adhoc

completed
2026-09-23T23:33:03.479807+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (71 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
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
205.8 s
total steps
227
success_at_end
0
scenes
1
trials
1
errored
0

scene-0

completed

Stand all three bottles upright.

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteAll three bottles are lying down, with their caps pointing toward the back of the table. I’ll approach the neck of the leftmost bottle so I can lift its top and let its base swing underneath.
move_to
left_x0.3900left_y-0.2000left_z0.1500left_gripper1.0000right_x0.2940right_y0.0040right_z0.1800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7929, 0.6067, -0.3775, -0.0231, -0.0288, 0.9989, -0.0154, 0.7891, 0.6033, -0.3859, -0.0261, -0.0349, 0.9993] state[eef_state]: left_x=0.2954 left_y=0.0017 left_z=0.1821 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9989 right_x=0.2936 right_y=0.0037 right_z=0.1798 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993 state[joint_eff]: [-0.4718, -1.4291, 9.9214, 1.8339, -0.0122, 0.0952, -0.1294, -0.9778, -1.0325, 10.2496, 1.8193, 0.0073, 0.1441, -0.0806] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.2,"left_z":0.15,"left_gripper":1,"right_x":0.294,"right_y":0.004,"right_z":0.18},"note":"All three bottles are lying down, with their caps pointing toward the back of the table. I’ll approach the neck of the leftmost bottle so I can lift its top and let its base swing underneath."})
tool
executing move_to over 18 steps (1.8s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe leftmost bottle’s neck is ahead and to the left of the open jaws. I’m shifting toward its cap and aligning the jaws across the neck before descending.
move_to
left_x0.4400left_y-0.1350left_z0.0800left_yaw0.5000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6991, 1.5661, 0.9485, -0.1246, -0.5636, -0.4446, 0.9989, -0.0151, 0.794, 0.6033, -0.4038, -0.0265, -0.0353, 0.9993] state[eef_state]: left_x=0.3807 left_y=-0.1921 left_z=0.1349 left_yaw=-0.0109 left_pitch=-0.045 left_roll=0.0204 left_gripper=0.9989 right_x=0.2914 right_y=0.0039 right_z=0.1747 right_yaw=0.0009 right_pitch=-0.0229 right_roll=0.0003 right_gripper=0.9993 state[joint_eff]: [-0.2803, -7.1453, 9.1419, 1.5897, -0.4664, 0.1392, -0.1245, -0.0479, -1.4154, 7.1863, 1.873, -0.022, -0.0317, -0.0171] camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.44,"left_y":-0.135,"left_z":0.08,"left_yaw":0.5},"note":"The leftmost bottle’s neck is ahead and to the left of the open jaws. I’m shifting toward its cap and aligning the jaws across the neck before descending."})
tool
executing move_to over 6 steps (0.6s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteThe cap is still just ahead and left of the jaw column in the wrist view. I’m making a small outward correction and lowering to neck height for a gentle grip.
move_to
left_x0.4750left_y-0.1150left_z0.0250left_yaw0.5000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6102, 1.9076, 1.121, -0.1429, -0.794, -0.7471, 0.9985, -0.0151, 0.7841, 0.5827, -0.4015, -0.0265, -0.0353, 0.9993] state[eef_state]: left_x=0.4338 left_y=-0.1452 left_z=0.0749 left_yaw=0.406 left_pitch=-0.0333 left_roll=0.0243 left_gripper=0.9985 right_x=0.2885 right_y=0.0039 right_z=0.1685 right_yaw=0.0009 right_pitch=-0.0313 right_roll=0.0004 right_gripper=0.9993 state[joint_eff]: [0.4171, -9.388, 7.2957, 1.0085, -0.4957, -0.1636, -0.0513, -0.3624, -1.6342, 6.8444, 1.9707, -0.0806, -0.0073, -0.0122] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.475,"left_y":-0.115,"left_z":0.025,"left_yaw":0.5},"note":"The cap is still just ahead and left of the jaw column in the wrist view. I’m making a small outward correction and lowering to neck height for a gentle grip."})
tool
executing move_to over 4 steps (0.4s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteThe neck remains slightly ahead of the fingertips and left of center. I’ll make one smaller alignment correction while restoring the idle arm to its parked height.
move_to
left_x0.4930left_y-0.0920left_z0.0180right_x0.2940right_y0.0040right_z0.1800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5213, 2.0727, 1.1458, 0.0311, -0.8265, -0.7582, 0.9984, -0.0151, 0.7708, 0.5522, -0.3882, -0.0269, -0.0357, 0.9993] state[eef_state]: left_x=0.466 left_y=-0.1136 left_z=0.0355 left_yaw=0.5204 left_pitch=0.0061 left_roll=-0.0005 left_gripper=0.9984 right_x=0.2857 right_y=0.004 right_z=0.1609 right_yaw=0.0014 right_pitch=-0.0351 right_roll=0.0004 right_gripper=0.9993 state[joint_eff]: [0.759, -7.5692, 5.9009, 0.906, 0.0757, 0.315, -0.022, -0.3624, -1.7846, 7.0632, 1.9951, -0.0513, -0.0708, -0.0073] camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.493,"left_y":-0.092,"left_z":0.018,"right_x":0.294,"right_y":0.004,"right_z":0.18},"note":"The neck remains slightly ahead of the fingertips and left of center. I’ll make one smaller alignment correction while restoring the idle arm to its parked height."})
tool
executing move_to over 3 steps (0.3s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteThe arm is near its low-height reach limit, but the bottle’s shoulder is between the jaws. I’ll close gently around that narrower section rather than force the arm farther forward.
move_to
left_gripper0.3000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5011, 2.0869, 1.1587, 0.0933, -0.8238, -0.7517, 0.9984, -0.0151, 0.7853, 0.5632, -0.3985, -0.0269, -0.0364, 0.9993] state[eef_state]: left_x=0.4787 left_y=-0.1103 left_z=0.0407 left_yaw=0.5365 left_pitch=0.0353 left_roll=-0.0486 left_gripper=0.9984 right_x=0.2864 right_y=0.004 right_z=0.16 right_yaw=0.0019 right_pitch=-0.0488 right_roll=-0.0 right_gripper=0.9993 state[joint_eff]: [0.8274, -9.9077, 5.5316, 0.9841, -0.1978, 0.1783, -0.0122, 0.0068, -0.8684, 10.1538, 1.9658, -0.0611, -0.0269, -0.0073] camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.3},"note":"The arm is near its low-height reach limit, but the bottle’s shoulder is between the jaws. I’ll close gently around that narrower section rather than force the arm farther forward."})
tool
executing move_to over 7 steps (0.7s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteThe bottle shifted into line with the jaws as they closed. I’ll secure the grip, then test whether the bottle follows a short lift.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4976, 2.0811, 1.1664, 0.1211, -0.8654, -0.7341, 0.3063, -0.0143, 0.7582, 0.5171, -0.374, -0.0292, -0.0425, 0.9993] state[eef_state]: left_x=0.4837 left_y=-0.1056 left_z=0.0533 left_yaw=0.5603 left_pitch=0.0825 left_roll=-0.0539 left_gripper=0.3063 right_x=0.2822 right_y=0.0047 right_z=0.1511 right_yaw=0.0079 right_pitch=-0.0434 right_roll=-0.0038 right_gripper=0.9993 state[joint_eff]: [0.3487, -9.265, 5.3812, 0.7643, 0.2759, 0.0122, 0.1587, -0.4581, -1.7709, 7.0085, 2.0342, -0.0171, -0.0171, -0.0122] camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The bottle shifted into line with the jaws as they closed. I’ll secure the grip, then test whether the bottle follows a short lift."})
tool
executing move_to over 4 steps (0.4s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent noteThe gripper closed empty, and the readback shows the fingertips stayed above the requested height. I’m moving slightly back to a more reachable part of the bottle and reopening for a lower grasp.
move_to
left_x0.4550left_y-0.1300left_z0.0000left_gripper0.8000right_x0.2940right_y0.0040right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4881, 2.0811, 1.2488, 0.0029, -0.8516, -0.7635, 0.0117, -0.0143, 0.7338, 0.4721, -0.3504, -0.0296, -0.0425, 0.9993] state[eef_state]: left_x=0.4917 left_y=-0.1065 left_z=0.0642 left_yaw=0.5743 left_pitch=0.0556 left_roll=-0.0533 left_gripper=0.0117 right_x=0.2782 right_y=0.0048 right_z=0.1418 right_yaw=0.0082 right_pitch=-0.0403 right_roll=-0.0037 right_gripper=0.9993 state[joint_eff]: [0.1983, -10.8103, 7.241, 1.0379, -0.1636, -0.1001, 0.8181, -0.6085, -1.4017, 7.4188, 2.0098, -0.0904, -0.0513, -0.0073] camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.455,"left_y":-0.13,"left_z":0,"left_gripper":0.8,"right_x":0.294,"right_y":0.004,"right_z":0.2},"note":"The gripper closed empty, and the readback shows the fingertips stayed above the requested height. I’m moving slightly back to a more reachable part of the bottle and reopening for a lower grasp."})
tool
executing move_to over 8 steps (0.8s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteThe bottle’s shoulder is now centered between the visible fingertips. I’ll close here and check the gripper opening to see whether this lower attempt captures it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5705, 2.1334, 1.2182, 0.0166, -0.9241, -0.8734, 0.7957, -0.0147, 0.7971, 0.6395, -0.4603, -0.0299, -0.0544, 0.9993] state[eef_state]: left_x=0.4717 left_y=-0.1309 left_z=0.0397 left_yaw=0.5923 left_pitch=0.0718 left_roll=-0.0635 left_gripper=0.7957 right_x=0.2882 right_y=0.0046 right_z=0.179 right_yaw=0.0145 right_pitch=-0.0459 right_roll=-0.013 right_gripper=0.9993 state[joint_eff]: [-0.5675, -6.7624, 3.2342, 0.7985, 0.2808, -0.2906, -0.0366, -0.8957, -0.8547, 10.0718, 1.7802, -0.105, 0.1245, -0.0122] approver: 8 step(s) modified (delta_clamped ×8). camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The bottle’s shoulder is now centered between the visible fingertips. I’ll close here and check the gripper opening to see whether this lower attempt captures it."})
tool
executing move_to over 8 steps (0.8s)
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; the arm again rose instead of holding the requested low pose. I’m withdrawing and straightening the jaws to reassess the bottle position from an unobstructed view.
move_to
left_x0.3600left_y-0.1600left_z0.1500left_yaw0.0000left_gripper1.0000right_x0.2940right_y0.0040right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5613, 2.1334, 1.3113, -0.1135, -0.9554, -0.8993, 0.0117, -0.0212, 0.7712, 0.5919, -0.4442, -0.0307, -0.0544, 0.9993] state[eef_state]: left_x=0.4797 left_y=-0.127 left_z=0.0583 left_yaw=0.631 left_pitch=0.0799 left_roll=-0.0426 left_gripper=0.0117 right_x=0.2829 right_y=0.003 right_z=0.1675 right_yaw=0.0087 right_pitch=-0.0516 right_roll=-0.0123 right_gripper=0.9993 state[joint_eff]: [-0.2393, -10.6188, 5.8325, 0.525, 0.2369, -0.0708, 1.0134, -0.4718, -1.7846, 7.1043, 2.0977, -0.1978, 0.022, -0.0073] approver: 8 step(s) modified (delta_clamped ×8). 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":0.36,"left_y":-0.16,"left_z":0.15,"left_yaw":0,"left_gripper":1,"right_x":0.294,"right_y":0.004,"right_z":0.2},"note":"The second close was also empty; the arm again rose instead of holding the requested low pose. I’m withdrawing and straightening the jaws to reassess the bottle position from an unobstructed view."})
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 noteWith the arm clear, the bottle necks appear farther back than the low reach allows. I’ll first grasp the left bottle around its nearer body so I can bring it into a better position for standing.
move_to
left_x0.4150left_y-0.2050left_z0.0250left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6621, 1.4391, 0.8249, -0.0891, -0.6044, -0.4839, 0.9943, -0.0212, 0.7959, 0.6453, -0.4793, -0.0303, -0.057, 0.9993] state[eef_state]: left_x=0.3672 left_y=-0.1544 left_z=0.1424 left_yaw=0.0776 left_pitch=0.0024 left_roll=-0.0175 left_gripper=0.9943 right_x=0.2861 right_y=0.0029 right_z=0.178 right_yaw=0.0098 right_pitch=-0.0581 right_roll=-0.0145 right_gripper=0.9993 state[joint_eff]: [-0.4308, -6.8581, 6.8444, 1.5018, -0.0855, 0.3004, 0.0171, 0.0615, -0.6359, 10.1128, 2.0, -0.1538, 0.1538, -0.0122] 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":0.415,"left_y":-0.205,"left_z":0.025,"left_yaw":0},"note":"With the arm clear, the bottle necks appear farther back than the low reach allows. I’ll first grasp the left bottle around its nearer body so I can bring it into a better position for standing."})
tool
executing move_to over 8 steps (0.8s)
step 76
top_cam
camera top_cam step 76
left_cam
camera left_cam step 76
right_cam
camera right_cam step 76
assistant
agent noteThe arm has reached bottle height, with the left bottle’s body centered between the jaws. I’ll close around the body to establish a secure grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6682, 1.927, 0.8127, 0.3435, -0.5816, -0.4446, 0.9956, -0.0284, 0.7582, 0.5861, -0.4454, -0.0383, -0.0574, 0.9993] state[eef_state]: left_x=0.4 left_y=-0.1875 left_z=0.0144 left_yaw=0.0344 left_pitch=-0.059 left_roll=0.0482 left_gripper=0.9956 right_x=0.2814 right_y=0.0024 right_z=0.1681 right_yaw=0.0095 right_pitch=-0.0453 right_roll=-0.0106 right_gripper=0.9993 state[joint_eff]: [-0.5265, -8.3487, 7.5009, 1.7558, -0.0415, 0.2173, 0.1148, -0.6769, -1.5521, 7.2, 2.0342, -0.1343, 0.0073, -0.0122] camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The arm has reached bottle height, with the left bottle’s body centered between the jaws. I’ll close around the body to establish a secure grasp."})
tool
executing move_to over 10 steps (1.0s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteThe gripper remains about 5 cm open after closing, consistent with holding the bottle body. I’ll lift it a few centimeters and draw it slightly closer to check the grasp.
move_to
left_x0.3800left_y-0.1850left_z0.0800right_x0.2940right_y0.0040right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6682, 1.9564, 0.7609, 0.482, -0.5831, -0.4484, 0.5352, -0.0307, 0.7319, 0.5411, -0.4217, -0.0528, -0.0578, 0.9993] state[eef_state]: left_x=0.3996 left_y=-0.1869 left_z=0.0084 left_yaw=0.0363 left_pitch=-0.0147 left_roll=0.0088 left_gripper=0.5352 right_x=0.2776 right_y=0.0044 right_z=0.1593 right_yaw=0.0196 right_pitch=-0.04 right_roll=-0.0028 right_gripper=0.9993 state[joint_eff]: [-0.4171, -10.0444, 4.2598, 1.6044, -0.2711, -0.0269, 1.0281, -0.8274, -1.4974, 7.2, 2.0391, -0.0317, 0.022, -0.0073] camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.185,"left_z":0.08,"right_x":0.294,"right_y":0.004,"right_z":0.2},"note":"The gripper remains about 5 cm open after closing, consistent with holding the bottle body. I’ll lift it a few centimeters and draw it slightly closer to check the grasp."})
tool
executing move_to over 5 steps (0.5s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteThe bottle moved with the jaws, but the loaded arm lifted less than commanded. I’ll bring it closer while keeping it low, making the neck reachable for the upright lift.
move_to
left_x0.2850left_y-0.1800left_z0.0500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7013, 1.7557, 0.7395, 0.1825, -0.5549, -0.4728, 0.5324, -0.0338, 0.7944, 0.6388, -0.4686, -0.0559, -0.0616, 0.9993] state[eef_state]: left_x=0.3654 left_y=-0.1821 left_z=0.0319 left_yaw=0.0001 left_pitch=-0.1186 left_roll=0.0517 left_gripper=0.5324 right_x=0.2867 right_y=0.0038 right_z=0.1778 right_yaw=0.0212 right_pitch=-0.0517 right_roll=-0.0035 right_gripper=0.9993 state[joint_eff]: [-0.5675, -11.7265, 8.0752, 2.4982, -0.8474, -0.022, 1.0085, -0.1436, -0.7316, 9.7983, 1.8681, -0.0659, 0.0024, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.285,"left_y":-0.18,"left_z":0.05},"note":"The bottle moved with the jaws, but the loaded arm lifted less than commanded. I’ll bring it closer while keeping it low, making the neck reachable for the upright lift."})
tool
executing move_to over 7 steps (0.7s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteThe first bottle is now closer to the front, with its neck within the arm’s working range. I’ll release the body before moving to the neck.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9291, 1.5608, 0.4648, 0.1829, -0.6556, -0.6144, 0.5321, -0.0341, 0.7628, 0.5858, -0.4442, -0.0566, -0.0616, 0.9993] state[eef_state]: left_x=0.2754 left_y=-0.1827 left_z=0.0194 left_yaw=-0.0738 left_pitch=-0.116 left_roll=0.0524 left_gripper=0.5321 right_x=0.2817 right_y=0.004 right_z=0.167 right_yaw=0.0215 right_pitch=-0.0486 right_roll=-0.0032 right_gripper=0.9993 state[joint_eff]: [-0.1709, -8.4308, 5.7504, 2.1123, -1.033, -0.0855, 0.8718, -0.6906, -1.6889, 7.0769, 2.1514, -0.1099, -0.0464, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The first bottle is now closer to the front, with its neck within the arm’s working range. I’ll release the body before moving to the neck."})
tool
executing move_to over 5 steps (0.5s)
step 103
top_cam
camera top_cam step 103
left_cam
camera left_cam step 103
right_cam
camera right_cam step 103
assistant
agent noteThe bottle now lies nearly straight forward from the arm. I’m moving the open gripper above its neck, keeping the fingers clear of the body.
move_to
left_x0.4400left_y-0.1750left_z0.0900left_yaw0.0000right_x0.2940right_y0.0040right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9504, 1.6043, 0.3569, 0.4221, -0.7017, -0.6052, 0.9956, -0.0341, 0.7345, 0.5381, -0.4187, -0.0566, -0.0612, 0.9993] state[eef_state]: left_x=0.2717 left_y=-0.1779 left_z=0.0121 left_yaw=-0.0735 left_pitch=-0.0325 left_roll=0.0157 left_gripper=0.9956 right_x=0.2778 right_y=0.0041 right_z=0.1579 right_yaw=0.0213 right_pitch=-0.0425 right_roll=-0.0032 right_gripper=0.9993 state[joint_eff]: [-0.5402, -4.9162, 4.588, 1.5702, -0.486, 0.0366, -0.1099, -0.7043, -1.6342, 7.0222, 2.0195, -0.1001, -0.0269, -0.0073] camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.44,"left_y":-0.175,"left_z":0.09,"left_yaw":0,"right_x":0.294,"right_y":0.004,"right_z":0.2},"note":"The bottle now lies nearly straight forward from the arm. I’m moving the open gripper above its neck, keeping the fingers clear of the body."})
tool
executing move_to over 13 steps (1.3s)
step 116
top_cam
camera top_cam step 116
left_cam
camera left_cam step 116
right_cam
camera right_cam step 116
assistant
agent noteThe cap is centered in the wrist view. I’ll lower beside the neck with a small forward adjustment, aiming to grasp just below the cap.
move_to
left_x0.4600left_y-0.1750left_z0.0150
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5621, 1.7756, 0.8948, 0.231, -0.4923, -0.3752, 0.9968, -0.0341, 0.7979, 0.6456, -0.4808, -0.0566, -0.065, 0.9993] state[eef_state]: left_x=0.4321 left_y=-0.1692 left_z=0.0833 left_yaw=0.032 left_pitch=0.0011 left_roll=-0.0136 left_gripper=0.9968 right_x=0.286 right_y=0.0038 right_z=0.1775 right_yaw=0.0234 right_pitch=-0.0604 right_roll=-0.0053 right_gripper=0.9993 state[joint_eff]: [0.1162, -7.8838, 7.7197, 1.6288, -0.0513, 0.105, 0.105, -0.2667, -0.5538, 10.0718, 1.9023, -0.0757, 0.0171, -0.0073] camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.46,"left_y":-0.175,"left_z":0.015},"note":"The cap is centered in the wrist view. I’ll lower beside the neck with a small forward adjustment, aiming to grasp just below the cap."})
tool
executing move_to over 5 steps (0.5s)
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 cap is just ahead of the jaw tips, with the neck aligned between them. I’ll close here to capture the top of the bottle.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.548, 1.9999, 0.9249, 0.437, -0.5014, -0.3645, 0.9969, -0.0341, 0.7586, 0.585, -0.4458, -0.057, -0.065, 0.9993] state[eef_state]: left_x=0.4558 left_y=-0.1745 left_z=0.0313 left_yaw=0.0478 left_pitch=0.014 left_roll=-0.0066 left_gripper=0.9969 right_x=0.2812 right_y=0.0041 right_z=0.1675 right_yaw=0.0237 right_pitch=-0.0467 right_roll=-0.0059 right_gripper=0.9993 state[joint_eff]: [0.8547, -6.2154, 6.0239, 1.243, 0.2125, 0.0855, 0.0073, -0.8547, -1.5248, 7.1043, 2.0537, -0.1441, -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_gripper":0},"note":"The cap is just ahead of the jaw tips, with the neck aligned between them. I’ll close here to capture the top of the bottle."})
tool
executing move_to over 10 steps (1.0s)
step 131
top_cam
camera top_cam step 131
left_cam
camera left_cam step 131
right_cam
camera right_cam step 131
assistant
agent noteThat close missed the neck. The closed-jaw view shows the actual meeting point above the cap’s previous position, so I’ll move a few centimeters back and retry lower.
move_to
left_x0.4150left_y-0.1800left_z0.0120left_gripper0.6500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5434, 1.9835, 0.9382, 0.4847, -0.5388, -0.3691, 0.0128, -0.0341, 0.7315, 0.5388, -0.4194, -0.057, -0.065, 0.9993] state[eef_state]: left_x=0.467 left_y=-0.172 left_z=0.0543 left_yaw=0.0871 left_pitch=0.0894 left_roll=-0.038 left_gripper=0.0128 right_x=0.2776 right_y=0.0042 right_z=0.1589 right_yaw=0.0236 right_pitch=-0.0394 right_roll=-0.0063 right_gripper=0.9993 state[joint_eff]: [-0.294, -8.759, 5.3265, 0.906, 0.2759, 0.022, 1.072, -0.6222, -1.6068, 7.0085, 2.0195, -0.1538, -0.0024, -0.0122] camera 'top_cam' (step 131): [image omitted: streamed camera frame] camera 'left_cam' (step 131): [image omitted: streamed camera frame] camera 'right_cam' (step 131): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.415,"left_y":-0.18,"left_z":0.012,"left_gripper":0.65},"note":"That close missed the neck. The closed-jaw view shows the actual meeting point above the cap’s previous position, so I’ll move a few centimeters back and retry lower."})
tool
executing move_to over 7 steps (0.7s)
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 arm is still several centimeters above and ahead of the requested pose. I’ll pull back into an easier configuration and lower the open jaws around the neck.
move_to
left_x0.3950left_y-0.1700left_z0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6285, 1.961, 0.8547, 0.5304, -0.6136, -0.4431, 0.6454, -0.0341, 0.7082, 0.5037, -0.4019, -0.0566, -0.065, 0.9993] state[eef_state]: left_x=0.4371 left_y=-0.1875 left_z=0.0474 left_yaw=0.1009 left_pitch=0.1013 left_roll=-0.0633 left_gripper=0.6454 right_x=0.2745 right_y=0.0042 right_z=0.1524 right_yaw=0.0233 right_pitch=-0.0337 right_roll=-0.0069 right_gripper=0.9993 state[joint_eff]: [-0.5402, -7.706, 2.5094, 0.6667, -0.0464, 0.0073, 0.0562, -0.8547, -1.1966, 6.735, 2.0391, -0.1441, -0.0415, -0.0171] approver: 1 step(s) modified (delta_clamped). 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":0.395,"left_y":-0.17,"left_z":0},"note":"The arm is still several centimeters above and ahead of the requested pose. I’ll pull back into an easier configuration and lower the open jaws around the neck."})
tool
executing move_to over 4 steps (0.4s)
step 142
top_cam
camera top_cam step 142
left_cam
camera left_cam step 142
right_cam
camera right_cam step 142
assistant
agent noteThe neck is tucked against the right finger, which appears to be preventing a clean descent. I’ll open wider and shift right to center the cap between the jaws.
move_to
left_x0.4000left_y-0.2050left_z0.0400left_gripper0.8000right_x0.2940right_y0.0040right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6456, 1.9388, 0.7769, 0.6094, -0.6468, -0.4728, 0.6463, -0.0341, 0.6888, 0.4717, -0.3935, -0.0566, -0.065, 0.9993] state[eef_state]: left_x=0.4234 left_y=-0.1812 left_z=0.0468 left_yaw=0.128 left_pitch=0.1294 left_roll=-0.0932 left_gripper=0.6463 right_x=0.2707 right_y=0.0044 right_z=0.1445 right_yaw=0.0233 right_pitch=-0.0379 right_roll=-0.0066 right_gripper=0.9993 state[joint_eff]: [-1.0872, -5.7368, 1.6479, 0.3443, 0.0464, -0.2125, 0.0757, -0.8684, -1.2103, 7.0632, 2.0244, -0.1197, 0.0073, -0.0122] camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.205,"left_z":0.04,"left_gripper":0.8,"right_x":0.294,"right_y":0.004,"right_z":0.2},"note":"The neck is tucked against the right finger, which appears to be preventing a clean descent. I’ll open wider and shift right to center the cap between the jaws."})
tool
executing move_to over 4 steps (0.4s)
step 146
top_cam
camera top_cam step 146
left_cam
camera left_cam step 146
right_cam
camera right_cam step 146
assistant
agent noteThe open-jaw corrections are not tracking, suggesting the hand is obstructed rather than simply misaligned. I’ll lift clear and move back before another attempt.
move_to
left_x0.3100left_y-0.1500left_z0.1700left_yaw0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6548, 1.9369, 0.7509, 0.6559, -0.6594, -0.4767, 0.7978, -0.0341, 0.7925, 0.6285, -0.4633, -0.0566, -0.0654, 0.9993] state[eef_state]: left_x=0.4196 left_y=-0.1812 left_z=0.0481 left_yaw=0.1333 left_pitch=0.1497 left_roll=-0.108 left_gripper=0.7978 right_x=0.2861 right_y=0.0038 right_z=0.1747 right_yaw=0.0236 right_pitch=-0.0547 right_roll=-0.006 right_gripper=0.9993 state[joint_eff]: [-0.4444, -5.7915, 2.0308, 0.4811, 0.0855, -0.1245, -0.149, -0.5949, -1.0735, 9.4564, 1.79, -0.1001, 0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.31,"left_y":-0.15,"left_z":0.17,"left_yaw":0,"left_gripper":1},"note":"The open-jaw corrections are not tracking, suggesting the hand is obstructed rather than simply misaligned. I’ll lift clear and move back before another attempt."})
tool
executing move_to over 9 steps (0.9s)
step 155
top_cam
camera top_cam step 155
left_cam
camera left_cam step 155
right_cam
camera right_cam step 155
assistant
agent noteThe arm has begun to clear the bottle but stopped short of the retreat target. I’ll continue upward and back to create unobstructed clearance before lowering again.
move_to
left_x0.2800left_y-0.1000left_z0.2100
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7647, 1.6932, 0.7464, 0.3344, -0.6403, -0.4999, 0.998, -0.0341, 0.7567, 0.5701, -0.4259, -0.0612, -0.0654, 0.9993] state[eef_state]: left_x=0.3768 left_y=-0.2103 left_z=0.0887 left_yaw=0.0139 left_pitch=0.083 left_roll=-0.078 left_gripper=0.998 right_x=0.282 right_y=0.0048 right_z=0.1653 right_yaw=0.0274 right_pitch=-0.0397 right_roll=-0.0042 right_gripper=0.9993 state[joint_eff]: [1.6889, -8.9915, 6.7761, 1.9365, -0.3492, 0.0562, -0.1734, -0.7453, -1.1282, 7.3504, 2.0, -0.1294, -0.0122, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 155): [image omitted: streamed camera frame] camera 'left_cam' (step 155): [image omitted: streamed camera frame] camera 'right_cam' (step 155): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.28,"left_y":-0.1,"left_z":0.21},"note":"The arm has begun to clear the bottle but stopped short of the retreat target. I’ll continue upward and back to create unobstructed clearance before lowering again."})
