adhoc

completed
2026-09-23T23:27:14.264919+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
246.4 s
total steps
328
success_at_end
0
scenes
1
trials
1
errored
0

scene-0

completed

Stand all three bottles upright.

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteAll three bottles are lying down with their caps toward the far edge. I’m positioning the left gripper over the left bottle’s neck so I can lift that end and let the base swing downward.
move_to
left_x0.4200left_y-0.1700left_z0.1500left_gripper1.0000right_x0.2940right_y0.0040right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7944, 0.6094, -0.3763, -0.0223, -0.0284, 0.9988, -0.0154, 0.7895, 0.6041, -0.3859, -0.0292, -0.0345, 0.9999] state[eef_state]: left_x=0.2959 left_y=0.0016 left_z=0.1831 left_yaw=-0.0002 left_pitch=-0.0 left_roll=0.0003 left_gripper=0.9988 right_x=0.2937 right_y=0.0042 right_z=0.18 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9999 state[joint_eff]: [-0.4991, -1.4564, 9.7436, 1.7509, -0.0122, 0.1245, -0.1392, -1.0462, -1.1145, 10.3726, 1.8681, 0.0464, 0.232, -0.0317] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.42,"left_y":-0.17,"left_z":0.15,"left_gripper":1,"right_x":0.294,"right_y":0.004,"right_z":0.2},"note":"All three bottles are lying down with their caps toward the far edge. I’m positioning the left gripper over the left bottle’s neck so I can lift that end and let the base swing downward."})
tool
executing move_to over 16 steps (1.6s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteThe left bottle’s neck appears left of the jaw centerline and still ahead of the fingertips. I’m shifting left and forward while lowering to bring the jaws around the neck.
move_to
left_x0.4600left_y-0.1200left_z0.0650
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5686, 1.5841, 0.9524, -0.0654, -0.4603, -0.3454, 0.9988, -0.0151, 0.7986, 0.6498, -0.4782, -0.0299, -0.0425, 0.9998] state[eef_state]: left_x=0.4081 left_y=-0.1634 left_z=0.1333 left_yaw=-0.0145 left_pitch=-0.052 left_roll=0.0205 left_gripper=0.9988 right_x=0.287 right_y=0.0046 right_z=0.1796 right_yaw=0.0054 right_pitch=-0.0556 right_roll=-0.0052 right_gripper=0.9998 state[joint_eff]: [-0.2667, -7.3094, 9.1966, 1.7167, -0.2955, -0.0611, -0.1392, -0.335, -1.0735, 10.3453, 2.0244, -0.0806, 0.0122, -0.0171] camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.46,"left_y":-0.12,"left_z":0.065},"note":"The left bottle’s neck appears left of the jaw centerline and still ahead of the fingertips. I’m shifting left and forward while lowering to bring the jaws around the neck."})
tool
executing move_to over 5 steps (0.5s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe neck is still to the left of the fingertips. I’m making a smaller forward-left correction and lowering to neck height before closing.
move_to
left_x0.4900left_y-0.0850left_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3862, 1.8099, 0.8478, 0.2817, -0.358, -0.2562, 0.9985, -0.0154, 0.7635, 0.5957, -0.4461, -0.0299, -0.0429, 0.9998] state[eef_state]: left_x=0.4462 left_y=-0.1108 left_z=0.0538 left_yaw=0.0374 left_pitch=-0.0693 left_roll=0.0279 left_gripper=0.9985 right_x=0.2827 right_y=0.0045 right_z=0.1708 right_yaw=0.0052 right_pitch=-0.0426 right_roll=-0.0058 right_gripper=0.9998 state[joint_eff]: [0.1846, -8.4034, 6.1744, 1.7607, 0.0855, 0.2418, -0.0415, -0.4855, -1.6479, 6.9812, 2.0195, -0.0952, -0.022, -0.0122] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_y":-0.085,"left_z":0.025},"note":"The neck is still to the left of the fingertips. I’m making a smaller forward-left correction and lowering to neck height before closing."})
tool
executing move_to over 4 steps (0.4s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe bottle’s upper body is centered between the jaws, though the cap remains farther forward. I’m making a gentle grip near the shoulder so the bottle can pivot as it is lifted.
move_to
left_gripper0.3800right_x0.2940right_y0.0040right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2855, 1.9621, 0.8742, 0.5209, -0.2947, -0.2317, 0.9982, -0.0154, 0.7387, 0.5537, -0.4255, -0.0299, -0.0429, 0.9998] state[eef_state]: left_x=0.4851 left_y=-0.0852 left_z=0.0386 left_yaw=0.0717 left_pitch=0.0213 left_roll=-0.0291 left_gripper=0.9982 right_x=0.279 right_y=0.0046 right_z=0.1624 right_yaw=0.0052 right_pitch=-0.0392 right_roll=-0.0058 right_gripper=0.9998 state[joint_eff]: [0.3897, -6.5162, 5.8598, 1.2381, 0.0073, 0.3297, -0.0415, -0.5265, -1.388, 6.9812, 2.0147, -0.1197, -0.0171, -0.0122] camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.38,"right_x":0.294,"right_y":0.004,"right_z":0.2},"note":"The bottle’s upper body is centered between the jaws, though the cap remains farther forward. I’m making a gentle grip near the shoulder so the bottle can pivot as it is lifted."})
tool
executing move_to over 7 steps (0.7s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent noteThe jaws have closed against the bottle and brought it into line. I’m lifting it a short distance and drawing it away from the far edge to check the hold.
move_to
left_x0.4600left_y-0.0850left_z0.1300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2707, 1.985, 0.8925, 0.5983, -0.2775, -0.2085, 0.4038, -0.0154, 0.7967, 0.6411, -0.4709, -0.0303, -0.0437, 0.9998] state[eef_state]: left_x=0.4993 left_y=-0.0846 left_z=0.0501 left_yaw=0.0611 left_pitch=0.0872 left_roll=-0.0416 left_gripper=0.4038 right_x=0.2868 right_y=0.0045 right_z=0.1776 right_yaw=0.0059 right_pitch=-0.0552 right_roll=-0.0059 right_gripper=0.9998 state[joint_eff]: [-0.294, -7.7197, 5.7915, 0.9939, -0.0513, 0.2076, 0.4225, -0.9094, -0.9368, 9.9487, 1.9658, -0.1001, -0.0171, -0.0073] camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.46,"left_y":-0.085,"left_z":0.13},"note":"The jaws have closed against the bottle and brought it into line. I’m lifting it a short distance and drawing it away from the far edge to check the hold."})
tool
executing move_to over 6 steps (0.6s)
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 remains aligned with the jaws during the test lift. I’m raising it farther over clear tabletop so gravity can bring its base underneath the grip.
move_to
left_x0.4000left_y-0.1000left_z0.2700
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3027, 1.7657, 0.9131, 0.3023, -0.3012, -0.2169, 0.4046, -0.0154, 0.7589, 0.5858, -0.4431, -0.0307, -0.0505, 0.9998] state[eef_state]: left_x=0.476 left_y=-0.09 left_z=0.1013 left_yaw=0.0522 left_pitch=0.0383 left_roll=-0.0189 left_gripper=0.4046 right_x=0.2816 right_y=0.0047 right_z=0.1682 right_yaw=0.01 right_pitch=-0.0448 right_roll=-0.0115 right_gripper=0.9998 state[joint_eff]: [-0.294, -10.947, 9.347, 1.9023, -0.232, -0.0073, 0.0659, -0.6496, -1.2786, 6.9949, 2.1661, -0.1294, 0.0904, -0.0073] camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.40,"left_y":-0.10,"left_z":0.27},"note":"The bottle remains aligned with the jaws during the test lift. I’m raising it farther over clear tabletop so gravity can bring its base underneath the grip."})
tool
executing move_to over 11 steps (1.1s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteThe higher view shows that the bottle stayed on the table; the earlier grip did not hold it. Its cap is too far forward for a low grasp, so I’m approaching the nearer body to pull the bottle into reach first.
move_to
left_x0.4550left_y-0.0900left_z0.0150left_gripper1.0000right_x0.2940right_y0.0040right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4156, 1.404, 1.2095, -0.4419, -0.3832, -0.2874, 0.4046, -0.0212, 0.7319, 0.5426, -0.4194, -0.0303, -0.0509, 0.9998] state[eef_state]: left_x=0.4091 left_y=-0.1044 left_z=0.245 left_yaw=0.0443 left_pitch=-0.0227 left_roll=-0.0027 left_gripper=0.4046 right_x=0.2781 right_y=0.0031 right_z=0.1604 right_yaw=0.0041 right_pitch=-0.0372 right_roll=-0.0122 right_gripper=0.9998 state[joint_eff]: [-0.3624, -8.3897, 9.388, 1.7167, -0.3541, 0.1978, -0.0024, -0.4444, -1.306, 6.8855, 2.0195, -0.1929, -0.0024, -0.0122] camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.455,"left_y":-0.09,"left_z":0.015,"left_gripper":1,"right_x":0.294,"right_y":0.004,"right_z":0.2},"note":"The higher view shows that the bottle stayed on the table; the earlier grip did not hold it. Its cap is too far forward for a low grasp, so I’m approaching the nearer body to pull the bottle into reach first."})
tool
executing move_to over 15 steps (1.5s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteThe bottle body is now centered between the open jaws. I’m lowering slightly and closing fully to secure the body rather than relying on a partial closure.
move_to
left_z-0.0050left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3317, 1.9015, 0.7635, 0.5804, -0.3286, -0.2363, 0.9976, -0.0254, 0.7967, 0.6468, -0.482, -0.0307, -0.0509, 0.9998] state[eef_state]: left_x=0.4589 left_y=-0.0939 left_z=0.0391 left_yaw=0.0563 left_pitch=0.0367 left_roll=-0.0197 left_gripper=0.9976 right_x=0.2859 right_y=0.0018 right_z=0.178 right_yaw=0.0003 right_pitch=-0.0604 right_roll=-0.0114 right_gripper=0.9998 state[joint_eff]: [0.8684, -5.4359, 4.4103, 0.8474, 0.0415, 0.1099, -0.1636, 0.0205, -0.4855, 10.0718, 1.9365, -0.1148, 0.0757, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":-0.005,"left_gripper":0},"note":"The bottle body is now centered between the open jaws. I’m lowering slightly and closing fully to secure the body rather than relying on a partial closure."})
tool
executing move_to over 10 steps (1.0s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteThe fully closed reading confirms an empty grasp, and the arm could not reach the requested low height that far forward. I’m moving to the bottle’s nearer end, where the arm can descend more reliably.
move_to
left_x0.3950left_y-0.1000left_z0.0150left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3321, 1.9873, 0.7853, 0.8238, -0.363, -0.2394, 0.012, -0.0284, 0.7582, 0.5861, -0.445, -0.0311, -0.0509, 0.9998] state[eef_state]: left_x=0.4847 left_y=-0.097 left_z=0.0599 left_yaw=0.0953 left_pitch=0.2074 left_roll=-0.0796 left_gripper=0.012 right_x=0.2814 right_y=0.0011 right_z=0.1681 right_yaw=-0.0025 right_pitch=-0.0455 right_roll=-0.0116 right_gripper=0.9998 state[joint_eff]: [-0.1162, -4.3009, 3.2479, 0.2027, 0.3297, 0.0317, 1.0916, -0.6906, -1.5385, 7.1726, 2.044, -0.1734, 0.0269, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.395,"left_y":-0.10,"left_z":0.015,"left_gripper":1},"note":"The fully closed reading confirms an empty grasp, and the arm could not reach the requested low height that far forward. I’m moving to the bottle’s nearer end, where the arm can descend more reliably."})
tool
executing move_to over 10 steps (1.0s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteThe fingertips have reached table level and visibly straddle the nearer end of the bottle. I’m closing here to get a secure hold for repositioning.
move_to
left_gripper0.0000right_x0.2940right_y0.0040right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4446, 1.8526, 0.5629, 0.6071, -0.4397, -0.3229, 0.9946, -0.0341, 0.7319, 0.5411, -0.4202, -0.0383, -0.0509, 0.9998] state[eef_state]: left_x=0.3928 left_y=-0.0999 left_z=0.0019 left_yaw=0.0807 left_pitch=-0.0466 left_roll=0.0203 left_gripper=0.9946 right_x=0.2779 right_y=0.0009 right_z=0.1596 right_yaw=-0.0021 right_pitch=-0.0393 right_roll=-0.0076 right_gripper=0.9998 state[joint_eff]: [-0.1709, -9.5521, 4.4239, 1.4969, -0.188, 0.0757, -0.1587, -0.6359, -1.5248, 7.1863, 2.0293, -0.1392, 0.0171, -0.0073] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"right_x":0.294,"right_y":0.004,"right_z":0.2},"note":"The fingertips have reached table level and visibly straddle the nearer end of the bottle. I’m closing here to get a secure hold for repositioning."})
tool
executing move_to over 10 steps (1.0s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteThe settled opening is about 4.7 cm, confirming the bottle is held. I’m lifting slightly and pulling it toward the base so its neck will be within the arm’s low working reach.
move_to
left_x0.2550left_y-0.1300left_z0.0700
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4465, 1.8736, 0.532, 0.7162, -0.453, -0.3183, 0.4965, -0.0189, 0.7971, 0.6434, -0.4721, -0.0372, -0.0505, 0.9999] state[eef_state]: left_x=0.3944 left_y=-0.0991 left_z=0.0052 left_yaw=0.0865 left_pitch=0.0068 left_roll=0.0022 left_gripper=0.4965 right_x=0.287 right_y=0.0047 right_z=0.1783 right_yaw=0.012 right_pitch=-0.0542 right_roll=-0.0075 right_gripper=0.9999 state[joint_eff]: [-0.1846, -6.8581, 3.8359, 1.6679, -0.1538, -0.0659, 0.8718, 0.1026, -0.7043, 9.9761, 2.0488, 0.0366, 0.1783, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.255,"left_y":-0.13,"left_z":0.07},"note":"The settled opening is about 4.7 cm, confirming the bottle is held. I’m lifting slightly and pulling it toward the base so its neck will be within the arm’s low working reach."})
tool
executing move_to over 11 steps (1.1s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent noteThe bottle has moved closer while the other two remain undisturbed. I’m setting it down and releasing the body so I can regrasp near the neck.
move_to
left_z0.0250left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9333, 1.2507, 0.3401, -0.0345, -0.6968, -0.6807, 0.4959, -0.0212, 0.7631, 0.5888, -0.4442, -0.0383, -0.0513, 0.9998] state[eef_state]: left_x=0.2457 left_y=-0.1353 left_z=0.0394 left_yaw=-0.0118 left_pitch=-0.1107 left_roll=0.0468 left_gripper=0.4959 right_x=0.2821 right_y=0.0044 right_z=0.1682 right_yaw=0.0111 right_pitch=-0.0469 right_roll=-0.0076 right_gripper=0.9998 state[joint_eff]: [0.1709, -4.8342, 8.4855, 2.254, -1.0281, 0.0806, 0.3297, -0.6906, -1.3607, 6.9675, 2.127, -0.1343, 0.0269, -0.0171] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.025,"left_gripper":1},"note":"The bottle has moved closer while the other two remain undisturbed. I’m setting it down and releasing the body so I can regrasp near the neck."})
tool
executing move_to over 6 steps (0.6s)
step 111
top_cam
camera top_cam step 111
left_cam
camera left_cam step 111
right_cam
camera right_cam step 111
assistant
agent noteThe first bottle now lies in the nearer workspace, with its narrow neck clearly visible. I’m moving the open gripper above that neck for the uprighting grasp.
move_to
left_x0.4050left_y-0.1500left_z0.1100right_x0.2940right_y0.0040right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9691, 1.3449, 0.21, 0.2657, -0.7532, -0.6807, 0.9961, -0.0238, 0.7364, 0.543, -0.4194, -0.0383, -0.0513, 0.9998] state[eef_state]: left_x=0.2425 left_y=-0.1333 left_z=0.0207 left_yaw=-0.0153 left_pitch=-0.0299 left_roll=0.0119 left_gripper=0.9961 right_x=0.2784 right_y=0.0037 right_z=0.1594 right_yaw=0.0084 right_pitch=-0.0412 right_roll=-0.0078 right_gripper=0.9998 state[joint_eff]: [-0.2256, -2.8513, 4.7521, 1.3895, -0.4615, 0.0317, -0.0366, -0.5402, -1.6752, 6.9402, 2.0488, -0.1148, 0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.405,"left_y":-0.15,"left_z":0.11,"right_x":0.294,"right_y":0.004,"right_z":0.2},"note":"The first bottle now lies in the nearer workspace, with its narrow neck clearly visible. I’m moving the open gripper above that neck for the uprighting grasp."})
tool
executing move_to over 13 steps (1.3s)
step 124
top_cam
camera top_cam step 124
left_cam
camera left_cam step 124
right_cam
camera right_cam step 124
assistant
agent noteThe cap is now just ahead of the jaw opening, and the neck is nearly centered. I’m lowering around the narrow section with a small leftward correction.
move_to
left_x0.4050left_y-0.1400left_z0.0200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5468, 1.5715, 0.7521, 0.1806, -0.4698, -0.3576, 0.9968, -0.0265, 0.7971, 0.6456, -0.4797, -0.0387, -0.0578, 0.9998] state[eef_state]: left_x=0.3972 left_y=-0.144 left_z=0.1024 left_yaw=0.0206 left_pitch=0.0007 left_roll=-0.0157 left_gripper=0.9968 right_x=0.2862 right_y=0.0028 right_z=0.1778 right_yaw=0.0096 right_pitch=-0.0594 right_roll=-0.0123 right_gripper=0.9998 state[joint_eff]: [0.4991, -6.188, 8.212, 1.4237, -0.0464, 0.3687, 0.0659, -0.2803, -0.5128, 10.0308, 1.9219, -0.1197, 0.0757, -0.0122] camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.405,"left_y":-0.14,"left_z":0.02},"note":"The cap is now just ahead of the jaw opening, and the neck is nearly centered. I’m lowering around the narrow section with a small leftward correction."})
tool
executing move_to over 6 steps (0.6s)
step 130
top_cam
camera top_cam step 130
left_cam
camera left_cam step 130
right_cam
camera right_cam step 130
assistant
agent noteThe cap is centered, but the fingertips are still over the shoulder. I’m advancing three centimeters and closing gently around the neck, leaving room for it to pivot.
move_to
left_x0.4350left_y-0.1400left_z0.0200left_gripper0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5339, 1.8229, 0.6598, 0.5068, -0.4736, -0.3389, 0.9969, -0.0341, 0.7586, 0.5861, -0.4446, -0.0536, -0.0578, 0.9998] state[eef_state]: left_x=0.4029 left_y=-0.1404 left_z=0.028 left_yaw=0.0267 left_pitch=-0.013 left_roll=0.0114 left_gripper=0.9969 right_x=0.2815 right_y=0.0034 right_z=0.1682 right_yaw=0.0145 right_pitch=-0.045 right_roll=-0.0042 right_gripper=0.9998 state[joint_eff]: [0.7043, -5.5043, 3.7538, 1.3162, 0.0366, 0.0415, -0.0024, -0.5538, -1.4838, 7.0632, 2.0781, -0.0708, 0.0317, -0.0073] camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.435,"left_y":-0.14,"left_z":0.02,"left_gripper":0.2},"note":"The cap is centered, but the fingertips are still over the shoulder. I’m advancing three centimeters and closing gently around the neck, leaving room for it to pivot."})
tool
executing move_to over 8 steps (0.8s)
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 neck is now beneath the gripper rather than ahead in the wrist view. I’m lifting over open table space to see whether the bottle hangs base-down.
move_to
left_x0.3500left_y-0.1400left_z0.3000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4824, 1.8942, 0.7532, 0.6186, -0.4801, -0.3153, 0.2059, -0.0341, 0.7311, 0.543, -0.4221, -0.0563, -0.0582, 0.9998] state[eef_state]: left_x=0.4446 left_y=-0.1366 left_z=0.0516 left_yaw=0.074 left_pitch=0.1025 left_roll=-0.0359 left_gripper=0.2059 right_x=0.2778 right_y=0.004 right_z=0.1604 right_yaw=0.0169 right_pitch=-0.038 right_roll=-0.0033 right_gripper=0.9998 state[joint_eff]: [0.1846, -5.2308, 5.0803, 1.1111, 0.3248, 0.022, 0.0171, -0.4991, -1.3333, 6.9128, 2.044, -0.0855, -0.0122, -0.0122] 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":0.35,"left_y":-0.14,"left_z":0.3},"note":"The neck is now beneath the gripper rather than ahead in the wrist view. I’m lifting over open table space to see whether the bottle hangs base-down."})
tool
executing move_to over 17 steps (1.7s)
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 bottle is still on the table, so the neck grasp missed. I’m switching to a lower, reachable grip on the upper body, where there is more surface for the jaws to hold.
move_to
left_x0.3600left_y-0.1400left_z0.0150left_gripper1.0000right_x0.2940right_y0.0040right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.654, 1.3514, 1.3212, -0.6773, -0.5858, -0.4679, 0.2053, -0.0341, 0.7109, 0.5072, -0.4023, -0.0566, -0.0582, 0.9998] state[eef_state]: left_x=0.3588 left_y=-0.1475 left_z=0.2812 left_yaw=0.0634 left_pitch=-0.0111 left_roll=-0.0098 left_gripper=0.2053 right_x=0.275 right_y=0.0042 right_z=0.1533 right_yaw=0.0172 right_pitch=-0.0338 right_roll=-0.0033 right_gripper=0.9998 state[joint_eff]: [-0.4444, -7.0085, 9.3333, 1.4628, -0.3541, 0.0952, -0.0855, -0.6769, -1.1829, 6.9675, 1.9756, -0.1197, -0.0366, -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":0.36,"left_y":-0.14,"left_z":0.015,"left_gripper":1,"right_x":0.294,"right_y":0.004,"right_z":0.2},"note":"The bottle is still on the table, so the neck grasp missed. I’m switching to a lower, reachable grip on the upper body, where there is more surface for the jaws to hold."})
tool
executing move_to over 18 steps (1.8s)
step 173
top_cam
camera top_cam step 173
left_cam
camera left_cam step 173
right_cam
camera right_cam step 173
assistant
agent noteThe bottle’s body fills the space between the jaws at the reachable low pose. I’m closing securely so I can bring the neck substantially closer before trying to stand it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6342, 1.7367, 0.5331, 0.4908, -0.6075, -0.4355, 0.9973, -0.0341, 0.7979, 0.6476, -0.482, -0.0566, -0.062, 0.9998] state[eef_state]: left_x=0.3602 left_y=-0.1354 left_z=0.0247 left_yaw=0.0826 left_pitch=-0.0061 left_roll=0.0317 left_gripper=0.9973 right_x=0.2861 right_y=0.0038 right_z=0.1781 right_yaw=0.0193 right_pitch=-0.0601 right_roll=-0.005 right_gripper=0.9998 state[joint_eff]: [-0.1573, -4.3009, 2.947, 1.1941, 0.3443, -0.1197, -0.0317, -0.3624, -0.7043, 10.0581, 1.8926, -0.0659, 0.0171, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The bottle’s body fills the space between the jaws at the reachable low pose. I’m closing securely so I can bring the neck substantially closer before trying to stand it."})
tool
executing move_to over 10 steps (1.0s)
step 183
top_cam
camera top_cam step 183
left_cam
camera left_cam step 183
right_cam
camera right_cam step 183
assistant
agent noteThe jaws rode upward over the rounded bottle instead of capturing it. I’m opening and descending fully to the table beside the body before closing again.
move_to
left_x0.3400left_y-0.1400left_z-0.0200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.63, 1.7134, 0.5301, 0.6323, -0.6369, -0.4492, 0.0123, -0.0341, 0.7589, 0.5877, -0.4458, -0.057, -0.0616, 0.9998] state[eef_state]: left_x=0.3763 left_y=-0.1399 left_z=0.0583 left_yaw=0.1236 left_pitch=0.1255 left_roll=-0.076 left_gripper=0.0123 right_x=0.2815 right_y=0.004 right_z=0.1686 right_yaw=0.0194 right_pitch=-0.0448 right_roll=-0.0053 right_gripper=0.9998 state[joint_eff]: [0.0479, -5.0667, 4.1368, 0.5348, 0.2418, 0.0073, 1.0867, -0.7316, -1.4154, 7.1863, 2.0391, -0.1734, -0.0024, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 183): [image omitted: streamed camera frame] camera 'left_cam' (step 183): [image omitted: streamed camera frame] camera 'right_cam' (step 183): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.14,"left_z":-0.02,"left_gripper":1},"note":"The jaws rode upward over the rounded bottle instead of capturing it. I’m opening and descending fully to the table beside the body before closing again."})
tool
executing move_to over 10 steps (1.0s)
step 193
top_cam
camera top_cam step 193
left_cam
camera left_cam step 193
right_cam
camera right_cam step 193
assistant
agent noteThe open gripper is still stopping above the table, suggesting a fingertip is landing on the bottle. I’m shifting toward the bottle’s nearer end and sideways to place both fingertips outside its widest part.
move_to
left_x0.3200left_y-0.1050left_z0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.704, 1.8549, 0.5156, 0.8192, -0.7166, -0.5316, 0.9944, -0.0341, 0.7319, 0.5434, -0.4217, -0.057, -0.0616, 0.9998] state[eef_state]: left_x=0.371 left_y=-0.1581 left_z=0.0399 left_yaw=0.1615 left_pitch=0.1718 left_roll=-0.1466 left_gripper=0.9944 right_x=0.2779 right_y=0.0042 right_z=0.1604 right_yaw=0.0194 right_pitch=-0.038 right_roll=-0.0057 right_gripper=0.9998 state[joint_eff]: [-0.3897, -1.9897, 0.2803, -0.149, 0.3297, -0.1148, 0.0562, -0.4581, -1.4564, 7.0085, 1.9853, -0.1441, -0.0073, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":-0.105,"left_z":0},"note":"The open gripper is still stopping above the table, suggesting a fingertip is landing on the bottle. I’m shifting toward the bottle’s nearer end and sideways to place both fingertips outside its widest part."})
tool
executing move_to over 5 steps (0.5s)
step 198
top_cam
camera top_cam step 198
left_cam
camera left_cam step 198
right_cam
camera right_cam step 198
assistant
agent noteThe body is now between the jaws with clearance on both sides. I’m closing while lifting slightly to avoid dragging the fingertips against the tabletop.
move_to
left_x0.3000left_y-0.1100left_z0.0900left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6674, 1.7035, 0.3977, 0.7288, -0.6987, -0.5545, 0.9959, -0.0341, 0.7113, 0.5087, -0.4019, -0.057, -0.0616, 0.9998] state[eef_state]: left_x=0.3469 left_y=-0.1241 left_z=0.0411 left_yaw=0.1895 left_pitch=0.1261 left_roll=-0.1303 left_gripper=0.9959 right_x=0.2753 right_y=0.0043 right_z=0.1539 right_yaw=0.0194 right_pitch=-0.0322 right_roll=-0.006 right_gripper=0.9998 state[joint_eff]: [0.4581, -2.9744, 1.3197, 0.2271, -0.0073, 0.1001, 0.1441, -0.7043, -1.4564, 6.8855, 2.0049, -0.1587, -0.0073, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 198): [image omitted: streamed camera frame] camera 'left_cam' (step 198): [image omitted: streamed camera frame] camera 'right_cam' (step 198): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.11,"left_z":0.09,"left_gripper":0},"note":"The body is now between the jaws with clearance on both sides. I’m closing while lifting slightly to avoid dragging the fingertips against the tabletop."})
tool
executing move_to over 10 steps (1.0s)
step 208
top_cam
camera top_cam step 208
left_cam
camera left_cam step 208
right_cam
camera right_cam step 208
assistant
agent noteThe left arm is no longer tracking the low targets well, and the latest close was empty. I’m lifting it clear to reset its posture while positioning the right arm near the rightmost bottle.
move_to
left_x0.2400left_y-0.0800left_z0.2300left_gripper1.0000right_x0.4000right_y0.2400right_z0.1200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6659, 1.6955, 0.3717, 0.8116, -0.7464, -0.551, 0.0123, -0.0341, 0.6933, 0.4786, -0.3935, -0.057, -0.0616, 0.9998] state[eef_state]: left_x=0.3478 left_y=-0.1161 left_z=0.0533 left_yaw=0.2354 left_pitch=0.1868 left_roll=-0.1617 left_gripper=0.0123 right_x=0.2718 right_y=0.0044 right_z=0.1465 right_yaw=0.0194 right_pitch=-0.036 right_roll=-0.0058 right_gripper=0.9998 state[joint_eff]: [0.1162, -2.8513, 1.388, 0.0611, 0.4615, 0.0562, 1.0769, -0.8274, -1.0462, 7.1316, 1.9805, -0.1294, -0.0464, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.24,"left_y":-0.08,"left_z":0.23,"left_gripper":1,"right_x":0.4,"right_y":0.24,"right_z":0.12,"right_gripper":1},"note":"The left arm is no longer tracking the low targets well, and the latest close was empty. I’m lifting it clear to reset its posture while positioning the right arm near the rightmost bottle."})
tool
executing move_to over 20 steps (2.0s)
step 228
top_cam
camera top_cam step 228
left_cam
camera left_cam step 228
right_cam
camera right_cam step 228
assistant
agent noteBoth bottles’ nearer ends are visible ahead of the open jaws. I’m lowering each gripper beside a bottle body, keeping the arms in separate areas of the table.
move_to
left_x0.2650left_y-0.1200left_z0.0000left_yaw0.0000right_x0.4250right_y0.2350right_z0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9005, 0.9581, 0.8944, -0.9009, -0.8478, -0.8669, 0.9973, 0.7341, 1.7172, 0.9905, -0.025, 0.5339, 0.3786, 0.9999] state[eef_state]: left_x=0.2452 left_y=-0.0903 left_z=0.2188 left_yaw=0.2128 left_pitch=-0.0137 left_roll=-0.0232 left_gripper=0.9973 right_x=0.3873 right_y=0.2333 right_z=0.1037 right_yaw=0.0614 right_pitch=-0.0572 right_roll=-0.0413 right_gripper=0.9999 state[joint_eff]: [-0.3897, -2.359, 8.4308, 1.0574, -0.7692, -0.0366, -0.1197, 0.3897, -8.0889, 8.6632, 1.7656, 0.486, 0.2564, -0.0317] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.265,"left_y":-0.12,"left_z":0,"left_yaw":0,"right_x":0.425,"right_y":0.235,"right_z":0},"note":"Both bottles’ nearer ends are visible ahead of the open jaws. I’m lowering each gripper beside a bottle body, keeping the arms in separate areas of the table."})
tool
executing move_to over 15 steps (1.5s)
step 243
top_cam
camera top_cam step 243
left_cam
camera left_cam step 243
assistant
agent noteThe right fingertips reached table level around the bottle body, so I’m securing that grasp. The left bottle is offset toward one finger, so I’m moving the left gripper sideways to clear it.
move_to
left_x0.2650left_y-0.1700left_z0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8383, 1.491, 0.2012, 0.6559, -0.7406, -0.622, 0.9974, 0.6781, 2.0586, 0.897, 0.4751, 0.4858, 0.3313, 0.9998] state[eef_state]: left_x=0.2827 left_y=-0.1307 left_z=0.0379 left_yaw=0.0821 left_pitch=0.1045 left_roll=-0.132 left_gripper=0.9974 right_x=0.4166 right_y=0.2343 right_z=0.001 right_yaw=0.0698 right_pitch=-0.0237 right_roll=-0.0156 right_gripper=0.9998 state[joint_eff]: [0.6769, -1.0188, 0.5402, -0.9695, 0.1245, 0.7448, -0.0024, -1.1692, -7.5009, 6.0103, 1.7118, 0.1245, -0.0415, -0.0171] camera 'top_cam' (step 243): [image omitted: streamed camera frame] camera 'left_cam' (step 243): [image omitted: streamed camera frame] camera 'right_cam' (step 243): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.265,"left_y":-0.17,"left_z":0,"right_gripper":0},"note":"The right fingertips reached table level around the bottle body, so I’m securing that grasp. The left bottle is offset toward one finger, so I’m moving the left gripper sideways to clear it."})
tool
executing move_to over 10 steps (1.0s)
step 253
assistant
agent noteThe right gripper has a confirmed body grasp. I’m pulling that bottle much closer to make its neck reachable, while parking the left arm clear of the work area.
move_to
right_x0.2000right_y0.2300right_z0.0600left_x0.2700left_y0.0000left_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.0153, 1.6966, 0.3801, 0.3637, -0.8398, -0.8116, 0.9974, 0.68, 2.0636, 0.8818, 0.5251, 0.4717, 0.3279, 0.502] state[eef_state]: left_x=0.2634 left_y=-0.1682 left_z=-0.0012 left_yaw=0.0638 left_pitch=-0.0142 left_roll=0.0097 left_gripper=0.9974 right_x=0.4165 right_y=0.2381 right_z=0.0019 right_yaw=0.0849 right_pitch=-0.0041 right_roll=0.0056 right_gripper=0.502 state[joint_eff]: [-0.2667, -4.6427, 4.6701, 1.199, -0.5153, 0.0708, -0.0122, -0.5128, -9.6615, 4.5744, 1.6874, 0.2955, -0.0122, 1.0281] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 253): [image omitted: streamed camera frame] camera 'left_cam' (step 253): [image omitted: streamed camera frame] camera 'right_cam' (step 253): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.2,"right_y":0.23,"right_z":0.06,"left_x":0.27,"left_y":0,"left_z":0.2},"note":"The right gripper has a confirmed body grasp. I’m pulling that bottle much closer to make its neck reachable, while parking the left arm clear of the work area."})
tool
executing move_to over 17 steps (1.7s)
step 270
assistant
agent noteThe rightmost bottle is now lying in the near workspace. I’m releasing its body and moving above the neck for a lighter pivoting grasp.
move_to
right_gripper1.0000right_x0.3800right_y0.2300right_z0.1100
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1444, 0.6876, 0.6094, -0.5056, -0.2371, -0.1864, 0.9974, 1.293, 1.5036, 0.5114, -0.1204, 0.7673, 0.8631, 0.5037] state[eef_state]: left_x=0.2705 left_y=0.0062 left_z=0.1871 left_yaw=0.1406 left_pitch=-0.0043 left_roll=-0.0149 left_gripper=0.9974 right_x=0.1895 right_y=0.2305 right_z=0.0264 right_yaw=0.1733 right_pitch=-0.1307 right_roll=-0.0597 right_gripper=0.5037 state[joint_eff]: [0.0342, -0.2803, 9.1009, 1.6728, -0.0415, 0.0952, -0.0122, 0.1162, -7.6786, 7.5829, 1.6972, 1.3553, -0.0708, 0.6618] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 270): [image omitted: streamed camera frame] camera 'left_cam' (step 270): [image omitted: streamed camera frame] camera 'right_cam' (step 270): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.38,"right_y":0.23,"right_z":0.11},"note":"The rightmost bottle is now lying in the near workspace. I’m releasing its body and moving above the neck for a lighter pivoting grasp."})
tool
executing move_to over 15 steps (1.5s)
step 285
assistant
agent noteThe neck remains ahead of the fingertips in the wrist view. I’m descending with the jaws open to capture the upper body at a reachable height.
move_to
right_x0.3950right_y0.2300right_z0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1577, 0.6907, 0.6121, -0.5205, -0.2478, -0.1837, 0.9974, 0.7162, 1.6165, 0.8055, 0.1287, 0.4351, 0.284, 0.998] state[eef_state]: left_x=0.269 left_y=0.0047 left_z=0.1848 left_yaw=0.1348 left_pitch=-0.0172 left_roll=-0.0026 left_gripper=0.9974 right_x=0.3657 right_y=0.2244 right_z=0.0944 right_yaw=0.1737 right_pitch=-0.0374 right_roll=-0.0255 right_gripper=0.998 state[joint_eff]: [-0.0752, -0.759, 6.4479, 1.8339, -0.1929, -0.0269, -0.0171, -0.6222, -6.4615, 8.4855, 1.7949, 0.1783, 0.0317, -0.1148] camera 'top_cam' (step 285): [image omitted: streamed camera frame] camera 'left_cam' (step 285): [image omitted: streamed camera frame] camera 'right_cam' (step 285): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.395,"right_y":0.23,"right_z":0},"note":"The neck remains ahead of the fingertips in the wrist view. I’m descending with the jaws open to capture the upper body at a reachable height."})
