adhoc

completed
2026-09-24T00:28:25.460585+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
225.6 s
total steps
249
success_at_end
0
scenes
1
trials
1
errored
0

scene-0

completed

Stand all three bottles upright.

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteAll three bottles are lying on their sides. I’ll approach the leftmost bottle near its neck, aiming to lift that end so the bottle can pivot upright.
move_to
left_x0.3900left_y-0.1200left_z0.1500left_gripper1.0000right_x0.2935right_y0.0012right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7933, 0.609, -0.3767, -0.0189, -0.0284, 0.9986, -0.0154, 0.7895, 0.6041, -0.387, -0.012, -0.0345, 0.9998] state[eef_state]: left_x=0.2958 left_y=0.001 left_z=0.1832 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2935 right_y=0.0012 right_z=0.1798 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.2667, -1.4154, 9.7162, 1.7705, -0.0513, 0.1636, -0.1587, -1.0462, -1.2239, 10.3316, 1.8486, -0.1538, 0.2027, -0.0366] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.12,"left_z":0.15,"left_gripper":1,"right_x":0.2935,"right_y":0.0012,"right_z":0.2},"note":"All three bottles are lying on their sides. I’ll approach the leftmost bottle near its neck, aiming to lift that end so the bottle can pivot upright."})
tool
executing move_to over 11 steps (1.1s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
agent noteThe left bottle’s cap is just left of the wrist-camera centre. I’ll align the jaws across its neck and lower toward the cap rather than squeezing the rounded body.
move_to
left_x0.4200left_y-0.0900left_z0.0550left_yaw-0.4500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4683, 1.3815, 0.762, -0.0692, -0.3702, -0.2729, 0.9988, -0.0151, 0.7979, 0.6502, -0.4793, -0.0219, -0.0429, 0.9998] state[eef_state]: left_x=0.3749 left_y=-0.114 left_z=0.1288 left_yaw=-0.0224 left_pitch=-0.0736 left_roll=0.0266 left_gripper=0.9988 right_x=0.2868 right_y=0.0031 right_z=0.1797 right_yaw=0.0133 right_pitch=-0.0548 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.4718, -5.9556, 9.3197, 1.7705, -0.2906, -0.1001, -0.1343, -0.335, -1.1556, 10.3179, 1.9609, 0.0659, 0.0464, -0.0171] camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.42,"left_y":-0.09,"left_z":0.055,"left_yaw":-0.45},"note":"The left bottle’s cap is just left of the wrist-camera centre. I’ll align the jaws across its neck and lower toward the cap rather than squeezing the rounded body."})
tool
executing move_to over 5 steps (0.5s)
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 cap is now near the bottom of the wrist view, with the bottle angled across the jaws. I’ll make a small alignment correction and turn the jaws to pinch across the neck.
move_to
left_x0.4310left_y-0.0550left_z0.0260left_yaw0.5500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1268, 1.6676, 0.6281, 0.4149, 0.1314, 0.0437, 0.9984, -0.0143, 0.7628, 0.5957, -0.4469, -0.0257, -0.0429, 0.9998] state[eef_state]: left_x=0.4146 left_y=-0.0726 left_z=0.0507 left_yaw=-0.2726 left_pitch=-0.0578 left_roll=-0.0278 left_gripper=0.9984 right_x=0.2826 right_y=0.0041 right_z=0.1709 right_yaw=0.0173 right_pitch=-0.0418 right_roll=0.0017 right_gripper=0.9998 state[joint_eff]: [0.3214, -6.3521, 6.3521, 1.2918, 0.0708, 0.3492, -0.0562, -0.5128, -1.5658, 6.9812, 2.0293, -0.0317, -0.0708, -0.0171] approver: 1 step(s) modified (delta_clamped). 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":0.431,"left_y":-0.055,"left_z":0.026,"left_yaw":0.55},"note":"The cap is now near the bottom of the wrist view, with the bottle angled across the jaws. I’ll make a small alignment correction and turn the jaws to pinch across the neck."})
tool
executing move_to over 6 steps (0.6s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteThe left jaws are over the bottle’s upper shoulder, and the descent stopped above the requested height. I’ll close gently around that narrow end, then check whether a small lift brings it up.
move_to
left_gripper0.2800right_x0.2935right_y0.0012right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0994, 1.7008, 0.6369, 0.4747, 0.2737, 0.1566, 0.9984, -0.0143, 0.7391, 0.5541, -0.4255, -0.0269, -0.0429, 0.9997] state[eef_state]: left_x=0.4189 left_y=-0.0862 left_z=0.0554 left_yaw=-0.4243 left_pitch=-0.0037 left_roll=-0.0047 left_gripper=0.9984 right_x=0.2791 right_y=0.0043 right_z=0.1625 right_yaw=0.0182 right_pitch=-0.0383 right_roll=0.0022 right_gripper=0.9997 state[joint_eff]: [-0.4034, -6.3795, 5.9556, 1.7411, 0.2613, 0.1148, -0.0122, -0.3214, -1.4564, 7.0085, 2.0049, -0.0317, -0.0073, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.28,"right_x":0.2935,"right_y":0.0012,"right_z":0.2},"note":"The left jaws are over the bottle’s upper shoulder, and the descent stopped above the requested height. I’ll close gently around that narrow end, then check whether a small lift brings it up."})
tool
executing move_to over 8 steps (0.8s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteThe jaws have closed around the bottle’s upper end. I’ll lift a few centimetres to see whether it is held and whether its base begins to swing downward.
move_to
left_z0.1200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1032, 1.7004, 0.6365, 0.4915, 0.2722, 0.1543, 0.2851, -0.028, 0.7948, 0.6411, -0.4755, -0.0303, -0.0616, 0.9997] state[eef_state]: left_x=0.4208 left_y=-0.0877 left_z=0.0588 left_yaw=-0.4257 left_pitch=0.012 left_roll=-0.0005 left_gripper=0.2851 right_x=0.2861 right_y=0.0009 right_z=0.1772 right_yaw=0.0175 right_pitch=-0.057 right_roll=-0.0103 right_gripper=0.9997 state[joint_eff]: [0.0479, -7.159, 5.2308, 1.6532, 0.1148, 0.0415, 0.0024, -0.8137, -0.7726, 10.1812, 1.9121, -0.1978, 0.0317, -0.0073] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.12},"note":"The jaws have closed around the bottle’s upper end. I’ll lift a few centimetres to see whether it is held and whether its base begins to swing downward."})
tool
executing move_to over 4 steps (0.4s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteThe bottle’s neck rose while its base stayed close to the table. I’ll lift the neck farther and bring it back over the base, letting the bottle pivot toward vertical.
move_to
left_x0.3700left_y-0.1400left_z0.2450right_x0.2935right_y0.0012right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1032, 1.5589, 0.7296, 0.247, 0.2676, 0.1535, 0.2851, -0.0288, 0.7586, 0.5842, -0.4473, -0.0307, -0.0612, 0.9998] state[eef_state]: left_x=0.4208 left_y=-0.0869 left_z=0.1038 left_yaw=-0.4214 left_pitch=0.0018 left_roll=-0.0019 left_gripper=0.2851 right_x=0.2809 right_y=0.0009 right_z=0.1667 right_yaw=0.0169 right_pitch=-0.0493 right_roll=-0.0101 right_gripper=0.9998 state[joint_eff]: [-0.212, -8.1299, 8.5538, 1.58, 0.0415, -0.0366, -0.0122, -1.0188, -1.4701, 6.9675, 2.044, -0.2125, 0.022, -0.0073] camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.37,"left_y":-0.14,"left_z":0.245,"right_x":0.2935,"right_y":0.0012,"right_z":0.2},"note":"The bottle’s neck rose while its base stayed close to the table. I’ll lift the neck farther and bring it back over the base, letting the bottle pivot toward vertical."})
tool
executing move_to over 10 steps (1.0s)
step 44
top_cam
camera top_cam step 44
left_cam
camera left_cam step 44
right_cam
camera right_cam step 44
assistant
agent noteThe bottle stayed on the table, so the previous pinch missed it. I’ll reopen and reach farther forward to put the jaws around the neck itself.
move_to
left_x0.4750left_y-0.1150left_z0.0550left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3313, 1.2709, 1.0103, -0.3264, 0.0906, 0.0319, 0.2852, -0.0284, 0.7944, 0.646, -0.4797, -0.0303, -0.0616, 0.9998] state[eef_state]: left_x=0.3734 left_y=-0.1416 left_z=0.223 left_yaw=-0.436 left_pitch=-0.0233 left_roll=-0.0098 left_gripper=0.2852 right_x=0.286 right_y=0.0008 right_z=0.1787 right_yaw=0.0172 right_pitch=-0.0558 right_roll=-0.0103 right_gripper=0.9998 state[joint_eff]: [-0.2803, -6.8444, 9.7573, 1.7558, -0.022, 0.1245, -0.0073, -0.6632, -0.5128, 10.1675, 1.8291, -0.1392, 0.0269, -0.0171] camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.475,"left_y":-0.115,"left_z":0.055,"left_gripper":1},"note":"The bottle stayed on the table, so the previous pinch missed it. I’ll reopen and reach farther forward to put the jaws around the neck itself."})
tool
executing move_to over 11 steps (1.1s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent noteThe neck is now beneath the fingertips, and the bottle’s body extends behind them. I’ll close fully so the jaw opening can tell us whether the neck is captured.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1684, 1.8668, 0.8543, 0.3435, 0.2039, 0.1047, 0.997, -0.0341, 0.7586, 0.5907, -0.4469, -0.0307, -0.0612, 0.9997] state[eef_state]: left_x=0.4565 left_y=-0.1103 left_z=0.0379 left_yaw=-0.4084 left_pitch=-0.092 left_roll=-0.0301 left_gripper=0.997 right_x=0.2817 right_y=-0.0006 right_z=0.1697 right_yaw=0.0115 right_pitch=-0.0425 right_roll=-0.0104 right_gripper=0.9997 state[joint_eff]: [0.5812, -9.1692, 8.2393, 1.9219, 0.1245, 0.2369, -0.1001, -0.4581, -1.5932, 6.9949, 2.0147, -0.1538, -0.0024, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The neck is now beneath the fingertips, and the bottle’s body extends behind them. I’ll close fully so the jaw opening can tell us whether the neck is captured."})
tool
executing move_to over 10 steps (1.0s)
step 65
top_cam
camera top_cam step 65
left_cam
camera left_cam step 65
right_cam
camera right_cam step 65
assistant
agent noteThe fully closed jaws read empty; the fingertips were still about five centimetres above the table. I’ll reopen and lower to the neck’s actual height before trying again.
move_to
left_x0.4700left_y-0.1200left_z-0.0050left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1688, 1.8832, 0.7898, 0.5682, 0.1909, 0.1043, 0.0111, -0.0349, 0.7364, 0.5503, -0.4252, -0.0303, -0.0612, 0.9997] state[eef_state]: left_x=0.4661 left_y=-0.1098 left_z=0.0513 left_yaw=-0.3969 left_pitch=0.0462 left_roll=0.01 left_gripper=0.0111 right_x=0.2785 right_y=-0.0008 right_z=0.1615 right_yaw=0.0104 right_pitch=-0.0391 right_roll=-0.0108 right_gripper=0.9997 state[joint_eff]: [-0.253, -8.6085, 4.0, 1.5214, 0.149, 0.0513, 0.8669, -0.7863, -1.2786, 7.0496, 1.9609, -0.1734, 0.0171, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.47,"left_y":-0.12,"left_z":-0.005,"left_gripper":1},"note":"The fully closed jaws read empty; the fingertips were still about five centimetres above the table. I’ll reopen and lower to the neck’s actual height before trying again."})
tool
executing move_to over 10 steps (1.0s)
step 75
top_cam
camera top_cam step 75
left_cam
camera left_cam step 75
right_cam
camera right_cam step 75
assistant
agent noteLowering nudged the bottle, leaving its neck slightly behind the jaws. I’ll move back three centimetres at table height to centre that neck between the fingers.
move_to
left_x0.4450left_y-0.1250left_z0.0050
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1905, 2.0373, 0.8143, 0.7223, 0.1665, 0.0845, 0.9944, -0.0353, 0.7147, 0.5129, -0.4026, -0.0307, -0.0612, 0.9997] state[eef_state]: left_x=0.4793 left_y=-0.1186 left_z=0.0208 left_yaw=-0.3878 left_pitch=0.0677 left_roll=0.0095 left_gripper=0.9944 right_x=0.2759 right_y=-0.0007 right_z=0.1547 right_yaw=0.0104 right_pitch=-0.0322 right_roll=-0.0109 right_gripper=0.9997 state[joint_eff]: [-0.7726, -6.2017, 4.9162, 1.2576, 0.0122, 0.1685, -0.1392, -1.0735, -1.4564, 6.9402, 1.9072, -0.1587, 0.0122, -0.0073] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.445,"left_y":-0.125,"left_z":0.005},"note":"Lowering nudged the bottle, leaving its neck slightly behind the jaws. I’ll move back three centimetres at table height to centre that neck between the fingers."})
tool
executing move_to over 3 steps (0.3s)
step 78
top_cam
camera top_cam step 78
left_cam
camera left_cam step 78
right_cam
camera right_cam step 78
assistant
agent noteThe jaws are now at the bottle’s neck height. I’ll close here and check the settled opening before lifting.
move_to
left_gripper0.0000right_x0.2935right_y0.0012right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2169, 1.9907, 0.7483, 0.7464, 0.1371, 0.0738, 0.996, -0.0391, 0.6983, 0.4847, -0.3954, -0.0307, -0.0608, 0.9997] state[eef_state]: left_x=0.4635 left_y=-0.1232 left_z=0.024 left_yaw=-0.3836 left_pitch=0.0697 left_roll=0.0148 left_gripper=0.996 right_x=0.2725 right_y=-0.0016 right_z=0.1475 right_yaw=0.0063 right_pitch=-0.0368 right_roll=-0.0103 right_gripper=0.9997 state[joint_eff]: [-0.8, -8.7453, 3.2752, 1.2527, -0.0073, -0.1245, 0.1538, -0.4718, -1.0188, 6.8581, 1.9902, -0.1734, 0.0024, -0.0073] camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"right_x":0.2935,"right_y":0.0012,"right_z":0.2},"note":"The jaws are now at the bottle’s neck height. I’ll close here and check the settled opening before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 88
top_cam
camera top_cam step 88
left_cam
camera left_cam step 88
right_cam
camera right_cam step 88
assistant
agent noteThat close was also empty, and the bottle has rolled closer to the base. I’ll reposition over its visible upper body rather than repeating the missed neck grasp.
move_to
left_x0.4000left_y-0.1600left_z0.0400left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2314, 1.9854, 0.728, 0.7513, 0.1303, 0.0673, 0.0103, -0.0261, 0.7948, 0.6411, -0.4728, -0.0296, -0.0605, 0.9997] state[eef_state]: left_x=0.4566 left_y=-0.1275 left_z=0.0204 left_yaw=-0.3887 left_pitch=0.0595 left_roll=0.0107 left_gripper=0.0103 right_x=0.2864 right_y=0.0013 right_z=0.1777 right_yaw=0.0182 right_pitch=-0.0543 right_roll=-0.0099 right_gripper=0.9997 state[joint_eff]: [-0.1983, -8.9641, 3.0427, 1.409, 0.022, -0.0415, 0.7985, 0.1436, -0.8684, 10.0718, 1.9121, 0.0269, 0.1685, -0.0122] camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.16,"left_z":0.04,"left_gripper":1},"note":"That close was also empty, and the bottle has rolled closer to the base. I’ll reposition over its visible upper body rather than repeating the missed neck grasp."})
tool
executing move_to over 10 steps (1.0s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteThe upper body is between the open fingers now. I’ll close once at this new position and use the jaw reading to verify contact.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3836, 1.7908, 0.606, 0.6079, 0.0135, -0.0078, 0.9951, -0.0284, 0.7628, 0.5865, -0.445, -0.0303, -0.0582, 0.9998] state[eef_state]: left_x=0.4014 left_y=-0.1607 left_z=0.0308 left_yaw=-0.402 left_pitch=-0.0161 left_roll=-0.0001 left_gripper=0.9951 right_x=0.2817 right_y=0.0009 right_z=0.1671 right_yaw=0.0153 right_pitch=-0.049 right_roll=-0.0078 right_gripper=0.9998 state[joint_eff]: [-0.3761, -9.6752, 4.8068, 1.6288, -0.1197, -0.0562, -0.1441, -0.8547, -1.6889, 7.2, 2.044, -0.1587, -0.0269, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The upper body is between the open fingers now. I’ll close once at this new position and use the jaw reading to verify contact."})
tool
executing move_to over 10 steps (1.0s)
step 108
top_cam
camera top_cam step 108
left_cam
camera left_cam step 108
right_cam
camera right_cam step 108
assistant
agent noteThe jaws closed empty again, and their contact has rolled the bottle backward. I’ll lift clear to expose the entire bottle and reassess its position before another approach.
move_to
left_x0.3400left_y-0.0700left_z0.1800left_gripper1.0000right_x0.2935right_y0.0012right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3866, 1.795, 0.5991, 0.6239, 0.0029, -0.0067, 0.0107, -0.0284, 0.7326, 0.5385, -0.4187, -0.0303, -0.0582, 0.9997] state[eef_state]: left_x=0.4011 left_y=-0.16 left_z=0.03 left_yaw=-0.3966 left_pitch=-0.0112 left_roll=0.0067 left_gripper=0.0107 right_x=0.2777 right_y=0.0011 right_z=0.1585 right_yaw=0.0153 right_pitch=-0.0406 right_roll=-0.0082 right_gripper=0.9997 state[joint_eff]: [0.2256, -7.3094, 4.3829, 1.9414, 0.0611, -0.0073, 0.8376, -0.7453, -1.2513, 6.9675, 2.0293, -0.1636, -0.0024, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.07,"left_z":0.18,"left_gripper":1,"right_x":0.2935,"right_y":0.0012,"right_z":0.2},"note":"The jaws closed empty again, and their contact has rolled the bottle backward. I’ll lift clear to expose the entire bottle and reassess its position before another approach."})
tool
executing move_to over 10 steps (1.0s)
step 118
top_cam
camera top_cam step 118
left_cam
camera left_cam step 118
right_cam
camera right_cam step 118
assistant
agent noteThe exposed bottle now lies almost sideways, with its cap at the left end. I’ll approach that narrow end from directly above using its updated position.
move_to
left_x0.3650left_y-0.1000left_z0.0120
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0937, 1.0985, 0.6628, -0.1215, 0.2173, 0.115, 0.9948, -0.0284, 0.7952, 0.6437, -0.4759, -0.0303, -0.0589, 0.9997] state[eef_state]: left_x=0.3486 left_y=-0.0674 left_z=0.17 left_yaw=-0.3493 left_pitch=0.0183 left_roll=-0.0016 left_gripper=0.9948 right_x=0.2864 right_y=0.0008 right_z=0.1782 right_yaw=0.0157 right_pitch=-0.0551 right_roll=-0.0082 right_gripper=0.9997 state[joint_eff]: [0.212, -3.7675, 9.6342, 1.707, 0.1978, 0.1929, -0.1929, -0.2803, -0.6222, 10.0718, 1.9902, -0.1343, 0.0269, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.365,"left_y":-0.10,"left_z":0.012},"note":"The exposed bottle now lies almost sideways, with its cap at the left end. I’ll approach that narrow end from directly above using its updated position."})
tool
executing move_to over 11 steps (1.1s)
step 129
top_cam
camera top_cam step 129
left_cam
camera left_cam step 129
right_cam
camera right_cam step 129
assistant
agent noteThe fingertips straddle the bottle’s narrow left end. I’ll close and check for a nonzero grasp width.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2249, 1.6901, 0.3939, 0.778, 0.1112, 0.0406, 0.9961, -0.0284, 0.7597, 0.5892, -0.4454, -0.0303, -0.0612, 0.9998] state[eef_state]: left_x=0.3758 left_y=-0.1024 left_z=0.0331 left_yaw=-0.3518 left_pitch=0.0461 left_roll=-0.0051 left_gripper=0.9961 right_x=0.2818 right_y=0.0009 right_z=0.1691 right_yaw=0.0169 right_pitch=-0.0436 right_roll=-0.0106 right_gripper=0.9998 state[joint_eff]: [-0.4718, -5.012, 2.3179, 0.862, -0.1197, 0.1343, 0.1245, -0.9504, -1.5658, 7.159, 2.1074, -0.1832, 0.0269, -0.0073] camera 'top_cam' (step 129): [image omitted: streamed camera frame] camera 'left_cam' (step 129): [image omitted: streamed camera frame] camera 'right_cam' (step 129): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The fingertips straddle the bottle’s narrow left end. I’ll close and check for a nonzero grasp width."})
tool
executing move_to over 10 steps (1.0s)
step 139
top_cam
camera top_cam step 139
left_cam
camera left_cam step 139
right_cam
camera right_cam step 139
assistant
agent noteThe close was empty; the cap sits just behind and to the right of the closed tips. I’ll offset toward it by a few centimetres instead of lowering further.
move_to
left_x0.3250left_y-0.1350left_z0.0100left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2295, 1.6711, 0.4126, 0.664, 0.0963, 0.049, 0.0106, -0.0284, 0.7364, 0.5449, -0.4206, -0.0307, -0.0608, 0.9998] state[eef_state]: left_x=0.3696 left_y=-0.1001 left_z=0.0224 left_yaw=-0.3482 left_pitch=-0.0306 left_roll=0.0005 left_gripper=0.0106 right_x=0.2785 right_y=0.0011 right_z=0.16 right_yaw=0.017 right_pitch=-0.0398 right_roll=-0.0102 right_gripper=0.9998 state[joint_eff]: [0.0068, -7.2821, 5.7231, 1.707, 0.0415, -0.0269, 0.7985, -1.0598, -1.5932, 7.2, 1.9609, -0.1929, 0.0171, -0.0171] camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.325,"left_y":-0.135,"left_z":0.01,"left_gripper":1},"note":"The close was empty; the cap sits just behind and to the right of the closed tips. I’ll offset toward it by a few centimetres instead of lowering further."})
tool
executing move_to over 10 steps (1.0s)
step 149
top_cam
camera top_cam step 149
left_cam
camera left_cam step 149
right_cam
camera right_cam step 149
assistant
agent noteThe cap is now at the centre of the jaw opening. I’ll close at this position, then lift only if the measured opening confirms a grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4339, 1.6752, 0.2741, 0.8757, -0.0696, -0.0536, 0.9944, -0.0284, 0.7128, 0.5064, -0.4015, -0.0307, -0.0605, 0.9998] state[eef_state]: left_x=0.3345 left_y=-0.1375 left_z=0.0198 left_yaw=-0.3575 left_pitch=0.0368 left_roll=0.0029 left_gripper=0.9944 right_x=0.2751 right_y=0.0012 right_z=0.1525 right_yaw=0.0168 right_pitch=-0.0356 right_roll=-0.0101 right_gripper=0.9998 state[joint_eff]: [-0.5949, -5.1761, 2.5915, 1.4139, 0.0366, -0.0415, -0.1001, -0.8957, -1.3607, 7.159, 1.9805, -0.188, 0.022, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The cap is now at the centre of the jaw opening. I’ll close at this position, then lift only if the measured opening confirms a grasp."})
tool
executing move_to over 10 steps (1.0s)
step 159
top_cam
camera top_cam step 159
left_cam
camera left_cam step 159
right_cam
camera right_cam step 159
assistant
agent noteThe clearer view shows the bottle is to the right of the fingertip centre, not between the jaws. I’ll lift slightly and shift sideways over its neck to avoid pushing it along the table.
move_to
left_x0.3500left_y-0.1950left_z0.0650left_gripper1.0000right_x0.2935right_y0.0012right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4374, 1.6489, 0.2871, 0.8021, -0.083, -0.0559, 0.0108, -0.0284, 0.6926, 0.4728, -0.387, -0.0307, -0.0608, 0.9997] state[eef_state]: left_x=0.3328 left_y=-0.1355 left_z=0.0174 left_yaw=-0.3485 left_pitch=0.0031 left_roll=0.0107 left_gripper=0.0108 right_x=0.2719 right_y=0.0013 right_z=0.1453 right_yaw=0.017 right_pitch=-0.0345 right_roll=-0.0104 right_gripper=0.9997 state[joint_eff]: [0.212, -6.2974, 5.094, 1.5409, 0.149, -0.0269, 0.7643, -0.9368, -1.265, 6.9675, 1.9414, -0.1929, 0.0269, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.195,"left_z":0.065,"left_gripper":1,"right_x":0.2935,"right_y":0.0012,"right_z":0.2},"note":"The clearer view shows the bottle is to the right of the fingertip centre, not between the jaws. I’ll lift slightly and shift sideways over its neck to avoid pushing it along the table."})
tool
executing move_to over 10 steps (1.0s)
step 169
top_cam
camera top_cam step 169
left_cam
camera left_cam step 169
right_cam
camera right_cam step 169
assistant
agent noteThe bottle is clear of the moving fingers and lies just behind them. I’ll lower over its upper shoulder with a short move toward the base.
move_to
left_x0.3000left_y-0.1800left_z0.0150
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6098, 1.5856, 0.4953, 0.4797, -0.2138, -0.1612, 0.9943, -0.0284, 0.7937, 0.6384, -0.4721, -0.0299, -0.0616, 0.9997] state[eef_state]: left_x=0.3427 left_y=-0.1893 left_z=0.0475 left_yaw=-0.3545 left_pitch=-0.0339 left_roll=0.0022 left_gripper=0.9943 right_x=0.2862 right_y=0.0007 right_z=0.177 right_yaw=0.0168 right_pitch=-0.0551 right_roll=-0.0106 right_gripper=0.9997 state[joint_eff]: [-0.5675, -7.6376, 7.7607, 1.7265, -0.1294, 0.0611, -0.0611, -0.7043, -0.6222, 10.3453, 1.9951, -0.1245, 0.0366, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 169): [image omitted: streamed camera frame] camera 'left_cam' (step 169): [image omitted: streamed camera frame] camera 'right_cam' (step 169): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.18,"left_z":0.015},"note":"The bottle is clear of the moving fingers and lies just behind them. I’ll lower over its upper shoulder with a short move toward the base."})
tool
executing move_to over 4 steps (0.4s)
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 shoulder is beneath the open jaws. I’ll check this grasp with a full close before attempting any lift.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6857, 1.6234, 0.2989, 0.7033, -0.2646, -0.1879, 0.9955, -0.0284, 0.7582, 0.5835, -0.4461, -0.0307, -0.0612, 0.9998] state[eef_state]: left_x=0.3005 left_y=-0.1816 left_z=0.0128 left_yaw=-0.3737 left_pitch=-0.0358 left_roll=0.0113 left_gripper=0.9955 right_x=0.2809 right_y=0.001 right_z=0.1667 right_yaw=0.0173 right_pitch=-0.0486 right_roll=-0.0101 right_gripper=0.9998 state[joint_eff]: [-0.3214, -4.1778, 3.9043, 1.8291, -0.315, -0.1441, 0.1148, -0.8137, -1.4291, 6.9949, 2.1026, -0.1783, -0.0073, -0.0073] 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 shoulder is beneath the open jaws. I’ll check this grasp with a full close before attempting any lift."})
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 noteThis grasp is empty too. I’ll lift clear and reposition forward over the bottle’s shoulder; the previous low moves were nudging it rather than enclosing it.
move_to
left_x0.3500left_y-0.2050left_z0.1100left_gripper1.0000right_x0.2935right_y0.0012right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6914, 1.6501, 0.2729, 0.7959, -0.2699, -0.1871, 0.0108, -0.0284, 0.7288, 0.5377, -0.4194, -0.0303, -0.0612, 0.9998] state[eef_state]: left_x=0.3004 left_y=-0.1828 left_z=0.0145 left_yaw=-0.3756 left_pitch=0.0033 left_roll=0.0024 left_gripper=0.0108 right_x=0.2774 right_y=0.0011 right_z=0.1589 right_yaw=0.0169 right_pitch=-0.0383 right_roll=-0.0108 right_gripper=0.9998 state[joint_eff]: [0.3077, -4.547, 3.7402, 1.8193, -0.0366, -0.0464, 0.8132, -0.759, -1.5385, 6.8718, 2.0049, -0.1685, 0.0171, -0.0171] 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":0.35,"left_y":-0.205,"left_z":0.11,"left_gripper":1,"right_x":0.2935,"right_y":0.0012,"right_z":0.2},"note":"This grasp is empty too. I’ll lift clear and reposition forward over the bottle’s shoulder; the previous low moves were nudging it rather than enclosing it."})
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 arm still obscures the left bottle’s cap. I’ll move it aside to get an unobstructed position check before deciding whether a reliable upright placement is possible.
move_to
left_x0.3000left_y0.0000left_z0.2200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.635, 1.462, 0.6064, 0.2577, -0.2398, -0.1829, 0.9943, -0.0284, 0.794, 0.6403, -0.4797, -0.0303, -0.0616, 0.9998] state[eef_state]: left_x=0.3468 left_y=-0.1989 left_z=0.0929 left_yaw=-0.3465 left_pitch=-0.0178 left_roll=-0.0051 left_gripper=0.9943 right_x=0.2853 right_y=0.0008 right_z=0.1762 right_yaw=0.0172 right_pitch=-0.0612 right_roll=-0.0101 right_gripper=0.9998 state[joint_eff]: [-0.0205, -7.4325, 8.1299, 1.7558, 0.1245, 0.3199, 0.0122, -0.6906, -0.5949, 10.4547, 1.8584, -0.1245, 0.0171, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). 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":0.3,"left_y":0,"left_z":0.22},"note":"The arm still obscures the left bottle’s cap. I’ll move it aside to get an unobstructed position check before deciding whether a reliable upright placement is possible."})
tool
executing move_to over 18 steps (1.8s)
step 211
top_cam
camera top_cam step 211
left_cam
camera left_cam step 211
assistant
agent noteWith the arm aside, the bottle’s cap is clearly visible at the upper-left end. I’ll approach that end from above and align the jaw opening across the neck.