tool
executing move_to over 10 steps (1.0s)
step 165
top_cam
camera top_cam step 165
left_cam
camera left_cam step 165
right_cam
camera right_cam step 165
assistant
agent noteThe clear overhead view shows the first bottle has turned, with its cap now to the right of the earlier approach. I’m aligning across its neck at this updated position.
move_to
left_x0.4050left_y-0.2450left_z0.0700left_yaw-0.3000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6994, 0.9604, 0.7532, -0.4595, -0.5972, -0.4713, 0.9977, -0.0341, 0.7319, 0.5304, -0.4023, -0.0643, -0.065, 0.9993] state[eef_state]: left_x=0.2888 left_y=-0.1084 left_z=0.2032 left_yaw=0.0283 left_pitch=0.0266 left_roll=-0.0347 left_gripper=0.9977 right_x=0.279 right_y=0.0054 right_z=0.1585 right_yaw=0.0297 right_pitch=-0.0308 right_roll=-0.0027 right_gripper=0.9993 state[joint_eff]: [0.5812, -2.1812, 9.9214, 1.5604, -0.1685, 0.2613, -0.0415, -0.7453, -0.8684, 7.0769, 1.956, -0.1441, -0.0269, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 165): [image omitted: streamed camera frame] camera 'left_cam' (step 165): [image omitted: streamed camera frame] camera 'right_cam' (step 165): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.405,"left_y":-0.245,"left_z":0.07,"left_yaw":-0.3},"note":"The clear overhead view shows the first bottle has turned, with its cap now to the right of the earlier approach. I’m aligning across its neck at this updated position."})
tool
executing move_to over 13 steps (1.3s)
step 178
top_cam
camera top_cam step 178
left_cam
camera left_cam step 178
assistant
agent noteThe neck is now clearly visible between the jaws, slightly right of center. I’ll lower with a small alignment correction so the fingers surround it rather than sit on top.
move_to
left_x0.4050left_y-0.2400left_z0.0100
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6724, 1.7809, 0.8131, 0.2752, -0.35, -0.2611, 0.9976, -0.0341, 0.7147, 0.5037, -0.3954, -0.0639, -0.065, 0.9993] state[eef_state]: left_x=0.3882 left_y=-0.2271 left_z=0.0519 left_yaw=-0.253 left_pitch=-0.0802 left_roll=0.0237 left_gripper=0.9976 right_x=0.2757 right_y=0.0055 right_z=0.1522 right_yaw=0.0294 right_pitch=-0.0335 right_roll=-0.0027 right_gripper=0.9993 state[joint_eff]: [0.4855, -8.4171, 8.1162, 1.7851, -0.0317, 0.0513, -0.0171, -0.6496, -1.2513, 6.9675, 1.9707, -0.1001, -0.0073, -0.0073] camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.405,"left_y":-0.24,"left_z":0.01},"note":"The neck is now clearly visible between the jaws, slightly right of center. I’ll lower with a small alignment correction so the fingers surround it rather than sit on top."})
tool
executing move_to over 3 steps (0.3s)
step 181
assistant
agent noteThe cap and neck are centered, and the fingers are on either side. I’ll close the jaws to secure the neck.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6807, 1.9415, 0.8005, 0.5583, -0.3496, -0.2646, 0.9976, -0.0341, 0.6971, 0.4717, -0.382, -0.0643, -0.065, 0.9993] state[eef_state]: left_x=0.4052 left_y=-0.2457 left_z=0.0306 left_yaw=-0.2612 left_pitch=0.0201 left_roll=-0.0241 left_gripper=0.9976 right_x=0.2726 right_y=0.0056 right_z=0.1447 right_yaw=0.0297 right_pitch=-0.0346 right_roll=-0.0024 right_gripper=0.9993 state[joint_eff]: [0.8137, -5.4359, 4.4103, 0.8425, -0.1197, 0.0757, -0.0122, -0.6222, -1.388, 7.1316, 1.956, -0.1001, 0.0024, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The cap and neck are centered, and the fingers are on either side. I’ll close the jaws to secure the neck."})
tool
executing move_to over 10 steps (1.0s)
step 191
assistant
agent noteThe neck escaped beneath the closing fingers, leaving the gripper empty again. I’ll move back slightly and use a table-level approach, where the earlier body grasp succeeded.
move_to
left_x0.3600left_y-0.2450left_z-0.0150left_gripper0.8000right_x0.2940right_y0.0040right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.68, 1.9255, 0.8261, 0.598, -0.3931, -0.2619, 0.013, -0.0341, 0.6777, 0.44, -0.3664, -0.0643, -0.0654, 0.9993] state[eef_state]: left_x=0.4189 left_y=-0.2471 left_z=0.0566 left_yaw=-0.2237 left_pitch=0.1032 left_roll=-0.0359 left_gripper=0.013 right_x=0.2698 right_y=0.0057 right_z=0.1384 right_yaw=0.0299 right_pitch=-0.0312 right_roll=-0.003 right_gripper=0.9993 state[joint_eff]: [-0.5812, -8.294, 4.7658, 0.8425, 0.232, 0.0415, 1.072, -0.6359, -1.0051, 7.1179, 1.9414, -0.1099, -0.022, -0.0073] camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.245,"left_z":-0.015,"left_gripper":0.8,"right_x":0.294,"right_y":0.004,"right_z":0.2},"note":"The neck escaped beneath the closing fingers, leaving the gripper empty again. I’ll move back slightly and use a table-level approach, where the earlier body grasp succeeded."})
tool
executing move_to over 8 steps (0.8s)
step 199
assistant
agent noteThe hand is still being held above the requested pose. I’ll back away from the neighboring bottles and approach the first bottle’s upper body from the nearer side.
move_to
left_x0.3250left_y-0.2300left_z-0.0100
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7849, 1.9614, 0.7166, 0.8074, -0.4831, -0.3298, 0.7955, -0.0341, 0.7963, 0.6395, -0.4637, -0.0746, -0.0803, 0.9993] state[eef_state]: left_x=0.3868 left_y=-0.2654 left_z=0.0475 left_yaw=-0.2122 left_pitch=0.1771 left_roll=-0.0944 left_gripper=0.7955 right_x=0.2876 right_y=0.0069 right_z=0.1787 right_yaw=0.0467 right_pitch=-0.047 right_roll=-0.0081 right_gripper=0.9993 state[joint_eff]: [-0.1983, -3.8632, 1.265, -0.0171, 0.022, -0.0024, -0.0611, -1.0462, -0.9504, 9.8393, 1.8828, -0.0562, 0.0806, -0.0122] approver: 8 step(s) modified (delta_clamped ×8). camera 'top_cam' (step 199): [image omitted: streamed camera frame] camera 'left_cam' (step 199): [image omitted: streamed camera frame] camera 'right_cam' (step 199): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.325,"left_y":-0.23,"left_z":-0.01},"note":"The hand is still being held above the requested pose. I’ll back away from the neighboring bottles and approach the first bottle’s upper body from the nearer side."})
tool
executing move_to over 5 steps (0.5s)
step 204
assistant
agent noteThe upper body is now centered beneath the jaw opening, away from the other bottles. I’ll make one final grip attempt here before lifting.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8425, 1.8805, 0.5892, 0.8108, -0.5488, -0.3702, 0.7963, -0.0341, 0.7704, 0.5915, -0.4461, -0.0826, -0.0807, 0.9993] state[eef_state]: left_x=0.3521 left_y=-0.251 left_z=0.0426 left_yaw=-0.1973 left_pitch=0.1567 left_roll=-0.0831 left_gripper=0.7963 right_x=0.2825 right_y=0.0085 right_z=0.1674 right_yaw=0.0536 right_pitch=-0.0511 right_roll=-0.0033 right_gripper=0.9993 state[joint_eff]: [-0.3624, -3.8632, 1.3607, -0.0659, 0.2418, -0.3297, 0.0659, -0.9915, -1.7709, 7.0769, 2.0733, -0.1148, 0.0024, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 204): [image omitted: streamed camera frame] camera 'left_cam' (step 204): [image omitted: streamed camera frame] camera 'right_cam' (step 204): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The upper body is now centered beneath the jaw opening, away from the other bottles. I’ll make one final grip attempt here before lifting."})
tool
executing move_to over 8 steps (0.8s)
step 212
assistant
agent noteThe final grip also closed empty, and contact is preventing a reliable low grasp. I’m opening the hand and withdrawing both arms to leave the bottles safely on the table.
move_to
left_x0.2800left_y-0.1000left_z0.2200left_yaw0.0000left_gripper1.0000right_x0.2940right_y0.0040right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8513, 1.8786, 0.5636, 0.9123, -0.5854, -0.3969, 0.0138, -0.0341, 0.7391, 0.5411, -0.4191, -0.0834, -0.0803, 0.9993] state[eef_state]: left_x=0.353 left_y=-0.2493 left_z=0.0568 left_yaw=-0.1515 left_pitch=0.2259 left_roll=-0.1453 left_gripper=0.0138 right_x=0.2782 right_y=0.0088 right_z=0.1582 right_yaw=0.054 right_pitch=-0.0431 right_roll=-0.0033 right_gripper=0.9993 state[joint_eff]: [-0.4444, -3.5897, 1.3744, 0.0024, 0.3394, -0.0806, 0.6032, -0.7863, -1.5521, 7.1726, 2.0977, -0.1343, 0.0269, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 212): [image omitted: streamed camera frame] camera 'left_cam' (step 212): [image omitted: streamed camera frame] camera 'right_cam' (step 212): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.28,"left_y":-0.1,"left_z":0.22,"left_yaw":0,"left_gripper":1,"right_x":0.294,"right_y":0.004,"right_z":0.2},"note":"The final grip also closed empty, and contact is preventing a reliable low grasp. I’m opening the hand and withdrawing both arms to leave the bottles safely on the table."})
tool
executing move_to over 14 steps (1.4s)
step 226
assistant
agent noteI couldn’t establish a reliable neck grasp to stand the bottles. Repeated attempts closed empty or were obstructed, so I withdrew with the grippers open rather than continue pushing the bottles. All three bottles remain lying down.
give_up
hindsightA body grasp on the first bottle succeeded at approximately left (x=0.400, y=-0.187, z=0.008), with a settled gripper reading of 0.535; drawing back to x≈0.275 brought it closer. Neck attempts frequently stopped at z=0.03–0.06 despite lower targets and closed empty. Use the actual low-height readback and gripper opening to judge capture, not apparent centering in the wrist image; withdraw fully when contact prevents corrections.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6884, 0.9485, 0.786, -0.5056, -0.5758, -0.4458, 0.9965, -0.0612, 0.7998, 0.6483, -0.4831, -0.1101, -0.1032, 0.9993] state[eef_state]: left_x=0.2866 left_y=-0.1066 left_z=0.211 left_yaw=0.0091 left_pitch=0.0171 left_roll=-0.0218 left_gripper=0.9965 right_x=0.2861 right_y=0.0055 right_z=0.1782 right_yaw=0.0619 right_pitch=-0.0587 right_roll=-0.0045 right_gripper=0.9993 state[joint_eff]: [0.3214, -2.3316, 9.6205, 1.5116, -0.1685, 0.1294, 0.0171, -0.7179, -0.5538, 10.0171, 1.8632, -0.1294, 0.0171, -0.0073] camera 'top_cam' (step 226): [image omitted: streamed camera frame] camera 'left_cam' (step 226): [image omitted: streamed camera frame] camera 'right_cam' (step 226): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I couldn’t establish a reliable neck grasp to stand the bottles. Repeated attempts closed empty or were obstructed, so I withdrew with the grippers open rather than continue pushing the bottles. All three bottles remain lying down.","hindsight":"A body grasp on the first bottle succeeded at approximately left (x=0.400, y=-0.187, z=0.008), with a settled gripper reading of 0.535; drawing back to x≈0.275 brought it closer. Neck attempts frequently stopped at z=0.03–0.06 despite lower targets and closed empty. Use the actual low-height readback and gripper opening to judge capture, not apparent centering in the wrist image; withdraw fully when contact prevents corrections."})
tool
give_up: I couldn’t establish a reliable neck grasp to stand the bottles. Repeated attempts closed empty or were obstructed, so I withdrew with the grippers open rather than continue pushing the bottles. All three bottles remain lying down.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [0, 0], left_roll: [0, 0], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [0, 0], right_roll: [0, 0], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 10.29 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, 0.7929, 0.6067, -0.3775, -0.0231, -0.0288, 0.9989, -0.0154, 0.7891, 0.6033, -0.3859, -0.0261, -0.0349, 0.9993]\nstate[eef_state]: left_x=0.2954 left_y=0.0017 left_z=0.1821 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9989 right_x=0.2936 right_y=0.0037 right_z=0.1798 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4718, -1.4291, 9.9214, 1.8339, -0.0122, 0.0952, -0.1294, -0.9778, -1.0325, 10.2496, 1.8193, 0.0073, 0.1441, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7594efc8167d519af25f0e4d8ae25e136ae43f037e85e053ffc290c400e072f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad15f711968d94a2edc54584a738786d7c6e01177baaa00c0052148201bb0353",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3576c1028fff0f33e546266a9ca5777edb527c1c80f9a7c65d16449cbc908dcd",
      "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 1 attempt 0 · /responses · status 200 · 6.722 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
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  "id": "rs_0dc5b177f7837ae3016ab461be31bc87d0b0981ad6c3bfe021",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.2,\"left_z\":0.15,\"left_gripper\":1,\"right_x\":0.294,\"right_y\":0.004,\"right_z\":0.18},\"note\":\"All three bottles are lying down, with their caps pointing toward the back of the table. I’ll approach the neck of the leftmost bottle so I can lift its top and let its base swing underneath.\"}",
  "call_id": "call_L7ISbN83SOT4X43l4XOTGzYu",
  "id": "fc_0dc5b177f7837ae3016ab461c5524887d0a9e8a8f2151738b2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_L7ISbN83SOT4X43l4XOTGzYu",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6991, 1.5661, 0.9485, -0.1246, -0.5636, -0.4446, 0.9989, -0.0151, 0.794, 0.6033, -0.4038, -0.0265, -0.0353, 0.9993]\nstate[eef_state]: left_x=0.3807 left_y=-0.1921 left_z=0.1349 left_yaw=-0.0109 left_pitch=-0.045 left_roll=0.0204 left_gripper=0.9989 right_x=0.2914 right_y=0.0039 right_z=0.1747 right_yaw=0.0009 right_pitch=-0.0229 right_roll=0.0003 right_gripper=0.9993\nstate[joint_eff]: [-0.2803, -7.1453, 9.1419, 1.5897, -0.4664, 0.1392, -0.1245, -0.0479, -1.4154, 7.1863, 1.873, -0.022, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0cc689af42a2063df9d4efe5129ed160bced9bdd08b08311703545ad2f87dc9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b07bfde6f1468f78dc24918e5ca6ab1c4bcafc2e5998301c0121fdf4dc20d3a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd826645e60659c1eb87227744e061265c23feb9926e1737801befd50f952458",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 2 attempt 0 · /responses · status 200 · 5.412 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, 0.7929, 0.6067, -0.3775, -0.0231, -0.0288, 0.9989, -0.0154, 0.7891, 0.6033, -0.3859, -0.0261, -0.0349, 0.9993]\nstate[eef_state]: left_x=0.2954 left_y=0.0017 left_z=0.1821 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9989 right_x=0.2936 right_y=0.0037 right_z=0.1798 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4718, -1.4291, 9.9214, 1.8339, -0.0122, 0.0952, -0.1294, -0.9778, -1.0325, 10.2496, 1.8193, 0.0073, 0.1441, -0.0806]",
      "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]: [-0.6991, 1.5661, 0.9485, -0.1246, -0.5636, -0.4446, 0.9989, -0.0151, 0.794, 0.6033, -0.4038, -0.0265, -0.0353, 0.9993]\nstate[eef_state]: left_x=0.3807 left_y=-0.1921 left_z=0.1349 left_yaw=-0.0109 left_pitch=-0.045 left_roll=0.0204 left_gripper=0.9989 right_x=0.2914 right_y=0.0039 right_z=0.1747 right_yaw=0.0009 right_pitch=-0.0229 right_roll=0.0003 right_gripper=0.9993\nstate[joint_eff]: [-0.2803, -7.1453, 9.1419, 1.5897, -0.4664, 0.1392, -0.1245, -0.0479, -1.4154, 7.1863, 1.873, -0.022, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0cc689af42a2063df9d4efe5129ed160bced9bdd08b08311703545ad2f87dc9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b07bfde6f1468f78dc24918e5ca6ab1c4bcafc2e5998301c0121fdf4dc20d3a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd826645e60659c1eb87227744e061265c23feb9926e1737801befd50f952458",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGHPETEe_ZFwbroaW8RvPTYjKFDFyPVD_HGTgdH2qW9pWys4Zzq-IA5C3X-JxezKh9_FDsogmvi7rckHroxhU0Ce_hMhSfkbSnLD6mkF6h9VOZs86npvqmiMNF0VoFxTaI_QeygY25NqWbbyIyUo6Wfqgo6BC42ukEj84te8F07R7_oVa3eMeZ2m-OrEWIY0PM1uNZoWkpnVmIZn_IDHpgmzpB7vPsb8O8Oq9t_95JVW2Ui26ddGXLJ8zyXfg0m_fSb1maISmmib_dt7lYbY2CbrY1CjoIUKvCAaLOsXJs47mOugVl2j6l4b4eWlGF01Or0bxifAxOC16ICq91Yv-mDN44pz2QWNScxqbs-lXFXLn7aZ0mlsCn_CzShAT_aQlDrP6i8yRZucGfD_SPgE9JHY4nPaWMikHoskBXSm1ga2V_yIbZ6PIGK_Mi-OyWkhiF2IcFf50qr98r42Q8iBCHH9dagZFQoySqEmQssZcBlT-6ugoEPrShg3mHvhGLaI5TdmoC9wksa9Ic994FQByNjcR55ClrrKwwsxJa64ibfJcO-Rqy_Gd3Wz8pKOJQLFWRfr-11FbEanueSaXWX9A0TOuuna6MPoyUfWP7WUBd6O_G4V3pQqQ8I2cd1v2CvYG80KoxSU4-jfZg4nDaAdYFme4hMrZF9M8TikWjij4LeQLEqEXSjw4FENOVHhOgDRfSeHXqcIJPwOyqEWsqUGBvvaXqX3uPs1TSUr83mUvt0ZV6VV7TvpG0dPrB2DXK-gou5inoE_nhH9AZbRsb1545yIudRgjzbrYAFnSI_ZdgzW7BSPVZ4aDmgYamA0OvBKgpgTFxwWwEVCSaypt0kaS4k8wRz3CPy6_YJt5tj8S2w9GnJTGj7fF5BHidhI_xSybM5qaFXlUZ_Rr9gwSf1M4kYvs6mQ-7MHyWE8JStB7rdkXWXFT8GFUUAg3SAgrM7349ySmniOqakmwGOk9eby7g5xPkRNI3LwGG_XpwrN3CnlsSHTYNV-LgMyDnmMlOnUxrX2yeIr10z3MEQyd08qYCejg0juYDcjphEbNubGlqkXpm-AQRlTXh_WlS-YWdPNDdCqCC-tNRGZAJ_pfpjzDjLgZpwfCGA1bN71f2nFCVAEjIuWpMmb5kfKVDGJb9963zBWpGpo6ruqtjrqUzU6k8MQi_PCaoEXt672C0WlbBbt2azEo3EJ3Er5xti8tg08yMnWYh1LclXnA2cstGTBbmoQc4dwNcKuD0UsKajGARCImB6ZWXVGsBUDPJXXdK_lmkv-okOgNT11saxobZSSUCnBbsb2rZh-VbPDvOQwdvovBKRndQJtwJGav9xwIFevJUyCfRVobpcNyT-YnGcI5c3iTXF_lo3Tmmqo89zPQ9yCISQldUgnPOWWGAce7uaaUoWNQUYVxnFhc1x43FHalNHpKWkv-VyS_QdXfA7fGuqthDmj2xWehp_Yfc3e5FFcQLEjX6dYD-5HQ1tTJBeR1f216K0f0FTnzj0malz1zvgchJCt9fYY57n6yNsbhG_oA1WYDyv1Z4DqCmDQSWgiQrZAyLt8ub-92cGinY9HW5DNY-4WCxaiyX-HdWptImEMFpgi-XR8cGSuZSiJtK-SZ2QTsuz_3qEiPI-vOntWJLl1DVJ8OG50K0-za-9WmxXxmc7gfH1EX9AMOz5AUb4-VzpIHMXyXl0QCHhbm5K7kNmIyryEnugDrxV6uNlNub044UNMs0DELxPVEOb4bZvVxiicLwOFsbuaVXs81MO3F5zmsD3luNNiOBFASNNTSTu0hnYT6RrzfCaNEhdc7ufOFpRlNmfs21xWpoLn-QmS79n_fW_4jKljAxv_T42SntpkU5hu5Gh_IiGNxygcQA0yA13huWMjSGZBlXZMCL4sIc0tKGyaQMwfEeFSEdzuADDneWMVFxatnQlYQ1qq7KaHgZiUy6rSnpSE8DKhZL0tdYCfJfGWLwSMAK4hqYsNnTTSFJ_ECBPfZ8x4MOASWzCqU9lEMhmXawNbWk5kPzGcXRlYTnl6V2svP1vdc-Gss-g-MTk9TIzNjAoreXL2n597ZnxLuTQV_h3CAQEkxy5ShJos6mXPiSbmT3PZcfmGFBhA_ZHfOVB1y7MCPGOAn7NYKNspSdC76_h0ym4S-fj5CtKRtA26FVz1y3MWJcojN3-8sEU9mLX6MfjUMXEoarilb9HFqwRBQ9lK1b1Csg4cE8itxpDZYV2nSAn8RI-hDpKenzxoBbTkL3wbKOK_lpDOhGAI1Sn3xIS83IoDuJERqMwRUCkWEBO2wj_75LNhLf6TrrmMho-gwgHGyengAz62oYKmw741QAqcIhSwKgxe8zTdvpIeAkYmVkrPLJ5U2MnPDmPEPeyGuAQBtECU3v5y_Rv7jx7PwAWJReyBRJto3SffvAntye23VcP45Eil4Irglk3BmmD6G0W0dQjdcODJZ04xsEmt9kk4h-W0QuCOgNbbJlpNosQxfkDA8C5BIK79evziZRc7tuq9fkDBUcluhIcSDw==",
  "id": "rs_0dc5b177f7837ae3016ab461c9d47487d0890bf12e646f92c7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.135,\"left_z\":0.08,\"left_yaw\":0.5},\"note\":\"The leftmost bottle’s neck is ahead and to the left of the open jaws. I’m shifting toward its cap and aligning the jaws across the neck before descending.\"}",
  "call_id": "call_olJNylwbcar9dCH7S7D4LhEc",
  "id": "fc_0dc5b177f7837ae3016ab461ce2a6087d09f149d5ad4592de1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_olJNylwbcar9dCH7S7D4LhEc",
  "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]: [-0.6102, 1.9076, 1.121, -0.1429, -0.794, -0.7471, 0.9985, -0.0151, 0.7841, 0.5827, -0.4015, -0.0265, -0.0353, 0.9993]\nstate[eef_state]: left_x=0.4338 left_y=-0.1452 left_z=0.0749 left_yaw=0.406 left_pitch=-0.0333 left_roll=0.0243 left_gripper=0.9985 right_x=0.2885 right_y=0.0039 right_z=0.1685 right_yaw=0.0009 right_pitch=-0.0313 right_roll=0.0004 right_gripper=0.9993\nstate[joint_eff]: [0.4171, -9.388, 7.2957, 1.0085, -0.4957, -0.1636, -0.0513, -0.3624, -1.6342, 6.8444, 1.9707, -0.0806, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41a854ece01bbd725ebc4df4b7d927e938f860e05cd4228bbcc3785bf369a12a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3277473433562edc497f04daaaa1849c5cc02e24bbf79485c42c25a7738b0bbb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:346573a0682bba8e4297021b22074659ff35995f58c0646d289456cb3a0c25cd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 5.206 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]: [-0.6991, 1.5661, 0.9485, -0.1246, -0.5636, -0.4446, 0.9989, -0.0151, 0.794, 0.6033, -0.4038, -0.0265, -0.0353, 0.9993]\nstate[eef_state]: left_x=0.3807 left_y=-0.1921 left_z=0.1349 left_yaw=-0.0109 left_pitch=-0.045 left_roll=0.0204 left_gripper=0.9989 right_x=0.2914 right_y=0.0039 right_z=0.1747 right_yaw=0.0009 right_pitch=-0.0229 right_roll=0.0003 right_gripper=0.9993\nstate[joint_eff]: [-0.2803, -7.1453, 9.1419, 1.5897, -0.4664, 0.1392, -0.1245, -0.0479, -1.4154, 7.1863, 1.873, -0.022, -0.0317, -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]: [-0.6102, 1.9076, 1.121, -0.1429, -0.794, -0.7471, 0.9985, -0.0151, 0.7841, 0.5827, -0.4015, -0.0265, -0.0353, 0.9993]\nstate[eef_state]: left_x=0.4338 left_y=-0.1452 left_z=0.0749 left_yaw=0.406 left_pitch=-0.0333 left_roll=0.0243 left_gripper=0.9985 right_x=0.2885 right_y=0.0039 right_z=0.1685 right_yaw=0.0009 right_pitch=-0.0313 right_roll=0.0004 right_gripper=0.9993\nstate[joint_eff]: [0.4171, -9.388, 7.2957, 1.0085, -0.4957, -0.1636, -0.0513, -0.3624, -1.6342, 6.8444, 1.9707, -0.0806, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41a854ece01bbd725ebc4df4b7d927e938f860e05cd4228bbcc3785bf369a12a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3277473433562edc497f04daaaa1849c5cc02e24bbf79485c42c25a7738b0bbb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:346573a0682bba8e4297021b22074659ff35995f58c0646d289456cb3a0c25cd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGHV7QdX0ymcMzlzC-QzlR1hOwGD9ukqnX8ca20cWwRSGcZDEphjwzTNK-NPXqmVK1NomMjlovQpwfJVt6C0gH7iov8XMioNqnlRugSUpbXfRBCLtXBTHuz0njlPLAHsZWS8hMKJskeJBlBVWccbPsfHdRTOzsXn2RNs6gAeiRZO0-Pvz64fvzhdFE5djSyPitBrruwb4setCEpGKwOuWKTU6obN9d3Wjks9h_QGcoy8pxMAy26zKMuv4GfvjuiM9N-iU4yoJoAyFH-uFKhw9vtNFidkBTrZzn2_ywtsGUHCRcyICPT2AM1xkFPwoGyQb1eOTzD5fmiUVawD0klbG-hCwRBSmSDvMQdJB0sKiF3MlkTS7xZyyvu0-feL9rUGPtztsiZopA6qq65LNgdcemJc08wx_ML41_jbc0R7e6SM9eY1joBjqpg5wR_qZ-wzODcfqv4Dnc2mE-E6O4qefhGJSr6zwBmWnlWy_nb6WwYPsRc5Xw0-OTKiMtPC_TioZsTtZSbb9NKHp6haa7c6NumSgu_MD1FGhldnrWl6-Pxj3u_0GYUcg_j7SdKUu9UjRqcvfJV6_pMXmjg5ETYgIZfI3a2Le60-4aWYJabBkQqv4OYQkDm52TIS4Jbl5aUPLyz4P8kJAW4xCetnHwWpVHn8Y9zGsyowpNwd3DQwxjHy3hDR3L3a7WZWavLLZ6NcIy70jWlr4rPyh5n3p0ltToQUP69rhC5tLNgQN10vA7zJWFkPSQPxNR5kH6Xl6hMCMYIUE1oTac6BfcbPl6LJ-00JTdrCVSHMTLcQRHR0IRtKZkh5tNmTJmozk_YiixyO3c3lSvLNFLl8e9McseoaBRlNLDJp7YaIbxbY1AahjpkLI9LS17eP_r5xOJGScpO8fu1jjI94qEUdSw7oAIPU6iDKqUySYO8YKrr5VClNFc3sV-aFfDX7SoVTYMV1xETafYrch5LgFi6P4q49vYTU9tWTENXZ9V-doJNuftKa7kTZtVgVmKQmabiYOJRtqApP0UHQmi9iQNHLQzWuE4-Uv2rJUcbjPA7MLTDeotD8zl9jniMWB8kGAYMpdoOWdCu1kW8tX6FNqY-6d6bwKA70LCEjwAzXMpV7kS66Lrd1VP8TnZ8ZxKDGmaci4opm9rWJFLXMdiMrRs3dE0THBxFAqn1XEAD3sq-oJOoAS8dC-L6PItBFispLCTdwV3O7vU77XlkJhqLZ90kHkCphPre1HAdoh4QJpXqnJpSXZbcMBmLYFl7oCWOe4_6pDfsMsqqu2E75qnnaatX9kb3lD3cx7WLxB2qo28GWnUZOMcKGeZ9CZrndZOAwWaNo_YBhWx05M9teDw7smOCutqxLtfcTxvcwYO05hnyjF_6eHtUv1V0Klsr46mIxII7FTfGDjfevrlPpcvLikn7cqw8ceMvR-kuc8x0VitCOo7lpMidPHUUEbww6vsnc6OqpGdU80ohRHZw2FhAfqJWcYq3FdvSYNYjbGhlOvy4hVHGTayPl3cM3Oeva9TCsgnWgva8nPcQruoVINND_bFq9wws-QU45lxiJFHb413xqH8DsOphGH_XLI-r0o5XLJdFlxUKW74rzgSSDY15a24Y8cjnKFRIXRh15O5N-QoVX00i1Rfew_pVO3jYWfiItXn4wGQk_IwCvfaHuO3OEVAaXNh3Gxg2A8YEiBVj9FbXLNmEoShF2UOxKn1_zdgKMxcKQ9AiueKhMaELlPlFGPPeTO12iz-fE5TnZ3tmewXiCKkbbYGGX4DomL1TYvEdxcJdNJnFrFyWYja0OXK-dvZgyLWK0mNnds07wfPkb230LE03Ao6_7ri9kzQGbHG0pfipmAMHbw7rNZ3R1MJE2z11Letim2SCHr9Gu1cvmS2iBELm5SOdy4yFqDCCm-MlcO4nbXQSWp7TOTfm_R2PXypboQ1CibkkijcjL2jcDZO8gDgei_alZDsRBf45vzMM3Is-nlgzlnrXqBXem",
  "id": "rs_0dc5b177f7837ae3016ab461d1391887d0982ed548b492f2aa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.475,\"left_y\":-0.115,\"left_z\":0.025,\"left_yaw\":0.5},\"note\":\"The cap is still just ahead and left of the jaw column in the wrist view. I’m making a small outward correction and lowering to neck height for a gentle grip.\"}",
  "call_id": "call_CdfIfZhwurpg9qSbSzTVx8Bd",
  "id": "fc_0dc5b177f7837ae3016ab461d40abc87d0b632af3f3d0d98bc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CdfIfZhwurpg9qSbSzTVx8Bd",
  "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]: [-0.5213, 2.0727, 1.1458, 0.0311, -0.8265, -0.7582, 0.9984, -0.0151, 0.7708, 0.5522, -0.3882, -0.0269, -0.0357, 0.9993]\nstate[eef_state]: left_x=0.466 left_y=-0.1136 left_z=0.0355 left_yaw=0.5204 left_pitch=0.0061 left_roll=-0.0005 left_gripper=0.9984 right_x=0.2857 right_y=0.004 right_z=0.1609 right_yaw=0.0014 right_pitch=-0.0351 right_roll=0.0004 right_gripper=0.9993\nstate[joint_eff]: [0.759, -7.5692, 5.9009, 0.906, 0.0757, 0.315, -0.022, -0.3624, -1.7846, 7.0632, 1.9951, -0.0513, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0e493f465a5affa51096fc45433526157c7e1ee6d620cf57630d56414060e47",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1efb0313ed10b4115d6123df25028897e556cabdc9deea5b262c15cbe30b3fd3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac7f4499f6cc123edc1e8682ea4fb48f1035a830c79cdd4febdea22edc2de8cf",
      "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 4 attempt 0 · /responses · status 200 · 5.79 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, 0.7929, 0.6067, -0.3775, -0.0231, -0.0288, 0.9989, -0.0154, 0.7891, 0.6033, -0.3859, -0.0261, -0.0349, 0.9993]\nstate[eef_state]: left_x=0.2954 left_y=0.0017 left_z=0.1821 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9989 right_x=0.2936 right_y=0.0037 right_z=0.1798 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4718, -1.4291, 9.9214, 1.8339, -0.0122, 0.0952, -0.1294, -0.9778, -1.0325, 10.2496, 1.8193, 0.0073, 0.1441, -0.0806]",