tool
executing move_to over 7 steps (0.7s)
step 292
assistant
agent noteThe descent stopped high, so I’m adjusting toward the narrower, nearer portion and centering the body between the fingertips before closing.
move_to
right_x0.3650right_y0.2450right_z-0.0100
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1577, 0.6823, 0.5987, -0.5125, -0.2481, -0.1837, 0.9974, 0.6785, 1.9369, 0.7502, 0.6136, 0.4065, 0.2565, 0.9992] state[eef_state]: left_x=0.2682 left_y=0.0049 left_z=0.1825 left_yaw=0.1351 left_pitch=-0.0142 left_roll=-0.0033 left_gripper=0.9974 right_x=0.3976 right_y=0.2354 right_z=0.028 right_yaw=0.1736 right_pitch=0.0491 right_roll=0.0204 right_gripper=0.9992 state[joint_eff]: [-0.6496, -0.7726, 6.653, 1.7802, -0.1832, -0.0269, -0.0122, -0.8821, -4.4103, 4.3692, 0.7399, 0.022, -0.0317, 0.1148] camera 'top_cam' (step 292): [image omitted: streamed camera frame] camera 'left_cam' (step 292): [image omitted: streamed camera frame] camera 'right_cam' (step 292): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.365,"right_y":0.245,"right_z":-0.01},"note":"The descent stopped high, so I’m adjusting toward the narrower, nearer portion and centering the body between the fingertips before closing."})
tool
executing move_to over 3 steps (0.3s)
step 295
assistant
agent noteThe bottle is centered more closely between the jaws now. I’m closing and will use the settled opening to determine whether the body is captured.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1577, 0.6777, 0.5919, -0.5095, -0.2481, -0.1837, 0.9974, 0.7406, 1.9636, 0.7334, 0.7223, 0.4587, 0.2955, 0.9994] state[eef_state]: left_x=0.2676 left_y=0.005 left_z=0.1811 left_yaw=0.1351 left_pitch=-0.0135 left_roll=-0.0035 left_gripper=0.9974 right_x=0.3893 right_y=0.2548 right_z=0.0341 right_yaw=0.169 right_pitch=0.1173 right_roll=0.0653 right_gripper=0.9994 state[joint_eff]: [-0.5265, -0.8821, 6.6256, 1.8584, -0.1832, -0.0171, -0.0122, 0.7453, -4.2872, 2.4274, 0.823, -0.0317, 0.0904, 0.0122] camera 'top_cam' (step 295): [image omitted: streamed camera frame] camera 'left_cam' (step 295): [image omitted: streamed camera frame] camera 'right_cam' (step 295): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The bottle is centered more closely between the jaws now. I’m closing and will use the settled opening to determine whether the body is captured."})
tool
executing move_to over 10 steps (1.0s)
step 305
assistant
agent noteThe latest close was empty, and all three bottles are still lying down. I’m withdrawing both arms to clear, raised positions rather than continuing to push the bottles with unreliable grasps.
move_to
right_x0.2900right_y0.0040right_z0.2200right_gripper1.0000left_x0.2900left_y0.0000left_z0.2200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1577, 0.6727, 0.5823, -0.5056, -0.2481, -0.1837, 0.9974, 0.7666, 1.9629, 0.7219, 0.8379, 0.4789, 0.3138, 0.018] state[eef_state]: left_x=0.2669 left_y=0.0051 left_z=0.1788 left_yaw=0.1351 left_pitch=-0.0142 left_roll=-0.0033 left_gripper=0.9974 right_x=0.3896 right_y=0.2671 right_z=0.0548 right_yaw=0.1584 right_pitch=0.2082 right_roll=0.1339 right_gripper=0.018 state[joint_eff]: [-0.4718, -0.8137, 6.735, 1.8144, -0.232, -0.0073, -0.0122, 0.1846, -4.547, 2.8786, 0.0562, 0.0806, 0.0659, 0.8278] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 305): [image omitted: streamed camera frame] camera 'left_cam' (step 305): [image omitted: streamed camera frame] camera 'right_cam' (step 305): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.29,"right_y":0.004,"right_z":0.22,"right_gripper":1,"left_x":0.29,"left_y":0,"left_z":0.22},"note":"The latest close was empty, and all three bottles are still lying down. I’m withdrawing both arms to clear, raised positions rather than continuing to push the bottles with unreliable grasps."})
tool
executing move_to over 22 steps (2.2s)
step 327
assistant
agent noteI could reposition two bottles with body grasps, but could not secure a neck grasp to stand them upright. Repeated attempts rode over or pushed the bottles. All three remain lying down, and both arms are now withdrawn with open grippers.
give_up
hindsightThe successful body grasps occurred only after the measured fingertip height reached approximately z=0; closing from measured z=0.025–0.04 repeatedly rode over these rounded bottles and ended empty. A commanded partial opening is not evidence of a grasp. The bottles shifted during low approaches, so earlier neck positions became invalid. Bring each bottle considerably closer using a verified body grasp before attempting a neck grasp; pitch and roll cannot be commanded on this trial.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.165, 0.8085, 0.7223, -0.5556, -0.252, -0.1871, 0.9974, -0.1471, 0.8341, 0.7353, -0.5209, -0.2165, -0.1722, 0.9972] state[eef_state]: left_x=0.2843 left_y=0.001 left_z=0.1974 left_yaw=0.1333 left_pitch=-0.0573 left_roll=0.0093 left_gripper=0.9974 right_x=0.2929 right_y=-0.0014 right_z=0.2023 right_yaw=0.0999 right_pitch=-0.0321 right_roll=-0.0042 right_gripper=0.9972 state[joint_eff]: [-0.7726, -0.9504, 10.5368, 1.7656, -0.2515, -0.022, -0.0122, -0.1026, -2.2359, 9.853, 1.6825, -0.2271, 0.0659, -0.1294] camera 'top_cam' (step 327): [image omitted: streamed camera frame] camera 'left_cam' (step 327): [image omitted: streamed camera frame] camera 'right_cam' (step 327): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could reposition two bottles with body grasps, but could not secure a neck grasp to stand them upright. Repeated attempts rode over or pushed the bottles. All three remain lying down, and both arms are now withdrawn with open grippers.","hindsight":"The successful body grasps occurred only after the measured fingertip height reached approximately z=0; closing from measured z=0.025–0.04 repeatedly rode over these rounded bottles and ended empty. A commanded partial opening is not evidence of a grasp. The bottles shifted during low approaches, so earlier neck positions became invalid. Bring each bottle considerably closer using a verified body grasp before attempting a neck grasp; pitch and roll cannot be commanded on this trial."})
tool
give_up: I could reposition two bottles with body grasps, but could not secure a neck grasp to stand them upright. Repeated attempts rode over or pushed the bottles. All three remain lying down, and both arms are now withdrawn with open grippers.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [0, 0], left_roll: [0, 0], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [0, 0], right_roll: [0, 0], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 9.58 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, 0.7944, 0.6094, -0.3763, -0.0223, -0.0284, 0.9988, -0.0154, 0.7895, 0.6041, -0.3859, -0.0292, -0.0345, 0.9999]\nstate[eef_state]: left_x=0.2959 left_y=0.0016 left_z=0.1831 left_yaw=-0.0002 left_pitch=-0.0 left_roll=0.0003 left_gripper=0.9988 right_x=0.2937 right_y=0.0042 right_z=0.18 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9999\nstate[joint_eff]: [-0.4991, -1.4564, 9.7436, 1.7509, -0.0122, 0.1245, -0.1392, -1.0462, -1.1145, 10.3726, 1.8681, 0.0464, 0.232, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8b7cbd925f7472855cdc74e04195feeb5fbca14bc1fdd3b18f8abb3d73df0c0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e30b67b3f8a409713e2d1c052b5e494dcd916706953c4f50762a7fb42d62f109",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:697ed2babbdd1c28872fe5a6d7abd4b06a9c1e6235bfa306d721a24107e9f2e1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 6.514 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtGBoxnorHii4K6aiJ8f_g6m53rqLtm8e2QamPSfTGEu4infNRLPU_w0Hs5fNBHzkO8TomMVutvCMAULnsY7kIk8kyFeEdl2_Zt_TMleruxoTF87JbNxK2A3qGGsxvDXMBX1VEAYJ1utLfIke-EO6_8H9Ld5Cy1qRJK2onUhjJvJK99niEx1vGOl2srl8XhwyBEzzSIlnULtPxV7JVmWSFRggta_qEIdJdsmmVCKaZOIGd0QhuA5DIR1-943NcTAVwf5nrK21iCVrrmFHDeJ1FII1hmJN-cVfNG5F9qqKvNCdXN98W9QjrR9dzMBjsC1wJmMMqkPIagwe6hxwzvapJL3S3FB3lYK4cE0nB8m2-skPIpUueg0th00HprwYz7mujc-aST1zmUtmemNVLkVNvD3VENI_Z1sT_7V44araG_a5YFRt2Irhzba0YBBpZPjRIfuT_IK-sjEGl_kcaV_yy8o2BFwIcAn7KvoJHQZtI3A6K5r7_kGRxLbbWhFsJDF68ZBibO4_dvotFH0MV2F8oyZ4xohVgDIZ7xSgTN_QuD2nPnSlfRAN_p0JASGpAd4DpePjjnmvvyIj9BOGk9rbMi5IeToi0v9nCx5ZCqu-Z2svkjwk6EwqahPuxYVRVGeYjNJleiFsnXv3wPj5IRQBWVrHoa7xzVoHJ8zRtQZXtcSKOP5TTRlu0g6dDc574qoZSLfWCGg06PysR2UMOiTw2TFO5MUg8180LosKYr6-hdte9WyUcI8jSyheBoIifkNz1OYHQFfTbwXf8g4mm4oyLxl2b_v-l4u6C66pSPvbXKYIrVc-L5gW3YnVLM3E0HrAbeR97w05ciUI5bzTnIj7OyTLEEdJhINazDuOS9W7olKI9grTNl5CJyjFlSAJIip6EApGJ1MZMe1h0sj9IELNFS6paCvsaErLgm6GTC2oBv97pGZhltzPB9od80Q4D2ScRxe9q9_Tdt-spwPmomW5u1iVdKrS_PI65dsJ56_KplAyQLH5a-WBmTLjcc9yTSEgGtWqw_b6zxEC07YqhUgw64qGh5bk3pZtRDu0zwyQm7JCHn3wazgcq8tvO_pQhUvgeDlAxpfJc-hAWf4RKN7FrQiPb07cOkN8HIKAhbAQV0IYM7P6Pzp9OKgoqsRdsD75K4kHc2pPSXXQV4zCnluj3izO30vkWO6SvB74tDPhVQUkyFEMb3qZzcwb3qMSAqEoumEZNwtcpwTkI0m-IUXMHfcENdEyuaRtT5_04F_oy3pj82leCz1HAOFJsR1DKAJAmowEzl-cDZJe1ATlSvodtqipfBYyO3tVbQvRBQmwR93F8vWtLg0gvgbigsEAV4f4R_Xa12hWtyeP2SITMoCxhc_Rn8SZ_a6KZ7R76L74vS8za9CcEpZDO9KaduvgLE3VWFkyMln5P-ukq-Pn-D68vQdlbgtKjE1HyMYxuToGd5i18cYed5v-EPaI6zaGTttZuBl-VXGRvwHW4Kl0sfl2mawzCBS8lDvU-doYy2z_jyOeiW3pxmrux32eVOWIDu_BJQKvCTXfBC8kNaNvPw4rI_lJD0866WsUbUu8RjMHNi2W9mjfsyOlw3VgwsQQIy7uZ8AmMzTdnL-_LdVgtNOVhW8th55XC67uEZHmJnaKjXhdCmi8qK_0fC9r_bUK4sY5Las-EmDmNhR9dhQFviRoNbKksbPpbRhookX7l3rBSf4p0y1ZEJGxOP4XU6csSf7JOerW1VA-5Dlhf7cxo9SQ7DTLaVPia2rYtffpDqDraetKdipmZWgyAUcUclzW-Fh20UQXk4VKAkSM2FMGMoK_IPfcO6wE75STsNQ1F19r0zZRx01cdGyHgBN7Uub5cFM1oineVqD93Stakl0jxwcdwvQTgeahyN6i3b4g0WjH-B5ZrUZS9oVJMN0KlephAERtJMBOB5PrKVCXOzayDAMqADetFP684_MbMZUCdSUtkSLD4CSe2WWsBfo-gAFhZfsv2ril5xW_nM9MhiHJDEWLCLZtz814gLwcmc5N4AAfafmiLQMJxuO7Wl1AoI63jE7b7K_1jRQ4ActQgM3pXJlfMdhx4hOg11gEqu-g1FUg8vVg59Yfm1L6z9He68bFctCExGKqY-LnminFN-lpc5yoF1SO4UvToKStKTtVduvP5cdnBKO4iYpiAUJ6zYNRNYK5YBtDc48pRPyNAxMQbf2z92TnYQVi9gLCqStBRMxGygHD9dskWdBOQLml2ytXB67Z_q2ZoPzxFHPeCW0yqLv9Ye0jcSiM0DhkeGZ43aIPWVvbQsgut0o11q-uj_0VqVxldhn_IJeEZSmL_-1xyXsfJXGr_eIzM2o7uV2ja03dfKw_3QJx6Y3glDBnElm9maXdnDqn1lRgNKXIIwbDQDrTx4-KzDWw7iNl0Bh7x_mNyXvuOiIc3EStEZRKJt6pPg5v7pKLwdZuZ-qWWfz0BNIF-TRVBvBt9b5dMtQ29bIgODrnlgipZ-kfUyED649K1jSvPvc3PCIyCp_Ur5S9Mv4GOl3_uGhOVq6LbJTCo31583OIsC4MFhpvLzNS1ppq6d9FnPpXKFhylLFey2ghKXjHSBKyJKY2p8mW9mx8ZO6U-s7feAprt3jwliN9HknzN_n4LXXu-ocNbhjyNFzI-rvegTZgbY4UhW1kbWoNAKVPGBOSUETOE25iAmGV-CeFVuvkdnigYkGVEEffjuGSYtNWXdKbAC8dgZMHSaR_zfcl9E2XMpuVXCdmss-NrI5jfUJpe_3cVlIvtar7fTyULyUJhL5SMvrDIyogUh93TUbkgzuXpUxDJRc8G1RfcIWs-rMCGw9Z4PHT_zDxxAyvFRN2joluN330pThVmlusmPQ_QjJutLFJ_I_Dpvf26gV06t8akSV1ghtd_oTK93aJRMeFLruWGSeHDiy7GjOJdi4YxbJSgCxu8QHtBt-GHQ-7qYIfPhgERxnrV188mCg2KEANGRNNPsUzfFXUTcyItBQrC3oTUXThWjqoYhEdXqI75l8Sojip8JQtg2pXanzdxjVOlUcmmD2hNPTzGzWHtb2dzaDRwPphT-Bm0HKUGgNSx6z4xYqtBssmlbcSPLWCagKNkYpwGwBD2orqaD0hX-Dn5ZE8EWWK0mWoSPo_-l9gcZZ28_s-yHJSxmJ9K-xDcsJDMTqManNbsu-Upcw0XXSHGXUW4kyOBXV1GJdCX-L1u5_A34HZITYrF3zAWnYYMYV3DHYP2WS2e56BzqPX5tlV2SjKmD6lo039YgtVVFzlTHvdWJe2",
  "id": "rs_07ca404505d10fb2016ab46060af3c87d089b7b1ec8f320e87",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.17,\"left_z\":0.15,\"left_gripper\":1,\"right_x\":0.294,\"right_y\":0.004,\"right_z\":0.2},\"note\":\"All three bottles are lying down with their caps toward the far edge. I’m positioning the left gripper over the left bottle’s neck so I can lift that end and let the base swing downward.\"}",
  "call_id": "call_bMGtnK4Xf7Vmt6usuL0ymFZM",
  "id": "fc_07ca404505d10fb2016ab460675a4887d09f55de7d22ad6f08",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bMGtnK4Xf7Vmt6usuL0ymFZM",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5686, 1.5841, 0.9524, -0.0654, -0.4603, -0.3454, 0.9988, -0.0151, 0.7986, 0.6498, -0.4782, -0.0299, -0.0425, 0.9998]\nstate[eef_state]: left_x=0.4081 left_y=-0.1634 left_z=0.1333 left_yaw=-0.0145 left_pitch=-0.052 left_roll=0.0205 left_gripper=0.9988 right_x=0.287 right_y=0.0046 right_z=0.1796 right_yaw=0.0054 right_pitch=-0.0556 right_roll=-0.0052 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -7.3094, 9.1966, 1.7167, -0.2955, -0.0611, -0.1392, -0.335, -1.0735, 10.3453, 2.0244, -0.0806, 0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:920c5d3b51affcd2fa7244d8dbce0b5e1f221a68c770c3f9299a4ede7f71816f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:533323b2772ae536279d55243598582e2524e87db311172addb8e4b97e0a96ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e3882df21cd38e26144dbd4140aa854b92c13ecf226599d573586400274212d",
      "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 · 8.683 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, 0.7944, 0.6094, -0.3763, -0.0223, -0.0284, 0.9988, -0.0154, 0.7895, 0.6041, -0.3859, -0.0292, -0.0345, 0.9999]\nstate[eef_state]: left_x=0.2959 left_y=0.0016 left_z=0.1831 left_yaw=-0.0002 left_pitch=-0.0 left_roll=0.0003 left_gripper=0.9988 right_x=0.2937 right_y=0.0042 right_z=0.18 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9999\nstate[joint_eff]: [-0.4991, -1.4564, 9.7436, 1.7509, -0.0122, 0.1245, -0.1392, -1.0462, -1.1145, 10.3726, 1.8681, 0.0464, 0.232, -0.0317]",
      "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]: [-0.5686, 1.5841, 0.9524, -0.0654, -0.4603, -0.3454, 0.9988, -0.0151, 0.7986, 0.6498, -0.4782, -0.0299, -0.0425, 0.9998]\nstate[eef_state]: left_x=0.4081 left_y=-0.1634 left_z=0.1333 left_yaw=-0.0145 left_pitch=-0.052 left_roll=0.0205 left_gripper=0.9988 right_x=0.287 right_y=0.0046 right_z=0.1796 right_yaw=0.0054 right_pitch=-0.0556 right_roll=-0.0052 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -7.3094, 9.1966, 1.7167, -0.2955, -0.0611, -0.1392, -0.335, -1.0735, 10.3453, 2.0244, -0.0806, 0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:920c5d3b51affcd2fa7244d8dbce0b5e1f221a68c770c3f9299a4ede7f71816f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:533323b2772ae536279d55243598582e2524e87db311172addb8e4b97e0a96ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e3882df21cd38e26144dbd4140aa854b92c13ecf226599d573586400274212d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGBwrjrzkaJ6cW2N8szFNmVtRPOm13PyARSQ1xb14X7uaBxPE7vdA0dU30uHPoy4lYi9f8rvcKKy09dTyli_CesFwWpNvqyIQc2kR5AMjSRjaBgIPV5o8m4L1i2rd7VB978eoQ2te41GKYeEuK9JbPbdDHzfLjWTPcjFTaz4MQ5u2BnPekIPT179zOCaEaerjhthUBe49k3pKaRDG8G4V1rqtB2hpOLopEfWCL3sqEkmpgbV8mdh1bnGWWAVw3FQG9n34AQF9fGtzjPsPi0PcuqyDCfJioFZLHl8g1myFHt7REqbHr5XcLYuZNyWSsnYnEmnPOxyHJsME5C1MTOKKxAEjFd8BZnJNmVyenuP95iH9rpyYbLh7OAgpz5mL5uwevQTJn2EJ5YEWViuDZr5TCUEIjHCb5SjOLXdQTmILVsw13cHXUjK6JuOHDNJvxy-t5Osrpa6OL8VWTVarbw1W-hcQlXQx6rFBjUezMiuPTkQ2O_AkLrUG0hm1Oet6g_6BvHxtiVflhnelmuf8fxAj4JzzixgU5JzXhDxAmYEbPmXu_leVzFGTh3nuM6diiIzSO-JXg_f5kCCyoeOblVs9BsnmW350l8FSf3-mYywwrWrjtOMqytYKc7W8KpznUHTPklsLEmYH4CATVd0Oywx_qUIPgaVjg0attmtSvmslBbeUJxhaWicrJ2ipmcJOn0Sddks7BbmbTiAAqreXTsBJmKzQtNffbYQozb12pzIzCrGPP5ty6DPzLAE8DkV-rmKmFuiTnzwd3z5wIdNH7C5BsBwwcHQ8mdW4IxtGshcJSREqH3mMzaL2VjT69CQpL-NJ9cVarazuY3GQfcL3OfeZdqlqEyRdnXEgy-LROmBrU4zgJL8hLVWtgBlyH6VDBxh1M0TnFqufPyiwpMQALVltMMlaASdlSkIDeVlPjuaoExXxu7KbYPcNIaC7CRIzGhVTv6fEJbNEr_XJstX0ztWerqD5-N2Q2jKv_roh8OvLIZ-PBfzvIz7z0hSTQ1iuoEyt9zJDKnC3U0659CKS4Ax5qxV0I0l1fsjsJVfE_WPuqwADN86ZrYTmluHuU-8zI7K24C1AZsQWtorg-NXiJ9pgebvw_3MId_JDwC6FCHafE42TV9cPYNk8-CP48RSczY7FDjCkMFQt0OfGfL6bY9qxJO2rksrbYgzZrisd-MnXMxqneeOzLEucCyj-V8rdubcbRRq3f0YBfS-Z3L4QT_6cKzolhHTkmB91JT_8WCEir8EQXsspvFBBcKhxQBkKWajMCGkspWmGEKnBm0l6OxaUbyT-C_c_nHZHianSoe67sO8Jo54iQVVT_fiG0l9ko_9bGzNe0njBJsXpfvkNBdx1ZgveP_AgWtFef5InLASLfeEqyDgMc8G7GWptI-u6F_rGGg4ckOeHzc4tRfAEnoDADmRrNc31iPiV7T8GKFqy4I71O5EPQWXtlig83t8Iyx96lRCB1TkKLxvo06QyLAen7uTPAq1I-1HeVqzcRRnSJtohCSEjVYX34E0zjIFQJ02SVGgWyDK6dNg-bJKqONulpeAFwT4efJEpXrs8fHFPVxblPHJMUfKyppwvQAMANvFUvelQKP8umfkO2Mgy8MEcVZgNHfzcYWVdkAFWgdrceWzC1m2nHr_ZkECkmz0zuuTHaYqz7tAqwgz16tHAn9JXbR7sINChP3VfssL37YaugW9z2m1_ol4huyA2JA6lhroVW6_WHzzkA2aKEFmXus6h9gwiccymNwp3zYehNN3iEoFcNHGEJ5jHkKBZuw5zpG83FsrcI0mXUaY_FQMrKN98Jtv7uRwknm4ACoqz8PzmxY1zThWNRYfHB3MvDU9XB29QLGj-qH9bXYzozeyjnZjtEX9JKjbI_P12xFVUp5g2RKjNJ-mjO-aut8fyFctRA2WunP9kJfttxaJ-t-KmkYgJxIjTMRFOZf8A-goPb2uvisDTMEAc20qY0U7SBngn6_Dumy-D8h3pHuAniW_apt5jBvsH0R9STKlqnnCioinHzbbZH3UXzZkTQxsh0cj3-mGCgTU2brE6Fnl-ZKkjamtbn3hQt5OKVasUfyKIFWo9ns_ue2mHgp1s4b5Pl_uDw1j0EljOvw1tu7yOCTqxI4-fBcJJUHKmT0nuun7ekO4Z9v7zTU3LSvKoqoKlTyav-ZnexbT2dUguyohhjXtN33u5cg78mPZEWyo7ViQxeLFPdQiuHGOWkC7vQ6BPbRxteGmrDdmpkqcp7IIy4AdH5kX35uGkbqiuqGTbTeJvuHzeoJyElV7b9wG0h1mazuD0qZmmBSX",
  "id": "rs_07ca404505d10fb2016ab4606bd3e887d09084d4c379e63006",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.12,\"left_z\":0.065},\"note\":\"The left bottle’s neck appears left of the jaw centerline and still ahead of the fingertips. I’m shifting left and forward while lowering to bring the jaws around the neck.\"}",
  "call_id": "call_iKYwgDlsDdmRZgp6i2rRm4Gc",
  "id": "fc_07ca404505d10fb2016ab4606fca2487d0a7241b88ad3c9d51",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iKYwgDlsDdmRZgp6i2rRm4Gc",
  "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]: [-0.3862, 1.8099, 0.8478, 0.2817, -0.358, -0.2562, 0.9985, -0.0154, 0.7635, 0.5957, -0.4461, -0.0299, -0.0429, 0.9998]\nstate[eef_state]: left_x=0.4462 left_y=-0.1108 left_z=0.0538 left_yaw=0.0374 left_pitch=-0.0693 left_roll=0.0279 left_gripper=0.9985 right_x=0.2827 right_y=0.0045 right_z=0.1708 right_yaw=0.0052 right_pitch=-0.0426 right_roll=-0.0058 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -8.4034, 6.1744, 1.7607, 0.0855, 0.2418, -0.0415, -0.4855, -1.6479, 6.9812, 2.0195, -0.0952, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0578ff9bdaad922ce9935402f810f0284113270bd5e41c3f276bf5d0a191283",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b66854bf1ba0326691e192808d1ad46f79c3aad05c7ae3b35ad288c4c28cd244",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:807c656e19f31d493af26c14814311e8033923a49121e43219c594b017b99a0a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /responses · status 200 · 6.91 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]: [-0.5686, 1.5841, 0.9524, -0.0654, -0.4603, -0.3454, 0.9988, -0.0151, 0.7986, 0.6498, -0.4782, -0.0299, -0.0425, 0.9998]\nstate[eef_state]: left_x=0.4081 left_y=-0.1634 left_z=0.1333 left_yaw=-0.0145 left_pitch=-0.052 left_roll=0.0205 left_gripper=0.9988 right_x=0.287 right_y=0.0046 right_z=0.1796 right_yaw=0.0054 right_pitch=-0.0556 right_roll=-0.0052 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -7.3094, 9.1966, 1.7167, -0.2955, -0.0611, -0.1392, -0.335, -1.0735, 10.3453, 2.0244, -0.0806, 0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3862, 1.8099, 0.8478, 0.2817, -0.358, -0.2562, 0.9985, -0.0154, 0.7635, 0.5957, -0.4461, -0.0299, -0.0429, 0.9998]\nstate[eef_state]: left_x=0.4462 left_y=-0.1108 left_z=0.0538 left_yaw=0.0374 left_pitch=-0.0693 left_roll=0.0279 left_gripper=0.9985 right_x=0.2827 right_y=0.0045 right_z=0.1708 right_yaw=0.0052 right_pitch=-0.0426 right_roll=-0.0058 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -8.4034, 6.1744, 1.7607, 0.0855, 0.2418, -0.0415, -0.4855, -1.6479, 6.9812, 2.0195, -0.0952, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0578ff9bdaad922ce9935402f810f0284113270bd5e41c3f276bf5d0a191283",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b66854bf1ba0326691e192808d1ad46f79c3aad05c7ae3b35ad288c4c28cd244",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:807c656e19f31d493af26c14814311e8033923a49121e43219c594b017b99a0a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGB5CnwZV2K8MoGJhRARpQtS94q6Hor-3TSeoEcBRa-ESrBt_4eSGZ6s8hv6XYHg5tr9mE0cOIlJOh_RWduigGPlaGPS2SHZ3hKvAvrm8UKT-oWvfm3AQBs83QY8RYiMr9MTfqAcxAGTkz9tJjK7Zep6gexr4GKlDfcw9z2CsIjXtZq-n9-5pVFTv9fJgpFFaW6_rLbegVMn-ukjKgxFszLRq76xky0_l_TDs_7F_7NdB8i7lgAciwUP6zIshYti-24epOyNgnEMfepSyQIzO8uDkJARK8V0CTTNml_zaDzYZzah3pHvOmF0AorfMQ5Boi7dU_8hokx1x2V-3efHQLQhvRX1uX9rnIMeXiRgbo5sXb95i7OOOL6ZqpxsCJfOKNnrvOVGRpHvv262vurs1GDXU7W_bNo3ZW28SdQAyECarXsYSVQwdzK6hj6eAhhtQp0wcV0lSWYK8VYsiPKgfqYFcpYGSXBnbB0Zs1NWF7pxrsIFrZQAo2d9mK4hMsY7XBNwuUsTsv3PmEzCNXYstluj4vbh5HTkSOTnA-ZmDOwsH3rsOvRxwID6hDH7oZiTK1aIvslMU065LBgt1fVFwOR9gFMdsFut8PTluPWwvSfFbWFr9CUtYZ8-Mm66oU8REgWy1F_evspc8wK0dUzfS5GWE1c543Zb5OfeYtH292KutbPhvlqFOqaB_w33HvYwDGFV8bs7igbF6Wp5mZij6GpqtJIx5NWX3uNMtKSUqPxSZPEmlrhl_w0zMwQ-idZymvgwUnhJk5BUnHDdIs0K5DNNC0Jbba7U6-FNbz3CjfwbwUwSD_-n3TIbNarGvK5RrnVWfMtKkHo4321jjeKX0RiNHF8bCL6wXvKa9FmBTTZENsgXy-0hzLtOMsIl_2mwXnbKOtyHvYi0lEQ2YkJ2yoWN2dPXdkP74Dof_a8aZRq48S-eNUHMT09tSdegcDzU1RY2a_IU5ooggxrg-Lz7ShWyoqSVzOpOWJSPwCzCOLWiGchsl3mZOBA7EExAWvRaGJY0VyIq9TlkoSH3wcXHw_1VUVGba4dqlVEc6Zg8fW_wvseq9-bZY7Qgxoqdlfw8uoAjSdQZf9KQik3lzU9iI9E653GHG5_JDnQkyXrbON93YgPC1fJCFIJQCIsehIp3aZKD4K2f_w8r6HEJhsNlrtqtLnEvp1x-yqCqS8Mad9qcdbllgGUkfhcsSpR8LzAXy6T0n_aAud8Sm-AzOMDmY0zZA3JUQUaooOXM7-Ay9s5i53OXACb7_zXzLVcMBYIl-o0K8UwJ_qTr0M-o3K73DCTk4KYjilCGNZ9LWZY7gA3YujReLLF87lYlUNqIZOTisMni0-LCiomn9io6Ulq-Qv-AAr46_llDw0nUYjhqrxuFeZxvNG4YpDHg5AI4GjVKZjUihBDiAu9fe2Eyc54akl2GQQKEsqLMD1vxodoPQnVJ69JJjbEgZNaAX6ibhvn2oXrtSQW84bmsNUEZXL0VLY-NfcBlVfCjkNxVGBKCX1N92_6Bf8N3rw5rJHO5obMZMd6J-iQncvD-m8_ZYUvoxUjmeqJVQkYxskZvhOnS19XmURZnFAu93n_vI2G-_qrh2CwBMEFg6mUylc0KCtnaL9YMj-Ax5QxzmrR5tk97zLRhCJ5n0nLucZj5jgT0efSbNZ8AZOS5y7n6n7IEn2C73U4xlSot73YG2vUfvQmcpyx6iDrn9vxEIP9A-aIE1-UIVmGCKsEILM4MrdDfMN-YYLOVUR8CUE4Jts3gYJSSyFHlkiLJA2vvpaiZ1-zmCa86odUBbOXupqvXhpA-HE_xraKCrT89hTU-cgxU4f3lDMsT8KwoRFECORujvinHcHcG-9GJaYUxm1OIlfFUrBo4KS07jiWyD0LwqMGG3KYz_Y2Fd-jEo87J2Hgir2HO40C9z6Kih67ZNApdsaC6L9thhZpmvrXH7Agv1uFStiZtQJ8aVXSeHBOccXTpz10fa0lw4OT6dB5jPmimMvW9ICgY0XteXCnIo-UAnb5ybohaXuRXcjZRapUoqsHT7au2CvGncrxaGhzWj66zd1S7KvIfIK5CtulnxGrRcu8Qx5ZtFOzBHP4wpeBNjk_yLYIFM16MEJ0cfpmzNW5xgsgMqcZiNW6CdEyNjkf4JMyY_ynS88TemZjV2Zz92V-3-Y0UAqOP6-0sONIpneslXOjP2sy_lFl1N-2jO6-6raeu80lqL758drSN72Vd8rc3gLGYVTEWKFl1nAV3adGVLGPMycVvTQ7BKrLMbTo4eA2fbqRS5BEwX1PW1ldqROmJrLLYMQyb1MkKNd28xLuX4Z4Ep7EunyRkqvaxpQHkEj0KwyCdQ9_vLRfzqJna-pOKro7JL_GXsshZJS3Q-wcPFcpuEwCnXoMTN7Ok8w08yWAmsASTCCYth155RdUwCag239H5gW19X7Y-uP-amawVjsNh_iuNJoG2xmmNb7D0T73nr0VixhgLiwTvY3M2eZli3pRrCQOrqJmrOoJ1_YlEqxKqFUs4m_7f6DR6yPfRemIB3SQPwGp3OOwkLmBra795uZ1MYWODGPrjHUmBQeFHsgPmrXstf35mFzdMKJKpiOaf5CUKBh1tLeW4npCJIXz9LzJiXRy1d9peI1tpnchDqi18e-wv77OO-b2Qcxmt_FG1hDtxRuyfZSbmNNWyLqS18iPnVvL_uM04",
  "id": "rs_07ca404505d10fb2016ab46073186c87d09c562d424d1b027d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.085,\"left_z\":0.025},\"note\":\"The neck is still to the left of the fingertips. I’m making a smaller forward-left correction and lowering to neck height before closing.\"}",
  "call_id": "call_J4eykmeFuZBMnMFGga128dQE",
  "id": "fc_07ca404505d10fb2016ab46078c34487d0bca8ec1c70c16de3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_J4eykmeFuZBMnMFGga128dQE",
  "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]: [-0.2855, 1.9621, 0.8742, 0.5209, -0.2947, -0.2317, 0.9982, -0.0154, 0.7387, 0.5537, -0.4255, -0.0299, -0.0429, 0.9998]\nstate[eef_state]: left_x=0.4851 left_y=-0.0852 left_z=0.0386 left_yaw=0.0717 left_pitch=0.0213 left_roll=-0.0291 left_gripper=0.9982 right_x=0.279 right_y=0.0046 right_z=0.1624 right_yaw=0.0052 right_pitch=-0.0392 right_roll=-0.0058 right_gripper=0.9998\nstate[joint_eff]: [0.3897, -6.5162, 5.8598, 1.2381, 0.0073, 0.3297, -0.0415, -0.5265, -1.388, 6.9812, 2.0147, -0.1197, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81cc77bea2689eae1dfee6f02a3d92ad18d8b438996857d2776d9a26bf2b45ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f70e971ffea29fe6715f5538d6991cdcf3bb2ccb0c931e700fb18f637856793",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47da2f93f51c8614878f84d7be062f07f9242c90688c20fc182b3f6f475a9ef8",
      "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 · 4.301 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, 0.7944, 0.6094, -0.3763, -0.0223, -0.0284, 0.9988, -0.0154, 0.7895, 0.6041, -0.3859, -0.0292, -0.0345, 0.9999]\nstate[eef_state]: left_x=0.2959 left_y=0.0016 left_z=0.1831 left_yaw=-0.0002 left_pitch=-0.0 left_roll=0.0003 left_gripper=0.9988 right_x=0.2937 right_y=0.0042 right_z=0.18 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9999\nstate[joint_eff]: [-0.4991, -1.4564, 9.7436, 1.7509, -0.0122, 0.1245, -0.1392, -1.0462, -1.1145, 10.3726, 1.8681, 0.0464, 0.232, -0.0317]",
      "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]: [-0.3862, 1.8099, 0.8478, 0.2817, -0.358, -0.2562, 0.9985, -0.0154, 0.7635, 0.5957, -0.4461, -0.0299, -0.0429, 0.9998]\nstate[eef_state]: left_x=0.4462 left_y=-0.1108 left_z=0.0538 left_yaw=0.0374 left_pitch=-0.0693 left_roll=0.0279 left_gripper=0.9985 right_x=0.2827 right_y=0.0045 right_z=0.1708 right_yaw=0.0052 right_pitch=-0.0426 right_roll=-0.0058 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -8.4034, 6.1744, 1.7607, 0.0855, 0.2418, -0.0415, -0.4855, -1.6479, 6.9812, 2.0195, -0.0952, -0.022, -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]: [-0.2855, 1.9621, 0.8742, 0.5209, -0.2947, -0.2317, 0.9982, -0.0154, 0.7387, 0.5537, -0.4255, -0.0299, -0.0429, 0.9998]\nstate[eef_state]: left_x=0.4851 left_y=-0.0852 left_z=0.0386 left_yaw=0.0717 left_pitch=0.0213 left_roll=-0.0291 left_gripper=0.9982 right_x=0.279 right_y=0.0046 right_z=0.1624 right_yaw=0.0052 right_pitch=-0.0392 right_roll=-0.0058 right_gripper=0.9998\nstate[joint_eff]: [0.3897, -6.5162, 5.8598, 1.2381, 0.0073, 0.3297, -0.0415, -0.5265, -1.388, 6.9812, 2.0147, -0.1197, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81cc77bea2689eae1dfee6f02a3d92ad18d8b438996857d2776d9a26bf2b45ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f70e971ffea29fe6715f5538d6991cdcf3bb2ccb0c931e700fb18f637856793",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47da2f93f51c8614878f84d7be062f07f9242c90688c20fc182b3f6f475a9ef8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGCBD5Kv3uy9uHy1hbwMTRzidOLecYStWu6hxHIfMZmDNYNyanwod5wQZLbXN1BIiON5YlGpTpv0uGAsaDpj8kjnSvvPIbywwf6cieF4AraYtIhAy35UucAxzZrzSkGwF9o-Q7aO-LoNSqOqnzim3lmTtgygJ2fpdfTaQqWVCmQ3P7p2fb6tdawxkGdl0D-1QTySdgiE8gSfn4g_uGszzCQC5gR9BkEpw7Dsn15qd72sOnlzIRlpY3GKAu7eG4cCkxb_gfNrZo8zrRpQsY9ZazZ3O7whRv50T89FcYlScsRHPxBnsCs456XRxZRFqVeB21hAeHkgvXqQwslIjUkYoKJ7Sgvqxj2GVClRJAmYSFvGivh3uuapWWTCvJOOqPx38SntV87SI5RnckZEphS2fu8_ZDfZCGTIbj5vgUcpXjBV_vunZUSfPlGyUw-Es_-iRS-6pRZYbGiKZHS6r-DKr4sYIm1k0nRuOfF5-drla9w36mT_D_uMCpJgHxpXjHJiLKwPqlYmz0BQsutG7bQYr_cE-NciagYvDlwBKfwgGDWG8sGOmDK1hFyzG6onn5zx5HmcRQ4aN42qIsm7j_F1CsAN0uvpaF1o99f9kJduxrMrfGL5Lhk04HE9ubJMoWnhmJMqqxqQQdEsqZlk5bPWCOeCIaRVPjN_yBCoWpSvfUWpgqnWpQ3eHir2j9KVWTExBE3H7AZnwv3iclydSRTInzfHr7kWC8kzutOk9hqyhIsnr47bu5FJ_KT3jknzjzdXhCnUdbWeVOFfPrUELaYIEqJECN1lRE3sXAqw2sXloU-YEr7C8HRggauG61X9W_tywXkiz9B10r6DSpEdx87S9fC59rn-JBBwXK6qarckgaSUKg0csioTRPKroPruTJkUj26n0uPTKa9rjybKQ9CUO_bMUSE4YKlCAusYzTPFyo9PdyizkOEM_JTMLRvOXEJfM_PVw0KvcezhLkzkUnNr3ulusUUAlCO3DIofL-6PKn9b8NbZCFiIJRRdkrKes1TSuCA1UbrYTSCJpzrgu63PvSIIa5yuuWBTDKso9irVY6ciVNXZ3gVzFsOQZW8T65suittqMrwEBZAA0x6AMH5ZKjQdVaq-ed3mcQ0qk0VJ8Bl0rEH9esznqU8GqqgV6wk5TWj6f3A8pWOw7KH_iSb0boAnFlyx_jEfpG_8xm90roHlH9OwgFLKaARLO82L5O_-3Vfc8G0ZCFbkSCS-JnN8U-aK5fgadxDdZMzJhqomeXaIFyYkSksJpfwSKaE05jdQZ-niyzz12_FMINJcA4W0J9KScfzWKUv0wATKCO6Ruy01vqeeFk-CPwdzXdHRPY5Y_i1kYq-ZPMlf8SMUT5bmuPvRomjZ5Ax-8RalYcUor3DbYlHw1paxq90HTzNKRdqQrN7wvWVSoqHkhmOBVUlNNbMEPVbTYaxVAvSc6YdEsOcv_Q4tooCB_P_ioaIGhBLMI69Gq7Wb7q75EwLNXxy-NA1VN5u8SX5Ahw1Tjd-2ibNsKoS2TSDmHJKIsSecQlxEj1zTqBNc-F9zPwbxlY6CRrJfVwckMNbQjZPbDReMPJ2BCVN7F-Pd0A03CFVijWLOIatTazisAsKmg_-8DMKZIHJOj8da1SpvtOMjYZFFHKrvs00uzCCpfR0fysctAsKSOiXe_bdp2OdSbyjXDzm2HRFv9OZ2jbtPSiA7GUsGfqWBGv8XBiUFWcx13kHTuC8cEIKOiUjoA6AI11NJ40p6GBL_xU6HAmQn3cAe0DGb_zO6wSXCHvnFf_XozdY3Gbzoa6_PgBRx2EZNW9IbMuqp07_J69oZ5fPvkB39Xb_SdSgyqLn5sSqbVjCqtPbnCJjR-sK1ipAQ-wUlcobhgsCSm75PUb6em3bDvAxWBBX-yjta3jl9ah0LTkZEJ7dasIxhjKF5_NyD062ChFHZeHHUHu9YLBGfldVLZmec-jM8k7QR9VYiKnlZwKmWQBZ1T1gVBTAnyq9vGmTAAKeKPhhfUH5vSz24dJ1tXoddGkNBdOtI3BOolk5pruVLc77Y_5WNeSqqUTjlSD1IeyMGuaiYRL_p4QUZHXmJ9xTqMtVC3GRIjwkMmvv0N4ZcutE7-V1TF6Ycd20ClDAjV8CR4Ysk5hSmNE4JoqMs6eVfPkqcm6Qoa8q8lkwYZuswtbnImLJPMc2p__-1KNBdL-T_FwKBsu2L0TkY4RGBKte2n-HJsBS2amlabpjCtIvhlh6CSyVp97SsEmFixbO6YsieOEGNs84rNAUTZTVrPb3y5VcdCCPnDiSyuj3NWJVs9JriooRHlgXoDmhGJ91i-G1BF4vPrkFFDMJGPpfFJEUYZOtrElKEA0YfcZ-yyQ3daNn33eHBRuK_Lf9m0Lb-nFC2P6tMxuAcHEL96Ld4yHwyVNczvXWDWOVZJLC37lGPeCfNmXJhu684",
  "id": "rs_07ca404505d10fb2016ab4607bcd6887d0b2c51fc2df4cfac3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.38,\"right_x\":0.294,\"right_y\":0.004,\"right_z\":0.2},\"note\":\"The bottle’s upper body is centered between the jaws, though the cap remains farther forward. I’m making a gentle grip near the shoulder so the bottle can pivot as it is lifted.\"}",
  "call_id": "call_EWMbxRUuIzRYOYp5pZTV7ZNr",
  "id": "fc_07ca404505d10fb2016ab46080221c87d09c283fa6e3301ed2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EWMbxRUuIzRYOYp5pZTV7ZNr",
  "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]: [-0.2707, 1.985, 0.8925, 0.5983, -0.2775, -0.2085, 0.4038, -0.0154, 0.7967, 0.6411, -0.4709, -0.0303, -0.0437, 0.9998]\nstate[eef_state]: left_x=0.4993 left_y=-0.0846 left_z=0.0501 left_yaw=0.0611 left_pitch=0.0872 left_roll=-0.0416 left_gripper=0.4038 right_x=0.2868 right_y=0.0045 right_z=0.1776 right_yaw=0.0059 right_pitch=-0.0552 right_roll=-0.0059 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -7.7197, 5.7915, 0.9939, -0.0513, 0.2076, 0.4225, -0.9094, -0.9368, 9.9487, 1.9658, -0.1001, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ea26eaea39acc97a1a2afcbf0f744e71ff325d55690d458b72aafe72c04c642",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:079dccb063f272d756c5bca77c8bc1eb3863777a117fadade5efbe3807d7c59f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e077b7bb95c477d07620f0655cd12c659ab1a2c122ba2202a0eedec7938b726d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 3.86 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]: [-0.5686, 1.5841, 0.9524, -0.0654, -0.4603, -0.3454, 0.9988, -0.0151, 0.7986, 0.6498, -0.4782, -0.0299, -0.0425, 0.9998]\nstate[eef_state]: left_x=0.4081 left_y=-0.1634 left_z=0.1333 left_yaw=-0.0145 left_pitch=-0.052 left_roll=0.0205 left_gripper=0.9988 right_x=0.287 right_y=0.0046 right_z=0.1796 right_yaw=0.0054 right_pitch=-0.0556 right_roll=-0.0052 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -7.3094, 9.1966, 1.7167, -0.2955, -0.0611, -0.1392, -0.335, -1.0735, 10.3453, 2.0244, -0.0806, 0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2855, 1.9621, 0.8742, 0.5209, -0.2947, -0.2317, 0.9982, -0.0154, 0.7387, 0.5537, -0.4255, -0.0299, -0.0429, 0.9998]\nstate[eef_state]: left_x=0.4851 left_y=-0.0852 left_z=0.0386 left_yaw=0.0717 left_pitch=0.0213 left_roll=-0.0291 left_gripper=0.9982 right_x=0.279 right_y=0.0046 right_z=0.1624 right_yaw=0.0052 right_pitch=-0.0392 right_roll=-0.0058 right_gripper=0.9998\nstate[joint_eff]: [0.3897, -6.5162, 5.8598, 1.2381, 0.0073, 0.3297, -0.0415, -0.5265, -1.388, 6.9812, 2.0147, -0.1197, -0.0171, -0.0122]",
      "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]: [-0.2707, 1.985, 0.8925, 0.5983, -0.2775, -0.2085, 0.4038, -0.0154, 0.7967, 0.6411, -0.4709, -0.0303, -0.0437, 0.9998]\nstate[eef_state]: left_x=0.4993 left_y=-0.0846 left_z=0.0501 left_yaw=0.0611 left_pitch=0.0872 left_roll=-0.0416 left_gripper=0.4038 right_x=0.2868 right_y=0.0045 right_z=0.1776 right_yaw=0.0059 right_pitch=-0.0552 right_roll=-0.0059 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -7.7197, 5.7915, 0.9939, -0.0513, 0.2076, 0.4225, -0.9094, -0.9368, 9.9487, 1.9658, -0.1001, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ea26eaea39acc97a1a2afcbf0f744e71ff325d55690d458b72aafe72c04c642",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:079dccb063f272d756c5bca77c8bc1eb3863777a117fadade5efbe3807d7c59f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e077b7bb95c477d07620f0655cd12c659ab1a2c122ba2202a0eedec7938b726d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.085,\"left_z\":0.13},\"note\":\"The jaws have closed against the bottle and brought it into line. I’m lifting it a short distance and drawing it away from the far edge to check the hold.\"}",
  "call_id": "call_lG3P3HZeTJUJ8Yh0Nnr0MVLg",
  "id": "fc_07ca404505d10fb2016ab4608520b087d0b0e294752fb14c45",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lG3P3HZeTJUJ8Yh0Nnr0MVLg",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3027, 1.7657, 0.9131, 0.3023, -0.3012, -0.2169, 0.4046, -0.0154, 0.7589, 0.5858, -0.4431, -0.0307, -0.0505, 0.9998]\nstate[eef_state]: left_x=0.476 left_y=-0.09 left_z=0.1013 left_yaw=0.0522 left_pitch=0.0383 left_roll=-0.0189 left_gripper=0.4046 right_x=0.2816 right_y=0.0047 right_z=0.1682 right_yaw=0.01 right_pitch=-0.0448 right_roll=-0.0115 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -10.947, 9.347, 1.9023, -0.232, -0.0073, 0.0659, -0.6496, -1.2786, 6.9949, 2.1661, -0.1294, 0.0904, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be7e59060803cfb8597e0b06daf53142b9f04405290104d961c87178f5ebcd0a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d60514194328e5591e256857ccfb594995dce3e5ed1d1d8484a1bdac3e8211d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36eedaca8a7c56e49ae73ce463eebbfbcb9e0c508ca3ee8157cd8723e4463e3a",
      "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 · 10.13 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 18 changed as sent

