVn7PxXnZhHkcK1LqJtLsGLeccouYGSjfZVWkTUjywmI-6UQ4QFqXg45StBry09BUyzHPjxR8HQ-EMxkxclvlxGTAeR-UztsKwDBG-vDoG94jcjj7TIR5AWi5LMbjItU92xLmP_A8Pw-ZJZpCCGgTxGcTWs09YIK7EeWEPaPMbdptal5XIWeMsV0NSERRNo4u108cFi9MI1ASBUtjnc_pEcH4VkVoRWooGgLLOgODc5ArAXr4SGk1cjvC7nUtD9-Z8GQAeNOwzN3Clz-YNkwbKUdd-MAjunIGoGEV7gu9NGmfkfKNZGK7qU85RoXn7FivQ_otiVTUQQwmO7UtGunfMGdznAVmKJBg5z4E2Cv2iTzHy2vxnAPVpaKZ_vxBxbtmGg==",
  "id": "rs_047fe8f36f888190016ab45c7b4cf487d0836cb3b8fbcf0123",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.14,\"left_z\":0.13,\"left_gripper\":1,\"right_x\":0.293,\"right_y\":0.004,\"right_z\":0.20},\"note\":\"All three bottles are lying down, with their caps toward the far side of the table. I am approaching the leftmost bottle’s neck so I can lift it and let its heavier base swing downward.\"}",
  "call_id": "call_MrpZYFIcQXilEcAkhJbThkJP",
  "id": "fc_047fe8f36f888190016ab45c83d77487d08e453c595df1fabd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MrpZYFIcQXilEcAkhJbThkJP",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.514, 1.4914, 0.7742, 0.0147, -0.4107, -0.3069, 0.9989, -0.0151, 0.7959, 0.6491, -0.4808, -0.0296, -0.0395, 0.9997]\nstate[eef_state]: left_x=0.385 left_y=-0.1323 left_z=0.1096 left_yaw=-0.0172 left_pitch=-0.0716 left_roll=0.0283 left_gripper=0.9989 right_x=0.2863 right_y=0.0045 right_z=0.1794 right_yaw=0.0036 right_pitch=-0.0556 right_roll=-0.0032 right_gripper=0.9997\nstate[joint_eff]: [-0.5402, -6.6256, 8.9231, 1.8193, -0.4078, 0.1197, -0.1245, -0.4444, -1.1692, 10.4547, 1.9219, -0.0855, 0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28b3a42c0cbde7cd816d3f1c97647c9a3e34ce1487b882fb51b74fa346093e19",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d8e586f315bc6d97647850e077ba9e331a474d96ed1d96974c2671d2c5ade77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:676d4e59cfcc542c0a7cad07e0ae84a1a8e30c23a7cc87bf57f8ba0b7d256d72",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
wire blob 28b3a42c0cbd
wire blob 0d8e586f315b
wire blob 676d4e59cfcc
call 2 attempt 0 · /responses · status 200 · 10.44 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.6075, -0.3771, -0.0193, -0.0284, 0.9988, -0.0154, 0.7883, 0.6029, -0.3866, -0.0292, -0.0341, 0.9998]\nstate[eef_state]: left_x=0.2955 left_y=0.0011 left_z=0.1824 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.2934 right_y=0.0042 right_z=0.1797 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -1.4838, 9.812, 1.7998, -0.0855, 0.1001, -0.1294, -0.7179, -0.9778, 10.2769, 1.8486, 0.0317, 0.1783, -0.0415]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.514, 1.4914, 0.7742, 0.0147, -0.4107, -0.3069, 0.9989, -0.0151, 0.7959, 0.6491, -0.4808, -0.0296, -0.0395, 0.9997]\nstate[eef_state]: left_x=0.385 left_y=-0.1323 left_z=0.1096 left_yaw=-0.0172 left_pitch=-0.0716 left_roll=0.0283 left_gripper=0.9989 right_x=0.2863 right_y=0.0045 right_z=0.1794 right_yaw=0.0036 right_pitch=-0.0556 right_roll=-0.0032 right_gripper=0.9997\nstate[joint_eff]: [-0.5402, -6.6256, 8.9231, 1.8193, -0.4078, 0.1197, -0.1245, -0.4444, -1.1692, 10.4547, 1.9219, -0.0855, 0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28b3a42c0cbde7cd816d3f1c97647c9a3e34ce1487b882fb51b74fa346093e19",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d8e586f315bc6d97647850e077ba9e331a474d96ed1d96974c2671d2c5ade77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:676d4e59cfcc542c0a7cad07e0ae84a1a8e30c23a7cc87bf57f8ba0b7d256d72",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob 28b3a42c0cbd]
[blob 0d8e586f315b]
[blob 676d4e59cfcc]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFyMW-yGYpeya3i-xdtLIIFJMfwGQcMctzWJE8QggvmQKytqQyKicUFXYOXl_VJ1azA6rPXSwBRjhGTXGVyp2xqfZWMhR16TekzXassoJhXRJfLJs-nCCnyl94N9GFg6gbQOBfr-5XlX3QfPagUBW2Wc8NbgSzMUDNAVVn5seHzgKENUwFiRbxwWpd8Qer7Z1og087SOFFmT-j1kzkeP16XDC-hk97GWCYhTvAR01zjnCaaRs6tLiIL-G0nx4blc9tbD6ywcW9rWzHNB5_SZrMB944PcC3fCyXUAShkbMKdDyEwdHtk7D-jfciGDwBaYa_9q7UlnWnn2s7XlhxEqgtMaJBUw_gstDRCygpy-kwLOZQ_Qeg0-I7-rlSvNxaSvdZnrFflMwuQ9eqJs2tDYX2u9qXWmZc7FbUA7FG6AfdC9TeyN3xl1rpvj1u9JdPm_4fYYd7sM8ziLLWlhxw_Ym2m2u1E-m9X-RCU9eedW4eQ6jLtdnEpmz_xeXoBOV7f970EK_NlgFS49zBhXzLxcz57RTYed3RFx5f7AEF5hNjH9Oi32RIIQ6s9XzPLz4qhaaV-MqVRSdrglWSO4a-tzrCDQP1TXikxxQupiGNWXBzyf6QVf2jr0ZaeZyQU6-evmluG9qrpeJdsDGr02GO66Q_JyH0vsCr4B3nmHB-nItrNyqoe0DVwFDXEsT3xBCmiEjyQ-cFT3XU_JiwQRi_LFUQTrLTNP4M2iZsYuBYTdzQmxsRg6dSkaBB8gwdZC5TanfS9smOLBXxgJY1hv34LIjdaLqSvUnV-RNy9GYe2bRRblGWXncN0vxYXdk6EcDu1tiOxMsSjBuGzAa1R1WKLVDwz6IqqlppLgOFIgyBzJEmw-B9gnoA1nZZH21pPd6_9BOInJMkmZn0L49ujIj_QnV74xKUdtfcwt-OB5UYwoqaaexD50jTN-citC-1sHvGcFHXFzz39GxHUqpACEZQQlAL_q5PNwKHpxM4Dlv-S1MPPmq9dGf0Vm6XIybtlgGK140TRloOp1o28AlnsQJ34W5p_XDF5YU5aVRtX_6vrA8CWWq6kM4FCcgRCE1gapXmQ6_-91LxbBCXAqmOYV4GGOJiuNSneh3Nyl3zjjhPde6S_gq-mfBcC1ApHX1ABozVLsi5EOFKN2DczvC6a6yHM6w9NaIxRuMxv3O8NP1agz6GJwP0EhqBNRiwm4wzuHw9h9WnpxoiOC4_Z85DdaJo-ay-k_PnfLKHus7mUmqkpgWYIjhbWSM-PTMSXV7x07stvTK5RITftyd-QFAMpKD-aYX9q29U5lmNk7GH4nFeNORgNQKrWIwmj0J-2vOUaZbwJZcn-jy2mJvT7Sv32I8cUf0o3troqEUlO3pyp_BlMC7NBM2m1MfCMt2NeMMPD6jvFeDcy7B_QMO20Uu41hnXMgAgZiAUyTSXCXqWbEYdUkGjtv3ZJecw-O-Fm5Q4c4pViaVuK5EgeOgovcBPXZrBusjyYDCHCLtF8MEHlqLiL7OiJUlqd6u8y__rT2bQDRJJqGR1DZPw7d5RbzgLwToGBZDGw5dxOKUjjplgppppj-0WdvBriraRBSVAcO1SaRRQiodhWtWwHe-bQ8yLj-kRW0oGaOsqdQPeMsm8WoEj_uM5QvgbkpFKwUEYjInbj2NJuw0AOLHynVIxjGjiVNsTz9fRyC6si7DiK1NtaD1_fB7KBYaLk745xrVvL7iYe9cV9ld2DKo7LrjmknoGwuv41_jWAO6MENc_9aSLqTWJ_Ua4U6-SFXNBjmcyM-v4W6oWo5UFXXR9wE4PYaSJaTfwFfASQBebqWWPVbT1kYc9p9AxOL9n01ECsjy_YOrNWnsiaHNShvVq6U9-njA4NnWP5GMUlR5EVrYOHRt1z521DNirA55LzPbuH5HD_aMMvI5jNSdx7FBVEKnVPN727-2MRV7GLBHk7_Mpm9Eg3jSnmKjfqwLSge-DpKPB6WjAx2Esxwf5HIoSPwJr-r6KQ7syFLNpRtmyegqyvsWTBTKAiP8LJaQ-X23aZFFO-SF8CX1TpavfLnFZ8U0NsIdm3RETSjccYf8LseuMt6E6EhZfQFJQF1z4-HkJ4aXbH4aZE7HRgvy1cYDCoX-AMlGU-QGnfNFygkgTJqdAHn8nSOBMCQw9Htcvw=",
  "id": "rs_047fe8f36f888190016ab45c885d6087d08131ebd67e999b86",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.105,\"left_z\":0.025},\"note\":\"The left bottle’s cap is visible left of the jaw center in the wrist view. I am shifting toward that neck and lowering the open jaws to bottle height.\"}",
  "call_id": "call_cbFZhF8fscOelXG4urQU8fCX",
  "id": "fc_047fe8f36f888190016ab45c8be9c087d0a37072c5425de766",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cbFZhF8fscOelXG4urQU8fCX",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3843, 1.8046, 0.6449, 0.5549, -0.3206, -0.2623, 0.9985, -0.0151, 0.7589, 0.5938, -0.4477, -0.0296, -0.0425, 0.9997]\nstate[eef_state]: left_x=0.4206 left_y=-0.1062 left_z=0.0332 left_yaw=0.0134 left_pitch=-0.0074 left_roll=-0.0265 left_gripper=0.9985 right_x=0.282 right_y=0.0046 right_z=0.1709 right_yaw=0.0053 right_pitch=-0.0407 right_roll=-0.006 right_gripper=0.9997\nstate[joint_eff]: [0.6632, -5.6, 5.2991, 1.0037, -0.2711, 0.4811, -0.0513, -0.4855, -1.4701, 6.9812, 2.0293, -0.0708, 0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6909dae423be788d884eca2344144d9688b75caabf14c94ee753f776d512f89d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c9a12d3274b53e8de7166ed79e1deed3f9fc706e9d70745495768a07a147362",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e51a98b5a37546daf4401e0a35b7ce456a9c6c070c460a2167fb35a37cd53335",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
wire blob 6909dae423be
wire blob 8c9a12d3274b
wire blob e51a98b5a375
call 3 attempt 0 · /responses · status 200 · 6.214 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 10 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.514, 1.4914, 0.7742, 0.0147, -0.4107, -0.3069, 0.9989, -0.0151, 0.7959, 0.6491, -0.4808, -0.0296, -0.0395, 0.9997]\nstate[eef_state]: left_x=0.385 left_y=-0.1323 left_z=0.1096 left_yaw=-0.0172 left_pitch=-0.0716 left_roll=0.0283 left_gripper=0.9989 right_x=0.2863 right_y=0.0045 right_z=0.1794 right_yaw=0.0036 right_pitch=-0.0556 right_roll=-0.0032 right_gripper=0.9997\nstate[joint_eff]: [-0.5402, -6.6256, 8.9231, 1.8193, -0.4078, 0.1197, -0.1245, -0.4444, -1.1692, 10.4547, 1.9219, -0.0855, 0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3843, 1.8046, 0.6449, 0.5549, -0.3206, -0.2623, 0.9985, -0.0151, 0.7589, 0.5938, -0.4477, -0.0296, -0.0425, 0.9997]\nstate[eef_state]: left_x=0.4206 left_y=-0.1062 left_z=0.0332 left_yaw=0.0134 left_pitch=-0.0074 left_roll=-0.0265 left_gripper=0.9985 right_x=0.282 right_y=0.0046 right_z=0.1709 right_yaw=0.0053 right_pitch=-0.0407 right_roll=-0.006 right_gripper=0.9997\nstate[joint_eff]: [0.6632, -5.6, 5.2991, 1.0037, -0.2711, 0.4811, -0.0513, -0.4855, -1.4701, 6.9812, 2.0293, -0.0708, 0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6909dae423be788d884eca2344144d9688b75caabf14c94ee753f776d512f89d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c9a12d3274b53e8de7166ed79e1deed3f9fc706e9d70745495768a07a147362",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e51a98b5a37546daf4401e0a35b7ce456a9c6c070c460a2167fb35a37cd53335",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob 6909dae423be]
[blob 8c9a12d3274b]
[blob e51a98b5a375]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFyXFMGzFZUm8jbvEbw981pWLrEGTtUu6zq6MqaaR6zHP3unzhNq9RmRD0c0Aj1ZSX9W7IhP7bWqekXUdlaXZ_Eg9jb2x_zegGWtvN82Q_QBrmkkuNYvAHoMcaXSBUOjOXL75H-5SQy5jzXUqwL_7GeHJKciiod0BFFznUEITtjPlUMS8xPtpad5GwWsRxyaHpb5cyeoKMlpb690DU6MlojbAD81VeUM4b4P5oSEFuBS_M_q-N9Ha2vCaPOne_t5-XGpH4wpmKoaPiHtq_dgGr10Ld4F9eM5DD87KJsSGLzsW8A6yBLMEq_aCvalH5g0g7vksTW-LiDuBP846HBWl7HoYBaW94cqtNe60jbw9xfPEp5pzUPtMOrVLFSVuuYHk9k2eM8YHrYMcER2SQZXTq9YdL5vh1gTIzee449Q9HdUkUmYVUw-A1ptk3Or9YGeLFhVSaSUEv_85H4jxXtX7woOsl2bpKayWM3Ni43hNVuCRL0TW_24t77DpuGJefK6ZyjG0MCHOJg4PwUxzqed5LmmQFdk9P4dXVswEHd2R1JaOnZlmkmLO1HegjZFinCepMNPZUsmUMLOWoDDOrKU-gWhesxqzoIbcIl4eeZG5fDfOWXY678dnsFOIu2R0eguXGSNnWuHIO5pQ1aZEX4GZY7tVKbXytT7HwkAVHYHzAKB5auXtHjkVIeA2aBxfp-tjj5VXN4oIJaiCjFG0zV389-ogIZeS1yaSIHA4wuV_OlmL9BweVvSex8uzQe8vX_OHhQYkO7iRIKve3SS_Ihduvq3LMmOi6anB2LAWpI7Ff9DO39ptjd19ioGPRqO7x6G__-DdkTzqoiqdtjZwDVCj6fwkfVmOjHLwivsqHAtc69P8HOmpsqu4LJpYA5xAjL792vsutII2M5MCyeHCmDJ1WRGAGSlq8VfF0KY3lrg-9ja5E4CGtAr5I2olB4TQyw3WhqVRu1idZ2YxaNVkQ1r_xcXapIRwT4hMMBtXqbJrM7C6VNx4AXsdD7zcwIuRw6XpD7Pk1fngAgWxhn_KzEM-fc4gflnvl0voCGpzLvdpHpvTAw94tRD1u_dwM-xWCLszbmHbxt9L01fZnyPsCnYSyMI2UuWe5hnZkmwUe5zYFGLJyWon7BKnzrZjp0gq4n4OUGHMrBd2PwK_Za_EDpHLzWtldlYRCgVE3LRSdFeYb9dLzEHr4XrxyrJDs5ehSRf_I2NJiGWwkkcj5_6HTVKOR-nMtkNS4J5UXXKjzJObJzb7R132U3PGSdEGm7YOCTwQb0K0osxwBU7g6az6fi4FH2eemHunPdV-jpNSySt9N_zFBJ9H67mVz4HL-NqJR2Ne7mt0bK0qc7eOkRRCCRqUWvhqVjzUgHIA6C5MQfgoDykVJZDgEv967kKUz8bo7SsGlgt7iR78x1bQnCHa1JK7CsFhIetCjLNqduGO-zVvFvsfsTGdBN2v4VhGgy8bRolGOpdgq5K0Jd0OFyKvweSgPoZG44Q5aJb0dGjEFsqROO7EH6fw4mEOl8YYrvo-qTj9uYMzfXdJL-JopvQFyh1gLzKTLs0PvPNSQfzyrT1NTZ7VexU8bqWZhuFdMWzaDs3vsoU3i-99hkzQwAABt6HVb60tqDe1EZ-I0eEILvQ3HFSkCFL6zKiaRukkZt_xzXS6fx5angL3U2jqfyGce1Nguyy1S1c-XnFRFdVXOTX52kHgFzO3n9IX6cfPAeTrVE4Hbta_lcM71CPA6F1MKHlXw4OLoyaAfW6Nd_K8zW6GLUQbb7wY2tQYpJgsSMGSLaXddoxTaFjMI6IMJmE8JMasuEi49t2kyc0NFdm_aeLEzMjV7djJqwtI_jzlDMCEW15VWsmNRZwuFjWZ07vtqOD7kOR_k5DL3XF0nRdfZ7AEfSxjNbyPEumxQRRA-f1WzTYRuZI4MeR65D_zdFcCHAdbc1q7rOnbH7B-X0R9qMo0OAz-mH_WYG65uE4YfrEdfFboPyWucu85MNUTwD2RBpSN6ZDlFhCOVTAsr5ngWpayW8jwWZ6bQ4jCTvgWjGjvSrJQD1DlblnPu0LXzocxJWepbOvbpORwdLEASIAn0EHBWWHcNzeAmhpRJQfx7Yjm_HmajqfQ0isNB3Fm-odwwpA63Eyd-I80iVABHqORcEU6PK6wV1t1j92Cg5dyxRfkStWlCN5nEv6gfnX5kMYc6vgGAQx65zQIS4KDMWS915zyZ9YUqTMtfa-3KQ9ETlvUggUo_TU5-5ojZFasm5R52tidvqQvTQYwqHjKFB2i3ZdhM2h4qNoSe17qcqTZ3yLDCd9UaARHPrQyo-GdTu7nOpg9bA5I0GHVqHIScHVSFQqS3GunfVII6AZqQB2eTS9ChPCJWerfc3wVKKm74DlSBf_0FDTRYsC3lqeI0lqwhm-OMmkr6Th8dOlDU8V2X1hhNVOD7_97-4Y-UFc_dcNMXOmYClJ9gPAT7SEztIiXvG3UMIev2HbOz0QDwktIerAw-06Iy949Pown-Q0BX4aRSS0y6GMTGd-RWs-8xgqfMNzhXobG4DRwMwZzWAqC1NwI0RuUI28DJS2YPigt1QpgPDD2WQrNFi3wHd0gbCR1xnO6800geDAwzKtII9DkbfBZJhj3fTD8OXBbVpCbjS0MA2_cAAwKfKdrjPGCrjm52X1LQhoAlWpFOCNd2QYw4GXvDIpPFSZlGnHUdY_MHrMK5WTRDa1A-ofQXkrd73bDLh-lHgcGc9D2d2U8rxvt0P2Q3fybxUjcmukjk6k8qkRHgvRMfqahe-QdevNofv7S1LtnCKFxne0J3E-IZp1fZ__N893J3TErn3VPNSo2QbuWWGwDVs2xZeq_LceRJwvkiEveNq0uCSSqxrr89IqNRHwF_62zK3jb2LnkXQQfXwGp7-kyPVkf-1r5wnpg9adyIFqDPJ7D_Bx3-XEXyR7xI8JtOV9dJnJsZDFs_yvrPHGGxO-CDKmZWYBcnPKOuRM9CjUvSpFEatgjSxBKwRVe_Hci6rvnPtPKz_maHOAD6mm6ePd2H_Csh1nA9jrQmU6FTbA4r4CTOJSAIFBKl3LDjvyeqpfIMYH-AKxiAQ2iNdDOVoSV54Lq0rlI3kLc5MvN72kece_Rv9j3RmIV7g3_vmML6Jwluhg75anbLgCd8nnzREcZ06Qjjn9S5U2zpjh5K4fTY0XM3vnxdY219hXzPFyGxp01Gi5",
  "id": "rs_047fe8f36f888190016ab45c8ef6a087d0a758cbbb34d3e80a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.08,\"left_z\":0.023},\"note\":\"The wrist view still shows the neck ahead and left of the fingertip center. I am making a small forward-and-left correction to grasp near the cap rather than the bottle’s wider body.\"}",
  "call_id": "call_mhweP7qYsOw5hTBj4fKK3aGN",