      "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]: [-0.6102, 1.9076, 1.121, -0.1429, -0.794, -0.7471, 0.9985, -0.0151, 0.7841, 0.5827, -0.4015, -0.0265, -0.0353, 0.9993]\nstate[eef_state]: left_x=0.4338 left_y=-0.1452 left_z=0.0749 left_yaw=0.406 left_pitch=-0.0333 left_roll=0.0243 left_gripper=0.9985 right_x=0.2885 right_y=0.0039 right_z=0.1685 right_yaw=0.0009 right_pitch=-0.0313 right_roll=0.0004 right_gripper=0.9993\nstate[joint_eff]: [0.4171, -9.388, 7.2957, 1.0085, -0.4957, -0.1636, -0.0513, -0.3624, -1.6342, 6.8444, 1.9707, -0.0806, -0.0073, -0.0122]",
      "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]: [-0.5213, 2.0727, 1.1458, 0.0311, -0.8265, -0.7582, 0.9984, -0.0151, 0.7708, 0.5522, -0.3882, -0.0269, -0.0357, 0.9993]\nstate[eef_state]: left_x=0.466 left_y=-0.1136 left_z=0.0355 left_yaw=0.5204 left_pitch=0.0061 left_roll=-0.0005 left_gripper=0.9984 right_x=0.2857 right_y=0.004 right_z=0.1609 right_yaw=0.0014 right_pitch=-0.0351 right_roll=0.0004 right_gripper=0.9993\nstate[joint_eff]: [0.759, -7.5692, 5.9009, 0.906, 0.0757, 0.315, -0.022, -0.3624, -1.7846, 7.0632, 1.9951, -0.0513, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0e493f465a5affa51096fc45433526157c7e1ee6d620cf57630d56414060e47",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1efb0313ed10b4115d6123df25028897e556cabdc9deea5b262c15cbe30b3fd3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac7f4499f6cc123edc1e8682ea4fb48f1035a830c79cdd4febdea22edc2de8cf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGHaaoJui-M0Vscf1obRlKWAbMxEz_QRB6Ii4bBkIWUCHHz486RReAzdJMK_yp95iHvSpbRDDl4K7SazhUq35w-km7jca85Dv2_xf6ziAjy4P32UabiuPf5CoGdnGCKC89B6ZTrPIl9SeVfa-O7zbIkX4IDSQkEkOKTFRXoZN9EoD4Dz-Ipc-2-um4_KA9OEkx6LMCGUFB75k5dAd2mf02C6eqOVdgSGCc045GPsubU73vR70yNXN5GljRn6ToKTjDrZGVAyD9VRpEevgwLedwTd1aYh519uF5-Y0SmZLqbis10Ajphwc1YvuyRH8dlsbegVRwZa-xh83gfFg3xBEk59nYsxh0_n4cBaVpNnQ0-U4j6i5sZNUM9bU3X02WmNtFH-AMprUbY059V8YP6zqtMMlkwdsJbshNrOrrS-9OZHhwE5rMHsg7WNX_xXDm-wonMoQXRZPOTKqUYQ1WFwzA-4l8V9br5sV8leeHv8MYTWu2Ab0G2rX2r_zqzLYIdEzD2MHm8S0AC5hJvVF1Sn1LC3eyiMpem9lCMErgE2qAJ2tNuDoHFq5_wlZHyucLqytbd8AnIjv3zloPclUtlS0IypREB1NuSJL5XTesrv6dpi2n-SRXHYdZBl1q7mOm9wPOX1aZkECLTovZWSJFjjIfnBml7slippCTiD9Xw11fiNWxPhrDNNaN27AeJpLCPCAy9TnpXzwxqlbjSqocxYmeS0Phoie19PJLEE-PjEuC83LZbGCYzAhkUC0m4RJrqRyiziguQXUcO2lB_xwg8nxEDMmFT-Hg31sBCHlFuhZTl1xyso7jI2T1Ty0W1TGl5gTRK99Muek7DVfKUjPujpva6i4bLYl-fHODsihGsulppFsn2DST_Pa3ci8tZ5v94oGdx3SgqM-y7GhZwaJWdznZx41zFu4hiqMp1pDfmEM5JxXYjE-cw5OgLzEA_DJ118AwOWwuR8364F1Rm-Ld5jn9VvydFhoZRj0q9BtPCp3Zma9zI0_t3FD1ZsZB28qGxOW81uCvKkblJFdOam1Q-UGrhAwr8Bo5AXm2YyLQ_i2mgXPV-v_q0v0XJux_7WbNOqkVBiU3lCbLGRvoHTRkLgbvlwWQTWqNq0BJ52yn1F-OTDmrHO7ITSf42H5w_DaIZceCZEc5appC4pGjFsPYzLwVNCg1PvvemLkHDAa8wkQph02EF84rJpMS8UWb2RM4TOmRxKFVs_qFY1ezrSKwmwMyZN4BuxCbl2E-e4kHh8_hbyZeUpXFsSRhy0IThCMPJzfGGZFc9QwAtApb61Mb3XNrNukOKXiegp65_VXj4ZHdfi1iZLzOR22dSDYQZvVB8Od6-36RLPqzp1JNbXwR73AhOVUzPUTUuVVayzWV9a8uLi3OB7MkIgGlRafBvbtW_V8Eqnq-3ZHC0mJ05wJr1KCfqVs5JtrNySpcovNjZYLSrqIGIuXOWJrwmfZOOYLdiPUvkS8MBMaCFpTUPv7s4vBwbsG2t2E7BEILxvGKrCD0koGWXeQnSPn1R-Tzs7P19-zlT2",
  "id": "rs_0dc5b177f7837ae3016ab461d7250887d0a1569c953736d91e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.493,\"left_y\":-0.092,\"left_z\":0.018,\"right_x\":0.294,\"right_y\":0.004,\"right_z\":0.18},\"note\":\"The neck remains slightly ahead of the fingertips and left of center. I’ll make one smaller alignment correction while restoring the idle arm to its parked height.\"}",
  "call_id": "call_fYlFzPPMzg4ZJIhxp6G5nH7S",
  "id": "fc_0dc5b177f7837ae3016ab461d8a2a487d08d277ebbb4a72a07",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fYlFzPPMzg4ZJIhxp6G5nH7S",
  "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]: [-0.5011, 2.0869, 1.1587, 0.0933, -0.8238, -0.7517, 0.9984, -0.0151, 0.7853, 0.5632, -0.3985, -0.0269, -0.0364, 0.9993]\nstate[eef_state]: left_x=0.4787 left_y=-0.1103 left_z=0.0407 left_yaw=0.5365 left_pitch=0.0353 left_roll=-0.0486 left_gripper=0.9984 right_x=0.2864 right_y=0.004 right_z=0.16 right_yaw=0.0019 right_pitch=-0.0488 right_roll=-0.0 right_gripper=0.9993\nstate[joint_eff]: [0.8274, -9.9077, 5.5316, 0.9841, -0.1978, 0.1783, -0.0122, 0.0068, -0.8684, 10.1538, 1.9658, -0.0611, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aff7720a86927c715c8aa24d6f386df45bfe55869a8d4f4ed6d1f40a886cff22",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1a6ed7407355fade30d0fde4b2da907d8dcf18c8e2ae651b5a1ec62fca2e9ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24dea7edcb9861235029faba5677cdfbff4f7e7622c5df20b06ce11127e6ef21",
      "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 5 attempt 0 · /responses · status 200 · 5.929 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]: [-0.6991, 1.5661, 0.9485, -0.1246, -0.5636, -0.4446, 0.9989, -0.0151, 0.794, 0.6033, -0.4038, -0.0265, -0.0353, 0.9993]\nstate[eef_state]: left_x=0.3807 left_y=-0.1921 left_z=0.1349 left_yaw=-0.0109 left_pitch=-0.045 left_roll=0.0204 left_gripper=0.9989 right_x=0.2914 right_y=0.0039 right_z=0.1747 right_yaw=0.0009 right_pitch=-0.0229 right_roll=0.0003 right_gripper=0.9993\nstate[joint_eff]: [-0.2803, -7.1453, 9.1419, 1.5897, -0.4664, 0.1392, -0.1245, -0.0479, -1.4154, 7.1863, 1.873, -0.022, -0.0317, -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]: [-0.5213, 2.0727, 1.1458, 0.0311, -0.8265, -0.7582, 0.9984, -0.0151, 0.7708, 0.5522, -0.3882, -0.0269, -0.0357, 0.9993]\nstate[eef_state]: left_x=0.466 left_y=-0.1136 left_z=0.0355 left_yaw=0.5204 left_pitch=0.0061 left_roll=-0.0005 left_gripper=0.9984 right_x=0.2857 right_y=0.004 right_z=0.1609 right_yaw=0.0014 right_pitch=-0.0351 right_roll=0.0004 right_gripper=0.9993\nstate[joint_eff]: [0.759, -7.5692, 5.9009, 0.906, 0.0757, 0.315, -0.022, -0.3624, -1.7846, 7.0632, 1.9951, -0.0513, -0.0708, -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]: [-0.5011, 2.0869, 1.1587, 0.0933, -0.8238, -0.7517, 0.9984, -0.0151, 0.7853, 0.5632, -0.3985, -0.0269, -0.0364, 0.9993]\nstate[eef_state]: left_x=0.4787 left_y=-0.1103 left_z=0.0407 left_yaw=0.5365 left_pitch=0.0353 left_roll=-0.0486 left_gripper=0.9984 right_x=0.2864 right_y=0.004 right_z=0.16 right_yaw=0.0019 right_pitch=-0.0488 right_roll=-0.0 right_gripper=0.9993\nstate[joint_eff]: [0.8274, -9.9077, 5.5316, 0.9841, -0.1978, 0.1783, -0.0122, 0.0068, -0.8684, 10.1538, 1.9658, -0.0611, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aff7720a86927c715c8aa24d6f386df45bfe55869a8d4f4ed6d1f40a886cff22",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1a6ed7407355fade30d0fde4b2da907d8dcf18c8e2ae651b5a1ec62fca2e9ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24dea7edcb9861235029faba5677cdfbff4f7e7622c5df20b06ce11127e6ef21",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGHg6ouOoOVaD4KUtTlTJx4ERXQcCIPT5mx6ZsvOs4ekd-TshS_99Mq_59M0RefCJxzJ5fXHWhZIoB_1gnI6qR6EbQttpqolQA2nMzUMsgO76CGAiij6-ka9yPClhJbiWgO1mGu5PunNQRnMoDQsHPq90jRd0MxKCJu9ND3QggOd4_DH4KOVnOZbH3k8LwvZHNnmv5rC651m4gBZ7iK9eBIuPU1nB69_zI2HprNxIFtf-ZrKn1Jy8cy3r3OP7NC96JtvlWyFTZoOFPhNHg2NOHPS2jgafBmqI4Kq1QpHYg_WEWRCAnBIy243BswxYF86PJojk44ey-XxxBxjZ10W4pPvSkQmivsqEofC84DyzRmAApwkQ6rwkRvVVaJU13b8Kkc42rWmBojj_2dByF50QEsbTeOn-AX3GTVQi-TlVhmkG6Lz8xz8CckPmKDncnv_V_Q7LXZtsC3lEBxlAGr3QFmhqvLpFXmvHk31uMa-tnEFOUWtgTYkxh_jhyltEgpK1M94umU_zIoa2-VyOgdwliEiVCv2yuX6ZeDBwdFhKzIV-S5RZmuLOHJRGyiG6BGSI_OVYp9kLo6MXdZ9mmh8WUiTx0Gr64RiKHUisH9t_wV5eOr3QJ7-30Zd3xcIe4rRx1su85qpqY_IKaIUTJm321JR5V3wj3CVL54ohAb8mhgfUuU3uSUtgBvBm1_bjRD4Vlco2-eO4yAkFWFFf1YU4RV3FIKglj9LdPLseS8Hk0bWs_bJsUFuE0pHEBLdmRGKBIeUvMVG4F14wC45UQsl5YzjjgY4q96446ppOdL_gax4SRG5_5aQaGvUjuhCEqBdQHHXCDKvmuVjxKFhm6Y8H_QE13c95gAdNA9TbmraGY_EtehkMEa-0TbaaHMw649i-VwvR4-WmRoAqutj8UqgBpZd4D51vNV5Tl_wunwRa86gIg0lkGArR-xv37yq6F1eO42MTTRaaKsj05-FdvQd3gxReyax-t_aUuE70rppLJEMhAPGVHKVvuEXF9ZpyZAyL5GltcsbAhXcvcWPVgFM97gnGdk0bVJdXJqqKnHA4cuXBTygTkmjSubRVS9T7yvoY50eINyBsqimevqhGscY_IciUYZQhcX19NkCGrifOhRwbXgXqdOeXyOIhtk2B6Ln0UKsdRMnbeGq39jRqOFjETrkn_1407QpGb4dQw4PzgXTQXlpxpWuin5M2nIDufrFc_gqUGNjGqh2SwSA7QUKPebT7FFSiq37KMgve_8MSo2xU9GzxinyUW33d-AcUBw6tERty9r-pZ91sTtzPgSgFavLUjk4vmE_f09szMOiVlDyCO5X1C6ZRx6FUqcaJ6JeLmcdL1uqrEVRq0yKGqqKwilN_ImVCdOYCE2Y5rN2ZyvBxQLo4XNko-aRe_gj7Dg4zDLl804jeRrUsbWgiDqGTcP9iOZcp8LbMC_vNozjt4DSdjdx0LhrU8NjYi65qMLWW60Vp4nGSLyolLkFg_SSBEtM-o4hpOvg5siYRULS8x-79caCvtQYeU4f-4p9K3U1LHbdqySSpWz75hBIg7fn9umKyagXDJk7S1mXfAMlxDcCOVtHGCrYhnlf3eRAfQ-LYwck0hdy9vGCJpPvi88uDIX7JlpG7Sh281-3xJUy_Q5tpcX3Dz-PWQLG8nPt-GT1eRekyTHURsoQNJKhn_2k3DfIHxBmEhN-PHbdq7IveCvWhMSl2zgzR6p3zWWkJ-BMpPPVC2qofxuCOkgkL6mWaKrHN8i39hIXRxjSoJpBHWJzaIaQDzUNu0yAbqcYAj7sqRIzNltF9zk8HuEuc87AzffqMXzGKWAUJBDTIMjfKlDdz1IeMhD9RbbEEcNt9cHST3j8kUtrqvSb8lS5npXGaWbkLXZGR4af7p74HWRR4jBoaZVq-pd1YqOFBlUdG9cGZdqPxQX1vezdP4l3KBn4r2vQKz2PJtFBEyyU3EkllnWdT8I29xR7XnZyXIO6f3O5xUMPV0Y6K04av9iBsdFPwjbZGQrwj1BPvak3-piVY5YceQZmxBB0U_ICJBNYeV5ZRYrNEzP0fKorYwbDV_a6IZ4eoWQVnZJTsErJQB58uEUd4oR1Qogp4B0k5hgh7tDo2oD-",
  "id": "rs_0dc5b177f7837ae3016ab461dc901c87d0b4e179e4a5a20ab7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.3},\"note\":\"The arm is near its low-height reach limit, but the bottle’s shoulder is between the jaws. I’ll close gently around that narrower section rather than force the arm farther forward.\"}",
  "call_id": "call_rsJP7isAHkdr4FClyOfrSSQh",
  "id": "fc_0dc5b177f7837ae3016ab461dfd6e087d086e09ab06e1c98ca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rsJP7isAHkdr4FClyOfrSSQh",
  "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]: [-0.4976, 2.0811, 1.1664, 0.1211, -0.8654, -0.7341, 0.3063, -0.0143, 0.7582, 0.5171, -0.374, -0.0292, -0.0425, 0.9993]\nstate[eef_state]: left_x=0.4837 left_y=-0.1056 left_z=0.0533 left_yaw=0.5603 left_pitch=0.0825 left_roll=-0.0539 left_gripper=0.3063 right_x=0.2822 right_y=0.0047 right_z=0.1511 right_yaw=0.0079 right_pitch=-0.0434 right_roll=-0.0038 right_gripper=0.9993\nstate[joint_eff]: [0.3487, -9.265, 5.3812, 0.7643, 0.2759, 0.0122, 0.1587, -0.4581, -1.7709, 7.0085, 2.0342, -0.0171, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c451ec5199a0d5bb464dc3d1c5f3e3e2163233a50337d1360064408634a07e71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:290652df646551ac819203aba19e2fa70be5b401c0f4c8812e34a9b02d6170ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a7a9e519821d16bea406ca2169a244cc6980dc4697637e2bf3a4ead3e1a2890",
      "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 · 6.28 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]: [-0.6102, 1.9076, 1.121, -0.1429, -0.794, -0.7471, 0.9985, -0.0151, 0.7841, 0.5827, -0.4015, -0.0265, -0.0353, 0.9993]\nstate[eef_state]: left_x=0.4338 left_y=-0.1452 left_z=0.0749 left_yaw=0.406 left_pitch=-0.0333 left_roll=0.0243 left_gripper=0.9985 right_x=0.2885 right_y=0.0039 right_z=0.1685 right_yaw=0.0009 right_pitch=-0.0313 right_roll=0.0004 right_gripper=0.9993\nstate[joint_eff]: [0.4171, -9.388, 7.2957, 1.0085, -0.4957, -0.1636, -0.0513, -0.3624, -1.6342, 6.8444, 1.9707, -0.0806, -0.0073, -0.0122]",
      "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]: [-0.5011, 2.0869, 1.1587, 0.0933, -0.8238, -0.7517, 0.9984, -0.0151, 0.7853, 0.5632, -0.3985, -0.0269, -0.0364, 0.9993]\nstate[eef_state]: left_x=0.4787 left_y=-0.1103 left_z=0.0407 left_yaw=0.5365 left_pitch=0.0353 left_roll=-0.0486 left_gripper=0.9984 right_x=0.2864 right_y=0.004 right_z=0.16 right_yaw=0.0019 right_pitch=-0.0488 right_roll=-0.0 right_gripper=0.9993\nstate[joint_eff]: [0.8274, -9.9077, 5.5316, 0.9841, -0.1978, 0.1783, -0.0122, 0.0068, -0.8684, 10.1538, 1.9658, -0.0611, -0.0269, -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]: [-0.4976, 2.0811, 1.1664, 0.1211, -0.8654, -0.7341, 0.3063, -0.0143, 0.7582, 0.5171, -0.374, -0.0292, -0.0425, 0.9993]\nstate[eef_state]: left_x=0.4837 left_y=-0.1056 left_z=0.0533 left_yaw=0.5603 left_pitch=0.0825 left_roll=-0.0539 left_gripper=0.3063 right_x=0.2822 right_y=0.0047 right_z=0.1511 right_yaw=0.0079 right_pitch=-0.0434 right_roll=-0.0038 right_gripper=0.9993\nstate[joint_eff]: [0.3487, -9.265, 5.3812, 0.7643, 0.2759, 0.0122, 0.1587, -0.4581, -1.7709, 7.0085, 2.0342, -0.0171, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c451ec5199a0d5bb464dc3d1c5f3e3e2163233a50337d1360064408634a07e71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:290652df646551ac819203aba19e2fa70be5b401c0f4c8812e34a9b02d6170ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a7a9e519821d16bea406ca2169a244cc6980dc4697637e2bf3a4ead3e1a2890",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGHnjAGZ_LbqRXRP8i9SC4EF8LBJBtxqjthTzkZsYO80pBwvVrrMAs1Gr0YCkgifmJuEFoICdvPK4JdRziad8EzUfjXAWDN7veNj86ae9Fw1SsVJfBHoNl155kRdPIlySkdobJrMkP6O2lfT5wzHpRDduRFqBp_9nuiNqLvchDxBS74o_dgafOCtJ6v07Ow8kyY6B4kurnpTI-5pHD-E5PRlmUA9YxGIceSYf3nkpz3-1VmJRcVQXJq1_JSd8MHvw7A2oZezRutIhPA9WxYlYa_dfFVcKcJ7cT6YtOMtoT1uUZKS2GG3xmPtHOKw1qpVskeThfQeE6mT8Kw9SBL8uPLUfoFVNgZBC0Cm9wPqjWcGaR8IeMMW-b6HqF3884OpklBCoJec5gc46XYl7GZRCwzcmCS1CCxvZ84Uhd3boq4L3zShDQn7AXeRl2KOREH8O3UKA2Kog_vkuqCrMoelNzF6KEbZG-nb_8jQVM-PvLY1lwJSTCr6d4S7E91lMKP7iEWG5X-Q8_2UEDVx_AfE03o6hkU5ltsORd1-ZL4oHrlkTLfmlTwoGLL3ptjoJ1sGdR5DTV7Sioxd5TWvKuV3MRnVxcBmecHg06o-mPa-cl4X8mfoUx4R82JauVZyl9DER7jLfiY6q47YCHzXt-ytf0itDQQ_VGJTD-Nir2vNWq_Uo4DJI7doWl3_bWpmuBKhE09RSZEYGiiT0CygHJbwxUzjyOx4q9ckk9tQ9PXNdUo0IsGCjNlPUvON-JcNOfqXpN__a7vZCHZSJbJM9KG1ijYBQr3PW3fxuzmQXV_MSmmqFHqQ1tpdZiPmrNtNL5qeDSuSNH3KyfMC_jnNDS7PX1YcBp5u74GwGjzpJ_4QTy9F6ZuwNsry04n-9ZuF209D93UDlVIX8_n34xrJUzRyMl4VCyB_vlGxNA0Kh8sVWlGrMfum-Ymd4L0fNUznxDqqeOK6dKDncaq5Ld2TEZUlFyT_QnIVkDQyHeF8Oo17tieprm2kCoqLKCr9kSxlMQUZdhEw-61RN7MauY0bHkauJblFe4PPJBQPV9JmO-uuEwVb8jnFPKj8ES6jauqchngDP9U4zMVkgfx-1O6gW2UHJyvQ85AbQ7X89DQSd-fUAbmbF6Zb0VOhw4t8j4bLggwWym356uPwxtwYh_fQrpuWY7zcr3fIi-9fXtWbkr8qxNVNCnDBuJLmd6yCObJBvX9hfSI6jENKislJyoGkxeVqd5IytO3_XfmJPSAQmcAldsDq0r4IhCVZBwI8mAxmqn_G8bFzTZjBBd0J_dTgPCg1benmBijQQO4p5wXTsiXN2M7o9I7zoy1rb12aOfF3yMq_CaskirrrVHAuLG8Z0waETEUzZ7WOi8aUHc5RQvxHR6UVt3enHV3_uiHnkLKFg72Irw8Mwa2YjItNgRDEX-Sg6unPYA==",
  "id": "rs_0dc5b177f7837ae3016ab461e45eb487d0b481ccb0c10e6a98",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The bottle shifted into line with the jaws as they closed. I’ll secure the grip, then test whether the bottle follows a short lift.\"}",
  "call_id": "call_t3Vu4W05d5wldSbMoBFxQtX3",
  "id": "fc_0dc5b177f7837ae3016ab461e6059487d0aee57ca1a386a013",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_t3Vu4W05d5wldSbMoBFxQtX3",
  "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]: [-0.4881, 2.0811, 1.2488, 0.0029, -0.8516, -0.7635, 0.0117, -0.0143, 0.7338, 0.4721, -0.3504, -0.0296, -0.0425, 0.9993]\nstate[eef_state]: left_x=0.4917 left_y=-0.1065 left_z=0.0642 left_yaw=0.5743 left_pitch=0.0556 left_roll=-0.0533 left_gripper=0.0117 right_x=0.2782 right_y=0.0048 right_z=0.1418 right_yaw=0.0082 right_pitch=-0.0403 right_roll=-0.0037 right_gripper=0.9993\nstate[joint_eff]: [0.1983, -10.8103, 7.241, 1.0379, -0.1636, -0.1001, 0.8181, -0.6085, -1.4017, 7.4188, 2.0098, -0.0904, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41e42b5c0bf7a8aa96a8b5c783c9bb986a783de8fd92f18327b45ff241f0bed3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1142edfdc1fa5c83262af094c4cc6ee670f3ac25005b3dfa5964529a030c86f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:707c9752432627e012f4795a5d9729c0cf693a0e4050429fe807eb5eaaadef8d",
      "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 · 3.505 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]: [-0.5213, 2.0727, 1.1458, 0.0311, -0.8265, -0.7582, 0.9984, -0.0151, 0.7708, 0.5522, -0.3882, -0.0269, -0.0357, 0.9993]\nstate[eef_state]: left_x=0.466 left_y=-0.1136 left_z=0.0355 left_yaw=0.5204 left_pitch=0.0061 left_roll=-0.0005 left_gripper=0.9984 right_x=0.2857 right_y=0.004 right_z=0.1609 right_yaw=0.0014 right_pitch=-0.0351 right_roll=0.0004 right_gripper=0.9993\nstate[joint_eff]: [0.759, -7.5692, 5.9009, 0.906, 0.0757, 0.315, -0.022, -0.3624, -1.7846, 7.0632, 1.9951, -0.0513, -0.0708, -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]: [-0.4976, 2.0811, 1.1664, 0.1211, -0.8654, -0.7341, 0.3063, -0.0143, 0.7582, 0.5171, -0.374, -0.0292, -0.0425, 0.9993]\nstate[eef_state]: left_x=0.4837 left_y=-0.1056 left_z=0.0533 left_yaw=0.5603 left_pitch=0.0825 left_roll=-0.0539 left_gripper=0.3063 right_x=0.2822 right_y=0.0047 right_z=0.1511 right_yaw=0.0079 right_pitch=-0.0434 right_roll=-0.0038 right_gripper=0.9993\nstate[joint_eff]: [0.3487, -9.265, 5.3812, 0.7643, 0.2759, 0.0122, 0.1587, -0.4581, -1.7709, 7.0085, 2.0342, -0.0171, -0.0171, -0.0122]",
      "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]: [-0.4881, 2.0811, 1.2488, 0.0029, -0.8516, -0.7635, 0.0117, -0.0143, 0.7338, 0.4721, -0.3504, -0.0296, -0.0425, 0.9993]\nstate[eef_state]: left_x=0.4917 left_y=-0.1065 left_z=0.0642 left_yaw=0.5743 left_pitch=0.0556 left_roll=-0.0533 left_gripper=0.0117 right_x=0.2782 right_y=0.0048 right_z=0.1418 right_yaw=0.0082 right_pitch=-0.0403 right_roll=-0.0037 right_gripper=0.9993\nstate[joint_eff]: [0.1983, -10.8103, 7.241, 1.0379, -0.1636, -0.1001, 0.8181, -0.6085, -1.4017, 7.4188, 2.0098, -0.0904, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41e42b5c0bf7a8aa96a8b5c783c9bb986a783de8fd92f18327b45ff241f0bed3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1142edfdc1fa5c83262af094c4cc6ee670f3ac25005b3dfa5964529a030c86f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:707c9752432627e012f4795a5d9729c0cf693a0e4050429fe807eb5eaaadef8d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGHt5V5QET2dF-Gt3vcKnIS3eGQ8-I1E74MSYBsKs-OIsQihjOoabAEybD8V61RqoJpR_BRy0ustmEU7vO9fdiHl0E4Dwz_FfpoRZyhuXe8C1G6NkdakrZRBVsKNpbbjv_hgWTezOu34iY6Mwyx8D1p2o6h9s3ZYSrvrOUQElUA1RXJlpccJ4Ts19GN-ejTl48RPHsWtNxepMpOKSgpKf8H6VmDNlQWGMWt1lIQIf4FdYivx4crBhPoPCUpuALmymPZPreOz8dH_L1AY0VOWf-4hboJwQCcrCA-00K1j0VUjivtIrvrCi193jwlogT_WMoTVWvTDjPTJa6i9W0tKlQoAlrxXMfzII8l4q23-IW0sXOeY8RsMr9OEWrsZ30MWFYfJqJHQ3gnR_dUrxdAyiwFudggM-eRZ6-GuHEwH7e7W-TJpWBcHtv8sVmPnDuUfyuMgmeteQhOE_1l-DuW9gDz88kq26byyJyxbfnmWaDYCEg0ucRzDWT6lLcKz1st1lA0vUA0yM_NGo8orU3veajjKa1uXA863w0Eozx8XkW3Qt-MpS-Gdcofa4VvvB82wRgPMcfjbWaGa8lOzfm9AN4YG5g19YW-EFBz9l1eQdPnDfeqgasqyscE2-dTTs4TAFkUJ03yzbY_PCynggvxm5sHWZXn9Y3MXX033NQ9LLzwXtIJ9hlJMJNwkcyqlvePxN9CiKx4IKwwqiBD0BaOzSZK1fPKfDFxwTERTCUz68DtwdcQlRPnF_dRV5y0xSuPdC9MYgffc8A-fNxZnhGxaEPXYiYV7Vk730tv7aC1UqYjviXa018ND4LdRLevuiv3Nu4-WroiHz0zqamP6D6D8yzpa-_kdndf5JJgrifch7XKlEcW23omB1h7xr9neZMOVkyvpZHv3WvYb7qBwnY4h_6CUFSyhrSgslQrDQnnBWdW_lOXbj1T0cmSKTvFZ2WJ1hoBbMarDf8NBwjOkrODN5ENb6O8a_qaW7HCphLNRJMpY98YLodxdPHOI_nW0pGQDhiuIP7kNK0a7npJ0412jP3Y8r69oflseUHn-SzC6fnMApUhpqDbDQX26P22hiWSKftf-go2MvxRawVaLXkkW99kKhD3Qzd6BbyZsRyj1KKC0p8oibK70c-T4qyTiFcVb1R5_BpCMUQNpx-OrbcNK-J4pxjW3Lm9eLxUkXApWfDLuqD0R7NzgOx2RMRmpIohmrQaEMx7Gn_x0SboGv9YVxkRGOVHw1fou5NLOZuBHOzcIPSXN1pNjHpNEPS3wKYCPXv-smpYjEhO8MleA7acOSzIDycKLBF8RK-HGjoHzdKrBA_GYOTdE3yzMEzDNprqsynYYTyWa-sOxwCRvWgjihU54WDTCoLZzPWN13QQBBVWqzbMFclzKreW3vxmhpcJb54QXhmp7_TxN0ywOqTdMbSyDCJ2fFRp3etIHQayK2ld3Bi_L9cNsP6XEpUjkp9NKS4uaYAClfh_C9OW42Yv6z9j1v2OyWbvxdAEWXkCX32cEW2a3DuW3V8o8UDXl-FS02v5N_AkNclxd98UGrhuJP6V3yvPPe8Kb6zaFi6tFWA1hdPsiqFuve_A03mb3-PVuuCs9ksSPpnS92gqJRvzIWS7ElEwPjsB5yir-Ru7DhTw4fiv1YCBP3bC-sits-lB5HIbN4X-v3WRtEq2-Khoq-y9Xb03i2J_wEdzPvngr3suSflZvcdGBIYCb8jBCdnGFM2T0eQSvdDhUY1PRLP8rS42xndhjIDJziAUioQtuynI_gFLa1tLKnxJxYl96Vz3qhpH_x7x3vnvB-czipocw1BbWs-D73vZz2JEipes-jy5iFecMylG9Ae6g7G513YcmxdxWWQLL6hB0sYIR3qzcp0wyg9Qo5b_RaYIGqLbnX0-N68YWP47PNpybYkV4SQIzFrc0RQKg-WiKRYk5wo4Kmo8ps1EGGcr-9PGx3iz2C6FOSZl6qE3PyLDUCkEiksWdqqUkK-ztsXpnD5eaRmo_7Vy7yKM-b4pFJPxkQDCBsQNI06gq_6V3NDduZEyWWEAvlJZhIKHdhgvuuoZXYULWB9ncPA==",
  "id": "rs_0dc5b177f7837ae3016ab461e9232887d08315a7e72f7329e3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.455,\"left_y\":-0.13,\"left_z\":0,\"left_gripper\":0.8,\"right_x\":0.294,\"right_y\":0.004,\"right_z\":0.2},\"note\":\"The gripper closed empty, and the readback shows the fingertips stayed above the requested height. I’m moving slightly back to a more reachable part of the bottle and reopening for a lower grasp.\"}",
  "call_id": "call_H6XU6krwa8hmkLdwZnRQAU14",
  "id": "fc_0dc5b177f7837ae3016ab461ec5c6c87d0af0f8f2afe233927",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_H6XU6krwa8hmkLdwZnRQAU14",
  "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]: [-0.5705, 2.1334, 1.2182, 0.0166, -0.9241, -0.8734, 0.7957, -0.0147, 0.7971, 0.6395, -0.4603, -0.0299, -0.0544, 0.9993]\nstate[eef_state]: left_x=0.4717 left_y=-0.1309 left_z=0.0397 left_yaw=0.5923 left_pitch=0.0718 left_roll=-0.0635 left_gripper=0.7957 right_x=0.2882 right_y=0.0046 right_z=0.179 right_yaw=0.0145 right_pitch=-0.0459 right_roll=-0.013 right_gripper=0.9993\nstate[joint_eff]: [-0.5675, -6.7624, 3.2342, 0.7985, 0.2808, -0.2906, -0.0366, -0.8957, -0.8547, 10.0718, 1.7802, -0.105, 0.1245, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ce07e258a252180a6fa8a7b902b557748cd2f99550b079ad073472845b56a1a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cefb593fecd6b62e740a1762b495725d61f2d3875eebfcb3651b8f24e29fbe9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f2f582a446325e0ab3ed180a5706b2bcd1d4e0237ccf005e5a15baf5b15586a",
      "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 · 10.26 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]: [-0.5011, 2.0869, 1.1587, 0.0933, -0.8238, -0.7517, 0.9984, -0.0151, 0.7853, 0.5632, -0.3985, -0.0269, -0.0364, 0.9993]\nstate[eef_state]: left_x=0.4787 left_y=-0.1103 left_z=0.0407 left_yaw=0.5365 left_pitch=0.0353 left_roll=-0.0486 left_gripper=0.9984 right_x=0.2864 right_y=0.004 right_z=0.16 right_yaw=0.0019 right_pitch=-0.0488 right_roll=-0.0 right_gripper=0.9993\nstate[joint_eff]: [0.8274, -9.9077, 5.5316, 0.9841, -0.1978, 0.1783, -0.0122, 0.0068, -0.8684, 10.1538, 1.9658, -0.0611, -0.0269, -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]: [-0.4881, 2.0811, 1.2488, 0.0029, -0.8516, -0.7635, 0.0117, -0.0143, 0.7338, 0.4721, -0.3504, -0.0296, -0.0425, 0.9993]\nstate[eef_state]: left_x=0.4917 left_y=-0.1065 left_z=0.0642 left_yaw=0.5743 left_pitch=0.0556 left_roll=-0.0533 left_gripper=0.0117 right_x=0.2782 right_y=0.0048 right_z=0.1418 right_yaw=0.0082 right_pitch=-0.0403 right_roll=-0.0037 right_gripper=0.9993\nstate[joint_eff]: [0.1983, -10.8103, 7.241, 1.0379, -0.1636, -0.1001, 0.8181, -0.6085, -1.4017, 7.4188, 2.0098, -0.0904, -0.0513, -0.0073]",
      "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]: [-0.5705, 2.1334, 1.2182, 0.0166, -0.9241, -0.8734, 0.7957, -0.0147, 0.7971, 0.6395, -0.4603, -0.0299, -0.0544, 0.9993]\nstate[eef_state]: left_x=0.4717 left_y=-0.1309 left_z=0.0397 left_yaw=0.5923 left_pitch=0.0718 left_roll=-0.0635 left_gripper=0.7957 right_x=0.2882 right_y=0.0046 right_z=0.179 right_yaw=0.0145 right_pitch=-0.0459 right_roll=-0.013 right_gripper=0.9993\nstate[joint_eff]: [-0.5675, -6.7624, 3.2342, 0.7985, 0.2808, -0.2906, -0.0366, -0.8957, -0.8547, 10.0718, 1.7802, -0.105, 0.1245, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ce07e258a252180a6fa8a7b902b557748cd2f99550b079ad073472845b56a1a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cefb593fecd6b62e740a1762b495725d61f2d3875eebfcb3651b8f24e29fbe9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f2f582a446325e0ab3ed180a5706b2bcd1d4e0237ccf005e5a15baf5b15586a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGHyBPTL2slgiEPBkeyj8suovA-7W7VlKwnB-e6a4t2oLjHLt741m3puTiM5Cma3X4E-N_3G_DaBggLoej72N_hJP36gPfWSlFN2AhHhrx2JWCAhaq5bZW3Q46ND7klTzfPWcebeD5zRVw58kzePig4ajbFmrw3I5VjXoLdut--YCag6Dl1EX_-S358nvLLxGHdYdcNJMKnp1qyYoI-hBiwr-7yITw2lGsfX50Qqf-6wbJp73QT87qifgtJ4XgyMxWnc94t7fRdXXHNUMETlQ4GINoT-2_mXub7WF6t6f_zecqQNBDTlvndve8-Y6cyN6Nt5AxecadfSEeOMeTUDYVIx40LfCqtDqHjbYZ3q3CaQp7-zSEU90RsCKODTmcWLImzqzFTNrw1zyYEn5fjaM1zwYlFzlzrw7qdAo3WcQMY-G2OCigOzmEitXvZWkN2XvHlt67rvJ35i3EmXEg4U7VHFvHrxZVZRydt45xset_X2FbND2HQQYXmrE5mvSRFVYs5oIgiChNsdqyS1RVM8Ldzfz22hOyFLXkqe7qHX2q6QEbRupOjVsdNTm6GMCHODS_hGMcOdT7_imfYOKCqYwfRy9-JnP0ts7n_Rl2V52UiCJhkpfOJNacxxTyICU1nR5gR0j6ON-3ISYoqLSYwXG6NRGEiM_XdhArCxN2DiF_XLXdVU4waH91XcPEGJb87LhkVCezKHxDKhqwkun62J6P4f7oahTbBnGLpR9IVE4YSHBosjyEdGpVPzwZSS0yopoMsuKmuGGCRk8SgYzEouqDA_wIfxTVjuw7IXR6nakCKeKyQ31_xlz8GtBijtEU2L_ObfgMVB4QI8Bqr46csGK6A1QS15_Me2ePqmjkEkMW5xotztbfw-ACcXbZv5L61a25WndVZjM8BwMvXw7by8gwLf2yw-W4ztwamyNosvmqw3VqgqPwlf5FwyqX6nHoK1zTBLCD0CvaLHs9QFsYZOWjpGyzXSIo26tGlksawVFH9UVK9h98LYIGOkmjU_EB4U1B1IgKpkY6MeILCOu052ZGkso9nba_vnFrx2YRNzmZ6vMz_a4TMMKgangrm7_swLXAyH91iqQ0bbMAb4tjTpQ7qwecg0hM5vcZ3vlAS_Y3xeVgtZbMsnOZDqGN-_cXRy0ffYDEyAGIeQNC71Ri-al7IlmqhkfREwDl35PZLFgS_vfWNMcoLNrSmhCBNX8yqKnZSRnoOPjMsOkVr5uBdf7EqXqBJVR9YHF87Wwtj7FIN0eoV9KPZIkYZWshkG-6JDvUsPn8dsB1vOCd7fYvu9pAYuZ7ii0MWXJ1tc7BLBLatcVeJyFg28uZja7WxK1R5PfGU2",
  "id": "rs_0dc5b177f7837ae3016ab461f0928887d0bd23672b647fa7f8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The bottle’s shoulder is now centered between the visible fingertips. I’ll close here and check the gripper opening to see whether this lower attempt captures it.\"}",
  "call_id": "call_0KUoRQYtrH0GmbkFm5Xm7c4V",
  "id": "fc_0dc5b177f7837ae3016ab461f1255c87d0920e095b07d718c7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0KUoRQYtrH0GmbkFm5Xm7c4V",
  "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]: [-0.5613, 2.1334, 1.3113, -0.1135, -0.9554, -0.8993, 0.0117, -0.0212, 0.7712, 0.5919, -0.4442, -0.0307, -0.0544, 0.9993]\nstate[eef_state]: left_x=0.4797 left_y=-0.127 left_z=0.0583 left_yaw=0.631 left_pitch=0.0799 left_roll=-0.0426 left_gripper=0.0117 right_x=0.2829 right_y=0.003 right_z=0.1675 right_yaw=0.0087 right_pitch=-0.0516 right_roll=-0.0123 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -10.6188, 5.8325, 0.525, 0.2369, -0.0708, 1.0134, -0.4718, -1.7846, 7.1043, 2.0977, -0.1978, 0.022, -0.0073]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76b57ad0fe94d247b366b5efd0f1068e76a1645b6411f4458d04a9e28c7874f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3af8227b1045f6d928c5bab09353c341024e0838b298e7e2d80deaefea2536b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41efb4165e1b082e7eae25fd39c242d8315656e1236b5b144dcd3cce40961fcf",
      "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 9 attempt 0 · /responses · status 200 · 12.15 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 22 changed as sent