message 21 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3862, 1.8099, 0.8478, 0.2817, -0.358, -0.2562, 0.9985, -0.0154, 0.7635, 0.5957, -0.4461, -0.0299, -0.0429, 0.9998]\nstate[eef_state]: left_x=0.4462 left_y=-0.1108 left_z=0.0538 left_yaw=0.0374 left_pitch=-0.0693 left_roll=0.0279 left_gripper=0.9985 right_x=0.2827 right_y=0.0045 right_z=0.1708 right_yaw=0.0052 right_pitch=-0.0426 right_roll=-0.0058 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -8.4034, 6.1744, 1.7607, 0.0855, 0.2418, -0.0415, -0.4855, -1.6479, 6.9812, 2.0195, -0.0952, -0.022, -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]: [-0.2707, 1.985, 0.8925, 0.5983, -0.2775, -0.2085, 0.4038, -0.0154, 0.7967, 0.6411, -0.4709, -0.0303, -0.0437, 0.9998]\nstate[eef_state]: left_x=0.4993 left_y=-0.0846 left_z=0.0501 left_yaw=0.0611 left_pitch=0.0872 left_roll=-0.0416 left_gripper=0.4038 right_x=0.2868 right_y=0.0045 right_z=0.1776 right_yaw=0.0059 right_pitch=-0.0552 right_roll=-0.0059 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -7.7197, 5.7915, 0.9939, -0.0513, 0.2076, 0.4225, -0.9094, -0.9368, 9.9487, 1.9658, -0.1001, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3027, 1.7657, 0.9131, 0.3023, -0.3012, -0.2169, 0.4046, -0.0154, 0.7589, 0.5858, -0.4431, -0.0307, -0.0505, 0.9998]\nstate[eef_state]: left_x=0.476 left_y=-0.09 left_z=0.1013 left_yaw=0.0522 left_pitch=0.0383 left_roll=-0.0189 left_gripper=0.4046 right_x=0.2816 right_y=0.0047 right_z=0.1682 right_yaw=0.01 right_pitch=-0.0448 right_roll=-0.0115 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -10.947, 9.347, 1.9023, -0.232, -0.0073, 0.0659, -0.6496, -1.2786, 6.9949, 2.1661, -0.1294, 0.0904, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be7e59060803cfb8597e0b06daf53142b9f04405290104d961c87178f5ebcd0a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d60514194328e5591e256857ccfb594995dce3e5ed1d1d8484a1bdac3e8211d4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36eedaca8a7c56e49ae73ce463eebbfbcb9e0c508ca3ee8157cd8723e4463e3a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGCKAqZLInlv_rHQIOexu2rvswtbyfSLmV5UDewY4fMcnjeS40ekarRNcGPkpsryrsCKaKY438B0dppGCyelxs1_9Db_4Rl-ITsOXUTUHJ9z-9-4XhesD_46bH6rWe5jpu_9ThXS_A7PaMgL15s43gRAVXBEFEVfmW-_reaahxJ55O2CFzQxtlzQnK0ZS32TlXDLffWXHiiR5Q70aFaEUYlxyp__2k06Zut9Qad6dWtaW70SeJM2LfQzhBKXLK-KlEftwTyfv-kMe3Lv1vecbUr-XXzKxn7umLim0SOQkq3CUujJrV376BsIt9ZRL_EdXpCtWzlbqgxJyQ5k1L-yqM0cvfvSjvZMIjSgkEQdNkl703KpK9caUQ9mqzyLosUmBntWewobVE6T_FenFJaZIleGC496qs3oojPApTpMhRecXK4S6l-FPTrAfadVu3rAUjEcnSzW8QMMKZ5INC9jqodyd3QI1IE7F6lKoZ3VyYUlAJ9fi-FWEDW7N_fEvbH8e1DVe3Xie-N_bp_O3FiI64NJP0aJw2baksA8aamUlPPgCaGewbAlfP65f3cqqyq4B-p3lSW4KN2KQQieDrFMEkROenoeaeeOkXQF0bLMJz0X0QZgPucyHj-UpAeV0FrceHy4eId1H_9eCD-qNK5yySNz08_UiTOg459Ne4-u6RsBGIuwhKu4ad3r5RQnZtW12cGtHCd4uuhpgYWt074mMmSgXz6AifQj2HXneoFZYqiPJYZf7kmiaoLonUBASSzZgQV7XVSb5GjERvP4zWJ-QqTiVc1wsPqrObjMuCRHpBrudd5vckFqmibs2TySvsLV1pwVzrknIzopBpdgh6HFjsqkXJAhnYQMJY8-Xzn0GNVkoCuwtGotan4eVcs0t1XPnkaKf4peTwbTa37PkB9gSmUJJJdV2M_UgW3iNzGJYnm2HtEcmlIO2qitcE9AN8aj3Se3yIpwkBu-T_yjipHNFPl1Np09gTqALUrFT3vt2Cu7IJRWJa8a-yZehnTb_tD4CinZ7TInYqR_o6kTz8QWDS7-qPCBUDJ1OgnzqEv7OoBwfdkpOB5fgonVkdNjIIokCavTn4kuXVYdN6GT94KJchOEX6xqxzOaLR17RsrHUfbhPZK7gNm1qm0EtOzSDAVQx1W4ARD9XL4wmfaLUTdkPkueWEcdXIXUqqVVa3vBW_9RlqDnD3hdYszBaSTuFJsgUsIajWYytzJfi5Css-d6XVcPurb_ZMikhRo-2DBCrBmLWbjxRBLZkLk-kpXb_qHJqlODqJaJ-Ve3iqHq7BHim9gnpvxm6j0bb_IZ167tUK_QD4eB-ODZrxCFRrFhu-6Bwpelxhmt_V9HJpuh7dAZT-bbYouMtXgnEgbUH85DVj7nBNw83swlUp4bSvH0IxaZX6Oq76NId-6TSrk8wHAnAPyQq_U-l8AKXHAZprQGPcJYtYAUd1-PtfTp9e2X42gxyoL8bp2kAFWoiEmJnVsNYvnapW0O6Z2jeElvqNyiL-36LKWVLcZXjgTc8RRpAnqILAmPfx76FBLa0D77kvLMJxu_lEzN6CsyzSYC_42H7hhx3rOmCHNVqFQH021ApjGCsgrECY1HKWZvy7liGQF1sWx0r95JCEllI72NA5FF-7q0h5_OnG2z5sIwr5tQ4Zxvridu",
  "id": "rs_07ca404505d10fb2016ab46088143087d0b64c9936aac8fcb8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.40,\"left_y\":-0.10,\"left_z\":0.27},\"note\":\"The bottle remains aligned with the jaws during the test lift. I’m raising it farther over clear tabletop so gravity can bring its base underneath the grip.\"}",
  "call_id": "call_CXYi3zUhIFreuKGcm5P9qTOV",
  "id": "fc_07ca404505d10fb2016ab4608994a887d094f04d367172eeb7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CXYi3zUhIFreuKGcm5P9qTOV",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4156, 1.404, 1.2095, -0.4419, -0.3832, -0.2874, 0.4046, -0.0212, 0.7319, 0.5426, -0.4194, -0.0303, -0.0509, 0.9998]\nstate[eef_state]: left_x=0.4091 left_y=-0.1044 left_z=0.245 left_yaw=0.0443 left_pitch=-0.0227 left_roll=-0.0027 left_gripper=0.4046 right_x=0.2781 right_y=0.0031 right_z=0.1604 right_yaw=0.0041 right_pitch=-0.0372 right_roll=-0.0122 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -8.3897, 9.388, 1.7167, -0.3541, 0.1978, -0.0024, -0.4444, -1.306, 6.8855, 2.0195, -0.1929, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0ad78fe03af2823e05a3b983d696cd5b3a5c386a831a6b25146c01377e72740",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03b6cc578ea9067902edac354ec3c55c3a93ee9e3a71038c1565a4d906950799",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b00106c9ec88eafe2268c7785611dc5bdc9a8a6e401072ff2737d924ec0bcea",
      "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 · 3.979 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 21 changed as sent

message 25 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2855, 1.9621, 0.8742, 0.5209, -0.2947, -0.2317, 0.9982, -0.0154, 0.7387, 0.5537, -0.4255, -0.0299, -0.0429, 0.9998]\nstate[eef_state]: left_x=0.4851 left_y=-0.0852 left_z=0.0386 left_yaw=0.0717 left_pitch=0.0213 left_roll=-0.0291 left_gripper=0.9982 right_x=0.279 right_y=0.0046 right_z=0.1624 right_yaw=0.0052 right_pitch=-0.0392 right_roll=-0.0058 right_gripper=0.9998\nstate[joint_eff]: [0.3897, -6.5162, 5.8598, 1.2381, 0.0073, 0.3297, -0.0415, -0.5265, -1.388, 6.9812, 2.0147, -0.1197, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3027, 1.7657, 0.9131, 0.3023, -0.3012, -0.2169, 0.4046, -0.0154, 0.7589, 0.5858, -0.4431, -0.0307, -0.0505, 0.9998]\nstate[eef_state]: left_x=0.476 left_y=-0.09 left_z=0.1013 left_yaw=0.0522 left_pitch=0.0383 left_roll=-0.0189 left_gripper=0.4046 right_x=0.2816 right_y=0.0047 right_z=0.1682 right_yaw=0.01 right_pitch=-0.0448 right_roll=-0.0115 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -10.947, 9.347, 1.9023, -0.232, -0.0073, 0.0659, -0.6496, -1.2786, 6.9949, 2.1661, -0.1294, 0.0904, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4156, 1.404, 1.2095, -0.4419, -0.3832, -0.2874, 0.4046, -0.0212, 0.7319, 0.5426, -0.4194, -0.0303, -0.0509, 0.9998]\nstate[eef_state]: left_x=0.4091 left_y=-0.1044 left_z=0.245 left_yaw=0.0443 left_pitch=-0.0227 left_roll=-0.0027 left_gripper=0.4046 right_x=0.2781 right_y=0.0031 right_z=0.1604 right_yaw=0.0041 right_pitch=-0.0372 right_roll=-0.0122 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -8.3897, 9.388, 1.7167, -0.3541, 0.1978, -0.0024, -0.4444, -1.306, 6.8855, 2.0195, -0.1929, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0ad78fe03af2823e05a3b983d696cd5b3a5c386a831a6b25146c01377e72740",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03b6cc578ea9067902edac354ec3c55c3a93ee9e3a71038c1565a4d906950799",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b00106c9ec88eafe2268c7785611dc5bdc9a8a6e401072ff2737d924ec0bcea",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGCVVQSPSbnGSFJQLcEdjsPb1oxK4w6d6irQqUBFaR7sKtYaQPoub1rXOgpZpJzowkg4DLwCTiIGx062fNVN_cIFwe9_kVxSBVlWtzZJrcWLC6MT6dZu2w9l8UobD5vejS0riZuqhN6XL5mLptKUnWWYp7lkKD7LCwT_yOCYhw67ASfDfIKG1VqsGj7yg_afjlY3OrVAjcauJIiHYnrHEXDc8t-HMICF4f7bH2LqX0E8F4B-yD0jr4hLG3CFXjAsAAHQBcd_S-BgExXHw4WrXzGO0LT93rBN80K_Txn0towr_vbdHDjYygZzZjwrA-7qgjegMLyllFxj0qrn0-lFU9_7xVl-YHerahAG8CumDRi9fLgddtV9bPLmRgEw3ELuJdDjEHFBy8rupWaYY2uw_IBuvK4LB7r28uOC0CtjeHTM9XcddW2rnmbbE-q49kEQHtOHLXnx6zt3ccih2enZdJ9KcsXhCYQqUsyjM9AxL_T7X-e_j5xGW0GNUBaKyswNcKTtvULIAqLHhiFOrdM4FRzULfG1HPJyBmIk_huYd2yjtt-BTE3EQNQTGf_Bik3xGsc2g7ThCB8MoqSRm5tvxPLeNBmT0ZNtgdivVV0HUov0zf0eUsi2UOlTN9ZaFXIWEm76k0_fA0IshISH3UBSUVRuJxVikVqpxxdtlQHtZv7b_66OjtCzskdr4EYsAJyN1IA1B2TNzhBFt_KnAA8TY7eruPn99OrP9CeHkZXHqw6_9krZPJz2jWyFEwRkb7IlJf7VuPLrXmN8HQtZpY57IDpHnwDLr5k4ciU4mBEE5VdY3xIakK7lo5ZK8YjA_99BTVxiCBwPcM0PMckEgKLEV6DhTj-8rICQqW45yUK4jVbMCl8Y-SNNby-idiWIqrlkU6Io3lqfW5IEGPqryG2ZU33N3r740UhCPLEjPBh4i-lakkP4pCV-od9VnEeXtpeKL3cuGlLOLI2dXDO4EhvlOXbm--ZHyGgji1vhUFJplKmOwwzUhSnl6is787gJ10M74m5NEydB1mzK5vyc3KnYXYO53mq2PSaZRLb6VVTk90d3HyC2r4UsM3InqEd4EF7njNTNJoLJ8LmRzg19mkB-I7lqu5bJqf_rOXlxmk2G1Qj7Rn_BZlabqflWYWZXslaoB053kDafHmbtMsM0Ziev5mj_Lcuk_QlNRxkvGXaoloXHq3WF71ujzlsGNNW5eHxAlUoXRnP6qYzI2d06Vuw4Bc1Wo37OtwNJWQ9Lmx-idNZLGNwy2iQ_vp6_fKH8CBhiX3EYrTIpkZcitNhb-kM1EnOmxFXApfWiEv7f5R6W0_xx_Aef-fHzGxfglNKEF2dVz58-DHg0Twrf6rZU6XwQQg7L3uytTdbLlIK9TT3PmT5jA9kbLMnqeLwHIL-ZWZQ6k9-htujauqb0hg2ehbdMCXo75rDU-1Isrwx05c4ReqvwywmVxltlsWkCTl06l26INyYUrEvgqPAqhkdLT-z8byzYMBDEBUdirrWa1p_9dBSBy-DI7djux9WNvziLt0kZMwtbr5JN2GYgjKCJRRgoEy7saD04ERyzwTS8KhFvp0tyum3yq1y8hQo1Jy86-CLffTCRjFjP9ihOBwQstsF1gP_lVrAVjkC5sC52u4Q9xRaas7mEGVSE9XOtvQxVyjzgDpf6ny1yz7w3fmp2fJGGEiQYckkB1ogKV_2ByrDxSWHuMc-bZdXgM_iuSsSkds9T_6GPdnzXDKPBwO81mHywHWK5PdeqvieSZiN75Db-7SoHNOO0_HphLCLMKG2_18dH1-ROnwzbRkU6ymMQsXpSJstkS1JKN2-KPXb-uCqGEbu4frdRRmaB4hQurDs8YSdVLUkqTZnt7nvzd1j0J8rEedWxUNTrkVK8cIrKvicdFzwsNpjc8EOZCjfg-bt999O2tgJI6R9VVbuVdJ4prBDLpLEL5BLFIqFlb3f2dmwx-UXC82HSqHaRBC4ywHIjkvMFkeCJroThzph8v9MbYjfp2pjJW-AopP3PCbXJYYxG7ZgEJfr3zZpvr4uFG7E4Kmbx94LBn26zmzvhcr18zpZWM0Uj4kTZ4382IRgEIdocTZRTkb3p5Vp7aOq69V3pY8ykr5zcN6jerJU8WfaD6suA1UXn7wYxjY0xXEGk4IzxiZ2aSsL1b7gIfw8AENM90_rohhIXcuP7K29Qmd8ZcOKFdrbn8Dvkv6RgBrLGNp15Uj0RM6_5Q_llziIT8Lgv2gRqPpPEdfPR2xGh8mpySxDMiZRu6FKXU29J9AVbPO4cEhq-u0jl9Iag3_3Z_uSH5ipg1Z1FmGBA7PpC02fd1fStV6wHNAPrmry043M0r6uJTMn4ulZ-CE4ZsaguzI1U_j4fClOCZtd0xI4AmsEhCs8Y3ABbnNgTh_XKX2lzy1XrSfBljC1wkDxlC4zEtohkorTDJQ2WaZ_631_be93IHj63lFOS3h_j0wbLNAs5QrbxykeRXSVYrynHyF6641_YYa9sOetG4AMxKCgRTDZckUGOzjjIO6J5VSaZDIAGuhkqC1ZytsLfK8u0bVmCaAIa62BkmzclO889s25Fsjl7bsETxiH4pTTeIMm3uk3SWA4ffGsP7y1VPxn07niCBaXIDZjy_fAV-CqqbBfXVUgz0-RRLsO47LVtBhMRBzi25Nkgj63jJXC1YrpQnDnvQ9dP-mIPmqp9dWaTj6moC-Ggewhin-G9OoGbIvJX3cphxMk8ASTpmZYxhOTrQuBAqqyHZGRUkDNtEwiU-PW4X6eaCvVNjVZW6Mydua9Py51oKG4jMGFGTqI1ddg08c9ZJyoDTBtcWrbLaC2Q0isg6PTDmvBsgc04WaeZmpPzdS-orXuSNstFk_UykQAvfFuou2aNeSEGTsaDydYmUJzi9pTT3fpxIjDElzhL813rK7NNRonA-hn-flT5d6uo1g5uoGD2TY9j8vuGf2U6T97VYbg7V7LuqfCXb7N999VjbWCa4GdLX1MiFINN6jJEJm-_nWP8Llef5VittfZKseptz6QIUuRMGIe41TCgtQyo305FVN7jzpphON5K8hg8BGO6R9-ydMhWpS43Y_n7-x0nnqtTBm7oh5RkUwkQbxXOKELW7KpYhWIbnAYjkmx6UYPWaxO6YHvB7w_3xS_1awmPovL5CJ_K-CvoudifpYf27KpLVJ_8cRWd8sjPKFu3P61gqTLwLl3XTZlbZ-KD89hiaeLkOKdMqEY8XHkl-wYFNs4jah14fk9-J3LG8DFWG6QLzYUFC_Z9Gkwqf7k1ZQQSQmBINc1ftPrR-FYx-170rN3UI84K9iKfjxOO9_QR8YpNRT25WzDDqy8c6Y47qEeefBWmzLpTGb3oJZmSfrWtJZh86qO727ofSz4=",
  "id": "rs_07ca404505d10fb2016ab4608d177487d09810a7be1c6ae520",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.455,\"left_y\":-0.09,\"left_z\":0.015,\"left_gripper\":1,\"right_x\":0.294,\"right_y\":0.004,\"right_z\":0.2},\"note\":\"The higher view shows that the bottle stayed on the table; the earlier grip did not hold it. Its cap is too far forward for a low grasp, so I’m approaching the nearer body to pull the bottle into reach first.\"}",
  "call_id": "call_fGbPM0uSUyClc4x97TaskBu4",
  "id": "fc_07ca404505d10fb2016ab460943cf087d0900f0dedd84c476b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fGbPM0uSUyClc4x97TaskBu4",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3317, 1.9015, 0.7635, 0.5804, -0.3286, -0.2363, 0.9976, -0.0254, 0.7967, 0.6468, -0.482, -0.0307, -0.0509, 0.9998]\nstate[eef_state]: left_x=0.4589 left_y=-0.0939 left_z=0.0391 left_yaw=0.0563 left_pitch=0.0367 left_roll=-0.0197 left_gripper=0.9976 right_x=0.2859 right_y=0.0018 right_z=0.178 right_yaw=0.0003 right_pitch=-0.0604 right_roll=-0.0114 right_gripper=0.9998\nstate[joint_eff]: [0.8684, -5.4359, 4.4103, 0.8474, 0.0415, 0.1099, -0.1636, 0.0205, -0.4855, 10.0718, 1.9365, -0.1148, 0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9e9ec86ab8e94ebe390a6af39b6756f2112b6d7343f6f1cda1c829637cda446",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6aa96d59404d20cc8f67e74af5d589108af66d94e3a5ff4d4e8ee9ae8b9af295",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:895e34b7eed4266dba6e2049eb45b8f2a19fe1cdb4e3b7e94ec049ae003876bb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 5.944 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 18 changed as sent

message 25 changed as sent

message 29 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2707, 1.985, 0.8925, 0.5983, -0.2775, -0.2085, 0.4038, -0.0154, 0.7967, 0.6411, -0.4709, -0.0303, -0.0437, 0.9998]\nstate[eef_state]: left_x=0.4993 left_y=-0.0846 left_z=0.0501 left_yaw=0.0611 left_pitch=0.0872 left_roll=-0.0416 left_gripper=0.4038 right_x=0.2868 right_y=0.0045 right_z=0.1776 right_yaw=0.0059 right_pitch=-0.0552 right_roll=-0.0059 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -7.7197, 5.7915, 0.9939, -0.0513, 0.2076, 0.4225, -0.9094, -0.9368, 9.9487, 1.9658, -0.1001, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4156, 1.404, 1.2095, -0.4419, -0.3832, -0.2874, 0.4046, -0.0212, 0.7319, 0.5426, -0.4194, -0.0303, -0.0509, 0.9998]\nstate[eef_state]: left_x=0.4091 left_y=-0.1044 left_z=0.245 left_yaw=0.0443 left_pitch=-0.0227 left_roll=-0.0027 left_gripper=0.4046 right_x=0.2781 right_y=0.0031 right_z=0.1604 right_yaw=0.0041 right_pitch=-0.0372 right_roll=-0.0122 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -8.3897, 9.388, 1.7167, -0.3541, 0.1978, -0.0024, -0.4444, -1.306, 6.8855, 2.0195, -0.1929, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3317, 1.9015, 0.7635, 0.5804, -0.3286, -0.2363, 0.9976, -0.0254, 0.7967, 0.6468, -0.482, -0.0307, -0.0509, 0.9998]\nstate[eef_state]: left_x=0.4589 left_y=-0.0939 left_z=0.0391 left_yaw=0.0563 left_pitch=0.0367 left_roll=-0.0197 left_gripper=0.9976 right_x=0.2859 right_y=0.0018 right_z=0.178 right_yaw=0.0003 right_pitch=-0.0604 right_roll=-0.0114 right_gripper=0.9998\nstate[joint_eff]: [0.8684, -5.4359, 4.4103, 0.8474, 0.0415, 0.1099, -0.1636, 0.0205, -0.4855, 10.0718, 1.9365, -0.1148, 0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9e9ec86ab8e94ebe390a6af39b6756f2112b6d7343f6f1cda1c829637cda446",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6aa96d59404d20cc8f67e74af5d589108af66d94e3a5ff4d4e8ee9ae8b9af295",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:895e34b7eed4266dba6e2049eb45b8f2a19fe1cdb4e3b7e94ec049ae003876bb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGCbm45qfR8UoOxkJDxjuNd-bfm10_4ZLl5XXdJM0LuuruGZodvDsKpHkqhe8YR2kktWi_Fx7f1xIJ7nbq6Ohc2uZlX3qNXj7RbC7l7t4XSa3bdfNh0fcH59YuhYtgDqt_aXjl-Arc8FglY4LhQB2V3y6z4jDD4nzlIfnK6QafZPIaJthhq6GeDZjTlVi8N56Kr-BOQ0BnSq51J3JN1IK3pIC0h0VPSJ5NkwVeDuBIBuqnPMoV-rhLlZgijSax1qYHjcqPTMQ7OgldXC1PDmW5t0M7eiVcQziPaSrpBdRmlMOIusUY_7k-opxk8iEysTYFiViCkvEJk5npbeqBeMaZvWBML9WPBzDs8X53aMMs01x8e3AeaXmXyswX7P21IMbvZGmzIgKsslOq7MOZ2-k1jZyl_MREyh74EkZIEuRzkhAsoRT588PyVE-XARZQXjIw3VxvRhQMdZsN-6h_8ZdPIumI2AhwVH6WjCKwNFKD7pU6PfNd1DI7AsXqJ26MXB4xrW6zFT-IjBtXfG2Cl4ancm1saQf1M-sEWUHms1vyu0d2HHNG6qdHTiEjHbvL8giEjqCBq8uIPLieLahAvKkvdD0yhf8GrU_LD_r2X617m2LVl5L2Rs7EdMwHJKeWjddoSt7RaxJVEiBgMxL_gY6s9p0tYv1XjaYb1SPIz9kFY9r4m1VELNMuW6zbWnxXzGNIpfHlAy4zGuhvxZvh_0hVn6mYu3k9UGOW1AC0JYpDcYAEqjJb8oBh_8WlKakpEqfxAD_CoCcEA5SribKXfBDpIE0g69pGEXpDljI5e5x9NSTGgJknNttwqzRuXBmk32Do_Y3URWEUCrrbNjlxY90sk0VNnIvj4bA1JdIXnF-fJ1ZM8leobh-9Ab1jBUlO_2zIfbexK8RpawaUqFdmosnCvimgtXqvVbeQ76jZrbmS2cA08CwOJ2iTpUYvE0LsoozqEisdtu7kB6QJv5B4aqq8Q-xFsIPhr4M9CC6pmRFqs4vYbLM4L6yPElDhXnLD9bdMxKcnd9oQ5p2t4QB44WeTG0BUnr1YVJhCKZ_xVULDB7kX4fGFrI00wWlh7Gww983x1OkkXxx-HLmbLbCwPg9KwZf--XuCV0d2r6x1SDpWpASmNaYf2XNJeEQWHO51H-91fLGoVLlUew-J7IT_A7MCnLKiPL0fj65ubH-q6S68ER8dYcQAO0TR4-Jwks3JixnGk3sJlEKv0lA5tvSfY7VasaFi3SF2H8XwFPxgOG8xxrj9NDI6NiqjPqYm18X0Hj4L5g_EFFU3QXjz-lamRpaqGSc1I4qhkys5auSrueOA9zqN0QKRM8N7X48rywncCmnkJZpdCwZzhiCVELVG_rWgKXE578xYCJJ-oIZZqeQATKgZ1lzAyr56zJaEak5yA4tm_53CmUJ9qRvRJYvqzEHzS1GDX_IC5UkbW649nxm67wWjY2nqiGa2JcDr58AjHkijGKc5MCdvfzBiG44zGlmu96pCdtBO-GhOjGiKq2mss4YgjiowqRaHrRlrIZcTIO9U09",
  "id": "rs_07ca404505d10fb2016ab46098bfdc87d0a03206b0280ff4a5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":-0.005,\"left_gripper\":0},\"note\":\"The bottle body is now centered between the open jaws. I’m lowering slightly and closing fully to secure the body rather than relying on a partial closure.\"}",
  "call_id": "call_nGK39wvPPNiXZje64OYaX1C9",
  "id": "fc_07ca404505d10fb2016ab4609a18c887d0bf8e4f1cde57c365",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nGK39wvPPNiXZje64OYaX1C9",
  "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]: [-0.3321, 1.9873, 0.7853, 0.8238, -0.363, -0.2394, 0.012, -0.0284, 0.7582, 0.5861, -0.445, -0.0311, -0.0509, 0.9998]\nstate[eef_state]: left_x=0.4847 left_y=-0.097 left_z=0.0599 left_yaw=0.0953 left_pitch=0.2074 left_roll=-0.0796 left_gripper=0.012 right_x=0.2814 right_y=0.0011 right_z=0.1681 right_yaw=-0.0025 right_pitch=-0.0455 right_roll=-0.0116 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -4.3009, 3.2479, 0.2027, 0.3297, 0.0317, 1.0916, -0.6906, -1.5385, 7.1726, 2.044, -0.1734, 0.0269, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff03a5108de4758769734adfab1b0b4f62d2fb98742e2eb07b653fdedd0c0a03",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6040382c3ed7761622f3020a3e7565173b943e3dec3c141bf2815754b2bc8bfc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0132b2960112b5d0d64b17bdc42f964ff43c25bffb16d04676925fcc2d15f5d4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 3.484 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 21 changed as sent