  "id": "fc_047fe8f36f888190016ab45c96b3e887d0844abeea2b825386",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mhweP7qYsOw5hTBj4fKK3aGN",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2771, 1.9255, 0.778, 0.6239, -0.2535, -0.2207, 0.9984, -0.0154, 0.7368, 0.5537, -0.4255, -0.0299, -0.0425, 0.9997]\nstate[eef_state]: left_x=0.4709 left_y=-0.0842 left_z=0.0405 left_yaw=0.0432 left_pitch=0.0568 left_roll=-0.053 left_gripper=0.9984 right_x=0.2789 right_y=0.0046 right_z=0.1629 right_yaw=0.0052 right_pitch=-0.0365 right_roll=-0.0059 right_gripper=0.9997\nstate[joint_eff]: [0.2667, -6.9265, 5.4222, 1.2772, -0.1001, 0.3541, -0.022, -0.7179, -1.5521, 7.0222, 1.9805, -0.1538, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd06c60f37c708d52d6264d8a60109e41afe57ae141a3fdb032d89772ed0c1c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b71951e06b0bb7d0ed146c108f7b679ac7852be6928ab7bac83fc17a62b8fbf9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e05035c64eeba40ef3b5d14ddff0d524433ed7012b87dd29b3a9d33675814693",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
wire blob cd06c60f37c7
wire blob b71951e06b0b
wire blob e05035c64eeb
call 4 attempt 0 · /responses · status 200 · 7.576 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.6075, -0.3771, -0.0193, -0.0284, 0.9988, -0.0154, 0.7883, 0.6029, -0.3866, -0.0292, -0.0341, 0.9998]\nstate[eef_state]: left_x=0.2955 left_y=0.0011 left_z=0.1824 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.2934 right_y=0.0042 right_z=0.1797 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -1.4838, 9.812, 1.7998, -0.0855, 0.1001, -0.1294, -0.7179, -0.9778, 10.2769, 1.8486, 0.0317, 0.1783, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3843, 1.8046, 0.6449, 0.5549, -0.3206, -0.2623, 0.9985, -0.0151, 0.7589, 0.5938, -0.4477, -0.0296, -0.0425, 0.9997]\nstate[eef_state]: left_x=0.4206 left_y=-0.1062 left_z=0.0332 left_yaw=0.0134 left_pitch=-0.0074 left_roll=-0.0265 left_gripper=0.9985 right_x=0.282 right_y=0.0046 right_z=0.1709 right_yaw=0.0053 right_pitch=-0.0407 right_roll=-0.006 right_gripper=0.9997\nstate[joint_eff]: [0.6632, -5.6, 5.2991, 1.0037, -0.2711, 0.4811, -0.0513, -0.4855, -1.4701, 6.9812, 2.0293, -0.0708, 0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2771, 1.9255, 0.778, 0.6239, -0.2535, -0.2207, 0.9984, -0.0154, 0.7368, 0.5537, -0.4255, -0.0299, -0.0425, 0.9997]\nstate[eef_state]: left_x=0.4709 left_y=-0.0842 left_z=0.0405 left_yaw=0.0432 left_pitch=0.0568 left_roll=-0.053 left_gripper=0.9984 right_x=0.2789 right_y=0.0046 right_z=0.1629 right_yaw=0.0052 right_pitch=-0.0365 right_roll=-0.0059 right_gripper=0.9997\nstate[joint_eff]: [0.2667, -6.9265, 5.4222, 1.2772, -0.1001, 0.3541, -0.022, -0.7179, -1.5521, 7.0222, 1.9805, -0.1538, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd06c60f37c708d52d6264d8a60109e41afe57ae141a3fdb032d89772ed0c1c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b71951e06b0bb7d0ed146c108f7b679ac7852be6928ab7bac83fc17a62b8fbf9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e05035c64eeba40ef3b5d14ddff0d524433ed7012b87dd29b3a9d33675814693",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob cd06c60f37c7]
[blob b71951e06b0b]
[blob e05035c64eeb]
{
  "content": [],
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  "id": "rs_047fe8f36f888190016ab45c9995f487d08c69f792d460e2f7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_x\":0.293,\"right_y\":0.004,\"right_z\":0.2},\"note\":\"The bottle has shifted slightly with the open jaws, and its upper body is now between them. I am closing gently through the controller to secure it, then I will check whether it lifts with the hand.\"}",
  "call_id": "call_gSo2qtiIMP88PZUDr2ONoOjQ",
  "id": "fc_047fe8f36f888190016ab45c9ce8d487d0ad747014d36ef0f6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gSo2qtiIMP88PZUDr2ONoOjQ",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2611, 1.9316, 0.807, 0.6888, -0.2516, -0.1829, 0.0106, -0.0154, 0.7929, 0.6426, -0.482, -0.0303, -0.0513, 0.9997]\nstate[eef_state]: left_x=0.4875 left_y=-0.081 left_z=0.0623 left_yaw=0.04 left_pitch=0.141 left_roll=-0.0468 left_gripper=0.0106 right_x=0.2851 right_y=0.0045 right_z=0.1771 right_yaw=0.0103 right_pitch=-0.06 right_roll=-0.0123 right_gripper=0.9997\nstate[joint_eff]: [0.0205, -7.0359, 4.4239, 0.7937, 0.0708, 0.1099, 0.8181, -0.8, -0.5538, 10.2085, 1.9219, -0.1636, 0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f506836358aea96e2d0b898c4c4609afdf774e48cf9c76f76ceba2bf1402873",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c91a0ffd70227071146151dcec773efccb26f9c77a144962b92d18e82d52acfc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:567b7aa4b785d03c57934083e9082164f591650719164f7973905baaa80f699c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 4.245 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.514, 1.4914, 0.7742, 0.0147, -0.4107, -0.3069, 0.9989, -0.0151, 0.7959, 0.6491, -0.4808, -0.0296, -0.0395, 0.9997]\nstate[eef_state]: left_x=0.385 left_y=-0.1323 left_z=0.1096 left_yaw=-0.0172 left_pitch=-0.0716 left_roll=0.0283 left_gripper=0.9989 right_x=0.2863 right_y=0.0045 right_z=0.1794 right_yaw=0.0036 right_pitch=-0.0556 right_roll=-0.0032 right_gripper=0.9997\nstate[joint_eff]: [-0.5402, -6.6256, 8.9231, 1.8193, -0.4078, 0.1197, -0.1245, -0.4444, -1.1692, 10.4547, 1.9219, -0.0855, 0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2771, 1.9255, 0.778, 0.6239, -0.2535, -0.2207, 0.9984, -0.0154, 0.7368, 0.5537, -0.4255, -0.0299, -0.0425, 0.9997]\nstate[eef_state]: left_x=0.4709 left_y=-0.0842 left_z=0.0405 left_yaw=0.0432 left_pitch=0.0568 left_roll=-0.053 left_gripper=0.9984 right_x=0.2789 right_y=0.0046 right_z=0.1629 right_yaw=0.0052 right_pitch=-0.0365 right_roll=-0.0059 right_gripper=0.9997\nstate[joint_eff]: [0.2667, -6.9265, 5.4222, 1.2772, -0.1001, 0.3541, -0.022, -0.7179, -1.5521, 7.0222, 1.9805, -0.1538, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2611, 1.9316, 0.807, 0.6888, -0.2516, -0.1829, 0.0106, -0.0154, 0.7929, 0.6426, -0.482, -0.0303, -0.0513, 0.9997]\nstate[eef_state]: left_x=0.4875 left_y=-0.081 left_z=0.0623 left_yaw=0.04 left_pitch=0.141 left_roll=-0.0468 left_gripper=0.0106 right_x=0.2851 right_y=0.0045 right_z=0.1771 right_yaw=0.0103 right_pitch=-0.06 right_roll=-0.0123 right_gripper=0.9997\nstate[joint_eff]: [0.0205, -7.0359, 4.4239, 0.7937, 0.0708, 0.1099, 0.8181, -0.8, -0.5538, 10.2085, 1.9219, -0.1636, 0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f506836358aea96e2d0b898c4c4609afdf774e48cf9c76f76ceba2bf1402873",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c91a0ffd70227071146151dcec773efccb26f9c77a144962b92d18e82d52acfc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:567b7aa4b785d03c57934083e9082164f591650719164f7973905baaa80f699c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFymFVOJxyqZnUnygAcwbVTlGChX_N-eisjYnRn1_amTtAuVhMuI5shI8XzAE0RGLrblDOCOcjUWeBqYZx9ZXK65Xl7C56_JiC-A4VhWLvBwr_5nGCjrS67EIT-WopeqcQVOpG5YihAqcBlAjBnqaeosZfxU6Ufb0ugjWsc5FRxLLEwtNYzzig_lL4KS3IikWS3W3pMQzlcy0oSKVClLjatPlXfu7XjME_FmPLrF7GAtS0o7uiiQKmzJM7YkdIkW2f5r55EcKcd5VxtYWKo0WZTZ1mERzgqwWrGUWBjXttk1MRX6Ol3Udouxv3iw3gFrlWP7seRJkWvtcFvDYoa8ZrbbJ9Dh7MoscZsJaJ5MtPzGiqMHZYAL7fYvzatyw1KPBCExLMeb4OmG637LoQwDr_xQCV03lKE8pDhKhH3CdrfB-uENoGBhb9NCALZTOeRL7O-75gBNQW5otoNQt__xZDTDCox1XoAsR6_M2IpfctHw8Gp170onG6rkE8xZDcMPT0iLb7HMY2-D4EZRBfrA4BPqQGptxACQm41rn1hrGD_K4Su_DOR4ObamRsYqx_0Q6AcZaktkVXr2QhqJ1TuKVfT1binmO0JglJ6yj29O4hvw2uhoKaUWiHSJ4lWQpZErS4bWWRNp6gehHQQxHWM2Z56saNzWC3u1EEGK4ZtTEoa6Juw36SsncufwE5NBdvywyB8vf84-uP0Vsx-28WKvjXWssmHTphyl7uvsCtNTE_tHdh-3F1WPtg2Vzqbbwl9vsQKihWy5ClHHQtxM9Y5n8D2612temhHXNpktNtEPjWItlm1T16ykfuXP-R2XDCx0KzRBieq7Jho5y_JK4QaNrnUm7wJHi8eFIcgBZsnqI7_Dtxp2mvw0TMQL-DpwKHJkABsCf8Pz5KFVbLaEAu8NSCRdEX4fI6wHYM4V9O-5BCoVEhdwbwGp4z3-mVczPogB38icw7Clb8qKDYlDHbO3gqy2oDDa-PBttzMbcFL5GJ0eYKVWCWQh72WXLubzD-yJrGc5oiDJ2BE7lxI1povmcXYzMl1HsmqlnWxhywizBLWYpJQ7A6GqLEffNc5CWOixrtavOKwsPIvbEmzBCqZfI2TEtoP07aDbCz7udEGpTi95PWiM7BxNKgs22xnt2aW5_hls_tRQV6f8uRHQ3wlQNN8lzWhPf4CaPUr3-_hZ-WUlRCqVoCAquMowd_rbAXFB2dTyeimpJVq-DszQWr-qoH2Z-PSCOPwEB1Jzxa0N4lOSK0WYDkyFZaIm61cCb4pzfD63ldeFT14OYx8O69W_nCCNRTN6cX_UJXVPaF795H16ONSf-ULb43qx7NaN_m46Jbv_XXdMxyUk-JJaWQ7HSUsRWGxIr6utiF2JR1Gw8ugOX1QLJEfykHJOskz3cF-9BlQuaJnRi2HmPmlEMr4w3ECe7i-uAylVqBo9leIormdmHbm_3m60d_tAsYN-HFYPm9mORrxd_UfdQVItuNX7q5BMiEwAjHQ2H0PzY-V-A8Mz4P5WAli2nsMuP16jro5F6e78PI6zZafFAh_PrhED_avci-nj4by1uK1m4_gfiC98NYsqWfK_NE0DQmC98Ljg5xfl2dnUhIKZfsvseeitgE9-YOPejCxOpRKBn0vgE4XlGtIjacUr9STDLEhZInmK4PrGif2pNXXBWtq7-i-qTGjhU_io-NF--AuneWHEwFNPI5Xl8tfeYrG2Uy1zq6CFS7GF90V3EvWgkbgDNI7arEm_U4rsNHzPlCEE2fkA6NmJy6UiGRc0GidhPbIM3jS1knzBQFeA5VvxKoMr7JbqKB2xEglXDuaUqbqx7Hyk_OogS9D9FwdsacXTilXYb42UT2OuFRmRL6IdsZEgy8LNMToEt8NgEv_0WJF_BvZuQaFMWC5cXkz_fL9bsJgtJVrOOBNFPAc76AkAl1uMS37IxKb4IAU4uBcVNha0S1hBbXeOb16dGXK2NPrFe9_gl6ivci6PHc4r6WPlo6jzEt7ICScT2EubL-dZDu4-FBZZehnYhKi1epHKayuQNa8nDCKN2T7pkX-XbXrTySabTEGe0aR9xes8fwdbPOP0Qnvs3k5duwLdoEjTacwEhW5Gd-TZhuYc9ToqEQ5Hprq5v1Z3R1Yu10zCaZqTGweXKuLLawfFBUFNWaEnurmYH2wcRoHIm42rpPmxmt9SACaSTaRj1N-r-RvW5V8HxuUKmj8rvwREC_ewu8CCVrIrV-NDYLKFbXTBa81uhDZO9906IWnTBWroDYfyhL75SFsbhj-qQ43VWMsB6_JcTSqoHM66Qwd-hXgdIdSq6ri9_OnTwrAlLInhoY6TIlw_7RjeZQqOB4r7gzoIrSb2H8oD3J_24xyxLGJV_z7aN7Y_ItEPcanWtI3c7oeSprtSwqGxQdzQuzmpWUCjddkLkt97mGAEDlxy0N7mvPBNuFi2IQwh1w5OY2g19Lrgz5AyoHa7Fd3E1Ez2s752EUsSNHwCXDPYA3TpnLhy7AuVH7oO_0oCFewVg7zSLZKpuPMMJ3qUXMcMIqTzEec=",
  "id": "rs_047fe8f36f888190016ab45ca1091887d0be79f6869e136c32",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.08,\"left_z\":0.0,\"left_gripper\":1},\"note\":\"The closed gripper reading indicates an empty grasp; the fingers were above the bottle. I am reopening and lowering to table level, with the bottle now centered laterally.\"}",
  "call_id": "call_gR29rOZkhemDPci9nqaMHvPf",
  "id": "fc_047fe8f36f888190016ab45ca5bfdc87d0a2e1f59365290f38",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gR29rOZkhemDPci9nqaMHvPf",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.268, 2.0109, 0.8619, 0.6926, -0.2699, -0.1886, 0.9947, -0.0154, 0.7563, 0.5831, -0.4469, -0.0303, -0.0544, 0.9997]\nstate[eef_state]: left_x=0.4989 left_y=-0.0844 left_z=0.0461 left_yaw=0.0509 left_pitch=0.1237 left_roll=-0.0381 left_gripper=0.9947 right_x=0.2806 right_y=0.0046 right_z=0.1669 right_yaw=0.0119 right_pitch=-0.0478 right_roll=-0.0151 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -5.3812, 2.7692, 0.9353, 0.0073, 0.0855, -0.1636, -1.1419, -1.7709, 6.9402, 2.0391, -0.2027, 0.0122, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58b8bca8b880aa639ff324d0c40c4b1cbd304c4e6a2946eb212cca4d9eee8376",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c896ef4d434245454a1cedca270428768801ccc740df09700683660f02e21aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93b9d5e0c881d99dd9b7645b16bb408b2b45a382387067102661b3332990eba4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 3.424 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3843, 1.8046, 0.6449, 0.5549, -0.3206, -0.2623, 0.9985, -0.0151, 0.7589, 0.5938, -0.4477, -0.0296, -0.0425, 0.9997]\nstate[eef_state]: left_x=0.4206 left_y=-0.1062 left_z=0.0332 left_yaw=0.0134 left_pitch=-0.0074 left_roll=-0.0265 left_gripper=0.9985 right_x=0.282 right_y=0.0046 right_z=0.1709 right_yaw=0.0053 right_pitch=-0.0407 right_roll=-0.006 right_gripper=0.9997\nstate[joint_eff]: [0.6632, -5.6, 5.2991, 1.0037, -0.2711, 0.4811, -0.0513, -0.4855, -1.4701, 6.9812, 2.0293, -0.0708, 0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2611, 1.9316, 0.807, 0.6888, -0.2516, -0.1829, 0.0106, -0.0154, 0.7929, 0.6426, -0.482, -0.0303, -0.0513, 0.9997]\nstate[eef_state]: left_x=0.4875 left_y=-0.081 left_z=0.0623 left_yaw=0.04 left_pitch=0.141 left_roll=-0.0468 left_gripper=0.0106 right_x=0.2851 right_y=0.0045 right_z=0.1771 right_yaw=0.0103 right_pitch=-0.06 right_roll=-0.0123 right_gripper=0.9997\nstate[joint_eff]: [0.0205, -7.0359, 4.4239, 0.7937, 0.0708, 0.1099, 0.8181, -0.8, -0.5538, 10.2085, 1.9219, -0.1636, 0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.268, 2.0109, 0.8619, 0.6926, -0.2699, -0.1886, 0.9947, -0.0154, 0.7563, 0.5831, -0.4469, -0.0303, -0.0544, 0.9997]\nstate[eef_state]: left_x=0.4989 left_y=-0.0844 left_z=0.0461 left_yaw=0.0509 left_pitch=0.1237 left_roll=-0.0381 left_gripper=0.9947 right_x=0.2806 right_y=0.0046 right_z=0.1669 right_yaw=0.0119 right_pitch=-0.0478 right_roll=-0.0151 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -5.3812, 2.7692, 0.9353, 0.0073, 0.0855, -0.1636, -1.1419, -1.7709, 6.9402, 2.0391, -0.2027, 0.0122, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58b8bca8b880aa639ff324d0c40c4b1cbd304c4e6a2946eb212cca4d9eee8376",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c896ef4d434245454a1cedca270428768801ccc740df09700683660f02e21aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93b9d5e0c881d99dd9b7645b16bb408b2b45a382387067102661b3332990eba4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFysFZjjll7_sEIsmgOhPUKjA4q62GnJZEXgyPtbiXUE2Vd21ko17p7GbBrSnzn-aDDuXV61BtlHACr1t7LYwPe4PTyx_GsvoiR_WO-FbbDg8skvpTAp-v3zZBNim0hn64Tx8qNFc-qhubVTgUHB4D25twnNy6GrGnepvV8wyYl1r1OWdnAk0ITTe8IPCkvlxtaPaSVsvAoOcXOE1QSBIUGbE3Qv6QTANwNs4jGWKm-NuefpJDqh3qMb0cTEgQigpUJEiOS_qX6cZdxRcvZ5_qkNCVehKyfIP7-VoXZjulBtGfUs5rEZ5kY_C-7-YWEa6-z0jq0VC1tcKcbEv9tIs_xZ2Ikj0kMB6DK8d2XUYaAeDsOzRPxV1rMPYbV4tX556hkz_UNteGkuS8KCqQ0rq5NSnJXpVNfuJd4EfmdxKaxVsjZLhcg9zZeiNxO10EbNTUqhc4QsWjv_r96Ax517SAXB7UFwUbjSthXKQfN0pjR1BtdLd_Bx156-gZ_8p4uFYi8t9RXrSVdlj7z6sG6lYZ7cdsx1URlLeosNo6muSTNuGHOrZWNebG0O0MQXqdKJs48YyFAamDJL8mBcDQrWtgkdjcuGS-BFSqmYCLpT8q2NIIShOgg1HgBAP1RluK-K4HQWue-X9aYi3Mv6_JaCpOjSKNXrGFdiOQjbvRKhGdQy8xWPwwCXDX_U7PrYyaCZ3PHc941Ccf0XKnra0CENB2mzVp14lGlRwqWENusxkD5E8K5NrRIpWyxxjnsMYdff3yTJc01ANW-d9dv0iCGosjEWn_zipiZ8pUc_Glyv0dO2Bnzvc9enbfZsQ9ORLztJ3wuQ_FIrl7Gk1EJYZWUmh32sjaq9fBq8XeGLRjmx5DLtHOKTJERyPwTHF6LNV5SqII3V5GQmkogHv4D6sFolprP6i4XyS-v7oNDXY35XFWupNkEEx37DRthWZ5TvBgE-sRXzI4jw0iFCiwhZiqIa9brzEJtQRaBN5RuE2k1kXx_urItisHP-I_UrORmgvtTaabkpkpuqr4jNfzi_uvUPwTxwooBR91xDzfxn4qyDCpu9cuquGKF8r8tApiY2rfoRI32-ZbJ_3gdy2W89ND2zqIooE5UAm3972YA-x5HrCR01sznCpBR3La1jdbY92JUCHbXMu6euYnAgfNVTpUvuERP4u1TNnu185wx-yj2LenSVrYKM3YoPcf5yVuTMGmSAHYXJNQ1fJvuld6i6j-6ehcChN0VnuSO0luZAGTPkX2ooiQysdEurqgfJKT0meKgFiH8fkQVIoh4gwf62S0oXSje-CIEoTBU8rJtXNHY4fi_aahEHONpawKZVf9hWcauO13jtNWPQvreBRzb6gQUQo3Xf_gtsd7FaYUssje1ya0Q0v3JbhLCV5rtW_KR0AQOutnJ9Rp5d8N51QHLXoJb5TQfYcQ==",