move_to
left_x0.3500left_y-0.0850left_z0.0750left_yaw0.3500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.2588, 0.9276, 0.7738, -0.5098, 0.4435, 0.2825, 0.9954, -0.0341, 0.7563, 0.5777, -0.4442, -0.0383, -0.0612, 0.9997] state[eef_state]: left_x=0.3027 left_y=0.0054 left_z=0.2037 left_yaw=-0.2729 left_pitch=-0.0292 left_roll=-0.0205 left_gripper=0.9954 right_x=0.2804 right_y=0.0008 right_z=0.165 right_yaw=0.018 right_pitch=-0.0503 right_roll=-0.0056 right_gripper=0.9997 state[joint_eff]: [0.335, -1.6752, 9.8256, 1.5995, 0.3346, 0.0757, 0.1099, -0.6085, -1.6068, 7.1316, 2.0488, -0.1294, 0.0122, -0.0171] camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.085,"left_z":0.075,"left_yaw":0.35},"note":"With the arm aside, the bottle’s cap is clearly visible at the upper-left end. I’ll approach that end from above and align the jaw opening across the neck."})
tool
executing move_to over 9 steps (0.9s)
step 220
assistant
agent noteThe open fingertips are slightly behind and to the right of the cap. I’ll move forward-left and lower onto the neck, keeping the bottle’s body outside the pinch.
move_to
left_x0.3650left_y-0.0500left_z0.0230left_yaw0.6000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5751, 1.478, 0.5652, 0.0475, -0.6239, -0.522, 0.9958, -0.0395, 0.7242, 0.5301, -0.4191, -0.0486, -0.0612, 0.9998] state[eef_state]: left_x=0.3361 left_y=-0.0906 left_z=0.0553 left_yaw=0.209 left_pitch=-0.1073 left_roll=0.0755 left_gripper=0.9958 right_x=0.2762 right_y=0.0013 right_z=0.1568 right_yaw=0.0213 right_pitch=-0.0404 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.1709, -7.2821, 7.7744, 1.3993, -0.5641, -0.0269, 0.022, -0.294, -1.4017, 6.8581, 2.0293, -0.0366, -0.0317, -0.0122] camera 'top_cam' (step 220): [image omitted: streamed camera frame] camera 'left_cam' (step 220): [image omitted: streamed camera frame] camera 'right_cam' (step 220): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.365,"left_y":-0.05,"left_z":0.023,"left_yaw":0.6},"note":"The open fingertips are slightly behind and to the right of the cap. I’ll move forward-left and lower onto the neck, keeping the bottle’s body outside the pinch."})
tool
executing move_to over 4 steps (0.4s)
step 224
assistant
agent noteThe jaws are at table level around the narrow end, now aligned more closely across the bottle. I’ll close and check whether this alignment captures it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5282, 1.7721, 0.6147, 0.1661, -0.807, -0.7658, 0.9962, -0.0399, 0.6994, 0.4915, -0.4023, -0.0494, -0.0612, 0.9997] state[eef_state]: left_x=0.3524 left_y=-0.0537 left_z=0.0097 left_yaw=0.5119 left_pitch=-0.0581 left_roll=0.0695 left_gripper=0.9962 right_x=0.2725 right_y=0.0015 right_z=0.149 right_yaw=0.0215 right_pitch=-0.0373 right_roll=0.0001 right_gripper=0.9997 state[joint_eff]: [0.1573, -8.0752, 6.5299, 1.2625, -0.7155, -0.149, 0.022, -0.5128, -1.2239, 7.0496, 2.0293, -0.105, -0.0513, -0.0171] camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The jaws are at table level around the narrow end, now aligned more closely across the bottle. I’ll close and check whether this alignment captures it."})
tool
executing move_to over 10 steps (1.0s)
step 234
assistant
agent noteThe grasp is still empty, and all three bottles remain on their sides. I’ll withdraw both arms rather than keep nudging the left bottle without a reliable grasp.
move_to
left_x0.2958left_y0.0010left_z0.2200left_gripper1.0000right_x0.2935right_y0.0012right_z0.2200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5228, 1.7939, 0.6479, 0.1596, -0.8539, -0.8463, 0.0108, -0.0399, 0.6777, 0.4583, -0.387, -0.0528, -0.0616, 0.9997] state[eef_state]: left_x=0.3601 left_y=-0.0497 left_z=0.0159 left_yaw=0.5864 left_pitch=-0.0192 left_roll=0.0173 left_gripper=0.0108 right_x=0.2695 right_y=0.0022 right_z=0.1425 right_yaw=0.0246 right_pitch=-0.0334 right_roll=0.0015 right_gripper=0.9997 state[joint_eff]: [0.0889, -7.6239, 5.7641, 1.1062, -0.5299, -0.1148, 0.8718, -0.5128, -1.0598, 6.8444, 1.9658, -0.0269, -0.0415, -0.0073] camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.2958,"left_y":0.001,"left_z":0.22,"left_gripper":1,"right_x":0.2935,"right_y":0.0012,"right_z":0.22,"right_gripper":1},"note":"The grasp is still empty, and all three bottles remain on their sides. I’ll withdraw both arms rather than keep nudging the left bottle without a reliable grasp."})
tool
executing move_to over 14 steps (1.4s)
step 248
assistant
agent noteI couldn’t obtain a reliable grasp to stand the bottles upright. All three remain on their sides; the left bottle was nudged closer to the front-left of the table. Both arms are now withdrawn with their grippers open.
give_up
hindsightLow, open-jaw repositioning repeatedly nudged the lightweight bottle instead of enclosing its neck. Re-approach vertically after obtaining an unobstructed overhead view, and do not treat wrist-camera disappearance as evidence of alignment. Every full close here settled near 0.01, confirming an empty grasp; a partial close to 0.28 alone did not establish contact. Tool pitch and roll are pinned, so standing a bottle would require a verified neck grasp that allows it to pivot, rather than a rigid body grasp.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4698, 1.1027, 0.894, -0.6781, -0.8238, -0.804, 0.9965, -0.0395, 0.8089, 0.7265, -0.5415, -0.0532, -0.0662, 0.9998] state[eef_state]: left_x=0.3039 left_y=-0.0049 left_z=0.2083 left_yaw=0.5984 left_pitch=0.0057 left_roll=-0.0465 left_gripper=0.9965 right_x=0.2873 right_y=0.0016 right_z=0.1988 right_yaw=0.0278 right_pitch=-0.0509 right_roll=-0.0009 right_gripper=0.9998 state[joint_eff]: [0.2393, -3.9453, 8.4718, 1.1404, -0.3883, 0.2955, -0.0562, -0.4171, -0.8547, 9.853, 1.8632, -0.0171, 0.0122, -0.0366] camera 'top_cam' (step 248): [image omitted: streamed camera frame] camera 'left_cam' (step 248): [image omitted: streamed camera frame] camera 'right_cam' (step 248): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I couldn’t obtain a reliable grasp to stand the bottles upright. All three remain on their sides; the left bottle was nudged closer to the front-left of the table. Both arms are now withdrawn with their grippers open.","hindsight":"Low, open-jaw repositioning repeatedly nudged the lightweight bottle instead of enclosing its neck. Re-approach vertically after obtaining an unobstructed overhead view, and do not treat wrist-camera disappearance as evidence of alignment. Every full close here settled near 0.01, confirming an empty grasp; a partial close to 0.28 alone did not establish contact. Tool pitch and roll are pinned, so standing a bottle would require a verified neck grasp that allows it to pivot, rather than a rigid body grasp."})
tool
give_up: I couldn’t obtain a reliable grasp to stand the bottles upright. All three remain on their sides; the left bottle was nudged closer to the front-left of the table. Both arms are now withdrawn with their grippers open.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [0, 0], left_roll: [0, 0], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [0, 0], right_roll: [0, 0], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 11.6 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Stand all three bottles upright.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.609, -0.3767, -0.0189, -0.0284, 0.9986, -0.0154, 0.7895, 0.6041, -0.387, -0.012, -0.0345, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.001 left_z=0.1832 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2935 right_y=0.0012 right_z=0.1798 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -1.4154, 9.7162, 1.7705, -0.0513, 0.1636, -0.1587, -1.0462, -1.2239, 10.3316, 1.8486, -0.1538, 0.2027, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c4468e148fa807a87b19d6a44e053c6af14c6c85611568310950fa9a66de7c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a52b12d1ad747f747dd59e7a80a7eeb4a8f0437d6565419b07c7548cfcf1985",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:707e855122b8eb2b431a947f204b6068fc7ca1b01f1e7f73ec375a92eec38ac5",
      "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 · 6.041 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
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  "id": "rs_0d7c5e9ec0fee733016ab46eb7f2c487d0a190e144540ce157",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.12,\"left_z\":0.15,\"left_gripper\":1,\"right_x\":0.2935,\"right_y\":0.0012,\"right_z\":0.2},\"note\":\"All three bottles are lying on their sides. I’ll approach the leftmost bottle near its neck, aiming to lift that end so the bottle can pivot upright.\"}",
  "call_id": "call_RPN7ia32ojaG4e4n6P7lUhIB",
  "id": "fc_0d7c5e9ec0fee733016ab46ec0f79487d0a013769a7a4e77d9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RPN7ia32ojaG4e4n6P7lUhIB",
  "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]: [-0.4683, 1.3815, 0.762, -0.0692, -0.3702, -0.2729, 0.9988, -0.0151, 0.7979, 0.6502, -0.4793, -0.0219, -0.0429, 0.9998]\nstate[eef_state]: left_x=0.3749 left_y=-0.114 left_z=0.1288 left_yaw=-0.0224 left_pitch=-0.0736 left_roll=0.0266 left_gripper=0.9988 right_x=0.2868 right_y=0.0031 right_z=0.1797 right_yaw=0.0133 right_pitch=-0.0548 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -5.9556, 9.3197, 1.7705, -0.2906, -0.1001, -0.1343, -0.335, -1.1556, 10.3179, 1.9609, 0.0659, 0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98960558ae2965571ccab7aaa7df763f1496c8211c76b9f5692c38c4f076e73d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29e674c4c4fa362296b0aec6f3d2f98d532c2d977fbc1008df319fb7d5de6bb8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a6d0c16fa804181c84e882417e3f6a9156c4526baba9654f84655cb61897721",
      "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 · 7.221 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.609, -0.3767, -0.0189, -0.0284, 0.9986, -0.0154, 0.7895, 0.6041, -0.387, -0.012, -0.0345, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.001 left_z=0.1832 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2935 right_y=0.0012 right_z=0.1798 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -1.4154, 9.7162, 1.7705, -0.0513, 0.1636, -0.1587, -1.0462, -1.2239, 10.3316, 1.8486, -0.1538, 0.2027, -0.0366]",
      "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]: [-0.4683, 1.3815, 0.762, -0.0692, -0.3702, -0.2729, 0.9988, -0.0151, 0.7979, 0.6502, -0.4793, -0.0219, -0.0429, 0.9998]\nstate[eef_state]: left_x=0.3749 left_y=-0.114 left_z=0.1288 left_yaw=-0.0224 left_pitch=-0.0736 left_roll=0.0266 left_gripper=0.9988 right_x=0.2868 right_y=0.0031 right_z=0.1797 right_yaw=0.0133 right_pitch=-0.0548 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -5.9556, 9.3197, 1.7705, -0.2906, -0.1001, -0.1343, -0.335, -1.1556, 10.3179, 1.9609, 0.0659, 0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98960558ae2965571ccab7aaa7df763f1496c8211c76b9f5692c38c4f076e73d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29e674c4c4fa362296b0aec6f3d2f98d532c2d977fbc1008df319fb7d5de6bb8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a6d0c16fa804181c84e882417e3f6a9156c4526baba9654f84655cb61897721",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG7JXNrN_UbFFh_ZUwMgGfdn3TlezauSmm8BrWZY6obgwt2Ngmn1wSKnBxjek5xVi0WEVajJZy8TzSwGywNzcyUfjHN6iplCEFFGtOIeqEd8dlYSzpEXKsNIXRAlt7_66m6_HlErPWZrszgP9hPEUg7JQURPUyhEhb_vGQkjobQYXwLipIABCbHpxNAem8sAAQxaFmjWbiXBqB8gidg2uGc3Hl-lqn3bql3jFmRcwotsNjVKLrmpsoWXLOaVeCnmufGwC20PY8nttcS3tGu0Xn2j0pfSZCGYBU_n6BQ3fExBrH1OzC8v8imU6gA0kCLSaTZhinpfFe2z3XQ5tF7auaPrbvEuBH4-zscU6ftYQl1f3e0ZXDUGQu4k6EKvuGDrHuD50ZnnOcuuNWnkWJiycOJPv3sc8ONXSkbb7V94vixyzy-8hWCvAMgsX8H9C6waKaqoOn4ZK3Lft7-2g-hH47Nro2YMUbheWDVopRe7zLx8JyIvWUxo4a4LMiEEO9LTYS97tDFMTAUOnO4jWnS9ciyJEsTm1uhpM1clj1A9J7kv_azjDhDeeqnW-aTdW39w0dO6Y9XdWAhHGGBxt2XXxPBWg1nZKuIhBySjtX8cJlEyCoc5_xZ45F9FkTfVkAobjufTLszr89xNQLO8IVFB8wr34Z7qrK6hWdzrwoPqCycKt4L4B9KDjdvujlDVT7puDaE2ltayBZ4TJirXFjFx8vCDgXG6WT_Cqdqqc2FLAzjTcUcMMnr7BKmCjHTS2ktejcpTf1Ms7moewcuZICBWXqwrzHTOEyYC3EtlA9ae1KtRUv7pICoxx3IkpYLJDkRyNomKuoZ7M6_gZ_lyM8oRkLq9A5FimMpjkMKIZfpGcyQ-YlGFxqbGcf6LBgoE8YY5Qi4G3KVyBrMdaTgVr_sQC2BVgEa8HNPsxy-zx2bvFy-T598P43GzTXFuBq0Gs5zLkWTzTmX9PizFc_f3jlHZrQmIpbc-fBloquKkmaTOGzIIC65JVm2yAd7MaGoe5FQJOt4dcmxMwkiJ3X2FJ_6MqNFg64Az16zTjwE7N8BhOhV85SeIwwqmUS8WKYlF0ISMcJOxxeR8dpuFnvV0p40RKkymYfAhF1eERF623bemnge3_Oy_slQvFSLBLP5AgJqOaHhIVPdt_TBT-AlgsHTb8CEiOgqAJHPxnCYSiMqldWIb1y5lWcRyW2y3QxpoOR_j3duxeqBQx7VYCQOTirpHFPxkfB9l61fWH9I7xitblYyFdQL00nR8KW79fLPJb7g5Hu5VUlgBdLtynvXo4c6D-ZheXirfA_S5Pv6W5_v8lIIT-XSlmcrPUIKA6mouapHcCiZty0XWtloJLMkhhM4QK12xnxLg89rNe_m8VZsiDZxGPbYf57yVKMCVDGw0_KQQmQmT6klP1Gwlik_NVfiXaURTLQM5vQyaBYLcTTfVu1rihYo-kVYMKZgsRV8gEe5yJdxdjPxweckGl7byfQlyOhVzFGNvacvGl4uo6g51PJjCCSePRg3_YO_yUfXO9nen8pYQUJEUvzXzsB4o7iUQqzBpd6jUbOUSAm-vd6pqmLmFhIM5eO0FRR59qMt1wbvsrMeVrrAt7IiAyx4f8iYiWSDaGnX5x2cBjjcEJoF8ozdqe1GZV8v6zoosQFEeisORrEK8BSd6E_e8UU-nZTphv7PR0YYuL7QtIJmtqCJM7eFPlIdAfuFH2sgsCLKoJ1yTuQa3_DN8WrjWlBEg-tkngwPB0xQkbrP0JWB5iYq1BkY_ipKVf3a9wJ4LepPrHQNp0qElBKBqfuwsA5dBb8MkfgqNQUAFNNdB59rY5NBYsyS_zwpORJ7V9P7CDFlYOEw4mRqh2OLdzdm5tNrDxuyw49KQavyfP6YB2I-Mi88e2uygmVsmR30QhdlpME8wAy64Rkju9oSBElV8gfnFSJWom8282w==",
  "id": "rs_0d7c5e9ec0fee733016ab46ec4fb3c87d0bd8eafd09d05163e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.09,\"left_z\":0.055,\"left_yaw\":-0.45},\"note\":\"The left bottle’s cap is just left of the wrist-camera centre. I’ll align the jaws across its neck and lower toward the cap rather than squeezing the rounded body.\"}",
  "call_id": "call_Xql3rrZGayL31ZTDqT76T9Rx",
  "id": "fc_0d7c5e9ec0fee733016ab46ec7f64487d088f757f7e85efd60",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Xql3rrZGayL31ZTDqT76T9Rx",
  "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]: [-0.1268, 1.6676, 0.6281, 0.4149, 0.1314, 0.0437, 0.9984, -0.0143, 0.7628, 0.5957, -0.4469, -0.0257, -0.0429, 0.9998]\nstate[eef_state]: left_x=0.4146 left_y=-0.0726 left_z=0.0507 left_yaw=-0.2726 left_pitch=-0.0578 left_roll=-0.0278 left_gripper=0.9984 right_x=0.2826 right_y=0.0041 right_z=0.1709 right_yaw=0.0173 right_pitch=-0.0418 right_roll=0.0017 right_gripper=0.9998\nstate[joint_eff]: [0.3214, -6.3521, 6.3521, 1.2918, 0.0708, 0.3492, -0.0562, -0.5128, -1.5658, 6.9812, 2.0293, -0.0317, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a72ca84b1cbf512d8a20c92404a0d2e554334cf3c8ecf27314ab503f7745414",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12b04818f8a944ff378d108f0295edc6a2fbfbc08875ef88b70fbab7d2f3187d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:412f8b4858f7293c1095336da9274c770b9b7967803dce777209ef18b5145507",
      "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 · 6.169 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]: [-0.4683, 1.3815, 0.762, -0.0692, -0.3702, -0.2729, 0.9988, -0.0151, 0.7979, 0.6502, -0.4793, -0.0219, -0.0429, 0.9998]\nstate[eef_state]: left_x=0.3749 left_y=-0.114 left_z=0.1288 left_yaw=-0.0224 left_pitch=-0.0736 left_roll=0.0266 left_gripper=0.9988 right_x=0.2868 right_y=0.0031 right_z=0.1797 right_yaw=0.0133 right_pitch=-0.0548 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -5.9556, 9.3197, 1.7705, -0.2906, -0.1001, -0.1343, -0.335, -1.1556, 10.3179, 1.9609, 0.0659, 0.0464, -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]: [-0.1268, 1.6676, 0.6281, 0.4149, 0.1314, 0.0437, 0.9984, -0.0143, 0.7628, 0.5957, -0.4469, -0.0257, -0.0429, 0.9998]\nstate[eef_state]: left_x=0.4146 left_y=-0.0726 left_z=0.0507 left_yaw=-0.2726 left_pitch=-0.0578 left_roll=-0.0278 left_gripper=0.9984 right_x=0.2826 right_y=0.0041 right_z=0.1709 right_yaw=0.0173 right_pitch=-0.0418 right_roll=0.0017 right_gripper=0.9998\nstate[joint_eff]: [0.3214, -6.3521, 6.3521, 1.2918, 0.0708, 0.3492, -0.0562, -0.5128, -1.5658, 6.9812, 2.0293, -0.0317, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a72ca84b1cbf512d8a20c92404a0d2e554334cf3c8ecf27314ab503f7745414",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12b04818f8a944ff378d108f0295edc6a2fbfbc08875ef88b70fbab7d2f3187d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:412f8b4858f7293c1095336da9274c770b9b7967803dce777209ef18b5145507",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG7QUYAR2Mwq9vXc6nMMQlMLQALQ1T0GW3zl9s_AekU8Crq9fdswegWEL4LHSJOQGkAu_ksofXQ2Zv7qaGDx7OfhqXtgf-GNdhn-adD8wE1hIcQhHVbgoyea5dVh1e3xnAsWLpJWfaOa1TcSBduglwT8eU6FXDu1sSwKrJyzYuG6ycLE-wdU4oGi-OdrjdFb_764VPrWPmdUkEh9QVkgkKzNJOrjt7R_-loauk-JFOnPjkZ9keexAyi_df27vEcDOBMmnadciAJvXw0c9271_nl1vk3LWCIxtohNtpVBkN-YSD0bR4Z_IRN8xQ-449_GSJ7R-dxkK483r-0eeNXSfjIfZwLEspz8H6l5jsl5kg-tWJCM2QD5K6uO9zMbJWYXCA66N-n22PKx3i4E290_sbMCn_YzyDjyBEIroKRC6MDiw5PpsCSZTjawwDxRQ64OLAvBezbZwYP0O_2iD8CkXn3FXZ8cESJ2ANMkFwtgDtcxhjpCjQv_LoVxp-PT7jQDI3YBe4mhbbp6eALI9qVLYwOc_c4sacSQqoHMVT4Jz5fb22I61wykZcsLk38ge-x51fkrPDI4rCHkWWOzbYbxUF4mAVCiCFe6dq8zHjnxc9-oIAv-BN_nmr28RHasa-iSDbLhlJQp4lyy4IGBol7Rs-vScvfMrdoVK7I2hN9nzLa0pbsevpQJGO7rqn0hOTe6iNcZWcKPMExJUHYbulwxnaS83ll1qX5loQD4RkRKRqJc9SrA7hfD46eiWymAWmcO0W1Xy2S51dXRVEwTCJmnPmHqp6DettZZny1Q9lr0skZQaR49l04KBBjBABcsKvtNhHc0Y8QL3Og76avPVV8wfUSHHUcwOwRdPsXdaSOnwq4vpN8PdvTCioxNMs7NY_c6tLcYDTuxzH1vuMYprV_l1N4SXKKncn-jZnxqy9skhsDlx8kT2jVDobW8PWvkR8M8tDb8WheKNL2cVnjZhWnxh_ibO7Bcxw6VROjYWioV7oJTQcuxnNprUDCBwD6c1ZVB3dDT2XUXi8e4SjiCUV_sijeNBWsjjn04g_l7sy-Si5iMNA5HjtL2wnV2B23WMpNWkRgg8HK6ZQJKCGKYrMY86N1I8PpUCxD6hIp_BlW_S_7_0UY-dXT3hjHPTWkrJlzg2JqUkVtX4uppa-eeECYPrntJaxWk2rkhkjtV7zY5E1OzrcvVQPW7d4jb2rDQDInEpdykRvMSS7R-DjLqtWXEXBSmt0Ms39keWx9Uq60Ooe0YgrbGk1IBCnxoW8emxlcKhNnwd_zuTWtHtyNp1AiEUf9x0pT-IWCLqyqdkrQxLm7UqCLetrMRKTiixOw9PMrnf-OnMzkXHMK94C8E-FKSWPcb1CGZgNaiVuaxuEOzeMGiEQeblzUYRJEBkEdnzZgrq-WNkWA5KSpFcMQeQTAM-26vtJttnbIDlVyWARgTM8VRPlKn4wDf60gWWhv1SfoQJZsd0_E5_uDbM_GR11Qb2uMJvDdt_BtGymWNbKcsiNaDj04xXIZexzAecOxVxJbs-FuRKJ4ALPa6ppmHkv8sXjw2FAkbIiZd5i7GSf_KVkeq3lpThQzIgXoJ75c_QlOREVDL2exJ53W_UrpBhA6DwTCwyOSdTVaziV7j4rztJ9kgSJtwkNDaBWDhpEmiUXYLXLOFDb3q8LySZa7aQq5-IuzktGW9wzzx0cy0AKAXVYmFmQUsS3IP4bW7iLHRCd9DYbVN9qeOWRC-fWzjpvIJCZt14ojUwtuq4bo0yTFm8LozNiAmmau-MILJ1HVacxDQJqNFhALXYMl3TpggTS51jowmvWyCp5usIy7M2HkLvZILeBGLv1PkyEqOEclyujZRY2I0FLknm5N7hblTRpZC8QMcBtinO8O5u6vOj5cUdIflNwKRdCldF3YCY3kqYbey_46zpg42Qr1OAvc9CR1eeskWEcmBBoE6a0dXvpa36mpeU8UzU7nXkbU8LzvQc9hi2JhOo6za0Q7hECoFVEf605vDhj-XfWMMvqDccirZvr5an7HdkRGSZpe6WmeoB2uSd0hHAeKkeBjEi2gzK2tFzK_Q806rR3EDCFAgDmB3oIPfhoYEt1rL1D5wr38dJ8JMESSS5FDtUdO1F0yX8VIB1eSYcjk6RHRflIg3riZpNNdxB3GjgizYcQy4ovScokr_wqRtd2KKugwyEGzERzXBIk7_VF-IfQgbHPEtRUnzyDY9puw5XOXNvTXZK4edWrgOhkcRhL4W9JaEeoSH5tby2JgCYOb92zGIs2bVF7lJNUFdW9xrNBqt4Ti1VgrKpL_RoAPGbnlSs0lXkPdrYB0Hq5xm6Qw3G31Yg8EEGx7xyiz9CmBd7EAtgQF4dOFfwJBX-zJ3uVJGDBbj_dy9FpgO7ajH2JL7na1dHGp-RB1nBQVPHpc7BUu9dAGIpppewOTuSTEN6lf6iEbO3eAbh6fFT_vM3Q==",
  "id": "rs_0d7c5e9ec0fee733016ab46ecb515487d0bdc0022078dd991b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.431,\"left_y\":-0.055,\"left_z\":0.026,\"left_yaw\":0.55},\"note\":\"The cap is now near the bottom of the wrist view, with the bottle angled across the jaws. I’ll make a small alignment correction and turn the jaws to pinch across the neck.\"}",
  "call_id": "call_fJ5kKKiuPapTZxZXxSsB0S0p",
  "id": "fc_0d7c5e9ec0fee733016ab46ecfbd6887d0925bbc68bfedf61f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fJ5kKKiuPapTZxZXxSsB0S0p",