message 29 changed as sent

message 33 changed as sent

message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3027, 1.7657, 0.9131, 0.3023, -0.3012, -0.2169, 0.4046, -0.0154, 0.7589, 0.5858, -0.4431, -0.0307, -0.0505, 0.9998]\nstate[eef_state]: left_x=0.476 left_y=-0.09 left_z=0.1013 left_yaw=0.0522 left_pitch=0.0383 left_roll=-0.0189 left_gripper=0.4046 right_x=0.2816 right_y=0.0047 right_z=0.1682 right_yaw=0.01 right_pitch=-0.0448 right_roll=-0.0115 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -10.947, 9.347, 1.9023, -0.232, -0.0073, 0.0659, -0.6496, -1.2786, 6.9949, 2.1661, -0.1294, 0.0904, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3317, 1.9015, 0.7635, 0.5804, -0.3286, -0.2363, 0.9976, -0.0254, 0.7967, 0.6468, -0.482, -0.0307, -0.0509, 0.9998]\nstate[eef_state]: left_x=0.4589 left_y=-0.0939 left_z=0.0391 left_yaw=0.0563 left_pitch=0.0367 left_roll=-0.0197 left_gripper=0.9976 right_x=0.2859 right_y=0.0018 right_z=0.178 right_yaw=0.0003 right_pitch=-0.0604 right_roll=-0.0114 right_gripper=0.9998\nstate[joint_eff]: [0.8684, -5.4359, 4.4103, 0.8474, 0.0415, 0.1099, -0.1636, 0.0205, -0.4855, 10.0718, 1.9365, -0.1148, 0.0757, -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 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3321, 1.9873, 0.7853, 0.8238, -0.363, -0.2394, 0.012, -0.0284, 0.7582, 0.5861, -0.445, -0.0311, -0.0509, 0.9998]\nstate[eef_state]: left_x=0.4847 left_y=-0.097 left_z=0.0599 left_yaw=0.0953 left_pitch=0.2074 left_roll=-0.0796 left_gripper=0.012 right_x=0.2814 right_y=0.0011 right_z=0.1681 right_yaw=-0.0025 right_pitch=-0.0455 right_roll=-0.0116 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -4.3009, 3.2479, 0.2027, 0.3297, 0.0317, 1.0916, -0.6906, -1.5385, 7.1726, 2.044, -0.1734, 0.0269, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff03a5108de4758769734adfab1b0b4f62d2fb98742e2eb07b653fdedd0c0a03",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6040382c3ed7761622f3020a3e7565173b943e3dec3c141bf2815754b2bc8bfc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0132b2960112b5d0d64b17bdc42f964ff43c25bffb16d04676925fcc2d15f5d4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGCh3j1jnae1q0K0FfTc2W61SRtvg5u6KyZ_-zx5CbIxhef6IOsRQsY6DVOLfpd8QeYVQeOm-Iu3Y5ccY-QKD7eBDb6ntWAIK4SCVRCIIeVF8mySe1kt8ZYHOImII-4AbagrdOskmlqTxlM5tVUfk78qUw5TCXdtBNvHlm9acP34ub18ykMd5bCTZijcRUjtMvlQd2ezli8BZssf4N7OkEkKHTXbjywaSI0WGhdKGS4i1O9EhW0_XKgIA3D0o5WqS-gokbVA9ARsyRWwcU27keFv5nIeSLkO88kvW-YrKxUXqX8uz61bS8nD-5nm5w2eCsq13A2esrundu325j5c0TSVyswFMQ1LDwEbPeOEqM1dtvfffHcVmlBDRR00VTopIch85d6e_FyFXxRljoISYhhDBE9rCFUBb_OQ_DpsP1jT97iJSBR4pj21Rf5xyooiTlqvINOonW2q8TSyWTtUu64D5QJjhsf1rI_tbL6AKStgxSTJ_xDsqy_GoMsnDfrw49FVJEtX6ZWg5QrJLFgJ6XZTTJPRnuiEkk6tWLcFU78L1RJpMbGV5Fs6P1vfQBWbJL_dq5Fnn4igobkgYVfrthef9KPp8VvAnzyPFJNBEtzMaQVt9WgGoLxeyY9EzCJqjStPYAx_07ZK4z1KNcMIeiva54Bsg0vdmL01xNz9BmXY_PQ8zN2UwZVFkKlUFaGHznkJvgZsYQk3K0-moPJv7CIeHGeSbfe9w-LqBv-ehFnSCGRYQQHfMxaij6O8PslGdTxHsCc6im14_OSz9HIU2ALSexHEacNii8nKYjhdWsEYo7wn8O59bl51XxVgaU0gPQB-tB76_s_JgTu8Nc74eQCq7sFnL4ym4n2a3SEWTwfn2WStfE3Yg7TdqUm0hP3N5hCKIUJQrqFRRwjejyzR3aVUP8opH3RHAVLoEB8dqaP3XAtZmX57VGqKqebz403ltJBpy4gc5pXgkpXu5sWQa5u6urqeBPqqRipIPHuAk86HFbAyZPIW5GBhS9x2JgICZpgu10LlyQ4VH36_0J7av8jxU6T8mmnAGPG_TumRKAf9R2xMz0iy116ARJ2wpmwma1kNSdDF8SVIxa5b4XiskiRBOZzR66XUyLLhVq1u6qIj-wTBLfPESrxBNOnEgDwWY0SmupIL36mu8-kAwprUTkjZcaU_2NHq4zYAIqB1peyZDXtzSO_G5jDVryjbsh3NGxqi-su6vd54GcoymyqEHzMd-TGWxA8guCIn815VWlYdyD7UQ9o-L7TPozi-MIv_q13SRpg2fmlPdMGE2S7wFUPM3EJpgNyQFWaazRO5gtNmiQrMBQ2JRzSlfgbWZ8OEipsVyTLVetuRhk4v0nax51EFupOIBU0xCKMEl_QEAznK5gkPV02eRmWqD0UWZ_SbSSL8YXOR47_W0ALsLGdKO0O8M8MlRSk38scRJPsGQHF1-rjnd7rhpIbDed6gKCG867FRBjD99wRLmm_uZ7te7ooHBlFOvA_WtuT0niIu16nk8ed044Fz0aVBJYkukEWmWD1sNLJtVC7Tem66cSL2vZ5InD0XgtZ9uDL77nW3aRCjLrctUePyeyRmasEOvho7ua5_Qjp633WakGXE2cPqdbVwV9QqGhrA_0okVKEyXEInS_FGgnSZh6aRrhXSJM6Rxm0_24v4Ky_DMcmcdPWFJAnIniOquRzpThKL01OAESP6BNNUEXMZnNHgIXYL0bWtwucPsVYaw2U5DVLcG1cLIRGxmAAhVL93RAIOYN4ryvvvN7YuTC6sWp-h9j5pTuOuDTcfDxI4BPMDBw4DHKW-MiqOUsFV63tins1t8zqu-xEpkhcpdzQXqzTexsCk-R515regSZqeiGMDpggs2Ta26If44ioPViGfEYzdfUpgNVUM0yd3dvuet0QPHhEIH4l6bRMm8qs3M_hxlV0_FliaWjM4Bw==",
  "id": "rs_07ca404505d10fb2016ab4609de18887d092395f9944fd9795",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.10,\"left_z\":0.015,\"left_gripper\":1},\"note\":\"The fully closed reading confirms an empty grasp, and the arm could not reach the requested low height that far forward. I’m moving to the bottle’s nearer end, where the arm can descend more reliably.\"}",
  "call_id": "call_GDqxffMNpwQK1b63P07XWZFp",
  "id": "fc_07ca404505d10fb2016ab460a0735c87d090fa93309577f186",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GDqxffMNpwQK1b63P07XWZFp",
  "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]: [-0.4446, 1.8526, 0.5629, 0.6071, -0.4397, -0.3229, 0.9946, -0.0341, 0.7319, 0.5411, -0.4202, -0.0383, -0.0509, 0.9998]\nstate[eef_state]: left_x=0.3928 left_y=-0.0999 left_z=0.0019 left_yaw=0.0807 left_pitch=-0.0466 left_roll=0.0203 left_gripper=0.9946 right_x=0.2779 right_y=0.0009 right_z=0.1596 right_yaw=-0.0021 right_pitch=-0.0393 right_roll=-0.0076 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -9.5521, 4.4239, 1.4969, -0.188, 0.0757, -0.1587, -0.6359, -1.5248, 7.1863, 2.0293, -0.1392, 0.0171, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fec31b41292eb473785eba9bb0812e845f4960beef62c4dba51019438f330622",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:700221c26eaa80d2ea8a4fa6589070321383374435187bc8c99256a6f28fb826",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c273c482ef0b41fd7ef8f0963e62b996f00e49f46ea8e95b0601efca60876a7",
      "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 · 4.117 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 25 changed as sent

message 33 changed as sent

message 37 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4156, 1.404, 1.2095, -0.4419, -0.3832, -0.2874, 0.4046, -0.0212, 0.7319, 0.5426, -0.4194, -0.0303, -0.0509, 0.9998]\nstate[eef_state]: left_x=0.4091 left_y=-0.1044 left_z=0.245 left_yaw=0.0443 left_pitch=-0.0227 left_roll=-0.0027 left_gripper=0.4046 right_x=0.2781 right_y=0.0031 right_z=0.1604 right_yaw=0.0041 right_pitch=-0.0372 right_roll=-0.0122 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -8.3897, 9.388, 1.7167, -0.3541, 0.1978, -0.0024, -0.4444, -1.306, 6.8855, 2.0195, -0.1929, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3321, 1.9873, 0.7853, 0.8238, -0.363, -0.2394, 0.012, -0.0284, 0.7582, 0.5861, -0.445, -0.0311, -0.0509, 0.9998]\nstate[eef_state]: left_x=0.4847 left_y=-0.097 left_z=0.0599 left_yaw=0.0953 left_pitch=0.2074 left_roll=-0.0796 left_gripper=0.012 right_x=0.2814 right_y=0.0011 right_z=0.1681 right_yaw=-0.0025 right_pitch=-0.0455 right_roll=-0.0116 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -4.3009, 3.2479, 0.2027, 0.3297, 0.0317, 1.0916, -0.6906, -1.5385, 7.1726, 2.044, -0.1734, 0.0269, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4446, 1.8526, 0.5629, 0.6071, -0.4397, -0.3229, 0.9946, -0.0341, 0.7319, 0.5411, -0.4202, -0.0383, -0.0509, 0.9998]\nstate[eef_state]: left_x=0.3928 left_y=-0.0999 left_z=0.0019 left_yaw=0.0807 left_pitch=-0.0466 left_roll=0.0203 left_gripper=0.9946 right_x=0.2779 right_y=0.0009 right_z=0.1596 right_yaw=-0.0021 right_pitch=-0.0393 right_roll=-0.0076 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -9.5521, 4.4239, 1.4969, -0.188, 0.0757, -0.1587, -0.6359, -1.5248, 7.1863, 2.0293, -0.1392, 0.0171, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fec31b41292eb473785eba9bb0812e845f4960beef62c4dba51019438f330622",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:700221c26eaa80d2ea8a4fa6589070321383374435187bc8c99256a6f28fb826",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c273c482ef0b41fd7ef8f0963e62b996f00e49f46ea8e95b0601efca60876a7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGCmkqaSkcFmE37utCusHYRvHy-a930llmRAZCzZ9cT1ABm2dAEIEuqqOwLJHUSMe4hYHIQcx4iub00xDyXtQNnJM-1_PILOyLphR2K6DdF2kooJmkukN13GYWj7FMh8Exrh1abRF8f2Ei5YgYGSPHbXCg69DJGZej-H79nB9pl93dpefPksfGC1bWDYQrdPr9pUOwOfX2AmZqZHGsIz34BvllHv5GWnIhM2k4f-hKHiZpLNOwZswFkcTwj9IGNYDXxIVLfkGjXpMRK2nXmZvbm_VZY8Aq60RklldkltUKRBRoqbVu4gpbwUieoR7Ms6LzDeZyRIbw7nzz3n9If4ekkrotZ1kLuV3atbMvnFu2fqMgJCH_FrsYzL7MaAAUV1XaNxY2b8B252YbQf5wxRd5gdoEJ_DtTcT7-hKPZ9q0zIwh5_G-QC0BmqZ4EL8SSv69aZwrvjhgayE9smLCF1db_YyAFfciyeBtZeAHm570B71gL7-qPQQjxoO6R7rbo6RVGoqvxdSmG60i-92XkOIZr3lJ45IngopHVlBi937dlzNAqBceUs0nuGYt_qhbQOA98pAAR2O7TzvmDgT3a35-YV6E-jQN3jMZA2IykhFifxbjw1Mj5w0SEkA0SdU2GMOsAo3jZVbUibhLHoTlCccYveGMEjOWvYSHWARMo-Eh3tRDz7KSlZ-aRuZX7l53sew18e9lzTHDSSHIEme1aN_oQGtllmgIUBZHR0DeeJ-Oai5-I78b2K2OO_ApBsBSBFTEvfE1eIx-uc8wHsx2606AMgRpuRz6O-M493CrOwzpvUMzNOgAzDdjN2IecsncWJMbU-COFr_76He2gY3kCq8qa-s_HJ8uyYfUVCwWMHLs0hLE4gr6fP8dDNWC34eVJbKUmehizO0IhPAMEMK-h-NXuXrZqaRE0ToZ9_rjSTrbZ34I3Njs6bwI8zi9N290hDAKaivDCNaqDgeAqt2_Yb7Ch8k98e-e_-fCO7Gx0jA3Fo-o90O--ItHRufiw4oDC_XPLYM7VqzH26lNkgOhCvKAvv1whxF1TKm4qht7q4pqzza53RBMoDLJ2Vz0PqPS_KRA5wpT2WfModHZWsmYQPApDSe5ZP1QD9zFgGtiNbdPXjmAcSOL-iWkwOALqNCQJ01qYNYLxGFyNMtv555FIfkyTHThkoCRc7uOcaw6HwiD1NhivBnCNy-BvZveaHDyJt--TDv5qQeE5rVOQ8vlGpq8a7duW_5PNy2imaJbfeD0QVlu5WLf4fLhfMEq4JZiFjV4pxpuJ2r6wMuY5RMSSNq8upgCKBnN72iD5xJ4ZvKWOS4-M=",
  "id": "rs_07ca404505d10fb2016ab460a4697087d08604e9460ed287d0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_x\":0.294,\"right_y\":0.004,\"right_z\":0.2},\"note\":\"The fingertips have reached table level and visibly straddle the nearer end of the bottle. I’m closing here to get a secure hold for repositioning.\"}",
  "call_id": "call_ivX34DIZBETATpzdEdMj8RRH",
  "id": "fc_07ca404505d10fb2016ab460a5130887d08bdb36ebe432f52e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ivX34DIZBETATpzdEdMj8RRH",
  "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]: [-0.4465, 1.8736, 0.532, 0.7162, -0.453, -0.3183, 0.4965, -0.0189, 0.7971, 0.6434, -0.4721, -0.0372, -0.0505, 0.9999]\nstate[eef_state]: left_x=0.3944 left_y=-0.0991 left_z=0.0052 left_yaw=0.0865 left_pitch=0.0068 left_roll=0.0022 left_gripper=0.4965 right_x=0.287 right_y=0.0047 right_z=0.1783 right_yaw=0.012 right_pitch=-0.0542 right_roll=-0.0075 right_gripper=0.9999\nstate[joint_eff]: [-0.1846, -6.8581, 3.8359, 1.6679, -0.1538, -0.0659, 0.8718, 0.1026, -0.7043, 9.9761, 2.0488, 0.0366, 0.1783, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d2366777d230f851806028332be4a7a10ba28a50831c3c8f3f47330ae058d6b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2c836a5ea9d2982204875eafb8dffaa58d904fa16ad52039571593859af4b84",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00b8ca116257279c5a5f561f25ffb01294d51e06342983d2c99b856ab5962558",
      "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 · 3.505 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 29 changed as sent

message 37 changed as sent

message 41 changed as sent

message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3317, 1.9015, 0.7635, 0.5804, -0.3286, -0.2363, 0.9976, -0.0254, 0.7967, 0.6468, -0.482, -0.0307, -0.0509, 0.9998]\nstate[eef_state]: left_x=0.4589 left_y=-0.0939 left_z=0.0391 left_yaw=0.0563 left_pitch=0.0367 left_roll=-0.0197 left_gripper=0.9976 right_x=0.2859 right_y=0.0018 right_z=0.178 right_yaw=0.0003 right_pitch=-0.0604 right_roll=-0.0114 right_gripper=0.9998\nstate[joint_eff]: [0.8684, -5.4359, 4.4103, 0.8474, 0.0415, 0.1099, -0.1636, 0.0205, -0.4855, 10.0718, 1.9365, -0.1148, 0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4446, 1.8526, 0.5629, 0.6071, -0.4397, -0.3229, 0.9946, -0.0341, 0.7319, 0.5411, -0.4202, -0.0383, -0.0509, 0.9998]\nstate[eef_state]: left_x=0.3928 left_y=-0.0999 left_z=0.0019 left_yaw=0.0807 left_pitch=-0.0466 left_roll=0.0203 left_gripper=0.9946 right_x=0.2779 right_y=0.0009 right_z=0.1596 right_yaw=-0.0021 right_pitch=-0.0393 right_roll=-0.0076 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -9.5521, 4.4239, 1.4969, -0.188, 0.0757, -0.1587, -0.6359, -1.5248, 7.1863, 2.0293, -0.1392, 0.0171, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4465, 1.8736, 0.532, 0.7162, -0.453, -0.3183, 0.4965, -0.0189, 0.7971, 0.6434, -0.4721, -0.0372, -0.0505, 0.9999]\nstate[eef_state]: left_x=0.3944 left_y=-0.0991 left_z=0.0052 left_yaw=0.0865 left_pitch=0.0068 left_roll=0.0022 left_gripper=0.4965 right_x=0.287 right_y=0.0047 right_z=0.1783 right_yaw=0.012 right_pitch=-0.0542 right_roll=-0.0075 right_gripper=0.9999\nstate[joint_eff]: [-0.1846, -6.8581, 3.8359, 1.6679, -0.1538, -0.0659, 0.8718, 0.1026, -0.7043, 9.9761, 2.0488, 0.0366, 0.1783, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d2366777d230f851806028332be4a7a10ba28a50831c3c8f3f47330ae058d6b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2c836a5ea9d2982204875eafb8dffaa58d904fa16ad52039571593859af4b84",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00b8ca116257279c5a5f561f25ffb01294d51e06342983d2c99b856ab5962558",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGCrBfWU6vJa0hD3Q6RGkUGbTNqshAGF7-_we_1fMstpw1rV7ikGzYibzzHK3rqpRon47jTfAQXKhlhvsSy_Dt22_w0DeFJ_ipebcDkyGxd55vgPSQoDoo1eVCqHFmyzgIrKpBJWiEQyMNL-Njj5qfu3bUqXbjOHRqXK4KOXmmolrYME0EsSV4fQpR4t0htHao3lCr4LE5quIikeh8gGLGnGHH24bYd89M-6yLGTrfhdd-wuns_Gem4TxamiugOGcw-1HEsaJXSUXjIomfujMaUnFZ91C5TfeK7p2kiPEp5wE1i1m9Wr1IJCB7I_kVEn8poeH-Oh25s8Jcp5yH1QKljyR1SlTL6vO_gLXzAvXMH4OlpozpnLesYVW0pp-kmAAbvze1Mprk6NfLlUGfL9n9wngAey9YBUesxOEfHA-0p5RIzt0BgFGjNCM5A6Fk1dTvIhNikMZwfdL13uCkWP1_8zOCrQUF6UcAzeVEg75luxgPK6YtyWEvNkWQiNgBPz6uJgUlwUrdZaK4j3RY13-TWgjcv6nU6g9-3VonPJS0oa_YMesAZWKjCIxNhdtvnBJXn1ceo_a5t4PA5i86Sp6_h_x5TV9ndznV3yFzwUIu_pjaUpSkE4FOxcF3npbqcYCVizVzNwyRMLWhCvRvpGuTOXMTJXzKwK31NHkSzVffUwioZFWdi2aIpw3O6h9TyH1yHrtcA6XTnKbkvZ6C-XM2EbiCPIWhfHEDx_7YCbn7gT6Ane8LiMVHwlzFveqMp_41p0wCRGzARLOCU5H-rt4laxKl3HniL_i3SYVFiZqgxdXqKYgLRW0FszGwAUn5zI9oRr3H0TSQjMr5RjyBUFGukVLOmgImpiX8Q7BGfljBT3wZ1fYz9CqN4FQ_NPElA9O_I88N-8-7LFF-HgKEQnxTLumr6YREVaMe-RMmUjQALHqh-5p9DYnijcnLdhsrAWXXWPDJJYFEXNPnai-AHH8hlcS2PSsuHrArHUetgIKhbQaEuQ6xPmOZvieq8VaF1Oi_MIk2Cne-7EAa9Z4R2YaQ8S4RXV61ZQI2W6VsiZxya1tNHYarXbTox0LDSuO97KKajQstzQ-gK-ZC1KUhWK8ll-4JKhnjIyuAsHozyL_QnjnkRzR86jkzk-tQC7poQtIXnJx2zAZ1vjX0NULHJh_w-LFSj2YNvQ17vExeM0aPYkKeIbyYOvmrhLsaqdsddiA05HbKowqoCPuwhIxa1g6UdUaT4WvlTluBY91qvmlv4n3ZjEnbiLEr2F11HXxZPQuwY-CwrN-p9fpKDoypzt976MSUvcY5hwGLEkExvSWUuKp9SW7l_nXU4mQIFxocQiJntBc4DdfVVBWCnE3d3JI8D-A2XrdIql2Ne4jljTbgElIweardo6xjY0bc1MYCk17QzzKptM5tSJbuthxNTMvOlKPWrKm_fUiIzRfVd9jjSa4bwOi1aGuY1txmBdZNHH1atVKRbZXcQ5RbLyxxHXT5pY0KvWhsHv18WW_dWYZcLFVew=",
  "id": "rs_07ca404505d10fb2016ab460a8fdb087d0a0090a9192f61d81",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.255,\"left_y\":-0.13,\"left_z\":0.07},\"note\":\"The settled opening is about 4.7 cm, confirming the bottle is held. I’m lifting slightly and pulling it toward the base so its neck will be within the arm’s low working reach.\"}",
  "call_id": "call_Hy7q16JNitG0JahpyoZxweHK",
  "id": "fc_07ca404505d10fb2016ab460aa04c087d09069f4b64dc71854",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Hy7q16JNitG0JahpyoZxweHK",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9333, 1.2507, 0.3401, -0.0345, -0.6968, -0.6807, 0.4959, -0.0212, 0.7631, 0.5888, -0.4442, -0.0383, -0.0513, 0.9998]\nstate[eef_state]: left_x=0.2457 left_y=-0.1353 left_z=0.0394 left_yaw=-0.0118 left_pitch=-0.1107 left_roll=0.0468 left_gripper=0.4959 right_x=0.2821 right_y=0.0044 right_z=0.1682 right_yaw=0.0111 right_pitch=-0.0469 right_roll=-0.0076 right_gripper=0.9998\nstate[joint_eff]: [0.1709, -4.8342, 8.4855, 2.254, -1.0281, 0.0806, 0.3297, -0.6906, -1.3607, 6.9675, 2.127, -0.1343, 0.0269, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5971fcbc29a95cba9638903353ac000366d24780d96519a08439b4d8343401c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08082fd79c36f099bb17038d40d2650fe570f673884882dbb328a09e8ea187c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c918d14d61ab147d8c9030c90e287255e0295665104f9893fcd08f1d8e53120",
      "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 · 6.129 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 33 changed as sent

message 41 changed as sent

message 45 changed as sent

message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3321, 1.9873, 0.7853, 0.8238, -0.363, -0.2394, 0.012, -0.0284, 0.7582, 0.5861, -0.445, -0.0311, -0.0509, 0.9998]\nstate[eef_state]: left_x=0.4847 left_y=-0.097 left_z=0.0599 left_yaw=0.0953 left_pitch=0.2074 left_roll=-0.0796 left_gripper=0.012 right_x=0.2814 right_y=0.0011 right_z=0.1681 right_yaw=-0.0025 right_pitch=-0.0455 right_roll=-0.0116 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -4.3009, 3.2479, 0.2027, 0.3297, 0.0317, 1.0916, -0.6906, -1.5385, 7.1726, 2.044, -0.1734, 0.0269, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4465, 1.8736, 0.532, 0.7162, -0.453, -0.3183, 0.4965, -0.0189, 0.7971, 0.6434, -0.4721, -0.0372, -0.0505, 0.9999]\nstate[eef_state]: left_x=0.3944 left_y=-0.0991 left_z=0.0052 left_yaw=0.0865 left_pitch=0.0068 left_roll=0.0022 left_gripper=0.4965 right_x=0.287 right_y=0.0047 right_z=0.1783 right_yaw=0.012 right_pitch=-0.0542 right_roll=-0.0075 right_gripper=0.9999\nstate[joint_eff]: [-0.1846, -6.8581, 3.8359, 1.6679, -0.1538, -0.0659, 0.8718, 0.1026, -0.7043, 9.9761, 2.0488, 0.0366, 0.1783, -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 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9333, 1.2507, 0.3401, -0.0345, -0.6968, -0.6807, 0.4959, -0.0212, 0.7631, 0.5888, -0.4442, -0.0383, -0.0513, 0.9998]\nstate[eef_state]: left_x=0.2457 left_y=-0.1353 left_z=0.0394 left_yaw=-0.0118 left_pitch=-0.1107 left_roll=0.0468 left_gripper=0.4959 right_x=0.2821 right_y=0.0044 right_z=0.1682 right_yaw=0.0111 right_pitch=-0.0469 right_roll=-0.0076 right_gripper=0.9998\nstate[joint_eff]: [0.1709, -4.8342, 8.4855, 2.254, -1.0281, 0.0806, 0.3297, -0.6906, -1.3607, 6.9675, 2.127, -0.1343, 0.0269, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5971fcbc29a95cba9638903353ac000366d24780d96519a08439b4d8343401c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08082fd79c36f099bb17038d40d2650fe570f673884882dbb328a09e8ea187c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c918d14d61ab147d8c9030c90e287255e0295665104f9893fcd08f1d8e53120",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGCvtA7jRZtQTD2uAZ_ss5KqV_AssI6tPYpJhk7wSalJYfYCAIzW7UANz-r5sqa2ZLI_WzM4clHldIa581L574z-HzzYnmd_JaetRE84NTf0I7KDhQsUOCXdF6S56xBdX81zEz_YpzXgstTsRNqxMGJxb0xbHsBRUNs0GKNWD3Ha46lcuXRwNcZjLRv60hVr9VatVwDZ-iWmt8QCyCD4RpgNJP4F8wuSvN_S-yCdazfugKp_nTLLdON7k9HXUVa9AhkdiLxzwxgDsCP_9LtpuN7-rtFgQYCzIGKgGGhqFjOgJbo8T5GUmWqk2EepGr6xnblocrbQTUeRyCsm6o7kfX9oktRIySsdkHZExvzR3JmL5W8TkEx4WwmwiPZy4OZ9nDWG4d-A-BZJrp5N698vFfsolrX48NvjgtBId8nItvBx-Z3jN_yq77GuHTbANih52F-02Y1xF7aaYFFU1hn8kUTbJyFfN8gztAKom20yts-ZwvkPRIk28hV__KZ7I5tTQMruIk6Ipr3dUVVOazgVllpK3J1_KpZ3X0CRqkJqA-JrlbmFYjbwnkxIYIeNuf0zgR6FfZDhO5aaeqyr03AyFXM__ZZCnYYeA5tRGMMZAsoput7_Rm13nSLYB1rbItblejE4olrA8g22XGEkRn9HAOEyYkcnPXMCryCSlUwTbS_WU5aRy-jNlZR6zh-Z3XaSWvtArIpBUiEdLTrIucLAojCTdHCzpDIzN4d1-VW6_X1MKYaZwHBpFZRhUrqZdtpatjUDVigLks7K71FH1hGuFp6Jm0OFBBbJTyBuImJUOdYeT819-Hq0qU1WPVClmEYF8Xs760RgrTrV9pkU_i37xr8uwRdGgm4-KGZJsrqUdQetFSEsJZ_P0sd5mEesTpJmXwMA5XbZ4jWcSPNHKr0YMuPHQhGL5FLWRwta67QEskNTA0mqdCi1vF84ZjIegLv_pXx7v0PDoKlWb7R6hMXW3R9EXGlR69mzkJkGMENumcMMX6e6fr40e3xVW5lU8kFCIxv1rrYrOu5xsYc1_TUSRTBcgSH7_xIFK2a1CNIvTcioEtlEKCSCjD_2IWS0A5l8qE41cRW3B3vMVyJXvKvwhqN5NUzMGc5ie1XBpC9NSusFWo7Q1Ik67x3rg97gt-yVYPEx1KSGWsNGhUg1hYlblfGmq_KhYqZae6dgWWJY8w4cy7lXYTDmBSAokScgX5iRKv-lAYfq4ZvoY6aqVJZruSjE4qS4hMz5-IpEiMX-00VSelTBl41Ht08aXbA1nl924wJ5ZJuvt4k3QVjqvldpqjpA4gwJWCmU-__ftn_Z84TxT81y7qXpc9oTLdvfKwgy2ag7bDKUQ3Hf7v_Blb-GaqNoLPXIU7TWexG_5F_iCE35mWI=",
  "id": "rs_07ca404505d10fb2016ab460ae19bc87d089c38158af56ef75",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.025,\"left_gripper\":1},\"note\":\"The bottle has moved closer while the other two remain undisturbed. I’m setting it down and releasing the body so I can regrasp near the neck.\"}",
  "call_id": "call_PEJobftW4uOvFyCF9oANZpcg",
  "id": "fc_07ca404505d10fb2016ab460af15b487d086bf352137d2e0b8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PEJobftW4uOvFyCF9oANZpcg",
  "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]: [-0.9691, 1.3449, 0.21, 0.2657, -0.7532, -0.6807, 0.9961, -0.0238, 0.7364, 0.543, -0.4194, -0.0383, -0.0513, 0.9998]\nstate[eef_state]: left_x=0.2425 left_y=-0.1333 left_z=0.0207 left_yaw=-0.0153 left_pitch=-0.0299 left_roll=0.0119 left_gripper=0.9961 right_x=0.2784 right_y=0.0037 right_z=0.1594 right_yaw=0.0084 right_pitch=-0.0412 right_roll=-0.0078 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -2.8513, 4.7521, 1.3895, -0.4615, 0.0317, -0.0366, -0.5402, -1.6752, 6.9402, 2.0488, -0.1148, 0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41098298500613e6e76cfd207872367078504a4d65961bad4777f7ff4170e3cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3d8958ce921bfa643f9abfc76bb36c6f7920ad78dc69843f392b9b20cddf82e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a3f4f396f5a425c3c39028cf46091e93ebe388141642b942cbda9c575b53816",
      "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 · 3.086 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 37 changed as sent