message 30 changed as sent

message 34 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4976, 2.0811, 1.1664, 0.1211, -0.8654, -0.7341, 0.3063, -0.0143, 0.7582, 0.5171, -0.374, -0.0292, -0.0425, 0.9993]\nstate[eef_state]: left_x=0.4837 left_y=-0.1056 left_z=0.0533 left_yaw=0.5603 left_pitch=0.0825 left_roll=-0.0539 left_gripper=0.3063 right_x=0.2822 right_y=0.0047 right_z=0.1511 right_yaw=0.0079 right_pitch=-0.0434 right_roll=-0.0038 right_gripper=0.9993\nstate[joint_eff]: [0.3487, -9.265, 5.3812, 0.7643, 0.2759, 0.0122, 0.1587, -0.4581, -1.7709, 7.0085, 2.0342, -0.0171, -0.0171, -0.0122]",
      "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]: [-0.5705, 2.1334, 1.2182, 0.0166, -0.9241, -0.8734, 0.7957, -0.0147, 0.7971, 0.6395, -0.4603, -0.0299, -0.0544, 0.9993]\nstate[eef_state]: left_x=0.4717 left_y=-0.1309 left_z=0.0397 left_yaw=0.5923 left_pitch=0.0718 left_roll=-0.0635 left_gripper=0.7957 right_x=0.2882 right_y=0.0046 right_z=0.179 right_yaw=0.0145 right_pitch=-0.0459 right_roll=-0.013 right_gripper=0.9993\nstate[joint_eff]: [-0.5675, -6.7624, 3.2342, 0.7985, 0.2808, -0.2906, -0.0366, -0.8957, -0.8547, 10.0718, 1.7802, -0.105, 0.1245, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5613, 2.1334, 1.3113, -0.1135, -0.9554, -0.8993, 0.0117, -0.0212, 0.7712, 0.5919, -0.4442, -0.0307, -0.0544, 0.9993]\nstate[eef_state]: left_x=0.4797 left_y=-0.127 left_z=0.0583 left_yaw=0.631 left_pitch=0.0799 left_roll=-0.0426 left_gripper=0.0117 right_x=0.2829 right_y=0.003 right_z=0.1675 right_yaw=0.0087 right_pitch=-0.0516 right_roll=-0.0123 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -10.6188, 5.8325, 0.525, 0.2369, -0.0708, 1.0134, -0.4718, -1.7846, 7.1043, 2.0977, -0.1978, 0.022, -0.0073]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76b57ad0fe94d247b366b5efd0f1068e76a1645b6411f4458d04a9e28c7874f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3af8227b1045f6d928c5bab09353c341024e0838b298e7e2d80deaefea2536b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41efb4165e1b082e7eae25fd39c242d8315656e1236b5b144dcd3cce40961fcf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGH9SVlZreYyBBpTbncX9qmU441gv4X5T4KIeESVQMnBNEGEmw_8HlE9tILWa1upKOLkJSvtHgJfUX7Vyc4-r4OJqgE9I83UdJZf7K8h9gF_OQLQF6OyYzQdym5BHJJUfwDIpJIIOrCkjlq9GAqK94irXPKeSP_UDci4iUVLJokw48_pOBrNRhqn6UrV8JmPfH6V058X9XUzmT5CUjkMhpqPaICqG7910bJYkbrbREpfOlVhSlkBo_sCk3Pld00x2IaOWZjdSDk3RpdlCuxz89w5hxvT46YG5w728h9PzE7zUCDL55EHbSPGXVD3ZROF_gUMw6odYvevLiUk_09k3UaNnCEvN-kJTX9uEBpvG8v7PFvpS02YfYXgoVNyJ6HVjQNoMUKLAEBFmcOcPYLey7mjSizeCimVizZyTC7XNpNOmgh9mfX6Abn_fjOPpZcUw4lUdjr0Ba07ck3_1rxUxPTbrPAU7XLcMNJ-Hofh8qqNEN939ERnciekvPdnS-j3i8A1nYsScduqvSjOZLWdoGE8Z6t0rQKBvT8JMlv1UWef-VWY5yC5PzNM8Wv5L4p5uXEfW-_UhfaMGeGJBoYYFOrl2b65jM54rSLlTTrEo8ZzqWuU4Ta3gDozbDrH7EMumwYSalT4BTxDbDC1TOeO_u43FhEoRO11aDzNytp2ci-UewMIomg-CuPPIaXt4coYLcR0zavh_XO4OvqUkX-Fkt1lnUbgiHVewMXFThHsSLIIE7N1sEpu6YskFRd0fZug-_7Au9NPlodYJxj7yenwI-KwdTz2lskNuC8gxgywI2U8hQIklTkEbGmYkd92wBfTZzN1InF06w55SRnaviM9Sa_kWABXh8KNQixp3jGs_yQtg5RZdJXQ8qM-VMnPLGtWJodU6KJSRaYKPkJANmQ1qmfBCr9mghjLInB5WH0NBy9bmL_GejBDOPHdEpdbt9h4MNrrca04UBLrRjaKJdth4bg8s5FB7t_zcGdaYCJRJk89QHVWBAwsgeRtGj1LSN1PP5W8AY-g7xUGBh2mAJnm4ZhP9DQaPN6wY3co2vf0weUpHndQOeLORnNxN5YozTEruyorkl-gGvMPvbsDbD6Psbnj6P8ypdOHJU5uL3Q7V_Kr_cS1nI-Iw1TCn4u5ZLrL7EQkI3bxJlCMCj6f41Geikszya0v7YJtlkKeQqvAU5wPcouiNRSLrwqYq4zAiqa2-TIU_2I71g63cyCHYemhcq8sK0xryUDIKPxP0VOo9EOO287LLcTaFj8oKX3Rx_7-DOxH9UfDYhANhA4xCdcdDT-NuEhyrQm-Uh4pZALXXh6JYFKUIJeEYFjRRU--PpNhn-CsffPdZC6u29HJWtfMzwLZzGifl9DkY863GU9AJUz-JNxgC7vUsf5R1B4vdhGhZILwGO0LQxfJp4f2k7uokiC8gSVTpP_XBUqB2l4oOgswDQQ06hj0jnCddjdeapfdhBN7ITRQwOBTPbctycU6qeszntbBHHsCpvRClFPmVEu50cMMff7rnRaFDoH0Li_fJb7cohXjKThouOD0ADw1MLxunIPDA2eCxZUScECeCqth31TcqDsW0xsuq5eI0fPoU23i6xgAtAyOXOXGTHQWVV4GieDgjGHgX3fUSWg7pcD3m8xZnHZtn9TrPVDsvEu2SR4u0XKFkWgpHaWVGx1-Tr_cKJ56zBuEsnJ6IEIaf1b6v5yxo3tM9Igq3PLIYIZvZS9G2ngYr8OSTnTuba0uwGdk7ZlWT1kQvEBYcfc4PtQvgCHgL11waihr-XZdffwqllwDGLA7zLpXFjjrCl3zGYTOjiWp-5F2oqxQiWX5KmsFAGRq5jodf7PJc0a_zBcAI6dflskjvQuD4q3FXehgNABgxtJjJ2FjRAEPopa3ePNqNxFKSNj1hXbZAN69dfoNl4gffU4-OGypRXNYwTbhBUIlkscXfzWnw2GMj6lLa0fZGH6uohQwtjC-Y95_l0vj8y6j5dww7dzwsfXgL8_SDGxUkEefXyk26TWR1SDKzUKMDJ84nS36BhbdyEUBnPq5cm29wxPZrl2IAO5AqDrUVcZvw5qelmjBv9ofe6jVCGm7hQi3IfvIP1gkp6aVghmtz7MD2KVTUl8wZDJ3lCC3rusx-W5L-v1S_8A6fFwtwx3PCR5C0rlsIpDbBSpMhQcXEybMIjNnRISBEuROo_zO_9KUANeQJUu4Ypg1ChNKHHJJMgY=",
  "id": "rs_0dc5b177f7837ae3016ab461f8441087d09a1b09ffb9506cf7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.16,\"left_z\":0.15,\"left_yaw\":0,\"left_gripper\":1,\"right_x\":0.294,\"right_y\":0.004,\"right_z\":0.2},\"note\":\"The second close was also empty; the arm again rose instead of holding the requested low pose. I’m withdrawing and straightening the jaws to reassess the bottle position from an unobstructed view.\"}",
  "call_id": "call_J8f8FLXWYDnxAj7Osrofu8vQ",
  "id": "fc_0dc5b177f7837ae3016ab461fb8bfc87d0bff091d25b410f9a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_J8f8FLXWYDnxAj7Osrofu8vQ",
  "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]: [-0.6621, 1.4391, 0.8249, -0.0891, -0.6044, -0.4839, 0.9943, -0.0212, 0.7959, 0.6453, -0.4793, -0.0303, -0.057, 0.9993]\nstate[eef_state]: left_x=0.3672 left_y=-0.1544 left_z=0.1424 left_yaw=0.0776 left_pitch=0.0024 left_roll=-0.0175 left_gripper=0.9943 right_x=0.2861 right_y=0.0029 right_z=0.178 right_yaw=0.0098 right_pitch=-0.0581 right_roll=-0.0145 right_gripper=0.9993\nstate[joint_eff]: [-0.4308, -6.8581, 6.8444, 1.5018, -0.0855, 0.3004, 0.0171, 0.0615, -0.6359, 10.1128, 2.0, -0.1538, 0.1538, -0.0122]\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:a59bccb71e93fce42d593e23729162dd85cf9d3c0bd13175eb6a5d89e95ba749",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f4111127922b3f5bd154bb7e27aa1fb1f1608da6a79bb8a6b662d11bc40e7af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2f1300a4e77732dd5564a7a6ff28999778164e4f8dfcfdb447e08b57514e7c8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 3.702 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 26 changed as sent

message 34 changed as sent

message 38 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4881, 2.0811, 1.2488, 0.0029, -0.8516, -0.7635, 0.0117, -0.0143, 0.7338, 0.4721, -0.3504, -0.0296, -0.0425, 0.9993]\nstate[eef_state]: left_x=0.4917 left_y=-0.1065 left_z=0.0642 left_yaw=0.5743 left_pitch=0.0556 left_roll=-0.0533 left_gripper=0.0117 right_x=0.2782 right_y=0.0048 right_z=0.1418 right_yaw=0.0082 right_pitch=-0.0403 right_roll=-0.0037 right_gripper=0.9993\nstate[joint_eff]: [0.1983, -10.8103, 7.241, 1.0379, -0.1636, -0.1001, 0.8181, -0.6085, -1.4017, 7.4188, 2.0098, -0.0904, -0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5613, 2.1334, 1.3113, -0.1135, -0.9554, -0.8993, 0.0117, -0.0212, 0.7712, 0.5919, -0.4442, -0.0307, -0.0544, 0.9993]\nstate[eef_state]: left_x=0.4797 left_y=-0.127 left_z=0.0583 left_yaw=0.631 left_pitch=0.0799 left_roll=-0.0426 left_gripper=0.0117 right_x=0.2829 right_y=0.003 right_z=0.1675 right_yaw=0.0087 right_pitch=-0.0516 right_roll=-0.0123 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -10.6188, 5.8325, 0.525, 0.2369, -0.0708, 1.0134, -0.4718, -1.7846, 7.1043, 2.0977, -0.1978, 0.022, -0.0073]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6621, 1.4391, 0.8249, -0.0891, -0.6044, -0.4839, 0.9943, -0.0212, 0.7959, 0.6453, -0.4793, -0.0303, -0.057, 0.9993]\nstate[eef_state]: left_x=0.3672 left_y=-0.1544 left_z=0.1424 left_yaw=0.0776 left_pitch=0.0024 left_roll=-0.0175 left_gripper=0.9943 right_x=0.2861 right_y=0.0029 right_z=0.178 right_yaw=0.0098 right_pitch=-0.0581 right_roll=-0.0145 right_gripper=0.9993\nstate[joint_eff]: [-0.4308, -6.8581, 6.8444, 1.5018, -0.0855, 0.3004, 0.0171, 0.0615, -0.6359, 10.1128, 2.0, -0.1538, 0.1538, -0.0122]\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,$blob:a59bccb71e93fce42d593e23729162dd85cf9d3c0bd13175eb6a5d89e95ba749",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f4111127922b3f5bd154bb7e27aa1fb1f1608da6a79bb8a6b662d11bc40e7af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2f1300a4e77732dd5564a7a6ff28999778164e4f8dfcfdb447e08b57514e7c8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGIKCn193Qgpj8-EB6IGqMshNwNoVJvxddeSniYJjB8-tTCm9UK7OdkssX7FsSXTzo80l9llWmzs6LIebqA876dZnuphrKIbHFVhxQyGc08gJFDVuAKkLUFojNC0ga1qZfBwFHqeeWKqtpYOuZGbwCqhJqlZ4YxdD8yzuYYoITQkRYS3w98u-uLgKa6bC36DpGkKH011IqLD-y1sb63FFA8hqH6hDbRHgK6-X6cOHUehx4pQyRVc_B97kE8XeE7B0nqb5cawYhtxLLXrX0mJRb2yCX0vsKK2dw5AQkqp2z_LO3EIm08dl9FC4m31R-NweJx1aA3751m8Wn8UXFNkWqc6I_Ik59a6eNpnUiLos0y0342mkLlL7btgYq8cgNQy7sIXK90lxTiTtmcbpOdEdaYU_wldBhfxTVfEQVVTpyBnUkTnnM78E4UIgUBGO2gQkP0jn3htMLusu1_o92tzWd7mXPCj3N1VsOL5sdO85ceAaVVHDKOsdHjzvKxRuy8aIrBZnEQNoQd7MWnau0pp4-GfZafVRpmvkmwyOCM6VljqRAmHzAFqM0hpUgUo5qAR3bHvkgDDcfpYpNVx2c24-EkQBlfrrfEH6SwYDwbxqdFeUlT4EWgGtQ4ommH0x5sYK7easod3wOJa0zzMkE1lBoHRPevnMzrzoRsvjvl_4m4y9GcP5TewuMJ7Tqvl16gBgxDey6AmzQJSL9W9UV_mdigYit9PP3s0932_eYGC4MpK6HkYnCHdPkJJxCOrE3qgWMoXTJpxd8mJ_WESvVITe7rlaj4XC9k3NALZt8ml7Ejp8pywdx3I1nU8PGfr2hLyvspCg_N_QXXZR_8UmORiYMhBh3yVBoWGczUEv5BirY7_Q1RpALgeaeht_61zbWJ3j_1VzRB3d23eGm8O2vMVwBOdqor63QhUmNyYl-ynWZvpm9yBaX6qKUZhHCsuK-sOx9VMwdMysjxAhyB9fsYyos3m3tB8MONb8o2e-PLm88j0RKFFdOCcMIEIhPbhJKPGx5AqcUMo-YFMD0tn84A-SSFtbTC4Wi12Z4m4otQUepIe_I1gDncj53dZZ43cGU_rcJNOrfXIE9-NFWPCN9lz-b9R3-KfPWXX3k-yrvD1UwiuoOpWvcHeS5ctjO_Hv3GQa5dJgxEBjHHracIcccab064CtTgOGMadIVJS8py7Vg7GQq3zk7jMe2R7zJci4UHnATjF1-OV1mbU4b8Q3UTSZ8VbrSBRQP3LvC7GadyG7AiR0RA1wfTg_OhQnYOFKsNuOPcE7Y5AsYwYNKeXGd1XHabSGLOraSjNtR8kXWvalJHDar5_654RIT-uInXrhPrN4L6d_spgkHCXx9ZH5fFADLFGgIFHOU1fGtKIePLT9rYN5389dhm0RvI2ph-rTTc1e9WPRo-9cAtVHsFvw8ib_OlDnlbSPLZpWCFx0LjEmfA07Bk9VxUy-06joWQRA5taEIZGvYxmLZcSPEUYOMO9S4eUOzHRmXfpaI3OVU5mWVyUL3_j5WjIfht_7nzJ8gNUL77ERexdE-E_eVqHKc7Wu-PQhYu74W8vIu8tC_Ij5gyYfLjVpuVr_mA01apUehjDyA8ZxHd2mloIghwtZpHm-HqQiFUVwd_blJ3jwcYxAbzf7jo42o4lbME0j2Q_7BGO3zolJz2yl5C44htQ8QWY9iTjOKI06Q9zKkqQSDVxDtpFe7NRClJqZe4Nw1tVxV3pJuPKSTqMfYyN1vBgPDSJYJBFTvwsnijRajnOp9--ExSBHioMkrC_jM6hTdiMtKB8MiD7-l-25oim5Y0n2o-91PJF-QZeY_LKa354ut59LIQAmmWIfzsHeXNTNaD0uJwdYbjiQud9HJqnePIkXpLvGYyfDa7tGlWQd2WQU7K5b6DV1HoV0cHvsEnQJEasTFKj3PfFnnxt6CGe9Cni8mwTM355aqowrN9BIRPwn24WoGuNRRs4Gpmi_b0hTHjBHYR6SUuwpKOxBp00kqPdIUSXrKC9MDU5jWtPgfjOTvcCa-j0_0g69bg9z26PsX3DM_wIlKAqmgCHyJvj2DG7afHIwtZ961Xf9v6umInmdk9yWv1toG8AiCQmqJRFJE8llnf7dWDirTgNpd9Iei8sEsoiuwjiHTHoFGrSnTnoqMIteYyd0Dh4D7fvrfpiUZHw8I-uAqRo_XZp9G72H52qa_LKiWOj0rLSiWo36BB1VH_FcdFO5f9DikX4P2YaQW4EfIXOwJH5AW6KKQt7dr7RubXN2zYO-D779zkBL406PXD3skRlEt1DQp-zuGciUDSPFVAMy1UEQTvWsF816dOspMTW7MYhftSH7QQQC2Sp2ft6Z_s5UPtraDT8sgFvWiagXjGnb5DhvkyjYWjuq7aE1M3y_NK_NIW2VJ4epMu_naIfUJfiUIz11VmXqt4ezFtxxlIwG7sAjGU0Vz_O8S4sKLUdv0Gdb8wJ7TZ6c-VzdGNhV8OETOHzBJV_4BI1IspA81MYSf9x_rfap1vwXmiO6ibzEzxG5sqRIOmV6nZGY0L9FkirehXYwQ4kdYglInqxRCz8S9DhJMErLwS9kmEzJYuTAPIAAjxw5QpRaRmOnGV7zcPSYwgJVIU_8exFcnwjjcribEAxcas0kYYKYGm1CSy8bF0Li5nJWvuDy7VFCDRB0qEOX9r0S7joa4qwfSKyno1UfNfII72oI6fW1WpgGC8Wz2XUL9NQ7zpjlPEKa7VWzeqTB0o0TpdIQLiO3Nf052XhwI9r3M7278FPobkC06dYAPyWwFpslMV5KdZO5J8E1jP_rMeBeDFUvHdXrnxi4OFs9U7FG-LVj2JCDmBYTlsxY_9vLFvR3gqNDv6KD87SZe6GTXdNHzX3aswk_YIcEXKrLfEnwwOP7M_yGe9_p8nl9r2XAraSc0YPcbvy8TUkCZbyNK9h6ZpqORiV439-daW6snlcQsszuB-gI-GMPxfk6k0Dym-HvtjJz9ATjHq-qO9mNACPXQwacvbzY51xLfecT5D71ljNiPMNA9i08esNHMfeOPAdW-CDmfNGFxBD0CS015MPyEusCrd8fOh1S4DsNy2XntHbQnD6_xc6wls8IGC7MCOL177IJ_RdD7akxNZfONEq600IEiW8q2khw3xgBJqPIJihdRjYtospA_AGA3dD1oZCK46w-pLORGiQQpw54oMkBpsyyFYB_HXsx-b1wFQ7r3FLkP2H4YARUrLwCJeqSntmfUwkW_nfnyYsjNOInPEDMtBtpn6PZ7QMX-hnFP_X2HArn1CJsNJ_8eyTONHl6S41BIZhO2FGVdtrdh7jlD_c8YCyp5ZVacc6mhWcPYCxHiVzuBRd8UUXC27kwom0z4jpXt1SALV5pcE9m3kdfVAih2sKH3i_h8nTSctEEghkCs-swb10Bzrxk4NvjBj_vtvgliZ3mgHxEg_EwnHNknl1IoZZTsDAZVq1bEv_D9Vipc41kVVxu7FMHYps2KB83_iht6lcklVBwWLY8TrlWglrh_1u0-sPqlew8bLw6I6JlVNlqQf1NEr-M_phYvEeR_MHHO4QMzxWNh07zYPW36mESug3XCkKsCd8plvPW2sJiJFnmU1l3NlGgWSaYckWgw==",
  "id": "rs_0dc5b177f7837ae3016ab461ffbd9887d0aba8517778adc095",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.205,\"left_z\":0.025,\"left_yaw\":0},\"note\":\"With the arm clear, the bottle necks appear farther back than the low reach allows. I’ll first grasp the left bottle around its nearer body so I can bring it into a better position for standing.\"}",
  "call_id": "call_vEHBTtQCP0vRaM3dodGrHLtT",
  "id": "fc_0dc5b177f7837ae3016ab46208d62c87d0820b31e8f671500d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vEHBTtQCP0vRaM3dodGrHLtT",
  "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]: [-0.6682, 1.927, 0.8127, 0.3435, -0.5816, -0.4446, 0.9956, -0.0284, 0.7582, 0.5861, -0.4454, -0.0383, -0.0574, 0.9993]\nstate[eef_state]: left_x=0.4 left_y=-0.1875 left_z=0.0144 left_yaw=0.0344 left_pitch=-0.059 left_roll=0.0482 left_gripper=0.9956 right_x=0.2814 right_y=0.0024 right_z=0.1681 right_yaw=0.0095 right_pitch=-0.0453 right_roll=-0.0106 right_gripper=0.9993\nstate[joint_eff]: [-0.5265, -8.3487, 7.5009, 1.7558, -0.0415, 0.2173, 0.1148, -0.6769, -1.5521, 7.2, 2.0342, -0.1343, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50ecbc07ad8406f9cfcf41d601670e842e48f2a3c083ff4f855db2d36fe9bdb3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8aab9a5a31f698efd673350f05a0cf805d38449f16df24f71ea554849a62518c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac24231a1492c3b89e242d375d10f6fe406af5719c23374d01da6b23dc48609d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 2.875 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 30 changed as sent

message 38 changed as sent

message 42 changed as sent

message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5705, 2.1334, 1.2182, 0.0166, -0.9241, -0.8734, 0.7957, -0.0147, 0.7971, 0.6395, -0.4603, -0.0299, -0.0544, 0.9993]\nstate[eef_state]: left_x=0.4717 left_y=-0.1309 left_z=0.0397 left_yaw=0.5923 left_pitch=0.0718 left_roll=-0.0635 left_gripper=0.7957 right_x=0.2882 right_y=0.0046 right_z=0.179 right_yaw=0.0145 right_pitch=-0.0459 right_roll=-0.013 right_gripper=0.9993\nstate[joint_eff]: [-0.5675, -6.7624, 3.2342, 0.7985, 0.2808, -0.2906, -0.0366, -0.8957, -0.8547, 10.0718, 1.7802, -0.105, 0.1245, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6621, 1.4391, 0.8249, -0.0891, -0.6044, -0.4839, 0.9943, -0.0212, 0.7959, 0.6453, -0.4793, -0.0303, -0.057, 0.9993]\nstate[eef_state]: left_x=0.3672 left_y=-0.1544 left_z=0.1424 left_yaw=0.0776 left_pitch=0.0024 left_roll=-0.0175 left_gripper=0.9943 right_x=0.2861 right_y=0.0029 right_z=0.178 right_yaw=0.0098 right_pitch=-0.0581 right_roll=-0.0145 right_gripper=0.9993\nstate[joint_eff]: [-0.4308, -6.8581, 6.8444, 1.5018, -0.0855, 0.3004, 0.0171, 0.0615, -0.6359, 10.1128, 2.0, -0.1538, 0.1538, -0.0122]\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 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6682, 1.927, 0.8127, 0.3435, -0.5816, -0.4446, 0.9956, -0.0284, 0.7582, 0.5861, -0.4454, -0.0383, -0.0574, 0.9993]\nstate[eef_state]: left_x=0.4 left_y=-0.1875 left_z=0.0144 left_yaw=0.0344 left_pitch=-0.059 left_roll=0.0482 left_gripper=0.9956 right_x=0.2814 right_y=0.0024 right_z=0.1681 right_yaw=0.0095 right_pitch=-0.0453 right_roll=-0.0106 right_gripper=0.9993\nstate[joint_eff]: [-0.5265, -8.3487, 7.5009, 1.7558, -0.0415, 0.2173, 0.1148, -0.6769, -1.5521, 7.2, 2.0342, -0.1343, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50ecbc07ad8406f9cfcf41d601670e842e48f2a3c083ff4f855db2d36fe9bdb3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8aab9a5a31f698efd673350f05a0cf805d38449f16df24f71ea554849a62518c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac24231a1492c3b89e242d375d10f6fe406af5719c23374d01da6b23dc48609d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGIOnGqx4Oh9Un8OWyjfBMprL99Ko1u4wvNuTqGx2_xheB0ocJKkStJBqGhDnilQ73IwBVv_qrbg9FbPA4kipjcC7j2f8k5BWQsVgVYaZjekdFL8ZyrZ_MmZ9m3WOl0HbX260IyAq1fcKrEqnxGYMKG4LFFAlJVsUgpR1z-9XWjX0qW1xhsbXjHotjqvEokDsEk7IAKPjqg0pVKHXQUeODYmu-9QmC5j9q__zcLHUokL-kF26hFaQzRjAy5C6xItv2R7WJesd1oPpkQcOSyjsxzOLHZ6IfeEEs2U71TAeltNv66yeIFXq79wKN1Jq5doypaEbXYGIMTqApaIuu3bnUb2AOI5cgNlCjdkAUUgfw5iuodHTrQGLCb1OUxpHTSCbdf52aR6IliqLOLG3pz39DNnEm41buDTWISptIQFE0QO5ISoCQQSrcohNftjUBSyjb_WUhE0s0FrNqx_Ws3WAxgJuqYpQxpaIX8zTIDeTaP9e8QkhkjRC6ZGQuNHRS47XWdEBHW0SPhjjciGTgfYkrMXBGSbZXmo2MUjH0JGEdyM2vH2uZnyiIbDg_3ovu-XIpoCd1xeGPj_GdwGllB2H5x1UZGjjxg1xaec0wIzO_3gPKcxvE-KxGEz68sjWKsEUN97vATeS1bBo3GZxBobly_RMpn5G3pgoTL270svOBQtVBDXBdjdnw1T6nW1XMKqM9fumjAWBOy2Q9kJ5zWWhGQofBOVGw8gnlZAnyib9qN_64d4V0zogs4g-nbz3zzntqwVHkgsYzm_UFxoKlUA-RlyhTBbTQfb4YkQ3G5SYTyuQN7ngTReu-GYtKcQEVg0W2jlgWmYVaFeyk8KfW7QVplg_q6wwyyKubMZ45rlyXBWxW9Anq_pkIzsmAHnK8zmC8QmRJsNGOpTWA9-_eQ7Gq_Rlm3yPyOc_EfzAnqH6eN_U1ubG0BDlyRWBZ4Nz9JoLhVdZXyoq43rOApTUt_rjAJXYatFqg1F8q2ojVoFmED_DDYULcvrRsiW6Hhgu6KcvnJYZd1_ht0MuHiIVbLUYPzHjWmXMdxnDkpQc4qGhZefUY-Eyk9wZ_Qfp2XUxQHlGqwlxHAfiAgfDbSyMw5tYHXDdZZb83qCCuACahx50XhACvwSbPep9DDtZu5oUO6-aYlx8tma4O86kb97XAIuRJ_wprbAy6MzP2yIeMExsDqTtEpBpWI1awPKdHHspg3PDkvCpFy-Cg9eLlGrm7X9iSM4kgDltodwQcb3miI_sm4pTm4GwD5wIatPwsZuoSfQnZj4Jt5xXhB3-dgadDfGx0pEWbVyctwGtUBeGvDlyFn-5jBizTeBnsevHqUwyJvy1_EqpBfBBDVsAhX-H9ZZkgKQKA==",
  "id": "rs_0dc5b177f7837ae3016ab4620c7f8c87d0ba31c84736be013b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The arm has reached bottle height, with the left bottle’s body centered between the jaws. I’ll close around the body to establish a secure grasp.\"}",
  "call_id": "call_j8xpXxqoP3UGFE7nDVNGbtUD",
  "id": "fc_0dc5b177f7837ae3016ab4620d5d0c87d098631bd6368c0ef1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_j8xpXxqoP3UGFE7nDVNGbtUD",
  "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]: [-0.6682, 1.9564, 0.7609, 0.482, -0.5831, -0.4484, 0.5352, -0.0307, 0.7319, 0.5411, -0.4217, -0.0528, -0.0578, 0.9993]\nstate[eef_state]: left_x=0.3996 left_y=-0.1869 left_z=0.0084 left_yaw=0.0363 left_pitch=-0.0147 left_roll=0.0088 left_gripper=0.5352 right_x=0.2776 right_y=0.0044 right_z=0.1593 right_yaw=0.0196 right_pitch=-0.04 right_roll=-0.0028 right_gripper=0.9993\nstate[joint_eff]: [-0.4171, -10.0444, 4.2598, 1.6044, -0.2711, -0.0269, 1.0281, -0.8274, -1.4974, 7.2, 2.0391, -0.0317, 0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e1abbbd69e4bca1775245bd5cf890703dc89edc235be901b8d152872d67bdc4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:879f3b9e6e8a3e132ac85c22c687f79e9ee698cc5413ab92f8fb29e65a7a30f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1ef5a78f56827507c38a6b2a2e562737bb0bed34f78d1a16127ca20f3eed2ef",
      "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 · 4.284 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 34 changed as sent

message 42 changed as sent

message 46 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5613, 2.1334, 1.3113, -0.1135, -0.9554, -0.8993, 0.0117, -0.0212, 0.7712, 0.5919, -0.4442, -0.0307, -0.0544, 0.9993]\nstate[eef_state]: left_x=0.4797 left_y=-0.127 left_z=0.0583 left_yaw=0.631 left_pitch=0.0799 left_roll=-0.0426 left_gripper=0.0117 right_x=0.2829 right_y=0.003 right_z=0.1675 right_yaw=0.0087 right_pitch=-0.0516 right_roll=-0.0123 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -10.6188, 5.8325, 0.525, 0.2369, -0.0708, 1.0134, -0.4718, -1.7846, 7.1043, 2.0977, -0.1978, 0.022, -0.0073]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6682, 1.927, 0.8127, 0.3435, -0.5816, -0.4446, 0.9956, -0.0284, 0.7582, 0.5861, -0.4454, -0.0383, -0.0574, 0.9993]\nstate[eef_state]: left_x=0.4 left_y=-0.1875 left_z=0.0144 left_yaw=0.0344 left_pitch=-0.059 left_roll=0.0482 left_gripper=0.9956 right_x=0.2814 right_y=0.0024 right_z=0.1681 right_yaw=0.0095 right_pitch=-0.0453 right_roll=-0.0106 right_gripper=0.9993\nstate[joint_eff]: [-0.5265, -8.3487, 7.5009, 1.7558, -0.0415, 0.2173, 0.1148, -0.6769, -1.5521, 7.2, 2.0342, -0.1343, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6682, 1.9564, 0.7609, 0.482, -0.5831, -0.4484, 0.5352, -0.0307, 0.7319, 0.5411, -0.4217, -0.0528, -0.0578, 0.9993]\nstate[eef_state]: left_x=0.3996 left_y=-0.1869 left_z=0.0084 left_yaw=0.0363 left_pitch=-0.0147 left_roll=0.0088 left_gripper=0.5352 right_x=0.2776 right_y=0.0044 right_z=0.1593 right_yaw=0.0196 right_pitch=-0.04 right_roll=-0.0028 right_gripper=0.9993\nstate[joint_eff]: [-0.4171, -10.0444, 4.2598, 1.6044, -0.2711, -0.0269, 1.0281, -0.8274, -1.4974, 7.2, 2.0391, -0.0317, 0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e1abbbd69e4bca1775245bd5cf890703dc89edc235be901b8d152872d67bdc4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:879f3b9e6e8a3e132ac85c22c687f79e9ee698cc5413ab92f8fb29e65a7a30f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1ef5a78f56827507c38a6b2a2e562737bb0bed34f78d1a16127ca20f3eed2ef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGIS2yNcd3IoLOqp7rWZ23UaPw1K2MQZXDVeVa0ZjpHxd-noEkQJunSDmvWv4xCo_HIxblp5HPBmVGNGofmeZdBKJeUugOuMfBGjoQypr4GqbJuLxHjPwAcQWBnSFt4Gr2WzhWMbGUIYMbIQx-omsCSvyZ5HKQX_3JP9DUMZuWq8VcV85WtqejlRzavYqP98JKJBcvn5D9Y4CwqM7YC2MsmUEOdeLkQA4IgxOXVGA4GBDUqMhtZgDWlikPLEoiQ2NPIOvOp17QO1mShB3dRnGcSLm_XDLrvbm8AETKnVu98z3S1u92yb1lgbJ-EN3xt0TCopFA-X6v7by3McvKj4rURqRHa8h1HYl6TrXJuaRCVuDaQlSESlP28tX9ykyEkMxEYVCt80CiMfWtW2Hy6F8sJPXkDM2Vim5wK9ZLj8q_r327sQ6eqbHNNR3IiuDQ7WA0uCUxAcgAlZ4Lhnn3hu-IL6_mpzZ5M0JMTL1An4eypWQ7-Ud2yIKWWQWVTUlw7lIZ6lt5foXq9yPrDo_0ntp2FiFdy1_GHLKwt-TAiA3K7IO6FWoigHlEsOyLGV8y46t7bIvF1YiEX8EX1E-TkHessuX--ID4K_fTDTHE_Ta-y3zE53v6bI9XvecWHf0yR9fBYurGMJFW24gAQwpnPZ4nsPmdkMd7s4Kv35B4VM_MQnYEQlH5TRql0Q0n0QqFc7T2XAwZ18IeqZ-ttURAehxybX3J_JIHd4zLudyxJ10cztT4MIyQKc_FPd7dN7Ga_NAjS8nUzVLUgeTQ1XyM1XKLrQGoBI6VOENGrYeQ5T-AsLMpncVNBmVML08JMoStMuvZpf53hM8PVq4fO57pcBv7ZMqa8p5_juKP7fI1x4NgsUnEKJ1SRtgfxDUsC5Ej4W4h_RRiISWMu4Seqkej0hbaKdoMV6fDyOOZDXWpPXJN1tq6SX-8A3_e1iZD0YzMB75nKxmbjUQd6tfOKsrZ_CWgpmdzcqITMalrSsrzWkfoWCkOHs9bOd6xRDZSdLgoNDwIO1P_Nlgo79CEJUOzKPWvtL-6Hfdbs2-aaLI6uT16aIpt6pJccAvWuRcdVOM08ozY2OOWaIPgipklA4ne3Y6LbSYW8tR6x2HmH20ld-k-5ekm4MQ1e6Z7QRpbZTJJzEHzmMiOWV2VX_KFQnv8D_2isb6hJbi0TmD6Mfr3aeXsHxB7mX11hU60gBXCWpFBkt1RaZUzYAix_PnY5EUcM_k-ubLA==",
  "id": "rs_0dc5b177f7837ae3016ab46211030487d08c361abfe7cd89e5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.185,\"left_z\":0.08,\"right_x\":0.294,\"right_y\":0.004,\"right_z\":0.2},\"note\":\"The gripper remains about 5 cm open after closing, consistent with holding the bottle body. I’ll lift it a few centimeters and draw it slightly closer to check the grasp.\"}",
  "call_id": "call_y0WMHy0cjloggeia3WxrIzge",
  "id": "fc_0dc5b177f7837ae3016ab46211341c87d08438225e28915924",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_y0WMHy0cjloggeia3WxrIzge",
  "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]: [-0.7013, 1.7557, 0.7395, 0.1825, -0.5549, -0.4728, 0.5324, -0.0338, 0.7944, 0.6388, -0.4686, -0.0559, -0.0616, 0.9993]\nstate[eef_state]: left_x=0.3654 left_y=-0.1821 left_z=0.0319 left_yaw=0.0001 left_pitch=-0.1186 left_roll=0.0517 left_gripper=0.5324 right_x=0.2867 right_y=0.0038 right_z=0.1778 right_yaw=0.0212 right_pitch=-0.0517 right_roll=-0.0035 right_gripper=0.9993\nstate[joint_eff]: [-0.5675, -11.7265, 8.0752, 2.4982, -0.8474, -0.022, 1.0085, -0.1436, -0.7316, 9.7983, 1.8681, -0.0659, 0.0024, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e0152fd2b6cce830b4b8dbd095356598e9c34739402c49845b3e2983ad4bf27",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8af18b47582cff0e6ca52d3fd9dc8320539a79e8e229b1bdd481d7f754ad5161",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d26ca21d1ea07106e075a05921b45785e1be8850ade511e3fff7e3a9376947d",
      "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 · 3.586 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 38 changed as sent