  "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]: [-0.0994, 1.7008, 0.6369, 0.4747, 0.2737, 0.1566, 0.9984, -0.0143, 0.7391, 0.5541, -0.4255, -0.0269, -0.0429, 0.9997]\nstate[eef_state]: left_x=0.4189 left_y=-0.0862 left_z=0.0554 left_yaw=-0.4243 left_pitch=-0.0037 left_roll=-0.0047 left_gripper=0.9984 right_x=0.2791 right_y=0.0043 right_z=0.1625 right_yaw=0.0182 right_pitch=-0.0383 right_roll=0.0022 right_gripper=0.9997\nstate[joint_eff]: [-0.4034, -6.3795, 5.9556, 1.7411, 0.2613, 0.1148, -0.0122, -0.3214, -1.4564, 7.0085, 2.0049, -0.0317, -0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6dae57bf95ba0fea3dfb0f4f06a040b452171811b6e1315804bd63bdf78a7532",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bc421c0a18cee7433c13b7724fcd487e26df837bbfc4fdfd84728ba89eb119f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ce720529f691c4637d3fe3922548ee07f677dfcc381bc5d0a8ed9396ff02434",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 2.938 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.609, -0.3767, -0.0189, -0.0284, 0.9986, -0.0154, 0.7895, 0.6041, -0.387, -0.012, -0.0345, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.001 left_z=0.1832 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2935 right_y=0.0012 right_z=0.1798 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -1.4154, 9.7162, 1.7705, -0.0513, 0.1636, -0.1587, -1.0462, -1.2239, 10.3316, 1.8486, -0.1538, 0.2027, -0.0366]",
      "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]: [-0.1268, 1.6676, 0.6281, 0.4149, 0.1314, 0.0437, 0.9984, -0.0143, 0.7628, 0.5957, -0.4469, -0.0257, -0.0429, 0.9998]\nstate[eef_state]: left_x=0.4146 left_y=-0.0726 left_z=0.0507 left_yaw=-0.2726 left_pitch=-0.0578 left_roll=-0.0278 left_gripper=0.9984 right_x=0.2826 right_y=0.0041 right_z=0.1709 right_yaw=0.0173 right_pitch=-0.0418 right_roll=0.0017 right_gripper=0.9998\nstate[joint_eff]: [0.3214, -6.3521, 6.3521, 1.2918, 0.0708, 0.3492, -0.0562, -0.5128, -1.5658, 6.9812, 2.0293, -0.0317, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0994, 1.7008, 0.6369, 0.4747, 0.2737, 0.1566, 0.9984, -0.0143, 0.7391, 0.5541, -0.4255, -0.0269, -0.0429, 0.9997]\nstate[eef_state]: left_x=0.4189 left_y=-0.0862 left_z=0.0554 left_yaw=-0.4243 left_pitch=-0.0037 left_roll=-0.0047 left_gripper=0.9984 right_x=0.2791 right_y=0.0043 right_z=0.1625 right_yaw=0.0182 right_pitch=-0.0383 right_roll=0.0022 right_gripper=0.9997\nstate[joint_eff]: [-0.4034, -6.3795, 5.9556, 1.7411, 0.2613, 0.1148, -0.0122, -0.3214, -1.4564, 7.0085, 2.0049, -0.0317, -0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6dae57bf95ba0fea3dfb0f4f06a040b452171811b6e1315804bd63bdf78a7532",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bc421c0a18cee7433c13b7724fcd487e26df837bbfc4fdfd84728ba89eb119f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ce720529f691c4637d3fe3922548ee07f677dfcc381bc5d0a8ed9396ff02434",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG7XiT9fRI00jAVwf6vGaUQCZEAwcYCKp45rSg4asq-zrKym0glrX3IkIYAjdQG2VnU2RNfYha8aZ2DCogfMKnxcF6_k1gqXYcHHG-SLynTkNt6evMJMY5vUDaNxvqDfjy6LSZk2RDIVrI7N7-b27cwhficqAGL4MSwIe0sjtWHsea3P-5zJXU6ZU3CxhAIH7JEoXOrhg4vTrcfIbrPny-BFbICkff9OTPP2egp2MGDSDC-rV8dBM2NV0roLgIMr7Ek3iB_G7mB5eWfWGePeJs9J3jEfLvLfee7ukmh5jo-UFEFA-F7hbe7PkuXbn9FxRQhvd_ZwwZReuVC17KGcQppgomRp6gUkvYPcQv9pSQm9QIeXRzQ4sq0cHFTmMjf8KTUMCqOdPMYN-OJ5lFkXkTquir-FHKLYQRyMUklmm8J4YCD5igDpFqk-7DnDtTAk9b-KPOs_PkI-z8OV2J8pn1P-lyMxNP7m-gU0uCR5vX9o6-uOZMfFNh5FuydhRDzWLbJ1eNjxBFxTOivUFiOeF4XVbQ-P5a2IPDE45vkQSHoj2ua2ecqk9n5WOFItWHB-dM-YbnI5BtCZ1WrmDwDPnSiRvqtgdFnLVTBKVqNg4hveh6JHIiKYKyRzO_0-Ak0Xa1Pchh0EJFrTzKd2szcQ77db4pPESGQ5lW-YvruVgQqk5Mo7pBKGpDks30_4FchBOTLB6k7lJ3ji-6pA-NqGoXcZapzwXIpvUVvumxFkBghnh_EJp4Zg67xQEFC69kXjNkJ46LlguZKr-HOdOpYnpfsl6PgSqugvJJSfFGXPIqlMJ-JlbMHjl7EbhbKdhyOrHeNtBnkFR8WqmvC8P8ffUUJDQKtU2Brqu17WV9cFMoeaX7jtrd1u2bccxCJbkJ9WbCkLfLE9bldICk9dj7Y_r1sSbEvW4t9IkDE1zUxxNF4BjmC4_gbvAVQLDleMPv9p0gZRPr53Ez5wN_aBTjb60ykBm54X17xIGlSL-YbyFvW3szkQldVUtH1llRk-UW9IRkFJhF1Uw5mWp8loIfr7HjcvNRZyQ-EMnfwaJCwFLSrQvC_S21MZq4Ra0NP6sGaJ6K8c77dwAalmMveHgPdHtezzGuAiV_SipQ6mnWGGL2uufk2KCKcekrjuDovDleEG6Sco1z9jnhmRAWK3xUwHDVEHa8qjuexDIjMCcQXjmbXq0gGJLfkOQrB_Bd-H_WuRcsWb2d_aoRa046GyI0gxQZe5bwj-IYQpW0lDpuXhVTgnfN5co5XqubwTSFaUr82FFpzSZ_8I1PfsAD9ds_EMjUYZo-nCNDH2G8a066vE1CHFfADE77895ybykRb3vFDRLEwDNVVOzCaMp-QOaqv8hwMZDfpRXsQkp1lUyrCSaqlTLgWtsDZrpLhSGPSDBTj8giB4KJxgo8ieuL9pO9ep0-FEDpvfYrCt8HN-zIzZwrQOuFVzxN6lGmnu_3TaoB8NZfchMKT5kM19AienmUcB5KguR5xBehbA7-KnU6TVPknpulY01uF13qmbcwS90N-WzWBUGzVgx1MPZnNy8NzP_dzmyeV02lM19dY9HoURT48bkQBkbcIyGiuhG_6XnvRTOGq53_NrnoE4VG-LFA4pM36pQMwWnVOUGNL_M2jc8IjwgPBxLTNFsBRbRORDR-0Fc-3NylajlWTUF5-IZcqEhz9xoP3fyObZDw046tm8xN0x-_qfkAgZCMTwkNPwDQXRLHCVgH4r19J8d01Uac2ojkNu5wLVkomBYXMYQoacHVEB1KxsXBblh_QqOufPCDkoWz6AKNhBwXJbcoGYReRc_D0Ghr7-ywkFe1MuWmOX0TowEYXPBMaQbmWxMGv17QXY6yY_alhX3ObEENGQlPf76mfN5sHoFBX8aZ1gFFxMxxKZSfq1JB4St4m5XH6DPD5Ts09GEobCzBIacjeZw_9xrLMaKScnDfWSoOmXF1Ak95vpuYTvD6O5Vth3XsgvUzsPl2CVFOzFaeA85kUt5DdNLnINxg==",
  "id": "rs_0d7c5e9ec0fee733016ab46ed3545087d0ac4289b1cbf94064",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.28,\"right_x\":0.2935,\"right_y\":0.0012,\"right_z\":0.2},\"note\":\"The left jaws are over the bottle’s upper shoulder, and the descent stopped above the requested height. I’ll close gently around that narrow end, then check whether a small lift brings it up.\"}",
  "call_id": "call_ujlFlawMMCkzERVblEfdBQaR",
  "id": "fc_0d7c5e9ec0fee733016ab46ed6417c87d0a1095fbb89d96b6b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ujlFlawMMCkzERVblEfdBQaR",
  "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]: [-0.1032, 1.7004, 0.6365, 0.4915, 0.2722, 0.1543, 0.2851, -0.028, 0.7948, 0.6411, -0.4755, -0.0303, -0.0616, 0.9997]\nstate[eef_state]: left_x=0.4208 left_y=-0.0877 left_z=0.0588 left_yaw=-0.4257 left_pitch=0.012 left_roll=-0.0005 left_gripper=0.2851 right_x=0.2861 right_y=0.0009 right_z=0.1772 right_yaw=0.0175 right_pitch=-0.057 right_roll=-0.0103 right_gripper=0.9997\nstate[joint_eff]: [0.0479, -7.159, 5.2308, 1.6532, 0.1148, 0.0415, 0.0024, -0.8137, -0.7726, 10.1812, 1.9121, -0.1978, 0.0317, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2976c61aa3d2075f1d9f6ec3730bf93581385d2b2a84df67bf5694580095ef3f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b22e1cb2906b15122166267ca5ac82b24ce8944bd16d27f1375e428cb739911d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b787d3d3ed9371b722b3916d61956da90cfcb2e8d00d12d116e7f263ba81e4e7",
      "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 · 5.016 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]: [-0.4683, 1.3815, 0.762, -0.0692, -0.3702, -0.2729, 0.9988, -0.0151, 0.7979, 0.6502, -0.4793, -0.0219, -0.0429, 0.9998]\nstate[eef_state]: left_x=0.3749 left_y=-0.114 left_z=0.1288 left_yaw=-0.0224 left_pitch=-0.0736 left_roll=0.0266 left_gripper=0.9988 right_x=0.2868 right_y=0.0031 right_z=0.1797 right_yaw=0.0133 right_pitch=-0.0548 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -5.9556, 9.3197, 1.7705, -0.2906, -0.1001, -0.1343, -0.335, -1.1556, 10.3179, 1.9609, 0.0659, 0.0464, -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]: [-0.0994, 1.7008, 0.6369, 0.4747, 0.2737, 0.1566, 0.9984, -0.0143, 0.7391, 0.5541, -0.4255, -0.0269, -0.0429, 0.9997]\nstate[eef_state]: left_x=0.4189 left_y=-0.0862 left_z=0.0554 left_yaw=-0.4243 left_pitch=-0.0037 left_roll=-0.0047 left_gripper=0.9984 right_x=0.2791 right_y=0.0043 right_z=0.1625 right_yaw=0.0182 right_pitch=-0.0383 right_roll=0.0022 right_gripper=0.9997\nstate[joint_eff]: [-0.4034, -6.3795, 5.9556, 1.7411, 0.2613, 0.1148, -0.0122, -0.3214, -1.4564, 7.0085, 2.0049, -0.0317, -0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1032, 1.7004, 0.6365, 0.4915, 0.2722, 0.1543, 0.2851, -0.028, 0.7948, 0.6411, -0.4755, -0.0303, -0.0616, 0.9997]\nstate[eef_state]: left_x=0.4208 left_y=-0.0877 left_z=0.0588 left_yaw=-0.4257 left_pitch=0.012 left_roll=-0.0005 left_gripper=0.2851 right_x=0.2861 right_y=0.0009 right_z=0.1772 right_yaw=0.0175 right_pitch=-0.057 right_roll=-0.0103 right_gripper=0.9997\nstate[joint_eff]: [0.0479, -7.159, 5.2308, 1.6532, 0.1148, 0.0415, 0.0024, -0.8137, -0.7726, 10.1812, 1.9121, -0.1978, 0.0317, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2976c61aa3d2075f1d9f6ec3730bf93581385d2b2a84df67bf5694580095ef3f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b22e1cb2906b15122166267ca5ac82b24ce8944bd16d27f1375e428cb739911d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b787d3d3ed9371b722b3916d61956da90cfcb2e8d00d12d116e7f263ba81e4e7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"left_z\":0.12},\"note\":\"The jaws have closed around the bottle’s upper end. I’ll lift a few centimetres to see whether it is held and whether its base begins to swing downward.\"}",
  "call_id": "call_NeOEVb5OhbzHxvqiweBvtCk5",
  "id": "fc_0d7c5e9ec0fee733016ab46eda737887d096100eaec635f801",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NeOEVb5OhbzHxvqiweBvtCk5",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1032, 1.5589, 0.7296, 0.247, 0.2676, 0.1535, 0.2851, -0.0288, 0.7586, 0.5842, -0.4473, -0.0307, -0.0612, 0.9998]\nstate[eef_state]: left_x=0.4208 left_y=-0.0869 left_z=0.1038 left_yaw=-0.4214 left_pitch=0.0018 left_roll=-0.0019 left_gripper=0.2851 right_x=0.2809 right_y=0.0009 right_z=0.1667 right_yaw=0.0169 right_pitch=-0.0493 right_roll=-0.0101 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -8.1299, 8.5538, 1.58, 0.0415, -0.0366, -0.0122, -1.0188, -1.4701, 6.9675, 2.044, -0.2125, 0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4099bf7216b01b4cba26d8bc7a27aacffe10b84265f1e5f0220e0dabdf186e70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf5a3642f184e5579fee1ae59dfe67947c73e792cf19d12989e1e60c0cadee51",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d0f35b28ba79643ebe4e09a192f93d0f0c7195cbe25337be34946f3a1f58c6e",
      "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 · 12.57 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]: [-0.1268, 1.6676, 0.6281, 0.4149, 0.1314, 0.0437, 0.9984, -0.0143, 0.7628, 0.5957, -0.4469, -0.0257, -0.0429, 0.9998]\nstate[eef_state]: left_x=0.4146 left_y=-0.0726 left_z=0.0507 left_yaw=-0.2726 left_pitch=-0.0578 left_roll=-0.0278 left_gripper=0.9984 right_x=0.2826 right_y=0.0041 right_z=0.1709 right_yaw=0.0173 right_pitch=-0.0418 right_roll=0.0017 right_gripper=0.9998\nstate[joint_eff]: [0.3214, -6.3521, 6.3521, 1.2918, 0.0708, 0.3492, -0.0562, -0.5128, -1.5658, 6.9812, 2.0293, -0.0317, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1032, 1.7004, 0.6365, 0.4915, 0.2722, 0.1543, 0.2851, -0.028, 0.7948, 0.6411, -0.4755, -0.0303, -0.0616, 0.9997]\nstate[eef_state]: left_x=0.4208 left_y=-0.0877 left_z=0.0588 left_yaw=-0.4257 left_pitch=0.012 left_roll=-0.0005 left_gripper=0.2851 right_x=0.2861 right_y=0.0009 right_z=0.1772 right_yaw=0.0175 right_pitch=-0.057 right_roll=-0.0103 right_gripper=0.9997\nstate[joint_eff]: [0.0479, -7.159, 5.2308, 1.6532, 0.1148, 0.0415, 0.0024, -0.8137, -0.7726, 10.1812, 1.9121, -0.1978, 0.0317, -0.0073]\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 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1032, 1.5589, 0.7296, 0.247, 0.2676, 0.1535, 0.2851, -0.0288, 0.7586, 0.5842, -0.4473, -0.0307, -0.0612, 0.9998]\nstate[eef_state]: left_x=0.4208 left_y=-0.0869 left_z=0.1038 left_yaw=-0.4214 left_pitch=0.0018 left_roll=-0.0019 left_gripper=0.2851 right_x=0.2809 right_y=0.0009 right_z=0.1667 right_yaw=0.0169 right_pitch=-0.0493 right_roll=-0.0101 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -8.1299, 8.5538, 1.58, 0.0415, -0.0366, -0.0122, -1.0188, -1.4701, 6.9675, 2.044, -0.2125, 0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4099bf7216b01b4cba26d8bc7a27aacffe10b84265f1e5f0220e0dabdf186e70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf5a3642f184e5579fee1ae59dfe67947c73e792cf19d12989e1e60c0cadee51",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d0f35b28ba79643ebe4e09a192f93d0f0c7195cbe25337be34946f3a1f58c6e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG7gLPjF_BnhC6QsDMZSzv4PHIEhX8JgugTehMnj0ewWYV_nwFP9Xk-jfqZGoUDv9ty3MMaqZgYV9n1ozAYCi9woCnho5Zvt7mD-LNrVXb_aZq3qL6YNCb5UVIkGGGLDm7XKy3_0fBjwxw2T4C-Gm5dqS3eQa0jaoHbV3mQWXERnwdrbQ_EYgNtTGI8n86TwBoACwaU7rcjGtq2q9oTaQUni-h5vDpb5vix1fQAPVcpPsIvqTpoBH0D_33_g1khC6gBEXdRbGOeOgWDKtjSPaS3ypxwyhkzPO6wh2lCLk0tX5AFPbe9zWOeyjsMWrRitejrW5mZurbJGYU0H-Vw6GSrSNarkjV2-lsffFTOacBRrp1MhLUAhFVdJ06FB92A3hNNpOhQrIv6qVk1m-1ygokkhTR4TPpwwG_0hKdqqRXOElNXaj1zETKoqqyy7Exhd-RBerPEjWp8KoBFL6chnu6r4gAv41YpdTEjdTPCw3bxIPTw03HYjYzvYxkAH1BI39vAk6Nm8rGOw0akE69sao_q8d8WsfUYg4D0W5xAmUcC8oljr5Vn8-3gqnNtGQeW2pKTfs6UkGDYfzV0ZejFDd8RH1rK_8xajR0msRJ7haEJmTzgg_3-EPJZ3ks99SdfixMtS7hm8MUHh0MPeuoMOOAnMud_74itbhkkX9Vk3g2kKo0gNaMVwG4DE93fylGwXMHg_TF9AuNoiDdIOqfQpWTUsTTEnKMtKac2-m-_EuE9v8ZJcDf1NaOva70NpHy83XZbMJl8A48pjbXnK9J_Itiz_kO6Uu2vCQbRTRmdL0tgz1r0n1iQBf8I1cSsUJfkArXdTOaMZshJ_X5q9LnYpBwW_QNWz8PEFjtSbDKlMqbsyTy2CJz3NZhRF75K9zXHLaI8fOtOD93IfIy2v2zrCoeKU_Bl9luLS59S7aLPYfelIp78APGU8WI78OXXM8o95CoY2BGBtkseaevu0Aox0mmSP9diD-0k0vUvlaFx8ESc0YSvx3MYgwmis_H1Gn8XHHaUUikJXKVc0aX6W8U8w5M6wKAMiEGUJvtfsiSrdbXiCJosy31_vWTw90lrNdmhhKrkVOWTlSI9wYnAAikC4A0pwxegHXYRJgskhWslS2FFyahJ_pmCAdIyzNQvU2sfjIb6hzbopMFTiGebIoSoqxxa0YC_L0lmDnco2C8IhlEgBbcetBcMuCnhzVpbv3sUwN2wZl11bBjx2xj3Oz5abcUP0XNGdDY00pKJu-ZpYu7YbEmHxUskxhM9RTG2DFYQmdLSfwIhhWvhh6s5OTrrGG77FcUHDf_JDy5_aWfDwpqfyPUzejyNfPdowQnVQt8CwT6XMb49uSDw1kcdvOpI2__GO_IW3DIjy5Pp1ggLrWV2eKJIYvkgAJx2zl3Q0CoUNsU1HSas0_gmJlJy-lLhwEc55OpZU44MpeCGnAZ0fJCBZDb4F-Y5coNnTjU6yceqEFc3ONLcHPV20JM26Sl5mzDtsf1Wz8PWFnXYmjrTYSCPo_BKp0uslnWVJMJwJ6FE72YTVut2DElXymsa-TD90RRLKbgZI5TWO2TGWW60FbPbDEFx64PHmn4u8m-lFd8W_GCAQ9_mxvF2-ZzsQryUkmP_75UsVGqqAyHugEy2jUrA83UhFTD8ZEk-K7n5qcwnIMriF4i23sHxcAmUReh0i18Odhg==",
  "id": "rs_0d7c5e9ec0fee733016ab46edd78d087d089f7bcda5333df58",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.14,\"left_z\":0.245,\"right_x\":0.2935,\"right_y\":0.0012,\"right_z\":0.2},\"note\":\"The bottle’s neck rose while its base stayed close to the table. I’ll lift the neck farther and bring it back over the base, letting the bottle pivot toward vertical.\"}",
  "call_id": "call_a4BGyrKmXZNfZYQ53Y1UmQQf",
  "id": "fc_0d7c5e9ec0fee733016ab46edf2fd087d0a9291f727aa5da88",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_a4BGyrKmXZNfZYQ53Y1UmQQf",
  "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]: [-0.3313, 1.2709, 1.0103, -0.3264, 0.0906, 0.0319, 0.2852, -0.0284, 0.7944, 0.646, -0.4797, -0.0303, -0.0616, 0.9998]\nstate[eef_state]: left_x=0.3734 left_y=-0.1416 left_z=0.223 left_yaw=-0.436 left_pitch=-0.0233 left_roll=-0.0098 left_gripper=0.2852 right_x=0.286 right_y=0.0008 right_z=0.1787 right_yaw=0.0172 right_pitch=-0.0558 right_roll=-0.0103 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -6.8444, 9.7573, 1.7558, -0.022, 0.1245, -0.0073, -0.6632, -0.5128, 10.1675, 1.8291, -0.1392, 0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c4981518c6a9b938c773a2177240a882d7779f85489aaf93936b2094bfbe85e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38001aa123d9c8d96d3a799abf9a1ad5b305c0ba1ac9c01741192fc335a9abab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2b6f26db2bc0e74b6a80371ca92b2d3d0c6a636ae83e5cb115c6189ab4abb68",
      "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 · 3.91 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]: [-0.0994, 1.7008, 0.6369, 0.4747, 0.2737, 0.1566, 0.9984, -0.0143, 0.7391, 0.5541, -0.4255, -0.0269, -0.0429, 0.9997]\nstate[eef_state]: left_x=0.4189 left_y=-0.0862 left_z=0.0554 left_yaw=-0.4243 left_pitch=-0.0037 left_roll=-0.0047 left_gripper=0.9984 right_x=0.2791 right_y=0.0043 right_z=0.1625 right_yaw=0.0182 right_pitch=-0.0383 right_roll=0.0022 right_gripper=0.9997\nstate[joint_eff]: [-0.4034, -6.3795, 5.9556, 1.7411, 0.2613, 0.1148, -0.0122, -0.3214, -1.4564, 7.0085, 2.0049, -0.0317, -0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1032, 1.5589, 0.7296, 0.247, 0.2676, 0.1535, 0.2851, -0.0288, 0.7586, 0.5842, -0.4473, -0.0307, -0.0612, 0.9998]\nstate[eef_state]: left_x=0.4208 left_y=-0.0869 left_z=0.1038 left_yaw=-0.4214 left_pitch=0.0018 left_roll=-0.0019 left_gripper=0.2851 right_x=0.2809 right_y=0.0009 right_z=0.1667 right_yaw=0.0169 right_pitch=-0.0493 right_roll=-0.0101 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -8.1299, 8.5538, 1.58, 0.0415, -0.0366, -0.0122, -1.0188, -1.4701, 6.9675, 2.044, -0.2125, 0.022, -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]: [-0.3313, 1.2709, 1.0103, -0.3264, 0.0906, 0.0319, 0.2852, -0.0284, 0.7944, 0.646, -0.4797, -0.0303, -0.0616, 0.9998]\nstate[eef_state]: left_x=0.3734 left_y=-0.1416 left_z=0.223 left_yaw=-0.436 left_pitch=-0.0233 left_roll=-0.0098 left_gripper=0.2852 right_x=0.286 right_y=0.0008 right_z=0.1787 right_yaw=0.0172 right_pitch=-0.0558 right_roll=-0.0103 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -6.8444, 9.7573, 1.7558, -0.022, 0.1245, -0.0073, -0.6632, -0.5128, 10.1675, 1.8291, -0.1392, 0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c4981518c6a9b938c773a2177240a882d7779f85489aaf93936b2094bfbe85e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38001aa123d9c8d96d3a799abf9a1ad5b305c0ba1ac9c01741192fc335a9abab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2b6f26db2bc0e74b6a80371ca92b2d3d0c6a636ae83e5cb115c6189ab4abb68",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG7tOXlm9LwqGcbfqojk6KYdsJT6a4oDsNC17KsYUpKTwdY49iKL1DKL4m91oChOcopg_NmoVbb3PS8WMLey34z1quxNbdbYAjfrkO4Hb7l6gCUxyrdbMJ26Feqy3D-7fu8tKXs-9a4FjrBxznxhaBuSYOIVytIijh8V-R04gqYFLLNb8gnmI7rpuIpCZ89YAvEtkLHZwL1S2DT4hZwCWOmg-B40nwVWE0L1xDGK8q7w6_6Os1dsoXy1ZOojAWtBCLnJzKc89mwlxVkgvddx2qRxd8_60sXaygB3sjGZW0djJ1oR1uzqKidWm-_ARBWNUMPMUcVNGvgLuGZ0qPjXgT4mD2llZbQS0jleVgypvsDEhHHdP1BVNco9XKFOPM8dBckqB1hJ_0q3RAllne_dvid1zL_zaHhGsb5i0_KopfWLkDj2TJ_LtHWtPhKUFzbL28uPioZzFBdi7ihhdZoQ20wg8KqA96k24fnV9N3PJF5EdlbwuXc9zETluBem_IBgZhbDTCrRkQL0pUqDg4_Vfjqr_z2w4Z6N6LwSR5Y2VANxg0UfMwm2VeSZy_Xzt2yMJoJ1gSjR-fNiLfdOiX3N3HC557NZQJyTrHxUhZ9vjFZfmfwT0tHcTKxnnQsPkp7gNIqspL6na3FkR6lRAZmpa9kjj7J9LCnIRbOvmqoAkqIwXSwnJCS-PAIKi7vDklCUH7OIPRZvIdoqyThwvS_duVOjdLBxO70wD8_o9Bfiy42rHJqrbvZQQCCr-1qAqQPj8aacFMS2T1w2HYK7SWogindG8ii7OOrl5KbN-W7LV8lFnUEpATv_9I2V-ozsLhA__O9GOrkC-CGucSdwoYtdb48tLRgVua8RukoS85fA10OaeyYzGxnQVqPk68PTqAJQVcwr28vWOl-CFhr_WJGuJQwMTUCcNORUbvzTin7b9blwniLwOYPo0CujziEXqC0D3fJJQ_7hPeDqU1LP2BQLmqYFxFIykwVRglOqKQtxfWMWF1YMNzqJKAImQONJoLi_g85uoKt_zSngHZswp1U-O9Dxwx8mGd3L4s0oiRkb-lDsxsQeKQF-2YTqLCBdJwjcfVoof0e-yJQilM7wBM-PRTiXCMB6PnOuzAOhV-zZL-oTsgDFnIFRVeUcQ5pOFDq1g2Wt_IG408Hpj0K0rxjfKl4LzP3bYMyEV4H5_dL2HyXTW7laQGEDlqLuxWqYiH0NmIvGsCYtATg3wwn6qPSzYzGHUGAMBJwiLGmXdUC0Cl1BPcAMY532MZTT6Qf4lBiWrpymH19xPL29fGi2SxA0IqQwHl1XmIemGHMjCbKDi-_YWpiamMjiGyFHJdOWL5WQ0rlRIyC4VRcSq1FTcm0o2ad14Xrueyo-Zj0h7dW6lCm6fgIZvDOVMwC-Qx_mzM9NTFyPkIGXamTv1gr-f1mnka9BvHXP-_gE2r0qWToQLzdqaTNIhgDd6QJ7gESkCj3MliK5CBoA1DKwpxtuEnknmioFN1QNvM7NSePsaY4Uf3OFYcSYqr0z8aSQA_vn_zEJskIfLdqV83D0WwGskDrm7n2M0S3jxoriOtV0Iv9BgwjD-eggT-FOed9rms96NtmNJeXXbMR_49_lK77DCtZSsO5G_vv4dqdB-7cECsaVre6OGERXyAUIsESYSUcL2C8sH6No0MMSIIFpAIC1ob4sEOhX2yutT897DaAnvEvzsZPChySXvsm5jUXm5McAlAfZYoAbQTX5D0fllCrtWoeXCtWbA-Oikuuv0ozAaz5GJz_akPfosBz26xo9_O2gNvwyr6wjWUbnCTwKdME0Uyy9yZF_QqNT_C2EL4XSPVuiQIoWCtlJUabX8jlL-E354W7qIRqvFkwARlMmTG1YSK56SpjhcsngeEQyE12Uw32DN3QKFPGddotI3MVzz2guk_v0MFt783a-s6Kwt0kPpM5BRCGYcgvpxxf186sizK1H3iA371JuHzmWC3MnitC6r8GZh9E30wgvLniP95OmgMrMROF7zV2Bj5ouM2fzzWeTJ8OSyG__ndwjaBxo36PUzvfGitZi-Wxub_5ei8q2uvlcq4Sd4HyaoyenhJRWGACoggEiaUlYZGa7gB7eFU3_Ylt5Cdd45-_ZZNAke30-8y0LdJB3OMi81V5_-OA9xEtimDO7U-9GnK8cb7PscDPuhy1v4GaqZ3WWVpeoCEcR7zVA_c4P0LcZX27ZX30jJ4baixF39dN9GqsSZiHf8TEa5I2yEX0Ig3Y8zx7kkNgFT-uaIl5588CXi_i2iVRiTS2kk2p9O02ME8C_4RhdLQlN-aWCMFCfoF0KU2SdBAYaZJCRCtF7HxBq-HQ-0CsOcrsfoQk_yMJHSnJAvVU-t9yhSKyqI7yHwlc42riJwB4NNTMpRews_Za4wXzqBPlxO4dDYQteQHt9-F4j3yBw-Ouej0xqZeBD3GKrvqcT5fUkNucqeUGXjwGyODhovnisHlUnsIL8z8Gi3j6FKHCgOROaDV5YS-LrgRbCh7tw2hiWKsocdipjuEEcqvaluHrILEzQCK6jAO5v9jEr9ss-p-Bk-dgpHDYcNZwZZ43pimCqeilSd54VNpqO1SHOxZg-ukG2JckOo1GppraC03tOEffcDMD0XgdjN0iMTYdELx8xE6RF0TrS1bT7gOSIHICCdaOXW6tlSw7yw9h7k-1jNYiDy-OndfD20lWfF9KJKpGaIL1fAA_1IRDhLT7F5Z3SIsVUgn5n4_7qozwzVPJFDasjvV6nFqBIEebEtzo_BINciq1WebK1tvoHJ-Bqy92GpcOdAw7hrjxM6mD1mFhU0KjOT4Sm1y24l-3tOuXewuIDvE5MLUuQ9X5fMoifHyXrOaNPGZPyFMlZwVzKAtJLQkSoDKLiaz1bVAjEURwE59q7LCJd08ocXZRLoReMAifSMl3WvFRwjMXUpJUp1YgdDzXB_KxCE_dX6Yot2GJaXlXLPaYWHW9zhn6kK0O4KVhgcgZA-AUWLLyG1LoAu07anQYwE_dDzxNOxhkFvdjPl6f8o6DtSEMG3M5Smtd93f5AHkDvsdLVG0QV00WRfcEcjk7zdJliETHEtOee_RMft8WKYK3gOWBIMCQV_hznDZY2yz431_RlFyRTimZqzzI-DKbKviqqpHKKMzCPM406aFOlW3EzXZR1ss_I9rgZfFGQpALE8AemzP-R7ac32HdWEfgLtUegTHB6EhahlaM0EOf4-V-QKDzGedq5XuQWZrOV-CNF-JGdOqb7e-Ri_WTcJIoTa31xiohOM7wOST1WDAyJDlHRjCOQp4mR5wc-brl7eGbst3qInyDWm2TG3BTCkRbyR6qnfnELZ1dma9xk46MuBRI6l7DQQeLM2n7jDKrUGa1dyE3eXYI9NVXkDU9XShqhxf87Dj81T1Yw7hmDS_MFFSESzh9XXsw2SfvmVYSpzUMyBDNfbu0Vr3PdgWrlgI4UsTiCN5d76nG6uy6aHbcgpikbjSCY2L2x0FvazrkrtGqdFwC92G8Fky3eSCT2bpzXBqq-mRAaPK9ps-Od9CvEnR845ECEbg==",