message 45 changed as sent

message 49 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4446, 1.8526, 0.5629, 0.6071, -0.4397, -0.3229, 0.9946, -0.0341, 0.7319, 0.5411, -0.4202, -0.0383, -0.0509, 0.9998]\nstate[eef_state]: left_x=0.3928 left_y=-0.0999 left_z=0.0019 left_yaw=0.0807 left_pitch=-0.0466 left_roll=0.0203 left_gripper=0.9946 right_x=0.2779 right_y=0.0009 right_z=0.1596 right_yaw=-0.0021 right_pitch=-0.0393 right_roll=-0.0076 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -9.5521, 4.4239, 1.4969, -0.188, 0.0757, -0.1587, -0.6359, -1.5248, 7.1863, 2.0293, -0.1392, 0.0171, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9333, 1.2507, 0.3401, -0.0345, -0.6968, -0.6807, 0.4959, -0.0212, 0.7631, 0.5888, -0.4442, -0.0383, -0.0513, 0.9998]\nstate[eef_state]: left_x=0.2457 left_y=-0.1353 left_z=0.0394 left_yaw=-0.0118 left_pitch=-0.1107 left_roll=0.0468 left_gripper=0.4959 right_x=0.2821 right_y=0.0044 right_z=0.1682 right_yaw=0.0111 right_pitch=-0.0469 right_roll=-0.0076 right_gripper=0.9998\nstate[joint_eff]: [0.1709, -4.8342, 8.4855, 2.254, -1.0281, 0.0806, 0.3297, -0.6906, -1.3607, 6.9675, 2.127, -0.1343, 0.0269, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9691, 1.3449, 0.21, 0.2657, -0.7532, -0.6807, 0.9961, -0.0238, 0.7364, 0.543, -0.4194, -0.0383, -0.0513, 0.9998]\nstate[eef_state]: left_x=0.2425 left_y=-0.1333 left_z=0.0207 left_yaw=-0.0153 left_pitch=-0.0299 left_roll=0.0119 left_gripper=0.9961 right_x=0.2784 right_y=0.0037 right_z=0.1594 right_yaw=0.0084 right_pitch=-0.0412 right_roll=-0.0078 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -2.8513, 4.7521, 1.3895, -0.4615, 0.0317, -0.0366, -0.5402, -1.6752, 6.9402, 2.0488, -0.1148, 0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41098298500613e6e76cfd207872367078504a4d65961bad4777f7ff4170e3cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3d8958ce921bfa643f9abfc76bb36c6f7920ad78dc69843f392b9b20cddf82e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a3f4f396f5a425c3c39028cf46091e93ebe388141642b942cbda9c575b53816",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGC2HJXbbMlGD949ng-IoDB4O05FdPBDOLMFdQAR9IZ7URSMHeznf9YBjN--neJhKzPoH0Hr6YfC44NaQEPd4BEgml-1TA_afYuBNIzlxXyFLTMdmLaET0D7S5k4vtcc2oizX_BD2Yy8miv730k8owOKwO8955GU_tctNm65ruTW68v5H59zdoTqPhEYrlaTet_MxF0NzKqhEVQ2hD_SSenreG0NODopzroVaiYCYh7xx_ika7OC6RMOl6FxaQRzpXOvQv_qw04oYnYwaRRVCKiuIdRGobSwCzllxQuMoL3gnhREZ9i6FRzrNRkRcJ2kwrFiI817ER0nc9kgFDKtEpNnnsKdd9_sQ5Di9KL6JhcX3R9QfmIVCGWfUWktMaHkteniJGGvrgBcPC7e_9-jwEzMoNYYKNDx-PCoEh6ZcDbKN2ePwfa53UFsibCUDfFhLqz-egMDUO5DxNy6RTKE283kPtIiUpV07fTdwBys4sXzHgnFc_1RDNKgYIc01ZkkEAho_OasrzjdQBtyLKflmxNrAkrjw1VJHafnUP8DuS3ZbnThEpdd_yI2_8x03SZMbN_JVTK90m5hTtrwprVvcbm4jtEoOslQR2xoM34PXy2J3xb8q9PGjz_QZ6wUwUJJuc6Tl6WMaAcr8bKT6ns8ZHUCDDq1K3S37-5F9Atc4MIRTkOTX4rMTxhnQ8XKVJ9mKtq8eHG8hy8o_p_-kDKlGSN1U2kJhMOfQlPx2fGL4ybspqRu2F8ipHnfKSS4ncat7i2_ma5jR78gLD5Qx7xHc_BmfxF20dHmAQLRl_9vU7cKfe9yY157mM8yz8GdJmrXzFdOlv0FtBxvFeZw-_PDPMXTQcjoapsvzrIClQMcooQ1tmRb17hB5TLlUzNT7sVsPCLb-t7oNW9zS-n1yn5kV1R3re43BtKq2hpGK63_3mXIn0wDM-W_hPQ0kncve4KVxmCIlvVuYgeZhHj7c5FSmEOq6qs_0egNf9vTSK4exODUTb1si8YcN7-o-LKnBhK_pnvoMRjehXAukxLGaV6Tfy8chSZICmBJyb5rOPNxQdVENVeTzkf0cw2wxjL62cnRUhhNkurSyYoDqfv29HA_tZxFGRS0Y-wZOa9TeO6yWjVDi8_ATnP4UiX5akyUqPwy10qE0Evbid9__413EbrcnX3ZgiceNW64JxdrkkL1dkrywOdFSe_AHncYVjv47seq8s-lcdxpaGOyBx2FNqpTxoy4lks1uUzlg81jTesO4YRE6K3ufu2dmvH-KUyQzymyJoGIKFKVGwLUg8g24aeo7-T7wAY5tJdoADHJcPzSRDQKF92sHgT1J3cKZyNBHOByScfhaJmgN3f9kBW7Crm8mQxHrkSEGq60bd7qIRwpzktlmI05s09nr5U1BWz5VHNGx5shuIWZFmBdfz4T3YwDW-vez4ssBFujR28rX7kWg47ftOY8drA7wt2vl4UGHGPTRNfzPWYEgpYtKxV-u8jnycMykrv4HxhZna4_aEk5H0_TtGH24H6T3kx6xnc4njeBZ1428L3NEuzJiPCTqihuat_3pzonQFsGmIJ9ARS0ThAsbSmiXFVuHgYVGUZQFC4X9_xPo0OMdEsuhFeWgejzum-lG5TVXDF8NqgQ7-JVBC6rej1JfRDiXStkyVQbr9rHwX9Ye2l6vxybyCboO5zRKT0qW27594FmdU8oic_QW9B5u3Qz5SKSEg15ihnLuXHO9wSk2pgFkhUn-GFhRB9lMimHAr2t18Hbr3UhoN0ofZqEOAEKSJl_A_jdtL5p6fQi_X1eyk34OEMNrRkDBhhR9L9dTYx7_UZM5es7jY6vvS5Tyy0SYO390aL0S3Ju7qmJ-K_McKzfnKvqI2DroCYN2LQxy630P7Z4dGA1Lj-zVwf01rntky9bNjKib_yYaM2DezQQ-tT82VO-TWDGi6_DG9NXEs8raMKJFi7tvCqGwe8XUIVibMnEesZ0Mbj1-8FWPc-UrGwi8_B6oy2YIKmgjLh6-Q==",
  "id": "rs_07ca404505d10fb2016ab460b1f96887d0b1c8c51802bf4386",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.15,\"left_z\":0.11,\"right_x\":0.294,\"right_y\":0.004,\"right_z\":0.2},\"note\":\"The first bottle now lies in the nearer workspace, with its narrow neck clearly visible. I’m moving the open gripper above that neck for the uprighting grasp.\"}",
  "call_id": "call_hhnp3rOPhzuBVunPEpjF3N5V",
  "id": "fc_07ca404505d10fb2016ab460b51abc87d0abd8ce32d097699e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hhnp3rOPhzuBVunPEpjF3N5V",
  "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]: [-0.5468, 1.5715, 0.7521, 0.1806, -0.4698, -0.3576, 0.9968, -0.0265, 0.7971, 0.6456, -0.4797, -0.0387, -0.0578, 0.9998]\nstate[eef_state]: left_x=0.3972 left_y=-0.144 left_z=0.1024 left_yaw=0.0206 left_pitch=0.0007 left_roll=-0.0157 left_gripper=0.9968 right_x=0.2862 right_y=0.0028 right_z=0.1778 right_yaw=0.0096 right_pitch=-0.0594 right_roll=-0.0123 right_gripper=0.9998\nstate[joint_eff]: [0.4991, -6.188, 8.212, 1.4237, -0.0464, 0.3687, 0.0659, -0.2803, -0.5128, 10.0308, 1.9219, -0.1197, 0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:664da5b44fe255bed53b49cdc16a8370a19d8c9341e5afad68e3f316d5b1bd2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c587d7e9d35998dfbfd8f833eb0c2f9bcbb3e013f381bc19faa41b66b4ed7080",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55bf861358f4244d90c153e639d480b05ee7bb9e3d2fa2bede72c8930d429972",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 5.502 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 41 changed as sent

message 49 changed as sent

message 53 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4465, 1.8736, 0.532, 0.7162, -0.453, -0.3183, 0.4965, -0.0189, 0.7971, 0.6434, -0.4721, -0.0372, -0.0505, 0.9999]\nstate[eef_state]: left_x=0.3944 left_y=-0.0991 left_z=0.0052 left_yaw=0.0865 left_pitch=0.0068 left_roll=0.0022 left_gripper=0.4965 right_x=0.287 right_y=0.0047 right_z=0.1783 right_yaw=0.012 right_pitch=-0.0542 right_roll=-0.0075 right_gripper=0.9999\nstate[joint_eff]: [-0.1846, -6.8581, 3.8359, 1.6679, -0.1538, -0.0659, 0.8718, 0.1026, -0.7043, 9.9761, 2.0488, 0.0366, 0.1783, -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 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9691, 1.3449, 0.21, 0.2657, -0.7532, -0.6807, 0.9961, -0.0238, 0.7364, 0.543, -0.4194, -0.0383, -0.0513, 0.9998]\nstate[eef_state]: left_x=0.2425 left_y=-0.1333 left_z=0.0207 left_yaw=-0.0153 left_pitch=-0.0299 left_roll=0.0119 left_gripper=0.9961 right_x=0.2784 right_y=0.0037 right_z=0.1594 right_yaw=0.0084 right_pitch=-0.0412 right_roll=-0.0078 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -2.8513, 4.7521, 1.3895, -0.4615, 0.0317, -0.0366, -0.5402, -1.6752, 6.9402, 2.0488, -0.1148, 0.0366, -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 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5468, 1.5715, 0.7521, 0.1806, -0.4698, -0.3576, 0.9968, -0.0265, 0.7971, 0.6456, -0.4797, -0.0387, -0.0578, 0.9998]\nstate[eef_state]: left_x=0.3972 left_y=-0.144 left_z=0.1024 left_yaw=0.0206 left_pitch=0.0007 left_roll=-0.0157 left_gripper=0.9968 right_x=0.2862 right_y=0.0028 right_z=0.1778 right_yaw=0.0096 right_pitch=-0.0594 right_roll=-0.0123 right_gripper=0.9998\nstate[joint_eff]: [0.4991, -6.188, 8.212, 1.4237, -0.0464, 0.3687, 0.0659, -0.2803, -0.5128, 10.0308, 1.9219, -0.1197, 0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:664da5b44fe255bed53b49cdc16a8370a19d8c9341e5afad68e3f316d5b1bd2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c587d7e9d35998dfbfd8f833eb0c2f9bcbb3e013f381bc19faa41b66b4ed7080",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55bf861358f4244d90c153e639d480b05ee7bb9e3d2fa2bede72c8930d429972",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGC6bR8oMuH7n0uluk5RlPwIYVm7TEastxjSepn0d6QMFJhkwATihMT8_0zxnWPYr8iTBun25Svlq1_fmJc2k8PGa6Ws7VDa_5Y2X-hkD9MxNkZP8aa7tXaQKWP3ufP7su2HQVn8AHuhtg3LztsgWH1PgzpfT2CMK9ZvWUrMN2S7ucmNlVsVCwkQ-HeHXJj9LQq67yx_xQqVe9cHnw21gQYZpIhurKJ017pYB3ztcoKhBLLI6wUtA1TPZ3q4LX2qzO_388O4y-prtPP3B3xIvxFfC0QSjAzNg96OMKzk5J8YRZalVZdTXSWg13SzksVheDnBqSSZM5XKqwYkcykTUnFJZ5SZOA_RUCb26sMMaT6Li0EQ5VBq5RZ7ulMcUBSUJcrqK3ldbgVGUcfHvh1prmP5eldfb6-EPoaT9QtTnv-_GeLwt93KdL_r-a63w7TwXKiqfWrD94oErCLSkIjEFzgnCPRfV43fLSHTVTSHSWeVVJ1trOiaSv1IiaIKeD9Yd9i5R7A6MqpDkiTGEEiVG4uS9eOjMAhNU4jCDHMv9M27A_u9tet5XeJhCrPr2XLZVx2C_ZycyGlv8fmo1VImaa7CMmlSnZTG31Y4XeDfjGiAl3T7sTmZKalEqjWhXCk9_JNBUl7ob07ds-h9DYldaIpzTRdDLw0ZEH62JD29lBX7HZV-DVoYTZJZJoZbsAgWZV8uSKenpZBK0ulQ1YUQL48nbxD7BgjVlWMwwj9fXaV6qpjvrvREbOrPGMymJZ0RJilVaFIDOJaQI4hGMQIdoj99WiEZRkgSEx1Q5sHCg2U97jH3cUQHSacknt_-y8No3-kfjG-j3_I6eCHl-9L8iwQRjZNoeLpdeTd_iHLj-_p7ls0LbErz06catKUqQ7QWPTEydRLA3ObLx2-8VN2S7yGFZM7Ydk0EDeYveKrD2eUZb4-aT7K0Gg2WIkGZY3CbJrv_d4YM_nJYJePdyIMpNVy4uOSaioWfdxF_5AyeROHRXJ52VxC6I4RnMlNRYXzxOsh0fO0e9HB6N8p2nv9XMCQSB5jbMwff4QvIniAhiESUlgDu5Pms5Vn6cSiP7RneNrrBddzvNxrPVgFVIXNEPQo7Ltk_UnGyyybIDC4xOcmmFC3tBl8mthVCnAYSRgSvcC-5BrFifwurPzP1PnvczS2FK7byn8ZHVm4XTOryFxVnA4fYeBaNxhppIDNJbmxilm5mhKLACLgB2SfVj6gi9sLA-ueSpeMdL95q8yo7ZP1BI0HUb5W_MaD1i08AemH_Sc38oHMnd6BpEaM9TVVpWekvtw==",
  "id": "rs_07ca404505d10fb2016ab460b960f087d0ae62277590fc87f8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.14,\"left_z\":0.02},\"note\":\"The cap is now just ahead of the jaw opening, and the neck is nearly centered. I’m lowering around the narrow section with a small leftward correction.\"}",
  "call_id": "call_qY59RgFiQMs1pdixLGjRSLgI",
  "id": "fc_07ca404505d10fb2016ab460b9d41487d09704dc30b07840c1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qY59RgFiQMs1pdixLGjRSLgI",
  "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]: [-0.5339, 1.8229, 0.6598, 0.5068, -0.4736, -0.3389, 0.9969, -0.0341, 0.7586, 0.5861, -0.4446, -0.0536, -0.0578, 0.9998]\nstate[eef_state]: left_x=0.4029 left_y=-0.1404 left_z=0.028 left_yaw=0.0267 left_pitch=-0.013 left_roll=0.0114 left_gripper=0.9969 right_x=0.2815 right_y=0.0034 right_z=0.1682 right_yaw=0.0145 right_pitch=-0.045 right_roll=-0.0042 right_gripper=0.9998\nstate[joint_eff]: [0.7043, -5.5043, 3.7538, 1.3162, 0.0366, 0.0415, -0.0024, -0.5538, -1.4838, 7.0632, 2.0781, -0.0708, 0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bc16dea3ed40dc0b49193df5e38258a99bdd0c05f95ebad31bf41bb32ca4766",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f78cb98a6779bdf2f8af93082b74bceb6f42ece5cb7e9b464f969a363204be4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d21c839e12a28c5e9c6ee2e61a05ed3be7417ddc4a60876c7ecab585062e1dd",
      "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 · 3.349 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 45 changed as sent

message 53 changed as sent

message 57 changed as sent

message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9333, 1.2507, 0.3401, -0.0345, -0.6968, -0.6807, 0.4959, -0.0212, 0.7631, 0.5888, -0.4442, -0.0383, -0.0513, 0.9998]\nstate[eef_state]: left_x=0.2457 left_y=-0.1353 left_z=0.0394 left_yaw=-0.0118 left_pitch=-0.1107 left_roll=0.0468 left_gripper=0.4959 right_x=0.2821 right_y=0.0044 right_z=0.1682 right_yaw=0.0111 right_pitch=-0.0469 right_roll=-0.0076 right_gripper=0.9998\nstate[joint_eff]: [0.1709, -4.8342, 8.4855, 2.254, -1.0281, 0.0806, 0.3297, -0.6906, -1.3607, 6.9675, 2.127, -0.1343, 0.0269, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5468, 1.5715, 0.7521, 0.1806, -0.4698, -0.3576, 0.9968, -0.0265, 0.7971, 0.6456, -0.4797, -0.0387, -0.0578, 0.9998]\nstate[eef_state]: left_x=0.3972 left_y=-0.144 left_z=0.1024 left_yaw=0.0206 left_pitch=0.0007 left_roll=-0.0157 left_gripper=0.9968 right_x=0.2862 right_y=0.0028 right_z=0.1778 right_yaw=0.0096 right_pitch=-0.0594 right_roll=-0.0123 right_gripper=0.9998\nstate[joint_eff]: [0.4991, -6.188, 8.212, 1.4237, -0.0464, 0.3687, 0.0659, -0.2803, -0.5128, 10.0308, 1.9219, -0.1197, 0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5339, 1.8229, 0.6598, 0.5068, -0.4736, -0.3389, 0.9969, -0.0341, 0.7586, 0.5861, -0.4446, -0.0536, -0.0578, 0.9998]\nstate[eef_state]: left_x=0.4029 left_y=-0.1404 left_z=0.028 left_yaw=0.0267 left_pitch=-0.013 left_roll=0.0114 left_gripper=0.9969 right_x=0.2815 right_y=0.0034 right_z=0.1682 right_yaw=0.0145 right_pitch=-0.045 right_roll=-0.0042 right_gripper=0.9998\nstate[joint_eff]: [0.7043, -5.5043, 3.7538, 1.3162, 0.0366, 0.0415, -0.0024, -0.5538, -1.4838, 7.0632, 2.0781, -0.0708, 0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bc16dea3ed40dc0b49193df5e38258a99bdd0c05f95ebad31bf41bb32ca4766",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f78cb98a6779bdf2f8af93082b74bceb6f42ece5cb7e9b464f969a363204be4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d21c839e12a28c5e9c6ee2e61a05ed3be7417ddc4a60876c7ecab585062e1dd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGDAtxK-StPBtIiAzvoxJrp566-XFdu_fHf9uKk6ReoWKp3FvfJnmwl3h03KAoblSrXDcHgZIzmRMIziLVfv5qN_pC1nmRxYHd8RbfuJ6UYFctDQviIdwqMteVgwkQBYMwHZSl1xHJbU9p2PTQPM9ydcAMjqZ-5cuf1BMDW16xcuHnXWMMQYwbaYztVIJxOPzewFJTC1cRaKeUdfVbarpukglRjTj8WHXYHfszj8MRMwYtgKqQXN0L-upZubwoUPW5TcDT7hXqBuHTCcTzA4vPkl_4JVwg7YGSkwVF9Y4iCgwdG41UlydpQuhqQGw3tpcKWJqfAY14XOJZlBRmReB3Ndvs90I1nlpvdjK-_5E-V9XZC2rlGuwA3P8hjL_JhzT6fm24xbRzDorQ-7vngOSyidPnBF4G5iMcLC7ZrMwt4hH61Ijq7UAE9KNqd7oYRoee37Ksx9tDFpfI8c2wIeasmeL-kViM7nIk1tUjyzw_KoejmBUEBnXURSSpp6N92E5K3VlU5KpBY8JGSZAtMFTA7y3m1hgquCtx5lVCpnMn6YSLrpcZTpqoJReJV8UbgzNNp1PYsw3jiw57EH2SJW69u56ViJJiItujh204QEHVsq4cKO8jd7KVeSIJtbE6ynjNltbx9qkp7W7bRKRKrE4RvRrseBEMJDvY0bbelAxGwSborhCaSLDI87KYrZh_Tll72-j34gez0z9_yqr9Hx51FQffTZyPvjQxHLwE2gWuGFuBV0DqkSOz0U1y-ietAS9U7WRIdv1pYHGvtj-747InPmMkTCPYWi2fSiaFz-I4Zam8Frk5eoq71hFSVBkEaOcZOzVw_8CuR-6jro0purIVx7S0KhTXSmWx-zf5i0FjyvBJA6zy_a0LLsHcF_TavpykkYTqzrHT_C6MU0nu1lkGqu5tRnGLRg47fTI1iQRXNaAt2viuvtPmQdhNwwskWdjiUHhtD6gqFMIlfVDBJeqHqnnqIjXgtqkoDGG7QyHx5-Z18O73w6v4KgnxBwnkPSEmyUuRB6DUlLcuroL7KE3yyCjHY-xOVku9AhOVLfSPNt_EwLMQLeJq_eFB5pe9Sn0x1OGeeOn1FdL1ay75MiXOJYnuWHdVwlq93XblQ29a1V0DujmbyfIcxeiEwmtXzp6EIM1Pg1baheP4WzkS0AqrF36-JjiA7NucEeNklkX8PI6kLbnfYPkGG7M1Zddjtz3Ro5NhSus3S5ExZfXaw57dzclBmgwtc-6rMT80Uel-hGfEsk9esl7RJ4OaPAC9DuiJWT2c2PW2yewjOr5anjx3BNtwzTnwTnryHE9NiCVwAYt0EXgIhYPFfAYt7EKMlHKuN4YSsAyOY-1mDkQSKtDyZQw3FwyqDHaQ5EwzVq_ntqgxaXq1E5hNeT4yfloORMrG1tCh4ZhMk72MFX2c8mqqAom9ZOKggaKO2kJKpfc8QBTc4TGs0XIwgX0dWM5U0cfAUHytnpF7a2p-5uWsTgcqL3Gh2kcTYea37qaK2Wr47yBdOVrBR_NqrGO-a_c0mZVII1qz2zT77366u1bdC35U2dRaRi46q5dZhmlPf4unv_ap1XWk3olxgiwczSRz52v2n3N92nC9g9PM0S9IJdmmw9XwJm4kk293ASpjrrOlk7rBELRzcLzchP9AeEr3wUoIVSWVInY3N3Lq-FT4vUN1AgZqDDWS4-DL9RDTcZ8ULsf1guMM2Nxv63ztnvvljl8bc7q1mX_a3RNbXIZZCsfgNYQJYsxAvjPVZ34BuDMHdWIqZNp5eVx6NUI7dcUEw6y7kb_i8dQuyyVsuTBz99_sO1dBS5fv3GpkMdbwnfTEpACBEMcETAuW044bFtgwz_WdKx76yyzvd5hLPdq6vzf25WySNGdypj7YcBX1y4hoXzMg0yYWpWMrtXhcyGi9r336FtfHpftk_sG02FV1sVkBc8mQ==",
  "id": "rs_07ca404505d10fb2016ab460bd12d087d0ae9f1ca76931f841",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_y\":-0.14,\"left_z\":0.02,\"left_gripper\":0.2},\"note\":\"The cap is centered, but the fingertips are still over the shoulder. I’m advancing three centimeters and closing gently around the neck, leaving room for it to pivot.\"}",
  "call_id": "call_4oMjQbkXhJwiiqiVdKx367vb",
  "id": "fc_07ca404505d10fb2016ab460bfc30887d0a648f116ec36cc73",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4oMjQbkXhJwiiqiVdKx367vb",
  "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]: [-0.4824, 1.8942, 0.7532, 0.6186, -0.4801, -0.3153, 0.2059, -0.0341, 0.7311, 0.543, -0.4221, -0.0563, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.4446 left_y=-0.1366 left_z=0.0516 left_yaw=0.074 left_pitch=0.1025 left_roll=-0.0359 left_gripper=0.2059 right_x=0.2778 right_y=0.004 right_z=0.1604 right_yaw=0.0169 right_pitch=-0.038 right_roll=-0.0033 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -5.2308, 5.0803, 1.1111, 0.3248, 0.022, 0.0171, -0.4991, -1.3333, 6.9128, 2.044, -0.0855, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54e1355a469052a2773d43bb0e756f24403f36cf125e695c3c871f635df373a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77cdc88b2c5f1cb20fdc08d2ac153ed0bae27caef6e9110e6f4e90e81373e34d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99301ba5c1a39137013f6b928de2405f845fd51738b60a045da653c87657714b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 16 attempt 0 · /responses · status 200 · 13.31 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 49 changed as sent

message 57 changed as sent

message 61 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9691, 1.3449, 0.21, 0.2657, -0.7532, -0.6807, 0.9961, -0.0238, 0.7364, 0.543, -0.4194, -0.0383, -0.0513, 0.9998]\nstate[eef_state]: left_x=0.2425 left_y=-0.1333 left_z=0.0207 left_yaw=-0.0153 left_pitch=-0.0299 left_roll=0.0119 left_gripper=0.9961 right_x=0.2784 right_y=0.0037 right_z=0.1594 right_yaw=0.0084 right_pitch=-0.0412 right_roll=-0.0078 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -2.8513, 4.7521, 1.3895, -0.4615, 0.0317, -0.0366, -0.5402, -1.6752, 6.9402, 2.0488, -0.1148, 0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5339, 1.8229, 0.6598, 0.5068, -0.4736, -0.3389, 0.9969, -0.0341, 0.7586, 0.5861, -0.4446, -0.0536, -0.0578, 0.9998]\nstate[eef_state]: left_x=0.4029 left_y=-0.1404 left_z=0.028 left_yaw=0.0267 left_pitch=-0.013 left_roll=0.0114 left_gripper=0.9969 right_x=0.2815 right_y=0.0034 right_z=0.1682 right_yaw=0.0145 right_pitch=-0.045 right_roll=-0.0042 right_gripper=0.9998\nstate[joint_eff]: [0.7043, -5.5043, 3.7538, 1.3162, 0.0366, 0.0415, -0.0024, -0.5538, -1.4838, 7.0632, 2.0781, -0.0708, 0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4824, 1.8942, 0.7532, 0.6186, -0.4801, -0.3153, 0.2059, -0.0341, 0.7311, 0.543, -0.4221, -0.0563, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.4446 left_y=-0.1366 left_z=0.0516 left_yaw=0.074 left_pitch=0.1025 left_roll=-0.0359 left_gripper=0.2059 right_x=0.2778 right_y=0.004 right_z=0.1604 right_yaw=0.0169 right_pitch=-0.038 right_roll=-0.0033 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -5.2308, 5.0803, 1.1111, 0.3248, 0.022, 0.0171, -0.4991, -1.3333, 6.9128, 2.044, -0.0855, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54e1355a469052a2773d43bb0e756f24403f36cf125e695c3c871f635df373a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77cdc88b2c5f1cb20fdc08d2ac153ed0bae27caef6e9110e6f4e90e81373e34d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99301ba5c1a39137013f6b928de2405f845fd51738b60a045da653c87657714b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_07ca404505d10fb2016ab460c34f9087d08328d70b51c4af17",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.14,\"left_z\":0.3},\"note\":\"The neck is now beneath the gripper rather than ahead in the wrist view. I’m lifting over open table space to see whether the bottle hangs base-down.\"}",
  "call_id": "call_wNsvBPIVxlzY1CJKiAhI3QO3",
  "id": "fc_07ca404505d10fb2016ab460c3e96c87d08943d552483382db",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wNsvBPIVxlzY1CJKiAhI3QO3",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.654, 1.3514, 1.3212, -0.6773, -0.5858, -0.4679, 0.2053, -0.0341, 0.7109, 0.5072, -0.4023, -0.0566, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.3588 left_y=-0.1475 left_z=0.2812 left_yaw=0.0634 left_pitch=-0.0111 left_roll=-0.0098 left_gripper=0.2053 right_x=0.275 right_y=0.0042 right_z=0.1533 right_yaw=0.0172 right_pitch=-0.0338 right_roll=-0.0033 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -7.0085, 9.3333, 1.4628, -0.3541, 0.0952, -0.0855, -0.6769, -1.1829, 6.9675, 1.9756, -0.1197, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bf176e14a9e740b1b8bd587787d0675cff709270714c0c04e4767aabe5be2e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d207d6cf2114c7eb2fc87a0522a510baf421e2e34045ed7dd357d65d86355504",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebd27c3878b2addffea9264fcc85ff7b5207ae92990f6c8c47af4d578259543a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 5.468 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 53 changed as sent

message 61 changed as sent

message 65 changed as sent

message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5468, 1.5715, 0.7521, 0.1806, -0.4698, -0.3576, 0.9968, -0.0265, 0.7971, 0.6456, -0.4797, -0.0387, -0.0578, 0.9998]\nstate[eef_state]: left_x=0.3972 left_y=-0.144 left_z=0.1024 left_yaw=0.0206 left_pitch=0.0007 left_roll=-0.0157 left_gripper=0.9968 right_x=0.2862 right_y=0.0028 right_z=0.1778 right_yaw=0.0096 right_pitch=-0.0594 right_roll=-0.0123 right_gripper=0.9998\nstate[joint_eff]: [0.4991, -6.188, 8.212, 1.4237, -0.0464, 0.3687, 0.0659, -0.2803, -0.5128, 10.0308, 1.9219, -0.1197, 0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4824, 1.8942, 0.7532, 0.6186, -0.4801, -0.3153, 0.2059, -0.0341, 0.7311, 0.543, -0.4221, -0.0563, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.4446 left_y=-0.1366 left_z=0.0516 left_yaw=0.074 left_pitch=0.1025 left_roll=-0.0359 left_gripper=0.2059 right_x=0.2778 right_y=0.004 right_z=0.1604 right_yaw=0.0169 right_pitch=-0.038 right_roll=-0.0033 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -5.2308, 5.0803, 1.1111, 0.3248, 0.022, 0.0171, -0.4991, -1.3333, 6.9128, 2.044, -0.0855, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.654, 1.3514, 1.3212, -0.6773, -0.5858, -0.4679, 0.2053, -0.0341, 0.7109, 0.5072, -0.4023, -0.0566, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.3588 left_y=-0.1475 left_z=0.2812 left_yaw=0.0634 left_pitch=-0.0111 left_roll=-0.0098 left_gripper=0.2053 right_x=0.275 right_y=0.0042 right_z=0.1533 right_yaw=0.0172 right_pitch=-0.0338 right_roll=-0.0033 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -7.0085, 9.3333, 1.4628, -0.3541, 0.0952, -0.0855, -0.6769, -1.1829, 6.9675, 1.9756, -0.1197, -0.0366, -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,$blob:6bf176e14a9e740b1b8bd587787d0675cff709270714c0c04e4767aabe5be2e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d207d6cf2114c7eb2fc87a0522a510baf421e2e34045ed7dd357d65d86355504",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebd27c3878b2addffea9264fcc85ff7b5207ae92990f6c8c47af4d578259543a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_07ca404505d10fb2016ab460c83f4887d087de66338e23f0e0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.14,\"left_z\":0.015,\"left_gripper\":1,\"right_x\":0.294,\"right_y\":0.004,\"right_z\":0.2},\"note\":\"The bottle is still on the table, so the neck grasp missed. I’m switching to a lower, reachable grip on the upper body, where there is more surface for the jaws to hold.\"}",
  "call_id": "call_Dbv3loRMufwIMhlUidVM1evK",
  "id": "fc_07ca404505d10fb2016ab460d2732087d083d021d7846c3caf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Dbv3loRMufwIMhlUidVM1evK",
  "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]: [-0.6342, 1.7367, 0.5331, 0.4908, -0.6075, -0.4355, 0.9973, -0.0341, 0.7979, 0.6476, -0.482, -0.0566, -0.062, 0.9998]\nstate[eef_state]: left_x=0.3602 left_y=-0.1354 left_z=0.0247 left_yaw=0.0826 left_pitch=-0.0061 left_roll=0.0317 left_gripper=0.9973 right_x=0.2861 right_y=0.0038 right_z=0.1781 right_yaw=0.0193 right_pitch=-0.0601 right_roll=-0.005 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -4.3009, 2.947, 1.1941, 0.3443, -0.1197, -0.0317, -0.3624, -0.7043, 10.0581, 1.8926, -0.0659, 0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8009ac1181c2f231765e7301b6cd90165d9bd61ca949452ee3ecd312de2c6d43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c6e1d16ce262934b602df85f33097cf9ca1a0a3e9f23b77d512a13e7bf55cbf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b70d4d941607b76fb9a30788aa67e0482f9fdb15df18b76592b146f11023783",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 4.132 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 57 changed as sent

message 65 changed as sent

message 69 changed as sent

message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5339, 1.8229, 0.6598, 0.5068, -0.4736, -0.3389, 0.9969, -0.0341, 0.7586, 0.5861, -0.4446, -0.0536, -0.0578, 0.9998]\nstate[eef_state]: left_x=0.4029 left_y=-0.1404 left_z=0.028 left_yaw=0.0267 left_pitch=-0.013 left_roll=0.0114 left_gripper=0.9969 right_x=0.2815 right_y=0.0034 right_z=0.1682 right_yaw=0.0145 right_pitch=-0.045 right_roll=-0.0042 right_gripper=0.9998\nstate[joint_eff]: [0.7043, -5.5043, 3.7538, 1.3162, 0.0366, 0.0415, -0.0024, -0.5538, -1.4838, 7.0632, 2.0781, -0.0708, 0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.654, 1.3514, 1.3212, -0.6773, -0.5858, -0.4679, 0.2053, -0.0341, 0.7109, 0.5072, -0.4023, -0.0566, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.3588 left_y=-0.1475 left_z=0.2812 left_yaw=0.0634 left_pitch=-0.0111 left_roll=-0.0098 left_gripper=0.2053 right_x=0.275 right_y=0.0042 right_z=0.1533 right_yaw=0.0172 right_pitch=-0.0338 right_roll=-0.0033 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -7.0085, 9.3333, 1.4628, -0.3541, 0.0952, -0.0855, -0.6769, -1.1829, 6.9675, 1.9756, -0.1197, -0.0366, -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 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6342, 1.7367, 0.5331, 0.4908, -0.6075, -0.4355, 0.9973, -0.0341, 0.7979, 0.6476, -0.482, -0.0566, -0.062, 0.9998]\nstate[eef_state]: left_x=0.3602 left_y=-0.1354 left_z=0.0247 left_yaw=0.0826 left_pitch=-0.0061 left_roll=0.0317 left_gripper=0.9973 right_x=0.2861 right_y=0.0038 right_z=0.1781 right_yaw=0.0193 right_pitch=-0.0601 right_roll=-0.005 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -4.3009, 2.947, 1.1941, 0.3443, -0.1197, -0.0317, -0.3624, -0.7043, 10.0581, 1.8926, -0.0659, 0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8009ac1181c2f231765e7301b6cd90165d9bd61ca949452ee3ecd312de2c6d43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c6e1d16ce262934b602df85f33097cf9ca1a0a3e9f23b77d512a13e7bf55cbf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b70d4d941607b76fb9a30788aa67e0482f9fdb15df18b76592b146f11023783",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGDb3Wu20Sq7pmkh0_x9LkMgDPpaaHIMsKnD2or6lIXMWe74H4MSenjDvLzgmqw_UOYd4w11IIXiIXo0_Jr_Vc9A3LW6cPXFQr3CwYVCU5MjnSs9yKXUNcVh1Nc6sL3FPZuxPN9kWst1YEnZUSv8rqbgQNQMNtqvWrnysklX_kZiIopCvgyYE8M_XWmsd64-xAw6bSiJ-DLYVRufdXTbp8yoWNKzHNa-T9Fv1Z9YXCEy2EzOBD1qTKzyF2T80IjDxIERpkjsh-gjqm5CjByj33strtrNcyhfIgyc6uGjBD0UbyJZE__VlVH3Fok4tX1xtEXgPQ4WMVRACynO_znV3_QqxuqMjkrECHqtbK7mrMFCzssdI-1Q4jSGCSAoW9VaWMonSRRSqyTJrfZr2w3e1OOD_qhbZPRhQrcC52KKKwXvoRpLSznc1MFwmzh5bbo82xQWzmBDM1fawvnWZUIqsjTj5JSqg05cJVUUz44S6EIkDFSfIrZ5fx3Q-5sODRAraXQo8hGJANrNJ7Vs-TD9oPcpAIoQXiO4_E0PVbIGxKWGD-bT4bEFbhIo_zvXnleeSoE_M5iYTVt9b5BrpQ34jxYRTIqDngfUrH45DQeLOBQUu86fwZB4Dab9YUsxPintd1OWRWqxj-rB-lf3DiM8Piv4lDeGxkcAJtpcS1AZotaszZAhRdi604yr02BcmWkYvYJSngfw95196_j75qTloF3oWyQ28N4ctmL-gj9IHdk5ximQLcaJSopGgBzgDR4KGKTAvG0vezpA4WmPOgUk2CxISeJmiqjeob1cUq71YQdNZ9jPcR7sy01-Qu5CyRyj-Lv2DRfl8Fe71UoFASpmBhOCrwu6INDh55Mxyu_piXM5O8Wssjo5np1fPbd0BHhpI1ulX-1LfNeZaow_3yVSaAlgD5J9kBt_yB9c4XJQmYtxwiB-5bzp-Xe1ghe-X09U2rr1pfpQKOyzwy2HDpU5gqb7IoQqKsDk1BpRI9vRR742rf3_pWWOiJoTiyJLvoceM4PDDJe4BoYcrIOhdaP6GN4DaHTiLsxv2TOOfmDafYSNQ2MAkA99tw-PYf6QN_TzgHoUri8DVDp6Ap6i9jeNBehtRzbZTHCfuP_tRG-pfMpXye1CDhQmISnIn7UcrjuQMDIFUmRSpjIw2-BPeCn6Tc0wNpcKg3ko6liL8keUWSHvxnwO0x_A9XDHipnEGGOBheY5pHu6sYAwZ2XU-yIr2kDNjRiudgK8l55ONRLQ9mySov4K56UfE3NRIiSp7G0yk5z9fuGjnK5Hi6bk2-BZ-oHN0Z2YVjjyFrDKaiMo8A7X1gL4rLx1au_FNvZqt0FSgwEiaRs7bZDtDUsis-3aytupSiN4q89Dge9QlK8AnhrjTTNjczM1yLiwPXFt24Xg6j3Rf4pP9ojHuQWkbWAv2iVE3XrAgvDIG3goponGfTrhjWNHGvW5Qi0zioYqW7_f73A6fMPAIDThS_5sXT9r7foPpAyZzeHsYohshezEaeRcvBM8yawVpx_i19ns_I20HrsAxPa3-7b2sUiMX8u1uMR22H6kr819c0NFKN8Jmb6BVY_00_E7vkgJp8StWLFTKEmkBGqx7jizRQZfzvU6LyU4paFqtUtmo4I7vVTkaVtib6oSrRm5mDrTxBNHmOgFjWD9sq6_OmOKh9js5hvCCHOdHUPxDD97_JVCFr818PrAe2hKJ0Qq3_AMN5udD2bEvyyURdbUDdd9hziUb-XTb_TkWb9wlEq3Gz83Sc31x4d0p6X9JW0qVuS0JmotcLV_EOHUn1laRQ5WzJJnczbgGAZtnYxgGn3butU0K3rhHOUz1SAveI_e34SvZWn7mzo4tiSa05g0uSQ42retouIOvTgUs-MWjPc5qC1pVVFuFTPca9vB_LFHt7EKKxHP7yu1r1ulj7DHmlU6OY7kGxOk3CUbgocOC93znBMlj-RHOuhXL7I=",
  "id": "rs_07ca404505d10fb2016ab460d7b83887d0bc52df76cce55f1e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The bottle’s body fills the space between the jaws at the reachable low pose. I’m closing securely so I can bring the neck substantially closer before trying to stand it.\"}",
  "call_id": "call_bhSrJfp2PjMs0UdXB74LYvZd",
  "id": "fc_07ca404505d10fb2016ab460da4ed087d09e02cc6a46ccca1d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bhSrJfp2PjMs0UdXB74LYvZd",
  "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]: [-0.63, 1.7134, 0.5301, 0.6323, -0.6369, -0.4492, 0.0123, -0.0341, 0.7589, 0.5877, -0.4458, -0.057, -0.0616, 0.9998]\nstate[eef_state]: left_x=0.3763 left_y=-0.1399 left_z=0.0583 left_yaw=0.1236 left_pitch=0.1255 left_roll=-0.076 left_gripper=0.0123 right_x=0.2815 right_y=0.004 right_z=0.1686 right_yaw=0.0194 right_pitch=-0.0448 right_roll=-0.0053 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -5.0667, 4.1368, 0.5348, 0.2418, 0.0073, 1.0867, -0.7316, -1.4154, 7.1863, 2.0391, -0.1734, -0.0024, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a92fc5002f543053091d82812224da0da5a1bb69db86ca85690f4e604db9930",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c4bc86b3c062dd0c23b798a776a4d67bb7fa61b955da67b2fd2ae68cf652132",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ba7dacb8e85df5105b69d4d23b1a950ba40545ff102b3f522ac016987d7a411",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /responses · status 200 · 7.935 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 61 changed as sent