  "id": "rs_047fe8f36f888190016ab45ca97d6c87d0ace34b2186915cf8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_y\":-0.09,\"left_z\":0.005},\"note\":\"At this long reach the hand stopped about 4 cm above its target, so I will not force it lower there. I am moving back along the bottle to a reachable body grasp so I can bring it closer.\"}",
  "call_id": "call_Hig8eeJNZqgiu3S0v2rLGdtu",
  "id": "fc_047fe8f36f888190016ab45caa75f087d08848b35a82d55553",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Hig8eeJNZqgiu3S0v2rLGdtu",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3355, 1.9369, 0.7174, 0.7258, -0.3195, -0.2142, 0.9961, -0.0257, 0.728, 0.5373, -0.4217, -0.0387, -0.0547, 0.9998]\nstate[eef_state]: left_x=0.4582 left_y=-0.0972 left_z=0.0366 left_yaw=0.0374 left_pitch=0.0958 left_roll=-0.027 left_gripper=0.9961 right_x=0.2769 right_y=0.0033 right_z=0.1585 right_yaw=0.0089 right_pitch=-0.04 right_roll=-0.0108 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -7.3094, 2.2769, 0.9158, -0.1148, -0.2857, 0.1343, -0.4718, -1.4427, 6.9265, 2.0586, -0.1734, 0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e3746a44289b5805c627ff84ab1d6c256bffde17c831abda5d08825c076dcf1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66bf5f67527b92223668faec6748ba14901ab7865925129c7fa7dde5912cb4c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:617bbdbce3e43a83699dcccec00f5eaacf81cbf7acd8658f3bc1da2181357d62",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 20.04 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2771, 1.9255, 0.778, 0.6239, -0.2535, -0.2207, 0.9984, -0.0154, 0.7368, 0.5537, -0.4255, -0.0299, -0.0425, 0.9997]\nstate[eef_state]: left_x=0.4709 left_y=-0.0842 left_z=0.0405 left_yaw=0.0432 left_pitch=0.0568 left_roll=-0.053 left_gripper=0.9984 right_x=0.2789 right_y=0.0046 right_z=0.1629 right_yaw=0.0052 right_pitch=-0.0365 right_roll=-0.0059 right_gripper=0.9997\nstate[joint_eff]: [0.2667, -6.9265, 5.4222, 1.2772, -0.1001, 0.3541, -0.022, -0.7179, -1.5521, 7.0222, 1.9805, -0.1538, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.268, 2.0109, 0.8619, 0.6926, -0.2699, -0.1886, 0.9947, -0.0154, 0.7563, 0.5831, -0.4469, -0.0303, -0.0544, 0.9997]\nstate[eef_state]: left_x=0.4989 left_y=-0.0844 left_z=0.0461 left_yaw=0.0509 left_pitch=0.1237 left_roll=-0.0381 left_gripper=0.9947 right_x=0.2806 right_y=0.0046 right_z=0.1669 right_yaw=0.0119 right_pitch=-0.0478 right_roll=-0.0151 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -5.3812, 2.7692, 0.9353, 0.0073, 0.0855, -0.1636, -1.1419, -1.7709, 6.9402, 2.0391, -0.2027, 0.0122, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3355, 1.9369, 0.7174, 0.7258, -0.3195, -0.2142, 0.9961, -0.0257, 0.728, 0.5373, -0.4217, -0.0387, -0.0547, 0.9998]\nstate[eef_state]: left_x=0.4582 left_y=-0.0972 left_z=0.0366 left_yaw=0.0374 left_pitch=0.0958 left_roll=-0.027 left_gripper=0.9961 right_x=0.2769 right_y=0.0033 right_z=0.1585 right_yaw=0.0089 right_pitch=-0.04 right_roll=-0.0108 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -7.3094, 2.2769, 0.9158, -0.1148, -0.2857, 0.1343, -0.4718, -1.4427, 6.9265, 2.0586, -0.1734, 0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e3746a44289b5805c627ff84ab1d6c256bffde17c831abda5d08825c076dcf1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66bf5f67527b92223668faec6748ba14901ab7865925129c7fa7dde5912cb4c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:617bbdbce3e43a83699dcccec00f5eaacf81cbf7acd8658f3bc1da2181357d62",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFyvIfdii9KH97e-CST2ob2z0jCBgHQn2jay0Hoj5vD68FFsk65XhyGaqXEiOS2hXPolSCBlLri3aMrSIFToumKwxYCrSxTK6GKH9sAc8CQ0qDSepICoMdSNpVMOpQMs8AtxA01HCtX4w4cGNLBUaM07vgLm7Kiz8zltegS4fSL3AWzvLNteNMwNsxTD6EcZ8Ze0SNACnxo7JsAbzZK8OC5rCVZTyN2qjp63peiXKJXxn7QIBWwWlA0TksT7Na-8fgA1uRbbRFQQXno-QDbEivQaONcQGbf02Chtvg3moisZ_82Ro2h_ymVpQCb7IjpXI_6C7rR9Qdcfb7ldNv3NJlg__pNFhurF-C052Nij66ZCNdFrx2GuoRucuAaCDKYcBe7yUT_9d-6iflsTcmygAztD9neeyxBlUoko8RG-RfXzaOBz3g-PvoQDqsMwhZJ1EhdAbKk4e2UDJkFE46LnPoOQvSziG26lLybjrrnY3Bu3NosUpNtPl0elwJKChY5xIELgWGsegt8jiZNqduixhoCymtWUYxs6UgywBjGne7juGdjk6epWiGsUoUi9Tx94ukkB6c-WOyeGEw3E1CG4y5R0DOSMow0eSIKSKEj4UThuruCgZBT4ecWTAFczUbyG3NSJ7TvlBtT4eYeEZ9O1AxYdioxNxyO5fs4Rr9cwV0NH7vcOfZ_TFjnZQlf-FJq-9LnOipv7IP3idfLIp-vM_ORlZCoVwaKatOtWKQu32uW1oPF_oqpY9lo9OTtUlNq8j5EfghQV3yaX1_1nxgIAAhsO5fdgzGinsp7MoVP83SjiTa92gX6FU9IcR-Hu8xdMCa5EZstaAqA_YnYSsW7GUVSQJUidUbgG8PxJEBEP4gLm2c0Tmmr3tW7FxoIixZODUSjr1M5aZocLrgwfXavHvvgTLszGxfyU-U8SmX4u1t2lV3mMs3yDxCtZgH5tq3CTuEGZDnDVzacN-qJgmWcDYW6_9Uu-C3lASiyzR9IQpf1XYwjFuRWF56eq-1Z1IATcZp-Ei6LZCzNLN9vZwIS52mmXzSQUX7gZO6t8mjAQN7TECAeZifgmcuWrCmvqbN5iH_YGfGqgKkmtYkzYW9tlN9bz-b9ZUFFDt9nYxG48KQDB6SEawzsuZ8CpWoF4gUWGEwRv5dvHBFeKAAPIo_QyaN6i49ZltaEptHhVOHi7Biqv3iXKmN9easvGSghFNKpmLzdTlyX2xtPuacT8-F3S37Q_qcrQQN6f7itfxr3IE-rYWKgHuU4rxrHkzJ_azBpG6N3YLZ6OIKmahJngb1lHt4x9uVv2wNv3RA7PEP-fvnA9-JIUghByddLbSMVB3FYUcC2YurZ32gtS87Op43IOWjjh6fwq0C4K--uc1KbdpTz7x_r1TEgEEXr5gMJ_NZ7LfyJEfRLokO8Iu993LYBUc0tirxlkCYjXSmf5xaAKM37LifI=",
  "id": "rs_047fe8f36f888190016ab45cae0bd087d09ea835d10c5a77f6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The bottle’s body is centered between the open fingers at the reachable position. I am closing here to obtain a secure grasp before repositioning it.\"}",
  "call_id": "call_wIcr2VFQyOFCSnHkpBYk4zHh",
  "id": "fc_047fe8f36f888190016ab45caef60887d088ba203bbd9df8bd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wIcr2VFQyOFCSnHkpBYk4zHh",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3397, 1.9186, 0.6945, 0.8379, -0.3611, -0.2371, 0.01, -0.0284, 0.7048, 0.5018, -0.4026, -0.0528, -0.0547, 0.9997]\nstate[eef_state]: left_x=0.4631 left_y=-0.0937 left_z=0.0617 left_yaw=0.0871 left_pitch=0.2012 left_roll=-0.0741 left_gripper=0.01 right_x=0.274 right_y=0.0051 right_z=0.1523 right_yaw=0.0181 right_pitch=-0.0328 right_roll=-0.003 right_gripper=0.9997\nstate[joint_eff]: [-0.335, -5.9692, 2.2769, 0.3004, 0.1978, 0.0122, 0.823, -0.8547, -1.3333, 6.7624, 1.9707, -0.0415, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00c60c77c5e17f25186fb38275fffd7e6df36d295f2cc426e8da1f3981246be2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:addea0315a357a7ce93284dca7c05890a116c950dc97f75d223e76dc4cb9a25e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa40b5c5fe0648b575021c09d2386f29eecd9c9f3b3d534fc5e1e0280c6fd685",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 5.245 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2611, 1.9316, 0.807, 0.6888, -0.2516, -0.1829, 0.0106, -0.0154, 0.7929, 0.6426, -0.482, -0.0303, -0.0513, 0.9997]\nstate[eef_state]: left_x=0.4875 left_y=-0.081 left_z=0.0623 left_yaw=0.04 left_pitch=0.141 left_roll=-0.0468 left_gripper=0.0106 right_x=0.2851 right_y=0.0045 right_z=0.1771 right_yaw=0.0103 right_pitch=-0.06 right_roll=-0.0123 right_gripper=0.9997\nstate[joint_eff]: [0.0205, -7.0359, 4.4239, 0.7937, 0.0708, 0.1099, 0.8181, -0.8, -0.5538, 10.2085, 1.9219, -0.1636, 0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3355, 1.9369, 0.7174, 0.7258, -0.3195, -0.2142, 0.9961, -0.0257, 0.728, 0.5373, -0.4217, -0.0387, -0.0547, 0.9998]\nstate[eef_state]: left_x=0.4582 left_y=-0.0972 left_z=0.0366 left_yaw=0.0374 left_pitch=0.0958 left_roll=-0.027 left_gripper=0.9961 right_x=0.2769 right_y=0.0033 right_z=0.1585 right_yaw=0.0089 right_pitch=-0.04 right_roll=-0.0108 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -7.3094, 2.2769, 0.9158, -0.1148, -0.2857, 0.1343, -0.4718, -1.4427, 6.9265, 2.0586, -0.1734, 0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3397, 1.9186, 0.6945, 0.8379, -0.3611, -0.2371, 0.01, -0.0284, 0.7048, 0.5018, -0.4026, -0.0528, -0.0547, 0.9997]\nstate[eef_state]: left_x=0.4631 left_y=-0.0937 left_z=0.0617 left_yaw=0.0871 left_pitch=0.2012 left_roll=-0.0741 left_gripper=0.01 right_x=0.274 right_y=0.0051 right_z=0.1523 right_yaw=0.0181 right_pitch=-0.0328 right_roll=-0.003 right_gripper=0.9997\nstate[joint_eff]: [-0.335, -5.9692, 2.2769, 0.3004, 0.1978, 0.0122, 0.823, -0.8547, -1.3333, 6.7624, 1.9707, -0.0415, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00c60c77c5e17f25186fb38275fffd7e6df36d295f2cc426e8da1f3981246be2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:addea0315a357a7ce93284dca7c05890a116c950dc97f75d223e76dc4cb9a25e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa40b5c5fe0648b575021c09d2386f29eecd9c9f3b3d534fc5e1e0280c6fd685",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFzEgagkVrGgdrcpNeS24J6QOB9DLlur4Ks-3KBrQSOld4VLTmaV0guxc6Jc-SOhfyCJifIoJben3Pzrg511a1-mJlBQsbvTlUu7zXl_OoaBQxCVpbWTQYlrtK9YfcKVmn8BRdFyktwFEkkuJ0NxfG3S5KkR23VW9THjGtEaaETHFWdqc5T9Ft9r0px-Dh-hWqVei2EDZx3WBXLLbU_AVMyt4AnTOFldo7b6t8JaOvXgCSl5V7tAF5RHj2lsVu6gxznXgiZcbdTkAfpUbqpjgSWt_z09TJM4xhFwOjMxv4kgEISA5j96Z8zaxuhEIdjaR5pnZlaREmHxTPwut7i3HmPwi9Y6l4YZdghV0MSF3xYOorXCrKgXDv0ufkrrekxj_17IVb0JoysISWi69mxTf7YyqNul8OZ-ldjyN9OFku5Z5pcJTNrDLKjgcvWEUV-P1dXDHEqYR36pHV9lKtZ1J-HPuFEstGjvvB82xoUzqaIavEIBP3jT34yBhQqTHLmg9i1S7uhs2zLuD1aNSIDRZ_Kls8cnm1xHDPl-eE5W45v3WF_9y3wOOtA8wiLGRqNhuNMrXBCQEWQUL0BEYUpcOUWKcHfMPr6jYIkq7sOGtvJu5gXa0FodpKclHl78xr0mee49h_92DBTPDZihEhcIroT8sNkVb3MndNqt7gID7VFZxssc7YmF5dwpjMlqZSXbXcku6tuHaDynY6jWjgPtvS5ULambsk8dvkGc03BbrWevFEQUZ1GQQggGido7oLqeLy-XI7uzdD_O38JBI3QsaWz15d7lt6SLNaZX4wlsdhIr6L5YlFmtyMUxKhbyFnYG-_-pQm-VNFf5bfj2j6OaeFV4SJShjYa-SODq9q9QRVZmfG0d_-wiD9ss1nk0FLFx4CTAgOW43goqaHPxZvnBedvAjmNIDnicolgeg2lsIJGz8unzi6rRvbil_mXJ1ZU_X8QkN6oTs8sB5LFB26eShRDP4IsCrvqBTgUYDbtbKY9Vhv471G1qlIL_QWs2-S5Lh6Nj_8deHcGHkSTSnvrUr4Yt4lQf3QrKGo2m1C3vU6lFsukM4Qq--RwF0z0_T1vQMIF8eyhI5rOjByfzUli-R9nfVDyUyq_f0c3m9CZTKFpmMRbWQHRTg64WeugcR6ku9Da3IWkkT-xOp9XfAeXfm4JP46CYQpHPonjPbWPRg0i5WqScBZWH_ixB_lhAOwRu4lygxCRHcKeZ8HNdYHXOJ6dh9Xem-TiHCs7M0aN8PSDzAWK4JLjXAmD84cAcmgL30EB04FJ_yZdwBwcHdUiZQtI2TPKf2uz-D5OvTo0O-935cZChkwkcLNto3PpCqiB7WwmiDf-10-JbYoe63k_dSfkosxR5whrKq74eYVe__7RopFSugIyBRKeRE238ekY-qPpjwOzyk2N42fftw8aTvGIhsinYLK9bkZj2bm0x-gvnoIOEH4DADxNn08wcMO_QqHXhEIwklT1a2sVCvOVeQHUQGkwhANxuwndPOReTpTmMx58OG285jCyonHYrLMMC24eQ_rycnv_zULnXcY7rhLTlFJLxEuK2B19zy14S5l2CVH-yb9eSKJW0FNFSQZIYRWSoiNJCXFA46oUnte7hCeWe_bMSTMoBHcBCvX8H4dJJIMCOGjSk0HH_IIydkbqqrMC1Ox2ekiKrY8sjPvHSd3RPyFVQ2yUNjqt64l5AbzlrTws9XNDOc35CCx60bLWD1icT1LnjD-cv8Srf-UL8C_noc9MjUmuHoXdMzOsDGKEieEPR7F42AjE5BhMgKPED8xt5HigzrtCYw64ZrTbqGO6DDviuocJWEv_CZw_GfH8UT-XEFCDQLNf5Ft8g5UE2qGDaMDumlPADlCFeu7qiBseOYJLULyc4fH3MuzVvlaw6Z33Sd4qvrxtA9LRdwW4a9Zxyi0y1i5rN3OIWCOF2Iy3Qlb-X5HsIwFBlbrUhLmLg3JMvYd-T-pOpz8WrXG-jH0qvO9OY9HQ6-2bIXcl7E4aA6L1sb-fjw41jd91FoJU35M9weOpGm3k2a97FMcwYMfAOKUdeX2MzSWIqebdDk8SWwXkprPZwbvqIEbId5KeWfXUROJAHe1J7egREwb9Z5FQmUIkWOwxDFNTZmRccxbZk5GJ2IaOCrW-LSzyeo-pirS4tA0Og1U21ZZ7N9ZQ4JVmCgm2lI7xZzGR__38BjBExCGlW5c_Svw3pOh17OLJKI744PnELrd0bfxMvZvmW18f4rIilUeHHlDGohH-yrO1dMCQr9bBfRQ3rYvxdi5a9QMErFX3gZdHZOHEIX3uKCbwwRM7E6v5T0CUA_pXV-d8JozwbvQHxSEo0LvW4TmLaeYQUOafjmmUbqpSu6j6vV8eoScFQj62dsxHYz-P-WV9xFgDsoPDu61_qYV-Rz9WAejZJ2FfOyrxf3YNylP-EIa1Q0V3cYCX8gnUESLQ5HDEuG3aKjGkJ7E-SgN-rFV2WBj7fSBm4ax-sEF4qN8Ukoi-sYEMTm0FtaO7biYFwW8U58xSmn1VAktUFBWQu8Y6mzulCjv5yBJa5XJ9ERP4k56OQl1xrFkn_SzhTfh2zx-2d8n_BPXSInHf6J7F3XhWYiWJm143OEyMg2f5ArABzwYgN7BHdq6sinjhInCVbjPIg1_PKpdJDcUY5f_CFRO98jglR1sVH2Cz-UlsHDax0Xu5mVnHAlFmwYF220Olyes4_YNvDhqmevFUAysOQfHcFwVi4OlF8IR0pKqwXFbCCp-fwYDr4oqGfOOpNmBXidzKVGTeZPWThr9F4X9dDtWzAXl8r3Nkxhd2azcusfuk5jUSVB0_94mhwCO5QkN9SYXBWSz1XLPjWlnNKNg1JMfAbKdB68KA7dMaHlQh-5RQ99A_JO9dA8SPQkYGg6_pT4Vf-_RvKjEovtvLrgRTjEy-niQptrC2a3IWuO7ywoHZbJqRLjR_YjHGbcsR-V07Ox8xsuyfu0QbL6RPvvWYfgJAKo-rcyj-qQqQ9RVawpcR1g4zt44PGwimq-V9BhrExJE9NZ25t-gdrb9VjiiPIdm_5ypWusbIkIj0IObdlfypDZvPMKgpWVEbBruKETRbrYX_1BVUNRFw7yiJkNaXy8pKT8zIRI-D7F3mHrwapIhno5WCEColCSEEKw_pstjnF_adAmpPxI6KU1kBBxTyYMTFlNrxWa8Jqn7K9Ec3BWj9bKczJCklf3nhUzXWIFJSRVCbXmVkdqUDl5gDWTqbWl-GCCd6y681BLxEfFZw0aPvYiO7ozR0CM7u-l53JEljWBd3nAPirFG6fh6YAetQl6HrFu_nSlN4ySp_jxQ2oEAs-63IViwZLY17_GDTx85HB2HQvl1fOHERXOz9Hk-FjqKHV59VroTgZjSLBygo31uq_LDzr1hXyAZdEyT3bQQxSIexIFMP8Z287NfHo6Yi2yus5l1thZX6khlmk6Ow4F0aCi9N5_ZReFSWn4alQlgqOy_cImbHcSvpKSV-TV1ASKwbZUsaToM_B-8nl7Y2Dul6F1BFSipPC1zPv1-YLktBpi5AgrjEFw9WWdrXOxyuOhbgjLGxAdtG5oRMbpONdV4xG4ZDETa4q28T40Y5-osV6Db2vY3EXgXRWt4kqnPnOY8mW3f2Keyx_jhU9oKDhf21xYI9qQEQSBwNz7Vv7-8MI04f5gtYNI4m3KyBzJWgXqYddeOrLsJ47Jqdcd4RxSHsquAmF5kQnAfqhXu_tGjhfU7s9dT7BEdSrH8GOk4AFm9PhiFYPfVfbVDOpiucImWu6453e5JAJZQsYSt5sWgIsx1-4oKXB08EbpIcpY3UJp4RMSGW3iIVfcaFktZO25nBTG4Wfl5mlqkqLbOJH9A_LTPs904JMyq-Haf1I3TXHarIqkTVMKL71-fIfNw-EjlIXPDt45gSek5_ycyU6836ceaIuVF5r_1dheg5gRjwQXhjS4_8oa57hirU0Yl_zfLaVSSyeVCrSu7VszM5R0rja1aGYE7UyhXd3avgMEEqYhanKr081DqLMbX7HuJ7TnjwNrOCQnCTOGsPSU8lxWQceZmYPnO9M6m0cqYoanD2EvWaBDyc=",