message 46 changed as sent

message 50 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6621, 1.4391, 0.8249, -0.0891, -0.6044, -0.4839, 0.9943, -0.0212, 0.7959, 0.6453, -0.4793, -0.0303, -0.057, 0.9993]\nstate[eef_state]: left_x=0.3672 left_y=-0.1544 left_z=0.1424 left_yaw=0.0776 left_pitch=0.0024 left_roll=-0.0175 left_gripper=0.9943 right_x=0.2861 right_y=0.0029 right_z=0.178 right_yaw=0.0098 right_pitch=-0.0581 right_roll=-0.0145 right_gripper=0.9993\nstate[joint_eff]: [-0.4308, -6.8581, 6.8444, 1.5018, -0.0855, 0.3004, 0.0171, 0.0615, -0.6359, 10.1128, 2.0, -0.1538, 0.1538, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6682, 1.9564, 0.7609, 0.482, -0.5831, -0.4484, 0.5352, -0.0307, 0.7319, 0.5411, -0.4217, -0.0528, -0.0578, 0.9993]\nstate[eef_state]: left_x=0.3996 left_y=-0.1869 left_z=0.0084 left_yaw=0.0363 left_pitch=-0.0147 left_roll=0.0088 left_gripper=0.5352 right_x=0.2776 right_y=0.0044 right_z=0.1593 right_yaw=0.0196 right_pitch=-0.04 right_roll=-0.0028 right_gripper=0.9993\nstate[joint_eff]: [-0.4171, -10.0444, 4.2598, 1.6044, -0.2711, -0.0269, 1.0281, -0.8274, -1.4974, 7.2, 2.0391, -0.0317, 0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7013, 1.7557, 0.7395, 0.1825, -0.5549, -0.4728, 0.5324, -0.0338, 0.7944, 0.6388, -0.4686, -0.0559, -0.0616, 0.9993]\nstate[eef_state]: left_x=0.3654 left_y=-0.1821 left_z=0.0319 left_yaw=0.0001 left_pitch=-0.1186 left_roll=0.0517 left_gripper=0.5324 right_x=0.2867 right_y=0.0038 right_z=0.1778 right_yaw=0.0212 right_pitch=-0.0517 right_roll=-0.0035 right_gripper=0.9993\nstate[joint_eff]: [-0.5675, -11.7265, 8.0752, 2.4982, -0.8474, -0.022, 1.0085, -0.1436, -0.7316, 9.7983, 1.8681, -0.0659, 0.0024, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e0152fd2b6cce830b4b8dbd095356598e9c34739402c49845b3e2983ad4bf27",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8af18b47582cff0e6ca52d3fd9dc8320539a79e8e229b1bdd481d7f754ad5161",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d26ca21d1ea07106e075a05921b45785e1be8850ade511e3fff7e3a9376947d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGIXDPsyfyEZhFLF8x1CCcohK3K4gb3RAEM1RJt07tREmSNby3xWSuY67cVWGjvpN3XDas2B4DWEfjxZSJ3ME9SOE41s40uhCNEFbb0PljPOUq07cJMVBbWyGqP4VIgdhr5yuCtJEktbYNr-_okspxUTltYcd2McXZa0hzggnUznT-03-weWRHhs50WTm4aVu8Bh3_8lTMbsNlh6OU5Eh_xsos4QEZ8UpZ2TjVuDqvgU5j07sUKyEP0H9FEA0Dlwk_lEdlkMzlakDs8TVVBe33R7vLZ-A9CLOls_arW1lvug6F1fruT1DD-mZfwF8cLPw1c4MT_6WohAGhbUzssX4cDdIW3plCxiFyjRWBcArZdkM-mgUsZHHLDKycJaugOAmZ_maIZS04DY__nppG7s2oEBkrrN3C_5fvkUsfsV2X3HXKzRJ9ADlWvfumDO8g5IeSXPiC9xwW6dy39JHVqXaujV2DPmiL5j2XpgAMk7rBNTvMmKKzWJ6PIz-9iwghlF-ApbJVttbaqWbc71rC5xy5-WuaP5j8eAxmap4HK-XtCRyZhQ190rfH0i3NJlAzwOAuBeLQge4_VlSKo-Qz63URrhXxWR_RfF5lxGoCwSJzeJXcF7Jk5GcFmSj_Wii70_PCNHOSNRbmkCchp9nQdL6fCFtcIB5lMsI9neotzBN1WkleUanNouITs12e6VSDCgrGFhNCSRWplD7l24wEPLnBqXefyDXTvQKPPaK8jtMBZ1991Swm2FL8W6O25t5F0-YyzDGZMsdPZKao768zlAz8B0puc0-fQLtuz5JnOJsmCXnfsBKpoFF_4yoYm8WPBZSx5hDfPpegsWbzEZdg3XeV-w1ojd20oS7nMIM9JVewov8CmJRjGbDI1_Ukoo98Swo1hY-xV9o9NhuB_FdbTflOwyl6kSdAMMeZZbD66OebjltH7UCEk3x0tBmjpJaY2j9fTdis57PG0E8ycD7Bwow7PQWsvqNX5TLz4fDm1nHMnXMXUp1JOQZJM9KFGzWwCkAwEu_7y0VnlKGLjlp4BbI1yWZUA1FePJxuFPeo18snVCxzUjPv71zeEnMfI2VtpTR6s8iq-0KYD7pTnzxXFob_H_sO8s8KnjlvDHqsvy61UbPMQbK4cHWAy_IIgNCn2MlDxgG8sfVCt-VXazfhsotEcznNcnK9O0pdZLiXlup0iL-MIPm-W5EY-IxNvHhpab8cBZPT6_Ju6_N6MLtYT1UME2lBQjz2h7WmJEaBN-pqTYqm7uqgTH6spTPtb0UR52BqKzsBe7VHM_MxWpFv18URoquhDeTIeqstmUEf8ND9pa-D7oqHrZ1hjC0mAcJ_5yOpHY9WDByV7qxZslxzZHsiOyg_UbEgpDN0uRVJZMQVtn5WhQsrtrHY7MA3_M4sjMQHZmuhpnlMgJNghWw4lQad3f6K5wCWtWJtj0v5Bv5L_UsLOfCoHTJ0BxYn7ak0-EHDMwGu7PgtFG-9T-gMEGuf8WviUoF8yI_fcCvNUfa7-zGaD-WE7tLaa74U9Vv3DLam_a-rrrocx79p5W08L88P2S250SjQdv_anTxi3MaOhmv1x_uOwn39DgVRpczRjfg4EP9uMKJie5lzPMN7MYQ90cfQ==",
  "id": "rs_0dc5b177f7837ae3016ab4621451c487d0a2ca30f52e59ca5d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.285,\"left_y\":-0.18,\"left_z\":0.05},\"note\":\"The bottle moved with the jaws, but the loaded arm lifted less than commanded. I’ll bring it closer while keeping it low, making the neck reachable for the upright lift.\"}",
  "call_id": "call_6lg7Dy3mZqkkW7So3TQoq7E1",
  "id": "fc_0dc5b177f7837ae3016ab46216082887d0b54970f2dfcabff0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6lg7Dy3mZqkkW7So3TQoq7E1",
  "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]: [-0.9291, 1.5608, 0.4648, 0.1829, -0.6556, -0.6144, 0.5321, -0.0341, 0.7628, 0.5858, -0.4442, -0.0566, -0.0616, 0.9993]\nstate[eef_state]: left_x=0.2754 left_y=-0.1827 left_z=0.0194 left_yaw=-0.0738 left_pitch=-0.116 left_roll=0.0524 left_gripper=0.5321 right_x=0.2817 right_y=0.004 right_z=0.167 right_yaw=0.0215 right_pitch=-0.0486 right_roll=-0.0032 right_gripper=0.9993\nstate[joint_eff]: [-0.1709, -8.4308, 5.7504, 2.1123, -1.033, -0.0855, 0.8718, -0.6906, -1.6889, 7.0769, 2.1514, -0.1099, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e08166e634a13edf6e8d5c035d6bb493d45870c0d9d76cc54005c8622c83a9d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bad20d0b7dc4d4c2b765d83cc7e0a3327ea8069f2317e593ec255910fc463503",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8ad37f7539960fc5d93eab94ff53dc4451dc75695a0ccdc460d7cce2a290bbb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 4.037 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 42 changed as sent

message 50 changed as sent

message 54 changed as sent

message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6682, 1.927, 0.8127, 0.3435, -0.5816, -0.4446, 0.9956, -0.0284, 0.7582, 0.5861, -0.4454, -0.0383, -0.0574, 0.9993]\nstate[eef_state]: left_x=0.4 left_y=-0.1875 left_z=0.0144 left_yaw=0.0344 left_pitch=-0.059 left_roll=0.0482 left_gripper=0.9956 right_x=0.2814 right_y=0.0024 right_z=0.1681 right_yaw=0.0095 right_pitch=-0.0453 right_roll=-0.0106 right_gripper=0.9993\nstate[joint_eff]: [-0.5265, -8.3487, 7.5009, 1.7558, -0.0415, 0.2173, 0.1148, -0.6769, -1.5521, 7.2, 2.0342, -0.1343, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7013, 1.7557, 0.7395, 0.1825, -0.5549, -0.4728, 0.5324, -0.0338, 0.7944, 0.6388, -0.4686, -0.0559, -0.0616, 0.9993]\nstate[eef_state]: left_x=0.3654 left_y=-0.1821 left_z=0.0319 left_yaw=0.0001 left_pitch=-0.1186 left_roll=0.0517 left_gripper=0.5324 right_x=0.2867 right_y=0.0038 right_z=0.1778 right_yaw=0.0212 right_pitch=-0.0517 right_roll=-0.0035 right_gripper=0.9993\nstate[joint_eff]: [-0.5675, -11.7265, 8.0752, 2.4982, -0.8474, -0.022, 1.0085, -0.1436, -0.7316, 9.7983, 1.8681, -0.0659, 0.0024, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9291, 1.5608, 0.4648, 0.1829, -0.6556, -0.6144, 0.5321, -0.0341, 0.7628, 0.5858, -0.4442, -0.0566, -0.0616, 0.9993]\nstate[eef_state]: left_x=0.2754 left_y=-0.1827 left_z=0.0194 left_yaw=-0.0738 left_pitch=-0.116 left_roll=0.0524 left_gripper=0.5321 right_x=0.2817 right_y=0.004 right_z=0.167 right_yaw=0.0215 right_pitch=-0.0486 right_roll=-0.0032 right_gripper=0.9993\nstate[joint_eff]: [-0.1709, -8.4308, 5.7504, 2.1123, -1.033, -0.0855, 0.8718, -0.6906, -1.6889, 7.0769, 2.1514, -0.1099, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e08166e634a13edf6e8d5c035d6bb493d45870c0d9d76cc54005c8622c83a9d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bad20d0b7dc4d4c2b765d83cc7e0a3327ea8069f2317e593ec255910fc463503",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8ad37f7539960fc5d93eab94ff53dc4451dc75695a0ccdc460d7cce2a290bbb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGIbyVfT4IwaUG6i4SMRzayAOoN_vf8jfA3UHg5rIk8WBcS0VbpEAtOshhkYNw6b-T5sr41C_7FsIPFtVmNtjPMvh7C--87P641cozl-I-CZShhoSsaGlfzKCOn0N4SK1SuAsZ-H4cBjSt9D0v0sAOGpnQMjKaCP8PqGTTxjWZe4WFZ46z6zsvyfb_oJI5ZFvO9fV_qtJ_eIDqjjUbBeFR-Ku-8isQtCSkHdEmaomCbNvGNfAiAFAuoCwMviV-BJTpWaLQ2x8DKnI6lM61ZVt9CQ1GV-MxaB9d0tHmn7UA9jDPAYnmUoxM_S4RBqiTwCEq1irZfYlPolFFyo7EtY4s7ou2tMnpRIl1YBThrxs1i39QMruWJ6wB-bL37K_PQ0gtUQOra9QnbOtsEBYkY3r9DY8Hna1MPX6aRJPadjgNtNrsvEp8YDO8zMcuV56L7Iv17tYtWBa8A3K437_JfcWVWAdXrR1feJk8alfx-uHa-zVbZaM0OpMElXQ2PsSzaJJLF0QDiplPR6JUtcAJ2c9_ylM6uD9WJZLYy4EwjgqYHnWgQRlE-OSLHRcttxeJyC1eLD75uyJ34IbU1ZTLzDjn-6Lk5Ws7U5sKjx-eLpe-bNkFDj7CPuY2Z6oJIwkAI8cYcB4TOzmSzQYt5EauRUv46rHfKBAAkaVlJGnKjcX-l4YuvrmFZL93nolTUCLVk0gyhHHJ5AloRsSUmh0LvY8nt-XXVEEUh5VKy7-b9s6YLjeD1clZOoOAN-bLveoMGSDDdJlVEmGapRC_vzh0Foa9umAZ6-hGZ6poa6g9-CBl3Wngsm0oO4B37tquJt70MqHXJwZdeX5XFk2ZKuJY-HBlHTH7NGEQSvU2VMlcBNjFI-qHeU8SgQAXblF9qKNUNvXMvaWfQL7L16saupBhUx_nzlsRjI1LWVfRHC2VrUfkZp9z4202ed4bPitsV-f0Yjz8R1UF-ss9vzTfKd-XIPzT3VPzeD7Z7SjZdRjpRAR6CiB4CU8Kb1ZljsbEtNuMQTua5AX5fEMzGzaD8XTt6hi58CWTGoYp86Vizx2cNqH-gxy7whl4pMNw_OxI_wefPz-gMcfp6s7xqu3ufS2RbppDmQcEjVJYULnw3wQKxQqQS8ptDlqdKsmNqxzFxOL7aNFhU_CGc4pCm3zRrTKXZyKL42Q8A8G54ZDLPqFFi2kAkZZ-tl4hgJlHMa5MehPi2WvsCcS23JOw7SrVQmykZNAL0L4Cfo9KCu7NIAEtP0N5rUw9zU9gvh2wURyk_DYZCNreQAW3N8fAtdU8RuxdrQgYlQzQBHLf3f0KtQrHmEZYGZ-bNzjAac0epf3-EucF0eT9yb",
  "id": "rs_0dc5b177f7837ae3016ab46219768c87d08f623022d02f998e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The first bottle is now closer to the front, with its neck within the arm’s working range. I’ll release the body before moving to the neck.\"}",
  "call_id": "call_XMjCKDPvG3Oz3HHifAHUPwDf",
  "id": "fc_0dc5b177f7837ae3016ab4621a50d487d096ca5b318c130a1a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XMjCKDPvG3Oz3HHifAHUPwDf",
  "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]: [-0.9504, 1.6043, 0.3569, 0.4221, -0.7017, -0.6052, 0.9956, -0.0341, 0.7345, 0.5381, -0.4187, -0.0566, -0.0612, 0.9993]\nstate[eef_state]: left_x=0.2717 left_y=-0.1779 left_z=0.0121 left_yaw=-0.0735 left_pitch=-0.0325 left_roll=0.0157 left_gripper=0.9956 right_x=0.2778 right_y=0.0041 right_z=0.1579 right_yaw=0.0213 right_pitch=-0.0425 right_roll=-0.0032 right_gripper=0.9993\nstate[joint_eff]: [-0.5402, -4.9162, 4.588, 1.5702, -0.486, 0.0366, -0.1099, -0.7043, -1.6342, 7.0222, 2.0195, -0.1001, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11ba150b8d14ea95f982fb665291feb6652ac233970d48fd434b455366adb9d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fa2da56d16549f26c481faad1f72d60d725c42fb63e9e1c785aff95aa17254d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c932b1559aebc830ab5046840242a91f990443bff638ec77da4ea5b36a65f2f4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 11.26 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 46 changed as sent

message 54 changed as sent

message 58 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6682, 1.9564, 0.7609, 0.482, -0.5831, -0.4484, 0.5352, -0.0307, 0.7319, 0.5411, -0.4217, -0.0528, -0.0578, 0.9993]\nstate[eef_state]: left_x=0.3996 left_y=-0.1869 left_z=0.0084 left_yaw=0.0363 left_pitch=-0.0147 left_roll=0.0088 left_gripper=0.5352 right_x=0.2776 right_y=0.0044 right_z=0.1593 right_yaw=0.0196 right_pitch=-0.04 right_roll=-0.0028 right_gripper=0.9993\nstate[joint_eff]: [-0.4171, -10.0444, 4.2598, 1.6044, -0.2711, -0.0269, 1.0281, -0.8274, -1.4974, 7.2, 2.0391, -0.0317, 0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9291, 1.5608, 0.4648, 0.1829, -0.6556, -0.6144, 0.5321, -0.0341, 0.7628, 0.5858, -0.4442, -0.0566, -0.0616, 0.9993]\nstate[eef_state]: left_x=0.2754 left_y=-0.1827 left_z=0.0194 left_yaw=-0.0738 left_pitch=-0.116 left_roll=0.0524 left_gripper=0.5321 right_x=0.2817 right_y=0.004 right_z=0.167 right_yaw=0.0215 right_pitch=-0.0486 right_roll=-0.0032 right_gripper=0.9993\nstate[joint_eff]: [-0.1709, -8.4308, 5.7504, 2.1123, -1.033, -0.0855, 0.8718, -0.6906, -1.6889, 7.0769, 2.1514, -0.1099, -0.0464, -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 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9504, 1.6043, 0.3569, 0.4221, -0.7017, -0.6052, 0.9956, -0.0341, 0.7345, 0.5381, -0.4187, -0.0566, -0.0612, 0.9993]\nstate[eef_state]: left_x=0.2717 left_y=-0.1779 left_z=0.0121 left_yaw=-0.0735 left_pitch=-0.0325 left_roll=0.0157 left_gripper=0.9956 right_x=0.2778 right_y=0.0041 right_z=0.1579 right_yaw=0.0213 right_pitch=-0.0425 right_roll=-0.0032 right_gripper=0.9993\nstate[joint_eff]: [-0.5402, -4.9162, 4.588, 1.5702, -0.486, 0.0366, -0.1099, -0.7043, -1.6342, 7.0222, 2.0195, -0.1001, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11ba150b8d14ea95f982fb665291feb6652ac233970d48fd434b455366adb9d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fa2da56d16549f26c481faad1f72d60d725c42fb63e9e1c785aff95aa17254d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c932b1559aebc830ab5046840242a91f990443bff638ec77da4ea5b36a65f2f4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGIfiTYCawiu-ptKCtfMZmnV63sxfvFLOGpiFMVlpMhyJ8O4H2DY6LCprzhlQUwYCj8vBaDezDFeg2ijlF-XJ2WQBFo5SwIz-_6TFUVxNknsFaU8a7BIDx5dbo_7YztAWgv8WCjWL6Z_ejZ8phfptzB0ngrjMyAz27-Q-OedcJ__tf4NlLX7jkEcbV1BHvh11U_o50n5xUqHnTgz0nrTUxXxuHaaqjIhonZPLfLAkh2lemCymPetYar81vAkpq6setju-hNzhsqLyOFZ7dUfHiUmtF_-DyGGh2-RJqaFkOXffvY6NT8fHs96qWXN9oNWi5EQZx4zfKnTzcaoYnKnfWgw6It0DFFSZ6HmQ6ZTydBV5N3wRkKT_OL3EvA27EeD1893trFP2J_SiQRuPkVkkUjMvXgCg6urIwsrNGs_2kCuo1doJgia5iUA_tHcaB1K-mMKupSlOzNJvU_UqW01MyEXCiD7qLtOXKNBleXSV6sPpXMEQ4ImM2iqeMQMZaxa1PauNPpDw7dZ-MYzLFbNK2ZgUv_V_U4sqM8AbqMmvczdQHldgcsVY86-TiZ0fQX2xJsvXyYuwsHAx9KK56-01ONbcKaV0mMBS1t3Cryaj26DQoBjAd1czG0j74l8cGKJmNMWNV8JWmdzZwbFZeZ2osuTvOexC0ip5TofukgPPX2PI73J_0sCsnVctJmzLdvkaYBtqrDI67q-Dc56f0-MUn4V5wsA-PeLUvhY2QlY71XUUzzHyFLgenpuV8CYkGyxtKU4XFdp3qKza7Tl5DqeyV7THrw36hqq_T5_ijrWsPecu4ZeakmtRid42ijSWtr66j0CFSKoyNOC9N43Sv4rSuWmyHLbi-JAVMpNkGB0Wbn1DPS50PIxsgwbsAm-viQK21FH4btTX6Sca2NO2BixWyJbrIGqHEZkftIIHTd--WDnrEN0Ub2EAonYm4HQlCUdrNyBqoFiIM_lXtKwF9lD6eAGgYzMb2-EeFVMBE1_OhV_uptjKAOCinwXooGW9QPDVNAIJyOsbstMP5xinmIxVh4o7YGOMO2pgWBUB4tf93QmcNMwarGPBWZxf-5_VGKnhSOVo6n2MKCM2uh-lywosnCZCQomifwK_qgcAexC8Koo7BjIUFo5l1GtiULDpI8X7GpIa78wca4hZZkFGV0cinH4liQodW4l6HcZCH4HVSiCg4f-6AYWYX3hJpMYCyu05ygZDMOBNEYg5BujiTNcPVmqUQp8ghhwMRi-v5E_DUvualkrih6D-bETQo3a153ZWOYVlFCR8VpIbnnRmJco5GXWs-49GHDK1XTwDTiqWd2fhRBCS8L211NQRDXFNsVNZRzXDeeRt_Bzjfs1tmQtT9bG5YzqgQ-Br9pusp3rSVvMdIfP3aIjbQDhC3B05qznJfnf-fi7Pf364iDOXsG3Q0hn_86QwOVpU8Txhk02l_rJ1w98pty88Evhsx_NhCFaewTMOJIoYcyE2OykXZFrHGBbAQ==",
  "id": "rs_0dc5b177f7837ae3016ab4621d790887d0a0e2dfeb8cb40bab",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.175,\"left_z\":0.09,\"left_yaw\":0,\"right_x\":0.294,\"right_y\":0.004,\"right_z\":0.2},\"note\":\"The bottle now lies nearly straight forward from the arm. I’m moving the open gripper above its neck, keeping the fingers clear of the body.\"}",
  "call_id": "call_4imRDjW4ORy5lX8V5gBoDNn4",
  "id": "fc_0dc5b177f7837ae3016ab4621e755087d0920f4cf0d5d4363a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4imRDjW4ORy5lX8V5gBoDNn4",
  "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]: [-0.5621, 1.7756, 0.8948, 0.231, -0.4923, -0.3752, 0.9968, -0.0341, 0.7979, 0.6456, -0.4808, -0.0566, -0.065, 0.9993]\nstate[eef_state]: left_x=0.4321 left_y=-0.1692 left_z=0.0833 left_yaw=0.032 left_pitch=0.0011 left_roll=-0.0136 left_gripper=0.9968 right_x=0.286 right_y=0.0038 right_z=0.1775 right_yaw=0.0234 right_pitch=-0.0604 right_roll=-0.0053 right_gripper=0.9993\nstate[joint_eff]: [0.1162, -7.8838, 7.7197, 1.6288, -0.0513, 0.105, 0.105, -0.2667, -0.5538, 10.0718, 1.9023, -0.0757, 0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad90d6c127beac837946cb4b96e3b91d1a9f348dc550388c4032ab66a4267a69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a663f000b8278ba00a80e31029127b4c8c269dda4acc4871648538c2ed95b05d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af0f9f8ed8c9b963e7c17be3b34e08a58096f272ac17a0a633881ecac2af54c9",
      "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 · 2.988 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 50 changed as sent

message 58 changed as sent

message 62 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7013, 1.7557, 0.7395, 0.1825, -0.5549, -0.4728, 0.5324, -0.0338, 0.7944, 0.6388, -0.4686, -0.0559, -0.0616, 0.9993]\nstate[eef_state]: left_x=0.3654 left_y=-0.1821 left_z=0.0319 left_yaw=0.0001 left_pitch=-0.1186 left_roll=0.0517 left_gripper=0.5324 right_x=0.2867 right_y=0.0038 right_z=0.1778 right_yaw=0.0212 right_pitch=-0.0517 right_roll=-0.0035 right_gripper=0.9993\nstate[joint_eff]: [-0.5675, -11.7265, 8.0752, 2.4982, -0.8474, -0.022, 1.0085, -0.1436, -0.7316, 9.7983, 1.8681, -0.0659, 0.0024, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9504, 1.6043, 0.3569, 0.4221, -0.7017, -0.6052, 0.9956, -0.0341, 0.7345, 0.5381, -0.4187, -0.0566, -0.0612, 0.9993]\nstate[eef_state]: left_x=0.2717 left_y=-0.1779 left_z=0.0121 left_yaw=-0.0735 left_pitch=-0.0325 left_roll=0.0157 left_gripper=0.9956 right_x=0.2778 right_y=0.0041 right_z=0.1579 right_yaw=0.0213 right_pitch=-0.0425 right_roll=-0.0032 right_gripper=0.9993\nstate[joint_eff]: [-0.5402, -4.9162, 4.588, 1.5702, -0.486, 0.0366, -0.1099, -0.7043, -1.6342, 7.0222, 2.0195, -0.1001, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5621, 1.7756, 0.8948, 0.231, -0.4923, -0.3752, 0.9968, -0.0341, 0.7979, 0.6456, -0.4808, -0.0566, -0.065, 0.9993]\nstate[eef_state]: left_x=0.4321 left_y=-0.1692 left_z=0.0833 left_yaw=0.032 left_pitch=0.0011 left_roll=-0.0136 left_gripper=0.9968 right_x=0.286 right_y=0.0038 right_z=0.1775 right_yaw=0.0234 right_pitch=-0.0604 right_roll=-0.0053 right_gripper=0.9993\nstate[joint_eff]: [0.1162, -7.8838, 7.7197, 1.6288, -0.0513, 0.105, 0.105, -0.2667, -0.5538, 10.0718, 1.9023, -0.0757, 0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad90d6c127beac837946cb4b96e3b91d1a9f348dc550388c4032ab66a4267a69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a663f000b8278ba00a80e31029127b4c8c269dda4acc4871648538c2ed95b05d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af0f9f8ed8c9b963e7c17be3b34e08a58096f272ac17a0a633881ecac2af54c9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGIsQRQ-44gZuWgSRWNXUPNmDA7tfsEmmerTDa1ZVK1tQYCbDe2AVQ8g3j_VvFic-wyEvOQW54CLe8BHGKVuoQut4y-9fxhonqezKg90dEOFecSizihTcK1ahJmR-tHkL0GjjfWYKpyubV1Kssju6oLne1HT5ytEZUueOfn5Cd7yJ7E2oWPH9BakFUmQm7ouDLAoOGUZd4fpba4L3yBHBhOFuFtUxvBBmA87_vP_zwmYOwACGdG51KZOLorNgx7a5CVjrhmkfs0UQGud0DruBoQKFIoc6Fi0-3PuaEMinEU8eMEpQLOgviizDTjmro8XrvB2F7MLzpF3TP-DeFSTMdQeJCLukULyYJfD_D2iR_a1_SjiLn9wwogCGul5DMoWKmbvLwOZTvjzvi9MPaK25QqWnSjmcvp9FWtzkSlHTNmaFrspJnBFQ-RyNMR9PYkzlLB0exMyJOSXaKdQlQL9M8dtNIc3iqi_tY-WRD1MA7sneK9HTLgyM91Nd5wQstXT5cRRs7z0Ka0yMqlRhE6DnHvMy_Rm_w72CXUN4hvuMc4MhW_eVXuR9JYCwLRltvYbySL8_kFXffZRofR7zB8Sw2U9LvufkyTGSI6B5zP8vGsSC6qt-wMqhv9Oa6GTusbdUvyqXjUS7S9VgrPljVhXsCThvBSqLXBOsz3i8_dgK-Lri5d7ysBqkFz0qdbjDoCy3gVVg10WcuyLUe8w48hkIlVvxU9T2dEqyRNDmDFZz8at9e1yfTa4F7nPJso9vvSjV8J1lzaR5R8f6WUawO_8JMGjZ8AUBsKcR2wDCCbbiRvCCx5wD_7E-r6-000MgX1U0zh7AmU-dPilhfvjmo-yQyk5wpQOIythX6q41yieceuy7aRspOUVK7IBFzvEAos6eqwpzfrzchBYST3JUK4c1jKW2QIAZ1ule4HEKkBdadZWToGUdbpHRKfxf7kx6q2B0iXaTGmOCI4IOiRdt-BgPc-eZTww63wEfiNexX20Xd6tkssKff9vzJNt7vdt4C38hKR5dBKIa_1XuMWOG5CxdY41ZlZq9x7WFCq_Ruge-KjhU1PSzzcoV7QjQ-X1kJ47L3uNGnhNibawDVMPmQ1spW-nUXl2l-D3mcDkR1z3vBZVIDtKMcxhRlbRjaNzfH3WknrQ86Lc3aiDm3RxyoZ3NGPagocx2rb7jk7B7-HWxWsspnYKD1JdMhpur2b9uA9gZij8YQLYHIYzR5OHNEUGaajweLdiBR5xux7QwtKpC5h_YrEkbasN9XoJQ0efaBSrvwgRaV_BUqcSTSPu15dGxbJWjFhYVT79VF6JHLcUT77KNsPJg9Nv1sQ5eEXs3dIE-Db8pLIrkvk_FK40eaUKPdsJTO_1nttcatTglzJBbclTKJldNqEdzu-xxCQISBUSI7xz0Mx-PbaUQmvcIpM3qqBah0zRF-lDOgqIoG1ZSOM91SlDrJNf0kPUy_mvadb2k6Uo4RN64FpOs2Rvbi6hxHwaEWO5V_WCM-T98G7XI0zfrwuhwHn02C7qsocAMyqt3Sx9wFt-klTmoKpOqmTYiVLk8Gdh8QNY57O-cbxe8rF1wLq4XH1rCLx9lKPHyhhuXB5ZQ58I57RBRWienODhunx7MzVwtUPDDIaVepn4JNKc_OT3XVC94JsM1OOQ6sFStgq-boJ6vtubmWrau8hm1nLLT4WouwWOU0MNs9Lij23F7cWcia0gmjgfbmYX-vXRzMhIQqLrXF5WXrzYa9nTt-RQ0KgXup9orXe3VuFVxjwCr_NCYn-0PsfH1PhKOyb8Hqt0QVeGy97DQSjOpg8EuJDbsZKritCv7wMnBq6rBSPTy53HeIBHI5ypDPyhtH9a1wRDsudxC7HClsV5Dsu5H6TcKOlSZv2Ze9nwGPhJZNJK75dSgJKA81fn2lmpzg4PNim2GSwuQUyCc5m3Jia92j1a3-KD6uRfmfiTeEy48J-AOrz26tz-YBpvslz8RG1Cw_DtEcVwUN9AjNp98PrHG6ARrv0GzSy8XAhf6KJvXArUkAUUYX2kypsHVAi9PtL8V4G75RZBRz-60nsZdDfssssZ4mhj0s0expcYJfMJYRLSWvgyNwR4HxkbakX8z-Lz_tpiGWf4GOVuobXjNSVgOt1obeEX7JqFklLEh6Vf1Z1DPONNZcPWWk23EyBTRMZiUN_zQ9SSaPZHVxPX9G6yDEV8BSFNvsQSpgJbgZDhgc-zfaU7eDGxLqMnQHtbNs69gD0QIVYtLFZN-hn5vZklOQm9hF7kvTFLksxfEHUPn8gXDpIVwBbpbpr0Z4KQ99Ah9_hGBrnk-qmCplVrKSeMYy649lPY-Y9pnnO1cqf5Vjalo1jn3meBq4NwIiJISJvsuBuI79zfXr41N6wNxdTZ6Us3qkzYr24KUdCZ8sF9lyv7j5N8gcX3cWdAw0ZdmvFY0mz9DodeLCMi7uZeqitD4lt6qRjF_rAGARV2IKhRtvqmNbR6BZ1yGt6lxm4kSnvv5P_Dyn1py2YgW2ziDIfUtT0tWHQnY-WBl-PmzW2m-RUS3r_pdOZaTz9Y3ku1Q4ydpUVWsl9gUTXK1Xnm1_rdJf5Fk1mFuwEDy0KqoHJCX4oT2NWWxt6Wvhvy7EqHLQ8EMlnAuRcdg0oi92qEGatlh7pqt_PU5YGgIX5wqzJuB7U52PCsZE0ENOVbwAzkKY-Lx3GRSUH8l_JEAnYoWILk-FV-rY1RXbgNPzLaee7IheGSMufQmSqa2-duYaHGoa6liYrL_TodFKIpFZeUWqRVWC8-4qND4M2MwWUMbmRLxILhraWu7lxCFa0euQp8AnTa0gPaDYNK12cnxn1cevXuFTrQKmzWg5Pte8woLc4Gy2En18AwOIxPkoM3zqQWjgggVKPMgvwAGImkWoz9qG7odm9YnvJuAruud8fYhbG9Dws5n6h_eZNBvMI2PgWlj9cE8768ozQn3ZXDVCyizfiON2Bvsg0mg3SJZYTsOm8AYoLGuV1nemjYo_vPSWGYJVfDaORfqAejYfQbjQg5c9DkQovio2-zO0w4RmqRkswkSgqbyTX-wxcoubsXHGrNXh7jyuPC4orQrqg0CAdFqhCCIcgpawatu2O3u3plezHfIuNkdONk0BE10Ay02GF3L0LlM3RPGiqY9XcDsWMI0STCqUYRIOdow9E6_Y3N90oKTotrTPU18H47ThVqCg-f_PBlxTkUp9ze7Q-tygVOqDLIQBpC7xOHHsEW6OeTQshNK5MraK3HrrwvAQclZoJaAlMiVfsDc9mHKGCv_WTg8qBFV5IGprX3bCSn8ewnQgN_TJHDvtRaie8UZIWsudcPKOUCIBXEw4bgDrkUKco39sb6ztRyWRlVaUYA9rBWGJ0mTr0qFzxM2pWzmY-VAf_R9qBe3oF86Gv9I1NWgigHhhcUYq4_FR8hkjuPIZ4DAJV13VS-VetfIcQm4_2IwWBcQ3HFELk73Ej5yY0B9I38MpIIn4WKrsw97Q6Q68LHBNZ4uuqzt78rq2KsYI597XgAwr0dj0ZCSFmOkTWjrpPXfsz30ZADOFuq6Oh0bVRZX5NsNnykM9aGfpMN4A986YsmxuYmr2RJFvpNNwMeUDJ5zDpbdcY6L4h6dp5CrR0-rcxvSJ96p1sICOTXMLc5OE2rEZYSyIHj78CitXfRDeXyuM_3VccPFR0w62NZcKbxTVHtOjV0kOlw9s9nL-MVKpuLDlKU6xFO_DSztMTbMkRNqPLtAo_MhhvH428sblb7Q1Tv2QaHmpM=",
  "id": "rs_0dc5b177f7837ae3016ab46222976487d08b3b6726002f710b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.175,\"left_z\":0.015},\"note\":\"The cap is centered in the wrist view. I’ll lower beside the neck with a small forward adjustment, aiming to grasp just below the cap.\"}",
  "call_id": "call_qBImmx8IbRn2mJNeIlrB144T",
  "id": "fc_0dc5b177f7837ae3016ab4622b0c8887d088726419181360ba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qBImmx8IbRn2mJNeIlrB144T",
  "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]: [-0.548, 1.9999, 0.9249, 0.437, -0.5014, -0.3645, 0.9969, -0.0341, 0.7586, 0.585, -0.4458, -0.057, -0.065, 0.9993]\nstate[eef_state]: left_x=0.4558 left_y=-0.1745 left_z=0.0313 left_yaw=0.0478 left_pitch=0.014 left_roll=-0.0066 left_gripper=0.9969 right_x=0.2812 right_y=0.0041 right_z=0.1675 right_yaw=0.0237 right_pitch=-0.0467 right_roll=-0.0059 right_gripper=0.9993\nstate[joint_eff]: [0.8547, -6.2154, 6.0239, 1.243, 0.2125, 0.0855, 0.0073, -0.8547, -1.5248, 7.1043, 2.0537, -0.1441, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17f5831ef62cd31230b099646f8d9719fbe7e5b9b1e1a7ac2672e1b3ab3e0230",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e01c7bc95a99c4631267d7b15732e076c5ea40e98fda634b859af3436c3f8f93",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d96acdc73ea20c6916e1afc12632b6fda1026a67b59638194999efab9ccf44f8",
      "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 17 attempt 0 · /responses · status 200 · 7.466 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 54 changed as sent