message 69 changed as sent

message 73 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4824, 1.8942, 0.7532, 0.6186, -0.4801, -0.3153, 0.2059, -0.0341, 0.7311, 0.543, -0.4221, -0.0563, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.4446 left_y=-0.1366 left_z=0.0516 left_yaw=0.074 left_pitch=0.1025 left_roll=-0.0359 left_gripper=0.2059 right_x=0.2778 right_y=0.004 right_z=0.1604 right_yaw=0.0169 right_pitch=-0.038 right_roll=-0.0033 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -5.2308, 5.0803, 1.1111, 0.3248, 0.022, 0.0171, -0.4991, -1.3333, 6.9128, 2.044, -0.0855, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6342, 1.7367, 0.5331, 0.4908, -0.6075, -0.4355, 0.9973, -0.0341, 0.7979, 0.6476, -0.482, -0.0566, -0.062, 0.9998]\nstate[eef_state]: left_x=0.3602 left_y=-0.1354 left_z=0.0247 left_yaw=0.0826 left_pitch=-0.0061 left_roll=0.0317 left_gripper=0.9973 right_x=0.2861 right_y=0.0038 right_z=0.1781 right_yaw=0.0193 right_pitch=-0.0601 right_roll=-0.005 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -4.3009, 2.947, 1.1941, 0.3443, -0.1197, -0.0317, -0.3624, -0.7043, 10.0581, 1.8926, -0.0659, 0.0171, -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 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.63, 1.7134, 0.5301, 0.6323, -0.6369, -0.4492, 0.0123, -0.0341, 0.7589, 0.5877, -0.4458, -0.057, -0.0616, 0.9998]\nstate[eef_state]: left_x=0.3763 left_y=-0.1399 left_z=0.0583 left_yaw=0.1236 left_pitch=0.1255 left_roll=-0.076 left_gripper=0.0123 right_x=0.2815 right_y=0.004 right_z=0.1686 right_yaw=0.0194 right_pitch=-0.0448 right_roll=-0.0053 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -5.0667, 4.1368, 0.5348, 0.2418, 0.0073, 1.0867, -0.7316, -1.4154, 7.1863, 2.0391, -0.1734, -0.0024, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a92fc5002f543053091d82812224da0da5a1bb69db86ca85690f4e604db9930",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c4bc86b3c062dd0c23b798a776a4d67bb7fa61b955da67b2fd2ae68cf652132",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ba7dacb8e85df5105b69d4d23b1a950ba40545ff102b3f522ac016987d7a411",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGDgHlL5e06iyvSrlKwsJJ1NJdovIZ6eSxsYVC8NWmEuT2cUFzB4vGTC7ieGb_smPYGNs6X_Mp_Ut0huAgt2cEd2SNOfFKm6MEexrtvmg5EFqKKwQjkJvxO7RImIDDb12bNTaiBKJ85ncFwV58dyPo9d29BL0bWQlal1OwBr8TBLD6cSToGDd2P1-TC1RIBtSMZi7yUNU7YTNFR7wczl2_xSc-BsX8utZP_gaVm3zBfbJWwM35VRbBBxeJ39sCZmWErXhfEocbx5H3ow2hxUnURwrvjVQRUDEo9UNpwEls7Ka25FSn9B9d7FVdJVMqLzQSem-RyZQ_CVvTlsqFEcjfpw-BLlTA1A1rVxEr9UwlCG331cKzA7vdAGH92w5jp83iUX7JMMgh-9du-6QDPWzxZAF5tXa62Ls0UTDmV-2MwxOP9XJMg2byouqHmXKTIJESnY264OhbX1790BYMdW9EEB-LYAQ8rFa8zM2EankHJULC0VBS9Fnh7oINRd-HnlLzLeajWdO87gFfYwWkT_Yt1Q_keUlrj_z6PKI5qTFyNxLtjvzWZxpQCj5ki5KTVS_8FTRq07fTPLnUyqdqPOqvFVVi0lMPvKMppWQXM4PO-NyDUJcJ22-98hhlTwJN0dkfoOoCY0yj8esl9Mhk8lnl1awGmmXyPqO4OZ--GNsd2u73ktkDD_7Bxt9UyHHQm5Ah59nTagfTtIfnxCyJZNQsnLh5ELri6tg3J4fhi5j-uySr73x_-hcTUOOQwIelX7BKLVZ1HnQEq8L4XITRjcsDekVL8lmyF2KpA1AJuGEGCUSVgYF7Zbzl0yCalU2Kk8dZifyBy9rWmy9JQZNaOE62awFDtxBW8q5LVsQUtxe0ei8wDtPk_zQ8uVrCv4lOTjI8Gh4xZFanQs05jTA--r1eeN4MG1ukKta4MGG2e9vbRxV4G7wmngeBWDe63sA8Z7Tx4wn3vbtXAsvGAlN2XbyMuRBBdPVUO0KeeQIZmw9XsfIXO8FbT1sUKJojr-xVNlkPew5FNLN_b4soXxOHiC0Sf9ma-Z7ql9WwjxoO7EpQw8lCnREny0v9tL5reUAO-kFXXwsX0ftI17kBQx4iw2HIl9hjdWXbX8aha2es4ZYuWiLMGpvToBfrgKWz6_cFyygZ2PtOnEao6k3bL5tqmYFjYialeK_Ry_KyUQE1qKIMc7bCv8RDl_f5J4Cy2jwneUj24DnCOSgcQZmNt4xIulBb6aa8dt9W4ZGp24rsr6u0ISMaLwgOJ8LRs8UPgd98gUUwBgsMs7GG-50m0TAg1elyoPx9tR_Yi2c2ilBdqskZgUeirrT_Hwizy9YNhgUwEydSkARQXE1onyDV3pCKs9kj5CEyUzJ0MIr2qMv-wuMVKHkzHLvGar-Ut8mz8KucdyYivrl7BieMm5vItgNyJxsrmTUU0D1g1BpASM5jMh4jonfHtz8tFRrqHjRj-JhqdN0MvM3J-qiaYsEevSyBV_5ieKhre7gy5zbGha9afmT86b_rzEdfKb5jlzSXdTsrraKMUqIoVIXQ8dGa9CD5bNuFVG2IR3srF6k7Al4xDKGuftCi3fr8wgOBVzMFpjVWIfG5PNfYu56cqgL1y89INUlJ0MbtlTk91JyRUIduqHvHGp6CO-dYEAO7kIbtvf0xP_Gh4juaa0hK5r0xNL1FKm4vTaqqNX_vYa_c-9mR--VTeo2L-IwVYVULiannq-Ksr1aUm-",
  "id": "rs_07ca404505d10fb2016ab460dda4ac87d0b075074099c7c7ac",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.14,\"left_z\":-0.02,\"left_gripper\":1},\"note\":\"The jaws rode upward over the rounded bottle instead of capturing it. I’m opening and descending fully to the table beside the body before closing again.\"}",
  "call_id": "call_SM8O2Us4xWHiGldP1avD7aJc",
  "id": "fc_07ca404505d10fb2016ab460df57fc87d0aed9dee70c3ef59b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SM8O2Us4xWHiGldP1avD7aJc",
  "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]: [-0.704, 1.8549, 0.5156, 0.8192, -0.7166, -0.5316, 0.9944, -0.0341, 0.7319, 0.5434, -0.4217, -0.057, -0.0616, 0.9998]\nstate[eef_state]: left_x=0.371 left_y=-0.1581 left_z=0.0399 left_yaw=0.1615 left_pitch=0.1718 left_roll=-0.1466 left_gripper=0.9944 right_x=0.2779 right_y=0.0042 right_z=0.1604 right_yaw=0.0194 right_pitch=-0.038 right_roll=-0.0057 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -1.9897, 0.2803, -0.149, 0.3297, -0.1148, 0.0562, -0.4581, -1.4564, 7.0085, 1.9853, -0.1441, -0.0073, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bed3c23e30ced08bc5fb6e45f10c1b13e163c5f6ccc3814682890131191e0db1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1c486fe83a313c3c639cc50332cecdebe8f77d80a33c88d9f644bd4f37af2d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c6beb90f1bcbed3e50cb86bc7cf2d2e86fe76071eaaed140180cbc9df157ab9",
      "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 20 attempt 0 · /responses · status 200 · 12.64 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 65 changed as sent

message 73 changed as sent

message 77 changed as sent

message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.654, 1.3514, 1.3212, -0.6773, -0.5858, -0.4679, 0.2053, -0.0341, 0.7109, 0.5072, -0.4023, -0.0566, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.3588 left_y=-0.1475 left_z=0.2812 left_yaw=0.0634 left_pitch=-0.0111 left_roll=-0.0098 left_gripper=0.2053 right_x=0.275 right_y=0.0042 right_z=0.1533 right_yaw=0.0172 right_pitch=-0.0338 right_roll=-0.0033 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -7.0085, 9.3333, 1.4628, -0.3541, 0.0952, -0.0855, -0.6769, -1.1829, 6.9675, 1.9756, -0.1197, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.63, 1.7134, 0.5301, 0.6323, -0.6369, -0.4492, 0.0123, -0.0341, 0.7589, 0.5877, -0.4458, -0.057, -0.0616, 0.9998]\nstate[eef_state]: left_x=0.3763 left_y=-0.1399 left_z=0.0583 left_yaw=0.1236 left_pitch=0.1255 left_roll=-0.076 left_gripper=0.0123 right_x=0.2815 right_y=0.004 right_z=0.1686 right_yaw=0.0194 right_pitch=-0.0448 right_roll=-0.0053 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -5.0667, 4.1368, 0.5348, 0.2418, 0.0073, 1.0867, -0.7316, -1.4154, 7.1863, 2.0391, -0.1734, -0.0024, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.704, 1.8549, 0.5156, 0.8192, -0.7166, -0.5316, 0.9944, -0.0341, 0.7319, 0.5434, -0.4217, -0.057, -0.0616, 0.9998]\nstate[eef_state]: left_x=0.371 left_y=-0.1581 left_z=0.0399 left_yaw=0.1615 left_pitch=0.1718 left_roll=-0.1466 left_gripper=0.9944 right_x=0.2779 right_y=0.0042 right_z=0.1604 right_yaw=0.0194 right_pitch=-0.038 right_roll=-0.0057 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -1.9897, 0.2803, -0.149, 0.3297, -0.1148, 0.0562, -0.4581, -1.4564, 7.0085, 1.9853, -0.1441, -0.0073, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bed3c23e30ced08bc5fb6e45f10c1b13e163c5f6ccc3814682890131191e0db1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1c486fe83a313c3c639cc50332cecdebe8f77d80a33c88d9f644bd4f37af2d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c6beb90f1bcbed3e50cb86bc7cf2d2e86fe76071eaaed140180cbc9df157ab9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGDpJS6KeCx-XFk1iO_9DdGslqWD0JvAbtxkIe9haA4jHaY5B8T0b1D-82Fri5TZRCQRPVPtlwnqXHGqOYuAYtXqyfSMl2LivUlUDh52_GDG-_HXnNdr7fF8oruLYktmFDprhrjesd_rfPQkHnSad1lvnYixx8cSrsTHZfPIfEK1EPoVtKSgVsbYOw-KU3Hyb1Pv2IXcKoYetwWgmaR64IW4V91G9LBW6RJeo7bnMaYbDhRe6hs6QbBOEO5SFKcgR6qWTiYj1QzIn9kYMQLefbN3M6DGKW0OQTj5pAxe9oZapPxRrBXCvhAA0Gvre4wClrCbCAkxDS0bNTgsUxMk9Q2f-eG2D1PXgAQKVlaSs0buVJJrGBbXdXhsqEDLfLYiJKByi4IEDujts_sJ7N80NODMEaBwQxNO2wKak1b2g1QhSpUYuT0GsuhHcvgeA6osktOcuWFgc4Rl4jvk3lRJteQZtzgW8me0W_HHjYPmg25eO0bG_jGOS5qS9xdOBdE8ZYdTmE4fLqgCM00bbzmsQpedEeYWNkWDJUzxFYl401lG_cYEGev9JdvQMIPJlnq8lhrty8oQdjo4kJ70tT8vBtea5yK017Tn88RJgdk03FTGC4Gt7B6rrzz6l2AWmRdSZqu1pVNvs9nQqJ0fhiamnAxkLAqrXB2QIQwP2bVV4TMtB9IzQWSt1kqTMTAsH7_9lS-fkIkTzzUibFkJ9hIBKkne7jjkiTfTTw4GrLyOY4aVKABwSdsQe3ZvbZp8JYXVtDZrP4hAhuRbJtMUiP1P__zw_h_cBN2aQI-LV7fCXjT52v9X7KKtTOYmRkFbda-ZUdqx6pdGYxYGAY3XpA4m9aH2OB41m1xVb3SN_FjTlgdZHiiny07svNdPge-1bfuuK_PakoSPspcSdyQDTjrtEAIT9lFDZys6j3C9w1-POCcdpuvQw2sPbVlBkuLjVqof9EIoV441orn0qp2Vm9MHyGo_GoxT8iD1rLeDwzA_1jA7YlJrQS3G12IXtMPNKs260HEnpC2zmW-PIUbUAA1KrQr6sFBGE7MQoSONQSy9rxhaAqRvr2V1F_PlRvr7v0AifBBpTm0Aw-zv2kUgR3lGFcUaMO2hZFYoqtoIssZ4eCuaTTAjmGMaSDMt-7XIkJVBJD6LTqJRF2Ni6IHrtfREICFiwYq1Z0xLEpmHZdGyt3Eb2qUyOq7ueBJY4zuIa6winL5rQkUNXdCatO4z2YK4JDJ5BQ0P7wn6XgwdT8w_B0ffl8tMKLUor32GA3hM_slfJ2V-FR8PR5ESleBbn7xzJAa80sLz4wCEHa-n3wEyYyMXU9XQqzQRPYhktkaE5GNlJG9CRRSGoZhVU4RG-ZjVhOu1t4TrdifQ3q1Q9E6axPEwWKbBO2WPooDHmFAGQEjoZ7H1Np3h1jybJDlDLMjskWzH9vefDe3V8nEfJkClrabghm_htJhIRZpzXqS-6x-CfoJ_WHQF7X57dRXRsBLd1vhazbn_T89C5ecj53Gnm0bDgcFOQhS9x5bvLh4vrJbADGVWdm1-cMAwLTayO8aaboE10nnMYQfwGdT-PDPa_Fy-lEmcNroTrFR23EOql-ZFwUmWXuf7okORwx6_ZMLLXq5bA4Z3rjpjgG8U3wUbhLPOz_-L7D0N4RFKCC0FQQi1UQteof6rz10q28H7NG_NgrN5iq-UbpG2X5jyybRmQNYRarm_i30kchV4IavZrBrZ7Rz-p9ggiB_zri26bjt3GMNjsUbzbH1c0Jcn4DrsQXRaAniXyQD-X8dKmpEkhYXopfE6mYn0y_S_I2OVr93Aba-T8wPKxOgfEmuiwaKAN7GwNYTOyBN8VdGtXjFq3GDF3YlDmalyUoyON00Dmx82Sqpg4RRqfCQtp18_-rIzBR27CiTkHRF134UTiIif1DDP9ZmmdOZQyqkk-_yvL1gQukpNtyQ64T79YL_nSSZ7GFsDyuoKTI_itqYbLEZ7VGqjdeP1OcL-PYBEKguVToCnVnM00Boc3o8jVRob9_PDj1gdcU9n640V9RdusEPh_Apfnund6S9UJdpGO1GjmYUILp2kTIKdg89bMx6E61Om7phDfkrfOYPece-BS_J3u_WCNMNckGqaLjx6uytGEb-S4fhxgNpeQPjGFxc_0eBHq_TUIBh6K8o7i_sV9I6aPA9iNKf5tHD2x7IqvFtRxY1JQTNBnyUE5HeXvggIfIIeh3udEI7PwBG9UCgV3sVsuZwHgaE4Xc8rmspqU8amIgmeDW8Hprt-g0328IJmJuyV73IwrhHbtuG2SGYco9ET-MTyPi-ARU-R9KZOQ3YB6lt9hj2Yhc_l4mEZSltH-xpyzvBgVaNMJvYc4YPFoduTdWpJwSs7_1F9gsHyHImXxmVdGkfkPQ==",
  "id": "rs_07ca404505d10fb2016ab460e2d3e087d095df1d0993b431d8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.105,\"left_z\":0},\"note\":\"The open gripper is still stopping above the table, suggesting a fingertip is landing on the bottle. I’m shifting toward the bottle’s nearer end and sideways to place both fingertips outside its widest part.\"}",
  "call_id": "call_8G56BjrbHLncI4qEmzz6hw5P",
  "id": "fc_07ca404505d10fb2016ab460e7add087d0b94c2c89ce94eecb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8G56BjrbHLncI4qEmzz6hw5P",
  "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]: [-0.6674, 1.7035, 0.3977, 0.7288, -0.6987, -0.5545, 0.9959, -0.0341, 0.7113, 0.5087, -0.4019, -0.057, -0.0616, 0.9998]\nstate[eef_state]: left_x=0.3469 left_y=-0.1241 left_z=0.0411 left_yaw=0.1895 left_pitch=0.1261 left_roll=-0.1303 left_gripper=0.9959 right_x=0.2753 right_y=0.0043 right_z=0.1539 right_yaw=0.0194 right_pitch=-0.0322 right_roll=-0.006 right_gripper=0.9998\nstate[joint_eff]: [0.4581, -2.9744, 1.3197, 0.2271, -0.0073, 0.1001, 0.1441, -0.7043, -1.4564, 6.8855, 2.0049, -0.1587, -0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a42db5dd09aad14acf248e80062f1240c2c78c15447a5d029a314254b06b9eb1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a473ba3a53cc8ed7a306aaaf93dcd67d317b937dbec0cc5367788e4d3cc32c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8856c4c6600b862bd842cbf79a34a08aba9d7580ed00d3c6ed6850096639856",
      "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 · 8.972 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 69 changed as sent

message 77 changed as sent

message 81 changed as sent

message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6342, 1.7367, 0.5331, 0.4908, -0.6075, -0.4355, 0.9973, -0.0341, 0.7979, 0.6476, -0.482, -0.0566, -0.062, 0.9998]\nstate[eef_state]: left_x=0.3602 left_y=-0.1354 left_z=0.0247 left_yaw=0.0826 left_pitch=-0.0061 left_roll=0.0317 left_gripper=0.9973 right_x=0.2861 right_y=0.0038 right_z=0.1781 right_yaw=0.0193 right_pitch=-0.0601 right_roll=-0.005 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -4.3009, 2.947, 1.1941, 0.3443, -0.1197, -0.0317, -0.3624, -0.7043, 10.0581, 1.8926, -0.0659, 0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.704, 1.8549, 0.5156, 0.8192, -0.7166, -0.5316, 0.9944, -0.0341, 0.7319, 0.5434, -0.4217, -0.057, -0.0616, 0.9998]\nstate[eef_state]: left_x=0.371 left_y=-0.1581 left_z=0.0399 left_yaw=0.1615 left_pitch=0.1718 left_roll=-0.1466 left_gripper=0.9944 right_x=0.2779 right_y=0.0042 right_z=0.1604 right_yaw=0.0194 right_pitch=-0.038 right_roll=-0.0057 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -1.9897, 0.2803, -0.149, 0.3297, -0.1148, 0.0562, -0.4581, -1.4564, 7.0085, 1.9853, -0.1441, -0.0073, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6674, 1.7035, 0.3977, 0.7288, -0.6987, -0.5545, 0.9959, -0.0341, 0.7113, 0.5087, -0.4019, -0.057, -0.0616, 0.9998]\nstate[eef_state]: left_x=0.3469 left_y=-0.1241 left_z=0.0411 left_yaw=0.1895 left_pitch=0.1261 left_roll=-0.1303 left_gripper=0.9959 right_x=0.2753 right_y=0.0043 right_z=0.1539 right_yaw=0.0194 right_pitch=-0.0322 right_roll=-0.006 right_gripper=0.9998\nstate[joint_eff]: [0.4581, -2.9744, 1.3197, 0.2271, -0.0073, 0.1001, 0.1441, -0.7043, -1.4564, 6.8855, 2.0049, -0.1587, -0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a42db5dd09aad14acf248e80062f1240c2c78c15447a5d029a314254b06b9eb1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a473ba3a53cc8ed7a306aaaf93dcd67d317b937dbec0cc5367788e4d3cc32c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8856c4c6600b862bd842cbf79a34a08aba9d7580ed00d3c6ed6850096639856",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGD2YXO-JbC7FUOvmgV-Cz670lLI0aHT8-ZZ0JNgCc0Wm0fycGij6Yt-aT12p4ndAQApKcAhQ2km0sHGDeCXzHxHn8pqFfkLzhXmaFVI0xVXioyWZ3eCOhvKZvtgprLdf9ybAlbW7S_ugDNGyZJPIM1LOOkguTjPVjlob-JeKjsZwA1g8ijlecCfyBTHFhmlTol23Uj60ATOOUJFGxNaDjXQ1ITMKgfofljhWNFVTtzG1RU9tRVIZkj_9k6Gj7t9pwEx5ZnoJNBS7UtIne6rcr3fa8lCyS58Nk4syQhPLBnCS_z5vNXDQ6dZRX6xvi2vYqiRqFRxktiEgyV4pX1LWW_1LsD92ecCQKQbhbNHyLINxiptL9UJHcxrL1qNKBOJUiFSRwuctgKyagxD0y0GNGZwzxZ1TsSmPcpAlh3CUTLHpQ9Q65Dlj-q_c2_gJkTtYi0t_yfG8HnE1NN-1oPHtB1H0aVxb9NkmOAO8KWUDGK-gFdcb22hYRvzUegQdVoAy1ISUZ_TiE4UzkDonUWEUA782gnzp4gYyoLvCJ54K_1B78iWVK3onQFLgvcHSgPW8qMxxc4Ojtg_m0l7YrIIhWvVmYeBxSGFkMRGUVKMfQV6NftBwTE_ggrpCENaqB0nuXzPKy3AAUgix6a1UvajhE6O8GJfY4z63_Su2xJtI5SsaRx5qEaZGrBYA-1CxBPpqiUDahujwEe5lEt5pua_GeYPxS_SCPlE1tHz6XHqq9jfKH0kipuFXnDKh2k_TYKvsw2k4lwJRgCvoE4sV_6E9YcgTUGpaDH-EamHNJ0cYgv1sBtOcdZSYHkjWij-ztcI1BqBzdSJRSjBkMU883-JClshXsd-nFktrgaMUDAjrhAQN56QFs-mf1c9igN37hcn5paVDSRrj7Ei_3pEeCtATtPbaHAyu_hy6RnL3tXzTdN6Q9ZYqYqR5-OVk47izi5kOeZUvb8WN-03YfZ_2EsMJNv8REchDUhV4bs0YmqoeB1J2Ryay2u2zoRmqzUaaPHrTCb2x_U5yY91oH1V2wl5Ur7dm48xdNzRTRZUoFma17W5SPXgG_AadKy7tfwiDtNOkLsTdVaVB-AptF53C05sD1z0Paiwuc9hapxOljZW3Vk-EdTtMnlP9VSj6jo_9RHoer7VrrPU4Z6aXDFHRG-IseZUs6qH_6X-Lm2j7M5HPILIkLZgF0oeolUWpRXtnWFL4qS5SBRdlBbXLznnV_kNawc4jZYKtraXN4i9HcVH_dWRJnam3hmbBM79s9EmeuuXHxfsXHxBp6AhAmA0iKVJTkkXZrQX9XUll9SsmoJHf9KJXSXs7szXh91QY-o_0NhW3lOYnXN-4a8KwVImEtFNxuoj2x1IgEzsVooV-PFDC-14_rujitoykAFOC5PWhRy53-lHUH--lZJvNCcs49F-xXGV0qDYNZefjb3kTh3f1mZyX4iPYsY4hliLw-7SXKEOF4vjfF0DblOat5B7wrV-qoqqTVz4x2Fgx6PWDYGXRi1vhL4W-_SXULOC5xFCSoclQKPXAVCKnjfZLyIAMOe2-VdV1D5FDXCk3KS8V9yknC_NG2bX97TonuirzD7L3QdgkhU1l1XS6PdytirT4DJcQl1pPzHjcYDwtz-qZ4IRROSrGpw7Mu3F3CQz2ekOHNK0i2FkRkv_YWh0SNcFkzyO-GhmLD8Ef0SQGxHasNXY1D6PO949P41fPvRD0DfD7QzNz7EecASDigQCE_mOKEstm3OpPXD4AP_lmAZIMXeWiAkD3mqtsogH4TyCQ-rYHZBlLqfkxrVPt3rwBEwSOf6DbSFizWel_imKZO2pbr7PggFoAJ5JeZPLKGPUVnvw0zpWDU714CssyWiAiCCCR73ohU55nllw1wmCkr5z5ZEpRI-KxlPcey3p3XXSOSUwKL1iK8dmFwStDxobcrbn3e7955YaGzw1zbXDMInXTKlflUOkZ2JXE-oa_qEw1SiSAdnZjkLNEo3A1kb8X5NNxhnDqBmP56g3-Iaw44-7Ly5tdHkfKBU31lGMYUKVu1YU-TonH3sVZ14sIrWMygQqAHd-r-23i7um274Vyt2Yt3LHb_P-BBxmwDh8eanyNn59gkH91KvdSvz4fLuR1NhDe0p-6j0P_rbhLjdjyNCczY7ZASR1WBvxFmP01LD9zUfm2eU4cUvA9DX0iJ68NQcOA5QRaZ1LjIX9-z2IhVJhCQKxV9OCSm5xeY_fcj-jP7wmSkKXLjo20uvw3cUSmDuy_p-NN4bdPIBUGIyqeaU1PzthSYhhOHK5NwRXq4OQf2gHg9f71p5KUD1JC_A2MzhQGuvAchgOTPq50WrxzQL3AsmdGR0ALTq9mqwi-7bssFlKg_HV694TNi3B71C-5PcMB58T3YWus3olHfZghG6TXpVzzuZ0q5QB2SBMonG7CC3CDD8Q4hmrV2SgigJQp2ZLxsRag904R3PEPzu5GYZ8WpY6gufd2F1SAYIn5gdFaKWNYs-TShCFnVD6IpvWUthaAiLkxnKdZmCHbuOIAib7sVpLBE_fkJ-eS7JArsx5GhsupS530oipjoucI6EmrVyTUp4b8tQKivb9LxyPBvC2abxmk2ENRqKARvBmZL1Zrm3nbqbGdFUpyAWX7MjzWRgaeLu7K-Mth92_zB-7Rl-qcQYaBrLfwRMTrIS-MJ9tB3uI1IQiloYGPppuKTQlTgogjcbQ9OLCnxTAYS_XPRDlgDKaemYPXvD8x3U1vUlU0xnbE_qrq_rSM3j7EgPTpEmznbanEkFEa3THWKdiZUBp0ZYuqiPKeNnBgMaGJZDMiIedeuueVmVqYYWirW8Lr7Qhl3hT2qkjkgprl_KINs-0Gfb_kfpE5lyWu6YNwJXzYDQzQpzBTEWX6jrQXIOGHCcM-V_QMN5Ph16DgW7I-g4ayI_nlJSG5KJ_h4d0_hYSqmZ7ar6s3ktcGn1MB99xYyhHyye3GaLHAhTDwkaEe5y3LIVijT8Umy1fMc45RFk-D6oubdnrIRNPcPhOqg47AxI1MjmeJGWsf85oiuXuKsvJaONFSobaDPMY8kOi7oVmBzgJURV7ZJnON29KcFBdUiETVaRY0-60LdAsRurXR4F4VAsiQ_aO0us-58CCF9U61vTebgw8j1hNuzLmQIFE2HMqta8ATJS5KY6ivGmJpA_zHkjmsakl_HNeShEGTLp1DkoOhQ9MDgH9AP0j52QrKUidvUUx5nxsncvGcyMV8eZ1TxeXKTjLtIUPaFuA5RrTHPBWFtUBiiCf1sZAB4tg0Y_Us9lmDvF3KTh0dPlR4A8vffRGK_P5lzQqLiDBB40l9UdRMcpkhA7En6GhMD6LKUmvTz012CfG7wrJ0iMCUQl6AVL2up7YzjHMRHzsS9I7YTtPm6byv_1DAIfkqNiAkL0b44ME6zeKHP9Y7HQZsWaMtCPqKy1HkHrXX8Z35Lvd6blJVHIPwP5QRbVpOFgfcFND06etxVjpm5LOM2352DjG8WwBlvTgnKSBMMTlEdQKIEoHdXM4Qx8NSBzRh5JWxTOykh0Q_qqOUnu2sM1BV7JbLw8i0SkRUUP-XufttQXDJiPRcUxNAa3TyH2w14GAI4BWtzqt7TVLcEepN-KMks7EmEpZM-2gbpLb3Csk-OepkoND0N7Kl48KVYPdSNVTlT4pqL9rHNPsc0EHTKPZiqwCPISCBSTvwcVdjK6OyVkzkaF0tvECo2e7zfPbapAMMXFahTneupE17JpVBDWB1WBZvW2SBzfl8L4SuinA3AvbRm4I6EEDOKNVXgQqMsPZX3rUXaRWXYHf4aeQSooW0PCMOInNvucjPyzY3rus-nSY69e8W8Ke11CvQQmhXsvGkOoAHH7vNqJyI3xjzA97heftruGmAFKUET5x0tqdj_1WBg0GApAvnKSogFur6UTb7SdsnCuc6gPdFoXRTdOPByMoyvMMTlVwxt0_fGud_5O5dK5chGrJ3jsIqFlm2j5uUqmoKY8fe4lbSQ==",
  "id": "rs_07ca404505d10fb2016ab460ebcf3487d082e87429f5da21c0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.11,\"left_z\":0.09,\"left_gripper\":0},\"note\":\"The body is now between the jaws with clearance on both sides. I’m closing while lifting slightly to avoid dragging the fingertips against the tabletop.\"}",
  "call_id": "call_HajD34v5Jjs2v02GTRfPS1cR",
  "id": "fc_07ca404505d10fb2016ab460f5196c87d0a8bdca3ff19c0d4e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HajD34v5Jjs2v02GTRfPS1cR",
  "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]: [-0.6659, 1.6955, 0.3717, 0.8116, -0.7464, -0.551, 0.0123, -0.0341, 0.6933, 0.4786, -0.3935, -0.057, -0.0616, 0.9998]\nstate[eef_state]: left_x=0.3478 left_y=-0.1161 left_z=0.0533 left_yaw=0.2354 left_pitch=0.1868 left_roll=-0.1617 left_gripper=0.0123 right_x=0.2718 right_y=0.0044 right_z=0.1465 right_yaw=0.0194 right_pitch=-0.036 right_roll=-0.0058 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -2.8513, 1.388, 0.0611, 0.4615, 0.0562, 1.0769, -0.8274, -1.0462, 7.1316, 1.9805, -0.1294, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b043626461d90c2ff6c9e10c68258f15fd9534594cacfe827e4887a7b1bdd33f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e191f700c88ac2c830f522aef4f336d93a89259f402dd11faf7cf364aee6ad4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ab7ba305debe7ec493d9c56e550640808e0cd4ed9545564963cacc297a9e4aa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 8.604 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 73 changed as sent