  "id": "rs_0d7c5e9ec0fee733016ab46ee4b30487d086ac036e2256a7a1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.475,\"left_y\":-0.115,\"left_z\":0.055,\"left_gripper\":1},\"note\":\"The bottle stayed on the table, so the previous pinch missed it. I’ll reopen and reach farther forward to put the jaws around the neck itself.\"}",
  "call_id": "call_anYMmkW4qxU4ybg5z6Xdt540",
  "id": "fc_0d7c5e9ec0fee733016ab46eec7db087d0885bb5d1b61bf9c7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_anYMmkW4qxU4ybg5z6Xdt540",
  "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]: [-0.1684, 1.8668, 0.8543, 0.3435, 0.2039, 0.1047, 0.997, -0.0341, 0.7586, 0.5907, -0.4469, -0.0307, -0.0612, 0.9997]\nstate[eef_state]: left_x=0.4565 left_y=-0.1103 left_z=0.0379 left_yaw=-0.4084 left_pitch=-0.092 left_roll=-0.0301 left_gripper=0.997 right_x=0.2817 right_y=-0.0006 right_z=0.1697 right_yaw=0.0115 right_pitch=-0.0425 right_roll=-0.0104 right_gripper=0.9997\nstate[joint_eff]: [0.5812, -9.1692, 8.2393, 1.9219, 0.1245, 0.2369, -0.1001, -0.4581, -1.5932, 6.9949, 2.0147, -0.1538, -0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16929f8044cceee6995e1e174585628225f0f036df621509b710b10a415dfbd2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dec52054ea83a30a525afef36363354f46ccd303a5d44674748fce68270b90e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39e67fc18f0b8126067f20b5d8d356c0cfd4ecf85c4542d06af0f1c9bcd9b2fc",
      "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 · 6.552 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]: [-0.1032, 1.7004, 0.6365, 0.4915, 0.2722, 0.1543, 0.2851, -0.028, 0.7948, 0.6411, -0.4755, -0.0303, -0.0616, 0.9997]\nstate[eef_state]: left_x=0.4208 left_y=-0.0877 left_z=0.0588 left_yaw=-0.4257 left_pitch=0.012 left_roll=-0.0005 left_gripper=0.2851 right_x=0.2861 right_y=0.0009 right_z=0.1772 right_yaw=0.0175 right_pitch=-0.057 right_roll=-0.0103 right_gripper=0.9997\nstate[joint_eff]: [0.0479, -7.159, 5.2308, 1.6532, 0.1148, 0.0415, 0.0024, -0.8137, -0.7726, 10.1812, 1.9121, -0.1978, 0.0317, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.3313, 1.2709, 1.0103, -0.3264, 0.0906, 0.0319, 0.2852, -0.0284, 0.7944, 0.646, -0.4797, -0.0303, -0.0616, 0.9998]\nstate[eef_state]: left_x=0.3734 left_y=-0.1416 left_z=0.223 left_yaw=-0.436 left_pitch=-0.0233 left_roll=-0.0098 left_gripper=0.2852 right_x=0.286 right_y=0.0008 right_z=0.1787 right_yaw=0.0172 right_pitch=-0.0558 right_roll=-0.0103 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -6.8444, 9.7573, 1.7558, -0.022, 0.1245, -0.0073, -0.6632, -0.5128, 10.1675, 1.8291, -0.1392, 0.0269, -0.0171]",
      "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]: [-0.1684, 1.8668, 0.8543, 0.3435, 0.2039, 0.1047, 0.997, -0.0341, 0.7586, 0.5907, -0.4469, -0.0307, -0.0612, 0.9997]\nstate[eef_state]: left_x=0.4565 left_y=-0.1103 left_z=0.0379 left_yaw=-0.4084 left_pitch=-0.092 left_roll=-0.0301 left_gripper=0.997 right_x=0.2817 right_y=-0.0006 right_z=0.1697 right_yaw=0.0115 right_pitch=-0.0425 right_roll=-0.0104 right_gripper=0.9997\nstate[joint_eff]: [0.5812, -9.1692, 8.2393, 1.9219, 0.1245, 0.2369, -0.1001, -0.4581, -1.5932, 6.9949, 2.0147, -0.1538, -0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16929f8044cceee6995e1e174585628225f0f036df621509b710b10a415dfbd2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dec52054ea83a30a525afef36363354f46ccd303a5d44674748fce68270b90e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39e67fc18f0b8126067f20b5d8d356c0cfd4ecf85c4542d06af0f1c9bcd9b2fc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG7y51IBrTcTAWbb5JJIMSyZkvObNHGvygrwjGpxWyyZIgsPLQK4tZsGnM6aSOhG91En3VFQCxF13tlXNZSFjcQEc1I15MA7gIAiik_9cBv8DDypMsq0BDeV6YsXve40C7uHVoRfpZxi-NlL6b40PFq4_Fze6yHAhx9v7w-yO4o3eXJPMT7Ov0urfyHsUznypxz1DjYM1Jh764grAvIgHfB8CpGsNRjVYO9SM_LrpRSpBxAQeAVtgY_tYUyp9ETBXRui67ps425i1xCkoprGcXatJD0wQ8YveuYtsPkkbOVEPnQr7eLWDuulVmF2tuILIX8Log31v6nAWmNQK1jK8JtfE7H_OIA2ws0bhUPdN7C_n3RxONdqyNvHSctT1IVnIj-cZUFCuTSRw2lUkp7ncnBTc6BHx_xWH-mjyVy1KvlnkG4M1bZuoLk_JfR8xCXqxux7wWtkbNC_SeimPcpFNGUicIWITdXJdeKezGtaN1kfDBSz768KjFyShY19Yq08ydx16RcJpx_Z20xVhPjWUuWlky3oB5ZntvS8I0kzZHM33TY9-gAqi-BREn7PAvXSwt_XK_G0rPjvI-stRO00ONuWn1Yda5EunO4_O-5Lq2WR94OGHRD-UQ_WhA8xrBz3jXC3x9HjcYa-ucWgA7QI6FgSoig3GWP5sg1LLHQwgdP1fpUWoC9IKqKVcY6eOmn7Xi82E29byRfyu9_05znf74OHrRqczfiBbke2GyV-ysJaROD2x5ISkes-1FUXXLc42eRm1pju3wcu3Xhwvm85rUL2Wlo5PsnWacPYZMvQRKsgtsED6V3hcMtGdLYzpBhPJkMXUUH-8TlnUbwjqceBMYoY24l33IkX_LSoRwq32iDyFKxHhYKCmGB3vqLqoU--ti1nCco2iXTsrIPIE362_k1T2qUakFHCwjZxF-Ft-LLBKiAEeyQ00EuoZpeqWbFJX62kQm4369RlUTH7H54Af1dlaY5Ax8DipicySXfNHOvTTS_3H1wMaG_R2iOIwzX5c_xtKe67Jzjbs0W0Ug5KQ6m3c4EyZFe8dp6YnFMxvgP_2UTVTBnaM_3X0Lq7BAypDo1kyp_3X4AC2ei8IcGBf8jHKeULyVL1YlzyDLMaShBII_jvHt9QhhscWCT0bbnyFTNcqjmskUMMnNsZ-chOOIl3Uy8l8zLEPqjtSZ6S__BTP3y22qiJ_zKe_02dvEm0id9_CxpBeF2-yMcSVT9TaI91mf7VOqN6KgRFzzq4-1K_Xh_Hs61JZ2R6uVE1fbfymieusR3L7eTSzXrTxU1uhdp9ztu333iIMcacaQqwzLzoQimKCz9F38RhYnveGs3Anq2fv3Fbr0slese6P1OutQdEILn5QCwh_gebMLqOUjZPC--knYQKo9rWYIXd2RXAMqSjMP6JVEJjiVQlNGCPYa76eLzodW_3EtwUFCAVHubOmycSlCZJuzBHivwH8lv2ETXbpldy8JYqxObYm4WbK1GsIhdGAL6b3bMlAOdvWwCeQE_aTEVk5rYYPtoHrZ973pFp",
  "id": "rs_0d7c5e9ec0fee733016ab46ef0925887d0a14d7d6f478a6c18",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The neck is now beneath the fingertips, and the bottle’s body extends behind them. I’ll close fully so the jaw opening can tell us whether the neck is captured.\"}",
  "call_id": "call_PmVMeuUixAlxiVG0lAICGyTb",
  "id": "fc_0d7c5e9ec0fee733016ab46ef1efdc87d0afbb49fdb486fc5d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PmVMeuUixAlxiVG0lAICGyTb",
  "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]: [-0.1688, 1.8832, 0.7898, 0.5682, 0.1909, 0.1043, 0.0111, -0.0349, 0.7364, 0.5503, -0.4252, -0.0303, -0.0612, 0.9997]\nstate[eef_state]: left_x=0.4661 left_y=-0.1098 left_z=0.0513 left_yaw=-0.3969 left_pitch=0.0462 left_roll=0.01 left_gripper=0.0111 right_x=0.2785 right_y=-0.0008 right_z=0.1615 right_yaw=0.0104 right_pitch=-0.0391 right_roll=-0.0108 right_gripper=0.9997\nstate[joint_eff]: [-0.253, -8.6085, 4.0, 1.5214, 0.149, 0.0513, 0.8669, -0.7863, -1.2786, 7.0496, 1.9609, -0.1734, 0.0171, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5bd98fd89a92ed8976d1eb0e9304862f390da2b4a724cce70ca2dfc8308637d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88ff1f65c5cb787bd3125e2d09329f40bdfd90e3571cdeafe10f1a0bf800c590",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7323094654261f668e8668935ffedf3a6217eb27d040f65b0ebcce6b1c446e0",
      "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 · 5.243 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]: [-0.1032, 1.5589, 0.7296, 0.247, 0.2676, 0.1535, 0.2851, -0.0288, 0.7586, 0.5842, -0.4473, -0.0307, -0.0612, 0.9998]\nstate[eef_state]: left_x=0.4208 left_y=-0.0869 left_z=0.1038 left_yaw=-0.4214 left_pitch=0.0018 left_roll=-0.0019 left_gripper=0.2851 right_x=0.2809 right_y=0.0009 right_z=0.1667 right_yaw=0.0169 right_pitch=-0.0493 right_roll=-0.0101 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -8.1299, 8.5538, 1.58, 0.0415, -0.0366, -0.0122, -1.0188, -1.4701, 6.9675, 2.044, -0.2125, 0.022, -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]: [-0.1684, 1.8668, 0.8543, 0.3435, 0.2039, 0.1047, 0.997, -0.0341, 0.7586, 0.5907, -0.4469, -0.0307, -0.0612, 0.9997]\nstate[eef_state]: left_x=0.4565 left_y=-0.1103 left_z=0.0379 left_yaw=-0.4084 left_pitch=-0.092 left_roll=-0.0301 left_gripper=0.997 right_x=0.2817 right_y=-0.0006 right_z=0.1697 right_yaw=0.0115 right_pitch=-0.0425 right_roll=-0.0104 right_gripper=0.9997\nstate[joint_eff]: [0.5812, -9.1692, 8.2393, 1.9219, 0.1245, 0.2369, -0.1001, -0.4581, -1.5932, 6.9949, 2.0147, -0.1538, -0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1688, 1.8832, 0.7898, 0.5682, 0.1909, 0.1043, 0.0111, -0.0349, 0.7364, 0.5503, -0.4252, -0.0303, -0.0612, 0.9997]\nstate[eef_state]: left_x=0.4661 left_y=-0.1098 left_z=0.0513 left_yaw=-0.3969 left_pitch=0.0462 left_roll=0.01 left_gripper=0.0111 right_x=0.2785 right_y=-0.0008 right_z=0.1615 right_yaw=0.0104 right_pitch=-0.0391 right_roll=-0.0108 right_gripper=0.9997\nstate[joint_eff]: [-0.253, -8.6085, 4.0, 1.5214, 0.149, 0.0513, 0.8669, -0.7863, -1.2786, 7.0496, 1.9609, -0.1734, 0.0171, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5bd98fd89a92ed8976d1eb0e9304862f390da2b4a724cce70ca2dfc8308637d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88ff1f65c5cb787bd3125e2d09329f40bdfd90e3571cdeafe10f1a0bf800c590",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7323094654261f668e8668935ffedf3a6217eb27d040f65b0ebcce6b1c446e0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG762tEUAKm4xSxWe1jCCKiMh_qfjEAWMU3oAMiLjvYY6fp5fm8DHmiei7z2LFDshw85CIDsvfQyl0nJa2gDPMy0dzDt24CIEsiKGwZ_9SYCtfuc8WAAN6Lfmiejp_0yWvuv9Rcm4K_XeapsSU1xVEIO8gnOucUmWvd9dDpJp_pLJYp9a8RdYPnggZ9WoMo9rCd9fP3PmG6cEdE4aLghUkv1rs4fWgSnv_uVccp0AJ9D5o43S07st3voW3rYXY9EB_tyCJ-sKCP1Y19mQE6n47ZKSWfbCtNrv3xKGsHJpjjULm3GNw00qS-q1iClvGx20XSgF3Ts_-7phAPIVoiTJ4755gaW8x2t_ddFGPVeMVSJJnfd2jV4YHInWmV2ig1Q7nT7bYuxhYYPt7gPg8qgV3ZgG1hzYTm2g8kPpbgcjLXXoM2BxCvxaBkfFYeV3ddYRBaoLdACDl6yJscRNKs-dDwFBciMr7O7EK90UQc7K3aW3GgBUNY1l1dN6p3bhk7LBck6XOEI91g9JudcTwiu63B7ItHsBc96nbKIiOxHOvKheqJzJPpM1DSQnGqBQwlutBUu7k64i883G18hvQBBmhPwSVTe7SDPLms1aPw_oE3G-yopjB4a55nQxqSLj4FGqv7eKDBXqFyZszkhQBoiIvNVHmE_2tRb_0QMvCPHgoicnOYJSkrQcl-MGTPbv2_rw9zSELCwNkd6mZCT7qVAcdD4PcvGWyKor6AAEKX3qXMtB860U4CbwTTbRZG6jyMvbQqdc5yEscMuscIG5c4UTeTTd1V3qFdwTaoUMxQnb3IUV4iXpZCvg6TYa2xHMLYuEQ0Xz51v6KyFEEJ-b1KaZ5RzRBHDtlmhd_lbwE44Zw5_hzJb8D1ykvyRt5djKQnDB7X_Qd0lWEJ4qr6l_IcbQhn3nL82p97SN_gm9n2Y54oD8iXE22tD99A1p03-FD2WpCF_bxhOFfYxx9RGSNDXe_sPjd_9EHQ9R-Sefw0Rh-FwtwUdkfWB0ITynaw2LyVtPZkS8RNbkPKsB7JSIjX8SsS0bC1nhmO4sQq332uul6H-PSuBpqCIlrwaJuiYKX1IG9MGJB66SVPfPAxcHHjWBbnZDSWfwb5TlJQ9Am3v-pu7WSM-tLr1Lovrc_l3dHXZFf_vM1V8BO19akKmC8zWNDPdC6cOPJ22tMoCK90YTe0tKjo2p4mIObmCLcDrLakVfT4OAhirL4DueJIJHzi2r-XIkbLUTWERMQa7C5T4dBmkO9LdzY0G6s-bizCFSmIbnLeeZOVZwK8eq2YOMY1O2isAt6NXmhj_PMZjBGA1RYiaKtOF8w-KWlwa4SmkfyAUD80L5jHH1_R-Zz69zXJB33Ux1E818Qy7n8OaLVFDsyDGrj9E91Se-UCfU3Ipni-njaeU3VhDO-nf39fvYWftoZJZ2poEwAfFJkTYow5K153UoxVGmkKdaV1R5gr70T_sIKjjqkL8CIfWD7VyggN8m3-b7Qu_nfWBIdMlh4A_Nya5TEPeiFU07QpWv5NSiD7wthnSZInJGHknU_pFhSrzY3LAjfsuMFjNUzsowSvSBcQM-pfErShU8FIRLrfNlvUoryHnSdlxeFoXPzUSigqlhtskAb5Xn0YzzH7-na3HNhkcuK4hA9FCCxqQv1WwJffuXXT_jwGXYT57Nbp4JCVk__mct_O0KMuq5AFXBhNsE01XxShBQeJW_KKd8_5s9jtT7Z7T5UBwrCtHdiHPaXZNervOIANtAku7VNRNArk8PLFu2epxFsGezKdfD0FXbHy8T4OwT0mElYZsU991JLprVZIW06BZ8q15DcTHrUO_oE37GAIhFGhSpD-DKIlXUst5bXUAKiQuU9Dic3RX1_zsp11bm2U9qD-Pxct23zFmD0nxPyxbOwyjjkVOrRv_qsKfTziPH2X0tFX1v2uTz8EBvac6TjrXlgjOfeIFw4aNDn_aJDwL92jvlrR4r9T1Joda4yyDJZDKuRVCO80J0KEu3GHqztxCRJ7hb_6N2NHVwr3PuF0VL8g_6cJNpqDGfsgNbzJLmnnXSqJzZqgYfO0LgJRmleaTm9dD-RVGgix4ZjswCDlfOzVn9fwNcNjYBnf4Bky8dEPh4sMzJmiPxF3DA4JkJVpS3jYJLocodLYxqZXZs-XWe8Byc_RrkFVlou8eAEYb_YZ_9qr4VMt80c8mqCkvQA==",
  "id": "rs_0d7c5e9ec0fee733016ab46ef57fe087d08c2b2befb7addaa9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.12,\"left_z\":-0.005,\"left_gripper\":1},\"note\":\"The fully closed jaws read empty; the fingertips were still about five centimetres above the table. I’ll reopen and lower to the neck’s actual height before trying again.\"}",
  "call_id": "call_wsINMKINz4KkfGiVAMcMKYtE",
  "id": "fc_0d7c5e9ec0fee733016ab46ef951b087d0bd297cab79ca7318",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wsINMKINz4KkfGiVAMcMKYtE",
  "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]: [-0.1905, 2.0373, 0.8143, 0.7223, 0.1665, 0.0845, 0.9944, -0.0353, 0.7147, 0.5129, -0.4026, -0.0307, -0.0612, 0.9997]\nstate[eef_state]: left_x=0.4793 left_y=-0.1186 left_z=0.0208 left_yaw=-0.3878 left_pitch=0.0677 left_roll=0.0095 left_gripper=0.9944 right_x=0.2759 right_y=-0.0007 right_z=0.1547 right_yaw=0.0104 right_pitch=-0.0322 right_roll=-0.0109 right_gripper=0.9997\nstate[joint_eff]: [-0.7726, -6.2017, 4.9162, 1.2576, 0.0122, 0.1685, -0.1392, -1.0735, -1.4564, 6.9402, 1.9072, -0.1587, 0.0122, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32c1efd61bf3eca982c5d0b3fd85eb91d0ad51024e36dca490d893df25d828cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:557da5406aca6f434c80c6cef15b740035937c6d795d4e00d1cc76616c242c91",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2d95d3453b85a7d0d1663e686f3f75100421f07992598f343658244e0f463c2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 10 attempt 0 · /responses · status 200 · 2.86 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]: [-0.3313, 1.2709, 1.0103, -0.3264, 0.0906, 0.0319, 0.2852, -0.0284, 0.7944, 0.646, -0.4797, -0.0303, -0.0616, 0.9998]\nstate[eef_state]: left_x=0.3734 left_y=-0.1416 left_z=0.223 left_yaw=-0.436 left_pitch=-0.0233 left_roll=-0.0098 left_gripper=0.2852 right_x=0.286 right_y=0.0008 right_z=0.1787 right_yaw=0.0172 right_pitch=-0.0558 right_roll=-0.0103 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -6.8444, 9.7573, 1.7558, -0.022, 0.1245, -0.0073, -0.6632, -0.5128, 10.1675, 1.8291, -0.1392, 0.0269, -0.0171]",
      "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]: [-0.1688, 1.8832, 0.7898, 0.5682, 0.1909, 0.1043, 0.0111, -0.0349, 0.7364, 0.5503, -0.4252, -0.0303, -0.0612, 0.9997]\nstate[eef_state]: left_x=0.4661 left_y=-0.1098 left_z=0.0513 left_yaw=-0.3969 left_pitch=0.0462 left_roll=0.01 left_gripper=0.0111 right_x=0.2785 right_y=-0.0008 right_z=0.1615 right_yaw=0.0104 right_pitch=-0.0391 right_roll=-0.0108 right_gripper=0.9997\nstate[joint_eff]: [-0.253, -8.6085, 4.0, 1.5214, 0.149, 0.0513, 0.8669, -0.7863, -1.2786, 7.0496, 1.9609, -0.1734, 0.0171, -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]: [-0.1905, 2.0373, 0.8143, 0.7223, 0.1665, 0.0845, 0.9944, -0.0353, 0.7147, 0.5129, -0.4026, -0.0307, -0.0612, 0.9997]\nstate[eef_state]: left_x=0.4793 left_y=-0.1186 left_z=0.0208 left_yaw=-0.3878 left_pitch=0.0677 left_roll=0.0095 left_gripper=0.9944 right_x=0.2759 right_y=-0.0007 right_z=0.1547 right_yaw=0.0104 right_pitch=-0.0322 right_roll=-0.0109 right_gripper=0.9997\nstate[joint_eff]: [-0.7726, -6.2017, 4.9162, 1.2576, 0.0122, 0.1685, -0.1392, -1.0735, -1.4564, 6.9402, 1.9072, -0.1587, 0.0122, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32c1efd61bf3eca982c5d0b3fd85eb91d0ad51024e36dca490d893df25d828cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:557da5406aca6f434c80c6cef15b740035937c6d795d4e00d1cc76616c242c91",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2d95d3453b85a7d0d1663e686f3f75100421f07992598f343658244e0f463c2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG8ARSn_TliJPxOoMwEM8UO_Z_36ei4SUSnLCheLktrY9uglAVf89LLjO1D4x6TgcDh5dznppEYVAwrK5g0USdIEfrrlNTW5QoMSce5XTReXY-aJSKyDeXzntBSgtIk2QivQVsY4S6VTrtIwQA4bw6SsyeMlSwGGsWHfajYIgf4sDE6d3D0of6dPLd_KTLW61NcwBr8Y1YozyecVuMcPyRXT8Bb7tmgBmAMXkGtwdjSt_HVMt_1TPWy2TndqsIDvxaoHEqOd0VsBAmRmiKabUws8jMD7BGdOk0B7Wq-4Y9EiqkPBb9kIwNZU0FtaE_acq1G4jUtnANejBmt1iAURsZjLI2ix5yMdmUyFAfOyC4D6DTWCjPgM2i7w1jLsDm1Oy_Xln_yLTaDCa0C5zYJ1OAxf_f2zovlPMtH8o2FPdFNKboA06cbGE0XSLSe61jw_TfuDPGDlaQyeLr7U4fuJHDNLXpNEl3qVjlB1KZpLGCwzlF3EjwwvKlykb8DgkOiUoh3UCmknZtR-sUSlwlXQmOdowJWhHi9nZ_fomz8FhBWSAl8vOQ3SJOJklBDGPAotsl0Igw3BRi0kZ72cpjFmhATAFHhWDmyXk_4yVi9xDxuKZT_yzpHA9ByddGBZqj5sQmTUkCa3cr9RwwyVfC-1vd2VNcpMLwYnmzTpUg_DyUwQ9lBzKqUV8dHVEkHeEXLYeYbutEHRJJztOVwIhc3U5reYHtezSDRMY20E3wHpXa8P2FKoHxby7chsI-ISreTxhlaFYibitEBIA3s6SJA0Axy5ERRotKMM5P1MKdyzQ_S7dC17AqeNGOQq19WWJt5oDAR4w27UebrsdsBzJJkBcxDxZBSRVqvH3yZNj5tZmkUxAQcpFP89p8XoRSlgglym0fwOa7ljiIyHo8NF1eegm4FrZ-wtGCwzX8rDh7kafQ5_r_wUafMxP_pFOwtEhuC1M1tnNe4BANAddB_6WOTMKMV12z2YCwxWt9SlbdEr4juK6So6f7Ua_X4nYhnZM6aUKmyIW7PaLgrL81RGCW7dvpyrIB8v_7IIzXBZKhF2BJzgWCUmrSvqT7At3rFf6hEofymnG6H_Ipq3_XhA5oyVqwOiijRl0EbBVjeIjmPY2VJ9a3f3UEhXXbUbEcBrgY9Cj4h-4f4CqzD6_vEs0nMo8y8Lx9gvsB9c2X-DK-dUTRg7yPkN8KqyBgUf0HoDk_xVXW2tnM-smzWaCMVzDhiHChAp7dDBaFbxqAaVo5innw5eMjbHck_Sssd7jvFEPlkOYaUu4XDzrmDJ3T1e8p7N4rXq3xc_StSZ5vTM6ufScqthqsWSgzc1TBkRQ3plPbsbkZbBOsl8l-E75pC_SFpqBOMwHe8VsRFb40yu4dDYmUDDwdLIhXPb6gARnF-HFfO831gMQdP7SwKlYZZv2BMvnxEdKgO694_YpiFJUeSwACmqsYJCU9GReahL72Odhf2s4vpatK-RJnvBBlzEBrkdiEx1gBBNYywQu8Zz2xyuzkCYoOnJ4mYbu2JoRXxFvOXgZrwrANqbVsAXqSzWLjfbW1DTvxC99kgrnvI03tIbTFMr9wOW1PI0Dtb4WB16r_lwK6BKpibcz26MOTvAp4XpVqEq-X56ZgYVO_IZqooPkJGzCxas4AzKPZd5Dfih6ILIWpFGl91AZC19M90cq87Nx9gx0hTRT6JUz9t9WWrpSheVYYkJEyecsxyV82T-lh6mhs7XlNTKiRLLaNVU7CpAoI0dAxLqSjGyPjbNi8EYAC76kPPISDdsLmUa3O79Cw_8toxG-OZcOkoANEVLNMz3AWK67YrDodF4OuzB_2bcGwNU7Pc=",
  "id": "rs_0d7c5e9ec0fee733016ab46efd07c487d0938132a627b33358",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":-0.125,\"left_z\":0.005},\"note\":\"Lowering nudged the bottle, leaving its neck slightly behind the jaws. I’ll move back three centimetres at table height to centre that neck between the fingers.\"}",
  "call_id": "call_NWFdpyRHxlLqe95i59CWrO1I",
  "id": "fc_0d7c5e9ec0fee733016ab46eff9c4c87d08c667fd8d5c78465",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NWFdpyRHxlLqe95i59CWrO1I",
  "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]: [-0.2169, 1.9907, 0.7483, 0.7464, 0.1371, 0.0738, 0.996, -0.0391, 0.6983, 0.4847, -0.3954, -0.0307, -0.0608, 0.9997]\nstate[eef_state]: left_x=0.4635 left_y=-0.1232 left_z=0.024 left_yaw=-0.3836 left_pitch=0.0697 left_roll=0.0148 left_gripper=0.996 right_x=0.2725 right_y=-0.0016 right_z=0.1475 right_yaw=0.0063 right_pitch=-0.0368 right_roll=-0.0103 right_gripper=0.9997\nstate[joint_eff]: [-0.8, -8.7453, 3.2752, 1.2527, -0.0073, -0.1245, 0.1538, -0.4718, -1.0188, 6.8581, 1.9902, -0.1734, 0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef0b570972b45bb33127d3aaec6c11bb2cbe20e10b5f9a60cd3d13c6146afb26",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b7cca3f81790fe2bc072151a8ec34b028c8a5ce565c9f3c33c41914fa760e6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ff94d24327a6154dfdc060d47cce7e978c485fba77f58693cdcf901ad5bb820",