  "id": "rs_047fe8f36f888190016ab45cb32ffc87d0b33fbc1f47dcae10",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtFzEMVn-CLm9Eg4fNixYzoWFt57kKh6iJOsLFxVWNIS0PV5gvcvRVaMcAIpennLgNtf2qQWG2DzaS6o-LI-XXBcx0oF8IAX4HdbSQCi54VTZQnSkYEDqd9m8M-PaZ-SgfNtoErSgJG6IsRG96KFm_y-1EAJPpo9WXWxMO6Wwl4ww1hoppGL3NP0l02OOW2fpPmiv_rKoJ3MVePJEOVngnLFsnZHL1zQVSriIl4tPLBsXayqWnym18RKT_08rHyHOVUaLoZWvJ9fmHTmqGDg3PVrifGQrfJzrwCcnjH8_mWKLUViD7vGu3kEM-GrKGXP_-kSVGlNbFebgDCPWB5fzTZBpynbuaVECTXi5ZL0IMg18kEGYXArcAqlSDiUKYdqYjkRiqZgySLW8m3ZcUY4TCuuJTqnXrIytYTwVPk2cIXV9R7ltTkf-C1Q0zzD_x1_s1ycZ1JZrdQsBbpc-s4ELkidfVrIKUIabaSY0-Z5Vn_f7Pg2zJll4SpH0niNhtvTjvQGj9v-yBcdfhOOtUgwDSIo0oXSBrXb9V0X-6LzMn4yeoedFYzYo3xZhjifOvmmmeBp6aV1bJm44EM34ymJqjFCby4K34x2m747HBQqLWE9dXIaQ291tnU29h_XXRrhiJfC8f7jMQnA_3qXB8sXQXUmkNjihrxlIYztilRB_WxFXif8ogkn1xwvvxuZO6pEFZ6tPAbRWAsYBJxOrdpfmob4sO6VgyerZIEORfZMPCaTVfQo0aK6T8KJ90ZHPy6pPIusgtG7KgvT4Z65Ub5OtC8zc5o0LmlV_3FiZKsJAXPgzPtx5dOzvs-sBDp5JyS8kbkUVDecfyGnxzWKjLSAs1w_5Uybn0zDw8Uwp2kfnt8jVh0gkOm4MGIiXLfdNczOC7dTxFhJM1wv_-IwB7HTaDVjCkCyV384JskJ3RrYEm_qNidUJX9tFwRtSlMNh3_I6S__L9o5f-feHILA7x74tffq4TaP9Xohp_cx0kSoZjq1W57WNbuz3VI0fUbS4QKsZfVZRUAfPn2h9JxLGQM86x0L6_rsjrzWP3PnkoGO9rVklOGvQehP1RKaQoNGEJfDklyw5Pkb3U4-FKvO--LU15pUgyipplRpggzOlpKzIpLfcsbAsttilo-M90BMGZnltjiTLjg1-wi9s70WX8N9qgKXRYwq740Azl3tlWQPRjnH5M1LAK-6Wn4Tn1XV94xv0ysvqn_K9dBvimXGdx8GSbL-zuH2In-tCF-8wbXyxmYATF_igBdk0Nj97DwKOwuGgZ37mrcEa3AmSGkYB-EqCwrGSOIMwF8HVQC_f5Ei9d7QJQYa8y3l47FNMfi8u5rZPpjY9Uma7SQgw4pcBXPi3GDCkGON3Sm3funSZTD-HjktDu9ujACuBXX--QLe9gqXKlqToBdSe0yv1Y53zMj6G8eBY_HpCgxEvN7zzwCXWlogLeYGzgu8WBEAdgilIT-ryR8v2iST1ct0a5OZGtiBQ5iHyZV8ukBD-_xvBdwkkz-QfWFWCmM5ulkdjN_Yoi28IWIqjqU5gV7KSHcuMPmN71ZmVHd8Hx9ZPQt62eaaU_cq-LhQiF2_hvEcPlvkxgd1vLEOPt2UBw1Y7aY5nNc2Qnp1v2jfhwKpDjrXg0-ELpLLP9vwHd5ZN8UlK1OSeFv4RUpOAs9lJb-XY9yIQPFnLF04BKFW7yr54v_at-OR6KspPeYJ9pCA6ncVmkWbc5r2akYcB_gPqEfjZLe30T_3G8YA8FcCNSZeFOoj8aV95eLM6RQlCHtQNC4AA61A4zk7_F0lW4LYOxy9nErRuQPK8ya5YQF4W_Gaa0RamdB7ojKHeTgwnEx-vG7z2msWLpKl-EOoiDGAlfJQlJvuTyHSIplrHq5FCuhM3B0l-tnBvanwvUtjFKjhhvsVwdHYvyKDoeWUg1wEh7TRFyvqsXUycNHIrmy95n4A24Sy7RVj7FyVLy2WDjPuCZcNEbr2_rQ1z2Wl7NXkNJeS7tCY4a-zzpWSzlV-l527LWAtRGbYSTmhQjQHOMEqvuaSyMdGC4MDC1wFhajBAAaFzwRTF7FuemU_43ANN6q-2BpikPurs1AiAILRzouErdeLkPSH65-ap5uBiz6S72b0DShihnqTI7hXv63FyjCD9YAJeRELziDh9KxafiDf36ymr2ZTRkOpZizKxUqwQPfndBPzz_o5-jNKKVtilrow5h9xn548Vq7oAtYcky7BtqOn5MS-wk8ZbotHbXA4Fc7C7SHtW_ACJ8YRgFXjBcmDzDmQPFXLITdutJk1oC1p4Gs31cbBoZiVCqRJRDXOsaqFmNfGODLDlk2A4M_pDBYqJNEwSp2QUBWB1emu1xFUkcys2IKNl6Bfp1bxFw5ICIUuN-miVI3ZIchYJblxKlrAF_Iv2pXZRLQx-ELMvsjSmZR-yRri5DF3DiObmRW52iW5KMPdieySpHOPoDS14prwDTsAStouZOi4aOibWd1lO9Exwg7LIBNhvqxL-B3woa0pM1JvMTng1FDMo8pAFTJZ53TIVAUFwTWvEfAjc3uRMOmCg8G7--Y7latCwjf9Ts0mAbGCk71ZjxU3MUL-yoEIcWscyCD82SPrSnI4t74te9xv7wQgihIGqQfyB8zEkD878-nb3Un1zkORJ5DMKifceBWL75JcVB6yeUO5XuBgotge2jpLXfYFbyX-6azX4iwFTIWaYkpqEr9MZoIOEO3QjR8WJaDLsSSDvX6IDtfpHG0Rm2zDwNTOIuWSdJ3RRHoGGoydk6URCY89lM5ES4XxYORlDok0mTmkMheQ-PgRAjx7wrkkxYrhczARwPLgCNy7Ei5_o_LdM2AM7IapoyuCBI_57TuXmTsks3vlksvl3rBSWLqiwsvsjiJADF54BliZ2aKmDXYQ0dcs-nmVPoidPV-6sSaXdnu41LWMz7fckuyWL-tTOkRdvjPZtDBpw1TznEeD6oG5-Azn8YwoIc81lbdix2BAiJ0EQcRTuwqHmWRXmqgJgdCFkmdfF",
  "id": "rs_047fe8f36f888190016ab45cbd41c887d08ed0debf3feb5eac",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.51,\"left_y\":-0.09,\"left_z\":0.02,\"left_gripper\":1,\"right_x\":0.293,\"right_y\":0.004,\"right_z\":0.2},\"note\":\"The second close was also empty, so the bottle is farther forward than the wrist view suggested. Using its position in the overhead view, I am moving the open hand farther along the body while staying above the tabletop.\"}",
  "call_id": "call_LvC8Zl36HKOKefvYpFrLeIRY",
  "id": "fc_047fe8f36f888190016ab45cc2ef1887d088dc84a7ffdfbdb2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LvC8Zl36HKOKefvYpFrLeIRY",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2943, 2.0418, 0.9924, 0.5228, -0.3397, -0.2398, 0.9944, -0.0284, 0.7933, 0.6407, -0.4755, -0.0563, -0.0616, 0.9998]\nstate[eef_state]: left_x=0.5144 left_y=-0.0907 left_z=0.0459 left_yaw=0.1082 left_pitch=0.0689 left_roll=-0.0282 left_gripper=0.9944 right_x=0.2859 right_y=0.0054 right_z=0.1775 right_yaw=0.0247 right_pitch=-0.0551 right_roll=-0.0055 right_gripper=0.9998\nstate[joint_eff]: [0.4581, -7.3641, 5.7504, 1.2332, -0.0073, 0.1245, -0.2222, -0.7863, -0.6359, 10.1949, 1.9316, -0.1001, -0.0073, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f376369b5cf0fc166f8504ad4d2e216a554dd290c98281ea6f8b80474ec67626",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:608d86ed146c92fb304deb2ae61b5c4ccdd545c399a65f216c03b0a3a5987d8a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bb2b9d63a4ef7375fe9178c695e56775438a70cf43eb87bd525b91538fd4cae",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 5.316 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 22 changed as sent

message 30 changed as sent

message 35 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.268, 2.0109, 0.8619, 0.6926, -0.2699, -0.1886, 0.9947, -0.0154, 0.7563, 0.5831, -0.4469, -0.0303, -0.0544, 0.9997]\nstate[eef_state]: left_x=0.4989 left_y=-0.0844 left_z=0.0461 left_yaw=0.0509 left_pitch=0.1237 left_roll=-0.0381 left_gripper=0.9947 right_x=0.2806 right_y=0.0046 right_z=0.1669 right_yaw=0.0119 right_pitch=-0.0478 right_roll=-0.0151 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -5.3812, 2.7692, 0.9353, 0.0073, 0.0855, -0.1636, -1.1419, -1.7709, 6.9402, 2.0391, -0.2027, 0.0122, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3397, 1.9186, 0.6945, 0.8379, -0.3611, -0.2371, 0.01, -0.0284, 0.7048, 0.5018, -0.4026, -0.0528, -0.0547, 0.9997]\nstate[eef_state]: left_x=0.4631 left_y=-0.0937 left_z=0.0617 left_yaw=0.0871 left_pitch=0.2012 left_roll=-0.0741 left_gripper=0.01 right_x=0.274 right_y=0.0051 right_z=0.1523 right_yaw=0.0181 right_pitch=-0.0328 right_roll=-0.003 right_gripper=0.9997\nstate[joint_eff]: [-0.335, -5.9692, 2.2769, 0.3004, 0.1978, 0.0122, 0.823, -0.8547, -1.3333, 6.7624, 1.9707, -0.0415, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2943, 2.0418, 0.9924, 0.5228, -0.3397, -0.2398, 0.9944, -0.0284, 0.7933, 0.6407, -0.4755, -0.0563, -0.0616, 0.9998]\nstate[eef_state]: left_x=0.5144 left_y=-0.0907 left_z=0.0459 left_yaw=0.1082 left_pitch=0.0689 left_roll=-0.0282 left_gripper=0.9944 right_x=0.2859 right_y=0.0054 right_z=0.1775 right_yaw=0.0247 right_pitch=-0.0551 right_roll=-0.0055 right_gripper=0.9998\nstate[joint_eff]: [0.4581, -7.3641, 5.7504, 1.2332, -0.0073, 0.1245, -0.2222, -0.7863, -0.6359, 10.1949, 1.9316, -0.1001, -0.0073, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f376369b5cf0fc166f8504ad4d2e216a554dd290c98281ea6f8b80474ec67626",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:608d86ed146c92fb304deb2ae61b5c4ccdd545c399a65f216c03b0a3a5987d8a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bb2b9d63a4ef7375fe9178c695e56775438a70cf43eb87bd525b91538fd4cae",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
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[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFzKl_AKpeKf8hcvWY9bmgF_OST7VuEo5I8tTNvP9oA3NcgvGfh2tIya7J0w9_SfaSyQom2MLA0BbTQEvTgLdSoBjUL86nnnP17H_F-cN3BwDLyvMi8DgQITntysjRrd11UmhmhyfONqR7YoQTjcD-z4njTdyVJjMaDxNFtu2HDJTRZorGNO7YwjhCttOEc-oMBv6UjW6P1dbRpMIqXUK_cQjXp8a4la4teyZ3hg0TZbcPOfD6fW6NNypU0fbNdFBOpZRh-AWW5Y8efxQFJU1qwUM3mqlsfsPo63_wMKgUtxGc6-9sGvDj00rIlbctQHV1sPs28EpmJGlkPHfrhGRyiEJcoPyUE_fhOZyneEcUPyMf1RXz5X7mleXq9znegVaC7490L4clERWg2LItVS2vAPOnQjinx7mjKZ9NP7YBdoFDw4dInD3Wnne9a1tZcuDBCMqv8PFFKgQVl6ZqZWQ-qyP2ep0ZQ0twl6r0XhE0sUco2gUq7fCtJT1GvHZA1xq2ztTzY2B2qXkiMpInckE5Xd3UH-ojLubGW-IJ0gJ3mUwq5VnYs6i3kI1zY7ekRsBJE8J7GYm35ROUa6YgfmxC8MxVXEa8IjA9I9Lu4MXeg118CDdz0OFlFGxbKVGkrqzqwjlUhOkF742y8CcEZ9DbfvtoHlzWFBrKCaYxLM_r2NSnsNF-0VHUiMnebT7C9bFwnfEdd3r-xom91-so6yuNi6c6jIXBCUQURUYqqQOpBYfPRFFKmaa2_wQal5QhsKoprfzgwZCnlnWw003BxYC1gcPzBacHrc1aLGfpx1VhNEvHQXTKiEuWnafB2ruR9A5W_R6c9xMo00nX3cqCT1iJfkrBpAC8R9Rn2JU-VJb_6e6hqmf2JIorQOi7UxpXuBMQWMMjQ4Mx8NsQX67fs3EpB7m01z6WpOYsq3MWp6iWPUFeg9hbwgxZoadNTk4dYEkJXqbtMB_9Wp5n1gK6pAoHnHOckXn9HNFwkJOZqR3Wv9fNJej1r3t-vOj8f2AYHE3Sec64WaEdGD93K8lVosiCtGLZVejw4BFk5CebHaO78RQMZZQcV_-HfN9QqPphBvL3mRmxuf-WXhz8k7trqrcfcia_Mvr61RvnI1ZL6uAnuyF_FGnul1byxqVGdI43LLnLAUf8OT7gdXRn5lLIZjjX34A1iPrY3dx3mfRtUJecl5VPWd5hRtd46urj_8G-DDcLZRY6WVPOkumlCCvf81nEsmTy4teuw6zOypk0_ub_Vmlpm4DQDCKsRwJcx1RPMyDYiNjHsUvT-ylTMxY1TGLjQp2L_L_JpvUdcvGUKNc3fSIJLpOww26JhEo1o_LOdKd4ErtoxFxSX_I519rknPahxUTvu2r3vdu8qCv1mM-cEmTIBG96iyFKgb1w_qsECuPUb-YSHBcPJAXV7WMQBr4IxM-sjGxuXm2_3GKwOqlV4FX2PCg5npUYSJ20Zd6iegtBHld8zWQcswKLg0XnQxIXFQ7TKYESpS7xwL0moMcZoD4XBqQyu-FpPfpm7bVganb3B36vkKM-v9AvR6IShbLLFMEV1w2BsLea70o0kUliub65plSZtvZ4Aj-RIv0AuaUEoRBp-yoALHRQNHgqWfvQ-wg1Gb8aPZ7AcHXsP-4tkAi4QLD3xSnWlR-i1CJQjfnXG3333oPNivbPfPTH_R9OmrJzrd0rnD_PCbIAqYFc8rDwReaPBPE5qiW5sw8qxhIeI56bKbDbQ3iSH3uj5svLlVrO-74KHo-Zt4cge-QPVUPaGhlEYT0AkDmuRtpK0K4FxMrcbGt05uU9FJt84PkYHCZuDhWicPjYgDz-NwcbqG4ypvN3ZUe1ok1d7zF-19j-r3FlEiuYvhaPdYYb8IzqRRMjzIpbb72Pm-zJXxG1gLGklwl47EXr7lnXfjNLlWQEPrYejb0lljtvZS9bp3n745G2SFOsG0GCeYbE9_oYoqA0v0zKw4R3V80a3uKfxR_qGNKiZ0llAT08FHcsc-59lEgw==",
  "id": "rs_047fe8f36f888190016ab45cc766f087d09224b1b51ce61ef4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.505,\"left_z\":-0.015,\"left_gripper\":0.45},\"note\":\"The forward correction has brought the bottle’s body into the finger opening. I am lowering a little farther and closing only to roughly the bottle’s width to avoid squeezing it sideways.\"}",
  "call_id": "call_iNrcCFQWMqSyZQLFbu7r11Gs",
  "id": "fc_047fe8f36f888190016ab45cc9af7487d0837169ca7014f21d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iNrcCFQWMqSyZQLFbu7r11Gs",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2966, 2.1094, 1.0092, 0.6823, -0.384, -0.2386, 0.4555, -0.0284, 0.7582, 0.585, -0.4461, -0.0566, -0.0612, 0.9997]\nstate[eef_state]: left_x=0.531 left_y=-0.0893 left_z=0.0527 left_yaw=0.148 left_pitch=0.1763 left_roll=-0.0536 left_gripper=0.4555 right_x=0.2811 right_y=0.0056 right_z=0.1675 right_yaw=0.0248 right_pitch=-0.0463 right_roll=-0.0054 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -4.6974, 2.4274, 0.3736, 0.359, -0.0659, 0.1734, -0.8274, -1.5795, 6.9812, 2.044, -0.149, -0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:601a0de6f9fc2b6b3e8b0adbcc3194c8d6726a66e971d1cf385adeefc54df1a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05d84fc350d158a043c94a09bd8d6d412f86a2f23c8259d18682497ee9206de4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad34807391610a174094055515eb047658236c6796285b900035689a6cec39db",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 10 attempt 0 · /responses · status 200 · 4.074 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 26 changed as sent

message 35 changed as sent