message 62 changed as sent

message 66 changed as sent

message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9291, 1.5608, 0.4648, 0.1829, -0.6556, -0.6144, 0.5321, -0.0341, 0.7628, 0.5858, -0.4442, -0.0566, -0.0616, 0.9993]\nstate[eef_state]: left_x=0.2754 left_y=-0.1827 left_z=0.0194 left_yaw=-0.0738 left_pitch=-0.116 left_roll=0.0524 left_gripper=0.5321 right_x=0.2817 right_y=0.004 right_z=0.167 right_yaw=0.0215 right_pitch=-0.0486 right_roll=-0.0032 right_gripper=0.9993\nstate[joint_eff]: [-0.1709, -8.4308, 5.7504, 2.1123, -1.033, -0.0855, 0.8718, -0.6906, -1.6889, 7.0769, 2.1514, -0.1099, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5621, 1.7756, 0.8948, 0.231, -0.4923, -0.3752, 0.9968, -0.0341, 0.7979, 0.6456, -0.4808, -0.0566, -0.065, 0.9993]\nstate[eef_state]: left_x=0.4321 left_y=-0.1692 left_z=0.0833 left_yaw=0.032 left_pitch=0.0011 left_roll=-0.0136 left_gripper=0.9968 right_x=0.286 right_y=0.0038 right_z=0.1775 right_yaw=0.0234 right_pitch=-0.0604 right_roll=-0.0053 right_gripper=0.9993\nstate[joint_eff]: [0.1162, -7.8838, 7.7197, 1.6288, -0.0513, 0.105, 0.105, -0.2667, -0.5538, 10.0718, 1.9023, -0.0757, 0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.548, 1.9999, 0.9249, 0.437, -0.5014, -0.3645, 0.9969, -0.0341, 0.7586, 0.585, -0.4458, -0.057, -0.065, 0.9993]\nstate[eef_state]: left_x=0.4558 left_y=-0.1745 left_z=0.0313 left_yaw=0.0478 left_pitch=0.014 left_roll=-0.0066 left_gripper=0.9969 right_x=0.2812 right_y=0.0041 right_z=0.1675 right_yaw=0.0237 right_pitch=-0.0467 right_roll=-0.0059 right_gripper=0.9993\nstate[joint_eff]: [0.8547, -6.2154, 6.0239, 1.243, 0.2125, 0.0855, 0.0073, -0.8547, -1.5248, 7.1043, 2.0537, -0.1441, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17f5831ef62cd31230b099646f8d9719fbe7e5b9b1e1a7ac2672e1b3ab3e0230",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e01c7bc95a99c4631267d7b15732e076c5ea40e98fda634b859af3436c3f8f93",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d96acdc73ea20c6916e1afc12632b6fda1026a67b59638194999efab9ccf44f8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGIvmTg4CAAjsTj9aAJeWT7vjpUuLU5aQvRVPW6MxRVyEpA-VPR9WK5zBk19EtlO9ztkIE_agj6ImezLNFvYj4QEiwaH6Lzpso1Jc0gm3zcEqX2wZquViuumxkLbTTqurBilxQj1BEOcJmev0sseO9lUnC2mQxAVRO7wKkx_EeOr0phhGLrB3XOJ9M8vyyQkaC6Z7Qlsf2f1YYwyyTzsIRr-skWffaWzqnOiFd7XPBN2rYwdp8wZbCMvcrLYK0O9e28AA28GKpQ7NeHqePxa8lRmn6EXX5hcYL72FrqtMU666zIouHr1c65bPGdt-k4vjKt3iAeUtzw84_OQOMI1LAwBrKo8HyeUoe3pO35-2l-HUhHHbCwbekFsVwlNqPBJ9mGRcy5GxceGlQlzRjRsW66D-YPFPPDE-fTUzgpUJEMB9P3kvFmc6AMQUWrWGoLh-lEDELFVqtBJhPhmjRUeYilKHtK5EqxHP5L2iXf6YQFnYLwqs0WiMj99V9k_2ghHgCstNm1zZ_8k7z_XVCs1LJYExZlx5UXbKC-ubJiOMhF1W66g2a8mNYrXQVZISxXEVlVYHcvcLHaFVTR1Dc5Dj6czVd9lb2j2e16IYdtz_7Fd5rJ5J3vvsZJmuMZXlMpxGFeffjj62Pm2p7X7Ohye_mGMiiXlQLXIfSwRNEtgxi0kXqtipWOxLo5U9SPftLG7m5Pi_jY4Hpkc5uUvNNMzRco90JK3J4Qru0KR9dpVcNYaf43VzZbcfoUlvHtKv-TVzl4smEJIzCew0NWKbcMeX6tYSpNzzCOsO_COiUcSDSiOVScbn8kwwUnxwFrmredpTiXGN7iu6i_jiA3T4Pxz7EX6LGoHxMEClJwasQaRBjSW4JOBWXKfCDAlHaAdzxFmJ6ohovZrDrv2Kl1W6ZboVc6eM455JbzC0oYQKcDrTaK6on4MlO80KZeC5QvC-vqVa8-2paApHcpgEAIdFRX736BuoT7-XPONCn9qiJbP8D8d6xHmRe2dHIRFxrk3huB3d3hQUui1kowtqHo1D4SVfVnu2KJNaUN0MyIMR36WaBNOYeV2AkdZ_TGsfwaADu5XNDuomTXezh7HLpv-yDWfrIaRNno3njOewpuSjI_7r4vPi-518C_skSFIeCVYVOJs-uokxYiRrX8zin7weYOsbN6_pi8B9fevhGYWkcmEdoZtrULSdXu7vsPyWtJmF1pY_iu2KxE29WAXABRY6v5GNbWuHNcyABCKZPTolSayTHGaptzX3xBiYqbwNJsuk9kFSO1VcRXT4Sr6WZXTvwYBVVG6xg==",
  "id": "rs_0dc5b177f7837ae3016ab4622e573087d0910688b268ebef37",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap is just ahead of the jaw tips, with the neck aligned between them. I’ll close here to capture the top of the bottle.\"}",
  "call_id": "call_H1pQt9RtfzBjpiUyzEVCpymh",
  "id": "fc_0dc5b177f7837ae3016ab4622ee75c87d09253420cd1b705c9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_H1pQt9RtfzBjpiUyzEVCpymh",
  "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]: [-0.5434, 1.9835, 0.9382, 0.4847, -0.5388, -0.3691, 0.0128, -0.0341, 0.7315, 0.5388, -0.4194, -0.057, -0.065, 0.9993]\nstate[eef_state]: left_x=0.467 left_y=-0.172 left_z=0.0543 left_yaw=0.0871 left_pitch=0.0894 left_roll=-0.038 left_gripper=0.0128 right_x=0.2776 right_y=0.0042 right_z=0.1589 right_yaw=0.0236 right_pitch=-0.0394 right_roll=-0.0063 right_gripper=0.9993\nstate[joint_eff]: [-0.294, -8.759, 5.3265, 0.906, 0.2759, 0.022, 1.072, -0.6222, -1.6068, 7.0085, 2.0195, -0.1538, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b6b1d61470c01b5e3371600dcf45735973d22d8877715788bae1caec1638cf5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dee162917c9737fc95e0ad4c1a3cdc874b3e0f5baba357576c8a0943b28b765e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fceeb920a7dd67e48f16edbd000abdcad4dd5916a224fa21ebcc08eb5ebac6d3",
      "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 18 attempt 0 · /responses · status 200 · 3.699 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 58 changed as sent

message 66 changed as sent

message 70 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9504, 1.6043, 0.3569, 0.4221, -0.7017, -0.6052, 0.9956, -0.0341, 0.7345, 0.5381, -0.4187, -0.0566, -0.0612, 0.9993]\nstate[eef_state]: left_x=0.2717 left_y=-0.1779 left_z=0.0121 left_yaw=-0.0735 left_pitch=-0.0325 left_roll=0.0157 left_gripper=0.9956 right_x=0.2778 right_y=0.0041 right_z=0.1579 right_yaw=0.0213 right_pitch=-0.0425 right_roll=-0.0032 right_gripper=0.9993\nstate[joint_eff]: [-0.5402, -4.9162, 4.588, 1.5702, -0.486, 0.0366, -0.1099, -0.7043, -1.6342, 7.0222, 2.0195, -0.1001, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.548, 1.9999, 0.9249, 0.437, -0.5014, -0.3645, 0.9969, -0.0341, 0.7586, 0.585, -0.4458, -0.057, -0.065, 0.9993]\nstate[eef_state]: left_x=0.4558 left_y=-0.1745 left_z=0.0313 left_yaw=0.0478 left_pitch=0.014 left_roll=-0.0066 left_gripper=0.9969 right_x=0.2812 right_y=0.0041 right_z=0.1675 right_yaw=0.0237 right_pitch=-0.0467 right_roll=-0.0059 right_gripper=0.9993\nstate[joint_eff]: [0.8547, -6.2154, 6.0239, 1.243, 0.2125, 0.0855, 0.0073, -0.8547, -1.5248, 7.1043, 2.0537, -0.1441, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5434, 1.9835, 0.9382, 0.4847, -0.5388, -0.3691, 0.0128, -0.0341, 0.7315, 0.5388, -0.4194, -0.057, -0.065, 0.9993]\nstate[eef_state]: left_x=0.467 left_y=-0.172 left_z=0.0543 left_yaw=0.0871 left_pitch=0.0894 left_roll=-0.038 left_gripper=0.0128 right_x=0.2776 right_y=0.0042 right_z=0.1589 right_yaw=0.0236 right_pitch=-0.0394 right_roll=-0.0063 right_gripper=0.9993\nstate[joint_eff]: [-0.294, -8.759, 5.3265, 0.906, 0.2759, 0.022, 1.072, -0.6222, -1.6068, 7.0085, 2.0195, -0.1538, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b6b1d61470c01b5e3371600dcf45735973d22d8877715788bae1caec1638cf5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dee162917c9737fc95e0ad4c1a3cdc874b3e0f5baba357576c8a0943b28b765e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fceeb920a7dd67e48f16edbd000abdcad4dd5916a224fa21ebcc08eb5ebac6d3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGI4XCQbW3nuZOId3yZTxHdP5PCrSObHFln0jssGIE1pdbZY-1NU0ZmUmZDz6_rbn7e-4vaytFlvG-BDa39y1dvrRpruwcs2ugS727-TRQ7vPrb7ao-NmbPN7EFIe6GSNdAd-c3cYFSAZE8BIV5VWa-lH14wogHVBoOs3I1jOe4QJF2EIOIs8ZbRhlsKnBXHygs0XZAjxd7ug19zbNQgreCPya-kIm674vinIS5-ss9cjcpVXv54g64Od4maUkGL-X4PYXHZqU7eIwHPxLsJx7XtxGsawwRugqZZzMaihlwJE4YDetSzDWKD-p0KiHLRov02ZVJpW-drIvU_zj4UXD-7NcLxwMOyPoTHOVek-K6kfg8VMrgKiKe1NxiCWXrL-zVc36_3wCdnGfH6C0XKKkmTTDTzPGpgPSgUARmOuDxrlfHwKGJyxiQfuxKjYJTWOjXjOQmeYguEY30nclNTRZeqSsJ5PuIkhGUBRhyeY0JFhf9Zpumk-QgrsgfIY_3ne2nZ45GoBxI0ih706jGxw4RkkCoVM0dQB6ejwIJfesTz3p1vv3GbaFTfJCEU6XrrLC8hUW_M9Tkd-HRXp7d3yXhtlZo6kKgUv2jCRBDBAp3vFK7djXCdTaET-_dYterA6EiAiM-mVQ2iF0cho1oZbyGk8__vu4tOzGd9YbSBWk69iNB-TiF8MJN09wIYUDrb56EVkEI4U87rR7D8fNxA_rkBfUGexLEgZWbH8DIMnGujN8jDmYjmYHE0K7fxdZAcd0t5eU_Buvw_Y0WbWwWnlJmrWT3-_anFkdH8j6naj5mT4GflF3OpOAFDvfCyy5cbIX5hhou6pOVUhdUhiV4y3mk9GSGU5MCRr5T0Lo1H4kx7yL_U7r1SKz2nOs0bd9bGJg9JIDKv6_I9QqZaLDLuDafGWVFBVI24xXa0xRsgFjYtQK8t3xorgtuIMKZxJmB8lA1msaf8AYuidjn65iqrczbMbELomch2a89sobVwV23SkeiJmQQRWCFORDPlZc3jv4U_tQ-FmOHl7RNyEcWhWnjhNjUc3fPnUB35yxwFTFWza0WbYd_Ag1ss4RPlYgLYoMIEaesCoerC9jpeTF1vs0v4aumC15CqmywcNckx7q39Xu0scTPv4lEOweYlZAU6aAj-4cSVwiGvb8GppJmVARf-7RdzG4cMz5BPjuMnuIx_fSzKE1bFtQLy9AKYvtn4hDD8d0TELXUTz3uUI5-Nc1Z0-sjlfNQun64uiGgpR4DYTCCP7xPX960bZ1IGeuPE3nULVsR5JHxsvNep_ffMDeB28tvXNlPNv5lImGWYUE-kdRQWyeRNLVNdGDx47P0r_ZEYqWx9tKzk2pT8RyftobS2a8JD9Csiz0EGCLZservaEBIApL6ReuHJDlC8zH9docntOFAvRKtC71AiyqVibOtYs0Sx5pDKxr2fdyX6N3gFsvgKKNg-3w2aSskpWxNurHSzmSwUVpygIQLJHRRTO7hjfrkUUhg_RJRT3A_qXhQH37SWjSH1kPmLwDc76KzkKjLCvO31gG352BJet2UTg9J_R9BdaCVoyhJ73rHuo2IXZ1Y8TZx9MKAyIuHz84sHo8NpYlo5xj3syVb6N4EdQcWuv3coMdhJofY6G9zJq3o5it5HIll-_b-Q8Dwx6K4VHZvE3XKoEIZJmpVsDUywOH7UkzyiTrnzP8UTal0isB2OrXzJbzHHmQMMVwo-Jc_n6-3Ahqs7-VNbvKl0AQe02yMDxha6ZASyT5MsehkYNQh1Ja4sUa5tyS0E1N6tM3mg4KvFYoOSQqpFW3g6QjbiARdaBOGTsDM2PZkdtrDZUpel08DwWJ8JAjTPIRcni4mg-BpyASg2Xu7jzaCyBUx7UzKwd1DsTarWznNgyPPxFYhz94-kJVHp1WfRuQlqHjQ_pupL_rWKniIvLj4PzgkATGGWrynsU47CagOcWkzwebJAII-5aLWpJF-NiPm49kFaho0UqH2x-obJH7z8a3fG9shAcQYNyfXjyB47dMJXJbGxcetxwWS2JgKy7vHjeE4vr1G4PCuqfdeuFbiSS1eL47TBc8enzk_LJzs0_CSa7_QugqfAph46yVnMNcs2-3GQ7smw_EJGpcfjkuAhc5Yoiice2_6xQ5Skhe2lONS38zVWTPymklngpBwXmr9MGfdhC6zP5sxVWXCr1Nexfo6kK8-zbMk0I7v6xHw0Aj_y9a5_9mE=",
  "id": "rs_0dc5b177f7837ae3016ab462323ed887d0b5f5c377c5247001",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.18,\"left_z\":0.012,\"left_gripper\":0.65},\"note\":\"That close missed the neck. The closed-jaw view shows the actual meeting point above the cap’s previous position, so I’ll move a few centimeters back and retry lower.\"}",
  "call_id": "call_8gdFOwP4h4uL4GxGsZs16E0f",
  "id": "fc_0dc5b177f7837ae3016ab46236810887d0a45de8bf35a638d1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8gdFOwP4h4uL4GxGsZs16E0f",
  "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]: [-0.6285, 1.961, 0.8547, 0.5304, -0.6136, -0.4431, 0.6454, -0.0341, 0.7082, 0.5037, -0.4019, -0.0566, -0.065, 0.9993]\nstate[eef_state]: left_x=0.4371 left_y=-0.1875 left_z=0.0474 left_yaw=0.1009 left_pitch=0.1013 left_roll=-0.0633 left_gripper=0.6454 right_x=0.2745 right_y=0.0042 right_z=0.1524 right_yaw=0.0233 right_pitch=-0.0337 right_roll=-0.0069 right_gripper=0.9993\nstate[joint_eff]: [-0.5402, -7.706, 2.5094, 0.6667, -0.0464, 0.0073, 0.0562, -0.8547, -1.1966, 6.735, 2.0391, -0.1441, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f8e3524e896be48d52823247bb79679772c51fc0b4b1595fc0836abb35160c6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2177dc47d20338eadab8110ff7c02c9259e213f8043bb2b98558b3db45334964",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09a7b4785145081626772a783acaf4d1589a19b8be3379744793b6865705a7b1",
      "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 19 attempt 0 · /responses · status 200 · 5.835 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 62 changed as sent

message 70 changed as sent

message 74 changed as sent

message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5621, 1.7756, 0.8948, 0.231, -0.4923, -0.3752, 0.9968, -0.0341, 0.7979, 0.6456, -0.4808, -0.0566, -0.065, 0.9993]\nstate[eef_state]: left_x=0.4321 left_y=-0.1692 left_z=0.0833 left_yaw=0.032 left_pitch=0.0011 left_roll=-0.0136 left_gripper=0.9968 right_x=0.286 right_y=0.0038 right_z=0.1775 right_yaw=0.0234 right_pitch=-0.0604 right_roll=-0.0053 right_gripper=0.9993\nstate[joint_eff]: [0.1162, -7.8838, 7.7197, 1.6288, -0.0513, 0.105, 0.105, -0.2667, -0.5538, 10.0718, 1.9023, -0.0757, 0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5434, 1.9835, 0.9382, 0.4847, -0.5388, -0.3691, 0.0128, -0.0341, 0.7315, 0.5388, -0.4194, -0.057, -0.065, 0.9993]\nstate[eef_state]: left_x=0.467 left_y=-0.172 left_z=0.0543 left_yaw=0.0871 left_pitch=0.0894 left_roll=-0.038 left_gripper=0.0128 right_x=0.2776 right_y=0.0042 right_z=0.1589 right_yaw=0.0236 right_pitch=-0.0394 right_roll=-0.0063 right_gripper=0.9993\nstate[joint_eff]: [-0.294, -8.759, 5.3265, 0.906, 0.2759, 0.022, 1.072, -0.6222, -1.6068, 7.0085, 2.0195, -0.1538, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6285, 1.961, 0.8547, 0.5304, -0.6136, -0.4431, 0.6454, -0.0341, 0.7082, 0.5037, -0.4019, -0.0566, -0.065, 0.9993]\nstate[eef_state]: left_x=0.4371 left_y=-0.1875 left_z=0.0474 left_yaw=0.1009 left_pitch=0.1013 left_roll=-0.0633 left_gripper=0.6454 right_x=0.2745 right_y=0.0042 right_z=0.1524 right_yaw=0.0233 right_pitch=-0.0337 right_roll=-0.0069 right_gripper=0.9993\nstate[joint_eff]: [-0.5402, -7.706, 2.5094, 0.6667, -0.0464, 0.0073, 0.0562, -0.8547, -1.1966, 6.735, 2.0391, -0.1441, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f8e3524e896be48d52823247bb79679772c51fc0b4b1595fc0836abb35160c6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2177dc47d20338eadab8110ff7c02c9259e213f8043bb2b98558b3db45334964",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09a7b4785145081626772a783acaf4d1589a19b8be3379744793b6865705a7b1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGI8sNGjJGolUHMP-kC4APswrlwkfOdkG4Yeb5_xxBjrTFyGCDaIr20wt3TA-9jNW93tNrMBq5XX-D0_PDkgsERuWasIGG5-2rQ40SWq7tBbxLJnu4-N3mc-fhh0O4wQ8uH0smDwIfzpgQTCsnEXDDpNDAWueWDfMZQ6e2Wkt72dGO0rTJr2aXYj3QBxv7f8sCxvdPHFuANX1U5wtM5CyUGx0XWvGkH2ccYuePpf4qTBGzAZhn123ap8_gnRJf6qlpKFKxP0jA4aaGlLgWjMAraFcvNkLY01nr7UJOj2Je01Xt_zVzWcLoEwPeAHLxMFpyuLuZF4tNZRyaQMp7erdeN6NVDRoQGQVD3Z-CymAiuEaLFugGTiD7NCzipUVZRp4tSwI8mdQD-avW7lhIoC_k4G-rWn2PeujqlGSgBCoaT1wIWcs1CNS-nnOUmUAjm7QTRmJ82cmwlTW0wNsc_R-oGo4CLy-95pF0zjGi6eME5GTug19Akj24c4uc_PpUpRWOPDSVIjGqyPzhldgVax6vXvafaPCrJQvMWM2g7gMEfkOgc4LDEZGTLeEmUli98y3L-e39zSBl96IdBGQP15YiNVjVAZ-5rP0TNMBcEpAb4m2pP9jeU4SqcuruzsDiKjsfAE6ruHVq-DuOknfvRuSLczdVh6FTLylnhuiDMbMmxRJL4-bhEl8I_Qe-M0bBIuvCqSA025t15pYgr7sZ7QN0T7ME_zpyc2CnPpirLww3F5MSM4Mj7sqrfEfAnJwaqaUH7J2mcfI1Pmh0OGKc0FPCpfAE7vioHTzHS4yMY6bRbpvJqKrkczezcdCEtvCddhjFe1r4WO5x3RjEQovPn08XSDts-dFDHJyDVnzspgfI1hQO2Ls2WWm0D3x2S59QSWI679IfO_ucJYgE8REPh671VWqoaEg3dRJ71WWEob3bvVwiEpfkBZ9TekVLqh9RehXxNmvS0GBmnuuNqGrL7UF0_W-XPwZ7E_8nVsm_QtKvlEJKj8DHCry0UtkyVRWn8O0ScsoOud0-D_zNiXVn5AxJxZ4W2-nby0VPkq2E4kGPWGLdB0jctJbnxVeE5vxTZvJuW-OLDIFpMGIoreDUnLEKldTeFpnFrlmOvPpekUQgK0TA67lNW2P7BzxWc9YiuB19OWLVGe5LJoRNu_wjJT4MZYVZpIj3E_hD5YB3I8e3mDZaEDVHmPiGiEAk6YRtQi-hXAW20KA7sq8-vP2-OYQ_-f68brHZGD-eH2Hx2RqwyC8MdJfxhtQ7dpDme39JYTfRHPoRaK5-pu4Gf3EctV4kMivH3wxQQxvumIW-vqZxGhIIZS80IwPeJJj2t1T3gnk3TQIvL5ucEKoUAItMBM6zvFprwTw6l9nl9QouPGXE8E3y5Yj__eE0iA1JUlRBCY56LddLZIq65_zkrrFkH1z-kKsA==",
  "id": "rs_0dc5b177f7837ae3016ab4623a45d487d082c90d58fcf994cc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.17,\"left_z\":0},\"note\":\"The arm is still several centimeters above and ahead of the requested pose. I’ll pull back into an easier configuration and lower the open jaws around the neck.\"}",
  "call_id": "call_jSXDeHqewxI9PQ96906MitRM",
  "id": "fc_0dc5b177f7837ae3016ab4623b4da087d0a70b6d468b51627a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jSXDeHqewxI9PQ96906MitRM",
  "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]: [-0.6456, 1.9388, 0.7769, 0.6094, -0.6468, -0.4728, 0.6463, -0.0341, 0.6888, 0.4717, -0.3935, -0.0566, -0.065, 0.9993]\nstate[eef_state]: left_x=0.4234 left_y=-0.1812 left_z=0.0468 left_yaw=0.128 left_pitch=0.1294 left_roll=-0.0932 left_gripper=0.6463 right_x=0.2707 right_y=0.0044 right_z=0.1445 right_yaw=0.0233 right_pitch=-0.0379 right_roll=-0.0066 right_gripper=0.9993\nstate[joint_eff]: [-1.0872, -5.7368, 1.6479, 0.3443, 0.0464, -0.2125, 0.0757, -0.8684, -1.2103, 7.0632, 2.0244, -0.1197, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fcb6fc928bdcbd38eea5cabc07093238bafc3aec25d9134923285af0a69398e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd15c7cb927bf05e1b1f1581bc7f6cec593aed67fee6ceb18b252a43f5666f43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c041812739591000550dd22e43f06695dad0fbe652690c0d11575d51d31e56f1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /responses · status 200 · 6.636 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 66 changed as sent

message 74 changed as sent

message 78 changed as sent

message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.548, 1.9999, 0.9249, 0.437, -0.5014, -0.3645, 0.9969, -0.0341, 0.7586, 0.585, -0.4458, -0.057, -0.065, 0.9993]\nstate[eef_state]: left_x=0.4558 left_y=-0.1745 left_z=0.0313 left_yaw=0.0478 left_pitch=0.014 left_roll=-0.0066 left_gripper=0.9969 right_x=0.2812 right_y=0.0041 right_z=0.1675 right_yaw=0.0237 right_pitch=-0.0467 right_roll=-0.0059 right_gripper=0.9993\nstate[joint_eff]: [0.8547, -6.2154, 6.0239, 1.243, 0.2125, 0.0855, 0.0073, -0.8547, -1.5248, 7.1043, 2.0537, -0.1441, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6285, 1.961, 0.8547, 0.5304, -0.6136, -0.4431, 0.6454, -0.0341, 0.7082, 0.5037, -0.4019, -0.0566, -0.065, 0.9993]\nstate[eef_state]: left_x=0.4371 left_y=-0.1875 left_z=0.0474 left_yaw=0.1009 left_pitch=0.1013 left_roll=-0.0633 left_gripper=0.6454 right_x=0.2745 right_y=0.0042 right_z=0.1524 right_yaw=0.0233 right_pitch=-0.0337 right_roll=-0.0069 right_gripper=0.9993\nstate[joint_eff]: [-0.5402, -7.706, 2.5094, 0.6667, -0.0464, 0.0073, 0.0562, -0.8547, -1.1966, 6.735, 2.0391, -0.1441, -0.0415, -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 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6456, 1.9388, 0.7769, 0.6094, -0.6468, -0.4728, 0.6463, -0.0341, 0.6888, 0.4717, -0.3935, -0.0566, -0.065, 0.9993]\nstate[eef_state]: left_x=0.4234 left_y=-0.1812 left_z=0.0468 left_yaw=0.128 left_pitch=0.1294 left_roll=-0.0932 left_gripper=0.6463 right_x=0.2707 right_y=0.0044 right_z=0.1445 right_yaw=0.0233 right_pitch=-0.0379 right_roll=-0.0066 right_gripper=0.9993\nstate[joint_eff]: [-1.0872, -5.7368, 1.6479, 0.3443, 0.0464, -0.2125, 0.0757, -0.8684, -1.2103, 7.0632, 2.0244, -0.1197, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fcb6fc928bdcbd38eea5cabc07093238bafc3aec25d9134923285af0a69398e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd15c7cb927bf05e1b1f1581bc7f6cec593aed67fee6ceb18b252a43f5666f43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c041812739591000550dd22e43f06695dad0fbe652690c0d11575d51d31e56f1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_0dc5b177f7837ae3016ab4623e85a887d0a73728af0f17c49e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.205,\"left_z\":0.04,\"left_gripper\":0.8,\"right_x\":0.294,\"right_y\":0.004,\"right_z\":0.2},\"note\":\"The neck is tucked against the right finger, which appears to be preventing a clean descent. I’ll open wider and shift right to center the cap between the jaws.\"}",
  "call_id": "call_fSQTeVj3w0kmOiKo5G8dDB72",
  "id": "fc_0dc5b177f7837ae3016ab46240ee3887d0920b12d511306ca8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fSQTeVj3w0kmOiKo5G8dDB72",
  "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]: [-0.6548, 1.9369, 0.7509, 0.6559, -0.6594, -0.4767, 0.7978, -0.0341, 0.7925, 0.6285, -0.4633, -0.0566, -0.0654, 0.9993]\nstate[eef_state]: left_x=0.4196 left_y=-0.1812 left_z=0.0481 left_yaw=0.1333 left_pitch=0.1497 left_roll=-0.108 left_gripper=0.7978 right_x=0.2861 right_y=0.0038 right_z=0.1747 right_yaw=0.0236 right_pitch=-0.0547 right_roll=-0.006 right_gripper=0.9993\nstate[joint_eff]: [-0.4444, -5.7915, 2.0308, 0.4811, 0.0855, -0.1245, -0.149, -0.5949, -1.0735, 9.4564, 1.79, -0.1001, 0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2360fb661e5b71ba1eec4d94fd345ff343a669a11dbd01fd3f08312d716ab60f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f35fd70032053f8811651494d6f2def707db329b882920ac7402ba6545d79a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1e39f0e382dfd6c32dc609bc9b53b2243be0d6272028699705daeaffd3f50e7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 4.024 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 70 changed as sent