      "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 11 attempt 0 · /responses · status 200 · 5.097 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]: [-0.1684, 1.8668, 0.8543, 0.3435, 0.2039, 0.1047, 0.997, -0.0341, 0.7586, 0.5907, -0.4469, -0.0307, -0.0612, 0.9997]\nstate[eef_state]: left_x=0.4565 left_y=-0.1103 left_z=0.0379 left_yaw=-0.4084 left_pitch=-0.092 left_roll=-0.0301 left_gripper=0.997 right_x=0.2817 right_y=-0.0006 right_z=0.1697 right_yaw=0.0115 right_pitch=-0.0425 right_roll=-0.0104 right_gripper=0.9997\nstate[joint_eff]: [0.5812, -9.1692, 8.2393, 1.9219, 0.1245, 0.2369, -0.1001, -0.4581, -1.5932, 6.9949, 2.0147, -0.1538, -0.0024, -0.0171]\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]: [-0.1905, 2.0373, 0.8143, 0.7223, 0.1665, 0.0845, 0.9944, -0.0353, 0.7147, 0.5129, -0.4026, -0.0307, -0.0612, 0.9997]\nstate[eef_state]: left_x=0.4793 left_y=-0.1186 left_z=0.0208 left_yaw=-0.3878 left_pitch=0.0677 left_roll=0.0095 left_gripper=0.9944 right_x=0.2759 right_y=-0.0007 right_z=0.1547 right_yaw=0.0104 right_pitch=-0.0322 right_roll=-0.0109 right_gripper=0.9997\nstate[joint_eff]: [-0.7726, -6.2017, 4.9162, 1.2576, 0.0122, 0.1685, -0.1392, -1.0735, -1.4564, 6.9402, 1.9072, -0.1587, 0.0122, -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]: [-0.2169, 1.9907, 0.7483, 0.7464, 0.1371, 0.0738, 0.996, -0.0391, 0.6983, 0.4847, -0.3954, -0.0307, -0.0608, 0.9997]\nstate[eef_state]: left_x=0.4635 left_y=-0.1232 left_z=0.024 left_yaw=-0.3836 left_pitch=0.0697 left_roll=0.0148 left_gripper=0.996 right_x=0.2725 right_y=-0.0016 right_z=0.1475 right_yaw=0.0063 right_pitch=-0.0368 right_roll=-0.0103 right_gripper=0.9997\nstate[joint_eff]: [-0.8, -8.7453, 3.2752, 1.2527, -0.0073, -0.1245, 0.1538, -0.4718, -1.0188, 6.8581, 1.9902, -0.1734, 0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef0b570972b45bb33127d3aaec6c11bb2cbe20e10b5f9a60cd3d13c6146afb26",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b7cca3f81790fe2bc072151a8ec34b028c8a5ce565c9f3c33c41914fa760e6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ff94d24327a6154dfdc060d47cce7e978c485fba77f58693cdcf901ad5bb820",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG8D7nk7B173gnjGZovU_YrCZXNIJfbkAGJdhjndkgvzzk51n-kuovuw1WdW3xs1W1nIpzBX9lrSCerpR_ME8MaDy0UxzhD7I7r1EV6NQ-RoOb8kpB8RUiHgSJFV0M5xm-wAd5WKkCr8b8pBrS_T3mYBHmGxwzvjNuBl7HCfDhhNl5XCudzHDH40JDx65kmZQYLmSnYECJhFbQEeVfCkVdXEGnj6_Ep4kF-CrkzMOwqPfWsW5SNqfdRsMJVAqAdUkF5I1-TN-Sq1_2HXoHjgVwt_tEp50dKBfmLDPv2hYPDiRT3DYJc4ti4sfA-xZMRQ086QN4PM-uey5qy9iDRWC81OP2teHKHrVo4QLxO9Oxl-ZHqA8bc-lXSVIsoN6o1V8vjpHCu-tBICl1lbcCc83I1KoHQ9XMmjGiabCCwDo11axj4Njq2DPgF4xComUEkPlS23SM-mswHbVaWKr8ZIVBe99nqzondjT2T8Syp_uEWLPbcAs3nyo2iu0BhTiCUIYxYSBufxTo2fiaPvHdRavwIgOz74FJPvz6l99oUk2HsuQOKWkt2hXgw4IUKl2TryfV8Wq9F_ezHgOlqRTca6jt_aGQISERhdqkihBcswEE4lQFswdDiJwaY6SDem46GUFWwpvrPQcj89cRPS7-xwqKGNt8C08_YwSvitGipyQXjvHgvpV6cNBj3woXOe-gmZDW-iqIAhPCHNfuqO7EoKcZv9ZGCO5g0Ltd4Dlf_iVD1-cQDXF8s_6O2IMd7Os26yFofd3svyhyBAmqfQ63UUO90MJ-HW-c3t-AD6n8MCj7HH8QvAmbIsi5lFeS3iVNbbHc8rcfLJ8Oqb71I-AawRZRYFe8umNRryy74Uw_Nx42PZQP5ReO_Barra3QQXFTb86C3e4OsSuFOrlHp7ri64FJAhwTVyGG4oP6YKfno1h4QVmuZBVRENokx_FPXdHwTVEwhBpqhsn5l0el8HA4QDCMpbFEpEOwEhLsbkLsVwY14AHGtLErUDnBhP0MDbDgGwIemKJgQUfmzeaHcRjc9Xhnu07xL-7e8X3AKZ74RSpJLe1F34_pGhKVPwuCnNYSxz5OB51KIwkcEumXS-xW8SbjGCCeF-A24M0mwq_N908X_K9omwtJpe5XChXIOb4JAlZj2g9ijCXlzPNPQgO3RXUVQii5KbL8y6tIH_9nikIA1l2z0=",
  "id": "rs_0d7c5e9ec0fee733016ab46f0295a087d0b3b281b2a58c0f5c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_x\":0.2935,\"right_y\":0.0012,\"right_z\":0.2},\"note\":\"The jaws are now at the bottle’s neck height. I’ll close here and check the settled opening before lifting.\"}",
  "call_id": "call_qoTS3czeyCDTKayzXERKOnLe",
  "id": "fc_0d7c5e9ec0fee733016ab46f02b63487d085e30a348a7d30a8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qoTS3czeyCDTKayzXERKOnLe",
  "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]: [-0.2314, 1.9854, 0.728, 0.7513, 0.1303, 0.0673, 0.0103, -0.0261, 0.7948, 0.6411, -0.4728, -0.0296, -0.0605, 0.9997]\nstate[eef_state]: left_x=0.4566 left_y=-0.1275 left_z=0.0204 left_yaw=-0.3887 left_pitch=0.0595 left_roll=0.0107 left_gripper=0.0103 right_x=0.2864 right_y=0.0013 right_z=0.1777 right_yaw=0.0182 right_pitch=-0.0543 right_roll=-0.0099 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -8.9641, 3.0427, 1.409, 0.022, -0.0415, 0.7985, 0.1436, -0.8684, 10.0718, 1.9121, 0.0269, 0.1685, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:014065aca6bcb69635fc37c65ef233f6565b5b823f9e72c1b05e37fa165b38e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8382fe689f4c9f84aaa8c6bbe578c244a9977f9f5839d9fb3891da10a46d5e3d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b073ea6a038b3895df65d0896cb18eb9bbca0d95acf84615c56b3cbc16c11fd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 12 attempt 0 · /responses · status 200 · 3.424 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]: [-0.1688, 1.8832, 0.7898, 0.5682, 0.1909, 0.1043, 0.0111, -0.0349, 0.7364, 0.5503, -0.4252, -0.0303, -0.0612, 0.9997]\nstate[eef_state]: left_x=0.4661 left_y=-0.1098 left_z=0.0513 left_yaw=-0.3969 left_pitch=0.0462 left_roll=0.01 left_gripper=0.0111 right_x=0.2785 right_y=-0.0008 right_z=0.1615 right_yaw=0.0104 right_pitch=-0.0391 right_roll=-0.0108 right_gripper=0.9997\nstate[joint_eff]: [-0.253, -8.6085, 4.0, 1.5214, 0.149, 0.0513, 0.8669, -0.7863, -1.2786, 7.0496, 1.9609, -0.1734, 0.0171, -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]: [-0.2169, 1.9907, 0.7483, 0.7464, 0.1371, 0.0738, 0.996, -0.0391, 0.6983, 0.4847, -0.3954, -0.0307, -0.0608, 0.9997]\nstate[eef_state]: left_x=0.4635 left_y=-0.1232 left_z=0.024 left_yaw=-0.3836 left_pitch=0.0697 left_roll=0.0148 left_gripper=0.996 right_x=0.2725 right_y=-0.0016 right_z=0.1475 right_yaw=0.0063 right_pitch=-0.0368 right_roll=-0.0103 right_gripper=0.9997\nstate[joint_eff]: [-0.8, -8.7453, 3.2752, 1.2527, -0.0073, -0.1245, 0.1538, -0.4718, -1.0188, 6.8581, 1.9902, -0.1734, 0.0024, -0.0073]",
      "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]: [-0.2314, 1.9854, 0.728, 0.7513, 0.1303, 0.0673, 0.0103, -0.0261, 0.7948, 0.6411, -0.4728, -0.0296, -0.0605, 0.9997]\nstate[eef_state]: left_x=0.4566 left_y=-0.1275 left_z=0.0204 left_yaw=-0.3887 left_pitch=0.0595 left_roll=0.0107 left_gripper=0.0103 right_x=0.2864 right_y=0.0013 right_z=0.1777 right_yaw=0.0182 right_pitch=-0.0543 right_roll=-0.0099 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -8.9641, 3.0427, 1.409, 0.022, -0.0415, 0.7985, 0.1436, -0.8684, 10.0718, 1.9121, 0.0269, 0.1685, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:014065aca6bcb69635fc37c65ef233f6565b5b823f9e72c1b05e37fa165b38e7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8382fe689f4c9f84aaa8c6bbe578c244a9977f9f5839d9fb3891da10a46d5e3d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b073ea6a038b3895df65d0896cb18eb9bbca0d95acf84615c56b3cbc16c11fd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG8JbYLLSh4P9BWI674OIJwBrt4rf9MyViwbyQ3R4oXfE88onGbUnfey_g6qBNi_8qtPmf2jsP9EsQGXQBZtSySt1DaEK3PlzMG1FoePV_dTpPxQ3hmGFIieKkxtrXRDDurml-CTM5DcQoWQMVEa5ssIvMFIu7wdQIp7iOLlyDJJ3yEv1x7SrGf1tyR0V9sNUYqqQbTxQdICCVUkDiDbdTpiYOm6n17njlpC8wBpeaQg9ZD5RvtmWE3PyTo4NVWch0x_olz7lJkQ9pXfhfM-MMl0rFVPd-0hef1BJVj3yEin-C_WWjk6Au6obW5enaYlx640qDEjoLGL33vjj-cOMQrb0cfV7GnNFMrrS1aqq9wRu6wyR9IsEXR2wyuHWD2ZXDaIOMKb0f49mGt26YBGdvOZGqNXQDdY5n0lHHqBAS3c6MYNN8iPRfvUaQ98YdcpKFWllgFjc9g8XNF5oYCCiGz952sFLA33ED0U6l0PvJ84Ed__LmHjutzhcGwmS9NNK_e3IZ-x_4S-ZzTvOuPUpK-1jZrXiF5isvT-4PorAl0Xv8YIejvnnLfntn4vCfAcQIhv5IzNqUHzKkaVkiLOidEJOLXiij7LV8zo4Y4dBntn3yKJwIFLkeQDgtsd38j8trFC4iIkB7z1MOjTJ0eIAcxt3FRavVYE9Bbu31ztIiZY4sXYkW4-STnFVelnWY6qVD0bJGXGBHk1K1tyuQvcAYwXCoQjbdeY3G0hPTCMrAuvqaZBoIkFo8fYhDaZLSjRbr5Wvz0tdFtVfPjZ92UXU64Jo2ZX_PfmtltriR3D1hZpfcSmonuaKhWAinWdSmrjwyUJiiWrgnJjaoNWTb7WGdWuF_KRZQ3bCEI596exJzgTeIhiyMzufjprStN94Mh7Xz_M_cac0VQb_hRZYBUIunSPuSw1Sjkdgum8SUZj-oU_ZVnDRP1G-HEdkNBdCXKzxnsMYbUWdqXLQcxY8QucHjXksTEdUVpGeLMeRZP6w8Yh5eYxDYeCEUagT5apQs7ncelkit6YLRuHzen4Bh8liDFz_AJVDGYKua5CxGLuvD9P6AYLLI2guzdCi54PqI0ZAHddY4I4qn-uJ7M-SHFhq2uolqepiwB9WMl7MBR5kVfiMUf1JcxL-Z2PHZNhz7d2rsV63re3u8gVPbvbngRu7VwqZeJKIMuw5O--Dh5fvBfJANkwfw3c_fabRcBJhIwdDgA2alk1dKjfwFs7zmEupFyxtEKv4MSTX-sd-wQQGyTwbkQWqXcCiztEtMGcVd0Hxvr-OnRPkif-8esbsv1qagE5hI7TEcJTGluDoDOOKIIokGczO3YQkXnzRPuFwDGmH35Em4326__elpFYvmynxLlB8frBJ4r4GWUQ5hvNtmY7Ugs2KFTWW1BYEGildptFNt6K0s2jPdqmHumt8_PIMuIarIeKAL-bHE7Pf_R9nFbkdHoDaN9ixTGneAG-pSzdKqpPM-3pLkDZoWwTpwlpFHueqpMAmf24NSw2lkfecAy1Hjzo6104gwy6Yse7RlzcTdPkrs4wHni4_5HwpQjtywb6aF6916oAtczloqBj3TXnF8T-62KuysxbhLdGN0qpafPebKSCWfIFEq6pBf4dyrw2nJlI6dUaShK-ey-mk0PbtsfTNVfrHID6I9ouIVm7Rk8xpo1_aW2xRnv70FEf-ELf9iSn-Z1tRxfgd7ArNCQcLkB6-Epu74q_NtVK5iu48fmV",
  "id": "rs_0d7c5e9ec0fee733016ab46f0622d887d0a9d7f63c7d4a498c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.16,\"left_z\":0.04,\"left_gripper\":1},\"note\":\"That close was also empty, and the bottle has rolled closer to the base. I’ll reposition over its visible upper body rather than repeating the missed neck grasp.\"}",
  "call_id": "call_931NfYYc9yB8ZXyFKvSiPicA",
  "id": "fc_0d7c5e9ec0fee733016ab46f0886b087d0aed20420fd4e0c6a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_931NfYYc9yB8ZXyFKvSiPicA",
  "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]: [-0.3836, 1.7908, 0.606, 0.6079, 0.0135, -0.0078, 0.9951, -0.0284, 0.7628, 0.5865, -0.445, -0.0303, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.4014 left_y=-0.1607 left_z=0.0308 left_yaw=-0.402 left_pitch=-0.0161 left_roll=-0.0001 left_gripper=0.9951 right_x=0.2817 right_y=0.0009 right_z=0.1671 right_yaw=0.0153 right_pitch=-0.049 right_roll=-0.0078 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -9.6752, 4.8068, 1.6288, -0.1197, -0.0562, -0.1441, -0.8547, -1.6889, 7.2, 2.044, -0.1587, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dac0130bda1bc0bd2011f107046c1e1b2e842080dc881aa439d39c27da91567a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80da56eb7e0901e353f8da7b9ff72759ddaa4a7094f11bf8f902a69f48f1d821",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bcd23ffb2928e18194d96b53a0ccc2810d743a03fe7d8ceb0d0603f942cb93a",
      "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 13 attempt 0 · /responses · status 200 · 7.511 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]: [-0.1905, 2.0373, 0.8143, 0.7223, 0.1665, 0.0845, 0.9944, -0.0353, 0.7147, 0.5129, -0.4026, -0.0307, -0.0612, 0.9997]\nstate[eef_state]: left_x=0.4793 left_y=-0.1186 left_z=0.0208 left_yaw=-0.3878 left_pitch=0.0677 left_roll=0.0095 left_gripper=0.9944 right_x=0.2759 right_y=-0.0007 right_z=0.1547 right_yaw=0.0104 right_pitch=-0.0322 right_roll=-0.0109 right_gripper=0.9997\nstate[joint_eff]: [-0.7726, -6.2017, 4.9162, 1.2576, 0.0122, 0.1685, -0.1392, -1.0735, -1.4564, 6.9402, 1.9072, -0.1587, 0.0122, -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]: [-0.2314, 1.9854, 0.728, 0.7513, 0.1303, 0.0673, 0.0103, -0.0261, 0.7948, 0.6411, -0.4728, -0.0296, -0.0605, 0.9997]\nstate[eef_state]: left_x=0.4566 left_y=-0.1275 left_z=0.0204 left_yaw=-0.3887 left_pitch=0.0595 left_roll=0.0107 left_gripper=0.0103 right_x=0.2864 right_y=0.0013 right_z=0.1777 right_yaw=0.0182 right_pitch=-0.0543 right_roll=-0.0099 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -8.9641, 3.0427, 1.409, 0.022, -0.0415, 0.7985, 0.1436, -0.8684, 10.0718, 1.9121, 0.0269, 0.1685, -0.0122]",
      "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]: [-0.3836, 1.7908, 0.606, 0.6079, 0.0135, -0.0078, 0.9951, -0.0284, 0.7628, 0.5865, -0.445, -0.0303, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.4014 left_y=-0.1607 left_z=0.0308 left_yaw=-0.402 left_pitch=-0.0161 left_roll=-0.0001 left_gripper=0.9951 right_x=0.2817 right_y=0.0009 right_z=0.1671 right_yaw=0.0153 right_pitch=-0.049 right_roll=-0.0078 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -9.6752, 4.8068, 1.6288, -0.1197, -0.0562, -0.1441, -0.8547, -1.6889, 7.2, 2.044, -0.1587, -0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dac0130bda1bc0bd2011f107046c1e1b2e842080dc881aa439d39c27da91567a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80da56eb7e0901e353f8da7b9ff72759ddaa4a7094f11bf8f902a69f48f1d821",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bcd23ffb2928e18194d96b53a0ccc2810d743a03fe7d8ceb0d0603f942cb93a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG8OtjgNLeyniz29igqGE0AUqmu9cdYh3VijEZkjFZbQXyiNVb45E7XhaEQL2u-BSj_sOXRqgAUVIxc8LvmtTHwGMkZNtE6TA7MblkxF-KhJ23svdubGNRmM9UIhZvgP5ri3hXs9FbNpCE3Pe-Lok8uFvWsbN5fkYcJTEH1x54qvmOWEDWUwckDToRX0lpur-gogKP4DRyOtKvvpz5_i-YFJ2M8xER41zNfx7rMDcF_u_kyPg5Vr9WIoaYY9XpzdSPsGIMfdQNBbhUx1YlF4O6PW0UIReZZ3AWy-Unj8WIbRf4JYxXGtNkwaNvulzncvuHd0M60L8cTgRIC29ChgTKpP4Vn61GY8j63ueapenF0wbrx9hwFavWpzE2kNcNytIvc0_i5fc5OGMh9wOeElsU7HWzcW2KtBQcNv_wqONcAcsWlEx56Ware3TuFBDBKfik9F9lFxTNuFWcmXkb6IQypRkDPxC8oX8rQbCLhxzKNcFv5nHZgx_NhtC9kcJtXCbORAIiU6Ekjbl7XrY-7XGmlmabmSc-EZQD1a9A1zEnksL9RpJFK2AY08XatzpafKw4UHX_C5n5l_ePspsDPcoz_TJo1jw38Z0J-F-0ixyM5WX-0x8qkCoOlFzzVlgcEPPdhSJtc8MY6Ux1wsk-wD9MDUQJT6Pm2nnbBElO-OjjKPFuH_MBXICIJE_G1It2MWL2AYb13_Wat8rieg-Fm_0Ka7RLqa2dCSQycegvKT54JBRVCQMinVcI691Sj3Kbx2LJQP_8B29LSRQcqUZZsW0mEma8LFnjEfcWJhUkOqJcODOCm_EfSZJn-eByySfxXLVtKpbRmcxqBLsNIGiiNxuInINSoMcd57_vf8gUwGGKl11ayIqQElQZQOe5_yVJ-AQj0BO9i5wZqddpp0fZPUMlLRi-I2W7lPcXGo30ZtdcJAI1KnsdPwg178SZv4q0YVhg3Gd1j0B-6NVILjLDlGG0PKeJHNaKNjYcQe2L57hncB9YgslZowHGw0T6k_3nG4UQj_OCZcJy-_Z9qZWJf2v6OehBITQJtaCuV6yoGL3s6kLHT43AwM3SM5vzOrfJnP8P-t3PyugvUkKIriOzjYfGXzgmHxtCIlcwifPeOIfysSUDigOr5SSMDJ1iaf1mqtJdKNydVegs_yBOAWmoyuuH8A03sy9zgRanKDx4Hfaka9FK4BMnxrUMOwcdrEjerNXYp5d2F5POCkeKR_on9_OtwabcioKtqBlI7AkUhsQeQam4zWtQakWvS9iGD2QLfwdLn8Cz-gRzCSfCdWnuWhG9SjHwNLlxgHRy0VXFnDxtUxhGrfzLEOxBoFhoDR5SkpkI5PEaShLTIJlUhjmTlXsB5IHBPfMtzpVI9wLnf3CuJ-qFE8C_c-8lPN0AnJlGcKsGdThbHehagB_TCDfltepBi5RX7x6L1su8Qtk5Qnd6KNq0h6JfZ6uok83WFtvihWqzgH",
  "id": "rs_0d7c5e9ec0fee733016ab46f0c490487d099b6c3cb58ad2e59",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The upper body is between the open fingers now. I’ll close once at this new position and use the jaw reading to verify contact.\"}",
  "call_id": "call_XkViGwBAnFBoEWRWxdaFKDXY",
  "id": "fc_0d7c5e9ec0fee733016ab46f0d414887d0905ee5d886e8d139",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XkViGwBAnFBoEWRWxdaFKDXY",
  "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]: [-0.3866, 1.795, 0.5991, 0.6239, 0.0029, -0.0067, 0.0107, -0.0284, 0.7326, 0.5385, -0.4187, -0.0303, -0.0582, 0.9997]\nstate[eef_state]: left_x=0.4011 left_y=-0.16 left_z=0.03 left_yaw=-0.3966 left_pitch=-0.0112 left_roll=0.0067 left_gripper=0.0107 right_x=0.2777 right_y=0.0011 right_z=0.1585 right_yaw=0.0153 right_pitch=-0.0406 right_roll=-0.0082 right_gripper=0.9997\nstate[joint_eff]: [0.2256, -7.3094, 4.3829, 1.9414, 0.0611, -0.0073, 0.8376, -0.7453, -1.2513, 6.9675, 2.0293, -0.1636, -0.0024, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0375d2b20655da1afd26ae3da259a7f59d45e1cff81cae9b0932c22cab1eab1f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b0c382c2c58be2712c186d280bd583df0805a6ac178e1b27ee27c03caca66ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec057cb70bb01fe240e766421a1ed44993dd66fc213b40e7a4aa07ef3542b7d4",
      "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 · 7.6 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]: [-0.2169, 1.9907, 0.7483, 0.7464, 0.1371, 0.0738, 0.996, -0.0391, 0.6983, 0.4847, -0.3954, -0.0307, -0.0608, 0.9997]\nstate[eef_state]: left_x=0.4635 left_y=-0.1232 left_z=0.024 left_yaw=-0.3836 left_pitch=0.0697 left_roll=0.0148 left_gripper=0.996 right_x=0.2725 right_y=-0.0016 right_z=0.1475 right_yaw=0.0063 right_pitch=-0.0368 right_roll=-0.0103 right_gripper=0.9997\nstate[joint_eff]: [-0.8, -8.7453, 3.2752, 1.2527, -0.0073, -0.1245, 0.1538, -0.4718, -1.0188, 6.8581, 1.9902, -0.1734, 0.0024, -0.0073]",
      "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]: [-0.3836, 1.7908, 0.606, 0.6079, 0.0135, -0.0078, 0.9951, -0.0284, 0.7628, 0.5865, -0.445, -0.0303, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.4014 left_y=-0.1607 left_z=0.0308 left_yaw=-0.402 left_pitch=-0.0161 left_roll=-0.0001 left_gripper=0.9951 right_x=0.2817 right_y=0.0009 right_z=0.1671 right_yaw=0.0153 right_pitch=-0.049 right_roll=-0.0078 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -9.6752, 4.8068, 1.6288, -0.1197, -0.0562, -0.1441, -0.8547, -1.6889, 7.2, 2.044, -0.1587, -0.0269, -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 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3866, 1.795, 0.5991, 0.6239, 0.0029, -0.0067, 0.0107, -0.0284, 0.7326, 0.5385, -0.4187, -0.0303, -0.0582, 0.9997]\nstate[eef_state]: left_x=0.4011 left_y=-0.16 left_z=0.03 left_yaw=-0.3966 left_pitch=-0.0112 left_roll=0.0067 left_gripper=0.0107 right_x=0.2777 right_y=0.0011 right_z=0.1585 right_yaw=0.0153 right_pitch=-0.0406 right_roll=-0.0082 right_gripper=0.9997\nstate[joint_eff]: [0.2256, -7.3094, 4.3829, 1.9414, 0.0611, -0.0073, 0.8376, -0.7453, -1.2513, 6.9675, 2.0293, -0.1636, -0.0024, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0375d2b20655da1afd26ae3da259a7f59d45e1cff81cae9b0932c22cab1eab1f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b0c382c2c58be2712c186d280bd583df0805a6ac178e1b27ee27c03caca66ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec057cb70bb01fe240e766421a1ed44993dd66fc213b40e7a4aa07ef3542b7d4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG8W6I8KFWqNZCs4fOH2YxHVVwAn-QfOXV6xvpxc8_AJE5dOunj0QxCaamOAjlc2zqOahIjfGG6lLNfH3JequyOCt5ky9mcGnsrzy_-Vtbq-OWXHHnVDjgSxDAC-o43Utzf19vBDrC2GSk_389misQ_R9qU9yMaiW2OlFm3lXVgTdXQfub0s65sqFv0tEmYWEg783X5qgpjo6z2xTx3IwehFLn2pbcFBh-XyourjK6jzU-0f59hX4RltmvArx7b7YEd1waD4TmvOV8fwsJIZ-ZfhUG2LWJAFy0LCQSIjQC0JRzbXDvVOyV-kl8ByGO09quLF5dA56_JLhBBFz9jV16jYAYOugnOyGkKlm5ZIrrPxbaCO8HRX2QI0yhHkjFmFmB-PbgLvVZUTeBlpZO-IlgrPjR4-DYZww36-U82KmypsJ-VH6u8_tTvo2aw4N_7FdB7_G0Bav8M8Mb3FFGQEiIkuSib1A0xQxwzlfLKQ5BQH3Z3Vgna4AFrZMge7WmvjQ426ZaK98lK28Fy32af696Yt-oAt1UIgYu4WYqEYMTilsnafFjGsTpUTEEQpksqnQj2ZW32bMI9bbUOHq399ZComAbGlqdIlwhcBri2vxAgI7grh6VpxUPYcnpI7mX2J6Jr4b39JlxJLUrd8g6OTOMzXLmEMh-DXo--PhBxEq3DogRkFNBA2bjdaf_NAPqSeKFoq6l8Ftm9gICn4U9JlR2vX348ewUuU21YqoPgHLxO07V94Ui4AHDLVNS6cXLobagy8teJf0Rv7ZWrchhxy3QcY2WrsCvffWUrpUOLpBRoFDO4DgNJWG9iZ6AsK71cRoDvGoy6xYnHqIPeJ2iZjN9d3rScSXT556zeh3qYPOvrTp9sg0ykCyEgQX4xSOaz-lRhk6RqKZuRwHGohxVyBIlncKa2YGOBRaC47H5Mll9Xt4S3KTRWHzdw2-UI7TLGKFjbPgW-QJoXkyoHsHmk8OgtAlPxN7DRT-p1MJdBTqcvRiuSqOR3bRDGEHK3SiFZQK0koJycGspFXXk2UtThjmBGo7z0w1wx0oBj2qM_xBOeTxVvlS24JCo9e3FT117CqQnaC_Stn3Xl9KpuyA2zSb6m4cXD_SLAPePG-OEaQ-OINezQMlSNjH8KjBnNr7G8bFykDqLSIyd1xRDjne3cVUKLi7C3EqmCXNnBH59nFYbgPOC5xsuEGSp0lTNVOljSPsFmKcSrPqOeRwnT1F2y6nDRmFh2T0-XFu-iOMItFSTWpo7bWmVLG8Ti9Rs_ND4gsxDOxfCLVdANzXlogAsxsuF48QK9xieDbVZM2RT2Sj5LgoMmA-nMzo0Vo7SkF57HuU2TRA6M63gVN5nOlM6Egwa65SV7qWUMt0beRrPAVmwFBJpEtF0--bbAk3MiyDUpNVbep1ramJ2Bae0cDaZfJpe5lU7Q8XgRZL6RixtsDxaRnIMK4z3uP_uXYTpKhxB2qa4vplB8Qxs2-L9WddEBeEHAnamIa8KHFi3zgRo6F7M3g2gNee3acKasO8C_9BOGcb7bIx-iFHjiCFOLds6ZHebmXj1StzwnIkYppPcRl8m_7U5WI6se4VHzao5h9m6ktRc69pW11_UBEO14i9xYO-SDBQdieZmnUg6S0A6aEd-cf4lw7afjhtGiJI2bDbnsbbee9aQlZVrAy0Vlue3iYhejBrOiM5BMMPCsI2LGC3bmratE60D0hYFKtWYNwYyZasDiro5uLoWtRpdgcthQACimyfPAmdk_bf8AS-Gze7BYihhXanWAOVgSMIbZsukbfA00IlJaypNiK32YN0FpE65BiVkNkDcqbrM2TKdlC4KuXZXLXRKTqmja-TBI0xJ67DSi98hcVLhqJJF5be6ooN4hCyPSNX0-9H1GPU06Jx6rF-d1Pau4kVh3hZuJJ90SbOEfm85spRMySX6NMNf5-bg6GMGEXkGuO5ylCDpuXf2fGKP_bjlhxpet5Gv9ydj6uOOrldHs9P9pKlRzTjnkRBAYyaAOya4nkmgcYIlFXdvsuzWUuCUdaC5PxGasGbLaUsR2gon5dcxlrbAznTKl6DSuAwvgGcs6XYYKgKqG_3I7eVxgL9WOM-1KU1An2Fs1xuu_h3is8nRs1RFTT2A7tOrWw58o3UzkutiiOkzhhyZlAjuA=",
  "id": "rs_0d7c5e9ec0fee733016ab46f11819c87d0a5acc297a0e57550",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.07,\"left_z\":0.18,\"left_gripper\":1,\"right_x\":0.2935,\"right_y\":0.0012,\"right_z\":0.2},\"note\":\"The jaws closed empty again, and their contact has rolled the bottle backward. I’ll lift clear to expose the entire bottle and reassess its position before another approach.\"}",
  "call_id": "call_W3LtsttqYYmM4zfRYcsdOABF",
  "id": "fc_0d7c5e9ec0fee733016ab46f15400887d0b80bf4091c0c564d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_W3LtsttqYYmM4zfRYcsdOABF",
  "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]: [-0.0937, 1.0985, 0.6628, -0.1215, 0.2173, 0.115, 0.9948, -0.0284, 0.7952, 0.6437, -0.4759, -0.0303, -0.0589, 0.9997]\nstate[eef_state]: left_x=0.3486 left_y=-0.0674 left_z=0.17 left_yaw=-0.3493 left_pitch=0.0183 left_roll=-0.0016 left_gripper=0.9948 right_x=0.2864 right_y=0.0008 right_z=0.1782 right_yaw=0.0157 right_pitch=-0.0551 right_roll=-0.0082 right_gripper=0.9997\nstate[joint_eff]: [0.212, -3.7675, 9.6342, 1.707, 0.1978, 0.1929, -0.1929, -0.2803, -0.6222, 10.0718, 1.9902, -0.1343, 0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79081e03c25059321bf09c9ae6a2caa4b52e6c87ae998a313b399fa9b1cd541b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:113ac183d8180d26a2d9b8c6677e2932ab26dd7cc1ef6a72214b841a7ccb7913",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da6ab801505ea95a5fd34f419181408159a4b6abf89e122cf5c298f7a3c510f1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 15 attempt 0 · /responses · status 200 · 4.409 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]: [-0.2314, 1.9854, 0.728, 0.7513, 0.1303, 0.0673, 0.0103, -0.0261, 0.7948, 0.6411, -0.4728, -0.0296, -0.0605, 0.9997]\nstate[eef_state]: left_x=0.4566 left_y=-0.1275 left_z=0.0204 left_yaw=-0.3887 left_pitch=0.0595 left_roll=0.0107 left_gripper=0.0103 right_x=0.2864 right_y=0.0013 right_z=0.1777 right_yaw=0.0182 right_pitch=-0.0543 right_roll=-0.0099 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -8.9641, 3.0427, 1.409, 0.022, -0.0415, 0.7985, 0.1436, -0.8684, 10.0718, 1.9121, 0.0269, 0.1685, -0.0122]",