message 81 changed as sent

message 85 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.63, 1.7134, 0.5301, 0.6323, -0.6369, -0.4492, 0.0123, -0.0341, 0.7589, 0.5877, -0.4458, -0.057, -0.0616, 0.9998]\nstate[eef_state]: left_x=0.3763 left_y=-0.1399 left_z=0.0583 left_yaw=0.1236 left_pitch=0.1255 left_roll=-0.076 left_gripper=0.0123 right_x=0.2815 right_y=0.004 right_z=0.1686 right_yaw=0.0194 right_pitch=-0.0448 right_roll=-0.0053 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -5.0667, 4.1368, 0.5348, 0.2418, 0.0073, 1.0867, -0.7316, -1.4154, 7.1863, 2.0391, -0.1734, -0.0024, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6674, 1.7035, 0.3977, 0.7288, -0.6987, -0.5545, 0.9959, -0.0341, 0.7113, 0.5087, -0.4019, -0.057, -0.0616, 0.9998]\nstate[eef_state]: left_x=0.3469 left_y=-0.1241 left_z=0.0411 left_yaw=0.1895 left_pitch=0.1261 left_roll=-0.1303 left_gripper=0.9959 right_x=0.2753 right_y=0.0043 right_z=0.1539 right_yaw=0.0194 right_pitch=-0.0322 right_roll=-0.006 right_gripper=0.9998\nstate[joint_eff]: [0.4581, -2.9744, 1.3197, 0.2271, -0.0073, 0.1001, 0.1441, -0.7043, -1.4564, 6.8855, 2.0049, -0.1587, -0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6659, 1.6955, 0.3717, 0.8116, -0.7464, -0.551, 0.0123, -0.0341, 0.6933, 0.4786, -0.3935, -0.057, -0.0616, 0.9998]\nstate[eef_state]: left_x=0.3478 left_y=-0.1161 left_z=0.0533 left_yaw=0.2354 left_pitch=0.1868 left_roll=-0.1617 left_gripper=0.0123 right_x=0.2718 right_y=0.0044 right_z=0.1465 right_yaw=0.0194 right_pitch=-0.036 right_roll=-0.0058 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -2.8513, 1.388, 0.0611, 0.4615, 0.0562, 1.0769, -0.8274, -1.0462, 7.1316, 1.9805, -0.1294, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b043626461d90c2ff6c9e10c68258f15fd9534594cacfe827e4887a7b1bdd33f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e191f700c88ac2c830f522aef4f336d93a89259f402dd11faf7cf364aee6ad4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ab7ba305debe7ec493d9c56e550640808e0cd4ed9545564963cacc297a9e4aa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGD_KYrqvHpCacSuIm4MlUYYgI8sUF7did-yjzV8KJMOyhqBJ1HXM6NmSoV-gS47jlV1RGLmwZN97aIraDswoMNShVSYjhNcF_7mJOeDcDCIRZl1_ofhu5aG8amWCgvIIvpEDDao1nuLdh25UknJ0-CjmHU_L4e1MtPBVbxVWHayjMZ0LUDyOaUm-9yTe25lI4wSVtwDUiEWA6ZomxGpzbYwGDQ6-hrYTQ5wT_LoD1lgR1vb4X4LVm441D0RZOmo9dg2ULLZnRs7nnthKHniCzZOVt0fU54LGr4WLVH1IY2R5hyA8xT7moy_c3_ji2LLx_lcdQvm9UiV2O8hAN7_SBL_Kg3R3N-y4GXOPBGIVXaxdJNS6sxeDlTKOrKV9i80q1LduDcn7RMPGk516zju3s24QLhbtjbpzn0mY3US6eHbTtQmrMlXK65-hm4aAM_kyG74VLiGBFApgAbWZecsVWgPPWqwqDr5NZAWT5LES40sPMLjJRV5VUElqRszcXtpetbz0mlpP48Cn20nI9bSOscmimqLffixVLc-wmWvbXDrbTCV0jxI8NNYCvUxsnO4O06ZpnbrRWzhhmUd8fA9CS_So0GkYVgVCxKQnIuQT3AzNkzrjnNAJ8oSC7ALzaunW-cuwfKX2w65qpawHbCQqH1ttRgGlZDEPpKEHbEwoZLKJz0C-0F30rAsTN6uSnWAcwDlKj_y6j4XxQ8cPMZoVkmmpbcVkbudTvqMMke5fV79wqR1s8dojdqatw-Rs_rHwbNjeVbBk9hL85Tp3NelYduUNREwc8ssQC8-DbvQ1ZZ2-Ld4f5Du0PVOTdqph8bMP-OrAbuWsJGJQ0MF56OrOckbrmf6AIPsxVlprK3TzxWtZWqUJ5MxT8Wcd48yWiO2FUV7fT6JALu4b5K1Xcy0cSSDypdBAth0vGhN2bK14VftRB2ThMvJXUf3--FXt504o2Y_kGKDx34JJL5Yf1QkhHPrsqwSczYiJ8tWkurx4lSD26yxtF_HYNicPXKO_Bn8ec5M_4IF-qqS5z4pyMCZPBbqXBHQ2YgcfivUZIuAodlQiB3qQciiYnaxgs2eoRgODK0e_inwJONpUAvVLPyn8MdAXV7e0dhX8cp6gkSqWu6GOwwvn4H5t_HJQHH6j7Hedx18TK-PQiDXn2FYPEIUgepcQzb16pwdoAt-4sA8r-2UxVXsx2RmeLKmz8c_pCzEM0afv6UC9VxqxwIaRAOrjuaVAijeb5oSnfLckI26FnWAZHWX9ay_Zj6NIErx9Ogd37PLzRekk2B3VSv-hUVx7tzxw4K7zE6GfKU-mZpiGQLVcDSND86DbxuOSgZ2TKlna7P0hlhjoNjNCBwqmJ6fgq0L-MV_k3Yi2mCnrBTJIWjBF97e4E-d3AqbOGkp_qyYK_53tHUvqw3CKzIY9wiTqggiBWnwj-Cbm5C9PyfG1aVu9_ru3sFArAFtj9hSgJNgfIxRNp-ezQoiZ2OU-GkdI6Gyo5Z9mD8jR_QXgdCZuRih0d8uYVGMVKgO3PHapSarwYW264Ofw0IpMqNDpwPMEgIR75agQfTtKuW2ctkfkyHnalaAdrDsmJ7fVsCA-tMAjN39BKDrn4uqiEdjxxb-D7mQL-BaYRX2U5cMkq8ka1CdVU0do1RpR0U3Vtk62NwGgW58c829WE802lEhqpBIxlVZAYyI5kOja8tcocKqDbs8aETNiIkojyJ5qIQqHynCTYqxYpoN7o3zKqfxmFzfUHycixouoggkH_xIjbZ5WucsZJ6b-w7_cD2WumiDf6CTZHSeDBshT841XsPeATrzFF-XILqGoZtv4jFebVW-69cFSw7OYq0GVzwBlGU6Kn6KcLp9BR_ozg8rv2Ww7wayXDRWDdckY5WgDqKBol0tLUmNWzw-QqW_bPbnPt8KKAUNsq2z5Gp2E47r7j-jcq1XjSO4Zdp4YBi8EVbMSaAH-3abCmYFJ7hql6vbHWJ9J7Tduci2fspU7rKXeajZGyKEJsdIWfDoK0i16ADR2vVIqgzfMYlvdnCEfdh2tC-COpnTkQOUxsK_tM2MhQfeM9OYySzlWDC-N6i0PCXjTwO60-E9FDMHEBN0ZLiTslq6yN16fsx770GtiuPZZBt_549bOoASTiSblUn6HNJVB2QLT25EoGCqCgSGYzFKIS5JaTmSoigBDXBgShcwRbo7k-BZ70M6ou2eDP7N-fC_kPs2SUjWKgWE4c70GGVEsviQbO8VcLuLAfbuqIvPxSm4iEcB97BVRR9dRIWi6nglHdxkr5B_CkJm4v5abqEwsQ1XEjMf1ReZhn1ilxX5M8bXp2jwh3_Un2ljFJVE5QmshijdnTc_9ElYjaFsE3LOPZjTmywzyAYioaE8lFDuklHJPXPX91RyyCc6vlh4ZPxz44bUyeCoHMpLHG3rVsxIlhrTz9byavbxXdARMMo-DbUBUdU6Hv_TRbm1tENdzAv6pJGt9sNdznbTPRS1oqjUi-kjl0yMuaNDsCRN4JtMTzV5eJ9RaNRV94AcFOZmfJjz90O7Aa72RRKPgtePI8Hn7C3l9t44Zt53uOrC0N7MEXcdXFNrQBEmwqLQQBf__XLVWc_UbiQMqkLLKqKsbPnpSN_OhwYtZwUK",
  "id": "rs_07ca404505d10fb2016ab460f8e3dc87d085816cb8b4bea37a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.24,\"left_y\":-0.08,\"left_z\":0.23,\"left_gripper\":1,\"right_x\":0.4,\"right_y\":0.24,\"right_z\":0.12,\"right_gripper\":1},\"note\":\"The left arm is no longer tracking the low targets well, and the latest close was empty. I’m lifting it clear to reset its posture while positioning the right arm near the rightmost bottle.\"}",
  "call_id": "call_NfPzicjXFQZ7QEBfLZrnQraJ",
  "id": "fc_07ca404505d10fb2016ab460fe416887d0bddfe67251901ee6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NfPzicjXFQZ7QEBfLZrnQraJ",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9005, 0.9581, 0.8944, -0.9009, -0.8478, -0.8669, 0.9973, 0.7341, 1.7172, 0.9905, -0.025, 0.5339, 0.3786, 0.9999]\nstate[eef_state]: left_x=0.2452 left_y=-0.0903 left_z=0.2188 left_yaw=0.2128 left_pitch=-0.0137 left_roll=-0.0232 left_gripper=0.9973 right_x=0.3873 right_y=0.2333 right_z=0.1037 right_yaw=0.0614 right_pitch=-0.0572 right_roll=-0.0413 right_gripper=0.9999\nstate[joint_eff]: [-0.3897, -2.359, 8.4308, 1.0574, -0.7692, -0.0366, -0.1197, 0.3897, -8.0889, 8.6632, 1.7656, 0.486, 0.2564, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb86bc859a24e57074dd228bdbc7c05731652688f1364cd56399bc15be3c3254",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48057a4642e2a5431701e94163be86e5fd70efd076ba3fd09a48345976c08e09",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd996419fc3d02f1aacd93416a0845fd8346701f64aead18bbe2c2c4d13fa8c8",
      "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 · 5.132 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 77 changed as sent

message 85 changed as sent

message 89 changed as sent

message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.704, 1.8549, 0.5156, 0.8192, -0.7166, -0.5316, 0.9944, -0.0341, 0.7319, 0.5434, -0.4217, -0.057, -0.0616, 0.9998]\nstate[eef_state]: left_x=0.371 left_y=-0.1581 left_z=0.0399 left_yaw=0.1615 left_pitch=0.1718 left_roll=-0.1466 left_gripper=0.9944 right_x=0.2779 right_y=0.0042 right_z=0.1604 right_yaw=0.0194 right_pitch=-0.038 right_roll=-0.0057 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -1.9897, 0.2803, -0.149, 0.3297, -0.1148, 0.0562, -0.4581, -1.4564, 7.0085, 1.9853, -0.1441, -0.0073, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6659, 1.6955, 0.3717, 0.8116, -0.7464, -0.551, 0.0123, -0.0341, 0.6933, 0.4786, -0.3935, -0.057, -0.0616, 0.9998]\nstate[eef_state]: left_x=0.3478 left_y=-0.1161 left_z=0.0533 left_yaw=0.2354 left_pitch=0.1868 left_roll=-0.1617 left_gripper=0.0123 right_x=0.2718 right_y=0.0044 right_z=0.1465 right_yaw=0.0194 right_pitch=-0.036 right_roll=-0.0058 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -2.8513, 1.388, 0.0611, 0.4615, 0.0562, 1.0769, -0.8274, -1.0462, 7.1316, 1.9805, -0.1294, -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 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9005, 0.9581, 0.8944, -0.9009, -0.8478, -0.8669, 0.9973, 0.7341, 1.7172, 0.9905, -0.025, 0.5339, 0.3786, 0.9999]\nstate[eef_state]: left_x=0.2452 left_y=-0.0903 left_z=0.2188 left_yaw=0.2128 left_pitch=-0.0137 left_roll=-0.0232 left_gripper=0.9973 right_x=0.3873 right_y=0.2333 right_z=0.1037 right_yaw=0.0614 right_pitch=-0.0572 right_roll=-0.0413 right_gripper=0.9999\nstate[joint_eff]: [-0.3897, -2.359, 8.4308, 1.0574, -0.7692, -0.0366, -0.1197, 0.3897, -8.0889, 8.6632, 1.7656, 0.486, 0.2564, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb86bc859a24e57074dd228bdbc7c05731652688f1364cd56399bc15be3c3254",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48057a4642e2a5431701e94163be86e5fd70efd076ba3fd09a48345976c08e09",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd996419fc3d02f1aacd93416a0845fd8346701f64aead18bbe2c2c4d13fa8c8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGEKgFg7LqS2UE2096i7W2yOU3Y-avQemfiACdcKn5h0BvhWJiKD0LThF5KCVOhBssyjRCRgf7UQQs1HTG_wfY9baGggVnuTtRWCNk6f7GZaz52N32HV2YrtXI5sM14DviCLt9wuaK3jKveCHzVtRvhqyyxzd5DnRu4RxorisJbgUYVr5xFGb1nn-Xpg7ksI3YKIcsExlrUO3nyPAcP-39z4ZCf0My-nn87VdSeBlMMZouOGkYuyd8qvDjFY5dHn0ajwbrL5nWCJo0fFcdsABf6XhOVVEyI2WjYqm_z2ul9-f14F_JAC9TgocShq871AWGRVZlyIpV2l3UwUWoactyafCeQnDZ43fNFI9AiB4AABebXPg9dbU0bSzHnyOzTCi1hpRJFKSz0OvO1rO8uOGmnx0gOdJMI2SW1ZMGMTIoEOs4vSSPPBIMTnc5ly__4E0Yye7t-nE-JTw5RIA5EUEsOZ2dxQLg1PDt-NaLQ6F5GsXqXacGiSaAGGh3jurSUkFjljPsizcH850PpNWA-zCrYyL4lfuR4H_o4V8da4cGZH5gcRqPCVRXESgYqH7gY9Zqi1O-Txn8jRPiZIoAp-nCVGhFRPQYcd8-6SyOIh8_YXBJanCWCZwVqUyY4tYwm9WsEAxzdF5f2hevMk7We2w5CLv-51d-dQDbWmx5OmY2zisqgu1vw0IWenT2dxaHo-K_AUEymyxTIPDoLxBO3xcyo2QrDauCHTXDnEiuBtqJeUpI7CMhr3qH3OcUIQmYY6a4h_pO5GtXXHkeNYLX2oZ_sGgZUg9Hecbpgpy2N4pKDzVWCVS6el8UDD_qct5aUrg8geZeVU1pIEd98SWQUiMi-OW6U340L2aQ8-vPW0aWfCXAyQ9g3Gf3R3qu8Silv4nPsV6aKMul2gGYekdJZTkOmFHxPsqezmaXaINe1AKcyx1nrNMFX8Y8SiIE9Q-5BV4HdLUQugl6ktWfuw_iPpC99Biz0nhpYFRU1HyNdKjE4K06jd2Q2Mqut-T4AQak6CMQW8XJ3DhAH7vNtrbF2ZLOb1eWLbkpa4qHfvlgeHck5N4Zku7BJq1I-Fxnp5pk089Zyxih5uiiZuQdVU-Bz4PWbj_iIuKBJAtO3I32CN942U3T12btrsSw338I5vqf8E0X_AkwYtbbdfX8-bKnQqJBzhojDlegCCY-ElOmS02jBOt-_iZQ2Uvxke1jWri7gDRI2MwJlL3_ZLnTErTuK_sxAJVVsudkZ6hu-zsTI-IEaCJzM2sKUAsQSXiwDkl-Q1-wqy3LwOM5YsQn17uWzH3wCvfvdeIhXqZk2GsTf4Zw-4y9DicoCNiNhk88EVemSNVPjVYx-zYQasU37WvWQG4shpJbIhLwbefQ_kZb9eYzPzV9bGqP3GYFf5n86ByT6APw47BWC10vmoR7l0WLV2KPqFM1hR9Ofl5kapUUyS2_q1MXFt63tbXM4PEdgHXpFG05eKsI3mQC-Qi-hS0bjKZdfUGWz4GeNHEzXNVVVj9cS3aSYhaAZUnM3u44MrodObpLmp7FklhZsEf3oVjaROnWN_NFPmD3Sc89XCkJ7xnd4lBi9X3AUkiVPaNcHFsh2LO0X338AioVNMb8OfLUJnNjK7CpaBNubHDnlFtaSqwX0zkFg_qDaMayiQKbKpFr3bxPcLvzGVsvYIiBb6FfK40hpzeldg6_XmS0jK19LpRVDJCWtfuy5evplYKt7qPv12yInEWE59hcmX1JJNyYF6Jd_qn0Cpu88Aw1AofKHIC5m13GbC5mzgmuRcLVfpAWSIU531ICMTWApZOyGyErGsGoW9uTFcg3qifKEA9NMQ3zXpJVCIcSoG6dbKnrCkFJIypsJlmipoXxAjIaxwG43FTS8-VjRwjAbEjlBOhya5ZuCcXxHGuQnPDNgAB2EGij4DV6cpys0clE6327uJj1tZIXtGX-X7ItgW_uN-Cp6PM4h25u9wMMckMoOKoxt2pSFWyFMxdn-ybCQVFqv1U6QEWQn813LwE4sJ1YQ4nGKu6kJP0F0ag3qE1uUJDvWAAOGW2k-DsfN9fCeUqeO_XiWBKUGVCYFduoSF7FFk2J4SlMPZDbA5Af2vIyLFDMTm91zNlhsdBrHl0n15xy5DCyAiM_BBHGtM8T1InIbAAj-ltfDjruJu4ewslkRGHIVJrq8ti3YLYfEFzFI_D8VoE5oNhbSDlMgdCU6A6OE0h2B-pJTpdx2Q8wmc1sEu6yFQa2-nZDT7iv4ODPrccQdLuVxugasYPGRfAIUm08FeaocpMRTRn_ouXUmEc8m1JI5khPduuo8g",
  "id": "rs_07ca404505d10fb2016ab46103cc3087d0a8f9ec742ce76db6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.265,\"left_y\":-0.12,\"left_z\":0,\"left_yaw\":0,\"right_x\":0.425,\"right_y\":0.235,\"right_z\":0},\"note\":\"Both bottles’ nearer ends are visible ahead of the open jaws. I’m lowering each gripper beside a bottle body, keeping the arms in separate areas of the table.\"}",
  "call_id": "call_MZRcwrCf5pmUgwiPRndC7ZuR",
  "id": "fc_07ca404505d10fb2016ab461086f0487d0b7d6df13e5d739d0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MZRcwrCf5pmUgwiPRndC7ZuR",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8383, 1.491, 0.2012, 0.6559, -0.7406, -0.622, 0.9974, 0.6781, 2.0586, 0.897, 0.4751, 0.4858, 0.3313, 0.9998]\nstate[eef_state]: left_x=0.2827 left_y=-0.1307 left_z=0.0379 left_yaw=0.0821 left_pitch=0.1045 left_roll=-0.132 left_gripper=0.9974 right_x=0.4166 right_y=0.2343 right_z=0.001 right_yaw=0.0698 right_pitch=-0.0237 right_roll=-0.0156 right_gripper=0.9998\nstate[joint_eff]: [0.6769, -1.0188, 0.5402, -0.9695, 0.1245, 0.7448, -0.0024, -1.1692, -7.5009, 6.0103, 1.7118, 0.1245, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd67d2f6f2847b891aff3929eafd3d0930e96df27547883a57923a41c99c112a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d51544d8d79d8ed748c59358f1b43c8a93e68610fee3ed9f123f311a3de7e36",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eaa54ff98721983d8eb97fc40e87868fdbe8e777ee43d1b6abbbbcbda76f191c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 7.437 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 81 changed as sent

message 89 changed as sent

message 93 changed as sent

message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6674, 1.7035, 0.3977, 0.7288, -0.6987, -0.5545, 0.9959, -0.0341, 0.7113, 0.5087, -0.4019, -0.057, -0.0616, 0.9998]\nstate[eef_state]: left_x=0.3469 left_y=-0.1241 left_z=0.0411 left_yaw=0.1895 left_pitch=0.1261 left_roll=-0.1303 left_gripper=0.9959 right_x=0.2753 right_y=0.0043 right_z=0.1539 right_yaw=0.0194 right_pitch=-0.0322 right_roll=-0.006 right_gripper=0.9998\nstate[joint_eff]: [0.4581, -2.9744, 1.3197, 0.2271, -0.0073, 0.1001, 0.1441, -0.7043, -1.4564, 6.8855, 2.0049, -0.1587, -0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9005, 0.9581, 0.8944, -0.9009, -0.8478, -0.8669, 0.9973, 0.7341, 1.7172, 0.9905, -0.025, 0.5339, 0.3786, 0.9999]\nstate[eef_state]: left_x=0.2452 left_y=-0.0903 left_z=0.2188 left_yaw=0.2128 left_pitch=-0.0137 left_roll=-0.0232 left_gripper=0.9973 right_x=0.3873 right_y=0.2333 right_z=0.1037 right_yaw=0.0614 right_pitch=-0.0572 right_roll=-0.0413 right_gripper=0.9999\nstate[joint_eff]: [-0.3897, -2.359, 8.4308, 1.0574, -0.7692, -0.0366, -0.1197, 0.3897, -8.0889, 8.6632, 1.7656, 0.486, 0.2564, -0.0317]\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 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8383, 1.491, 0.2012, 0.6559, -0.7406, -0.622, 0.9974, 0.6781, 2.0586, 0.897, 0.4751, 0.4858, 0.3313, 0.9998]\nstate[eef_state]: left_x=0.2827 left_y=-0.1307 left_z=0.0379 left_yaw=0.0821 left_pitch=0.1045 left_roll=-0.132 left_gripper=0.9974 right_x=0.4166 right_y=0.2343 right_z=0.001 right_yaw=0.0698 right_pitch=-0.0237 right_roll=-0.0156 right_gripper=0.9998\nstate[joint_eff]: [0.6769, -1.0188, 0.5402, -0.9695, 0.1245, 0.7448, -0.0024, -1.1692, -7.5009, 6.0103, 1.7118, 0.1245, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd67d2f6f2847b891aff3929eafd3d0930e96df27547883a57923a41c99c112a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d51544d8d79d8ed748c59358f1b43c8a93e68610fee3ed9f123f311a3de7e36",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eaa54ff98721983d8eb97fc40e87868fdbe8e777ee43d1b6abbbbcbda76f191c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGERGokVsEtvLmUceIvXFhom0oNZjXYLjclnbQuMeMI-TJ0VGE-HIUDzBMAJ9syfUMSXg8ZH-5KSfqGTO7ksV-AqlAJPtb7376xDytNAH0kj6GQMFJQZ4Tb0prCq4ukJAlgR-4PxaOnIPjIkqQAEQTirDLIuPl2-ACSyYqivHT42FnfhkMXyjCx81q8HqpxlFPylQxuU-PQm8KCkq_uIGhCB-JscX6JEdppkgnCiwObw5sAgvExfYdtET097NZ6zVOyJKQSsNthxfTetATZE8YOIfc3dAP0CDS6XVjhagpQYHemrC-Wg1XiQ2bBQTnb23MvXqo5X_aEtNcrhl5LI5dKo6YpITI6a8qQZIOQXGx782S3hgrnwK7_vVlhaPdj0__Sph-aW-TUF0X71S9x2PdlhtJYGmpeQWFqcBrCcPdT05STldC8vd_o5KTW8cfsc6vA7Ga0w4uo6hisXMvPKnLTSDKkkkWT3nLNp8uQzbl-5MEs_Z98TqkOPeh6WIqdFoj-fJvXzaVwCn6o9HM08BsRvrwgcVd7RiPQOpMcaR5z-yaQ-eYHVnIweM6uLFE7Drwz9S02IB_AwaFNP6myMsE0UYJQGAh1zydHMDNW5FUOJCBN2bN-ZqgsueXbmB-EWYkGByN_sfOnLaTJ17qpwh2qM6G2hzZY3dgsjEL9CRy-HU3wK-BGAJ0U4eLetEEameDf_dRCG59lqzkReaF4eUNLnFnvEZhoZ_XNYag59nbp_KytQN8oVNSxmJ7oYp27aH7DBmcGEYHyYHM08QoTeQBEjk01EPoAqXtOtgHt8OZdjCrUe1ziUBPZ0DCgju2RbBjidZFNFVwK6fRok03cTPrNcoror_gMynUWjQ-ypaft2_2hhXwAL-5dlSANwIMpzGt4YUOzqYcL6Z3d34uASwFe7-qj06qHYa4Fa1rxdxQgKIsGpcXC8aDBrNdeZpNRtdJXZ--p7UlezMspbC3KjCSbmZOcKRSvY71mbOniTkdAdOPZT28edBBIQ2wRpb8mbhbKRj92JnQZdRJDT280wKwg_ipERCnG5uQJcORy9T7LyQSx5qRfKTzOJC4bcZ6g0_cyfKk2XJGm0LTuE3BfGA6s4bNkTlDYkbOCALXTMeReh2IwV7N5C1QsQJZXtcJBVDzepD_0fdKUDgpn2kWxSy-8L8oZJqyNcuwKE0j-QabXH4zaISG5LB_T-0wTHJ0eBOG15TFFlXRYohzidj3U2R3Qivna9wFCD8bC7CB95eG5Yr-toT_cxS3uYOzhoEQaPrKffRqlUjmeEbeA1xMnYM1YCOQKJdQgz-ykjD9TdT-CZJR4vxtgJaPf2f15VnyQK0cLgsX9BUB-hDt-b98nZQwrevini2pyny6UhRtBuHsm1fTor2P_YkIUwUqVAVXMSYCmkXDOobC9EF4Z1cqXNnkamCummfLj1pyUO-OIp4u3P2CXmVbcT0Rwaukkm1YbdMaUyUd3I04Con9F40q1sCIAZ1K5MCO7GiHrejoNU5nY4LVp3jiFY_W-3ANBZ1hnSrGpiXy09p_k7oU3Trz62OI3aCZ77a0MyqPsKBgc0_ki1BCFENJHoeu80gr-MaJ6ELsfUAhZg8I2s50W2v-m5Taq1XJkVARykCkvuqNz7VwwYUGsAg1vbbyrLcvyEYd5Ahs2qPlbliIvFW_wnzQ4JsxL9_T4iycFGnTJXeuYFHKKf0IO06FPc3JBB0dktmoi2zATqR5-7sA2KzWBQySc5OfcTi3YkqkkUzQzxSD57-dAYO5zGk45AVzfYMqxj-aOulAJM9ZGC5g9NtfjQ57bQ99o4ib0wtYtZnkUZEXs7bOql1sAkFZ4nDBVSWVpzcJIVsiwFaSHwMIbHzbRvYm6m817yZY7meuH5YH4G_q18Db1i3XfIW8MxWVqKZGt_r4OFMmp8u9BKTvNHdLW5p8lxuMtS21xoIlr5_XPt87WcxqLsINLVdg8HxbsVLkTuyXuIYrGOC8dbrdIM5WHiIXgbB0fQvnlZXgWmPFIXzsBBKeuz5jI=",
  "id": "rs_07ca404505d10fb2016ab4610dcd1887d095d7c7c1974b719b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.265,\"left_y\":-0.17,\"left_z\":0,\"right_gripper\":0},\"note\":\"The right fingertips reached table level around the bottle body, so I’m securing that grasp. The left bottle is offset toward one finger, so I’m moving the left gripper sideways to clear it.\"}",
  "call_id": "call_JEuajdQGuD0gLrVjQu3W1yD3",
  "id": "fc_07ca404505d10fb2016ab46110056887d092870391a7306d10",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JEuajdQGuD0gLrVjQu3W1yD3",
  "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]: [-1.0153, 1.6966, 0.3801, 0.3637, -0.8398, -0.8116, 0.9974, 0.68, 2.0636, 0.8818, 0.5251, 0.4717, 0.3279, 0.502]\nstate[eef_state]: left_x=0.2634 left_y=-0.1682 left_z=-0.0012 left_yaw=0.0638 left_pitch=-0.0142 left_roll=0.0097 left_gripper=0.9974 right_x=0.4165 right_y=0.2381 right_z=0.0019 right_yaw=0.0849 right_pitch=-0.0041 right_roll=0.0056 right_gripper=0.502\nstate[joint_eff]: [-0.2667, -4.6427, 4.6701, 1.199, -0.5153, 0.0708, -0.0122, -0.5128, -9.6615, 4.5744, 1.6874, 0.2955, -0.0122, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52fddbada6ba14bc0c33c9ba4e66607c4820ad22863a5b0149c255451d2999a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b390d447bb2a53c623484b5e77b58922a35f13129b5aa97c784a9f9b4093ce8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ffa93bdc9f598822b3707c62b61c71f541d36e499a2eb68a7a0b1070115d677",
      "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 25 attempt 0 · /responses · status 200 · 5.534 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 85 changed as sent

message 93 changed as sent

message 97 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6659, 1.6955, 0.3717, 0.8116, -0.7464, -0.551, 0.0123, -0.0341, 0.6933, 0.4786, -0.3935, -0.057, -0.0616, 0.9998]\nstate[eef_state]: left_x=0.3478 left_y=-0.1161 left_z=0.0533 left_yaw=0.2354 left_pitch=0.1868 left_roll=-0.1617 left_gripper=0.0123 right_x=0.2718 right_y=0.0044 right_z=0.1465 right_yaw=0.0194 right_pitch=-0.036 right_roll=-0.0058 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -2.8513, 1.388, 0.0611, 0.4615, 0.0562, 1.0769, -0.8274, -1.0462, 7.1316, 1.9805, -0.1294, -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 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8383, 1.491, 0.2012, 0.6559, -0.7406, -0.622, 0.9974, 0.6781, 2.0586, 0.897, 0.4751, 0.4858, 0.3313, 0.9998]\nstate[eef_state]: left_x=0.2827 left_y=-0.1307 left_z=0.0379 left_yaw=0.0821 left_pitch=0.1045 left_roll=-0.132 left_gripper=0.9974 right_x=0.4166 right_y=0.2343 right_z=0.001 right_yaw=0.0698 right_pitch=-0.0237 right_roll=-0.0156 right_gripper=0.9998\nstate[joint_eff]: [0.6769, -1.0188, 0.5402, -0.9695, 0.1245, 0.7448, -0.0024, -1.1692, -7.5009, 6.0103, 1.7118, 0.1245, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0153, 1.6966, 0.3801, 0.3637, -0.8398, -0.8116, 0.9974, 0.68, 2.0636, 0.8818, 0.5251, 0.4717, 0.3279, 0.502]\nstate[eef_state]: left_x=0.2634 left_y=-0.1682 left_z=-0.0012 left_yaw=0.0638 left_pitch=-0.0142 left_roll=0.0097 left_gripper=0.9974 right_x=0.4165 right_y=0.2381 right_z=0.0019 right_yaw=0.0849 right_pitch=-0.0041 right_roll=0.0056 right_gripper=0.502\nstate[joint_eff]: [-0.2667, -4.6427, 4.6701, 1.199, -0.5153, 0.0708, -0.0122, -0.5128, -9.6615, 4.5744, 1.6874, 0.2955, -0.0122, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52fddbada6ba14bc0c33c9ba4e66607c4820ad22863a5b0149c255451d2999a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b390d447bb2a53c623484b5e77b58922a35f13129b5aa97c784a9f9b4093ce8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ffa93bdc9f598822b3707c62b61c71f541d36e499a2eb68a7a0b1070115d677",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGEZSBsk3B0ZfNviBL0IN_hbHZOKxqJk79BAqm30GLgyrWvebRNKtd4tqOkWg7XucgDQlttb-y23eCr1QoOU1YcEjs0lYxazun-bCtDKsE6xWMGzWkEj4uqBul9OG5F6SXsYiTJogAtaVy2rCw_Q4uSAUZlXIDFjMruFUFXawyJfCxXyctw0ydCi-Xo-_-07smZHY8sgv7SpzN4sl3JHhBM9IMAs-wZ3VkTwWBn1EFQhjknmhc7EY6DWqZaiHWEgIoF98niMzOXi_DQqA3BkF3QIlmfw1oRC6Z26bxPoFCT-0o8-TvrSKik53wqYjxwc3WOP8Hif-gHoycP28u89vNoE8xHmsfl6gKd5bVbkNfuWi7l9JBm9BP1Bo5Rc1uCYPyyavEuhUNzNgjNs9HWMsy9aXCjHvZNK42qx5y_slpLiBktxqf3qAv6P9TPdvFrjuqFgzL3aY8M-i5gT6QrTYZ-lsX9qWmcRE75GpECIOiPtumubAIEcn9Ij8INnAUrGOT4yK0FV6nGLZLNqmcda1u75LCGSCHtUMf67K6XIYMZezIRPRqpnulMBDF7zrBMfIyQ6Oulsc8Cn2EpA7xCOo1QjfZCqXVSy4FZF4ZNzhsrgtd_m2PdSuVHulZpfrEHGpgHE0Dvd7DWuc8D3x2PDknbWqs9TUVrSDiY7ij7v3gc0yfkjiS4KoR7XxUjKhvt9tVH4a8vhjBaNwmnbe88MYDPuIodtXsPIVugqjiOfQj-6Z9UQsrMtiD5ZqVtFeg_brPEIbV76md3iMf92QINjHLBGp14rHwYlJjbD7bQi1vhiJf5cNk1DQiX4ykqW2RNk4GnPsB95ITF27BjKn2wAPF9LMv7QJH5U1cQFCxJ97yhdB_pBJMvQmvWdqXExSs4jWsrnqaxnU0c73W736Hic-yneDEF5Hx-knJ8ownGEkJNpblEcqfVS6Yo-b0TUZ2W9RKorekUphHM_eGSI70CZQK-WUPtnlor9SwjJ78qeOR6Md8xejzr3aSQp4CzWMMb0UbdS2RLwluKyeN1e56KiOL_SJgW1GeH-nC-FqQwiKSntdSXrBbaFK6pHQSczN9NA9LjJG8EMgPvlBf982XbdJs3rUUDltnaNvsmgIJFmgrJTrewnSKAWQrVlSsvD0XU6EdOmvob_VonQCn-kvIUzpYiQRFVKGAUsst3gSzSw9pZ3q7k6ClQjhzmySOmrQa_BM-6mqisU8hQTNMON2Pxb8YACq0hn_-XpWripecdKYtMQAyWO--2YAvD-YbuyXYusAn_HMPFVDItK4qHlZIXrjhMUdqxodq4WFfOfm9atmh8FToDZV84Fnapp7O95eKjGmxddro_LbojCTQW3DlgvaY5-t4ONQiKkM1XLbNz9yvVL8IFMg5dHy404qfc4s5KczcjlD-p1k2F52osEZL3oH6l81R0uRL19gatWKYng3WNWff6v7aVTsmFJXtb-EQSw7p6vKZBD-03MG34w4OgmXoxGP7gYwJu6cBf4OlrYOo2cnVIHxRhFmOMDxXDVEm5bUtxjOaf-4Ia1MAawROG4NxSPuHLUzLNTN1qVF28-GYuk6RQ-4b0zAtQzG0o7U0OWlOuLKIvqSIYGz_tpsCbP3oUBSad7Ah_uNCybHFXu_-WVGj2oyZ4rIY_trZduj4yA-KPTmmmrCZeh3gww-qsNTsAHrFAwYRwG6c4x507gY_P2fDMcTNegw0_QCiYGFgLyXI8MqfmAeYoJdbN-n4GMM5cwWPcdhjJGpvlEteOaUa-reZRLCU_9jzjz69R8uBBjYh8kP2niCpg1QwxQOKP6RiEhVzcc0gsh073OvAK3gu-FOJgPRpZUxy3Vf6nZhoh5KabjlS_q835EpbbZo-ikaXP1JgkHnTAqtj21eBqKTxm5KXcTEknKi_6USOifoPSQUzhOdkG-rin1ZG667U58YhoAo3gTLxORMCuatcbhvqYIF4lfkTJNyhrAzOo2TxLYcy5qjyuGzoV8qhX1s6RcLLO_4Cg88sltf_W90UtZhWUQg-ocjgB01CtbZCtO5ir0TpAJCe7bbb6wLu0etggIv3CpJBGJc6TDFXlfow2KwhRKEuMnajW9m5mzv5JFhbk63kxaarPMoc7w-2pCvi-LQY-ei2283oFC7Vl2nrj3Atb1MFZ_voKu174GgyXV2nbmZd9WS9HbN6jIJey_7ToVwTA1FK7lTJEEUqlZjx1pBByu0VIojo5PmyxF_ol66cvc68tbDWwX2rmQ2ZalxWY_WkvKd6c49Jd5pBlNHdWyLkfBCkOlmF7uHeQYqDu4R-CAfDOqTOmQj3Gdb2oyyyY7HCUoAvM6Dx3UW1XRCxOVzePdZZqkbxr0Z0LX-j3IBywJhfwX",
  "id": "rs_07ca404505d10fb2016ab46114008487d0b67ac45fa823d509",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.2,\"right_y\":0.23,\"right_z\":0.06,\"left_x\":0.27,\"left_y\":0,\"left_z\":0.2},\"note\":\"The right gripper has a confirmed body grasp. I’m pulling that bottle much closer to make its neck reachable, while parking the left arm clear of the work area.\"}",
  "call_id": "call_CWO0YvASmwE8ITZDFh7RzE9x",
  "id": "fc_07ca404505d10fb2016ab4611830f887d08e290baa1d25fc46",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CWO0YvASmwE8ITZDFh7RzE9x",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1444, 0.6876, 0.6094, -0.5056, -0.2371, -0.1864, 0.9974, 1.293, 1.5036, 0.5114, -0.1204, 0.7673, 0.8631, 0.5037]\nstate[eef_state]: left_x=0.2705 left_y=0.0062 left_z=0.1871 left_yaw=0.1406 left_pitch=-0.0043 left_roll=-0.0149 left_gripper=0.9974 right_x=0.1895 right_y=0.2305 right_z=0.0264 right_yaw=0.1733 right_pitch=-0.1307 right_roll=-0.0597 right_gripper=0.5037\nstate[joint_eff]: [0.0342, -0.2803, 9.1009, 1.6728, -0.0415, 0.0952, -0.0122, 0.1162, -7.6786, 7.5829, 1.6972, 1.3553, -0.0708, 0.6618]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:610e8ede423832d5ba744d2bdf7dcc735e0a5b6be4515132c4bc62a37ae31c1f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:597066670047967ee53194904035b9c1d958316cf24bf2812910addd59929446",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23aa033b9e54cedcc7ce42b2babef9ed2e3dcabf49a973c4e5ae42da490e5192",
      "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 · 14.58 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 89 changed as sent