message 78 changed as sent

message 82 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5434, 1.9835, 0.9382, 0.4847, -0.5388, -0.3691, 0.0128, -0.0341, 0.7315, 0.5388, -0.4194, -0.057, -0.065, 0.9993]\nstate[eef_state]: left_x=0.467 left_y=-0.172 left_z=0.0543 left_yaw=0.0871 left_pitch=0.0894 left_roll=-0.038 left_gripper=0.0128 right_x=0.2776 right_y=0.0042 right_z=0.1589 right_yaw=0.0236 right_pitch=-0.0394 right_roll=-0.0063 right_gripper=0.9993\nstate[joint_eff]: [-0.294, -8.759, 5.3265, 0.906, 0.2759, 0.022, 1.072, -0.6222, -1.6068, 7.0085, 2.0195, -0.1538, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6456, 1.9388, 0.7769, 0.6094, -0.6468, -0.4728, 0.6463, -0.0341, 0.6888, 0.4717, -0.3935, -0.0566, -0.065, 0.9993]\nstate[eef_state]: left_x=0.4234 left_y=-0.1812 left_z=0.0468 left_yaw=0.128 left_pitch=0.1294 left_roll=-0.0932 left_gripper=0.6463 right_x=0.2707 right_y=0.0044 right_z=0.1445 right_yaw=0.0233 right_pitch=-0.0379 right_roll=-0.0066 right_gripper=0.9993\nstate[joint_eff]: [-1.0872, -5.7368, 1.6479, 0.3443, 0.0464, -0.2125, 0.0757, -0.8684, -1.2103, 7.0632, 2.0244, -0.1197, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6548, 1.9369, 0.7509, 0.6559, -0.6594, -0.4767, 0.7978, -0.0341, 0.7925, 0.6285, -0.4633, -0.0566, -0.0654, 0.9993]\nstate[eef_state]: left_x=0.4196 left_y=-0.1812 left_z=0.0481 left_yaw=0.1333 left_pitch=0.1497 left_roll=-0.108 left_gripper=0.7978 right_x=0.2861 right_y=0.0038 right_z=0.1747 right_yaw=0.0236 right_pitch=-0.0547 right_roll=-0.006 right_gripper=0.9993\nstate[joint_eff]: [-0.4444, -5.7915, 2.0308, 0.4811, 0.0855, -0.1245, -0.149, -0.5949, -1.0735, 9.4564, 1.79, -0.1001, 0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2360fb661e5b71ba1eec4d94fd345ff343a669a11dbd01fd3f08312d716ab60f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f35fd70032053f8811651494d6f2def707db329b882920ac7402ba6545d79a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1e39f0e382dfd6c32dc609bc9b53b2243be0d6272028699705daeaffd3f50e7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGJJdII4K48qWIWk8pBLQ7uVHsF8ho9W-zi75qitjWb5N_ICOrUNDLqMI37XgVui_dHoD2JYvdZ6Xo7Ly_KjB6BXTr-MoADYJcqFgfehW_k8S9wALpVi565oe6TQsydgZrcUDpoI9dvhrb9RX4tgLvK-eH35cyx-Acwg3weoX7qa-kh7YJIQ0gRNMJ0SiJs-ezvYCjLQCd0P4Ak0lxbaoJA4Wqn8l9_P0tav5aZp7kyMx8lUOdYzsMMnlDfhpwL8JA1ok_yq3bmQU7gQYaOSvqrYqKdzSlJYiZuHS0xaubmu5RJ7Cg5RTVPvdREFDclZ_TcPpz8VR3lCRi1bhfozVAeNrCLN9PXnFSa7kVZiaGSrgpH3oi-zAIHXlhLIPhh66pB1DmUFPtMCv_VN5JQJvBDjnbtgbVhrjVkbunKF96N5oAoQpNMtGd8hUhXmiL2bSSP8D_CyB3wUBT-ilCq2q28Qes1zAN0mcwO14Sj3EdpcOuho1_OjA7Xn1f5CagkLqERrBupPrbmY-Tg9IcrySD9nIWzGqrArEwX_3OXFrDsEPz4MjuAxDD4wR9Zf8Zk_CQcycOvURipobMPcNx8YFdbn1P4n8CEs-1yFsxMorALHZuhqX_X9SdlFwINW8BPJY0fz2vpdTCG9K5fSkozYZvuf3l_0dEMGDTYi5hi58kpOgJUOc4i-RGkN1jmJbQtpT8D1LcVIsqpd8HfUZRSf5xRXOUfP4b-MqtzNI8PB3KmGmcIfDBkqSg4KnH_z2dQX-nLbcj9_kcXqFF1q1jbihLdzAeYAA5aMM1qHkcIAL-Sz5FEgkiT8uuN_OkLh8H7yCPwtx86LcOuS226kgK5eSzGiqHCVckwKxpOFjdxhwc3v2A8T47RLk9UOeTGBLsDs2UbPsb0_ZcGI-AKD8gB5K_E6lHbOMV1koQjXienw4OdkpQpGXASk_xpZtMBO-qWDNr76ltwc2KZh2HUSksiYsvZu49ahfeLjdNdOPUJPInqHhUYAIFxNYhcJqCLhmu4ZK0o7Z7lXPUc9XkSItkm-EzUuRTl5APMvlf-pars2xa8Lff2X-8JbgKrGnMnKofjtRPu540JDLnIEbXwB2iFlHMYPfhxN4jQpfSXyMsoR767WkUmWfXSfCZlCoI3Q-75K-v0s3RQhny-kWhinKWhsDPaxXrAp0vFoD5FPhrRZQuQI1ogu7CT3JBuau1z4aQuCqiiE9_KcmpUWNPJGdtEuP23DdLuEN-qP5PrpcOdZWpty494O1zi76_wNBhOB7ZNDdd7ilI9dBRu3D7CP_yK7s54gR3rYqX28WzWcYX5gWYUsMO2kQv_UR0FDzTLYXa8OVNFjt-HRA1jWvooNVKzHOqcqlL6y6M-OLIjqLSbYGpVacDuoYI2W-KkJMv0JPPkvcixjJtFLNS3BcgVDmMKknmpU31bqyJM9iQMsShoNzBMJs6YPFCo7n7qhmSF38N19uVGBu5iRw2HH7bJabjU61_DdKN8vW9Sk8m-uU_jiWspumxowjf-hvPv-dA7OCoInILXFxe4eJ_RRN50J9O98wEnjKyEh9B-BFlfiHm-ocC-F-uMD5FDGKHHsmuaqpis6sLVZOrtkASfjA7BGbK0tEefMWTEzvGC8SsSWnLq5PHbv6RAyG6JFN9shZ3C8SoiekkwUw_qPd9y4OYPAjwD_xEwesGBrWtUCNtqEe7-KcgLnaqWNLTLfnT4CglYSdKZyzd_D1fg1SajjtEvXX0SHeLRa43SD1ZC5kXeyvRwaD1eg6fgp8Kk_8ibFcSS7T6QsLvUbCOmXldqBxbEhLBvZIVzSIoTPTdgai2uTFRtfED12AGd612iHHjzG8Ccpug1qrkZrPMewGbRVL8WmXUHEYkgvraoVS9yndDmu994fKQrRQa9w1t_pOlMauiEYF7vlxNcrRfW66UNCgBA4bQ7lu5m7ZuX8T0CRAspUJ2sOCu0neoimJIe3BnedlRh2wwfbCRpQlMY4hJdJn2Efw4eMpuiFW2YKnj64Dwf8VMkJUFlbT3JHKGKaZkKN8u40AWtJU0UtLOSPf1V72X19Uz6KAh6mFNzIEiTYKr33tWtX1jo2R4kSj3qxAe3AG-v2Iuaa0tC1V8BIXM8hORXr_EV2JSxD33ljlm-YrMzkyGNC1gqTwK_b3uFuhqGfRoRcWdYAwWsrB-rex4fnnZYkIjM7x3sjAk6JMBKqXkAvgJ0mDy3xlyv21T7TDwNMn59cCgLXtgrW7bmoxvcyhK7ip0SDt_5GLpH1sO7yfuEnqGmsP4k6gPI=",
  "id": "rs_0dc5b177f7837ae3016ab462451d2887d09e2216c25716beb7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.15,\"left_z\":0.17,\"left_yaw\":0,\"left_gripper\":1},\"note\":\"The open-jaw corrections are not tracking, suggesting the hand is obstructed rather than simply misaligned. I’ll lift clear and move back before another attempt.\"}",
  "call_id": "call_HBFdL8kORcCYQ4GRhy34skl9",
  "id": "fc_0dc5b177f7837ae3016ab46248286887d0943f63979bbefcbf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HBFdL8kORcCYQ4GRhy34skl9",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7647, 1.6932, 0.7464, 0.3344, -0.6403, -0.4999, 0.998, -0.0341, 0.7567, 0.5701, -0.4259, -0.0612, -0.0654, 0.9993]\nstate[eef_state]: left_x=0.3768 left_y=-0.2103 left_z=0.0887 left_yaw=0.0139 left_pitch=0.083 left_roll=-0.078 left_gripper=0.998 right_x=0.282 right_y=0.0048 right_z=0.1653 right_yaw=0.0274 right_pitch=-0.0397 right_roll=-0.0042 right_gripper=0.9993\nstate[joint_eff]: [1.6889, -8.9915, 6.7761, 1.9365, -0.3492, 0.0562, -0.1734, -0.7453, -1.1282, 7.3504, 2.0, -0.1294, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:710d30be9e25e6b6ed7836e4c8324bcdea7aa4463527c596a39c69c2bd60a46d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8ffda1a3d05f9a76c77db096e24e0b8d39c5bec2a1cfe0e26531ff224af4e4c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2a214030e045d27396fd05ad0833ea32068ef71efc543c042da2d74a96e62bf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 22 attempt 0 · /responses · status 200 · 5.598 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 74 changed as sent

message 82 changed as sent

message 86 changed as sent

message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6285, 1.961, 0.8547, 0.5304, -0.6136, -0.4431, 0.6454, -0.0341, 0.7082, 0.5037, -0.4019, -0.0566, -0.065, 0.9993]\nstate[eef_state]: left_x=0.4371 left_y=-0.1875 left_z=0.0474 left_yaw=0.1009 left_pitch=0.1013 left_roll=-0.0633 left_gripper=0.6454 right_x=0.2745 right_y=0.0042 right_z=0.1524 right_yaw=0.0233 right_pitch=-0.0337 right_roll=-0.0069 right_gripper=0.9993\nstate[joint_eff]: [-0.5402, -7.706, 2.5094, 0.6667, -0.0464, 0.0073, 0.0562, -0.8547, -1.1966, 6.735, 2.0391, -0.1441, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6548, 1.9369, 0.7509, 0.6559, -0.6594, -0.4767, 0.7978, -0.0341, 0.7925, 0.6285, -0.4633, -0.0566, -0.0654, 0.9993]\nstate[eef_state]: left_x=0.4196 left_y=-0.1812 left_z=0.0481 left_yaw=0.1333 left_pitch=0.1497 left_roll=-0.108 left_gripper=0.7978 right_x=0.2861 right_y=0.0038 right_z=0.1747 right_yaw=0.0236 right_pitch=-0.0547 right_roll=-0.006 right_gripper=0.9993\nstate[joint_eff]: [-0.4444, -5.7915, 2.0308, 0.4811, 0.0855, -0.1245, -0.149, -0.5949, -1.0735, 9.4564, 1.79, -0.1001, 0.0464, -0.0122]\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 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7647, 1.6932, 0.7464, 0.3344, -0.6403, -0.4999, 0.998, -0.0341, 0.7567, 0.5701, -0.4259, -0.0612, -0.0654, 0.9993]\nstate[eef_state]: left_x=0.3768 left_y=-0.2103 left_z=0.0887 left_yaw=0.0139 left_pitch=0.083 left_roll=-0.078 left_gripper=0.998 right_x=0.282 right_y=0.0048 right_z=0.1653 right_yaw=0.0274 right_pitch=-0.0397 right_roll=-0.0042 right_gripper=0.9993\nstate[joint_eff]: [1.6889, -8.9915, 6.7761, 1.9365, -0.3492, 0.0562, -0.1734, -0.7453, -1.1282, 7.3504, 2.0, -0.1294, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:710d30be9e25e6b6ed7836e4c8324bcdea7aa4463527c596a39c69c2bd60a46d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8ffda1a3d05f9a76c77db096e24e0b8d39c5bec2a1cfe0e26531ff224af4e4c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2a214030e045d27396fd05ad0833ea32068ef71efc543c042da2d74a96e62bf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGJOgsyvsx-qA1RC0vqiH2vlgcPOmwJi5Teyf5ook0FEKD1TNDlofdJ3R2yXgcFmOeSXGEIzhpneoasn6iFIIxifXW5eNkEYh6u9oz3Y3qNcZEpY5Vr2DpN5AVPQ9R9gAYPfOeLZkgNLD-lRTMdanbkNErfxd_NxW7LJ-W8--zdFMql-aDRMqF9AthW2YhF8QAtK3pDiFMSVXOa1js1prY02hAAYcL4LThOAHavHvbMxmr3dLQGNIPSupywC9JGWYgb3md4CBOW8Hgqm1GYp4aZAYKq2hOA6rrdM2oGAAWSPtImmy414IZf1Q-V_po-uYIK4O1bHFo3axJsAbsIUrX38mMzYbxaCwTdp00suB7cYkAu_SKJ4eTydck5bxqdjQJ7PMdbtdsDVRSy1sP3F3Dn4Nn_JaDd_irdAy8Lw_4pPcAXGzKbMVjXZ8DZuZttujyVNEDq1rlPAUHed9Ew1lJiHviS_0OSN-u58O3gSWn_l2HTw8vwn_Li6Ipd46wULzPNK1rDU09HYkT5W8w238eRiI781JTGqolvSy6X2Pz3iNFXcDipNcl4XQDTVSYs0LxlibFfIr22-ua2hLmQsBNvb4BRiRPoE51xcc3TfbOSc8BEUC0cBrw4W__Mm5gxBhTB6ZgeTuYw3ZXK5Ctdby6mY67oGdC3grJUPslSV3bCwUZdexbSrkNmPyItL17AT8VmDno8rKBVCQB6IoQ-OyjzidqatdN_eq1DmJsU2EJB551Ww6W5zTAT8FREudZh8yfJhgwJecjvfPR9KAGMsoj51cZjIL-3JMRlzCnLXvXHHNUrOKtRWAjADmA_8l9nDI4FbY-P4lwCTWJ3wr7wzpF_V1PRMGqzCuNltCnbkSBboIPglfxfB-ibik-tWE0-I6hF8zBYgUj0uwKcuCVo21fsMuRLSG5exefMnIorjRPyDT-wYDK6pVgdAY_HD57Noh2LeqxijA3T9rCI0ba4shv-wVQDtIbSJOOzTy8dH4K6yZB7EXi_EqdASaeHNMCj_-hO66ilvcfMNKKG5xS8ngJ1iNCdyrOyhnjZfWyor4cY1NPF4fugvgZhkVFCvB5vOSR-9V_NZTDiE6Pvjpy41bd2G9D9jtKLuGTw-C4fEa5FiJmeQJQXWiIjL9CvOowj6MTKGIT9QgqmAVU2Fa7JbJ2L21HNcOw7yaORmE5HfL3zhoSzlMGAHV9UtpSyQANTxceLhU_MXKeksk3esfKsgeIJ8eF_zef1-Wg3fITBkshXteppZcdi27nlp0XhmkaA2DquL835cVejAdNp1x5JLfONNhwX5ebtaa3ZQm_h_8Cnb3DGmx6IXoxsV5pyQHNU2EdU20Lyv1l5ThCavy0iMZ_tPJnxc1Yer3XCPXQv2i2tdbA7InTWR8p0FphnJocZIrwVg",
  "id": "rs_0dc5b177f7837ae3016ab4624c4f6487d0908867066c6a3aa4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.28,\"left_y\":-0.1,\"left_z\":0.21},\"note\":\"The arm has begun to clear the bottle but stopped short of the retreat target. I’ll continue upward and back to create unobstructed clearance before lowering again.\"}",
  "call_id": "call_yVVo1EHvu9bHOszXMjOxJlBZ",
  "id": "fc_0dc5b177f7837ae3016ab4624d238c87d0b37d2ae987367c23",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yVVo1EHvu9bHOszXMjOxJlBZ",
  "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]: [-0.6994, 0.9604, 0.7532, -0.4595, -0.5972, -0.4713, 0.9977, -0.0341, 0.7319, 0.5304, -0.4023, -0.0643, -0.065, 0.9993]\nstate[eef_state]: left_x=0.2888 left_y=-0.1084 left_z=0.2032 left_yaw=0.0283 left_pitch=0.0266 left_roll=-0.0347 left_gripper=0.9977 right_x=0.279 right_y=0.0054 right_z=0.1585 right_yaw=0.0297 right_pitch=-0.0308 right_roll=-0.0027 right_gripper=0.9993\nstate[joint_eff]: [0.5812, -2.1812, 9.9214, 1.5604, -0.1685, 0.2613, -0.0415, -0.7453, -0.8684, 7.0769, 1.956, -0.1441, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:634d741d5cfe9c9906beba8638e111c533dc7dc5d30f5a697d7be9fbfa8636ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75b837eb7f9e238c06f22415b1ac319550a9e35d4792cb1aac09952ab032fe2e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fbb71269539f6f8080060b4331bd6717f2cc6d9709a1aa60d1cc063ad452369",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 4.137 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 78 changed as sent

message 86 changed as sent

message 90 changed as sent

message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6456, 1.9388, 0.7769, 0.6094, -0.6468, -0.4728, 0.6463, -0.0341, 0.6888, 0.4717, -0.3935, -0.0566, -0.065, 0.9993]\nstate[eef_state]: left_x=0.4234 left_y=-0.1812 left_z=0.0468 left_yaw=0.128 left_pitch=0.1294 left_roll=-0.0932 left_gripper=0.6463 right_x=0.2707 right_y=0.0044 right_z=0.1445 right_yaw=0.0233 right_pitch=-0.0379 right_roll=-0.0066 right_gripper=0.9993\nstate[joint_eff]: [-1.0872, -5.7368, 1.6479, 0.3443, 0.0464, -0.2125, 0.0757, -0.8684, -1.2103, 7.0632, 2.0244, -0.1197, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7647, 1.6932, 0.7464, 0.3344, -0.6403, -0.4999, 0.998, -0.0341, 0.7567, 0.5701, -0.4259, -0.0612, -0.0654, 0.9993]\nstate[eef_state]: left_x=0.3768 left_y=-0.2103 left_z=0.0887 left_yaw=0.0139 left_pitch=0.083 left_roll=-0.078 left_gripper=0.998 right_x=0.282 right_y=0.0048 right_z=0.1653 right_yaw=0.0274 right_pitch=-0.0397 right_roll=-0.0042 right_gripper=0.9993\nstate[joint_eff]: [1.6889, -8.9915, 6.7761, 1.9365, -0.3492, 0.0562, -0.1734, -0.7453, -1.1282, 7.3504, 2.0, -0.1294, -0.0122, -0.0122]\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 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6994, 0.9604, 0.7532, -0.4595, -0.5972, -0.4713, 0.9977, -0.0341, 0.7319, 0.5304, -0.4023, -0.0643, -0.065, 0.9993]\nstate[eef_state]: left_x=0.2888 left_y=-0.1084 left_z=0.2032 left_yaw=0.0283 left_pitch=0.0266 left_roll=-0.0347 left_gripper=0.9977 right_x=0.279 right_y=0.0054 right_z=0.1585 right_yaw=0.0297 right_pitch=-0.0308 right_roll=-0.0027 right_gripper=0.9993\nstate[joint_eff]: [0.5812, -2.1812, 9.9214, 1.5604, -0.1685, 0.2613, -0.0415, -0.7453, -0.8684, 7.0769, 1.956, -0.1441, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:634d741d5cfe9c9906beba8638e111c533dc7dc5d30f5a697d7be9fbfa8636ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75b837eb7f9e238c06f22415b1ac319550a9e35d4792cb1aac09952ab032fe2e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fbb71269539f6f8080060b4331bd6717f2cc6d9709a1aa60d1cc063ad452369",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGJUKIUdVa8IoCVxB10RtXkww-nFnTd6BzvR1-_bd1wABWiPRG-IEeOMU6jSD0PbhQRjG_VXUFtNxt-LvmTL5GvNNZhCt0S7RvRgcJLswQeHfo-FLvr0iuott9ORiedLoIG5g40P8eHs9OMIVqkTinyLnEGtftz2rC-EuEm8TtkMPXJh91BBBLmb9rXNKNq6oSSgyzwbEHfDzBYyNjrHhV506gevgrZQR-rV1IbJoa8-tcnUk1BHLhWLiX2jUrfJUzTIyPdgpTW3F_cFKrs_SqxwYm1YJV9MTVtXu8XeHLnmr5b5qt1pPjwZqipYbSfn4k_gNLRzRgFWNb8k6B30KbYFocteG8Rrf5HsxFjl7oWCtQR3p4Q5ERKFt9iIIDM6oWwL7RX5kKqiDwBOat1GkbAuyzeAtehN2fU8pKrYKOgef1vpUaKlC0kgm6K-7mkN_pbB2an24pqfsMgAe2n7djxTcw6tzIV26UBNWL3xhyOHwDkpkTlx_bpOStxTIaPJLj_ulvcLOTlZj6iYpAQV2eauYbWh8x9vXjYIMRpoRZfEaT0_okmrHwd8Hskmedr5PWkCkWoBpN6lOf9ZVS1ryUzwRSygHa2AgIfNzui-Dlr1h3C7PCnrT-Jp2oyvMHiBCNNkw6hlLEzEBSgKlXvAs2Yo_TbKy0Zgge9o8Gop561E6vTdj0zzz9u23fSrTBPPSTd_Z1A1D5bWtCMc8lUFJVr5XkGzB-hj3s0g6-uUABIG5mpi-G_iK5TvWOuTqh8Smb-waJRIs8GxAjtqhEw_0WtgLyD_22dxnvu3KDzqs2K_2UTmDx4c14E6o4pYnC5JeISBw8tIFw1OY-fNKgmGR1_ed3ciSEYKqquDkhJBhKWmpQP5LuCwqVmEltPrqMpWW66khmKE8-7R--O5TSrRX6Gtz7P2pp_PEg7QA-o9qsp80CoIFdJUl-va2dPNU28ZkkhrOfS4QsiHQhBDNJfoPEXkBVPIbMeIWNeFxhQ3A6I-vzS8oGscGPMajCOSRAG1JVPEZ_ytV1FFtKrqCDwMjj9BpdbMKEQA3_QzvQs7YSjFuKgiIEQheZfLww_MAQQM8AgHUSP28i7a_npMkrBab0BkiZteuCXhNr2bI6TbkV8aR7rMFUKjyspbRVE01tHlo-8R8xXWgtr3lV9ast6e_PZ0UoncyXUv4AwPa2oXHWSqLdKujI-jddsOxn-t_VHT0TKF_eVoEFVBqQtN_52oPABDuSSB2DyA3mDQcw1aD8a6Lf3hiUhrcyDArreVjKb0bYv30fms86SKt220vT2ZavkZBcLr_I5JW3eyQ8fvVDntpaHzdR-SSnEwNt9E1gJfGGI53HMXObsPtbRSXPdyQJ3hnTuTAoOEb12xuf2f_GdRt8uKvwA9GuAA-6F_dLR8vECbl-mvkMiJw7_KVM3DKhJUQ6W4XdW7qlFEzHaP8xJx5NfHf9_sDDSmoUXfof03M-z-fj90DTiIcZJU6i2Lw7-EGepTGGMpZNP5NPjbH1XLqQYTZEI1fVuuJMLcmdG-MISB_n7avRQV5fjonOMluN3kpe06MYmfuxvPnoAsQXyTLtgs_M8oZe0lmdgLzQPGF-TSRf86r2BSj3v8xyMCRNMw708bfLCRj0hHQHxl0W9yRWN3gP0JUJxLHGfZJ4pFXy8gskHnxZXqomRLZ-ojgP4pQW7btYxC3UxUuZPO2sR5HZYMtSK7668-HW4WYFrtLgiVYALkjy4F48z6CKOBypEfDj38HLwp4Hv8c4ff7JnqzKwnixwv0c1iYH3hDEumDIsaPa7XM_Hx9quWrCtsekMfeo2rOe5QQODqGX8F5XgUGdw=",
  "id": "rs_0dc5b177f7837ae3016ab462512fd087d09f764f7ae4f7540b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.245,\"left_z\":0.07,\"left_yaw\":-0.3},\"note\":\"The clear overhead view shows the first bottle has turned, with its cap now to the right of the earlier approach. I’m aligning across its neck at this updated position.\"}",
  "call_id": "call_npLNMi7KtwGdGwVbACQcl3HP",
  "id": "fc_0dc5b177f7837ae3016ab46253a81887d0bc743c0f74eb9665",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_npLNMi7KtwGdGwVbACQcl3HP",
  "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]: [-0.6724, 1.7809, 0.8131, 0.2752, -0.35, -0.2611, 0.9976, -0.0341, 0.7147, 0.5037, -0.3954, -0.0639, -0.065, 0.9993]\nstate[eef_state]: left_x=0.3882 left_y=-0.2271 left_z=0.0519 left_yaw=-0.253 left_pitch=-0.0802 left_roll=0.0237 left_gripper=0.9976 right_x=0.2757 right_y=0.0055 right_z=0.1522 right_yaw=0.0294 right_pitch=-0.0335 right_roll=-0.0027 right_gripper=0.9993\nstate[joint_eff]: [0.4855, -8.4171, 8.1162, 1.7851, -0.0317, 0.0513, -0.0171, -0.6496, -1.2513, 6.9675, 1.9707, -0.1001, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d592b03fa12a89ecb1909d6f2da2218f53c5bbd04b5bb73736c12e8d8726cea3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c880760df8624c8ffc499d0cd106ce9ca821eb4e54ef713a1910b249aa84927",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:609fcae5839fcb8429f97e5e281d849d979021f55894eaf1b6e39626985f3b05",
      "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 24 attempt 0 · /responses · status 200 · 2.881 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 82 changed as sent

message 90 changed as sent

message 94 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6548, 1.9369, 0.7509, 0.6559, -0.6594, -0.4767, 0.7978, -0.0341, 0.7925, 0.6285, -0.4633, -0.0566, -0.0654, 0.9993]\nstate[eef_state]: left_x=0.4196 left_y=-0.1812 left_z=0.0481 left_yaw=0.1333 left_pitch=0.1497 left_roll=-0.108 left_gripper=0.7978 right_x=0.2861 right_y=0.0038 right_z=0.1747 right_yaw=0.0236 right_pitch=-0.0547 right_roll=-0.006 right_gripper=0.9993\nstate[joint_eff]: [-0.4444, -5.7915, 2.0308, 0.4811, 0.0855, -0.1245, -0.149, -0.5949, -1.0735, 9.4564, 1.79, -0.1001, 0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6994, 0.9604, 0.7532, -0.4595, -0.5972, -0.4713, 0.9977, -0.0341, 0.7319, 0.5304, -0.4023, -0.0643, -0.065, 0.9993]\nstate[eef_state]: left_x=0.2888 left_y=-0.1084 left_z=0.2032 left_yaw=0.0283 left_pitch=0.0266 left_roll=-0.0347 left_gripper=0.9977 right_x=0.279 right_y=0.0054 right_z=0.1585 right_yaw=0.0297 right_pitch=-0.0308 right_roll=-0.0027 right_gripper=0.9993\nstate[joint_eff]: [0.5812, -2.1812, 9.9214, 1.5604, -0.1685, 0.2613, -0.0415, -0.7453, -0.8684, 7.0769, 1.956, -0.1441, -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 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6724, 1.7809, 0.8131, 0.2752, -0.35, -0.2611, 0.9976, -0.0341, 0.7147, 0.5037, -0.3954, -0.0639, -0.065, 0.9993]\nstate[eef_state]: left_x=0.3882 left_y=-0.2271 left_z=0.0519 left_yaw=-0.253 left_pitch=-0.0802 left_roll=0.0237 left_gripper=0.9976 right_x=0.2757 right_y=0.0055 right_z=0.1522 right_yaw=0.0294 right_pitch=-0.0335 right_roll=-0.0027 right_gripper=0.9993\nstate[joint_eff]: [0.4855, -8.4171, 8.1162, 1.7851, -0.0317, 0.0513, -0.0171, -0.6496, -1.2513, 6.9675, 1.9707, -0.1001, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d592b03fa12a89ecb1909d6f2da2218f53c5bbd04b5bb73736c12e8d8726cea3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c880760df8624c8ffc499d0cd106ce9ca821eb4e54ef713a1910b249aa84927",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:609fcae5839fcb8429f97e5e281d849d979021f55894eaf1b6e39626985f3b05",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGJapmQIJLzhZCyOtZPHDgIxGf3W8y4spi1d-mqvQyOPRQISTqjlMv3oNRh3D1ZbRZnJ7vOSzddjniUANPMv4T_iuqwH7BGoFQzG4BIpelzkMo1FKdwMli5MnEMmDD9dXI1QU9W5ZnXMUwAl25dJhHR8881akmf-EywzSDcIyq4b_1RCANXjbUZGyFqjPhLzMS_6qMHQEUu-OZ6q2DNEs2FVDUHsNQmE67dcx2NQ18VSqgR9eGcGUYwKysaZBx3w5GAc4yEWkIwIuMhpE6CeBszZzBV18rGqf75ERU-hUTFpet46vNRIvbQUHVbKaIrjD2nObRZhOubq4o-cUk3zwzFIl8wh0qq-GNXEeOUki2G6Xfyhor3_NnyFs3ilM0CTW5nVtDmDMBHK4fVwWTl_YfQDUyTCmTcu0yfOWY1-PHywAB6p2IFJqnF2FJ1HIbyy9RPhThKe80JJEpuMvZDFY3r83PbVF8iTXvDGsQph-wD8v7BbWEbTss70e4URB-SdmMToDVWESEiDzPSVK3FJHWEnZA8bH1X8qhOp5KYCK69GDWESXvRIAQ5jOJuH1-JJKrGrPung9MbtpsO17RHKerrgtm-2ZVK8iqFyX0PIyHFWfZVvFOPkBh-Rkre_W-8rP1cHjRZLgNu63G-tgX9ETmJ2l0vzF7RLv5kK2OamKUD1fTN7GOxe8BPgT5hGExPCiK5GBzx6MnaES1PagpTpWKP6F-aD0Mxl51ukObsw9W18cRmKVhBKdwPcZzyxAfH-hrixYArjjyAZoF0EimTlNSR15Hr-fmOsqZPiivLjCWopi7JFZ1L-yV48jVAr0kZhZF8BIcAb-oPl5-7T6tj9tWaeVdhcdoJGUBIpLQ50UwS2BzRMy-_YODYX35z8pjKiWp_pbPcQ2KqOw0R9rx-3KuNMML3R8XXAHS_2zn_ma5h6KBUDHF33Vmf6dUtyNRpnWRGEWLlMfvndE7JqkFq3NJJxIFT9A7he0VnM0nXt9g3ZBz9YGuDwJTPfSVMJmXrp2O0FBxCKtvvb4EZl0EAfi24Cyl88DcTk-fJBmcrdSqBSWUjxdDXkmDRrHMTqjEN4AJfEARAXxq2TYqmxxJ6TE1SZHNbFIKC3x5mtu7qKrv4WT5SOkTeqfo77WVQMVEzIvW6tJmdeeIGTKQ9Y6PyErT5I-MMEx9xFJLTk1Fta9MEe1KaC00AjzrOWzhoT0aBfaPgFty1Tf4FvDq8JudBZfKpuyspgDlGSMcM6Dj476eFoAzhBvg8CQbgpsBoZz4eSxf5yreF0v4-D07Fw5InQazvO2kkL-W5sCkIjYy1QOOgngmChfLwOvMDm-1Odl8BvnTdeNbsP805mAnciL_M_ktQMEseb7tTEUXjPeCDbSxPbT7gBjgIl8oJvxVWf7NO0dgQWv4SowHEF6XFxOH6vqJ6zgpEFvrKMGkmCe-jwLN7ALUoVPbMCEBBbG89W5lMg5rf-A3kqMzhkGtreWz4xozgF7Pq4X_ACwp5W_qwPhE-rVvuOz8jEWVrYhVjgwABECKivd4dR1SWIpTKXYDx_Tpl-KGgD-brc93wB6iwzeCHfbMk=",
  "id": "rs_0dc5b177f7837ae3016ab46257ba9887d0ba7f2595218a9dfa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.24,\"left_z\":0.01},\"note\":\"The neck is now clearly visible between the jaws, slightly right of center. I’ll lower with a small alignment correction so the fingers surround it rather than sit on top.\"}",
  "call_id": "call_GBKlDeByOW8i9jqLKi4w9eHM",
  "id": "fc_0dc5b177f7837ae3016ab46259360887d0bbf57b8877e687f2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GBKlDeByOW8i9jqLKi4w9eHM",
  "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]: [-0.6807, 1.9415, 0.8005, 0.5583, -0.3496, -0.2646, 0.9976, -0.0341, 0.6971, 0.4717, -0.382, -0.0643, -0.065, 0.9993]\nstate[eef_state]: left_x=0.4052 left_y=-0.2457 left_z=0.0306 left_yaw=-0.2612 left_pitch=0.0201 left_roll=-0.0241 left_gripper=0.9976 right_x=0.2726 right_y=0.0056 right_z=0.1447 right_yaw=0.0297 right_pitch=-0.0346 right_roll=-0.0024 right_gripper=0.9993\nstate[joint_eff]: [0.8137, -5.4359, 4.4103, 0.8425, -0.1197, 0.0757, -0.0122, -0.6222, -1.388, 7.1316, 1.956, -0.1001, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:367692754125cfe72ce28938df260b06a4c3c2ccdc290c9d543658f4d746249e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d40a202bc452358fe0d8b4935fc3797cc577e8ba48c4ea960a484f198b2ab119",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84e91552d54d78a5c71ecf19fbc38d6865757a7dfb74b135a62bda28e157792e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 7.622 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 86 changed as sent

message 94 changed as sent

message 98 changed as sent

message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7647, 1.6932, 0.7464, 0.3344, -0.6403, -0.4999, 0.998, -0.0341, 0.7567, 0.5701, -0.4259, -0.0612, -0.0654, 0.9993]\nstate[eef_state]: left_x=0.3768 left_y=-0.2103 left_z=0.0887 left_yaw=0.0139 left_pitch=0.083 left_roll=-0.078 left_gripper=0.998 right_x=0.282 right_y=0.0048 right_z=0.1653 right_yaw=0.0274 right_pitch=-0.0397 right_roll=-0.0042 right_gripper=0.9993\nstate[joint_eff]: [1.6889, -8.9915, 6.7761, 1.9365, -0.3492, 0.0562, -0.1734, -0.7453, -1.1282, 7.3504, 2.0, -0.1294, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6724, 1.7809, 0.8131, 0.2752, -0.35, -0.2611, 0.9976, -0.0341, 0.7147, 0.5037, -0.3954, -0.0639, -0.065, 0.9993]\nstate[eef_state]: left_x=0.3882 left_y=-0.2271 left_z=0.0519 left_yaw=-0.253 left_pitch=-0.0802 left_roll=0.0237 left_gripper=0.9976 right_x=0.2757 right_y=0.0055 right_z=0.1522 right_yaw=0.0294 right_pitch=-0.0335 right_roll=-0.0027 right_gripper=0.9993\nstate[joint_eff]: [0.4855, -8.4171, 8.1162, 1.7851, -0.0317, 0.0513, -0.0171, -0.6496, -1.2513, 6.9675, 1.9707, -0.1001, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6807, 1.9415, 0.8005, 0.5583, -0.3496, -0.2646, 0.9976, -0.0341, 0.6971, 0.4717, -0.382, -0.0643, -0.065, 0.9993]\nstate[eef_state]: left_x=0.4052 left_y=-0.2457 left_z=0.0306 left_yaw=-0.2612 left_pitch=0.0201 left_roll=-0.0241 left_gripper=0.9976 right_x=0.2726 right_y=0.0056 right_z=0.1447 right_yaw=0.0297 right_pitch=-0.0346 right_roll=-0.0024 right_gripper=0.9993\nstate[joint_eff]: [0.8137, -5.4359, 4.4103, 0.8425, -0.1197, 0.0757, -0.0122, -0.6222, -1.388, 7.1316, 1.956, -0.1001, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:367692754125cfe72ce28938df260b06a4c3c2ccdc290c9d543658f4d746249e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d40a202bc452358fe0d8b4935fc3797cc577e8ba48c4ea960a484f198b2ab119",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84e91552d54d78a5c71ecf19fbc38d6865757a7dfb74b135a62bda28e157792e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGJdV1AQx9VkdPigfQRsCx-NuF0opfrW-9l_sJ82VL0o15iSBc8dMOpRiJUZ7GjQV1t4KNNQGfSUD8-TUOMAySsC2mbgD1E96MMPbSPPlZEjyhz-JGjkQVTl09wykMyWAT6ErvArB97K5LlX_RsX3m5IEc85sfEFspVH2_JwjNNJJKpQiyxFmokgQOJMi9QEIKgi7CtZCa5ALyyz_8VpjHZTS3LWHLCOrBJJbmuSp1S7RYarHiJKf_1TVd71qp-8cCmOLNGojivEjywb2WBFk_OKM9AYxbiUG_vmSxCfk4uF09uHtWKJ4YXIydwDHdg7cW6pwpOymMtocwYBUuiPc8lXiNcHn5X3VAXJBhJKlJus240tk8xG4PCQPNMxhrbhe1Bis7IyodBBCiXzSHaT1iirnHbTglDysoW8iBoYlh85VhAvu8rLJF8XUitzXvkRPYXG1Upnu6q9e02ahHD91q5Z05w_xEn3nB5ebo1xMdTUAqh-BZ5VpZqFcb1hI432C90CMA-ShzbrnJB3tlgtxNMQq0aIFSrkWBXXiSVE3PFCf6ZSxPn0yTEUQSACbK6Xk9XDsMveOmL8ulWIrSUPQqoFDhLCFCUzpCOxf0CfPDfXrovPiakNdjcTI35BnKY1VyvN5voo_DKGp5GMU0szD2U9BMBtdNXpes96eD7J4az4EndPLacgfz5FtEjMOJNgOa6UIJfEKXYY76mKZR2NGYCl7Otr9btFlkxJ1TPhXt1QuPGkGl4hAYwktJYHikzGcxspyh3WGL9Ke0keYx5ZGt3_H7Vp-zSqjMmTMp9hTDwrpsTvu5ZhWLiChTro_WtveVKkTi2Y8ssfHrrDL0dV76LHR1HiQgGStpzEIw2MvlMrUILCBIyiqW8XFpnVkLXP0G2CIGRIa1r_ez8DqcJ4afaOoxAmMeAV7Q8P-51-evstQksXPZ97VY_HBcJ6Voti0padROxb3zB6f8Uz2oLiqHzxuHhQ4ehZab6Kv3JPYgeb9jjSTtchsi1BRUg7998Jbn-bhHP1Z_arLqa6L8C19Gq7QzYG3GHKLKXR-tKHV2u8svCJhgvi1iiMDpSa1Ph5TzDQJOb121KlLWExewQQxjDaTaY7CX6oLw5EUlYBO5YLK-6j6LLiMmfXb9vNWSOy7ThqtIIJuilXSpBMBPIdSo_gHaFaiR8zL5BO4cFPA6lZlXfz860zmgSGVyxiJ7d__gAYOS6S02Ufhi868enxPdPd4A==",
  "id": "rs_0dc5b177f7837ae3016ab4625c43c487d08563d0bd33a37aff",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap and neck are centered, and the fingers are on either side. I’ll close the jaws to secure the neck.\"}",
  "call_id": "call_xidAQwIPPnLue9TytLsncmcf",
  "id": "fc_0dc5b177f7837ae3016ab4625ca7f487d080e1fcd38b737ae8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xidAQwIPPnLue9TytLsncmcf",
  "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]: [-0.68, 1.9255, 0.8261, 0.598, -0.3931, -0.2619, 0.013, -0.0341, 0.6777, 0.44, -0.3664, -0.0643, -0.0654, 0.9993]\nstate[eef_state]: left_x=0.4189 left_y=-0.2471 left_z=0.0566 left_yaw=-0.2237 left_pitch=0.1032 left_roll=-0.0359 left_gripper=0.013 right_x=0.2698 right_y=0.0057 right_z=0.1384 right_yaw=0.0299 right_pitch=-0.0312 right_roll=-0.003 right_gripper=0.9993\nstate[joint_eff]: [-0.5812, -8.294, 4.7658, 0.8425, 0.232, 0.0415, 1.072, -0.6359, -1.0051, 7.1179, 1.9414, -0.1099, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84aa7f3797be4214b18fcca5d250b5c39f27a9e93bc5b874b58f301a0d15e9f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8fd99adb2e67d44048c6bee6534978bfd2ef4ed2822698aa5352e0529755528",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01d153905f95639bb5c08fcf0367ca2890ef311d450d56c2958f90458b25cf74",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 6.772 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 90 changed as sent