      "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]: [-0.3866, 1.795, 0.5991, 0.6239, 0.0029, -0.0067, 0.0107, -0.0284, 0.7326, 0.5385, -0.4187, -0.0303, -0.0582, 0.9997]\nstate[eef_state]: left_x=0.4011 left_y=-0.16 left_z=0.03 left_yaw=-0.3966 left_pitch=-0.0112 left_roll=0.0067 left_gripper=0.0107 right_x=0.2777 right_y=0.0011 right_z=0.1585 right_yaw=0.0153 right_pitch=-0.0406 right_roll=-0.0082 right_gripper=0.9997\nstate[joint_eff]: [0.2256, -7.3094, 4.3829, 1.9414, 0.0611, -0.0073, 0.8376, -0.7453, -1.2513, 6.9675, 2.0293, -0.1636, -0.0024, -0.0171]\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 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0937, 1.0985, 0.6628, -0.1215, 0.2173, 0.115, 0.9948, -0.0284, 0.7952, 0.6437, -0.4759, -0.0303, -0.0589, 0.9997]\nstate[eef_state]: left_x=0.3486 left_y=-0.0674 left_z=0.17 left_yaw=-0.3493 left_pitch=0.0183 left_roll=-0.0016 left_gripper=0.9948 right_x=0.2864 right_y=0.0008 right_z=0.1782 right_yaw=0.0157 right_pitch=-0.0551 right_roll=-0.0082 right_gripper=0.9997\nstate[joint_eff]: [0.212, -3.7675, 9.6342, 1.707, 0.1978, 0.1929, -0.1929, -0.2803, -0.6222, 10.0718, 1.9902, -0.1343, 0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79081e03c25059321bf09c9ae6a2caa4b52e6c87ae998a313b399fa9b1cd541b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:113ac183d8180d26a2d9b8c6677e2932ab26dd7cc1ef6a72214b841a7ccb7913",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da6ab801505ea95a5fd34f419181408159a4b6abf89e122cf5c298f7a3c510f1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG8f5twBwY42ZU7D2-_SB9vgrdeq9RYLt5MWlqTac900qLAmhoXXGF6TDREyEQwLde1lfWY88VYZjN85Q4R8DYU6cSObA-WW8wXYDXp7JCJ92egpSbBw8TJc-eWJQ842OOdAKnFaqMrQJmmHhCRbmzqqMq1RIJxtVGI1eUwJOitU2ztlbf16IIywa6e19GhSqk1F7fL5YXpkWbLLsXpGm5GG_qcYXG_fys3ewkxf8bdmPIYNkpJ478Fj0m7COoJVlkjh18cMvlploQquHh8OL0KrHWn-rxzQ-lAWyDAB5sFIrqYu7Rne3OW9Eliomqs_5Q1_WMoiGLOnQWC3go96-V72hDlVmGQd4F6iW42l-gJqTnyCZjIaSwlzsEs8M_5ZVe0gTGfjvwbqI-TVwi7afM4Tykh-q-sfbEhJ3RXX3Dk6JJwxSc8GcDo3phM2x3D1m0FCDpz_Qg7Nf8WG1pijfqxLkcMIQdEewIQSI_bGV2QMJ4qIbas-Wa8yTocoXpOhfuxe10HtnAwppUOya_sVuUogKy0mUnsMrTubxoM4oi6s0ww7AfYBMn9ytIdPfMc2fXPiK4aY7YIHxkczopynqGmH74faTf6nVE5WgzPi90cTcPB4z3xAfWAcyYf885tBLZDJ69kKJtW8DwHZKyVskENgZR2ugDIwgNTszXL-vUn_AQCJV6vTK0W1FQcVmugxgyYj6FKwfY09pjixsA_35OW8nvCZyEEYeHg_22UMHNfJYvWgS_lASvgbyaWteavrgJFB_Z__7qZPyZorrby3dOCS2-q4DcVX6Kak7dabKhswQKypWDlJjQScO7FzbBbOfgH-s_GR6bXhxcjkaqG8ZMJR7_cvGl2nFRThh0yHC6K1xrcNUqxwclGkyQtYKFjhAiw0ZV5h17eVpqGyLXgV1Sqs1CGCBaLkSTkOUMquONSP49JHn7Ntu4LrWCWGvq9z6FRYSvHUXWK9WCJSB07v-NpEe6wEPLdnktFHJ1kwJg25Uo56PY1iPTvs_Nl34pkJwYxOPkAddfUVLWHVMK7c6a0Yw5dAtfydoFfweLboQZ2OjLCuveCOTdT6w2-NOkUL2dMW69ejFJSvWZ6Iu3Xz_cinn-q0qJ6Dw8cibBCXNqKulqOT52u-gi9q-arCafx5E62PYmp6N3IGxO5YerwmzJqhJpBCAuBUYTuaeEz7PiA5MxJQZPCut9zOvLWSwNsaKWl_R0dq2D_7mfyxJuI263kV0f-iBjJp5-d24Z61Poo8sTt_rebDoqrY7q9gbmkOnyLJ-83qnI3raZhu-uA804qAr6jmvC5XGq0CxaDjAgcl_j3Y2KKojIwiK8jtShAeaXGnid6_GJ2W1DwhqErph0EQFH71fbApFToirmTBYNHwsUNGLqggs-TXM98VMfzi5fNgfuDEc_HUEhMuFTRhB07vROS-uLhKgCTedhLprQAX2BQqesz6NrQr8wUQub3y54zlY6dZcWP3ElWTwOO5SXSB8pau3NXB_8_CKEr02HUo0iaYlVo1U9hXNMvbtiLrlP_lbaG35jWYaA_SoiB1_8Pk096KdX1eLoN_w4PjgJyuS9nQlFE-y0mWdbIZFpgxFJZ65K-JAyQ8iudNT6LUXDFr20gLK2EPmBf9T4kEh_2vOBVxgCTnHO5QeZvXJ2REXg5vb_CKHnGo5IniULA7TN7lIBmDWoHeoK9cJfmKLqjV_4OQ9-jmETKc6TyN9w8Sq01Lp0GokjRI8bo9lM-1PTcjtSvPqcFMTTF9YrgOmHLY62An5aIfqAkT5yzRI609Ure9prRkJurLuffwHsvg2NpKvIr8Kw-uc6Kb9OPB-qbE4_EJKCN2MKIP9fooUjVCKUW-bsOwXj_sBXFMB6ymyz0zkPOVCgp6vJjrG9K0SF6wcb7v798XV-NDgXF8aps2DWIyvR_3UyxobK72W3JqWNF8wiFpIr9hLx7n_7dxiY5YjKzIAI0QgkWGzvlqwYxqJunlK3PVg3Cz1M6AmLeFbnMqFYMQ6PZfbDETVaKL6OBE1EcCrf5wjantdHHmTBitvy2Ww8TgHll6eGw_sgbfpAsvOeNBbJDmkndnmuM4Z9elCOV6GFb667K9n6QjQEEKnO00HvnkNcO3vhcO6oo1IYFJv8K3RjrLX8c3IrYmIpXvUQEYbNkPN7gJnRZZBVkJMtDS1Sp1-ey9zWQvA656P8v-bQ==",
  "id": "rs_0d7c5e9ec0fee733016ab46f1979a887d0831306f1c9991713",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.10,\"left_z\":0.012},\"note\":\"The exposed bottle now lies almost sideways, with its cap at the left end. I’ll approach that narrow end from directly above using its updated position.\"}",
  "call_id": "call_OsUIXXTMj6en3myIb3e4FUrl",
  "id": "fc_0d7c5e9ec0fee733016ab46f1d71c087d087ebd14746dbe65a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OsUIXXTMj6en3myIb3e4FUrl",
  "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]: [-0.2249, 1.6901, 0.3939, 0.778, 0.1112, 0.0406, 0.9961, -0.0284, 0.7597, 0.5892, -0.4454, -0.0303, -0.0612, 0.9998]\nstate[eef_state]: left_x=0.3758 left_y=-0.1024 left_z=0.0331 left_yaw=-0.3518 left_pitch=0.0461 left_roll=-0.0051 left_gripper=0.9961 right_x=0.2818 right_y=0.0009 right_z=0.1691 right_yaw=0.0169 right_pitch=-0.0436 right_roll=-0.0106 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -5.012, 2.3179, 0.862, -0.1197, 0.1343, 0.1245, -0.9504, -1.5658, 7.159, 2.1074, -0.1832, 0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50be537746ade396310546452aa18a0310deb634de886d2e5278e353718aa25b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:024478f0befcdb8c4f21e5aedb8ca94666622438a42dcb2d7d179eb4b65e1428",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8121f8d7a17539e2f7a3e26e004a9faeef78d2b4488d2a929b34cef785cca4e1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 5.852 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]: [-0.3836, 1.7908, 0.606, 0.6079, 0.0135, -0.0078, 0.9951, -0.0284, 0.7628, 0.5865, -0.445, -0.0303, -0.0582, 0.9998]\nstate[eef_state]: left_x=0.4014 left_y=-0.1607 left_z=0.0308 left_yaw=-0.402 left_pitch=-0.0161 left_roll=-0.0001 left_gripper=0.9951 right_x=0.2817 right_y=0.0009 right_z=0.1671 right_yaw=0.0153 right_pitch=-0.049 right_roll=-0.0078 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -9.6752, 4.8068, 1.6288, -0.1197, -0.0562, -0.1441, -0.8547, -1.6889, 7.2, 2.044, -0.1587, -0.0269, -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 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0937, 1.0985, 0.6628, -0.1215, 0.2173, 0.115, 0.9948, -0.0284, 0.7952, 0.6437, -0.4759, -0.0303, -0.0589, 0.9997]\nstate[eef_state]: left_x=0.3486 left_y=-0.0674 left_z=0.17 left_yaw=-0.3493 left_pitch=0.0183 left_roll=-0.0016 left_gripper=0.9948 right_x=0.2864 right_y=0.0008 right_z=0.1782 right_yaw=0.0157 right_pitch=-0.0551 right_roll=-0.0082 right_gripper=0.9997\nstate[joint_eff]: [0.212, -3.7675, 9.6342, 1.707, 0.1978, 0.1929, -0.1929, -0.2803, -0.6222, 10.0718, 1.9902, -0.1343, 0.0269, -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 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2249, 1.6901, 0.3939, 0.778, 0.1112, 0.0406, 0.9961, -0.0284, 0.7597, 0.5892, -0.4454, -0.0303, -0.0612, 0.9998]\nstate[eef_state]: left_x=0.3758 left_y=-0.1024 left_z=0.0331 left_yaw=-0.3518 left_pitch=0.0461 left_roll=-0.0051 left_gripper=0.9961 right_x=0.2818 right_y=0.0009 right_z=0.1691 right_yaw=0.0169 right_pitch=-0.0436 right_roll=-0.0106 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -5.012, 2.3179, 0.862, -0.1197, 0.1343, 0.1245, -0.9504, -1.5658, 7.159, 2.1074, -0.1832, 0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50be537746ade396310546452aa18a0310deb634de886d2e5278e353718aa25b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:024478f0befcdb8c4f21e5aedb8ca94666622438a42dcb2d7d179eb4b65e1428",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8121f8d7a17539e2f7a3e26e004a9faeef78d2b4488d2a929b34cef785cca4e1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG8kj4mQzqeD6uGT-Ey08yWHPk84AVnMqKP0-xKdfGTJhNYNbVUZdE75GwjEJvb4sOFWbbdCWmEfOJ6gZTmgzjldZ4W1QcMPB1mLZtTuXpg5MOXflaX24tHHN_cdsF1LSJl4z1-uDfHiZm2R4veN99URZavkjDX0ZTHbgTA2rpXUJs6OM-HvX0CwbeoaMYR6esFRvJEjOpRCDr7G7IMzzTJAx-ydyKNV4WEz9-h0ICJC7Z-fY5Ln7PYHlfpJwu3xFr112Nj6vQLBgoSU8VNw6f-zL3NCICUyPikXJcAlx-y678d3MZxCrvPBhgVCj2MUY99rGylyRJE4VUhQeQVCqhAC2ew8BJIMZctb_t79yaVOGkq_5Tvho1rfb54w2uXiB1WgoTT0IZMF2Gg_4FWyvi3n9lZcVVWsiHeWmk9EXUHRAUFE4AdgBznJ3p5r-8jPLkIeQ_1xcNEMuLyIK2PP28Hx4JiXHWkO7eHFCIXXJqoWUeF5fjbJYi-yK6mHohh68CHQSyzZLFBPNPFhQrHGjpE9L5GCGQSM37UDOAgnu-XDZeRcUYC4Po58fNaRHvFWug_4-iW5JQvvXt1PfjTC-bO_c2YnFgkLCaecKrTSObBi5Gm6ek4Yg6GJaRHcZAkJpK_2csiLi2hDeZBI-pwAq8aq48b2EilMI-zWOQnVnP2u0QhTQqWeervzwV_BUsjNccgTRwGAbn6rLbURy3l9_cmMYu5oBbhrnn91CJqc0b9W9m96Gtt96GhuN9SNRAo6BGckMZbQXAzXRnRJPakoiHeIc_Ch__RhMgJP06CNpJ4A1l4ncQzcPOx3HntJ01YkziNVHcuU_1hD4lkJ346I5wM0zsKc0zkJeCPO6lPu7DrW5Ykhi8AwQ2axRN1vB62fKU90pYmfqLobb6UOqujQrqhqqRnd036QFaqsqOqSrBR_uZxXCaZ7ZUgIMZSWDkHbHwDRmGvWgbOcSV7KfvNvmgQwdmYLgqrlFOmaJ1ueZ4W3tDcdbvM1BCTKYOXKSzAlukWc5nFPiTCq-uix8pEgA5MY0eIFBYG9HunEQ3Hs-W9Qi8NXWzVTXUjkET8nXJzmVBvLXL_aipVCBehmfVhmsgxr-qdXcWKYh31kjH8n_XKcZjCKzuFC3wrTG184YgVH7BqXbsIN6bC1FWpFkvEeyDLZPfhVT2nrLYjenzq1mvyf57z39SYUllXm7Lkm4GURrUxt",
  "id": "rs_0d7c5e9ec0fee733016ab46f23124c87d0b15d65119f5350f3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fingertips straddle the bottle’s narrow left end. I’ll close and check for a nonzero grasp width.\"}",
  "call_id": "call_IjcCOeoYcUi03Qyem3giHhvI",
  "id": "fc_0d7c5e9ec0fee733016ab46f23527c87d08969a109aba6db30",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IjcCOeoYcUi03Qyem3giHhvI",
  "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]: [-0.2295, 1.6711, 0.4126, 0.664, 0.0963, 0.049, 0.0106, -0.0284, 0.7364, 0.5449, -0.4206, -0.0307, -0.0608, 0.9998]\nstate[eef_state]: left_x=0.3696 left_y=-0.1001 left_z=0.0224 left_yaw=-0.3482 left_pitch=-0.0306 left_roll=0.0005 left_gripper=0.0106 right_x=0.2785 right_y=0.0011 right_z=0.16 right_yaw=0.017 right_pitch=-0.0398 right_roll=-0.0102 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -7.2821, 5.7231, 1.707, 0.0415, -0.0269, 0.7985, -1.0598, -1.5932, 7.2, 1.9609, -0.1929, 0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:990021f09c2a1f83df28ef70672121e8df27356fec47d272b455bddc4d488bbc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:793b81162f3927184d512ab8d6cbfbfd281b215817bd9955dda83d19d144d8a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f753bd45069d1bfa551ee4f632ace68c050d70472624ae408fe8a5c79cf017a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 17 attempt 0 · /responses · status 200 · 3.25 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]: [-0.3866, 1.795, 0.5991, 0.6239, 0.0029, -0.0067, 0.0107, -0.0284, 0.7326, 0.5385, -0.4187, -0.0303, -0.0582, 0.9997]\nstate[eef_state]: left_x=0.4011 left_y=-0.16 left_z=0.03 left_yaw=-0.3966 left_pitch=-0.0112 left_roll=0.0067 left_gripper=0.0107 right_x=0.2777 right_y=0.0011 right_z=0.1585 right_yaw=0.0153 right_pitch=-0.0406 right_roll=-0.0082 right_gripper=0.9997\nstate[joint_eff]: [0.2256, -7.3094, 4.3829, 1.9414, 0.0611, -0.0073, 0.8376, -0.7453, -1.2513, 6.9675, 2.0293, -0.1636, -0.0024, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.2249, 1.6901, 0.3939, 0.778, 0.1112, 0.0406, 0.9961, -0.0284, 0.7597, 0.5892, -0.4454, -0.0303, -0.0612, 0.9998]\nstate[eef_state]: left_x=0.3758 left_y=-0.1024 left_z=0.0331 left_yaw=-0.3518 left_pitch=0.0461 left_roll=-0.0051 left_gripper=0.9961 right_x=0.2818 right_y=0.0009 right_z=0.1691 right_yaw=0.0169 right_pitch=-0.0436 right_roll=-0.0106 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -5.012, 2.3179, 0.862, -0.1197, 0.1343, 0.1245, -0.9504, -1.5658, 7.159, 2.1074, -0.1832, 0.0269, -0.0073]",
      "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]: [-0.2295, 1.6711, 0.4126, 0.664, 0.0963, 0.049, 0.0106, -0.0284, 0.7364, 0.5449, -0.4206, -0.0307, -0.0608, 0.9998]\nstate[eef_state]: left_x=0.3696 left_y=-0.1001 left_z=0.0224 left_yaw=-0.3482 left_pitch=-0.0306 left_roll=0.0005 left_gripper=0.0106 right_x=0.2785 right_y=0.0011 right_z=0.16 right_yaw=0.017 right_pitch=-0.0398 right_roll=-0.0102 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -7.2821, 5.7231, 1.707, 0.0415, -0.0269, 0.7985, -1.0598, -1.5932, 7.2, 1.9609, -0.1929, 0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:990021f09c2a1f83df28ef70672121e8df27356fec47d272b455bddc4d488bbc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:793b81162f3927184d512ab8d6cbfbfd281b215817bd9955dda83d19d144d8a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f753bd45069d1bfa551ee4f632ace68c050d70472624ae408fe8a5c79cf017a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG8roK0Xw5_5YRghjbCLXA_Uec-ChVGZRtvWGeWTr3XwR2_2hudR63eV8jq8EEdYMi4atRYTyky_gAjTmP9S9X9Yr2pnpoUsv1Wc4V3ngykPMXUU_Xpg03TvXx1FAR4_BDf9EpG-83kDSfDlOwmEOk1WQPK8KTXbLoc1FzYrQZQlgcn47lV7qZ591U-Xtp38kSt3NEIO__Bu6f_qe9O63yZ2KSVDQaRix-Ysisbfo_121DTXRVDIb-3oN2lIEE8umioIXkELmToTGEAmPkbDLqnwrM372tmvD-VFjeD3bm1EBHE77-aMOlYiXI8SUrxblEUCtGLeQD6ud56NNzz3JTXW58YEU5UXjvJgUAa4_cE1mvO11RpJPx3u4-EmH9onLxlBU2o9gWvqgsSvF64OzP2VlesT2wUvjkXxCqtbrrmlGTuafyB6c4YIVhEQHbO_WXsZ47dsg_K6J44c8AjQmzkvZtGHKlzmg0zeCLLFw_7p8DY3J5oIr5nnGawCsWEhnfbv781LntJMQO0Ds0wQZOUlF37tPx4zXPR3ZB-L-M-yhRH7diJrubx9e-D5iTw92dx6qa9rCIBJTNAQt71HiqMIpdmf2-J4dCJzD20PyeqHuEZYrr0DC6eKtLKyMrCmlpAwbyn0emK8ZGSVq2MoNP6q5LTNitSbOg6TaeJfjkBZiS8kynXR0J1lHSOZixN6OD-9wW_IIwnGMNiK6GgQfhVKFJJmypuIyoMNghVe7xRuEVQ2IRLpwbMwBb0BTKsIgruji9HrXgFtvjG1oWq8vMbDd9PE3oqXrQFt1IJu2JNgBzMbp4Mk5TX3U-yqi9XNEc2brfozxeA_AImD2ZGRe0DLDe-xeAD4qIN60V2AGceNlZuPZSx0ecu19oDfJ1tWQi-LHf5zFH-a7aca6Q4BpPVsv_nor-c7zZGUWUHvGRfYcZXK2DUEPG8mmwrmPW_Nh-OSvnjrr1I4eL5VslRlbOfjXuQtCgFaUSMpHAbI6pmnXExxR2Br5LJB1Zg84CreOME-8u5WpEhbDj0yWzLsD4VEdrPm8dDbbBt_fpuYeR-fYanjeaFygYnPditnMgjFaahRvL4M3DeHz1Dh4cKzUlndse0F6XvpgMwIi_UwUo1XyESdcbOLleHyUzlFLgrAU65nP3bwsCCZXt3yyXT41rQf-88XfRkMiSyMYCj_9jodNDCS9fXuD7CSF2UXmV9s3FWh0O9QhOWD7QCpTDolBjL7rxECEeVyEzy3i6RtcdU4UMznbtLXGDo32YXLCAfuPWwgQYELtNuptJKB8oTK6EAMWf9b_7k8sYP4f0e3O_32VTa3oDspSAeKnWl1MGW7eYn9sfSbAoqZRTLQ7H9mGmufN84SXWrsQoVHDhicqBU1Qo0oTu_rb734pRMBnvNJ3UKPar_h5mot8MHcn6CohzqvXwyPH9C1PKezS5DjFQfcnP-rh6V_1UgLLhzd4YsK0db4mZZS6jNRP1y9ii11z1gi4EQukDPMMirfLJUqsbE3EiIx2kXr4rgvDTY1_tl_FDK0W5sTi6b1V8OAwGve6Th__11HLfgNgPNeXJLP31Vsvz6HA8KuX3jhQYSvjRnEkNBPnwsnZt1d0cLcmw8M777K__bH_Xc9AD_F6n8hnbHwh8_qASRaFdzQO6E8m_GuVXe5NAiWIfAYD1M5EAAcCLUIMZdEJWbNTCjid2MA3KLuqkNjfiWq7ECqdqQGoA7DS_OXDZz2asNJ3q2baLsdBTgh7-aAD3yoSc2DkMnY5zyiW2AV07NjZYrD7rohI64kx9D6RzsW_-TlnlMCMmYGrlCajfGLjdfdjlD3dT8vgl2D6VDqZzGbtvsaV7zhyosAvLWkvhpaHekXeQxUNG42byFXywOKWPr2WXTL3NLX2iViMla06Ru_-p_6bC4tjAZ6-rNUWpYWRf5pOHBJ0IKzdWObBzRcIRBiVuLnIzxblkempWyJ-3avx8xx-6kRSdzBqjMdkoAPr4lu1APPFrlRguPnVA==",
  "id": "rs_0d7c5e9ec0fee733016ab46f270df487d08d09782f9dd491bb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.325,\"left_y\":-0.135,\"left_z\":0.01,\"left_gripper\":1},\"note\":\"The close was empty; the cap sits just behind and to the right of the closed tips. I’ll offset toward it by a few centimetres instead of lowering further.\"}",
  "call_id": "call_t3Pnjr6529VBEtWy9hahLUW7",
  "id": "fc_0d7c5e9ec0fee733016ab46f2a107087d0832eb192ebc31727",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_t3Pnjr6529VBEtWy9hahLUW7",
  "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]: [-0.4339, 1.6752, 0.2741, 0.8757, -0.0696, -0.0536, 0.9944, -0.0284, 0.7128, 0.5064, -0.4015, -0.0307, -0.0605, 0.9998]\nstate[eef_state]: left_x=0.3345 left_y=-0.1375 left_z=0.0198 left_yaw=-0.3575 left_pitch=0.0368 left_roll=0.0029 left_gripper=0.9944 right_x=0.2751 right_y=0.0012 right_z=0.1525 right_yaw=0.0168 right_pitch=-0.0356 right_roll=-0.0101 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -5.1761, 2.5915, 1.4139, 0.0366, -0.0415, -0.1001, -0.8957, -1.3607, 7.159, 1.9805, -0.188, 0.022, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36c46ac0d911cceaa5992f20c1bd7c65ca1e4372031a9c6b153c1408b23cf7a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1ae0ece233494e02d2a406d30906fbf18a40bdbbe5a3ca56b8c914828b5c3dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24bee2f080cd11987b2198a3a8dd09d56034572c71f4f8583ec53c68818284ef",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 6.891 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]: [-0.0937, 1.0985, 0.6628, -0.1215, 0.2173, 0.115, 0.9948, -0.0284, 0.7952, 0.6437, -0.4759, -0.0303, -0.0589, 0.9997]\nstate[eef_state]: left_x=0.3486 left_y=-0.0674 left_z=0.17 left_yaw=-0.3493 left_pitch=0.0183 left_roll=-0.0016 left_gripper=0.9948 right_x=0.2864 right_y=0.0008 right_z=0.1782 right_yaw=0.0157 right_pitch=-0.0551 right_roll=-0.0082 right_gripper=0.9997\nstate[joint_eff]: [0.212, -3.7675, 9.6342, 1.707, 0.1978, 0.1929, -0.1929, -0.2803, -0.6222, 10.0718, 1.9902, -0.1343, 0.0269, -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 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2295, 1.6711, 0.4126, 0.664, 0.0963, 0.049, 0.0106, -0.0284, 0.7364, 0.5449, -0.4206, -0.0307, -0.0608, 0.9998]\nstate[eef_state]: left_x=0.3696 left_y=-0.1001 left_z=0.0224 left_yaw=-0.3482 left_pitch=-0.0306 left_roll=0.0005 left_gripper=0.0106 right_x=0.2785 right_y=0.0011 right_z=0.16 right_yaw=0.017 right_pitch=-0.0398 right_roll=-0.0102 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -7.2821, 5.7231, 1.707, 0.0415, -0.0269, 0.7985, -1.0598, -1.5932, 7.2, 1.9609, -0.1929, 0.0171, -0.0171]",
      "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]: [-0.4339, 1.6752, 0.2741, 0.8757, -0.0696, -0.0536, 0.9944, -0.0284, 0.7128, 0.5064, -0.4015, -0.0307, -0.0605, 0.9998]\nstate[eef_state]: left_x=0.3345 left_y=-0.1375 left_z=0.0198 left_yaw=-0.3575 left_pitch=0.0368 left_roll=0.0029 left_gripper=0.9944 right_x=0.2751 right_y=0.0012 right_z=0.1525 right_yaw=0.0168 right_pitch=-0.0356 right_roll=-0.0101 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -5.1761, 2.5915, 1.4139, 0.0366, -0.0415, -0.1001, -0.8957, -1.3607, 7.159, 1.9805, -0.188, 0.022, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36c46ac0d911cceaa5992f20c1bd7c65ca1e4372031a9c6b153c1408b23cf7a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1ae0ece233494e02d2a406d30906fbf18a40bdbbe5a3ca56b8c914828b5c3dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24bee2f080cd11987b2198a3a8dd09d56034572c71f4f8583ec53c68818284ef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG8vomW-eYqhrdqA21blL0Uda-2ukXH9kt3tqMIiZX3qQPQej9aHbXJmR9ZtywzEiBYtu08FewHgTnNtP0DyBbRNr6eAw-AvgkJCSwc0OsR1lVy7Nr2IXJ5sT74rPdvzdrkgxOzn98CRWrk8O85AnUfDThhUyQa0ouuqYUAuZl2KgFnKW-Idem4j5-R_mt8IEITx-0uy4HMsgwqtsaNbIyLJwexm_XJVwn_RfljV0_sYdALyOSIc8VNBI3M8pFuAwrvfpxA0TPw8IYuT_aA5vETH0hUsCKf7u2jLecNbuVPmw1k98iXCNQ2jbmOw3DB00zsw0g41O3_pgSuN7-LytMnGEnBs8YRi9jepYYorUBoW0yv-fyqT2YyO8Z3JskoE9mesEqdRpSAs21oBE-ZeZsJHiDC4N_9HTo1yzXoKIHiBO1XKUhO6H8nZCpwNW8qiUTN7c1i75whPZv8CRsdwCo1Q-b-P6jPRjnCQMkimcgKR5OkyuEqwDHwTkh8oUgqfDIvc3A_zn-lYAQ_sqLkVrzbnWeuYngY5IUBReD393Q2AFTpxZ00_R_7QBJnupvxRH7ktXlAQcHVltOu1lm_vxmG2xJG3PoIH7AndVV93Uo7PsylGHIrlHdETnWsiR_ce3N3A9jgxegZpLpGmwDKIgXg2o84F4TveGhK-SJZ5paxK1AIKqPLU3l2iHoC9hg_PznvioU-eMo8NMm58wjROWou83nByP4TqyURfnUJqE0GGyhsQXqmg8tzm9taz32e44nFP788njcUuKB2_VK1xfuzlClIYua75wxHKdakCyykttcF63upNmW87Zbrf__Zgeg-yXZ1HEkLDLzz3kEPGMf_9icKfR_ZdXeKIULc7xht_pjkT2yTN1LvPkAQDvHQ_1JV635_Rc_oHzbT1s9-tg7Tb9dsZwu1npnZYsjOZFizKQmS0aPWTSOVnmm7Dpkq8m0jKmBz3o5EussGkDiurB-RyjY0g0wbeLajEhFYJTW2y4_hRKtqIP2g7-MgPU9wIhPY6FD-Y2pnAypdZOl2Yu0Ey2IGvcgRZjVCXapWAO48pw-woHVzVAzHfDjP_3uf4XMeqk-xwHuokHiFWf1k4QzoPI5FbwEqvA96nPiSCr-lOvGbYUwE1HIVIf7TGXNpS1A90_SGYQZt2qpbQLefb2uFZ_VDnEhheQy357N6RZJSRGAdts3v2wVcrEL9VW7xVgR_EqUqUNstRmr9VAqq8nabB47oK5iwMU8lbe2PtvtJOqqiN2Use3NYKbMO7HCEf0NOt7cK9Xexox6J6e9U5HY5Cd9_iFXS5JPxt185JbvT46cbzx9_u7DOd6T6MIvzTAHE9F_4qb0eKV52CtzrGrbTY_WhPthbCZ1mViefZ2bZIeeFs1kQRiZ4MXPIueI-nPWs6n-DHtLiC3LnSJU60gwSq7D8pQWG_8XEgKH-bxp7iFGBka2TTlSqbIFNUjIxSrZfX",