message 39 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3355, 1.9369, 0.7174, 0.7258, -0.3195, -0.2142, 0.9961, -0.0257, 0.728, 0.5373, -0.4217, -0.0387, -0.0547, 0.9998]\nstate[eef_state]: left_x=0.4582 left_y=-0.0972 left_z=0.0366 left_yaw=0.0374 left_pitch=0.0958 left_roll=-0.027 left_gripper=0.9961 right_x=0.2769 right_y=0.0033 right_z=0.1585 right_yaw=0.0089 right_pitch=-0.04 right_roll=-0.0108 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -7.3094, 2.2769, 0.9158, -0.1148, -0.2857, 0.1343, -0.4718, -1.4427, 6.9265, 2.0586, -0.1734, 0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2943, 2.0418, 0.9924, 0.5228, -0.3397, -0.2398, 0.9944, -0.0284, 0.7933, 0.6407, -0.4755, -0.0563, -0.0616, 0.9998]\nstate[eef_state]: left_x=0.5144 left_y=-0.0907 left_z=0.0459 left_yaw=0.1082 left_pitch=0.0689 left_roll=-0.0282 left_gripper=0.9944 right_x=0.2859 right_y=0.0054 right_z=0.1775 right_yaw=0.0247 right_pitch=-0.0551 right_roll=-0.0055 right_gripper=0.9998\nstate[joint_eff]: [0.4581, -7.3641, 5.7504, 1.2332, -0.0073, 0.1245, -0.2222, -0.7863, -0.6359, 10.1949, 1.9316, -0.1001, -0.0073, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2966, 2.1094, 1.0092, 0.6823, -0.384, -0.2386, 0.4555, -0.0284, 0.7582, 0.585, -0.4461, -0.0566, -0.0612, 0.9997]\nstate[eef_state]: left_x=0.531 left_y=-0.0893 left_z=0.0527 left_yaw=0.148 left_pitch=0.1763 left_roll=-0.0536 left_gripper=0.4555 right_x=0.2811 right_y=0.0056 right_z=0.1675 right_yaw=0.0248 right_pitch=-0.0463 right_roll=-0.0054 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -4.6974, 2.4274, 0.3736, 0.359, -0.0659, 0.1734, -0.8274, -1.5795, 6.9812, 2.044, -0.149, -0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:601a0de6f9fc2b6b3e8b0adbcc3194c8d6726a66e971d1cf385adeefc54df1a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05d84fc350d158a043c94a09bd8d6d412f86a2f23c8259d18682497ee9206de4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad34807391610a174094055515eb047658236c6796285b900035689a6cec39db",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFzQTt-vgmdxuwbB9rVHBgJyKAFUIc4oY8tHW1EtjegsnBMp0D7JA8tBUMiP0HeriyV8vbpWvqGUdJcjgmlcuOcdam0NLu5jIGA1JgV-5WdSW_FeC5_rS-aLDCZ0rco4A8IRCDV6ODKLBCxFOucEfg95dLlfj0BYqRaEU6wIiCOjIxhu2Z9sEQrgNwc30YKuSqL_Y2xu66YKHaf3kFjCVlX3DqVQx5PmM0Ot8huw3rebupzcGAH56uc09yEEj6f8y0D-L2o4l-JB3-DGHBdGNtVK5H405dOgmjyP_76JmB9zCyuTYAQq5ONr8scYM0uFB8HUe1QsxYrTKfz5H3zlkHBdna5WNxDQpOw9lZl6TpH36sncIn93rmHyGnqgX4UIJJC0kjtzuSB7CkMkTBou5p_DS79mVSh_OJ7E4Xh6HRDEx_ctHu8yFtuG7m8lfcG1IFH86RVbHlzkbizoLVWtyPkEWv0VzlAM7kuCzKN82KLURJgzY3S2zqEt7Vw4eZjZLHbpHTrSCJotU-JSZvfMCwlBjQuQSm39eDwYAs_z3h1ikXDYxXmrwTDzqpExKFVCFEpLom6LGTpuLdfst-1AB3xiDEbUJGmOsisQeK5NYS0g9Wm6MqsXjUzQjTobf9k8MuAL1oafhXTQVjKB60bTsLyF_QhBDxLCdvKoZsk0K8gCPuznFySHStFKM2VaTy1cHUUbvHyvkPlGPgrqn68nBd__1YMZjOFJluCsSbtE0ZVLRIBTNSxG6aN-PJvDHaMNP-FhrjageS9Frrb5-sgfek2OR-gayPZcT2JCGKZO2x086mzYw-zZIrqi2Qk2aoUNug-TNfXY9Idh8fK_CUYC-OpbOCE4rnqJaedfa_u_mDbriH1bsES0gcwJFMC40fmSSFoF590vBw3OAwyT_50f53T4C9YqOhLufqC9nkQ-RKUo8USgd3-rkdij1yrV87djQWnfJY2_G6JIc87RihJwCCXEGSNKmiS7aAx4O3H9UD4dWRhVbSNaCl0CTI1gGkoHgo93tHrjwYPgYY8uz6tjnKal5QJMVSWv9Ol2inD98liP0dENZIg6A_dPKFlFvw_wX5uu51XlBisET-27rwusVfd_rVkFdvb1Stv7CCQDjDTi0SEl2Pz1QkVVruQW1mLb2Do9pTzBWtJJNLm0_PuYHCv1_vfwBevYLlayWIfNk2HQ3up3Tl7tENKfWLfcmEAP7ZmXv4rt0zHlhLOIjYqaiLun08RlAosN6aMANB1X9PWzA4PoGrxLzP6eh-GNThLckiqPXZfpICknASDESBeKM8l45Oi3onmxpoYYB0opRSS-R_x5ZxOaKJxIPvmWyFYBn9GReFrzra7SS-uxCl5RR-lO8Ei0fNVAURYLpS4XY9obvC5cx4gNJ5rQprDir6_3wrr9mk_-Mmw-5OCYP3AgLxYfHjPCtwsZdZ57Aqhsh50kJ_4eaxYO1yW5I3cfsIaI7T0D2-CqiPbbzlVqN6cO8FEjmpSkl9_PDgc4v8DmhxkyYutnxPrPz9bb93I5UyG7EHZrGEhvsQJ_AYu52TTfhs6c68otg-xX9Jh0ot9bnMG6E5TnPQ0RzQiNZJSd9k5Dadx6VcQ6xkeK9NVKdg-_orSf9VXQt85UMPtjAP-dgZmJwoWVWmqRCurwf_s5su3eh7ZPu_VsMD_i13WBYqjDGpI8a4B3DysXdPsTNq8q1KNcdIFaqxnb_sECwamSwPNOXXRb6LkKCw9dIjSgzh2DgUlymSjDWN1Yn5EBxrJtH6b7GfOFM998E9bZ4tz64QJNqXICEWGUfV1VnGqL9WuZ3edLXyS2r9bZLJsXn7pMniSL1tpGGFwl48E5EAllOQaYSdq9SKynuQjtmiSR78s2J-RGEQ==",
  "id": "rs_047fe8f36f888190016ab45ccd313087d09d49bcdf89c7f08c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.2},\"note\":\"The hand has stopped descending against the bottle, with the upper body between the jaws. I am tightening the grip slightly before a short lift test.\"}",
  "call_id": "call_TqU9WhcDH72l7ADS6CqqQouM",
  "id": "fc_047fe8f36f888190016ab45cd01d2c87d0a7cc0ce5f448bd50",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TqU9WhcDH72l7ADS6CqqQouM",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2939, 2.0853, 1.1419, 0.4686, -0.387, -0.2626, 0.2043, -0.0284, 0.7319, 0.5407, -0.4255, -0.0566, -0.0612, 0.9997]\nstate[eef_state]: left_x=0.5471 left_y=-0.0922 left_z=0.0721 left_yaw=0.1624 left_pitch=0.1251 left_roll=-0.0497 left_gripper=0.2043 right_x=0.277 right_y=0.0057 right_z=0.1584 right_yaw=0.0248 right_pitch=-0.0437 right_roll=-0.0055 right_gripper=0.9997\nstate[joint_eff]: [0.0068, -12.2872, 6.5983, 1.3211, -0.0317, -0.0366, 0.0904, -0.8137, -1.6342, 7.0632, 2.0244, -0.1441, -0.022, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb76301ba07be8937d11630b74319579997134b14711faeff3acc00906829462",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e639a813fd75d135179836d278a0020c2b49c650da2b73f583d37290b27a7e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e06619e452dc5205bee22e411fdcb33a78e494f20a1c7a37da6c72c59c42544e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /responses · status 200 · 7.595 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 30 changed as sent

message 39 changed as sent

message 43 changed as sent

message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3397, 1.9186, 0.6945, 0.8379, -0.3611, -0.2371, 0.01, -0.0284, 0.7048, 0.5018, -0.4026, -0.0528, -0.0547, 0.9997]\nstate[eef_state]: left_x=0.4631 left_y=-0.0937 left_z=0.0617 left_yaw=0.0871 left_pitch=0.2012 left_roll=-0.0741 left_gripper=0.01 right_x=0.274 right_y=0.0051 right_z=0.1523 right_yaw=0.0181 right_pitch=-0.0328 right_roll=-0.003 right_gripper=0.9997\nstate[joint_eff]: [-0.335, -5.9692, 2.2769, 0.3004, 0.1978, 0.0122, 0.823, -0.8547, -1.3333, 6.7624, 1.9707, -0.0415, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2966, 2.1094, 1.0092, 0.6823, -0.384, -0.2386, 0.4555, -0.0284, 0.7582, 0.585, -0.4461, -0.0566, -0.0612, 0.9997]\nstate[eef_state]: left_x=0.531 left_y=-0.0893 left_z=0.0527 left_yaw=0.148 left_pitch=0.1763 left_roll=-0.0536 left_gripper=0.4555 right_x=0.2811 right_y=0.0056 right_z=0.1675 right_yaw=0.0248 right_pitch=-0.0463 right_roll=-0.0054 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -4.6974, 2.4274, 0.3736, 0.359, -0.0659, 0.1734, -0.8274, -1.5795, 6.9812, 2.044, -0.149, -0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2939, 2.0853, 1.1419, 0.4686, -0.387, -0.2626, 0.2043, -0.0284, 0.7319, 0.5407, -0.4255, -0.0566, -0.0612, 0.9997]\nstate[eef_state]: left_x=0.5471 left_y=-0.0922 left_z=0.0721 left_yaw=0.1624 left_pitch=0.1251 left_roll=-0.0497 left_gripper=0.2043 right_x=0.277 right_y=0.0057 right_z=0.1584 right_yaw=0.0248 right_pitch=-0.0437 right_roll=-0.0055 right_gripper=0.9997\nstate[joint_eff]: [0.0068, -12.2872, 6.5983, 1.3211, -0.0317, -0.0366, 0.0904, -0.8137, -1.6342, 7.0632, 2.0244, -0.1441, -0.022, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb76301ba07be8937d11630b74319579997134b14711faeff3acc00906829462",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e639a813fd75d135179836d278a0020c2b49c650da2b73f583d37290b27a7e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e06619e452dc5205bee22e411fdcb33a78e494f20a1c7a37da6c72c59c42544e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFzVuBrTFo-rc9Tt9H7hH94Kur5hhExR29-_j6hrC8hi3v17jUVMWsibzVG7NIWz58wT8pDqeA5B8DomTYGBC13ZZA9zIrn8qWMvD-3J3Fvg_C83_C2B537OCJnkbXX1Y00n99YetbXTe4WgqUBOkJrJMbL8tWLP33n-8DKf4Wke2kw1x_wW4-zW-jZmxT1YQT3RO3sQ6r8AbB6-PTDHUTr6qA8Zgso7PiYC4kBWLo9VXdk_u8he0C11LqYr4vShs8VvUMhW3xhDS_G-j93yvHt9rn_u_2rpjvv8iS7RsJd_rFK0sacpivLFP7OQ6MNSVHgI4CteiTb5TZS-A3ib7DuypRLv-7BXA2I7bahsUre-GW4StO4XlY8dA_bwDxvxHlcz_pO6VEBTYhLRPCjma-lnTlJ-Y_7fwbmoGI0UlKML4pfeU5caYpVzGSRaZ8MKz6_heCM-V2MgKIvvOrGmW2NW8p2dqbXUiz88w1VOPL3AE21xEp-QH3jxsfJyJKZ3cALDyUdpNz2qf0ioibiQwWudWeakIP6WnCjoamNCjCrirzR4p_dAH-wj6lBAUIjmc2ageJj3wohoudmvroicnW2-98Hp-oTowpTrkUdfX7q4j-pu8YqsOecmiN0wLyfweAjRxnu8n7VlsEVQlFc47f1Q5L6UBS4snR1Rtn9gBUCci07mdR29gQK_kYqMN_VSUyvkGhshR9mSCVMQGodM-2CXtFO97YwZAARJNziJz3lGcBN3NaGvh14PbstdMmHF8U_Q2moaEM2UlUZbzyjQzjXfHzRGdMdCXRyGA-D9dodORviGJy1TQJHTyDrcZEIoiqaNNTRMJAOyhEb41dOGIiNHJCGOMgT5whHNOocrr09te5u6YHGDxxkUqQI_-ShgjzxXJ-9bDlNUolABUIR08YYH3hAw04md4jnUjEsEhzAM3CHRY6gkC3RLR4e9VtKNt7aEx7lQnApBTH2IK0VqUurHLjvA-GHCmrpEbpIr9diHRBTcKRA3q0lsL0Cxq0KHtX77f3_gY0ThxUS8mtnU7PL3bSUK9xeSmcypoFFLaAxCj38o6_otlLjPkL4c3d0CQD1B37hzJT1O72DVlsdJ2z3kj3qufXXSL7yhT-0EnNEUFWR5YzGhVglZyHpCxyFmTctjwOAM2ih4J0jWou2y4xHwSllJkRno4t_nHG7m8cGzyeLNaaAJ7dSuPAYtzx2vz4_O7C_gvnGyRk1rzk6rEgp1mKtq-1_fEW74GJPjpDuoPSmuTp3rxOSaG6HWEwTDN6f5k2R4D9YAjH0E7Lky3M3SdPpWgidT8O70YqhL16uXQn_s59kV154eMMM2Fv83TytveLHHhOcQiJbEGVtn-3ZpMAmDiA8IHTfvGypfgNO8UJUmHUGvzzvBh--PibbrXRUS",
  "id": "rs_047fe8f36f888190016ab45cd2edd487d089a12ab782eb1114",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.09,\"left_z\":0.17,\"right_x\":0.293,\"right_y\":0.004,\"right_z\":0.2},\"note\":\"The jaws are now partially closed around the bottle area. I am lifting and drawing back a short distance to check whether the bottle follows, rather than continuing to press downward.\"}",
  "call_id": "call_QqTvxjLmFxmAsKAPmDie6GwZ",
  "id": "fc_047fe8f36f888190016ab45cd3cec487d093497316b7404949",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QqTvxjLmFxmAsKAPmDie6GwZ",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3264, 1.7805, 1.1942, -0.0444, -0.4038, -0.2928, 0.204, -0.0345, 0.7921, 0.6395, -0.4721, -0.0677, -0.0658, 0.9997]\nstate[eef_state]: left_x=0.4972 left_y=-0.0912 left_z=0.1477 left_yaw=0.156 left_pitch=-0.0105 left_roll=0.0024 left_gripper=0.204 right_x=0.2862 right_y=0.0057 right_z=0.1781 right_yaw=0.0305 right_pitch=-0.0512 right_roll=-0.0024 right_gripper=0.9997\nstate[joint_eff]: [-0.6222, -11.7675, 8.4171, 1.6093, -0.2711, -0.105, -0.0415, -0.9778, -0.7726, 9.9897, 1.917, -0.1099, 0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fa5a28d93f0d024fb370ffa795a22eec8f85a74646192d6a89657da8eac80ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:316ad263027b7fd14c596d689926b9eb2ddc166870eeac7daf2457ffe8ebf947",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:327890ea0cf603e073bc70b0ded86c9ec6e4350ab89ea210d8458fcec51b08fd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 10.62 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2943, 2.0418, 0.9924, 0.5228, -0.3397, -0.2398, 0.9944, -0.0284, 0.7933, 0.6407, -0.4755, -0.0563, -0.0616, 0.9998]\nstate[eef_state]: left_x=0.5144 left_y=-0.0907 left_z=0.0459 left_yaw=0.1082 left_pitch=0.0689 left_roll=-0.0282 left_gripper=0.9944 right_x=0.2859 right_y=0.0054 right_z=0.1775 right_yaw=0.0247 right_pitch=-0.0551 right_roll=-0.0055 right_gripper=0.9998\nstate[joint_eff]: [0.4581, -7.3641, 5.7504, 1.2332, -0.0073, 0.1245, -0.2222, -0.7863, -0.6359, 10.1949, 1.9316, -0.1001, -0.0073, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2939, 2.0853, 1.1419, 0.4686, -0.387, -0.2626, 0.2043, -0.0284, 0.7319, 0.5407, -0.4255, -0.0566, -0.0612, 0.9997]\nstate[eef_state]: left_x=0.5471 left_y=-0.0922 left_z=0.0721 left_yaw=0.1624 left_pitch=0.1251 left_roll=-0.0497 left_gripper=0.2043 right_x=0.277 right_y=0.0057 right_z=0.1584 right_yaw=0.0248 right_pitch=-0.0437 right_roll=-0.0055 right_gripper=0.9997\nstate[joint_eff]: [0.0068, -12.2872, 6.5983, 1.3211, -0.0317, -0.0366, 0.0904, -0.8137, -1.6342, 7.0632, 2.0244, -0.1441, -0.022, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3264, 1.7805, 1.1942, -0.0444, -0.4038, -0.2928, 0.204, -0.0345, 0.7921, 0.6395, -0.4721, -0.0677, -0.0658, 0.9997]\nstate[eef_state]: left_x=0.4972 left_y=-0.0912 left_z=0.1477 left_yaw=0.156 left_pitch=-0.0105 left_roll=0.0024 left_gripper=0.204 right_x=0.2862 right_y=0.0057 right_z=0.1781 right_yaw=0.0305 right_pitch=-0.0512 right_roll=-0.0024 right_gripper=0.9997\nstate[joint_eff]: [-0.6222, -11.7675, 8.4171, 1.6093, -0.2711, -0.105, -0.0415, -0.9778, -0.7726, 9.9897, 1.917, -0.1099, 