message 98 changed as sent

message 102 changed as sent

message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6994, 0.9604, 0.7532, -0.4595, -0.5972, -0.4713, 0.9977, -0.0341, 0.7319, 0.5304, -0.4023, -0.0643, -0.065, 0.9993]\nstate[eef_state]: left_x=0.2888 left_y=-0.1084 left_z=0.2032 left_yaw=0.0283 left_pitch=0.0266 left_roll=-0.0347 left_gripper=0.9977 right_x=0.279 right_y=0.0054 right_z=0.1585 right_yaw=0.0297 right_pitch=-0.0308 right_roll=-0.0027 right_gripper=0.9993\nstate[joint_eff]: [0.5812, -2.1812, 9.9214, 1.5604, -0.1685, 0.2613, -0.0415, -0.7453, -0.8684, 7.0769, 1.956, -0.1441, -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 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6807, 1.9415, 0.8005, 0.5583, -0.3496, -0.2646, 0.9976, -0.0341, 0.6971, 0.4717, -0.382, -0.0643, -0.065, 0.9993]\nstate[eef_state]: left_x=0.4052 left_y=-0.2457 left_z=0.0306 left_yaw=-0.2612 left_pitch=0.0201 left_roll=-0.0241 left_gripper=0.9976 right_x=0.2726 right_y=0.0056 right_z=0.1447 right_yaw=0.0297 right_pitch=-0.0346 right_roll=-0.0024 right_gripper=0.9993\nstate[joint_eff]: [0.8137, -5.4359, 4.4103, 0.8425, -0.1197, 0.0757, -0.0122, -0.6222, -1.388, 7.1316, 1.956, -0.1001, 0.0024, -0.0122]\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 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.68, 1.9255, 0.8261, 0.598, -0.3931, -0.2619, 0.013, -0.0341, 0.6777, 0.44, -0.3664, -0.0643, -0.0654, 0.9993]\nstate[eef_state]: left_x=0.4189 left_y=-0.2471 left_z=0.0566 left_yaw=-0.2237 left_pitch=0.1032 left_roll=-0.0359 left_gripper=0.013 right_x=0.2698 right_y=0.0057 right_z=0.1384 right_yaw=0.0299 right_pitch=-0.0312 right_roll=-0.003 right_gripper=0.9993\nstate[joint_eff]: [-0.5812, -8.294, 4.7658, 0.8425, 0.232, 0.0415, 1.072, -0.6359, -1.0051, 7.1179, 1.9414, -0.1099, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84aa7f3797be4214b18fcca5d250b5c39f27a9e93bc5b874b58f301a0d15e9f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8fd99adb2e67d44048c6bee6534978bfd2ef4ed2822698aa5352e0529755528",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01d153905f95639bb5c08fcf0367ca2890ef311d450d56c2958f90458b25cf74",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0dc5b177f7837ae3016ab4625ff70c87d09ab341ac750be612",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.245,\"left_z\":-0.015,\"left_gripper\":0.8,\"right_x\":0.294,\"right_y\":0.004,\"right_z\":0.2},\"note\":\"The neck escaped beneath the closing fingers, leaving the gripper empty again. I’ll move back slightly and use a table-level approach, where the earlier body grasp succeeded.\"}",
  "call_id": "call_99FtsGQCx5mzHIDgHogEAvwo",
  "id": "fc_0dc5b177f7837ae3016ab4626469ac87d0b77ff70d40bfc7e5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_99FtsGQCx5mzHIDgHogEAvwo",
  "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]: [-0.7849, 1.9614, 0.7166, 0.8074, -0.4831, -0.3298, 0.7955, -0.0341, 0.7963, 0.6395, -0.4637, -0.0746, -0.0803, 0.9993]\nstate[eef_state]: left_x=0.3868 left_y=-0.2654 left_z=0.0475 left_yaw=-0.2122 left_pitch=0.1771 left_roll=-0.0944 left_gripper=0.7955 right_x=0.2876 right_y=0.0069 right_z=0.1787 right_yaw=0.0467 right_pitch=-0.047 right_roll=-0.0081 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -3.8632, 1.265, -0.0171, 0.022, -0.0024, -0.0611, -1.0462, -0.9504, 9.8393, 1.8828, -0.0562, 0.0806, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdbfd358e79be5fb6672a58d659c4f5596987e0c769facab5aa4af2d77f1d5f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79ba6cc3bcc7ed3ba46aceec477d9907db6dff26bab17ab15f1c472a5f3e323d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:251a8c99899ebc54fa33a2001c484d712ac27b32170c3cae25ea2fe5b06f9385",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 3.613 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 94 changed as sent

message 102 changed as sent

message 106 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6724, 1.7809, 0.8131, 0.2752, -0.35, -0.2611, 0.9976, -0.0341, 0.7147, 0.5037, -0.3954, -0.0639, -0.065, 0.9993]\nstate[eef_state]: left_x=0.3882 left_y=-0.2271 left_z=0.0519 left_yaw=-0.253 left_pitch=-0.0802 left_roll=0.0237 left_gripper=0.9976 right_x=0.2757 right_y=0.0055 right_z=0.1522 right_yaw=0.0294 right_pitch=-0.0335 right_roll=-0.0027 right_gripper=0.9993\nstate[joint_eff]: [0.4855, -8.4171, 8.1162, 1.7851, -0.0317, 0.0513, -0.0171, -0.6496, -1.2513, 6.9675, 1.9707, -0.1001, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.68, 1.9255, 0.8261, 0.598, -0.3931, -0.2619, 0.013, -0.0341, 0.6777, 0.44, -0.3664, -0.0643, -0.0654, 0.9993]\nstate[eef_state]: left_x=0.4189 left_y=-0.2471 left_z=0.0566 left_yaw=-0.2237 left_pitch=0.1032 left_roll=-0.0359 left_gripper=0.013 right_x=0.2698 right_y=0.0057 right_z=0.1384 right_yaw=0.0299 right_pitch=-0.0312 right_roll=-0.003 right_gripper=0.9993\nstate[joint_eff]: [-0.5812, -8.294, 4.7658, 0.8425, 0.232, 0.0415, 1.072, -0.6359, -1.0051, 7.1179, 1.9414, -0.1099, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7849, 1.9614, 0.7166, 0.8074, -0.4831, -0.3298, 0.7955, -0.0341, 0.7963, 0.6395, -0.4637, -0.0746, -0.0803, 0.9993]\nstate[eef_state]: left_x=0.3868 left_y=-0.2654 left_z=0.0475 left_yaw=-0.2122 left_pitch=0.1771 left_roll=-0.0944 left_gripper=0.7955 right_x=0.2876 right_y=0.0069 right_z=0.1787 right_yaw=0.0467 right_pitch=-0.047 right_roll=-0.0081 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -3.8632, 1.265, -0.0171, 0.022, -0.0024, -0.0611, -1.0462, -0.9504, 9.8393, 1.8828, -0.0562, 0.0806, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdbfd358e79be5fb6672a58d659c4f5596987e0c769facab5aa4af2d77f1d5f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79ba6cc3bcc7ed3ba46aceec477d9907db6dff26bab17ab15f1c472a5f3e323d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:251a8c99899ebc54fa33a2001c484d712ac27b32170c3cae25ea2fe5b06f9385",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGJtKDiMGXrcctSJPuakA8gAjaXpLnejWOAHE6-mgpbrF5Auicyg0tg9yQbjxo89JktJ_uZulew-CBd6m4qzHHU7IN1xNZLZe-_b36DwZXm2YhHZB7lCqltFoyjY6twLA8nOpjGbLm3N4uDKX_rE9Dy_UGP7--IN_LdnyS9iBCBg3n6YIiktx--p5ala0EL_aF65u-MYUbphd3konxaGSzunpjecNa05xrXQ0B4Wh3X62ET6LKMxdNEpGDmmfuvvYb1U2BTP-S5uPHFfnsii49VnNJJaGQI77twaIz2nzE5BJ1Ms8Q1QGiHzkGJJbn9ccIs2T6l2JwzlLdsdMhN0ZFWdV0GuzBJ0LXlQoJi6cwulKhL5BBDWEesjwlARABHgnCGubKhcChtqmr92dgI05ufD2xavCnb4LkmlzxXc0lzVIbmhjsO0RrLOnJFQ0l5lrv0W6QJaiPPnxHqSYEDa8nasnq9efEBA-pqSGJDgytaUEf5U2wJ741F48I2eMlSFFxng3HPpZA_PxdTEHHrJslx_Tr5CtIb4XFh4vomHWOno6p3iuH0JmjJjmpyynWpY6Ax7Rqb-l6kkeeyN__yN77iG588wXYaYmx8RC3EDwUobDRs2NdyQEAK8w5fS2-25fNfRO4ShwOPxoaZgnSSCcxqLjVMEYQYZnosh5VcFdMmYdoja4iWswJ7GoHPM528Mw9L5gYkFrFOdAqThrhQSnT_chLfjfaWdFfeswHiLOUn7uh7AdF3aov3VspOQiM-LXiCoOpXX-sjsavau50qqwaQGcrG-T31jOmSjf937BFnxEjBoJIbq1jYNfRB6NooaJ_SwG6WHeZ3UtdMWGt23HxQXUOpBRtWRUgH8Najgbychi7YsWsVVaR683xeaJxyaI_ITZjXrRMvfqKpCCxgWVMhrm9JnI3StPBU2hYMiqDoU7Ema_pD2H_kAHHlbHdQEtvoFN8xCJcp5mFQYIoKrKxv3DLuaODuiuLpr4ozNjfOpjtdTe-6K89rX8q1gnrHt1zFhXJSJGFz1SM1AIqYog2lG7NKH-H425uDydVElFmp0bhzRX5mbA8EezcBmUj-RJMTS-F_wjVJcRWCCTDVXyBQr2ky2ehGAK-D9iaSWwudpcYHHuKhQMtwujYzdSl51ugvUhTO1RzldRzy9dpwC0MYZwmmOCtkovAyLKs91AlAnMK7fkR_7vGpYmFew4glRWuwIsyV3LNGjapmR7-PHRmoUj8k6Nz3Hp0H65QtC9nZCcnqtUT68PFLnLx39usGPXvpDD70izGMav557nHEmmsnESWU6pTnOY1TCgY7ltrpRBzrNJ4HjxzBC8x2vbPKfE18Gn9wx3mV8KwGi5MhlV2EQVCQsdG4s82XbgRoXXwNOsdZLGUzJIqTg8OeH9y3ptA3l34BqSbHOciDKTGgPjN6weUbPl7KY28nEDo_3jCmjie0MI4u_x8zAdS3o0eUYb3oTa2ae3zdtzwM8LI95xhNU0cgONzkiib3ZDhWVWtHCygS6DEDzKpGTWVbEbExSPes8bwJ5vgh4hTJzaGUETln0986gLbDWX0s5HiIyHTmoX3BYxamMUU-G-1L27dn5N99S9Gatm030wIANtHyfVDraOaskg5H9ekLusmd7QeP_wTC099h_2nWrqQe7aLGowAsJ2uDmouM-6s8nHYk9ubf0ogomV2_30jGYH_XaWTffUo086Pzdh099yYp3R03MYZ2-F9aCIFsSNTpozjiZDhJqqzRDnGtzsSu-o59vejT7OLTAMRHeblwvoWL4jTbN3Th_sWBQBJBp4U2cNW-48jAkaP_Fzo9gR_jfGBAqu1qNcqZUCxkFZ196YBiHmkxQHF9oDlTl1KXxKrF-PpU_iAOJDPYeVb5GOshxqO2qVNGfqphNptJW5r-K9BajLQ7KUbnFp9dOb66F_fAOLCDrBS_Mdlw9SvmHymcQVW6eRBIUpnWM3am5Y63gvqOH9RTAbcbz-GeTjfZaoQv9VNDeQbCTDeW0D5jEUWgVgKo1lLTwHzXpqPhWT5d149qv2Fe1xjaTGOUtYA3eLDS7GXljMJ6AeBD416qx-Whs2msWk5y9oi8E_v049eTShpQFV25v70PaP91zcGipbxSGlIrY6hNy5KY5HwWv9tM_SGrDqMCBJW1MWtkhlPf6vuAPNDwjLaa16soZzfNi4FxOOBQlGUH7b8FzbIXbgvs0SoR2hNRhZYYkuFHLEAQWU7-3TVZUI68dQHpdIZ7BKGsLi0u5FpBSS_tWdMUQeI_0L-f7B9BRVhtEflD1IdmVTA7w9p4xX3_Z6k8RF21sVxGZWspGwYZa0IE7YMdQBu_o14h-Xtod2xcCP7ENtxKocYOYulyQZJLD",
  "id": "rs_0dc5b177f7837ae3016ab46268610887d0ac5fce770fd663c7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.325,\"left_y\":-0.23,\"left_z\":-0.01},\"note\":\"The hand is still being held above the requested pose. I’ll back away from the neighboring bottles and approach the first bottle’s upper body from the nearer side.\"}",
  "call_id": "call_8PJvDlRsXwz9QhXjzt1dsos1",
  "id": "fc_0dc5b177f7837ae3016ab4626c450887d0903284833bfc5850",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8PJvDlRsXwz9QhXjzt1dsos1",
  "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]: [-0.8425, 1.8805, 0.5892, 0.8108, -0.5488, -0.3702, 0.7963, -0.0341, 0.7704, 0.5915, -0.4461, -0.0826, -0.0807, 0.9993]\nstate[eef_state]: left_x=0.3521 left_y=-0.251 left_z=0.0426 left_yaw=-0.1973 left_pitch=0.1567 left_roll=-0.0831 left_gripper=0.7963 right_x=0.2825 right_y=0.0085 right_z=0.1674 right_yaw=0.0536 right_pitch=-0.0511 right_roll=-0.0033 right_gripper=0.9993\nstate[joint_eff]: [-0.3624, -3.8632, 1.3607, -0.0659, 0.2418, -0.3297, 0.0659, -0.9915, -1.7709, 7.0769, 2.0733, -0.1148, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebef456d5b031b49c303815d40b4e2874ab7e104a90b9aa6626f714a8098ae26",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3e05afb95771a5137678b4e56b0d2c409984c3e69f83fe14a39561e0810fd17",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:314f8cf39fb4a7327d1c55e3fc825cae4165e68003742449ffefd8a5af6ed392",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 28 attempt 0 · /responses · status 200 · 6.541 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 98 changed as sent

message 106 changed as sent

message 110 changed as sent

message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6807, 1.9415, 0.8005, 0.5583, -0.3496, -0.2646, 0.9976, -0.0341, 0.6971, 0.4717, -0.382, -0.0643, -0.065, 0.9993]\nstate[eef_state]: left_x=0.4052 left_y=-0.2457 left_z=0.0306 left_yaw=-0.2612 left_pitch=0.0201 left_roll=-0.0241 left_gripper=0.9976 right_x=0.2726 right_y=0.0056 right_z=0.1447 right_yaw=0.0297 right_pitch=-0.0346 right_roll=-0.0024 right_gripper=0.9993\nstate[joint_eff]: [0.8137, -5.4359, 4.4103, 0.8425, -0.1197, 0.0757, -0.0122, -0.6222, -1.388, 7.1316, 1.956, -0.1001, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7849, 1.9614, 0.7166, 0.8074, -0.4831, -0.3298, 0.7955, -0.0341, 0.7963, 0.6395, -0.4637, -0.0746, -0.0803, 0.9993]\nstate[eef_state]: left_x=0.3868 left_y=-0.2654 left_z=0.0475 left_yaw=-0.2122 left_pitch=0.1771 left_roll=-0.0944 left_gripper=0.7955 right_x=0.2876 right_y=0.0069 right_z=0.1787 right_yaw=0.0467 right_pitch=-0.047 right_roll=-0.0081 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -3.8632, 1.265, -0.0171, 0.022, -0.0024, -0.0611, -1.0462, -0.9504, 9.8393, 1.8828, -0.0562, 0.0806, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8425, 1.8805, 0.5892, 0.8108, -0.5488, -0.3702, 0.7963, -0.0341, 0.7704, 0.5915, -0.4461, -0.0826, -0.0807, 0.9993]\nstate[eef_state]: left_x=0.3521 left_y=-0.251 left_z=0.0426 left_yaw=-0.1973 left_pitch=0.1567 left_roll=-0.0831 left_gripper=0.7963 right_x=0.2825 right_y=0.0085 right_z=0.1674 right_yaw=0.0536 right_pitch=-0.0511 right_roll=-0.0033 right_gripper=0.9993\nstate[joint_eff]: [-0.3624, -3.8632, 1.3607, -0.0659, 0.2418, -0.3297, 0.0659, -0.9915, -1.7709, 7.0769, 2.0733, -0.1148, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebef456d5b031b49c303815d40b4e2874ab7e104a90b9aa6626f714a8098ae26",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3e05afb95771a5137678b4e56b0d2c409984c3e69f83fe14a39561e0810fd17",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:314f8cf39fb4a7327d1c55e3fc825cae4165e68003742449ffefd8a5af6ed392",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGJx-wgxFAOGgQim4hOIpGmCPETqUfnehvaghglKRr0Ahy3tOS95Ly100O5yYdtpQHuSDWslGUl2s9cROXYN2qqW2DUdDpUo5mr3m_7toysH96dlSREyLXOUQHyqNyypVUuxK9f9Lp-qlCkPZWd9Y0VI3JFia_zeY_djaKHjkJSPgSKQj7B5cV7F2K29PgirazXpTX7j3nZK0hq2jOTsMYMKBa82wR4GWzF1h25fqYG08HNCRw-HqLACpe082_DZ-dYjGoU-k9RIr8juRRMcggIknCAIVG_oGdHtLJzhCP7X1yonyI_hxM6osKAlrNXz-2TjpUARmo26h8qxHXKKaqpn0deXJK3heLG_bwsgH2b7NtANNU37LYAdFukTqs3dI115BdDNBj-Oifa5nq2oWOIuOMClJDI-2X1cn8hknoExZqZ12vuvd4YEk_ctLcKk2pUDY3Y7bs040E59Vyai-7NHh3ps3Nf-WCElQOjv9Bj0JG77DEZZVn6PK3iAv2rm_kcNITKdnCUApAkVroAK9dLERQnuuWhiozGP8V-CZwvTC0sdYLTquVOYOpk73L4jGO1N_usOTaPomDbJ4o69AcvaZlOO20mqaYDcnioRtD2rmUn3kuzB6ym8FOK7KuVlu_55D9kdj9v29DOWcoTgd7gD5rGVyPonYzdnpyCHiWFNXqJSrjF7r_7PxZ4ruJkxujt8ZkDf_7y_-z81DC4fFGDvy09i18G-_vUDjyH0lbvpveaU3it9bd8Wp3ubIVge3uJukBM_GdOLtTEAzSDKrT3od1DitQutXbhoCNcUlvdNpwRJ9q8pkjjQZ2uIhlhW80PVYa8V4JSC7RASANeYiri3eX_6T3GFxS3GTet3IwqoY2gYm38YGwVE0CtKM4PtUIPKDAy_LZL_N6jaXz2tlVsU9CRRiI99rn4m46Q00G7SyV9wOQr6fIPFEwhszfhJeJ_CdCWY3xFJ_qQ4G0GtmiU07fSMne1v_i3eNasUXSp87XdiFI1WDXYqmRkeard7MxYerzlgOvwbBX6poDXnHzvTjxa0Y0cCyKVeAAWVUVBUIOTDQxcM28SvQNOCRXVxsAhWUHnGJiNdLqXtdFggqO2uqX1b1XJU-T5bxpWIH_2zDYw3Y1VHm6TfacokkMoSmLWKIG7UOoQg7mAE44oyCA1CGjY5MRiSKV7Rrd1pjE6gjOnrNpvUeumg7hErs65soOAqeIk4H3d9iQilC4y6lsBOU28YJp6oYOWcDMRiCb7t6ne5DtEGN0gDLCw4Jaqf8rjHxTV9FcWVFI0LxEy9egBMfc0Tm8VUgyTlBKiPqq1uKc6mSgnQPBbsuyUc01uAlI0YofdbJdZwqTlLr7ck5F_VIfKPj0jeGmdLkZPOUGZs7siK8v9m-C3Sk-O8Um-3fHvZvx1aR-X7RYaRh_lir8VZ1ydHP85bW6rvtkj3GJtpbfFmpgEFRltEX6y3kRJkxPCC",
  "id": "rs_0dc5b177f7837ae3016ab4626f7acc87d084a53ec42c1ef5a9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The upper body is now centered beneath the jaw opening, away from the other bottles. I’ll make one final grip attempt here before lifting.\"}",
  "call_id": "call_t6tdy8Gp0vZwSN6S9gYsczfM",
  "id": "fc_0dc5b177f7837ae3016ab46270c08c87d09e77d031f51cd6f0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_t6tdy8Gp0vZwSN6S9gYsczfM",
  "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]: [-0.8513, 1.8786, 0.5636, 0.9123, -0.5854, -0.3969, 0.0138, -0.0341, 0.7391, 0.5411, -0.4191, -0.0834, -0.0803, 0.9993]\nstate[eef_state]: left_x=0.353 left_y=-0.2493 left_z=0.0568 left_yaw=-0.1515 left_pitch=0.2259 left_roll=-0.1453 left_gripper=0.0138 right_x=0.2782 right_y=0.0088 right_z=0.1582 right_yaw=0.054 right_pitch=-0.0431 right_roll=-0.0033 right_gripper=0.9993\nstate[joint_eff]: [-0.4444, -3.5897, 1.3744, 0.0024, 0.3394, -0.0806, 0.6032, -0.7863, -1.5521, 7.1726, 2.0977, -0.1343, 0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23f35ece21fd50ed79cc71cb8940609e5ae6bcc15e394a0f26f87e2c15b8a834",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71b8f3dba3dc8ef9d1585f02601045b7dfa21269ba6cc968eb94198ba6b96979",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3980af141ca5b7e67d7400af5533f21a002a0ff2ed17b56fa386eab799278a57",
      "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 29 attempt 0 · /responses · status 200 · 8.236 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 102 changed as sent

message 110 changed as sent

message 114 changed as sent

message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.68, 1.9255, 0.8261, 0.598, -0.3931, -0.2619, 0.013, -0.0341, 0.6777, 0.44, -0.3664, -0.0643, -0.0654, 0.9993]\nstate[eef_state]: left_x=0.4189 left_y=-0.2471 left_z=0.0566 left_yaw=-0.2237 left_pitch=0.1032 left_roll=-0.0359 left_gripper=0.013 right_x=0.2698 right_y=0.0057 right_z=0.1384 right_yaw=0.0299 right_pitch=-0.0312 right_roll=-0.003 right_gripper=0.9993\nstate[joint_eff]: [-0.5812, -8.294, 4.7658, 0.8425, 0.232, 0.0415, 1.072, -0.6359, -1.0051, 7.1179, 1.9414, -0.1099, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8425, 1.8805, 0.5892, 0.8108, -0.5488, -0.3702, 0.7963, -0.0341, 0.7704, 0.5915, -0.4461, -0.0826, -0.0807, 0.9993]\nstate[eef_state]: left_x=0.3521 left_y=-0.251 left_z=0.0426 left_yaw=-0.1973 left_pitch=0.1567 left_roll=-0.0831 left_gripper=0.7963 right_x=0.2825 right_y=0.0085 right_z=0.1674 right_yaw=0.0536 right_pitch=-0.0511 right_roll=-0.0033 right_gripper=0.9993\nstate[joint_eff]: [-0.3624, -3.8632, 1.3607, -0.0659, 0.2418, -0.3297, 0.0659, -0.9915, -1.7709, 7.0769, 2.0733, -0.1148, 0.0024, -0.0122]\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 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8513, 1.8786, 0.5636, 0.9123, -0.5854, -0.3969, 0.0138, -0.0341, 0.7391, 0.5411, -0.4191, -0.0834, -0.0803, 0.9993]\nstate[eef_state]: left_x=0.353 left_y=-0.2493 left_z=0.0568 left_yaw=-0.1515 left_pitch=0.2259 left_roll=-0.1453 left_gripper=0.0138 right_x=0.2782 right_y=0.0088 right_z=0.1582 right_yaw=0.054 right_pitch=-0.0431 right_roll=-0.0033 right_gripper=0.9993\nstate[joint_eff]: [-0.4444, -3.5897, 1.3744, 0.0024, 0.3394, -0.0806, 0.6032, -0.7863, -1.5521, 7.1726, 2.0977, -0.1343, 0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23f35ece21fd50ed79cc71cb8940609e5ae6bcc15e394a0f26f87e2c15b8a834",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71b8f3dba3dc8ef9d1585f02601045b7dfa21269ba6cc968eb94198ba6b96979",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3980af141ca5b7e67d7400af5533f21a002a0ff2ed17b56fa386eab799278a57",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGJ4erh3j2g6dohEA6ZIFa7BzOf8bQrKY1wIArDBHvu1dfwfX8XdPKDHfonuiucLYdugSFY7IRJoKkvJggNTuGT9vbvYMy9CJC5uZ0F-1Z5zQm8ROYp4zayptiji8f6YaaieGGdf6WaKV36zDjDKS31299Fq5AdE26oBR2Sl7vu3P9IXK7wkmSTzfYSDXOmecA9tjzcyXr13deVmnArDtbniOqDllxdQDGYnaNdbZMnOdX4IKQXWhLDCjKmJj3nqaop5iY3y_34m7O778k2eutfHUkReDC2-MHcF8kNndSz0I4yr-pjYGlo496rPWa-XieHwTiI41H9mpdXsacrMSgXwxQnOUIuy82GKuWDHomRG6hZS9Suc2Byyv6hx5pkZ4eciK4UVnUTtsKFCqiRgjbG7LQT_N6asWJkO22pvtc-Nm0At4DkXLfz13sKlPyNmx04GgvRhUcMHm8DOF4d7-q5W61CjnI5NhJT9MG20EXBt1y2ku6L8_82oBXFnQ0gm6XhoViNQA2VcyvtXqJq9YFDdPvhTlCpFQDDiPi7LA0QIA20Q3it_9AzycRrqweEWm3gqy-5lHND8gMdWzPF5gGL0THfH5qxnC_3JuQTBQFiann6M9x3DBMbsZsn8yHyYcL-HS3wkPhUPO298wEXow3qLcvJnlF8sitRSIGUsDZXx8KoghqT0DfPJOY49DLROu71vMKHz5vc23SLBNm3myu_QYE2-8Q11n_5bplSziscIe-wVMOTPAOosmZs5x4TUWUKV7rRi1-qsefLA4tXXjTWee-S3mILcEUdC1tq1In3CvleGd4IAI45ELVLq72OAcGD2yarnzuxjDfY6-I4pVWyw85XwITlL8bkS3g9vMMsNO_5ww4hK2tbb8u6LnVeXdtuRXYiffLQhFJQZGdLQfeDXfV1ed6-RgGEYVRTxWhrRBea4aOIs-5CjCrn07oev63j5atJy66UpZzMC_2AnfMPl1KosamixBi5u6-0cX1vPqUzcWAnw365dIbt0S2LpBGSP0MbCd8njpyY6vPrBKAQrYKpdTnXaW43nqhf_W29dljmS8Lj1vnFUb5y3upsoEibBKiI6G3fjePHpBbcBifLXc5L7GoJm0VIxuX4Zxrb8rwiefZCHl9cr-sxxhl2PGXuHkG-RuepmEcqwTq1Oh36L21Ooabqqy3m5aR7rHIJ3Inj8fKuO1ab8iaK6K08zckH7KHfDSVXFpmomdWhGdxYXhv2OuGhTQKpXGQ7PeqzP4mNhjl4TMD0RI8sYGZHky2T951NAc2uElmrWYf8bN1zci6mFcXEhXmEg7roAf5yaEPLUL2l9ZBCNbP2HWf52TKpb4A0fuaO8VpP4kKs7xpM13KcNAsMd0JqyEOnICe5fmYBMz6QHW_aly5YJJPalNBek8Va5JHgBN1mH2p3LhUt6yNuORNM2lX4FX8EMWcsZAW79SzlQdAkaSQimaIc-aX9bjdjyqR0Ld5f1JxjGTfGIIYdZxATJf_7EZx7AIsEifvmGPdvJxOqI_3XERW4uSIel_q79OPjwPR5cDPw5Q8XEz1YHB-su6xzYSKOIA85y3JLOPfxl44mAJ4n6l5DAjRBNrp48vECXyapNNtkD9TD3jS2a-qhDYvui3_jZNC0wEilzXMkZlw-LzlGJTRU43GiDmqjdPscoWlTMlUnM9qNAV5fzlW2bNAzXVdKViwjNUBS9vXwcko6xwEm8v1bMecLnIrWMjm7S4379MbTLZTvZLB468S_sf3Aia01S6ejUGIO9cB8WqbTHKQ1Gd-tyBd2PQ99BL2xpDITtFF4hJbzR1ZDav1k1m8HDQLaKWvURdgb2ecB4_v5Wv4Haf5PwdccOCuBoW4WgDjCXnzEY6ocnC3bNeiEJbFMpKYpkI7a3dnkr_xw64V7pPgKFERxaNTvroftkSVzgm2YcXsOk4krKqJItO1-vNJs81ufFQmL7JRXlXqxgkVVzBUIa9kuGZ6CyBtFObsMQTCD0rhfdhjfbM3opv9KxqjIapuhDSbLAYlcIrFWKANvvKdGJymp4m-IuozuZo7SNN7Kyohpn4o53Bf9jugwBtt3MAdvJqRTuJoa8XGHa9sIvF1WlVFqO_gRtPAF5QNfLBRA3AJn0yW2LxtuJYMhOADu_TZTrc9Z5otyd5G9xWKzi88BS2ZFvjuXCdFH3CmIUK0VkgfPkf-IYRQ==",
  "id": "rs_0dc5b177f7837ae3016ab4627425e887d0b796e3c1ef1f0ec5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.28,\"left_y\":-0.1,\"left_z\":0.22,\"left_yaw\":0,\"left_gripper\":1,\"right_x\":0.294,\"right_y\":0.004,\"right_z\":0.2},\"note\":\"The final grip also closed empty, and contact is preventing a reliable low grasp. I’m opening the hand and withdrawing both arms to leave the bottles safely on the table.\"}",
  "call_id": "call_JfvSMfQOwKod3QKQS9sHTqPV",
  "id": "fc_0dc5b177f7837ae3016ab46276c75487d08b69b2911693f199",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JfvSMfQOwKod3QKQS9sHTqPV",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6884, 0.9485, 0.786, -0.5056, -0.5758, -0.4458, 0.9965, -0.0612, 0.7998, 0.6483, -0.4831, -0.1101, -0.1032, 0.9993]\nstate[eef_state]: left_x=0.2866 left_y=-0.1066 left_z=0.211 left_yaw=0.0091 left_pitch=0.0171 left_roll=-0.0218 left_gripper=0.9965 right_x=0.2861 right_y=0.0055 right_z=0.1782 right_yaw=0.0619 right_pitch=-0.0587 right_roll=-0.0045 right_gripper=0.9993\nstate[joint_eff]: [0.3214, -2.3316, 9.6205, 1.5116, -0.1685, 0.1294, 0.0171, -0.7179, -0.5538, 10.0171, 1.8632, -0.1294, 0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d66cb7573951c23a1c7b5cd33682e0dfd878265c01418cbc8f0d194f0ad5e3e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6c09e2b9f44c496b2e04f56a15a2a7dfc59b0595de701caa661bf2acbfbd951",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2382d20b9fd08ff09a5521cd1b0ac6caaade063f2c7ab035ac3baff2b86b669",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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