  "id": "rs_0d7c5e9ec0fee733016ab46f2da5b487d0913f9d3a43417bc1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap is now at the centre of the jaw opening. I’ll close at this position, then lift only if the measured opening confirms a grasp.\"}",
  "call_id": "call_8w0uKMXZ9GKpSqRp2weMmi0D",
  "id": "fc_0d7c5e9ec0fee733016ab46f2e748887d0905b79f2d8ec6f52",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8w0uKMXZ9GKpSqRp2weMmi0D",
  "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]: [-0.4374, 1.6489, 0.2871, 0.8021, -0.083, -0.0559, 0.0108, -0.0284, 0.6926, 0.4728, -0.387, -0.0307, -0.0608, 0.9997]\nstate[eef_state]: left_x=0.3328 left_y=-0.1355 left_z=0.0174 left_yaw=-0.3485 left_pitch=0.0031 left_roll=0.0107 left_gripper=0.0108 right_x=0.2719 right_y=0.0013 right_z=0.1453 right_yaw=0.017 right_pitch=-0.0345 right_roll=-0.0104 right_gripper=0.9997\nstate[joint_eff]: [0.212, -6.2974, 5.094, 1.5409, 0.149, -0.0269, 0.7643, -0.9368, -1.265, 6.9675, 1.9414, -0.1929, 0.0269, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f68b24c374ab7791f79740328f88230e098d99ad18c2b3d64b5a4b9945d428cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83c0d7cae5b3d9ad0d5eb4853bc87627778778418159ed050685d67b9238a77c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7804206a1ba25404fb2ee07a467cd0b1084cd0f1276a4b0bf7007557ae08b00d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 8.438 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]: [-0.2249, 1.6901, 0.3939, 0.778, 0.1112, 0.0406, 0.9961, -0.0284, 0.7597, 0.5892, -0.4454, -0.0303, -0.0612, 0.9998]\nstate[eef_state]: left_x=0.3758 left_y=-0.1024 left_z=0.0331 left_yaw=-0.3518 left_pitch=0.0461 left_roll=-0.0051 left_gripper=0.9961 right_x=0.2818 right_y=0.0009 right_z=0.1691 right_yaw=0.0169 right_pitch=-0.0436 right_roll=-0.0106 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -5.012, 2.3179, 0.862, -0.1197, 0.1343, 0.1245, -0.9504, -1.5658, 7.159, 2.1074, -0.1832, 0.0269, -0.0073]",
      "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]: [-0.4339, 1.6752, 0.2741, 0.8757, -0.0696, -0.0536, 0.9944, -0.0284, 0.7128, 0.5064, -0.4015, -0.0307, -0.0605, 0.9998]\nstate[eef_state]: left_x=0.3345 left_y=-0.1375 left_z=0.0198 left_yaw=-0.3575 left_pitch=0.0368 left_roll=0.0029 left_gripper=0.9944 right_x=0.2751 right_y=0.0012 right_z=0.1525 right_yaw=0.0168 right_pitch=-0.0356 right_roll=-0.0101 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -5.1761, 2.5915, 1.4139, 0.0366, -0.0415, -0.1001, -0.8957, -1.3607, 7.159, 1.9805, -0.188, 0.022, -0.0171]\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 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4374, 1.6489, 0.2871, 0.8021, -0.083, -0.0559, 0.0108, -0.0284, 0.6926, 0.4728, -0.387, -0.0307, -0.0608, 0.9997]\nstate[eef_state]: left_x=0.3328 left_y=-0.1355 left_z=0.0174 left_yaw=-0.3485 left_pitch=0.0031 left_roll=0.0107 left_gripper=0.0108 right_x=0.2719 right_y=0.0013 right_z=0.1453 right_yaw=0.017 right_pitch=-0.0345 right_roll=-0.0104 right_gripper=0.9997\nstate[joint_eff]: [0.212, -6.2974, 5.094, 1.5409, 0.149, -0.0269, 0.7643, -0.9368, -1.265, 6.9675, 1.9414, -0.1929, 0.0269, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f68b24c374ab7791f79740328f88230e098d99ad18c2b3d64b5a4b9945d428cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83c0d7cae5b3d9ad0d5eb4853bc87627778778418159ed050685d67b9238a77c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7804206a1ba25404fb2ee07a467cd0b1084cd0f1276a4b0bf7007557ae08b00d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG83YOd8n5swhS3K66srQm4JOIoFQtCsk9aw1TipwlFRHuIDpVOxy3GvFbrpnyf4VuK50YqccDitGii1oo7Zwbf0JNWsh1t9z6o8W8sBet31hKVCUfjNFAIkdXO5U-icsqEXagY9zRBMUJVbLISPYoeVmZKUY2cBLesCgBrhF79jwO_GAv5huzPSEBHBm9zcc288qiVAoyeD_G2HMnGyh1U2XG2DnMcHYfvo-MEizfuXtBJe9oe99PqjbD6AMpRMJ6-FhRz4ba8IBqykSL_CNL71XxYnyk0Pu6akeeBu0DA4mkOZIhDuqYc8bE7JS0CNXgHwaSM0ZPvB8uSkzdvhFyFBLq2mxpL9VuOO7L7bfHfnVtPNF9ZhOFwBn4MnAWyyliyXmxS6gyOJT4eeTfmyBtWAE4L2W59ECeMIH3j3tqGte000B0unTGSX-8iy9cl1bmq0dqN31JP1f6nTNnB_LlIUG7lQAvku6L-vhT9Zs6Wdy4BQ12JPfkdA4NNskLZ428BA7Z3iCDsEJMZRMnUTMn4fLcN3sULL9VpVcIpvXwdxE7bmbqh6cNJPXDd-qvxD9E_FYweKA1JwDfPX4eagwDZZ4Nm_WP46lplGHwhLhEtZb_1wvey2ykRlm3EA1o_pWMTx1pQVWwkDYajtRzF6idg8sN0GQukDbdOGs0ORtK5kyFF8XA5qTHCTPoWYALMbKuOFdQwa95Fupx0WjVFpYw4Q6gPTAJjdMWxi5exkMiZPZ3hrZio8OiRHrpyQtJSD9nCaHIsq0BgtAhjPZcgTx8Sx5mXIEgkVtg3CMT_-KTbbr9GOyiEVVV5bf0i6UvKNJVo8BIYf2kHIje_6igDnHBdX-qnmeq7x4kEJRG4b-OlFb7-RL6UreT5knK7NRVlnLVSGbVniTGKUUXFN3JmFhPk46iNuVNy5g1z_XPGX163H5jz6f_saxCQm5gfrsbfQcurHTl_tttOaYnGw5XoFABtXpKfhqRYo6uYaDWlTcA8GLSZJT-edQEzXzZhSD2ONXKuoxgYK-4AxU9qVu8TTbXhU9gyF9Nd7xuwgPI40uvUrlDPlteGLuOu-n-FupLwScXu08Nv24Q4oyscf0f6s1-E7C7Illpro0N9qpFlKjZN7NByBO0wtVvhoTNqMIRTwAUK-povfxCf1EWukadPgRTFcBwXY2R3QZRkQzxO9gzFtWdnkAYfBeG2u_S84wHWQSVGepBZirU-ZKF6xIJ36TjHyLz0o3Jv-C2s1h3MmD-Jjy-4sJG0_9RSZ5541-vVvOPbpp5sXsKIhb5Jfjc3nV_S2buDHm6comveyt5CF8JnXEaTInH3KNxAsaaRUmB43qbeYncP8lWJPT0z5zPbombBAxnGiAGR5G1M_CpnRgtVp-mUYGh3tzuH3tJ4wKYf00549xykMGFe2NOzJ07RcAFmSsQ7KBuUDmoiAgX2HWkgppMsvW43uYWKMWsZT6KH9ziO_0KKA81LgU5-8sqSk_GaONoAUhNA8Aq89-Kn0vIMV5sTcc27Cvw5U57hozADCkh8SQg_Jn2GDfi0qgEo-Io8uxydfoyPjAaNa_jMzSsVQamGjKRm_2e9X6akeKN9VTYCKcIl4itjKPnIeBVENLDC3YGygkTnDdaI0ucJKZYDjKHuOlVxmK5_Nicqj3jpYgmld-NDIf95caS5Sy9y9QIpeefALzFyhqIZxGVlJZFxqFJWBehg81JI3qrLnhJNbrrSeyGZZ7bTPARZMT0zXMR-JhRE0R7naHgPviWW1AMHFhtekZOYh-ShpiOXpGnNdCLjNwp3RxyF-3rozLHe--Sm47ShBTCxZH3H-R4aSOSDk0jGlQv8xwU1dYUecUPOdSkp9Y_S9qI9OdDoVewlohvtV-QUxKsNNv-pwGciMb_ypR4gRO9cf--CSs9BuIJUltSbEvP0p2c-gOtZAwYlwnZFhXKs9aoJoIYT_9KFjAQtVvBfCCj7Fq8noC2kwixsEru2dShtQsRLSRiga1eYf6iGcs9Nr9xw7nxs-22E0Xci3soXyIhAy96foURrBqPg6wriPuf9zfX4XBsn4BA3Fh6vux5jQ5mfaMa4nQzhxGDxzzUGp4UAp3XUzpwAKTEJorVf5AeuiQFDqYbRHAtgMA_KFBaRTzojKRdJBD1ClVSgTM5sRFKbCsqArTuoWfU5EfxBNQ9GI-dMmnEwRb7qdKmrJgo_YoRPDE5csMNtlrbLyLLCUqkpA_3VBH6XTyAPJX213KTRLmlP3ZoV7MRoHLZggROg3XUM2dNoiCOTfIIbqQdNnJRyPxQEEAV7NLgk1mNko8bGQZWKrr47xHqctAQ8GomryfDVmF25-_ZWwjFLHCUI=",
  "id": "rs_0d7c5e9ec0fee733016ab46f3256a487d0b1fa6329bdbe93c7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.195,\"left_z\":0.065,\"left_gripper\":1,\"right_x\":0.2935,\"right_y\":0.0012,\"right_z\":0.2},\"note\":\"The clearer view shows the bottle is to the right of the fingertip centre, not between the jaws. I’ll lift slightly and shift sideways over its neck to avoid pushing it along the table.\"}",
  "call_id": "call_mm6EtSo8KyIQK7zOrcLwUtf5",
  "id": "fc_0d7c5e9ec0fee733016ab46f35bfd887d0903adc405e5e0249",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mm6EtSo8KyIQK7zOrcLwUtf5",
  "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]: [-0.6098, 1.5856, 0.4953, 0.4797, -0.2138, -0.1612, 0.9943, -0.0284, 0.7937, 0.6384, -0.4721, -0.0299, -0.0616, 0.9997]\nstate[eef_state]: left_x=0.3427 left_y=-0.1893 left_z=0.0475 left_yaw=-0.3545 left_pitch=-0.0339 left_roll=0.0022 left_gripper=0.9943 right_x=0.2862 right_y=0.0007 right_z=0.177 right_yaw=0.0168 right_pitch=-0.0551 right_roll=-0.0106 right_gripper=0.9997\nstate[joint_eff]: [-0.5675, -7.6376, 7.7607, 1.7265, -0.1294, 0.0611, -0.0611, -0.7043, -0.6222, 10.3453, 1.9951, -0.1245, 0.0366, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:727afda94a8739e386480b51de6a7c6afcf41765473f754a2f0df8b7695e168c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0d5b15c1001372acb0dee9aa16dbb1364fa8590d551450b81a29a8cc7c98417",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc38039f78a6d2a199998bee32b2db41331942232188511536e59f2f671d009d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 3.966 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]: [-0.2295, 1.6711, 0.4126, 0.664, 0.0963, 0.049, 0.0106, -0.0284, 0.7364, 0.5449, -0.4206, -0.0307, -0.0608, 0.9998]\nstate[eef_state]: left_x=0.3696 left_y=-0.1001 left_z=0.0224 left_yaw=-0.3482 left_pitch=-0.0306 left_roll=0.0005 left_gripper=0.0106 right_x=0.2785 right_y=0.0011 right_z=0.16 right_yaw=0.017 right_pitch=-0.0398 right_roll=-0.0102 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -7.2821, 5.7231, 1.707, 0.0415, -0.0269, 0.7985, -1.0598, -1.5932, 7.2, 1.9609, -0.1929, 0.0171, -0.0171]",
      "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]: [-0.4374, 1.6489, 0.2871, 0.8021, -0.083, -0.0559, 0.0108, -0.0284, 0.6926, 0.4728, -0.387, -0.0307, -0.0608, 0.9997]\nstate[eef_state]: left_x=0.3328 left_y=-0.1355 left_z=0.0174 left_yaw=-0.3485 left_pitch=0.0031 left_roll=0.0107 left_gripper=0.0108 right_x=0.2719 right_y=0.0013 right_z=0.1453 right_yaw=0.017 right_pitch=-0.0345 right_roll=-0.0104 right_gripper=0.9997\nstate[joint_eff]: [0.212, -6.2974, 5.094, 1.5409, 0.149, -0.0269, 0.7643, -0.9368, -1.265, 6.9675, 1.9414, -0.1929, 0.0269, -0.0171]\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]: [-0.6098, 1.5856, 0.4953, 0.4797, -0.2138, -0.1612, 0.9943, -0.0284, 0.7937, 0.6384, -0.4721, -0.0299, -0.0616, 0.9997]\nstate[eef_state]: left_x=0.3427 left_y=-0.1893 left_z=0.0475 left_yaw=-0.3545 left_pitch=-0.0339 left_roll=0.0022 left_gripper=0.9943 right_x=0.2862 right_y=0.0007 right_z=0.177 right_yaw=0.0168 right_pitch=-0.0551 right_roll=-0.0106 right_gripper=0.9997\nstate[joint_eff]: [-0.5675, -7.6376, 7.7607, 1.7265, -0.1294, 0.0611, -0.0611, -0.7043, -0.6222, 10.3453, 1.9951, -0.1245, 0.0366, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:727afda94a8739e386480b51de6a7c6afcf41765473f754a2f0df8b7695e168c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0d5b15c1001372acb0dee9aa16dbb1364fa8590d551450b81a29a8cc7c98417",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc38039f78a6d2a199998bee32b2db41331942232188511536e59f2f671d009d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG9AxYtcwbi-Uk0OmXAFXY0YWA50AIE0ZAdvMIYBfDVAqR4ZV7JoBbo_PqOqlgviG3sYlTVAWPIZbeRHE7e46TNDqfsjxz57lymVr7rKfaMVKFell1Z7WkQq3IlXV-OG1CFSjq7BXfGLel0N4gEqUAL0FmRBIm2AVNtG2QJzmTsvOKgzkB7NlQFLs8IdfQhBdBZCqQxrt4Q-6_CNNDjgTrHNRyJz4eEyQwJMnxbZvg0DEAcBFgXbhyg_hyCE7kG4FXMzSmRSS6GiFzdhML89ysuT_zH1A6RFSKjKiBEuPUzeAl09lPdHI9iN8eXx25UYbX8TtKDvIKByaTvEiJjfT6qx2qqxf7MX0LzrfvMwjYaQOKIDxrS62m5_Le09tGM1N3bqcly-DvpD6PaA0LkDUFUuhURyVOhqBetOHaQblBiry7JJqkSQS3_bjmN68OSfbyvuaRhTNNNBoHImn5plFl1Qe8yE5APmFu8xZj_bqfpAlkMuqBgV6fy862_wAxvZMdUatSuvunDL-YYwK7p3pY0fFtT6mthTKmPeHoJixEfMYa1mFbX8DsbkFMCttilULh-zXmOJhjBrnQoTTORgpIMzcAj7OpRIT_9oBGL0zmFkkgiXrFJGPMCpDP52w7nKJzOIWThbOTZoxaowqhHAdswpGsXoR-L3TfYqQKc1XdFgzqqYR6J_47_TS_2UBivvibs6v_PKwfEniJjvxp40OHTDy9OIwixkptLtedtOq1AZbAXi3k9e5ZaHrqC6huEU6TutHnziFrQlLZRGTorGA9-fQmNDhmhQXitYEuYKgZdtgNu-8YyITUTMjQP0BuNZxOwqyF3S0xxFG-1AHBp3de_b4fWmI0XlcrsvRSxlvFkogAtj71DLSOIK_VgNAgt5VMjuTKFWSP_ECBo7Hg3psaOwM6g_hTGbz2a4Sab7BUNvsO5HxokMPcgHyc6wiYNY7JAQldGJPbvDreDyu1HB4laUMgOdt-dUjF8OXwft3zMlgVg_H7KCsoaSpikpFOdOLl8cuJcgIHJQ5XOfc851bU3Ydnxhdrl5laQuaDX_P0mCZyPeQ3rjSmPyw7GXQzaUvwIJyDglvL5qiV7MnllGFcuQ4OhNAOtGI3wfKedzjJVpAgaSDH2eSvNgbyk6LD3evuWqr86zhEVQlYkoJi4eYoW58MF8b4o-6JdG7UQzDGvzU4bc6-7xVhBdbO04t0US8DzxP_8T25zLusJr-R9b7G3jsEn0iWsy_LJTB6YpwlPH5nNIkGznnUAfQAI5FijTLLQxwfuOMs5QbCe6QBTPCoSCT2iqytprKnhDMkgtTZ_2ZyAqfODE160KOjutux036Pfg1diHCPGAmquuy5tJZJEjy-vIBh9B_AbmBYzUNb6wk3IWCYDTqjLy1hV7sb22knAjLapYvSH1LNRCsH8k3fuoRlKRJYkOdiWX7LNuUkHV0nEhpV3urhmDcVegTR7izKcydUU3vxHmSpc2UDOqBZV5_quoqFfKMb7COrrRG6YPfQ0oZ5TYNRUc9ZWEwVaJ42jqu33fo8-sP7tBrd-YFcIidevo17od3B4cRVaOoT3RntUC0WYmxRZHngVPwfT9XV5j51KIll3DM5ojNLgBdPOqjrlRT08QP3wXhugimM8qWUXHOSJ_vJWIA1HJuo8aIBBI-wd6cAEDwV7wXbcokEMucgEO52FC0EJz2tDcUBstvMul_K6a5LqL6A9bYllrU8VlJ8SLTvnTKqIWtaw7EyA3VPk-sPWFrS2oVPJTO9qzBxiT3vtNKkfxz91yO_YI2_8Vd8iCcILJhArN-UwhsC3RFLMMoJ9cvo6JGnc1V26EwzxobxxwsFBbF7MQR99G8a9QzfOzTmJZjonl00lv5k-P3b5B8XH5TCtdFpQh84Cr_MWdn0Wv_jntMixmuCz-SlwyiEVHayua1WGcQRys8Rs300rKdGh8eAp2stSszE4_rHnzYHkxsQFEMnoQpq8DmDIqze1m7R9AmHA-n5A-l_QbxECH-IEyURZ-pQ-tnSXpoeOWSKqWNgeVa0i7NIz8funGRwJ9nwtbsjUJXv0i4z04WV1WxRNQM6AKnLPvKiBclVQ9oV80hDMMimqr7HFev4VK2VxzKqekoiz4H1NVqI0PEmFykZN_3f3bOIUG_LgtInWZiVr_bYL-p9ir06z_o2XGYL8GUk6LxyfRRtdlTQ0NSCjJk8umA_UcUYcszL7skzR71vo9zBKIlJOPyVMgxEI8Gv3rugp3Aohfa0-7p7VI1vlBdWKl7rXJpFUDAH5blpvKNgBedJo32G_ysLQQnBxMMTSelxo6wAkCyOj28PZc_3onW45UXKegHeQE4OciEYDd_JJgMPZlrPGvisYnRIOMK73oBsBpI4GWjLXlQPU-SAJxN73HAvk_yB0jHCocuzgifaGodf38vBXeHlnegcL2cVmPzW3Iabj_h5-uZouy8gXoL3jr5N_ooYn4QSMEkCy-WoWXePwKHcpBQ3uwPiwy2kaafknRdzEsgTM9TIw1QEOmK42l2n9SJzH2pQTRsq4OvB-t8nHtxc9u1_CqXbKyt8CzBnZbOve0MPCvbjmFG7tm5E989SI2_kpid_L6XKSfJbgYZPTaxMXGlnjzqzIcZ0-9qWhgHT5KO2X7r3O2DK8b7PN822JawJc_Imno56l0gLt0rkbuX7pOrk7vexW-XIaLZLCzvkbfVGQ9prxRgTndzP6fXybfKzCD8dfWJDVFFDDKDQ3fXpQw0iV0NvNVuVdA2toL8CigEZ2KWfI2gAsw36RCSVXZidwgb9o1C0E=",
  "id": "rs_0d7c5e9ec0fee733016ab46f39d25c87d0bf3e700faa883d80",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.18,\"left_z\":0.015},\"note\":\"The bottle is clear of the moving fingers and lies just behind them. I’ll lower over its upper shoulder with a short move toward the base.\"}",
  "call_id": "call_UAEfFxoNU0uKtsNchy7vHrhQ",
  "id": "fc_0d7c5e9ec0fee733016ab46f3f797887d0858aaa1a49c8245c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UAEfFxoNU0uKtsNchy7vHrhQ",
  "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]: [-0.6857, 1.6234, 0.2989, 0.7033, -0.2646, -0.1879, 0.9955, -0.0284, 0.7582, 0.5835, -0.4461, -0.0307, -0.0612, 0.9998]\nstate[eef_state]: left_x=0.3005 left_y=-0.1816 left_z=0.0128 left_yaw=-0.3737 left_pitch=-0.0358 left_roll=0.0113 left_gripper=0.9955 right_x=0.2809 right_y=0.001 right_z=0.1667 right_yaw=0.0173 right_pitch=-0.0486 right_roll=-0.0101 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -4.1778, 3.9043, 1.8291, -0.315, -0.1441, 0.1148, -0.8137, -1.4291, 6.9949, 2.1026, -0.1783, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33e5e0a956425dcc92ef7af3f86c1e74a64b45d2d44fcc8346dafad0a10ac3a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:704ee888a7245b6507ae7596b991f53d2e0f148d7e78236f1c0f217761016b04",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bd35c5ea700750ed94a6fb74ccfd05e77aea44a911823a100f9f4f7fa351a5b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 21 attempt 0 · /responses · status 200 · 12.79 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]: [-0.4339, 1.6752, 0.2741, 0.8757, -0.0696, -0.0536, 0.9944, -0.0284, 0.7128, 0.5064, -0.4015, -0.0307, -0.0605, 0.9998]\nstate[eef_state]: left_x=0.3345 left_y=-0.1375 left_z=0.0198 left_yaw=-0.3575 left_pitch=0.0368 left_roll=0.0029 left_gripper=0.9944 right_x=0.2751 right_y=0.0012 right_z=0.1525 right_yaw=0.0168 right_pitch=-0.0356 right_roll=-0.0101 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -5.1761, 2.5915, 1.4139, 0.0366, -0.0415, -0.1001, -0.8957, -1.3607, 7.159, 1.9805, -0.188, 0.022, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.6098, 1.5856, 0.4953, 0.4797, -0.2138, -0.1612, 0.9943, -0.0284, 0.7937, 0.6384, -0.4721, -0.0299, -0.0616, 0.9997]\nstate[eef_state]: left_x=0.3427 left_y=-0.1893 left_z=0.0475 left_yaw=-0.3545 left_pitch=-0.0339 left_roll=0.0022 left_gripper=0.9943 right_x=0.2862 right_y=0.0007 right_z=0.177 right_yaw=0.0168 right_pitch=-0.0551 right_roll=-0.0106 right_gripper=0.9997\nstate[joint_eff]: [-0.5675, -7.6376, 7.7607, 1.7265, -0.1294, 0.0611, -0.0611, -0.7043, -0.6222, 10.3453, 1.9951, -0.1245, 0.0366, -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 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6857, 1.6234, 0.2989, 0.7033, -0.2646, -0.1879, 0.9955, -0.0284, 0.7582, 0.5835, -0.4461, -0.0307, -0.0612, 0.9998]\nstate[eef_state]: left_x=0.3005 left_y=-0.1816 left_z=0.0128 left_yaw=-0.3737 left_pitch=-0.0358 left_roll=0.0113 left_gripper=0.9955 right_x=0.2809 right_y=0.001 right_z=0.1667 right_yaw=0.0173 right_pitch=-0.0486 right_roll=-0.0101 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -4.1778, 3.9043, 1.8291, -0.315, -0.1441, 0.1148, -0.8137, -1.4291, 6.9949, 2.1026, -0.1783, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33e5e0a956425dcc92ef7af3f86c1e74a64b45d2d44fcc8346dafad0a10ac3a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:704ee888a7245b6507ae7596b991f53d2e0f148d7e78236f1c0f217761016b04",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bd35c5ea700750ed94a6fb74ccfd05e77aea44a911823a100f9f4f7fa351a5b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG9E9uTk3GPbQvUc0N_a1o-_Y393OgMhTyxK2lJdGsvr0Yro77ALfWXXTgBelQD84rr5dsNfHq1GRhT3OwzuiKcE0z0Svh4T3vkRx-PybvSw--YZl0WIsO4ceJuurx17D5pYbu8fjfDXgiJsztRxUC57vwIz2m4b1XeToKaRzjtqzVt5cH35Tspc1_0VFemdtUPvmR3TuH-IO71m-cRPKkRgGfBfuyetMQvk6kQ-P9myBtVNZCP46VBrFkDwwBque_7HhwzmpUEq1KmexCfEZyorBHoIMi997lrxylQ_aBg-T3TN4KC2N6T_6YiudXRUU_Oe84kX7CNV7rTo2pDkGUC6a5JjWYxToMxBHSifcvVHnLJBto2ng3zONvaTyh6h1YFhbVxDIgFZJEuKvTx8Ls2A6rjcpjF6-OH8NVI--wO5vluTgE-LkvTyurKpKUsTmdtlM1NKiHUzwOogGpvgdsQG5bkV7OmXv4CMdU2k973dFAaXzfYNzzWoB4VHlUTtedp0LkgcvPrdPhhAvisC7BXk-uNKmeQOGhJi0ADGFU_g9u5lalFwsBRbCYADYONaj3WgGfuauhlinvlm7mwsIg-ZRe_-W3PpUc_h6IWK0c_x4taa8Igkml3Ag6eRyhat-cn_7774dk_GyeL7dD95BiOQTwEGtso_JYqZ_SzEf1X37O89dMlK60GvqUH5Dhun7AMKBlHtZHOphscBxtGqoAudz7eWoLW4gLyt10q1k_VYyjuNhqznVzVneYWI1CBD5UAqIz3vlCOvoHUd5BJnnmXNg8zujF-L4NLPZzzVEZarB39vmb5fwcLjODzOnFO3PxXHgYVG_0CHghqcBvourux9qsA0wpHQp29Pe5jNhvlu317WisXEx4SmnHAOs7flnMBs5y_epbK1JbWG6QJOVIy2FnDh7TuriSQuvlsW5gP8Bm8mmbGdUmCwz273mNntx9wYB6eh6OxWJNnBufxnIrxNcHWOYHZr_3znDFwsh7CEA3bOqSK0TUZDTQDq3Vaoksf98cBrcZ-m0tcyg8gD5anJQwEByNAR3UkNyl_6NzWg7rzcFVr4t5XN4roIkox1na57-l9I8ephQ_slGWOH9iMc3fGPiVPLBbLJ36CtoAB65RCsydqFJ-AMljezsgce4cgdU62v81d5wbffHvViU2KRjjR9LWu59hao8qgzavmMvKz6okMCal2rzqez2w9IMpSKqaZ4Jkgr09PPkv9TKsqNxV6vNJT-qpkfUvUYAye4VkE6MhN8ySlj5QZoAaBSMyXZpEp-j3cI0Uy4BuS-5rz5eXhf84E7IsBu3jod3FzdkVdU-YtMjmBveZ6qdTx2XVb5C-ER1U_lkefZWdr8tejpWzA9bXBRMPQOVBEZhrrgxrOT7KYdyIkx9ifKSG2qwnJFhAiw5X0Pgr5MNu4KsTjrp_Hxkn42co47_oSPxdXuluA=",
  "id": "rs_0d7c5e9ec0fee733016ab46f42e46487d0bcbad4f9f3d8e1d6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The bottle’s shoulder is beneath the open jaws. I’ll check this grasp with a full close before attempting any lift.\"}",
  "call_id": "call_KIZ9yEYcUEhSR2whE59EVtO0",
  "id": "fc_0d7c5e9ec0fee733016ab46f44010887d0aea7438f1b6a44cc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KIZ9yEYcUEhSR2whE59EVtO0",
  "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]: [-0.6914, 1.6501, 0.2729, 0.7959, -0.2699, -0.1871, 0.0108, -0.0284, 0.7288, 0.5377, -0.4194, -0.0303, -0.0612, 0.9998]\nstate[eef_state]: left_x=0.3004 left_y=-0.1828 left_z=0.0145 left_yaw=-0.3756 left_pitch=0.0033 left_roll=0.0024 left_gripper=0.0108 right_x=0.2774 right_y=0.0011 right_z=0.1589 right_yaw=0.0169 right_pitch=-0.0383 right_roll=-0.0108 right_gripper=0.9998\nstate[joint_eff]: [0.3077, -4.547, 3.7402, 1.8193, -0.0366, -0.0464, 0.8132, -0.759, -1.5385, 6.8718, 2.0049, -0.1685, 0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7de3d1db2a212d6eb95d6b6e538ca258e13cb6aed1cdb3a3cbdfd8ae63eaa2e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b386f3168c456af4502dcc6c9dc35f17743047699075a633a63920ecdfc9f839",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02036b15a1c897754c82fec6b72b0d7ce862df32d4bfdaf2e6a8139892fbbbf3",
      "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 22 attempt 0 · /responses · status 200 · 21.56 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]: [-0.4374, 1.6489, 0.2871, 0.8021, -0.083, -0.0559, 0.0108, -0.0284, 0.6926, 0.4728, -0.387, -0.0307, -0.0608, 0.9997]\nstate[eef_state]: left_x=0.3328 left_y=-0.1355 left_z=0.0174 left_yaw=-0.3485 left_pitch=0.0031 left_roll=0.0107 left_gripper=0.0108 right_x=0.2719 right_y=0.0013 right_z=0.1453 right_yaw=0.017 right_pitch=-0.0345 right_roll=-0.0104 right_gripper=0.9997\nstate[joint_eff]: [0.212, -6.2974, 5.094, 1.5409, 0.149, -0.0269, 0.7643, -0.9368, -1.265, 6.9675, 1.9414, -0.1929, 0.0269, -0.0171]\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]: [-0.6857, 1.6234, 0.2989, 0.7033, -0.2646, -0.1879, 0.9955, -0.0284, 0.7582, 0.5835, -0.4461, -0.0307, -0.0612, 0.9998]\nstate[eef_state]: left_x=0.3005 left_y=-0.1816 left_z=0.0128 left_yaw=-0.3737 left_pitch=-0.0358 left_roll=0.0113 left_gripper=0.9955 right_x=0.2809 right_y=0.001 right_z=0.1667 right_yaw=0.0173 right_pitch=-0.0486 right_roll=-0.0101 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -4.1778, 3.9043, 1.8291, -0.315, -0.1441, 0.1148, -0.8137, -1.4291, 6.9949, 2.1026, -0.1783, -0.0073, -0.0073]",