0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fa5a28d93f0d024fb370ffa795a22eec8f85a74646192d6a89657da8eac80ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:316ad263027b7fd14c596d689926b9eb2ddc166870eeac7daf2457ffe8ebf947",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:327890ea0cf603e073bc70b0ded86c9ec6e4350ab89ea210d8458fcec51b08fd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFzdtHMF3A9veIPhkz_Pwu5vgV6Xplo6rRj8kkvLQM7x33IPuakneW_HkgM5B1PhmqxrKN2L9shfusxZu3gwNj5CyunBRVhJNt-dcaR7tsQ6aaC9yeGsPWLzcHzU-DFCaEVOVaQHEaiLCRGcA4NdTWFe-1qS7N_I2xHtShC7xgLdA4-E3tcMARKJw2ghegjW292PMP_8pZoRctdFcUbmnqAl0GAcXxVNvbiEGyGReXzm5ubWyD1Y8XMO6qRAUUSohwofHWuCsffSkBdwE6tQKeBdhKtleNW88Zb_A0j2e-zB_bWHkkiIaq5-8I2n0d6a40w2f8IKnyoDYn686Tw0sdud5uBW6Avx6Nxz5C-XaqKk-gaksthlROU7kIjVzcVy62EU1etAUH2EnMyTkIph0WwGMqq6Hg7bY7OB8dM7xjNi8Fduhkuy6bZC2FLm6fCTMS8Rt9BoJ_AMgUxCfc74zp6_vZ39Z4UpubGq4qtx7_EZfdE4VIOuUMtMaN6kF0_7tjKUblc1tVgUAgOJIoZaO6K0sI91ttnfVGYv3AxVxibwxvf_qRSqttYfkrGsRZbQ3eA-xTEmw4_lQCaewuca-XSbe9ZWNm2xJStCuCie7HEEAq6ysP6GN0TvGVz-fJ8iF7i04xqMIPmPKJt2cEPb8yU7Sb4rhuA-z2CkfNeum9gvCiyKvdRd2o67VqCkA-IGijzDGajV9xgr1S9hEsuQJ3tYPaprYW0bW4A8uE693WYA12e8SMB4MfhupjwS9M3fPNug6ZlsIY9XgU45TKJI8nUuVwDlIBJeC4E3yR4jMzHTOrLSMr1s2DUUs38KdBKQY-PFYScO05HhDhly0Pdxvcz-SE6LT__Qf0r7_mOfAxduJ4SC5jHjaRp7ZI7m8e-H1Jl8PKWpAe16SXIlYWrCrDhe40wb9TwBDP4LseUN-XMldI0XXHUlWF-P-imupNMDF65CzU35OGJ3cIMnEQhUJkaqz_Twt3pD2ISqdkiviyr1Fo-n67ISsUSOC4bWTJPd-IgdoKVNNCQDhzXY9aFHce5SWBjJ3AaqEJW91szknSU1lqXsVtyms3pfBfzg6LogQqrzJC1DoIsBMaKXPu1CVBNEKXaTqpAQRS8jIESWzPb3C3gZfsdZOEDR6rTcI3thpjQaEGYH-Pnxm1wmM3DPvxvTplmFbnFajDi2pki19e6Io7CJhbfeN3_SNArhJKHxlVfD4cUjI9nLv7ufDGYVHaFyx9HnLSIBQ561oLsBfX_LF8dqF6XYjNm7py975c5pzSvsqG9Nao-kZw7cT5CMFyNwy-vvNkoac8ZYECGB2Y890KQA3FzuP262UhyoK1klYcAupAn-Gh8_s3b7ZMc3RVWyfhAS_i0JbgcIwRpqxOEjym-kqRMC-zLDkiS-009bvK__mdrsE-Z7unABJ2yu77Hlem6xX9-AKqHhvCgh9X9ievS-xR9qpcKAAdoJ6OLA2dR2gAZZtoBcAa3kfyFnek3NRxLtgnSnfu2oW_Cl9OnPTOBC1IG5EOAP349g_eLVswGhAq8Qg73hMiRf-RQ0eBrajVhTuMA-Shs9Io3GvoYdGbvUxcKGlA-B5cUWDhQIa28P-_F6RoNqZo8cMgLLFsDsxBLxIaCc-HhUCD8bFruWJ11vmPpRieiymgkgiO6m1aIBFD5vHbvkGdAqFSHSaTsziiBdj-3vZyhI_Jy4aqhabrlS4yK9BtxG_COYLxdIprf1WvorxanbuE04r5RqAiZC4vcdMkRviSOYxxyQxkj0ie_OvWlC174DJOXjvyLurWTxDynUOcKbBS4pApe5SNOQFtl2POmnpidn_42UmfKJOlxUiEVyxfc14H8KAGvaUQB0UXxrMufcoKTADmsJCf9o19ULjGySw3e5Lm7cn5NDxHfvBpfX0G_V46swqhGfCEZ8Gf71_PJgaBsgqNraeDa8XVapLVXR_WeHOATmAlL4pJz4RB7BRhmfn1xS2jP-s86L2mGYa7NmBu9OnkTnj3uc5ARRl3YIckj4lnC67rXNxXG60JlbnWjGIviBqZnsptjKQCcLdTE1V7EbWRp7hFBSuzw8N0JDkzMm5tK6B1pHl8IWL_u11gb_Wcx8MXOjPMPeBuFPzCLYcShBVDKfhoURebWMDYXQNJ02jGsFRDHVtW2614Kt8uMXK63phPIA24PC_h2MQOxcVkyQQIxQkS_EXaj7742EO4rtX8Qg-ZCCF-Weg602wWGS03DcTFXygXOIJuZ5V35riz6-jy92eRA7RHo5l-9utbqYwQHdWwHIE-7n0UHgSqzkKJqIN4vqw1eMVEKjBePsK9gWEUaKOE6aVmPNDUHmGS0sxYvPOzH3pN6wY-aKklyi51XcBXgkkXLz34wU04dJ2AXWOEV72bzD5n1LBedE-EkU_aADyXUU38cLzPEJRFDULBt7Wm-V5SLGVq914stfVVAVc2qaAzpnNxjGX2qFqWxn-E6df0jX7tRzClx3DIGG7iMNBdXaGnHnzhJBBh17_1xm5htvWQdKPArCJ4Gw3KMplLgmuWeZPO6HHHwdivVuARfCXgrymYJU",
  "id": "rs_047fe8f36f888190016ab45cd78d8887d090c36ba0b1d21431",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.145,\"left_z\":0.025,\"left_gripper\":1},\"note\":\"The bottle stayed on the table during the lift test. The overhead view shows the hand is left of the bottle, so I am correcting sideways and approaching its body again with open jaws.\"}",
  "call_id": "call_Sp0DMlVH3Le41ckZwwgN8AYn",
  "id": "fc_047fe8f36f888190016ab45cdc257087d09763e49c20c36616",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Sp0DMlVH3Le41ckZwwgN8AYn",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4614, 2.0102, 1.0328, 0.3637, -0.5545, -0.3668, 0.9951, -0.0341, 0.7609, 0.5888, -0.4465, -0.0696, -0.065, 0.9998]\nstate[eef_state]: left_x=0.4901 left_y=-0.1358 left_z=0.0547 left_yaw=0.1817 left_pitch=0.0512 left_roll=0.0041 left_gripper=0.9951 right_x=0.2816 right_y=0.0063 right_z=0.1685 right_yaw=0.0321 right_pitch=-0.0451 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-1.2376, -7.0906, 3.8359, 0.9939, 0.4469, -0.3053, -0.1099, -0.5812, -1.6479, 6.9538, 2.0293, -0.105, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27e1cd2c8e02e01885ae360af5a4e42178f26f512328af3ced6df955dd9d4a69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98d9ee51fd13bff95ffac71a6a565f03d2eb354067311e8ebfff45d64e2ff3ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:505a2e60a57abca2dca9b93a358c5a0e7fac09bea026442dc596378109fec19f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 3.463 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2966, 2.1094, 1.0092, 0.6823, -0.384, -0.2386, 0.4555, -0.0284, 0.7582, 0.585, -0.4461, -0.0566, -0.0612, 0.9997]\nstate[eef_state]: left_x=0.531 left_y=-0.0893 left_z=0.0527 left_yaw=0.148 left_pitch=0.1763 left_roll=-0.0536 left_gripper=0.4555 right_x=0.2811 right_y=0.0056 right_z=0.1675 right_yaw=0.0248 right_pitch=-0.0463 right_roll=-0.0054 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -4.6974, 2.4274, 0.3736, 0.359, -0.0659, 0.1734, -0.8274, -1.5795, 6.9812, 2.044, -0.149, -0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3264, 1.7805, 1.1942, -0.0444, -0.4038, -0.2928, 0.204, -0.0345, 0.7921, 0.6395, -0.4721, -0.0677, -0.0658, 0.9997]\nstate[eef_state]: left_x=0.4972 left_y=-0.0912 left_z=0.1477 left_yaw=0.156 left_pitch=-0.0105 left_roll=0.0024 left_gripper=0.204 right_x=0.2862 right_y=0.0057 right_z=0.1781 right_yaw=0.0305 right_pitch=-0.0512 right_roll=-0.0024 right_gripper=0.9997\nstate[joint_eff]: [-0.6222, -11.7675, 8.4171, 1.6093, -0.2711, -0.105, -0.0415, -0.9778, -0.7726, 9.9897, 1.917, -0.1099, 0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4614, 2.0102, 1.0328, 0.3637, -0.5545, -0.3668, 0.9951, -0.0341, 0.7609, 0.5888, -0.4465, -0.0696, -0.065, 0.9998]\nstate[eef_state]: left_x=0.4901 left_y=-0.1358 left_z=0.0547 left_yaw=0.1817 left_pitch=0.0512 left_roll=0.0041 left_gripper=0.9951 right_x=0.2816 right_y=0.0063 right_z=0.1685 right_yaw=0.0321 right_pitch=-0.0451 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-1.2376, -7.0906, 3.8359, 0.9939, 0.4469, -0.3053, -0.1099, -0.5812, -1.6479, 6.9538, 2.0293, -0.105, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27e1cd2c8e02e01885ae360af5a4e42178f26f512328af3ced6df955dd9d4a69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98d9ee51fd13bff95ffac71a6a565f03d2eb354067311e8ebfff45d64e2ff3ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:505a2e60a57abca2dca9b93a358c5a0e7fac09bea026442dc596378109fec19f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
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  "id": "rs_047fe8f36f888190016ab45cdfeb9087d0b5003b702edf7122",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.115,\"left_z\":-0.015,\"left_yaw\":0,\"left_gripper\":0.65},\"note\":\"The bottle is now directly under the hand, but its body sits left of the wrist-image center. I am making a small lateral correction and narrowing the opening before lowering, to keep the fingers from straddling too widely.\"}",
  "call_id": "call_WFq4Rc7pvUsVTCJh40pBOnv9",
  "id": "fc_047fe8f36f888190016ab45ce70b0c87d098053f10121340f9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WFq4Rc7pvUsVTCJh40pBOnv9",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3511, 2.08, 0.9546, 0.675, -0.3748, -0.252, 0.6551, -0.0341, 0.7345, 0.5442, -0.4244, -0.075, -0.0654, 0.9998]\nstate[eef_state]: left_x=0.5114 left_y=-0.1147 left_z=0.0454 left_yaw=0.0906 left_pitch=0.145 left_roll=-0.0555 left_gripper=0.6551 right_x=0.2777 right_y=0.0073 right_z=0.1596 right_yaw=0.0368 right_pitch=-0.0411 right_roll=0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.759, -4.3692, 2.1949, 0.4225, 0.3834, 0.1441, 0.2369, -0.5675, -1.5795, 7.159, 2.0391, -0.1001, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81f8e1cba6ee4445f8d913e2ddae359e84bb664bf5137f3e9db470a4882d2a89",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da68d13291984efeb95d4a3c6af6185c9e539965347419baef6c165a551ece0d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0587be63fdb78cdcfb5758942c6d3cac247f88af9b0e51f4b65151fcf47e5a8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 13.06 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2939, 2.0853, 1.1419, 0.4686, -0.387, -0.2626, 0.2043, -0.0284, 0.7319, 0.5407, -0.4255, -0.0566, -0.0612, 0.9997]\nstate[eef_state]: left_x=0.5471 left_y=-0.0922 left_z=0.0721 left_yaw=0.1624 left_pitch=0.1251 left_roll=-0.0497 left_gripper=0.2043 right_x=0.277 right_y=0.0057 right_z=0.1584 right_yaw=0.0248 right_pitch=-0.0437 right_roll=-0.0055 right_gripper=0.9997\nstate[joint_eff]: [0.0068, -12.2872, 6.5983, 1.3211, -0.0317, -0.0366, 0.0904, -0.8137, -1.6342, 7.0632, 2.0244, -0.1441, -0.022, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4614, 2.0102, 1.0328, 0.3637, -0.5545, -0.3668, 0.9951, -0.0341, 0.7609, 0.5888, -0.4465, -0.0696, -0.065, 0.9998]\nstate[eef_state]: left_x=0.4901 left_y=-0.1358 left_z=0.0547 left_yaw=0.1817 left_pitch=0.0512 left_roll=0.0041 left_gripper=0.9951 right_x=0.2816 right_y=0.0063 right_z=0.1685 right_yaw=0.0321 right_pitch=-0.0451 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-1.2376, -7.0906, 3.8359, 0.9939, 0.4469, -0.3053, -0.1099, -0.5812, -1.6479, 6.9538, 2.0293, -0.105, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3511, 2.08, 0.9546, 0.675, -0.3748, -0.252, 0.6551, -0.0341, 0.7345, 0.5442, -0.4244, -0.075, -0.0654, 0.9998]\nstate[eef_state]: left_x=0.5114 left_y=-0.1147 left_z=0.0454 left_yaw=0.0906 left_pitch=0.145 left_roll=-0.0555 left_gripper=0.6551 right_x=0.2777 right_y=0.0073 right_z=0.1596 right_yaw=0.0368 right_pitch=-0.0411 right_roll=0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.759, -4.3692, 2.1949, 0.4225, 0.3834, 0.1441, 0.2369, -0.5675, -1.5795, 7.159, 2.0391, -0.1001, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81f8e1cba6ee4445f8d913e2ddae359e84bb664bf5137f3e9db470a4882d2a89",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da68d13291984efeb95d4a3c6af6185c9e539965347419baef6c165a551ece0d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0587be63fdb78cdcfb5758942c6d3cac247f88af9b0e51f4b65151fcf47e5a8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFzs8qTm9tO8O9m5I3Ft3S2oAjZGL6OFHm3Nb7YgaoaaWjJazi9wkIOisYr7v9RrE3R-5LlKS1t8rE9joHloKpg-z-LF_A2bfUFnlw239q55d3bOGHZpeqPy0fG4xPkI9OoOr3T_2hN9fk6itZjBKnHX6yXIJ3gNHss_JLLgqghh26aYZxhchcEOz-6sh4RflZWIu0Wgh_S3BaCGMF7HzEEcBhr4_oHJaZfPSBingq2u7KQY1tdRCiZmVJWWg0kKHs9HgNDs2Z6__hhaCrWNnWu3FfL7raw08GgLk9X__t7M7aRTC_RkTnxMp0uAQe0KnaGYOhmO51F479VOdqTIEY8GUBxMdVMXXn8rkb2hwBoC-ZN4gSKgZfm-dBNx8smR6lp80vM_Sn4Ee7olUO0hhpzN6X9N2ZAOx9pRaWysghnIjXkzhPTIo0MlGHl2VxpbFoPBmIOQDo2a7gWz22r9GJFtThDKAlebeZ3MU2r0RKV6t3TYsJv5h458qdkEdxCVnDQNxZwzZpGFRH78vw1DmRhHb-JK-bM4_uhoJDlAA2UESoyXWjdZeMM9bp1aEUnPYi1x2AKob9NSFT8Kb_X0jygx9nK0_HCV-4HeWPtU_qqAKzrU1mO0ES7ZTdHUhloTGftGCyDK-F-dAxtOkpfs5H_M-1H4QIqvz7sfx4gNIvTDM87Zsa0tDbrbvgprB_YTaOpAJ08xtxxuNuwuXrQzn0A9dC7oY_x2O3tS5u6m0H5lmTbn4Fd1wYZ7cNomjb58jp0aRo46YePDsAXH1FCwY_Iy9EI1K0KbwsvXWDPqsYTGZZ7l67Ou739eHAarSRtdv_HCfJN_RGl1-sP6tUh7zO-590b5lPhFLX3_MmmMs9daWo7IuDQz9gKPEJ2kZfGq4ErEfGy07YC2DZ6WJ4xBedOgt1viU3034lXVc6n3zVo-qIwsD73Ez6Nnj-hcNtxHshnzIoSUYup9GNwuslBhlTmORADM9cSrdTwejKb47Qz_jVQOHS_EpZ9VjsmkjL9W5IfYQLjTpTnyc7o38FQI16NLlJRWhpsNVo2bPX6WjUh1yqUuCojpMN58D6uvSY8t2aKloPLZAKJPhtMmwmpt33uWuetFjbxyXbnvXM_3x4Pwb_tlUJglOThbJSgBxMJlNwxq2JDK5Z-CLD9iifMgSupz_lhT_x3FJZH57w3WTBM81P6Xy6PX4claWZDNsptxFqBtOSlXe-QLQfPEqA4M66ddVt8kwoLYdlzg3_5ZdZ7ZKeAFTCz_l8nqwTxLmkAnrAt4",
  "id": "rs_047fe8f36f888190016ab45ceb2bec87d0ab0761f24cf27ff4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The body is centered between the finger edges in the wrist view. I am closing at this alignment and will use the measured opening to judge whether it is actually held.\"}",
  "call_id": "call_8TilpABGVoUw8W4S9FIszK2Z",