message 97 changed as sent

message 101 changed as sent

message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9005, 0.9581, 0.8944, -0.9009, -0.8478, -0.8669, 0.9973, 0.7341, 1.7172, 0.9905, -0.025, 0.5339, 0.3786, 0.9999]\nstate[eef_state]: left_x=0.2452 left_y=-0.0903 left_z=0.2188 left_yaw=0.2128 left_pitch=-0.0137 left_roll=-0.0232 left_gripper=0.9973 right_x=0.3873 right_y=0.2333 right_z=0.1037 right_yaw=0.0614 right_pitch=-0.0572 right_roll=-0.0413 right_gripper=0.9999\nstate[joint_eff]: [-0.3897, -2.359, 8.4308, 1.0574, -0.7692, -0.0366, -0.1197, 0.3897, -8.0889, 8.6632, 1.7656, 0.486, 0.2564, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0153, 1.6966, 0.3801, 0.3637, -0.8398, -0.8116, 0.9974, 0.68, 2.0636, 0.8818, 0.5251, 0.4717, 0.3279, 0.502]\nstate[eef_state]: left_x=0.2634 left_y=-0.1682 left_z=-0.0012 left_yaw=0.0638 left_pitch=-0.0142 left_roll=0.0097 left_gripper=0.9974 right_x=0.4165 right_y=0.2381 right_z=0.0019 right_yaw=0.0849 right_pitch=-0.0041 right_roll=0.0056 right_gripper=0.502\nstate[joint_eff]: [-0.2667, -4.6427, 4.6701, 1.199, -0.5153, 0.0708, -0.0122, -0.5128, -9.6615, 4.5744, 1.6874, 0.2955, -0.0122, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1444, 0.6876, 0.6094, -0.5056, -0.2371, -0.1864, 0.9974, 1.293, 1.5036, 0.5114, -0.1204, 0.7673, 0.8631, 0.5037]\nstate[eef_state]: left_x=0.2705 left_y=0.0062 left_z=0.1871 left_yaw=0.1406 left_pitch=-0.0043 left_roll=-0.0149 left_gripper=0.9974 right_x=0.1895 right_y=0.2305 right_z=0.0264 right_yaw=0.1733 right_pitch=-0.1307 right_roll=-0.0597 right_gripper=0.5037\nstate[joint_eff]: [0.0342, -0.2803, 9.1009, 1.6728, -0.0415, 0.0952, -0.0122, 0.1162, -7.6786, 7.5829, 1.6972, 1.3553, -0.0708, 0.6618]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:610e8ede423832d5ba744d2bdf7dcc735e0a5b6be4515132c4bc62a37ae31c1f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:597066670047967ee53194904035b9c1d958316cf24bf2812910addd59929446",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23aa033b9e54cedcc7ce42b2babef9ed2e3dcabf49a973c4e5ae42da490e5192",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGEgtDX2oShGTEMEFwyI7-VwC3znBHRzh7uVtb1RmrjK_3Bc3zjtUTxFDJCauAaj81W54VLeSI6IqnJIGlvQZy_QNUoK81oSbA0krBiwe03uW8lSYfCjRdsQ8NmKQpYkSlULzDFHJRhS8nUguApGBjnSTfXI3exh9mCSbzcr1sWNjXPmKecngh_0CIhN6qbX93snW5Q2jzH635JvprSS-0tc-X4DPJPCRhcHyJzMGLmolpMjIh2wJsMpScRwLOXT8N60IubPW6r5jIaBfDdxa3Zc5yE4_v5og2J8_dWaEGAk0bND55pWO54j2ksAJLy4uE2r9gJ8sngmps5I3aBicW_Fv66OGVLNXZKEm_zWcOIcpHvsrj5HSEd_e3wsPwwaRV1HZ5n7Bd3ZwLWfbl3al8AcIQuoDsURWPkAygqon2yrWatoYGEiAVS7nsgn8IULMImeo90W-ITgv5hwUNd-n3-GMzDavZKG4fJOx1NQrHRssQdSfZ-odlNeiaPxlygoE_hCFXPbz_WhOOOOPU01ZVM9LgkBr_Ob1yrYb7u72n7m70NnEnwG9GYMFF1ZRuBn01zFAKJr9xO9r5s8MyObQV99TW_3OYISibFgakNO18K297cFz-qL0qcSYXdC-RPE3lgqW0hSN8x2OOoNTg3UzCab82Iw7IqF493nFVW3zTMWOinlbBV9Gj9BsVahdQwsblH2wWV5zxnnf-70xCSWkLFFMfK3EXrCVPobKHLS-qM9HCVL4s5B04qOxKND9DphHzRkn6HNptnzNP1gMHU_mUfUTMWmmpz_CYMyx-D4wavnh0de9oqOqwQvpnPsRN8IDmXJJntYd8RmjCFguga1i9w3I44xH9Ek_efK0XN3JIodL-rZDRWVk8FlDExD9FuaKBWBafVcb58rtqMZplHFgfYekCX_mnULhQicgDTwP_IDbDfTpoiR4JC1OkEM8gnbh7BQLcKFzObdOlheVAMolkuNczHKn1NcRha4qDScxwZdGH0Ax4dr4dsekcAC4NWd4773LIhkSILkPL8Jh-qTLsWIlaOEzTvzI0pyXgabRChSQU1hC6DMSAQcmOtVIxkhY__DqA4lMwWeA2tGQSvTf4s0Iqj-3lC6tk2_UTGlk3-fkakDYN0rhDX_g-73HTsV64AlbJ4oCtsga9a-FaI6zKLBW56C0rKkVTMS-s3zONDlsbfcV0N14JFCqWf8LIJE8WJR9C5A3pNDjMoOnWidbuFcdm59eafky1j1NsCHLUQAdtu_f-9BqnT8EjG8kiHyyuYsNparcCwF5pVCWpcX5rm6QoxM8eV05Dc00Vy356v4RtB7U2j82tLCBgOGws9LR8wNz1R98dKIyNZx6SH4p0ltwAKjD8pN16n9swmrvl4K6YYdkI0ys6FDjO04hrm5elMrWojslBzuq-tStItoNgf3cMJZS0vrnrmfjRGUoZLldOPFSw35tyPxBbrbPuKCdLYOuTzciNlsaycsdhv1HHHKrP9anRQUR2PuaL3yfmmxYuvLmK9G_kGUr7H7jD7mmomy8SQYVgRutV2RiLIr4VEQKS78xlKiV85YUHAUtvhpFU_W7yGZg0d-5MfgsON_MaD7WPQR3pKlbrZ18jZcISNeQELMHNFUr7r__e2QXhA4vMrcxVYj8vSOsk6iQcQEjoLnJc5TDvfUX9RosKGM9G6wy77w6p-2wEEg9i8UlO2uCYTTUmMogTI2Rbks1vx-wIgk",
  "id": "rs_07ca404505d10fb2016ab4611cfb9c87d08cbf00dad76dfafb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.38,\"right_y\":0.23,\"right_z\":0.11},\"note\":\"The rightmost bottle is now lying in the near workspace. I’m releasing its body and moving above the neck for a lighter pivoting grasp.\"}",
  "call_id": "call_BeS5k8CLiNFAcWUymWppJcUZ",
  "id": "fc_07ca404505d10fb2016ab4611f823487d0819dfe4ba9c7582d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BeS5k8CLiNFAcWUymWppJcUZ",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1577, 0.6907, 0.6121, -0.5205, -0.2478, -0.1837, 0.9974, 0.7162, 1.6165, 0.8055, 0.1287, 0.4351, 0.284, 0.998]\nstate[eef_state]: left_x=0.269 left_y=0.0047 left_z=0.1848 left_yaw=0.1348 left_pitch=-0.0172 left_roll=-0.0026 left_gripper=0.9974 right_x=0.3657 right_y=0.2244 right_z=0.0944 right_yaw=0.1737 right_pitch=-0.0374 right_roll=-0.0255 right_gripper=0.998\nstate[joint_eff]: [-0.0752, -0.759, 6.4479, 1.8339, -0.1929, -0.0269, -0.0171, -0.6222, -6.4615, 8.4855, 1.7949, 0.1783, 0.0317, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50d06e17093564f2e2b895726d872e13ed1d6c44af32e8f3f9aefa49571e2632",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63990fa8f6c099ad4a42a08aafb1c164f32014e3bcb487f3a4e049e620e09717",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49c93dfb97bc26ff1eaa110519d82be9c4f9f62b2fd552fbda574193fd998364",
      "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 · 7.231 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 93 changed as sent

message 101 changed as sent

message 105 changed as sent

message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8383, 1.491, 0.2012, 0.6559, -0.7406, -0.622, 0.9974, 0.6781, 2.0586, 0.897, 0.4751, 0.4858, 0.3313, 0.9998]\nstate[eef_state]: left_x=0.2827 left_y=-0.1307 left_z=0.0379 left_yaw=0.0821 left_pitch=0.1045 left_roll=-0.132 left_gripper=0.9974 right_x=0.4166 right_y=0.2343 right_z=0.001 right_yaw=0.0698 right_pitch=-0.0237 right_roll=-0.0156 right_gripper=0.9998\nstate[joint_eff]: [0.6769, -1.0188, 0.5402, -0.9695, 0.1245, 0.7448, -0.0024, -1.1692, -7.5009, 6.0103, 1.7118, 0.1245, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1444, 0.6876, 0.6094, -0.5056, -0.2371, -0.1864, 0.9974, 1.293, 1.5036, 0.5114, -0.1204, 0.7673, 0.8631, 0.5037]\nstate[eef_state]: left_x=0.2705 left_y=0.0062 left_z=0.1871 left_yaw=0.1406 left_pitch=-0.0043 left_roll=-0.0149 left_gripper=0.9974 right_x=0.1895 right_y=0.2305 right_z=0.0264 right_yaw=0.1733 right_pitch=-0.1307 right_roll=-0.0597 right_gripper=0.5037\nstate[joint_eff]: [0.0342, -0.2803, 9.1009, 1.6728, -0.0415, 0.0952, -0.0122, 0.1162, -7.6786, 7.5829, 1.6972, 1.3553, -0.0708, 0.6618]\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 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1577, 0.6907, 0.6121, -0.5205, -0.2478, -0.1837, 0.9974, 0.7162, 1.6165, 0.8055, 0.1287, 0.4351, 0.284, 0.998]\nstate[eef_state]: left_x=0.269 left_y=0.0047 left_z=0.1848 left_yaw=0.1348 left_pitch=-0.0172 left_roll=-0.0026 left_gripper=0.9974 right_x=0.3657 right_y=0.2244 right_z=0.0944 right_yaw=0.1737 right_pitch=-0.0374 right_roll=-0.0255 right_gripper=0.998\nstate[joint_eff]: [-0.0752, -0.759, 6.4479, 1.8339, -0.1929, -0.0269, -0.0171, -0.6222, -6.4615, 8.4855, 1.7949, 0.1783, 0.0317, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50d06e17093564f2e2b895726d872e13ed1d6c44af32e8f3f9aefa49571e2632",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63990fa8f6c099ad4a42a08aafb1c164f32014e3bcb487f3a4e049e620e09717",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49c93dfb97bc26ff1eaa110519d82be9c4f9f62b2fd552fbda574193fd998364",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
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  "id": "rs_07ca404505d10fb2016ab46125fc8c87d0815e2f6a03dfeb0a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.395,\"right_y\":0.23,\"right_z\":0},\"note\":\"The neck remains ahead of the fingertips in the wrist view. I’m descending with the jaws open to capture the upper body at a reachable height.\"}",
  "call_id": "call_4R1dK6Lz6HacHRyElWfuMxYm",
  "id": "fc_07ca404505d10fb2016ab4612faf2087d0874163608eeecc8d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4R1dK6Lz6HacHRyElWfuMxYm",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1577, 0.6823, 0.5987, -0.5125, -0.2481, -0.1837, 0.9974, 0.6785, 1.9369, 0.7502, 0.6136, 0.4065, 0.2565, 0.9992]\nstate[eef_state]: left_x=0.2682 left_y=0.0049 left_z=0.1825 left_yaw=0.1351 left_pitch=-0.0142 left_roll=-0.0033 left_gripper=0.9974 right_x=0.3976 right_y=0.2354 right_z=0.028 right_yaw=0.1736 right_pitch=0.0491 right_roll=0.0204 right_gripper=0.9992\nstate[joint_eff]: [-0.6496, -0.7726, 6.653, 1.7802, -0.1832, -0.0269, -0.0122, -0.8821, -4.4103, 4.3692, 0.7399, 0.022, -0.0317, 0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:867eda9e610f7369f6e302199dde5ced6b42b0bca982548a2b1030db1450b339",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2aa93cba003fdf256d80e8e21c5370b6b216d36e4f1767df3cf0b82ab0baacc6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ae051803e05323f1f807b7766f641a6c462124785fa90d0906f5004d24b1a64",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 5.157 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 97 changed as sent

message 105 changed as sent

message 109 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0153, 1.6966, 0.3801, 0.3637, -0.8398, -0.8116, 0.9974, 0.68, 2.0636, 0.8818, 0.5251, 0.4717, 0.3279, 0.502]\nstate[eef_state]: left_x=0.2634 left_y=-0.1682 left_z=-0.0012 left_yaw=0.0638 left_pitch=-0.0142 left_roll=0.0097 left_gripper=0.9974 right_x=0.4165 right_y=0.2381 right_z=0.0019 right_yaw=0.0849 right_pitch=-0.0041 right_roll=0.0056 right_gripper=0.502\nstate[joint_eff]: [-0.2667, -4.6427, 4.6701, 1.199, -0.5153, 0.0708, -0.0122, -0.5128, -9.6615, 4.5744, 1.6874, 0.2955, -0.0122, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1577, 0.6907, 0.6121, -0.5205, -0.2478, -0.1837, 0.9974, 0.7162, 1.6165, 0.8055, 0.1287, 0.4351, 0.284, 0.998]\nstate[eef_state]: left_x=0.269 left_y=0.0047 left_z=0.1848 left_yaw=0.1348 left_pitch=-0.0172 left_roll=-0.0026 left_gripper=0.9974 right_x=0.3657 right_y=0.2244 right_z=0.0944 right_yaw=0.1737 right_pitch=-0.0374 right_roll=-0.0255 right_gripper=0.998\nstate[joint_eff]: [-0.0752, -0.759, 6.4479, 1.8339, -0.1929, -0.0269, -0.0171, -0.6222, -6.4615, 8.4855, 1.7949, 0.1783, 0.0317, -0.1148]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1577, 0.6823, 0.5987, -0.5125, -0.2481, -0.1837, 0.9974, 0.6785, 1.9369, 0.7502, 0.6136, 0.4065, 0.2565, 0.9992]\nstate[eef_state]: left_x=0.2682 left_y=0.0049 left_z=0.1825 left_yaw=0.1351 left_pitch=-0.0142 left_roll=-0.0033 left_gripper=0.9974 right_x=0.3976 right_y=0.2354 right_z=0.028 right_yaw=0.1736 right_pitch=0.0491 right_roll=0.0204 right_gripper=0.9992\nstate[joint_eff]: [-0.6496, -0.7726, 6.653, 1.7802, -0.1832, -0.0269, -0.0122, -0.8821, -4.4103, 4.3692, 0.7399, 0.022, -0.0317, 0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:867eda9e610f7369f6e302199dde5ced6b42b0bca982548a2b1030db1450b339",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2aa93cba003fdf256d80e8e21c5370b6b216d36e4f1767df3cf0b82ab0baacc6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ae051803e05323f1f807b7766f641a6c462124785fa90d0906f5004d24b1a64",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGE4LqzSp_U6Vd8a54iyNcFZFJOzd33JmC8iUBkLZy3tF6qjQhxr8eezWHSmsUP1rpMyDgT13N5Ps88ZO3oMXfk08gNewKT4t7gdbFk6NVbGDg_5UoOS6k_toEL2Q62sj505611wgCM6app4y2aZhFgrG09nbksXpia32sC2bRqgiagDsYuxn7alhsEUFwNKz9siVRjNCKAXD_8AmG0JY4qik-kXQKFI876bHs_97G2wXLjV_PXCCqLbfLDhfwy6i9FVmY4bSZIZTopXrJjBpPiez3QQHuKhbX1UgXNnhMT0IcrsBY-ix-1zi1iqDfYtITyw5UTZGfn5_xOsvJhy0yyIybS6iRKYxmyNHgamssW13C9O82i3hbFtMH9lxuJMTDkG184LS6cPEzvUjcanLIHEWx3DYDqPUxULK6DClmb086DjjHKvfSH0f79cq8bFZEJxsccpQ-T1u4138eOzoOo_0ceKcD3huxFoI3egggXYawnZyGwQxH3hnUGeAp6g_KzuAR-DsqRIqFla2YpAZyPTmMcxnXY6tWj4Xrh0JAUg8m56QDAW1Ohdwyc2rTQgMcr9V_VG2-_t--OeOp_KJMNuJRBTxTJCVLEHh6WKQSasDYrtm18JgpnSoJwVlZThHSqYW1AKLoPDXM_5rMKTVYHpKUAT0GyZmP4S_lQ4R0xm4BZyiOY_9hjVXthDFnzqs-pLANOnLcOIcSePCk4bKIJ5dpPQOl05jc62Qth-nViSr3Hsw_l8YKil2heCye96Q-ucEZkaHsdotVtO2q49bnQrhTX_Z54RNMRTrVvyCxTaqLMvMqhKA2oyf87Jaag1lbSDYuTxYAANEBQBSA3tUZdWjZTu-NsH-qjFkMUJDxSl_5MuGEgzuXNNMXTa1s1MJOmI7FNblm481KeEwMkXNwLkVRZ650rqZA2Pbf-R7Y1zF7AA7O8rJF7pDrGj64E_yyW_pysNBVKRlucLBdVnc0k5UZDRxUVJtlHrssPMpRmio_PwAOuCXy9UxMnwEPjqCHTJPDnoRC5bYQML2hH1bSYj5otllENc2sIaCLtKH8n0CJ9IVaDUp_qxE3au758AOr89iJclEEnAJegeznLtS7FvNsNe3CaLrATYkcP_zHYUW3F_5_HRF9Wqrd07IvFhfezFGUP0n6PoRkiljSmSmF4Jj6PbpsGVIhK4qNfymPxyyEBhgR8rkw_1whclbUOumg8Tq7IDj2NDATBWSbe0CsIAiJ4sRlsPxc9FDaJfkoqVZjYMoo9e4I3o3S1NZKjaszZ4V-sqlgca6fcrvNSwfZIcYIbNnGJJdqOjjNwZA0rZe1d5SHL91o5Tn_LF7B1Jb7eVPBv2ysAYr6aaPZEPfW57q-uXjsGGfD7_GDRswJhdwq2jKExIdDJhqM5TUbufVH_isI9zw6K8Di4vydLawZB50jaY6C0igd3xTZgt1AEfPKRCAaOcW4XOUWFvq2Kjif38sHHSLiEhYPZBGqlbFRBMvu2X4ADknW6PDKJSkGGAJPV4sI4xtnu3An15xEIwYMwjd1gmRk4hGn70_RZkf5pwhjz6CMw1V2Z4hYRh6gBsRtzlV0H3Ams617YBVwLP4JX0z2KQMFW0CeTq29Awi4mxcMgkS-UAmXMk87Whjv0-gXDMlAcy3bcJKnZW2cEWNFu7QqmzTJwjRPAZyQbF16hgQRNvrRzd8AL2la82Q-fJEzJJGoCVZiytIbvdmt3vrpIWJn-oksWEa88cFyowQw1uLzRoWoqqHfQWWm32dqep5yWoTfQJkLHMPhlCx24sg8WBRkxuAcMvBs1m-y_PmboVp0g3yJrvKNPAunll9ZSXaDbDGySkBR8JR7eGBFZnZZK9fpMX7yrOCZjTF81dgD4CJg==",
  "id": "rs_07ca404505d10fb2016ab46133dea087d08767795407e7284e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_y\":0.245,\"right_z\":-0.01},\"note\":\"The descent stopped high, so I’m adjusting toward the narrower, nearer portion and centering the body between the fingertips before closing.\"}",
  "call_id": "call_mO14vyfphriJp5NkYi6c5pgt",
  "id": "fc_07ca404505d10fb2016ab4613675bc87d092c7ac52e12efe39",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mO14vyfphriJp5NkYi6c5pgt",
  "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]: [-0.1577, 0.6777, 0.5919, -0.5095, -0.2481, -0.1837, 0.9974, 0.7406, 1.9636, 0.7334, 0.7223, 0.4587, 0.2955, 0.9994]\nstate[eef_state]: left_x=0.2676 left_y=0.005 left_z=0.1811 left_yaw=0.1351 left_pitch=-0.0135 left_roll=-0.0035 left_gripper=0.9974 right_x=0.3893 right_y=0.2548 right_z=0.0341 right_yaw=0.169 right_pitch=0.1173 right_roll=0.0653 right_gripper=0.9994\nstate[joint_eff]: [-0.5265, -0.8821, 6.6256, 1.8584, -0.1832, -0.0171, -0.0122, 0.7453, -4.2872, 2.4274, 0.823, -0.0317, 0.0904, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15436a89bbb38f016f0e4fd0becb6fc68969702bc55f5b0946143c9f198814e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac888a3aa4b79cee2d73d293a64a7ff3253a721b89eb45558ccb6af822ea4de7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0101cede2d0f9b3debba596fb2893b9ae0d89ef8ec6596a85ce8e7b3071f6f3c",
      "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 29 attempt 0 · /responses · status 200 · 7.17 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 101 changed as sent

message 109 changed as sent

message 113 changed as sent

message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1444, 0.6876, 0.6094, -0.5056, -0.2371, -0.1864, 0.9974, 1.293, 1.5036, 0.5114, -0.1204, 0.7673, 0.8631, 0.5037]\nstate[eef_state]: left_x=0.2705 left_y=0.0062 left_z=0.1871 left_yaw=0.1406 left_pitch=-0.0043 left_roll=-0.0149 left_gripper=0.9974 right_x=0.1895 right_y=0.2305 right_z=0.0264 right_yaw=0.1733 right_pitch=-0.1307 right_roll=-0.0597 right_gripper=0.5037\nstate[joint_eff]: [0.0342, -0.2803, 9.1009, 1.6728, -0.0415, 0.0952, -0.0122, 0.1162, -7.6786, 7.5829, 1.6972, 1.3553, -0.0708, 0.6618]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1577, 0.6823, 0.5987, -0.5125, -0.2481, -0.1837, 0.9974, 0.6785, 1.9369, 0.7502, 0.6136, 0.4065, 0.2565, 0.9992]\nstate[eef_state]: left_x=0.2682 left_y=0.0049 left_z=0.1825 left_yaw=0.1351 left_pitch=-0.0142 left_roll=-0.0033 left_gripper=0.9974 right_x=0.3976 right_y=0.2354 right_z=0.028 right_yaw=0.1736 right_pitch=0.0491 right_roll=0.0204 right_gripper=0.9992\nstate[joint_eff]: [-0.6496, -0.7726, 6.653, 1.7802, -0.1832, -0.0269, -0.0122, -0.8821, -4.4103, 4.3692, 0.7399, 0.022, -0.0317, 0.1148]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1577, 0.6777, 0.5919, -0.5095, -0.2481, -0.1837, 0.9974, 0.7406, 1.9636, 0.7334, 0.7223, 0.4587, 0.2955, 0.9994]\nstate[eef_state]: left_x=0.2676 left_y=0.005 left_z=0.1811 left_yaw=0.1351 left_pitch=-0.0135 left_roll=-0.0035 left_gripper=0.9974 right_x=0.3893 right_y=0.2548 right_z=0.0341 right_yaw=0.169 right_pitch=0.1173 right_roll=0.0653 right_gripper=0.9994\nstate[joint_eff]: [-0.5265, -0.8821, 6.6256, 1.8584, -0.1832, -0.0171, -0.0122, 0.7453, -4.2872, 2.4274, 0.823, -0.0317, 0.0904, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15436a89bbb38f016f0e4fd0becb6fc68969702bc55f5b0946143c9f198814e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac888a3aa4b79cee2d73d293a64a7ff3253a721b89eb45558ccb6af822ea4de7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0101cede2d0f9b3debba596fb2893b9ae0d89ef8ec6596a85ce8e7b3071f6f3c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGE9IG_QeVEfd29rOloFYSPTfbkZD9pAS90JpgMzWKzG20sfkYqdvzUVq6lBMOoLQ2wMamTbvr1NC3S1pK3rwSRMpNSKbXCsX4Y4ocFAdhFODTQTwQJxN71pV9bqo8WBIoPiZdCDlvya6B5ERGumJQATrHkwn2-XU2XZ3OoXj2TF-F0y-JH8dcSOKXhsBajeWO_HXkzkbB1u4lhEpLltnfiBsOK1EwGVulU0nEysRaWYWNLRhesKq5Gkf6VlLLur1aOA3expEPuFPKVPIJcca_lVlcyDuKOZww6h3na1nYQ1kJIed72AfAPwmc0Eyo8WpJHMEooss2X9kaz6uW2BLv_VAJrI2vrEVl-P2o4sMl6PNqVcTnf4QwIt49Q2u8pJfuYGS2PuvcBbnVG1GHUntXKY43EOPHi4uIZwCmtABtu_sR7acQfh5II7BeWK9O1VGoZz6ntdRj4pX19gkEAndFzGDhm2LTBvVy6LHUEOcFHg5yv5O4nyc7SITJxjCPJ6JR2V2FZhRSq7B-f-pxnTRR5E9jj3eHrjXmctUa65bmUKISRly9grE-KrQjt23F2wcnDIHT36oBrwEytgFJnbFEflstxRaBLZJGL9PwX8UdnPfrZGoelWAoRQbng1Mlz8itHFpsmI574x0xpsALrcGYTBgCl2QfvW5t8TefvPfK1ScEgxS6g-q6dWsn-se8GXLhcpQEOQNVYOd6sfuXEjgf8hurSlWu2qngyIFVF2CcE3IKfB3eDYSGxaLRNrE0DrZKXsHQKERebRY7rc2xO9qINxy2MqUCsyHBIwYwOKLSpFxZbvf3P3dN2WJDrSnuntqCRGu06ZG0_PNB0IuNEtF78rTyRwrIuiT-5X455femo6Eel1Qxxry-05VSyKhY_M9Rc4mJdH7ZnZMAfmbrs6VISyi46tI9YSvR6cWjKTTKWu8oTOup6CKydTLL4eALamu8k0Y99woKExp6MPGoM4DcXvUHwiR87JZTEH1JCI38g_vILDT_Ycu7mNe7r5cqlwyZ-OMLG1-2GBlF4ByaxstE-BMNwqOAixWQj5Y8_CPAY1v7p6ATCc1P90tovGZ3Inrs6M5mRPD1Pu3JNm5Zr7Oz6pS2yJb__VwV44SOcZ1P6T03_mxHJrbq7zdo7bgWmK8xXovEvRBQEgXW7_i5DWHDg3AfZtfcyOH6E9Y0M-_CTeMbd1ozW1ALzAX1IB6EY2GIYo7dwksawW3HJi4nGlckTBlLP9zx20zubHJvCIJpharaU6RlkYvNrlm11djv7o2B4oONA_hPZdLO02WHKZHO2gJpgQhsAoRjD06NuZ_yn8GgIsh1VNPcvJCOhN-HfxNPGFfsMHcUnQeZqBoxHEt-o99lkST9JZyUmMcuBcOS-USd5neFDe-oD-ddTPyhqg260BwO-46a6AYupuBmJkHvURG53rjHtKvHAdcS7m_YD9UWEQJ_24jh3izWPV4gKK0o7DpBQeQsnuQ98z1s1rRJjKLfICzEDFfKlyQf9y6MCXOjWv1p2AziFjxf3m_IitRYbC54UggvJUdHjjaIayP1jfjLpSWDv-tT_nKhHEmp1hfOsiFjaLVwRlIYHugdkxs6bBymiRmoN3xmfRDERLbDzHIxudO2-u7P6b8JheJIP2H2YfOEf6TO1BSt0zjISh-qx7lS7PmyFu71C7Cc5WMH2_jwlBm9T-HGnqTT-xaA6I2a-84UrHcT4TqUsw6PlXzpwxyo070I98gYqXYvXIx6y1Tpm6nuYWRXjIVCIPn1IShU8=",
  "id": "rs_07ca404505d10fb2016ab4613a83e887d08f1bca74a8364278",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The bottle is centered more closely between the jaws now. I’m closing and will use the settled opening to determine whether the body is captured.\"}",
  "call_id": "call_r3zErCc42ceyOZUV5phTv475",
  "id": "fc_07ca404505d10fb2016ab4613cfac087d0a3b1340a42b5130f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_r3zErCc42ceyOZUV5phTv475",
  "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]: [-0.1577, 0.6727, 0.5823, -0.5056, -0.2481, -0.1837, 0.9974, 0.7666, 1.9629, 0.7219, 0.8379, 0.4789, 0.3138, 0.018]\nstate[eef_state]: left_x=0.2669 left_y=0.0051 left_z=0.1788 left_yaw=0.1351 left_pitch=-0.0142 left_roll=-0.0033 left_gripper=0.9974 right_x=0.3896 right_y=0.2671 right_z=0.0548 right_yaw=0.1584 right_pitch=0.2082 right_roll=0.1339 right_gripper=0.018\nstate[joint_eff]: [-0.4718, -0.8137, 6.735, 1.8144, -0.232, -0.0073, -0.0122, 0.1846, -4.547, 2.8786, 0.0562, 0.0806, 0.0659, 0.8278]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecabb0d268089287e0e9d01028cfac17dc13f2b66b369fb985b3555426cbf0a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcb1524e5ce97d66cf7753f228021ec42b510a830536596d19a7640e1a056a67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b300c413c207a5442601d060dc737d6887d41191eda4e407ec3d7f51db0fbb8",
      "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 30 attempt 0 · /responses · status 200 · 5.517 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 105 changed as sent

message 113 changed as sent

message 117 changed as sent

message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1577, 0.6907, 0.6121, -0.5205, -0.2478, -0.1837, 0.9974, 0.7162, 1.6165, 0.8055, 0.1287, 0.4351, 0.284, 0.998]\nstate[eef_state]: left_x=0.269 left_y=0.0047 left_z=0.1848 left_yaw=0.1348 left_pitch=-0.0172 left_roll=-0.0026 left_gripper=0.9974 right_x=0.3657 right_y=0.2244 right_z=0.0944 right_yaw=0.1737 right_pitch=-0.0374 right_roll=-0.0255 right_gripper=0.998\nstate[joint_eff]: [-0.0752, -0.759, 6.4479, 1.8339, -0.1929, -0.0269, -0.0171, -0.6222, -6.4615, 8.4855, 1.7949, 0.1783, 0.0317, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1577, 0.6777, 0.5919, -0.5095, -0.2481, -0.1837, 0.9974, 0.7406, 1.9636, 0.7334, 0.7223, 0.4587, 0.2955, 0.9994]\nstate[eef_state]: left_x=0.2676 left_y=0.005 left_z=0.1811 left_yaw=0.1351 left_pitch=-0.0135 left_roll=-0.0035 left_gripper=0.9974 right_x=0.3893 right_y=0.2548 right_z=0.0341 right_yaw=0.169 right_pitch=0.1173 right_roll=0.0653 right_gripper=0.9994\nstate[joint_eff]: [-0.5265, -0.8821, 6.6256, 1.8584, -0.1832, -0.0171, -0.0122, 0.7453, -4.2872, 2.4274, 0.823, -0.0317, 0.0904, 0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1577, 0.6727, 0.5823, -0.5056, -0.2481, -0.1837, 0.9974, 0.7666, 1.9629, 0.7219, 0.8379, 0.4789, 0.3138, 0.018]\nstate[eef_state]: left_x=0.2669 left_y=0.0051 left_z=0.1788 left_yaw=0.1351 left_pitch=-0.0142 left_roll=-0.0033 left_gripper=0.9974 right_x=0.3896 right_y=0.2671 right_z=0.0548 right_yaw=0.1584 right_pitch=0.2082 right_roll=0.1339 right_gripper=0.018\nstate[joint_eff]: [-0.4718, -0.8137, 6.735, 1.8144, -0.232, -0.0073, -0.0122, 0.1846, -4.547, 2.8786, 0.0562, 0.0806, 0.0659, 0.8278]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecabb0d268089287e0e9d01028cfac17dc13f2b66b369fb985b3555426cbf0a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcb1524e5ce97d66cf7753f228021ec42b510a830536596d19a7640e1a056a67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b300c413c207a5442601d060dc737d6887d41191eda4e407ec3d7f51db0fbb8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGFF-3CwCJp0BVjZ25fqRWNMjpeHQVItslm1aeQ_iY49vCUL9_Jwx36RB6FGnjob79xVf-oLoHKVeLbI1UAAdKegEVubs-5frHn38vEevOGDpwwzPA5fKG461b6zXaIq2fWKioqh-RIJsNLUOzcu3-OQXEjIuDLNJs1EbXNMZD_0cAMhpLdUPc4G39HcQuBf9vcBP1AUjYEDpadZPOINaEpGWeAVjwja7Rqa_71uJ4-9s0rqSZnZ5K636IgjgPCUtDWaS4QDK0KeQFKTwv25OoRV5c-Pcwcqs7QMg01jFgOYZC0_ac2Lkz3W52oXT4UMHV08ev4f7pqYrpSIalxnztcDayfR62jsw9Q2Jwdmh-2rBxZql9nUevjtLXpQj-1RzaILhThJHTTG_cUd1Zyz5_gy8T1SRY4X_XncFaHQdw8a8wckSosvACKjhyS3oz12uao_tTxe6XZsxQ9g8gXV_T1tQRbEJHgWyxpQtdW5tFM3X73wu55PrdyNlGli9m5E2F8M8z-iiMS5ZXQuO6B31VAiuNuvri1lb2ic8luIiOVP3k5lq3OpNwfMMlSC4y-rL1hIAu7c9u8d1eQlH7zcA9C1G19nVQv3ugYvUSCVQRRprMVguO1R-VHM-pqQTQ1RbIi5IyTFPVq4oUHyC1XzTVtkVezrJg3ZaZt0XWAGiSY5xEeja1BNsWO9DJ1DK8Hyi_NvBlxKoBdANJXTjZxd8eAkNjmKhR5l7V3AC3J9g5ROBstlrqSeMTM4VLRh-q2bCm5XYAoK8UnFeHskwyKXimdLL_4RQTNNEr4JBNZSIvZn-PGyzTyM8RxUEklarwBqct_l838THTTjvqeFmoOBGFXXhwJeapIUvoYvoolwh5YM34dPVPx4pYbzP_W0WtFvo3fHbyFrCQxQvnnZxOsn1fyUUk5sNidoYiPlb498kccq9HJEQcdMH-RUw8iYv9b9loWssr-Aff23GnQU_Dy5vqWts8IofuwIsYF3SfqB3D-4gJh8604bqizyujT9-QnRbJT0uDet_8CUs4CrtYqBnF-uoUzXRpAgKDl0lKNI1g-SFGAnuD0TvFRQ8UXKflYao3l9AG-zYVgO2C7P1QAEWZBHGg8OgjUVKHWt6MzMjB_A3vJtPDVZEspHjrg3bbJHdqH_U84mk1J01dRXpFMfTT0mYmob93VGq8RGPa6tYTq4RQhDwXd9vm0tMoqb6i7kmtYkfxqy2AJY_kEEarTa_ZT-p6q-AFCcVyRiQfO8tE3AnfHs6CmTrU6_T2E-wyH3WQIHiZK1BsB9UsMidVrhhu1FquMk7lwVhv7H2L-VV7HGV0bUuG8hp3x7AGa76J7xbEuVHI_Ls2XUl03PO9ISq061-gX62NzVV1Y8CXKIY5Cj3tft_acYdJD_zK-df5M4EjgkkYbaFCV8EspWSqOB_KGUBNtI0XdCOOIeBmam6O42V7WfpveckFMJ4dMRfNHbUadev6sPLI11cFcymCl5kSYEr0M8v-APHjkITOyAeWvd3buXfg8d66DMVYLCtHqxaaPN2LC2W59ooCvEMrshb034JE9Ys_2JbjpPCzOunlAcShJ7AhkQrcq9P17ljCF1fFQ7iiTdy8IVs-JEZATxgsOmaxOsIDRPCNRrmbMKNNe9VJuKNXkVo3EeK-FJDLURjExVwA-9yfV1Gw_cj1u4lbmj_sOCVjT1NI4imtMmo2cV3uxsfJOeL2k_7HsEo3WpYOP_ojnl42YAW1frCXfWqCvAJhj2JSE2JNiaw9KTGCeX3BqZIg6S8VJ7Zg7oc3MpjydyDrVdEYh-kkXy_etrEihEdOL80aEgnxtB_UzXAw_EgxVW8NbUK9E2ro-ok7mxByMeKfRUEmi6OP0h3GBWugVSUx02J-QZhNNXAQkePX21FqFZUIxfuMX7tMdwKCP2SldjulKPgAu-amQ3EQlm2QbkvC3XLk7lhlnwnc1uR7rOslLbQ4q5-7MzevcfTWfc9IKgpz4hlwlK3VXd3Y0V2h4XE82DVj0zbESkUkNDAVNYskWUQNCB_LOVPCf500rITA_z03yftZZAQ_vDWxiSwHw0Fx52vBGw1Q2O7WOShVIjISt8QYCWikozMO7gMQT548pKhAc6DuBK2Xwah0K0I8hWWJuLkICZqkKur4EvPGx2qJWAmMCAsbWjSY6Nt_qERA878FJ1ntPszJ8j0fQkxERIpbR_zR2zs7sgIjnCk3tx1olF_jv4PFa8IX813x-UP3yxJUPo4GbblH1nQfhWmvRF4BzvSoRGLUIcf-0PfZPycqVjAEodpLoPnR-nDRSjjgidoTYzaD8UfC_ZexOcoG1GbunzceqVCZOfqwzG6kURAP9edFzO13-7PIV7H4S6hMqAYgmZsf7eYGbctmF3fWbMzmgZp8FJbedly-cztuNJI5tzhVJL3joGzHTCzo3t1Iaz",
  "id": "rs_07ca404505d10fb2016ab46140df6087d0995a1058a709f85b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.004,\"right_z\":0.22,\"right_gripper\":1,\"left_x\":0.29,\"left_y\":0,\"left_z\":0.22},\"note\":\"The latest close was empty, and all three bottles are still lying down. I’m withdrawing both arms to clear, raised positions rather than continuing to push the bottles with unreliable grasps.\"}",
  "call_id": "call_we977LQsuK0r6TxzomBKmqEJ",
  "id": "fc_07ca404505d10fb2016ab4614476c887d0ab9f218b07738ee5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_we977LQsuK0r6TxzomBKmqEJ",
  "output": [
    {
      "text": "executing move_to over 22 steps (2.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.165, 0.8085, 0.7223, -0.5556, -0.252, -0.1871, 0.9974, -0.1471, 0.8341, 0.7353, -0.5209, -0.2165, -0.1722, 0.9972]\nstate[eef_state]: left_x=0.2843 left_y=0.001 left_z=0.1974 left_yaw=0.1333 left_pitch=-0.0573 left_roll=0.0093 left_gripper=0.9974 right_x=0.2929 right_y=-0.0014 right_z=0.2023 right_yaw=0.0999 right_pitch=-0.0321 right_roll=-0.0042 right_gripper=0.9972\nstate[joint_eff]: [-0.7726, -0.9504, 10.5368, 1.7656, -0.2515, -0.022, -0.0122, -0.1026, -2.2359, 9.853, 1.6825, -0.2271, 0.0659, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fec3b43e199c37d17778650e08ea1a0404d1429a1914f0f385dc4a81bf3acf5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0c1466ae27f8917698b308b74be7b0dc38d15b0fe89fff7133414e2e5df5029",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 327):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3503bb8c1f2fb906105220c35a18f14ad88775eae02d679bba52b391046d22b6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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