  "id": "fc_047fe8f36f888190016ab45ceb998887d08d3d4e09a9b38912",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8TilpABGVoUw8W4S9FIszK2Z",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3367, 2.1036, 0.9436, 0.8364, -0.3214, -0.2092, 0.0107, -0.0341, 0.7113, 0.5056, -0.4023, -0.0753, -0.065, 0.9997]\nstate[eef_state]: left_x=0.5222 left_y=-0.1199 left_z=0.0633 left_yaw=0.0464 left_pitch=0.2544 left_roll=-0.0854 left_gripper=0.0107 right_x=0.2748 right_y=0.0075 right_z=0.1526 right_yaw=0.0369 right_pitch=-0.0342 right_roll=0.0015 right_gripper=0.9997\nstate[joint_eff]: [0.0615, -5.9692, 2.4957, 0.1441, 0.2955, 0.0269, 0.7643, -0.2667, -1.3744, 6.8855, 1.9658, -0.105, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4fb602bbecb0e6ce6c0f5aca06ba78b1ba8dbd611f810ccaa794d89029c96d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a14830cc015116356d6af8678d01304c1bf96d0958b5229b6fe1858ff763077",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b1d1f4defea7dce8f65e35a8b037bfa1ab33046d96221f9805f66ba65f83aa1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 5.947 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3264, 1.7805, 1.1942, -0.0444, -0.4038, -0.2928, 0.204, -0.0345, 0.7921, 0.6395, -0.4721, -0.0677, -0.0658, 0.9997]\nstate[eef_state]: left_x=0.4972 left_y=-0.0912 left_z=0.1477 left_yaw=0.156 left_pitch=-0.0105 left_roll=0.0024 left_gripper=0.204 right_x=0.2862 right_y=0.0057 right_z=0.1781 right_yaw=0.0305 right_pitch=-0.0512 right_roll=-0.0024 right_gripper=0.9997\nstate[joint_eff]: [-0.6222, -11.7675, 8.4171, 1.6093, -0.2711, -0.105, -0.0415, -0.9778, -0.7726, 9.9897, 1.917, -0.1099, 0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3511, 2.08, 0.9546, 0.675, -0.3748, -0.252, 0.6551, -0.0341, 0.7345, 0.5442, -0.4244, -0.075, -0.0654, 0.9998]\nstate[eef_state]: left_x=0.5114 left_y=-0.1147 left_z=0.0454 left_yaw=0.0906 left_pitch=0.145 left_roll=-0.0555 left_gripper=0.6551 right_x=0.2777 right_y=0.0073 right_z=0.1596 right_yaw=0.0368 right_pitch=-0.0411 right_roll=0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.759, -4.3692, 2.1949, 0.4225, 0.3834, 0.1441, 0.2369, -0.5675, -1.5795, 7.159, 2.0391, -0.1001, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3367, 2.1036, 0.9436, 0.8364, -0.3214, -0.2092, 0.0107, -0.0341, 0.7113, 0.5056, -0.4023, -0.0753, -0.065, 0.9997]\nstate[eef_state]: left_x=0.5222 left_y=-0.1199 left_z=0.0633 left_yaw=0.0464 left_pitch=0.2544 left_roll=-0.0854 left_gripper=0.0107 right_x=0.2748 right_y=0.0075 right_z=0.1526 right_yaw=0.0369 right_pitch=-0.0342 right_roll=0.0015 right_gripper=0.9997\nstate[joint_eff]: [0.0615, -5.9692, 2.4957, 0.1441, 0.2955, 0.0269, 0.7643, -0.2667, -1.3744, 6.8855, 1.9658, -0.105, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4fb602bbecb0e6ce6c0f5aca06ba78b1ba8dbd611f810ccaa794d89029c96d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a14830cc015116356d6af8678d01304c1bf96d0958b5229b6fe1858ff763077",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b1d1f4defea7dce8f65e35a8b037bfa1ab33046d96221f9805f66ba65f83aa1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFz6wD1yeKHPL4FvQcNf6cSUo6Fr2RB2iXQ9JKHjKGnvFs3RMYcDX4rosws24qlCd4CmTfAAe1jU4HUXXlOBNEFsMth8x30noNwSI7MMk8VEUxQc_uywYJn6-5lGDmHYT_mSNvkMSrbRJWUXJMkWD126mMdtvsEXaEmqB7W22KIQqpfSJF9nGBPpqhOtITNlc0YU9asTxYQyml3bqvsz6kEY30FvS6W4c481oflLPvcbelo7R0PV-1FEyjde5BHVEAuqOi1KZJNKqu55m9vSyyHqMrDqIoU1M2zMyxD_i1rOZi0jbgznFh6RYZGwcVqpOez8_9oPYiNJRnAN_3fszQtNSkBamC2sTjrkhYiZmpjN0zsoNTS4fFX6z1q9VPhRXHwea2hr0LCfGePgWXoL4WalKH8WeIHXwZAWgifmqekhUVcr3tc_A3ESu_5Zj1Rnz9Xpm3Sehbbn3RnrnAK-C1W0bmNCYRp7FMsYYcVi3cSs8ZDv1iMX0-tDh5JD0TtrTpAvDW6jxy7HdW3w_COBJ3EpjyFjUantV0obSzQZo4Sk4pJF-gm--kCl8ysYvfxwbMgi2oA0S1KZy4HfWucsDeahiavUSvfA0f2fLnS2M1huDbeUM7TsXjxzsuYwrCrBsNWFYdV7CXp4Dflemig7Dzd1Vzu5Wf9skdDdw42Imwev2ux4iuMRoyT94D_QBZvE8CwwrtLTyUIcXKTvxDE9bUdUEbYCNpWYFaLtHCb-YFCN2NK0ZvBC3s1TGWmiIhrEm9Yyj0XX-g0N4gT2DSiO4bhANQrgRSx-D0LH0X6hgm87ovCvdfUU6YhWD_q3T-oLFG6p2jjy5D_JiCJjTVrKTtxQiqhL8Rl1WVlzIYPOGqzqR09eGVKndNmfeSYOR0O7sXybVI91zSWjsDuvWGIp3y8RzpytwiDVyic4eckG4lJ-1sAoRYUl1PubtbT26C5ML2cJpoXIFD9N4wN1N-SIEXre_QkRFuwV5TpvzpNpd3TlCE45g9GtAnRt2yXR9IH1rpJXxVVAgDYk8TJLNsH9pnHg3n5igX-mZIIxRUvNZH1Kmi91QWHVPRKTdIeJm2zRIXQxeKe0lyqUrhkcPVhQOvRuxL-0uACNJbHKeaWSpcM0Wt0_CdSo6wI-E5mO7sUpYks7Hhrg52hb6tW-_vfNSeC3wl_fpqlW4kZcFyNLXPJHZQFXJezIGWgjoc6MzfLEiozs0LCZ86Zg78bmDE3gp3bvhQP5yU0V5DypcryVIYgiK1EMy8BTdbLa7IPPB45Hq7pweNNrqr97BVRwwDuEZh1jPHiTCIyo3qLbsiVHwBEXItOPp3sVZhbONqrM8dH6LXZ6mEtRi9zPH_tiYHh_gR7gvaRzNiUEGwmJPHUQXqSPjZ3tJ7CyA1dw7qyNDEPFy3KTV4sR1sjxXygtVNyEtOsHaRUSv42q8V2pcZy2fHrXwH5PidNTEKdRSmQMcyYIsEMI-WaPIRgSeRMAyv0GOYkG54gQOn4sZpxToOIS2f5Q6cY9MylFjaWWzaX6Bykjs1ItzXWFLuafo_5reXJ5fsEsxVIsqFy9Kqo41UrVY8CvFlrOFW236S9oPeN83UU-ghuyyjdJSgQIXqyJs3F6ib_eyRCKoBOcm3pig584Mwrsl5-GbOf69_6TG59H-7T-DD9ra5cPIRO1j2kRtWypQbAzqxbfVc0IqWv8E7vVDEHd27bx2Gl3TczFBZs92I9aHdXrs-dmDWMIh-ip6Mbfho7HAP7ljiWKhyBFprX_xv0LD0WCMvpfUChEWEEwvpBUj6fmyU_d_PKb2d50jYIm1d3SsGLd0ipl11pJ-7acIhHiaJZN1jSsjYVlV9Glbx_ZlDHGX7-WWRXu4dpG48irfaRs0qJBV1dufk2ISVHF3GyeD05qP074Rb4ABt0HneH98oc38VUv23pD_hmfwGTv_k2Eadh3HL0CUnXaX-gCENiKJeFJ1PqhoQ4Bsb8VznFLo7b3x93k1hI0dZLkCwu6EDb0G2w3MqPAEfYFi5NGpmoM6WITFbpQglSMOgES6KX5-_G9nTml5ULvvkBzbYQJiG69gKJRF7z0a9u5w7zMMTLlSKCsQRn_JKgA4SvbzIAjHNfTScAkcJOzsw4SmtCFhLREkbpHau4ks1KhbOhbLenet_ufoQF0LNczSg-v7UsjwaH5wfYtaNDOr4JSwSFnh_Cuti5mWpYZUXn6i9DEL3gEK70n_BQG-sJgNWKXGX5DYK5omxa6rVLfWFkW_GYLRx2pAFAnyuHmNYVT9HGnAqA2kSlVEFuzKGHoGgUagxDeevRcho9PWaSZSUwkjRMODlYeeNPnczDNCt4W_6Vl-AWvrxFZkp9KpzPLOHXL35upVJo--H-qRR-TN315oVH_TS7B6xrsUJ9IL9yRo6vBivzU2yOZIwC_7zOFRsNQo0j-FCPsemoa05winc4hMkzvaahyW-E1agLMhrB1ffjimI_3DVDypHPRp52ym9l45O_cxh4BmjMbawAiVbo261IO_8se8pmDlIOOtKzXEqT44Ratfzs1-a8uNb46oiw63XLH6SJIpTQuMuOgRm-1IjvvjzEzRGfHBwlYtseKRQRtrXsvfSKyA2tdD8ULvI_im_myaqVNDeZlhptvVM6n7ssrmFN9g_iYpoAcWzl2tbxO5JlzQ1UpzFSDEztRhzZ0XxAWPeZRggQNkmr3m0F2EAsjadEzEY9CtQruh5y9Dw2ira1sMpTlVM9BmCeJmvjXV0IDraX9jPtR9VcGRA_K7u9Ru8t-ZKnOE_osWMyHqSs58LHNBWhWdUCoSSn2BGUwK7GkyPAVSeEZX9mBDh9hvoU9b_qDzi78SvRDeTjRgDJmSecw5_ewtR2PGjPgtlkILIwIW7Tr_IYCOff9VBIVq7pR8qXHGzlUzn4omJFNHYA1Z7uvPGqbaMZ52FdANUtU-165kiBYu6jCh2bV3i81g2c95z8qU7Q86S_sAbJd3RtIlbf9N6K8cCtIGoNKSNeJFEkUaq0GBWD1JcpcvXsmBCpr5x9Hlc9uZq66r_UyFrlgLHgfWlgm9IU9rrJvMkIyJUrIVcx1VUyj6D-atTdWA_Ny1iA0YTGmepsBU0urM58KZNj5Xm-6HFYk8e4BqgqaRMlcI2uaMvB4lBcD6T9uICPDLcxUGtEY6Hpce2vHFtdKe3A-H2w4F73-zaDmQhlqdzVeEivkcKGCBpY6jq8XVJ8DZCYoXaEeRkbC2yeZyuTq6oi9OzkmHCA5YPHSdecZbufkuIDi3p_qCTq4mVJozXMv91zwcUDx82jEYaVf6IUJXoGNnzAD55hpHy4ohPZPhPzVu0HDgaaOxh0NdtMGPc976UvTKQEnFUBfYD3qiM0pCx6XaQPV-y8lcNJGQO0bb8-EdyMJyQPuJ7ZF4yTSO1-DnrF63j4vfWPaV_P0r4VkpA0VamHei80aSzSfe5KFhOynNL2XFeaBMY8xpijbxeZ4-9mSDZ4ukdJBVymi-8XoCUMVZzxtvb9cU7RRx29_c1tltJ987BEMAE7I7e15XF9ryzv411noDVDQD0rfgAyJ3mi3oV2HaPVc00foLTV95U9YlCc-SCeXSWxrWl7gr583705ValLDV6lpHDgsaF-7nezPkUNsIWEPaqs_zNirbzuOEeSlk7pFf0Zc5ftXnbjYOq2qrbLBsMvb04J8HXuzoLMvSoKV_s-lJYJmwBjTF5fqpjiJSzwsLNfkWuTVF0Dq7Dy4nd30Av2UwgwSwhyjCWq3ey4_iDKPqcHw5ZSTFTustCp0qsJfxrR92hnRFKJQjQ3Aj7V4J8CpILJfxEm4RTqpKbi6XbTtGs-4acZqjjsV-MM9hw4kWVa0JfP0dybUNr2_l7U-XTxLBFMX6e2htUtrJugdCz645z-EkFaBWpW4MpJWxOUXyxzo1iHt-oYAN_SD1X2AtD_4a3TCJBvgD8z1IhTx9MjDgDLSYgxTcw0x16gLQudD-H6F1HGslE4rMRexOXW8BpD_8dNsf15EUEa-v_k=",
  "id": "rs_047fe8f36f888190016ab45ceef45c87d0b941121df7c7a9a1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.455,\"left_y\":-0.15,\"left_z\":0.015,\"left_gripper\":1,\"right_x\":0.293,\"right_y\":0.004,\"right_z\":0.2},\"note\":\"Closing is still slipping above the bottle instead of capturing it. I am backing away from the neck to the lower body, which is closer and should allow a lower, more stable grasp.\"}",
  "call_id": "call_8MlcItYcNNzY2eWtwbJFWhbx",
  "id": "fc_047fe8f36f888190016ab45cf8e29087d0b202223e933aee1e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8MlcItYcNNzY2eWtwbJFWhbx",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4721, 2.0117, 0.8909, 0.5709, -0.4438, -0.2955, 0.9949, -0.0437, 0.7944, 0.6415, -0.4767, -0.0841, -0.0841, 0.9997]\nstate[eef_state]: left_x=0.4718 left_y=-0.1517 left_z=0.0364 left_yaw=0.0456 left_pitch=0.0712 left_roll=-0.0191 left_gripper=0.9949 right_x=0.2859 right_y=0.006 right_z=0.1776 right_yaw=0.0451 right_pitch=-0.0552 right_roll=-0.0072 right_gripper=0.9997\nstate[joint_eff]: [-1.0188, -9.5795, 3.4256, 1.0916, 0.0806, -0.315, -0.149, -0.9641, -0.7316, 10.2496, 1.8974, -0.1294, 0.0317, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:becca805107f90fbef17b4f61a0d3972ac2b56d156f17899c931ed02f8a0060e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38cda0d19b80d86a1bf36091c0f88d55d8d88be4d0a4b290f16061dbdc3a83c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc9b5f387037d4f0cac5b78bb89fa8e81dcf58c94ae51f486ec1a138c4fc35eb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 3.488 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4614, 2.0102, 1.0328, 0.3637, -0.5545, -0.3668, 0.9951, -0.0341, 0.7609, 0.5888, -0.4465, -0.0696, -0.065, 0.9998]\nstate[eef_state]: left_x=0.4901 left_y=-0.1358 left_z=0.0547 left_yaw=0.1817 left_pitch=0.0512 left_roll=0.0041 left_gripper=0.9951 right_x=0.2816 right_y=0.0063 right_z=0.1685 right_yaw=0.0321 right_pitch=-0.0451 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-1.2376, -7.0906, 3.8359, 0.9939, 0.4469, -0.3053, -0.1099, -0.5812, -1.6479, 6.9538, 2.0293, -0.105, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3367, 2.1036, 0.9436, 0.8364, -0.3214, -0.2092, 0.0107, -0.0341, 0.7113, 0.5056, -0.4023, -0.0753, -0.065, 0.9997]\nstate[eef_state]: left_x=0.5222 left_y=-0.1199 left_z=0.0633 left_yaw=0.0464 left_pitch=0.2544 left_roll=-0.0854 left_gripper=0.0107 right_x=0.2748 right_y=0.0075 right_z=0.1526 right_yaw=0.0369 right_pitch=-0.0342 right_roll=0.0015 right_gripper=0.9997\nstate[joint_eff]: [0.0615, -5.9692, 2.4957, 0.1441, 0.2955, 0.0269, 0.7643, -0.2667, -1.3744, 6.8855, 1.9658, -0.105, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4721, 2.0117, 0.8909, 0.5709, -0.4438, -0.2955, 0.9949, -0.0437, 0.7944, 0.6415, -0.4767, -0.0841, -0.0841, 0.9997]\nstate[eef_state]: left_x=0.4718 left_y=-0.1517 left_z=0.0364 left_yaw=0.0456 left_pitch=0.0712 left_roll=-0.0191 left_gripper=0.9949 right_x=0.2859 right_y=0.006 right_z=0.1776 right_yaw=0.0451 right_pitch=-0.0552 right_roll=-0.0072 right_gripper=0.9997\nstate[joint_eff]: [-1.0188, -9.5795, 3.4256, 1.0916, 0.0806, -0.315, -0.149, -0.9641, -0.7316, 10.2496, 1.8974, -0.1294, 0.0317, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:becca805107f90fbef17b4f61a0d3972ac2b56d156f17899c931ed02f8a0060e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38cda0d19b80d86a1bf36091c0f88d55d8d88be4d0a4b290f16061dbdc3a83c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc9b5f387037d4f0cac5b78bb89fa8e81dcf58c94ae51f486ec1a138c4fc35eb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF0BpiXFkIj1fc9K-s6STMCjI2lQPKNc2R61qItYxEG6oQ-bVhcgKNcXsAbDcYKQ2LMTR-bmz91GB548F7722pmk5b2tqZXqjVc1yWOzHR7meKgpf-tLXTe74YfMj1LqjXpqNpuQEBSOTz6Kxmi_8JblWbjdf7MQRRniSM8qKOi0jFCiSkkw6rAQXvaj8MwnicONj8BfdxtiqE_NROEgmrfjn5s807l32cSmdal8YO3JGFVDrrhG5j7cBWCgbR1CuRCv4DxNOwNTtlY8uCkMtSgWAOMq5o2z3ogI4LLEvAGlym3lWzEYmx6xR7e9K7fykf9bU4-n3S_d9hF9xilJ3nhptgj4R5uEKUt9dcDmzJLh_ihh9Y4oU6sJjbxe6cxUMm1k431Ryg16vjfFpb6fFk-tJ4F5lE5stk3pjnfuY8qf0_f7SUCOx2-pX93FiDv4gM0YfvkSIqcfRsywEFa1n2yMdzRB4soN0rtAXtd69UYfefMjNPNmuFVniSm17jHeZS19aGcthag178Jv2gy8V7vyApZmg3khbhtfI7B8w7WEP8rFX39mQex9JEJZxdw4jN1AN_hGR4mXwqJdOLc2yFzODgCKriHP7tYqZu1pReBa0PQL1SYwKCS1pa2W1GJj39KpnJ6UOXVJvP1wPNJqkHHIEBcQmKybW7tCNk-FmBmMcivR-0WBm0R4g_eQcQfPc9DCLs19O6di3KCYxvz4P-GtWRLbDY0ESq4rt--nxeMvrgaNK5VkUxeQDZGSTPfwBpRYIBnhf4yDd1nqDEr2PDYotC70-NVGnMLQinz71Utogb215KMuEmC-OmVTUDsTqmYVHFaVOK8HpSL0LcFGznu1wUSoBXJTysi2uNM6K1_oU9kq7SaYBnVA3kFVnl5PYrgCIbxG0NgJzJkNBMGGLKHrrnZDxyZxy2r6G-riiHfvDF-KbEfq1sEOlI4GFyofXXzJaOzfswkqK42Pkc165fF-UnKNToIjo62QMr9MaZWENajx89iP6oOEVSKO7UljP1fPlTjbScC1EbtGGVCWZFPe11_MJQcFdqABBehd8iIX0kyrtgY1yYsTmQbOk4vVekUdG79GyLFQqZPkVnMD902cBN48eU9T8c7fk254ToO3g1tRr0-wLb4bHBYAiFoxMyvlU97MNbZ1nVUcZU-8HkeAP4FL3ASssyRT5R6Q24fRxCTBmFvPIiZli622QYZbRsvDeMpZiNxQqD1x6b2kX7fG7Ws4Hmp6kfLzGG6IpQuNzmwb6DgXlSIKi5HMTqr3_xvkRnK1ZFizsg0K41WrAnqXQrgwEN78r7aG7zMZX8IYCEBcA70VUTB5pzqKwcLt5WkZxdeZB61F_v-YLgv0oHJTDHlbjXZVyxQ_qScU5KlEtzc1oKso7qrKBInl418u4D4XP0fOQM_TJfZ5BGX9iAjG_TClQD0z_F4oJ_UGjFW2TbDrs1v3tLuikuapFdUc-mlgiX04Ifoye-0aiC_CMvXnaiLPe3IMNF1dBdQkGi37MXwDJVomR5NsOXq84x_21nnMshR_tely9KINebYrp9UhjVNzTiBINAj9-jVlkgE01TdMqhdcuEIXmGSpv-Haq5_kyLAjlqCvS8nIyS3iitnv1jiox3AZ8xmIN0RIb65YIJjht13DzBg6sFoc77JVi3qBX65kx_G5RWPjK0eOkfS_gtGgf3yyLTi--vJn8OBAbGPe82ayaMqQsDz1jTHajv3gYx7muhI6fz7il0xqYUYVu27nAuO0gGN8mYeX8njEVX4zK5kV8jdG9zxGLl-lXgxGRbzDOkiq38Sjjext7dXRaVg-N8z_GjFpaj8dilD3DLlpMoRFzHH4dqni82B9W3-2ShMvrtGPYsLVL8Ix-HUdF_ildDkZKJ8v0tc7kHPQI9lXEPZRPdrUySWIIhk5iJ2fNQ1xZ4sgsbZFomsA1n_pdilo11s4chexe4C1FJ2CJaRWvTf2iB-MnaR_PiHicBhNWPZXdICeMDfjX1UrnkZM4uyul9OJh9lMpuGHoxrAoVqWsoqJKyyjNESAVkncMfazPvHvJKkTWsrTEUCpwwDfRyEqTI8V_mJWrH52mN_h3CLFbnYbz3j8OnAkC5S3C-a_LWNMHyK6j_B418SgIiwhbGvTG_eClRRN_qRSVEXoNL5EK-_iyn38CmiqfPkI2iBc",
  "id": "rs_047fe8f36f888190016ab45cfd1b7487d089ab2bfe4c7494c2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.13,\"left_z\":-0.015,\"left_gripper\":0.35},\"note\":\"The lower body is now visible between the finger tips, slightly to their left. I am centering on that section and closing to a moderate width while staying low.\"}",
  "call_id": "call_WkrIglr7VwBdwa34cSfpaMxH",
  "id": "fc_047fe8f36f888190016ab45cffe3f887d0a6de6cbeb7a466b6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WkrIglr7VwBdwa34cSfpaMxH",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4587, 2.0003, 0.9409, 0.5457, -0.453, -0.2989, 0.3569, -0.0471, 0.7609, 0.5861, -0.4465, -0.0906, -0.0837, 0.9997]\nstate[eef_state]: left_x=0.4857 left_y=-0.1496 left_z=0.0554 left_yaw=0.0699 left_pitch=0.1048 left_roll=-0.0363 left_gripper=0.3569 right_x=0.2813 right_y=0.0063 right_z=0.1675 right_yaw=0.0469 right_pitch=-0.0465 right_roll=-0.0039 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -8.9231, 5.559, 0.7497, 0.2125, -0.0513, 0.1392, -0.5265, -1.3744, 7.159, 2.044, -0.149, 0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7435a8ce88819a9ea3ef7386b0d9f26b543d5201cf2e3a40c10df877b786d995",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a7999a43ef9dc5dc8000ba029e52fc40f3b2e9cbeb84a0f101d9d04362c6804",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17adb5875b18ea6d260f0be4d471f5bc82336007518d81142b2c73746d17c378",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 6.313 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 55 changed as sent

message 63 changed as sent

message 67 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3511, 2.08, 0.9546, 0.675, -0.3748, -0.252, 0.6551, -0.0341, 0.7345, 0.5442, -0.4244, -0.075, -0.0654, 0.9998]\nstate[eef_state]: left_x=0.5114 left_y=-0.1147 left_z=0.0454 left_yaw=0.0906 left_pitch=0.145 left_roll=-0.0555 left_gripper=0.6551 right_x=0.2777 right_y=0.0073 right_z=0.1596 right_yaw=0.0368 right_pitch=-0.0411 right_roll=0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.759, -4.3692, 2.1949, 0.4225, 0.3834, 0.1441, 0.2369, -0.5675, -1.5795, 7.159, 2.0391, -0.1001, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4721, 2.0117, 0.8909, 0.5709, -0.4438, -0.2955, 0.9949, -0.0437, 0.7944, 0.6415, -0.4767, -0.0841, -0.0841, 0.9997]\nstate[eef_state]: left_x=0.4718 left_y=-0.1517 left_z=0.0364 left_yaw=0.0456 left_pitch=0.0712 left_roll=-0.0191 left_gripper=0.9949 right_x=0.2859 right_y=0.006 right_z=0.1776 right_yaw=0.0451 right_pitch=-0.0552 right_roll=-0.0072 right_gripper=0.9997\nstate[joint_eff]: [-1.0188, -9.5795, 3.4256, 1.0916, 0.0806, -0.315, -0.149, -0.9641, -0.7316, 10.2496, 1.8974, -0.1294, 0.0317, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4587, 2.0003, 0.9409, 0.5457, -0.453, -0.2989, 0.3569, -0.0471, 0.7609, 0.5861, -0.4465, -0.0906, -0.0837, 0.9997]\nstate[eef_state]: left_x=0.4857 left_y=-0.1496 left_z=0.0554 left_yaw=0.0699 left_pitch=0.1048 left_roll=-0.0363 left_gripper=0.3569 right_x=0.2813 right_y=0.0063 right_z=0.1675 right_yaw=0.0469 right_pitch=-0.0465 right_roll=-0.0039 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -8.9231, 5.559, 0.7497, 0.2125, -0.0513, 0.1392, -0.5265, -1.3744, 7.159, 2.044, -0.149, 0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7435a8ce88819a9ea3ef7386b0d9f26b543d5201cf2e3a40c10df877b786d995",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a7999a43ef9dc5dc8000ba029e52fc40f3b2e9cbeb84a0f101d9d04362c6804",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17adb5875b18ea6d260f0be4d471f5bc82336007518d81142b2c73746d17c378",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF0Frw22gI2DQZROVUSF81VbxKK_UrM7NfKWFYmjlidt2A5Wwhddv5Jgwui6z0ewHanLSQ9eTUexMhUJ-egBd5WOCMNOLp-y7TqrBWw-4eKD--oPoNknbUYN0ruCsNi4liDypBD1S0_96ZLDL4-FCx2G5cFs3-DYFIYrKL19-Dg-e-16T3VeYhvb0JJ8PhDxeDd6sHjlH3rko-FRv4qlAjz6K7NHy_CoSi8kxxSEbbwJp7rLXN00aLobYe-BnrE4fRcUYRjHZ1TPOlQ92kc5sD5IpedVxQ4Gs0Ylbhn6sUPA2heQ55RZS-O0MtIE1FWdVFWATS3dMmWyUzZeRoLsfi5wt6GpEhncqB9a5SfeytQEHYkQfpcTPVmvlELN4Vy9fTLwPqCeo2yRiNPxeFx7H9oq_GCW3WlbRsu7n50R8Y1qLh1scRE2v4-xmH9gASWWy9RvOE2FjfKtnMZyDIa9BYuSZqoRknpSjOpkVR8P82YTTjKs8wlyQfSOAslKXCxK_VEt-a1dnT_ei22RJxzT1ReJ7dQwORX5qHfa1Q_2kzyMti1VVEy2wOP5W4bXo3lWLRZvMG4k6XI2OeJCegcYTiC4XEQuNwmxddW8rcv3BLGfhr117TUUNVs8MbadhzWX06bcaQOfzm192Ps7pe_w7qiG3WsOIeAih9NwIy6zYLh6VY4qOiytABwESZxvai3yiK6ujD-oRTEskUZyetHkjhDF2zg607WSyl6PRFFiI4GvXsdVqN-GH-LWfKDkAXBvtbkEBzAOgRw3Ngrv6WqPjT4cHHunX7UXDkSx1JzyvSFAVBwX3h1fScDOMrrLq0L7DYiut_g_NHUUcfx0C9YIuppX62k0MQ0Nb4RB2ax6vGyWrKUm8PjLhNtLvGXJ4KJd90z_o3Ry1pAsZEW35uMhyR7QXxQS0X78BjJQal8hvO16yiq04uBpaJ44FgZcKwbYnn5DHv_WrRuoi43v1kyRuk-f_e2GO3B4Vmxjj1ju7iSBIih6msBiwv3PtXO-a3fziXTmQ4GqXFe7irNlXat8ZYX7nmOR9Em2UQYTwGQ1BfWbVfoG5v2XWbfFRlq_kBlHgnmH037oOI64bK7ASYV52ln2DBkuovDY7W8iJIQhFT5tENaN50UuwzL3RqFni04pNYZwnHjfNAOZi1xhtT-3Gh7hllTkpIonkcnAaCZ76NEqofbPJdJwj1DTPVN019ZNn27XpeFSRFAO-jXTIUalvCLCSLILwp5qKpE1XZD-UqLQfTapVa7BwvG7QCC8BZtNTiQk_ZjgLZJcXpJqPLaSkiCQa7uDdFssvPQOBO78GDpryMU0jXHcB2_RMvGirp2nLaxvbVV-ZWzZn6WoP_LwAthyoQ==",
  "id": "rs_047fe8f36f888190016ab45d038a0087d0a96d6a1c089d807f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.15,\"left_z\":0.16},\"note\":\"The fingers appear to contact both sides of the bottle’s lower body. I am testing this grasp by lifting and pulling toward a more reachable part of the table.\"}",
  "call_id": "call_uWvFRkxb1gErSHmDAXdtdN39",
  "id": "fc_047fe8f36f888190016ab45d0444dc87d0a2f79861911fc1a1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uWvFRkxb1gErSHmDAXdtdN39",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5282, 1.7557, 0.9794, 0.2245, -0.4835, -0.3534, 0.3567, -0.0475, 0.7303, 0.5411, -0.4198, -0.091, -0.0841, 0.9997]\nstate[eef_state]: left_x=0.4564 left_y=-0.1671 left_z=0.1241 left_yaw=0.0529 left_pitch=0.0794 left_roll=-0.0517 left_gripper=0.3567 right_x=0.2778 right_y=0.0065 right_z=0.1604 right_yaw=0.047 right_pitch=-0.0343 right_roll=-0.0052 right_gripper=0.9997\nstate[joint_eff]: [0.6085, -11.2889, 10.2632, 2.1172, -0.3736, -0.022, -0.0269, -0.7726, -0.8684, 6.9402, 2.0537, -0.149, 0.0171, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e977395680de983b1e998c021a800fcf332ae88a3b9f98e96e4e5253157edabf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8fc9f7c4fc6d7eb34cc71bc76f8b787f473c1273586ae2bef858a61085db21f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:590ed79772d7d22fd05ca05d79e348293e4be8f0e6d75e8d7c71353a196254d7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 13.35 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 59 changed as sent

message 67 changed as sent

message 71 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3367, 2.1036, 0.9436, 0.8364, -0.3214, -0.2092, 0.0107, -0.0341, 0.7113, 0.5056, -0.4023, -0.0753, -0.065, 0.9997]\nstate[eef_state]: left_x=0.5222 left_y=-0.1199 left_z=0.0633 left_yaw=0.0464 left_pitch=0.2544 left_roll=-0.0854 left_gripper=0.0107 right_x=0.2748 right_y=0.0075 right_z=0.1526 right_yaw=0.0369 right_pitch=-0.0342 right_roll=0.0015 right_gripper=0.9997\nstate[joint_eff]: [0.0615, -5.9692, 2.4957, 0.1441, 0.2955, 0.0269, 0.7643, -0.2667, -1.3744, 6.8855, 1.9658, -0.105, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4587, 2.0003, 0.9409, 0.5457, -0.453, -0.2989, 0.3569, -0.0471, 0.7609, 0.5861, -0.4465, -0.0906, -0.0837, 0.9997]\nstate[eef_state]: left_x=0.4857 left_y=-0.1496 left_z=0.0554 left_yaw=0.0699 left_pitch=0.1048 left_roll=-0.0363 left_gripper=0.3569 right_x=0.2813 right_y=0.0063 right_z=0.1675 right_yaw=0.0469 right_pitch=-0.0465 right_roll=-0.0039 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -8.9231, 5.559, 0.7497, 0.2125, -0.0513, 0.1392, -0.5265, -1.3744, 7.159, 2.044, -0.149, 0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5282, 1.7557, 0.9794, 0.2245, -0.4835, -0.3534, 0.3567, -0.0475, 0.7303, 0.5411, -0.4198, -0.091, -0.0841, 0.9997]\nstate[eef_state]: left_x=0.4564 left_y=-0.1671 left_z=0.1241 left_yaw=0.0529 left_pitch=0.0794 left_roll=-0.0517 left_gripper=0.3567 right_x=0.2778 right_y=0.0065 right_z=0.1604 right_yaw=0.047 right_pitch=-0.0343 right_roll=-0.0052 right_gripper=0.9997\nstate[joint_eff]: [0.6085, -11.2889, 10.2632, 2.1172, -0.3736, -0.022, -0.0269, -0.7726, -0.8684, 6.9402, 2.0537, -0.149, 0.0171, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e977395680de983b1e998c021a800fcf332ae88a3b9f98e96e4e5253157edabf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8fc9f7c4fc6d7eb34cc71bc76f8b787f473c1273586ae2bef858a61085db21f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:590ed79772d7d22fd05ca05d79e348293e4be8f0e6d75e8d7c71353a196254d7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_047fe8f36f888190016ab45d079a0c87d09d62cd9eec9afc80",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.15,\"left_z\":0.2},\"note\":\"The bottle remains aligned with the fingers during the lift, although the arm is tracking somewhat short. I am drawing the hand farther back to bring the bottle into the reachable working area.\"}",
  "call_id": "call_KyBiVtFXwtDQTnjt3xmvy9vR",
  "id": "fc_047fe8f36f888190016ab45d0b25dc87d0bb9b3eae5a882a73",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KyBiVtFXwtDQTnjt3xmvy9vR",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7227, 1.2865, 0.9314, -0.3294, -0.6106, -0.4816, 0.3566, -0.0475, 0.7113, 0.5095, -0.4023, -0.0906, -0.0837, 0.9997]\nstate[eef_state]: left_x=0.3417 left_y=-0.1615 left_z=0.2008 left_yaw=0.0239 left_pitch=0.018 left_roll=-0.0236 left_gripper=0.3566 right_x=0.2753 right_y=0.0065 right_z=0.1544 right_yaw=0.0464 right_pitch=-0.0294 right_roll=-0.0055 right_gripper=0.9997\nstate[joint_eff]: [-0.294, -5.8872, 6.6256, 1.58, -0.2906, -0.2125, -0.0171, -0.7043, -1.347, 6.8718, 1.9902, -0.149, 0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbeda6edb4af0adf9cfb3df77d3d1771d8c4143fd40959bbe3dd4d82f715f791",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:470df471471cae90129fc4644157c3d9b1300339187ed5ca80cc1f2f9a9d7c2e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb22d920211028374954f5646b344bb721f95779b265e03a65e87bc43753fd84",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 4.344 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 63 changed as sent

message 71 changed as sent

message 75 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4721, 2.0117, 0.8909, 0.5709, -0.4438, -0.2955, 0.9949, -0.0437, 0.7944, 0.6415, -0.4767, -0.0841, -0.0841, 0.9997]\nstate[eef_state]: left_x=0.4718 left_y=-0.1517 left_z=0.0364 left_yaw=0.0456 left_pitch=0.0712 left_roll=-0.0191 left_gripper=0.9949 right_x=0.2859 right_y=0.006 right_z=0.1776 right_yaw=0.0451 right_pitch=-0.0552 right_roll=-0.0072 right_gripper=0.9997\nstate[joint_eff]: [-1.0188, -9.5795, 3.4256, 1.0916, 0.0806, -0.315, -0.149, -0.9641, -0.7316, 10.2496, 1.8974, -0.1294, 0.0317, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5282, 1.7557, 0.9794, 0.2245, -0.4835, -0.3534, 0.3567, -0.0475, 0.7303, 0.5411, -0.4198, -0.091, -0.0841, 0.9997]\nstate[eef_state]: left_x=0.4564 left_y=-0.1671 left_z=0.1241 left_yaw=0.0529 left_pitch=0.0794 left_roll=-0.0517 left_gripper=0.3567 right_x=0.2778 right_y=0.0065 right_z=0.1604 right_yaw=0.047 right_pitch=-0.0343 right_roll=-0.0052 right_gripper=0.9997\nstate[joint_eff]: [0.6085, -11.2889, 10.2632, 2.1172, -0.3736, -0.022, -0.0269, -0.7726, -0.8684, 6.9402, 2.0537, -0.149, 0.0171, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7227, 1.2865, 0.9314, -0.3294, -0.6106, -0.4816, 0.3566, -0.0475, 0.7113, 0.5095, -0.4023, -0.0906, -0.0837, 0.9997]\nstate[eef_state]: left_x=0.3417 left_y=-0.1615 left_z=0.2008 left_yaw=0.0239 left_pitch=0.018 left_roll=-0.0236 left_gripper=0.3566 right_x=0.2753 right_y=0.0065 right_z=0.1544 right_yaw=0.0464 right_pitch=-0.0294 right_roll=-0.0055 right_gripper=0.9997\nstate[joint_eff]: [-0.294, -5.8872, 6.6256, 1.58, -0.2906, -0.2125, -0.0171, -0.7043, -1.347, 6.8718, 1.9902, -0.149, 0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbeda6edb4af0adf9cfb3df77d3d1771d8c4143fd40959bbe3dd4d82f715f791",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:470df471471cae90129fc4644157c3d9b1300339187ed5ca80cc1f2f9a9d7c2e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb22d920211028374954f5646b344bb721f95779b265e03a65e87bc43753fd84",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_047fe8f36f888190016ab45d0f3d4087d0be02828c10e8f969",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0.001,\"left_z\":0.2,\"left_gripper\":1,\"right_x\":0.293,\"right_y\":0.004,\"right_z\":0.2,\"right_gripper\":1},\"note\":\"The unobstructed view confirms that the bottle did not lift; all three are still lying down. The low approaches have repeatedly stopped short and shifted the bottle farther away, so I am parking both arms rather than continuing unsuccessful contact.\"}",
  "call_id": "call_4UxoIBYR6kWKKlDnfwso8pmT",
  "id": "fc_047fe8f36f888190016ab45d184eb487d0b9a929e7a71b017b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4UxoIBYR6kWKKlDnfwso8pmT",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0711, 0.8158, 0.6922, -0.44, -0.1337, -0.1104, 0.9975, -0.0593, 0.7948, 0.6472, -0.4835, -0.1089, -0.0895, 0.9997]\nstate[eef_state]: left_x=0.2982 left_y=0.006 left_z=0.2028 left_yaw=0.0893 left_pitch=0.0048 left_roll=-0.0086 left_gripper=0.9975 right_x=0.2856 right_y=0.0059 right_z=0.1789 right_yaw=0.0532 right_pitch=-0.0552 right_roll=0.0031 right_gripper=0.9997\nstate[joint_eff]: [0.1573, -2.0444, 6.106, 1.7558, 0.2125, 0.0366, -0.0855, -0.5675, -0.5812, 10.0581, 1.8486, -0.0855, -0.0122, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a10949c54a2fb085e517586595914dc175b4c187c8ed098ff5402b7d4631c29",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4001b87d2c5812f79c0deb8034e37a922d125cfd9704f84c0f975eea152fbe1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d76dd9300b6ef89fc6d84bd11ab5123d225289f507e3f8156ea8676037e46031",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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