      "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]: [-0.6914, 1.6501, 0.2729, 0.7959, -0.2699, -0.1871, 0.0108, -0.0284, 0.7288, 0.5377, -0.4194, -0.0303, -0.0612, 0.9998]\nstate[eef_state]: left_x=0.3004 left_y=-0.1828 left_z=0.0145 left_yaw=-0.3756 left_pitch=0.0033 left_roll=0.0024 left_gripper=0.0108 right_x=0.2774 right_y=0.0011 right_z=0.1589 right_yaw=0.0169 right_pitch=-0.0383 right_roll=-0.0108 right_gripper=0.9998\nstate[joint_eff]: [0.3077, -4.547, 3.7402, 1.8193, -0.0366, -0.0464, 0.8132, -0.759, -1.5385, 6.8718, 2.0049, -0.1685, 0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7de3d1db2a212d6eb95d6b6e538ca258e13cb6aed1cdb3a3cbdfd8ae63eaa2e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b386f3168c456af4502dcc6c9dc35f17743047699075a633a63920ecdfc9f839",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02036b15a1c897754c82fec6b72b0d7ce862df32d4bfdaf2e6a8139892fbbbf3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
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  "id": "rs_0d7c5e9ec0fee733016ab46f48351487d09a1566fad3a65f50",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.205,\"left_z\":0.11,\"left_gripper\":1,\"right_x\":0.2935,\"right_y\":0.0012,\"right_z\":0.2},\"note\":\"This grasp is empty too. I’ll lift clear and reposition forward over the bottle’s shoulder; the previous low moves were nudging it rather than enclosing it.\"}",
  "call_id": "call_o2NTceOdCsbAs91F2EQECzoA",
  "id": "fc_0d7c5e9ec0fee733016ab46f50e35087d0bc68f264a1781d81",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_o2NTceOdCsbAs91F2EQECzoA",
  "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]: [-0.635, 1.462, 0.6064, 0.2577, -0.2398, -0.1829, 0.9943, -0.0284, 0.794, 0.6403, -0.4797, -0.0303, -0.0616, 0.9998]\nstate[eef_state]: left_x=0.3468 left_y=-0.1989 left_z=0.0929 left_yaw=-0.3465 left_pitch=-0.0178 left_roll=-0.0051 left_gripper=0.9943 right_x=0.2853 right_y=0.0008 right_z=0.1762 right_yaw=0.0172 right_pitch=-0.0612 right_roll=-0.0101 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -7.4325, 8.1299, 1.7558, 0.1245, 0.3199, 0.0122, -0.6906, -0.5949, 10.4547, 1.8584, -0.1245, 0.0171, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cbd9c0eb3cf5b6c9c669fffa69bdbfcb48114ca6104cee015c3ab9e1d322631",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd80816da8900e8da8a45a622e19d685f1ad6ef882334ad442f978c454d3272d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8922b217f3524751a860547bdaa03298b9396d92c807551ef5975ee51948eccd",
      "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 · 11.17 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]: [-0.6098, 1.5856, 0.4953, 0.4797, -0.2138, -0.1612, 0.9943, -0.0284, 0.7937, 0.6384, -0.4721, -0.0299, -0.0616, 0.9997]\nstate[eef_state]: left_x=0.3427 left_y=-0.1893 left_z=0.0475 left_yaw=-0.3545 left_pitch=-0.0339 left_roll=0.0022 left_gripper=0.9943 right_x=0.2862 right_y=0.0007 right_z=0.177 right_yaw=0.0168 right_pitch=-0.0551 right_roll=-0.0106 right_gripper=0.9997\nstate[joint_eff]: [-0.5675, -7.6376, 7.7607, 1.7265, -0.1294, 0.0611, -0.0611, -0.7043, -0.6222, 10.3453, 1.9951, -0.1245, 0.0366, -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 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6914, 1.6501, 0.2729, 0.7959, -0.2699, -0.1871, 0.0108, -0.0284, 0.7288, 0.5377, -0.4194, -0.0303, -0.0612, 0.9998]\nstate[eef_state]: left_x=0.3004 left_y=-0.1828 left_z=0.0145 left_yaw=-0.3756 left_pitch=0.0033 left_roll=0.0024 left_gripper=0.0108 right_x=0.2774 right_y=0.0011 right_z=0.1589 right_yaw=0.0169 right_pitch=-0.0383 right_roll=-0.0108 right_gripper=0.9998\nstate[joint_eff]: [0.3077, -4.547, 3.7402, 1.8193, -0.0366, -0.0464, 0.8132, -0.759, -1.5385, 6.8718, 2.0049, -0.1685, 0.0171, -0.0171]",
      "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]: [-0.635, 1.462, 0.6064, 0.2577, -0.2398, -0.1829, 0.9943, -0.0284, 0.794, 0.6403, -0.4797, -0.0303, -0.0616, 0.9998]\nstate[eef_state]: left_x=0.3468 left_y=-0.1989 left_z=0.0929 left_yaw=-0.3465 left_pitch=-0.0178 left_roll=-0.0051 left_gripper=0.9943 right_x=0.2853 right_y=0.0008 right_z=0.1762 right_yaw=0.0172 right_pitch=-0.0612 right_roll=-0.0101 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -7.4325, 8.1299, 1.7558, 0.1245, 0.3199, 0.0122, -0.6906, -0.5949, 10.4547, 1.8584, -0.1245, 0.0171, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cbd9c0eb3cf5b6c9c669fffa69bdbfcb48114ca6104cee015c3ab9e1d322631",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd80816da8900e8da8a45a622e19d685f1ad6ef882334ad442f978c454d3272d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8922b217f3524751a860547bdaa03298b9396d92c807551ef5975ee51948eccd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0d7c5e9ec0fee733016ab46f58c7cc87d089270a5a94e8fb29",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtG9po8GWwcbLlL4iVTyyWcIH3ss2KlKnvFJVxLTTd1iUUwqswslvCdXVPQY6QB_8LhDGbNcHTGwKyM3pUa8mASvat2VZwgCUA8J-uJmBcpN_PXgG06D4w9o8z0X0AdCGDHRtxBqdkUMoOBUTFhzB0l4JRRm8P1q-Cn1pvebosuntXmYiR0azPeRnXOulFCn_6WLb-ZafFVn7Kx-FJ7S2IrLRhvigP30Bzbzup9yFG3IVF5E34x1TmIvOgyurQln4UfokUmX2YIBAN5Vj6NxYs2ErIlRFSRtIUfzHfHiRxzIbtxAIdg51DMAWU0bnezbBMYT8ctGijfUql0smFPapJe6twvI3V3hVkFXYmpXtysgTc32dQx_iU6xjXYyVUmoAjpr1CV5OviKyP1cghtWv5Q5XKqZe6ni1z8i9xc2XQal0hsRK3EcjBQp87g3MyUbUrRtfgSiMdGklMCbBzbj757bWbhpAVmpddAUWGSEaJYvhEhTXeLOXYBuoSxP2hNZjEXDfwGSPHTmGlODhgbMiEAzUW7nlUM-4FwV86z83zYWTUZDoIPLabnVOayuiy9OwyOqdLBuSb4GHXbb28HlJMVG0SLKbCNmbWrS51JEw2ClZFz53GQWvd465f8NTnn3qUTSeoe6XTl3npg_utJKoz13wCG1XcVEaCu7R-Ba_bYS0jtrQMQb5VzbrgOBrHq3KqH3fjKx3qE-XhfXgDLQgUnidHpduP0jPDJKvkKE_h9k7eXgGhgkls8XEQ4BrMNyJbTFxIUF20FgHes-FRF8UgjhR3BF4fGT8XobZJ7jWWD8QpDoffU2rvJ4PkiDkCs9ujHBAoR3hSwANT5heW1SZPln8_TTOWw7gKiPQN0LPUSubXCoQD5_QFc77TKQPu_Brqrv-tBRQ1xb7sQbcII4vv8VM_XwpCQ7EaaMFunCnfawYUS-PC3GPWPW_mivwbP_7kDJfx46DB-5IDVmbl9v7AZrDISHG7_5GVj-ftuEVcq1zZOJnchlrJTmmh3BoWdL_4AgWu-XiXdKUXdjwKrLBiEfsuy1t3O_rBdGXoL9lyHiElBiUy7C7f97oatlZ6e64CKFWcY_URP4cDu_8GVbtOTQCWa33yjF3OHcjAKTP_-1CxxBWu2sn53XiPKvzpObe9NUyXjIPen7TiiKqoTKEyiX3qiLokGub3tlA77bWtBDtpvT48yx__QaQlFz7NuTnzpbOj7eGnsYjpUHn7grfyYoUdPIvsy_nxBOz3iPOMLJLJARkPbBbTdz4AGMnnRPOyVA5Batjs774hL_10H96-op0ValYqqDTTLSl57qG1bGsbYr_lHiDfXB-AFOhPpJI_6atrEWM2GsQxtA-wY9FTxta1Y3DvWFXtwlmddjJLxuAowZhG-Jsz1QRK67soGkpuRSCgJUZfA0uT6hWbuzaBS9z_jJBWkefKGQ-gWhUzJ7ox8ZgBk1dEj2zvI--o2N14SLXIPANFCCuvtIE9EQ2wYb5gNKk7cBPZxS6NSaG2VIsUv0McZ60-R7IlAMhFOj7M-_g6_wcI6x2wd914JItappV7rxhIphr4KB6LrmYmofajSdyqEepPipgATNVI8XGA0GncHsgumjtSaUI-MJDSbNlhO5mwmSQdsIXVnMcoscnGiA6GlThF7_IKC-1qlseoJLVpEwUNp4NQlrmjXqbijuo578HOLRFyiWguhQCbvo4dHDNZa2F-U0MrO1fki9ORQE0S5UCflh0t6dF0daXvUhReGExP9-H8teU-cqCi58CE3yTwWUdeA36ajPVPb61pCKgHDUZPc9RVPjFB_IX4SutiawBPh1N-1yvIOhJXcCxaWqsMhomrmJo07ec3j3G3NN1uVx_2baIDlqz1l7FfocpHyGIxJ_UFh6_C1tzl65lXPuAnu4PpPjqValVq6ww4hJYOm2zrKTSF5kc2gEnbPK6Dak377cehdMa5c6hniayKO13GBXr8lMiK6y2g3FcC_eituVcM9OLA2xx9223azIslt76SbnXr2Qfw1RMlZCbzHys10Vp2j5FCHaTs0sEXCfx4k7dQz6HRwjuwVJSYAqEDcKav8xK5fhHzT01ia5blQPwl9TKdcKD-D8pZXBcgFh6VuDdyM0lcwLKOmG_DhOEUF7fvrr4T2QrWhTVE2wfcqydP6xJwquP_uj_Ep40gAUyn7I6_EtwNJcXPqro3ot48YMxQFYOnhVgse_ggVduUISGso5kAfib_-hsO7rqQd5ML0EkKj1FmXhb9S3LvknraIVFCD--INDeA4m7MzABqv0QdvCtonytKgUnAFZYfMFENtmEVvvqh4uJNQyTB_z8EyuU7PQmxk-V-KEOJIFKPxL67W6FE_2isJ8sRSrT1hMBozdc-IG4ljhXP8SiVfAy7cIqXYAug7IPrrDHyhDime1wCz2-BQ9cJk48jMByc3n1L8gqpeX7mTllLHkkl2bhxN9RKzu56g6u7pzkvTowheeXeOQI4Nkx7U1qsDoc_ExpYz81ysF3jKg1-aICYqcjZo-_4N_fz3WhOaHbyaZekQPLtVsmMpMKIB7IuxjRL8_aroYt6AHsJQJIGlzTmlbK6hHC_tc5kN6ZtoZHwrtbgWw8rSLMMZxnxvhrwkWECyJb-p7w7x7aT9dKGFyTU76MIE16RtLXfwxpSdLm4bM_v_L8bknCUyVVl9YSF_2BEcfDDP0qUQKTJipJ-wbKe6FDdoV7fwbNpu2aXF9QT5nKpu78hz5UY-uMRT6Z1WTGdBJFT4pMVl7ZH7JdW61cOdKjTz3f38zjZ26AMtaE_eSx8tGcd5YVE12GnyZ8k6ImsqPU9kIGGHUfpCJU1YoSbkJEtXy18r-lA5Ork85OAkoSFe-vzmKUJL9et4XZbiLAIoW8T38dacJbXFDnO-49f4QWtFEK7oyJB9uQUTK7VDeq0lwxun5rzjRMRVH_cXCg_ecw9bO7XovIuZfbW9mitBHOPhvsTiBErwOkurPG78isKP8UB7eNq6Am6S9puV49t6y7InKaCwdpotB3Gpw9JdqqSP6Z195x-ZSFxyTMfeYXnZml1WpKrKTgFg4JzgJD8Qh1",
  "id": "rs_0d7c5e9ec0fee733016ab46f62176487d0b1206de84784c286",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0,\"left_z\":0.22},\"note\":\"The arm still obscures the left bottle’s cap. I’ll move it aside to get an unobstructed position check before deciding whether a reliable upright placement is possible.\"}",
  "call_id": "call_5PwD6NqRhkjbskcowaTnCnPB",
  "id": "fc_0d7c5e9ec0fee733016ab46f67f4d887d0a4dc14db74c03eba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5PwD6NqRhkjbskcowaTnCnPB",
  "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]: [0.2588, 0.9276, 0.7738, -0.5098, 0.4435, 0.2825, 0.9954, -0.0341, 0.7563, 0.5777, -0.4442, -0.0383, -0.0612, 0.9997]\nstate[eef_state]: left_x=0.3027 left_y=0.0054 left_z=0.2037 left_yaw=-0.2729 left_pitch=-0.0292 left_roll=-0.0205 left_gripper=0.9954 right_x=0.2804 right_y=0.0008 right_z=0.165 right_yaw=0.018 right_pitch=-0.0503 right_roll=-0.0056 right_gripper=0.9997\nstate[joint_eff]: [0.335, -1.6752, 9.8256, 1.5995, 0.3346, 0.0757, 0.1099, -0.6085, -1.6068, 7.1316, 2.0488, -0.1294, 0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10be11b260c0b414c5a190ddf2bb46b2d3165223279d9feb9fc0c4102689eecb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:898a84eeaba02cc491555d2362fc28a85deb5bdca3e0f79a01fd4e56f3c4c5d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6be0369e805123a8e8bcfa9aa56d863bde62b3778e3485ff2070e3419a163d6d",
      "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 · 4.645 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 81 changed as sent

message 89 changed as sent

message 94 changed as sent

message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6857, 1.6234, 0.2989, 0.7033, -0.2646, -0.1879, 0.9955, -0.0284, 0.7582, 0.5835, -0.4461, -0.0307, -0.0612, 0.9998]\nstate[eef_state]: left_x=0.3005 left_y=-0.1816 left_z=0.0128 left_yaw=-0.3737 left_pitch=-0.0358 left_roll=0.0113 left_gripper=0.9955 right_x=0.2809 right_y=0.001 right_z=0.1667 right_yaw=0.0173 right_pitch=-0.0486 right_roll=-0.0101 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -4.1778, 3.9043, 1.8291, -0.315, -0.1441, 0.1148, -0.8137, -1.4291, 6.9949, 2.1026, -0.1783, -0.0073, -0.0073]",
      "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]: [-0.635, 1.462, 0.6064, 0.2577, -0.2398, -0.1829, 0.9943, -0.0284, 0.794, 0.6403, -0.4797, -0.0303, -0.0616, 0.9998]\nstate[eef_state]: left_x=0.3468 left_y=-0.1989 left_z=0.0929 left_yaw=-0.3465 left_pitch=-0.0178 left_roll=-0.0051 left_gripper=0.9943 right_x=0.2853 right_y=0.0008 right_z=0.1762 right_yaw=0.0172 right_pitch=-0.0612 right_roll=-0.0101 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -7.4325, 8.1299, 1.7558, 0.1245, 0.3199, 0.0122, -0.6906, -0.5949, 10.4547, 1.8584, -0.1245, 0.0171, -0.0171]\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 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.2588, 0.9276, 0.7738, -0.5098, 0.4435, 0.2825, 0.9954, -0.0341, 0.7563, 0.5777, -0.4442, -0.0383, -0.0612, 0.9997]\nstate[eef_state]: left_x=0.3027 left_y=0.0054 left_z=0.2037 left_yaw=-0.2729 left_pitch=-0.0292 left_roll=-0.0205 left_gripper=0.9954 right_x=0.2804 right_y=0.0008 right_z=0.165 right_yaw=0.018 right_pitch=-0.0503 right_roll=-0.0056 right_gripper=0.9997\nstate[joint_eff]: [0.335, -1.6752, 9.8256, 1.5995, 0.3346, 0.0757, 0.1099, -0.6085, -1.6068, 7.1316, 2.0488, -0.1294, 0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10be11b260c0b414c5a190ddf2bb46b2d3165223279d9feb9fc0c4102689eecb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:898a84eeaba02cc491555d2362fc28a85deb5bdca3e0f79a01fd4e56f3c4c5d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6be0369e805123a8e8bcfa9aa56d863bde62b3778e3485ff2070e3419a163d6d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtG91sP_KdeIR244w9RqXcwToO4QXgsOdxqX6pZ9X3jys_MxSOwuARjDzqvS6D723YYL-b8AiSjYgUoCPBjBG2WPD-ufYXib-KS1ueKqN_0VdUtgmR3WZVk6vq26XMdZ3mgltBVSI-ZjSecYgxGWhfIrBmNnVzQyj9Dx_orclB52FGVzvePyQEHPqoyV6cmGO7ae1-2sY7KMV-zmhoZAWr5TKJXH8uNhvYhVK7pLq35nsUIAMa5rLJAYYh1nztI89dyiRQp_IJde4v1TMXfTP8NdV6HrwqSD8Xi9Sepopc5uco3YtiK6NYELQFUJ0YKjvkdU2wwmR4B6Ul3znFbnwLtEFJSH8jz0JEMIFMWt_I3_e5_OPuyA_i-kcE5xfJqYrqxQ2JY-t3s_wh-zrUDCMQGQcgqb2tgDeQcYwpGnGumUJq0-O91iC5X3-UZ44y94DdIjbJrusrIxG1y9T5yPHSwEjhlL0kLZ3wEi5rUxd_xtmPH-8cShf8aMXHBq-KWtACDOmMdT6eolL0BNCw_TsBGDSmNfVY6mgdZkHmV55YWmMQby0IEtEVzzX-_9ShtSqpBFF5x4r2nqk6fCjvzMvnrG0L7o8mqO_tqMCr9dptOhq7QnNaoxxmtcEJ2st869BZwFzbSw44QSGmepx5M2uJTwNzTiK0OIKkNl56CKK7AaD7M1g1MOlEHwVT0EKJLosLpISmU1PQQrZizHD6VstkLuiVMGjd71ZdWSzZtfkvah4aQtrVZ2KOSy7dvn68iqMKtv-QHzqbviv3m4JepzGBSIncAaa3uy1ehbos8j4fV_gvib5xYZYHX1Y0F6eE3xovRJbuS--96h_9QNTOr4cDd8LJUvuE_oEYV7wy-7v640CBW84vYLDue90N_u1qc7_Rws84MTa6uFZoHFACIutI3mchGczbjAH4DGHMASaLPC6fIvbn08wffFqlZ8YFKLF3FlHq2QrILtC548ttQTwMJ92C9pz66yUC2XSq79f0UgO0wPWcsSZVUwYfhrcEeVIOKZhOTAZA-F2PC5GRecOY1tmQmBO_FLBiAw_GaYZjUcDjvDBaHI1eTjCsq0t4wGCNSrlxi2khNVTc5GT8eLb67peEXbY4PHEvYAJySIwDB8S8YGInVshn1u5TPot7CiMyM0tTM3mdNhO-yxsldVmnF6LNBtlMeHQZWS2uxkkFpU9P_TT8vE88LH4j9Sij2-dsjM356vnNw_Y78FZ8AHqFnfeO-RkXX4bj_YPsoxqZT2tEqpES_S-gxteKJXuCdWV4tm7Ne3PqgeiVhSH012jje1nyA9Cj_pSZgsPunA9FT9xhsuVe3F8TlDY16frMHA9YTKAOqu2d5g1VlNrPkhr1a_-lnHenMXAINP__I7PoXPaxsEs-UfSfDA50JKadCCqSir7yby90SWfTWnEmp_s-JhDab1J_b3ZEu1cEtOnb_H2JbDcC1p5bRtdHrMA7BBQem0y5Ow0eUb4QKmOLPeQ9RQddm9nxNq6jbkwQmY_0r4RDBx5Pp4A8w0J1tt_zX6oXj4Ay0rQbhA7zU2L6jnIA8jLAhkmOHSzQOTECgbq_OUeS7Cg4K0BUUnOxdxIAk-07tRa8GK0PRY9YVQlIVFXMgHzYYDj-uv4rEdkls1aUPSIkG_kaqEp4Nt9LAnO6_YAdPoC1oWmZ39mRM9tG6UoW-E1d5xfaHE5ugg69Y2kESJV7PD_RGrnmweTqGr5omIGN7wuDJa-qT0JtfW__9JI_8SqJarHAzVPoOEaNbBH12iOExfzwq-yzny51ApRP1zoShWV5-zgUVY0S2QYQykMe04FsVu0RVFbkuZZ8kpQMMTPHY9qZhEGeuaeACxoqikemd07MJkZHt5A5cfnA6I-Y4Hrr_UdpbzLuBJrGy4TZswOcwuOdxX59iqg4WNktmRT6n6DksqR1gADRhLp7p1hu8YGPQkK_jgn33a-7OPAg3RfvjVmJw0b7PUzJdEpyvXlLHgnsFtghqdpOoqaFdWAdBKIhciHKqUNpDJ_J0EHaH228ipV2ZoO0bkJQJ1yT6NnIvNoTDoxlG23R4puK1TzkV7o3bYUZZGZZDZE83d0eeiypaEvmeriFEUgs7ShUIaY7mYsI7cYjzCdyZBwNci0J4RXQGX2Pyxkpj0wxl0DltfKgviByIj82HANq9kbfUjq65YfK7G0zFTOCohOY4cdFSTuy0izPnY_iaKf0CRj7U_vXV2ZQ6nxluWoFBmoqqhPdZmwzWsxV7xkk_S97BBhxm5NDaT278KoFdb96vI4bi2Jc-kMiY7QoSC0X1dmaxjxJBdcexTx6GIpqIMGVadiZW4Qejw8la9WUjvVF6L-ToQR84zQ9JpXbEaj4gHpTUXjs0_1vAdHLLiyyIzL6BBFaYK30q3jLho7RPAzmd5XlvuFWXOhwOZUL21Tbx7GafftZDn6nK3qUdP76UL_bqNBF3Op0BUlqBlH42bNKXj1pzkTT6OAeLNRha251zFisamOQ9kARY9Cf6V9ATAROpGPi64yoIjAni6Ba-O5qBQyn3FboBGcacoRi8C63toDftdYvuTMzDEwei0lk1dpBkD3aBImlo2AUVT8CUzjPL4BoBeSMqmkNvn-IqfTg7BzSM50I_ST72Hv_blee5B9NNGLbed0qosKG63wkT8xf-LPFBI1rYJtfnxrlQCuN1EuZ9yTVwsHKYc-EBRx8Ih_pIp9LHuGfZGG0U4MJi6mxAjSfU3LqAAgXb9oV_9nVYPTNOirep6B0kcIACNMRATYKPqeWLUPNYwCaIfyK4DxhBOy--KrlEy8m51K4ik0hotGkUGH8N-mk3bK-i8Ab7c848mwcQG_MqHtCpjFhYIfhfFfDISjwriUKhe2Bjy94jy7cKb1vJI28AaCIqBKPSg3HToUrxvTBCrqoqSoBYevSIRL9zgsxOVexvq2ZXmF-y8ix8imRx6RFwE76ohjA471akXK9WbVvYOZYqv9Cz2dcHP0JpnVJUayicort_aeRoiWTsDvjSlK6Ttv35xoWWWvy2CDQy6ybWuPLdaLLvCIG5OVoo0_p3tRZlQhXOkG2jz7-TxZm9ZTyr_D3i0NtlEOZBP2bndV8nKJOUCk9bEWWLGBRsb-UJojibUTJLSM7DmOxzHmDPvJjCeFH2OvZDs6XNwX9v_bazVsihfeRqDQL9CfJrLIoaJPSIOjuhofxc-xRpsOImjzdE4oovZcXo3VaA7ImgfeMbaQ8Is0d3PXnxtvxC_84u3nxS8i1p2EHwByFgQRaA4barhN2k5MZ7L_oMNXUcfgelyHPqhyHVl_gPBygOQqBZo=",
  "id": "rs_0d7c5e9ec0fee733016ab46f6ca43887d0a0102fe7ace3f96b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.085,\"left_z\":0.075,\"left_yaw\":0.35},\"note\":\"With the arm aside, the bottle’s cap is clearly visible at the upper-left end. I’ll approach that end from above and align the jaw opening across the neck.\"}",
  "call_id": "call_yuZpTCVsmU0pMYZ8kxH2suRs",
  "id": "fc_0d7c5e9ec0fee733016ab46f74a09087d09e7b6809fd747785",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yuZpTCVsmU0pMYZ8kxH2suRs",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5751, 1.478, 0.5652, 0.0475, -0.6239, -0.522, 0.9958, -0.0395, 0.7242, 0.5301, -0.4191, -0.0486, -0.0612, 0.9998]\nstate[eef_state]: left_x=0.3361 left_y=-0.0906 left_z=0.0553 left_yaw=0.209 left_pitch=-0.1073 left_roll=0.0755 left_gripper=0.9958 right_x=0.2762 right_y=0.0013 right_z=0.1568 right_yaw=0.0213 right_pitch=-0.0404 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -7.2821, 7.7744, 1.3993, -0.5641, -0.0269, 0.022, -0.294, -1.4017, 6.8581, 2.0293, -0.0366, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0b91a2d36740d5eea0060e2786e1e60f1ca319b5e05a897b2b2d3b8252d3752",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24180ee1e29f57a4a9dd053fe8fd85ed9f57076dbd36b8ccb00067c4040b2665",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:732fe591c8f4bb163f394ce6d80775e4ceaaaea50bab0dc7abd96c566c9157c1",
      "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 · 4.143 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 85 changed as sent

message 94 changed as sent

message 98 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6914, 1.6501, 0.2729, 0.7959, -0.2699, -0.1871, 0.0108, -0.0284, 0.7288, 0.5377, -0.4194, -0.0303, -0.0612, 0.9998]\nstate[eef_state]: left_x=0.3004 left_y=-0.1828 left_z=0.0145 left_yaw=-0.3756 left_pitch=0.0033 left_roll=0.0024 left_gripper=0.0108 right_x=0.2774 right_y=0.0011 right_z=0.1589 right_yaw=0.0169 right_pitch=-0.0383 right_roll=-0.0108 right_gripper=0.9998\nstate[joint_eff]: [0.3077, -4.547, 3.7402, 1.8193, -0.0366, -0.0464, 0.8132, -0.759, -1.5385, 6.8718, 2.0049, -0.1685, 0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.2588, 0.9276, 0.7738, -0.5098, 0.4435, 0.2825, 0.9954, -0.0341, 0.7563, 0.5777, -0.4442, -0.0383, -0.0612, 0.9997]\nstate[eef_state]: left_x=0.3027 left_y=0.0054 left_z=0.2037 left_yaw=-0.2729 left_pitch=-0.0292 left_roll=-0.0205 left_gripper=0.9954 right_x=0.2804 right_y=0.0008 right_z=0.165 right_yaw=0.018 right_pitch=-0.0503 right_roll=-0.0056 right_gripper=0.9997\nstate[joint_eff]: [0.335, -1.6752, 9.8256, 1.5995, 0.3346, 0.0757, 0.1099, -0.6085, -1.6068, 7.1316, 2.0488, -0.1294, 0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5751, 1.478, 0.5652, 0.0475, -0.6239, -0.522, 0.9958, -0.0395, 0.7242, 0.5301, -0.4191, -0.0486, -0.0612, 0.9998]\nstate[eef_state]: left_x=0.3361 left_y=-0.0906 left_z=0.0553 left_yaw=0.209 left_pitch=-0.1073 left_roll=0.0755 left_gripper=0.9958 right_x=0.2762 right_y=0.0013 right_z=0.1568 right_yaw=0.0213 right_pitch=-0.0404 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -7.2821, 7.7744, 1.3993, -0.5641, -0.0269, 0.022, -0.294, -1.4017, 6.8581, 2.0293, -0.0366, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0b91a2d36740d5eea0060e2786e1e60f1ca319b5e05a897b2b2d3b8252d3752",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24180ee1e29f57a4a9dd053fe8fd85ed9f57076dbd36b8ccb00067c4040b2665",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:732fe591c8f4bb163f394ce6d80775e4ceaaaea50bab0dc7abd96c566c9157c1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG97d7cDlHgEc4SiRw2R4Z9djG8GguGPP2gcDNw33tTMqtPbX0fdEzvs0Lf3KGQYMb8mTSyEnuACLmSJaDO3FjeZp12qJL_3NtTKnDR2J9-YEBNBtr0f_YXbYLRFJeOCao9MJnyV5xiA-nXeF3wcYSSKj6maMe8-RoiYM7VzOsyVTS1JD11UarIVBAcwdn8H4yWNZRrvaqXUb048cKG451FIx9KKQaUGPn3_DlvNckOCXpobYBW_HB4NqL2RM_ZICgFr26g7nHHtmMPlkqQQeVXOK7alzcG1D5dgUCfyHf4fgi_vr5pqEoiAoSrHNnBpoj7nTcZBQdXYqU3vBkXgYwtmRXDW5BGDWaAwCwHtw8eP9IA1K5hHWbyx82GXfOQTBsB4L_PiwKy39UtlMaab0Nmbp8vXD91Zxa1KvcaU6u-4cu6S3wpSd84aFQaMlww2ETFtZh8zXRP1fPdQrGLUhP_kepYj224P1mldIyK0HJFG72YmuCsy1A9waxP49lx3GFT-gcjyV0Ujv7x6vOVEyr-r3keRfSjL2zwGOT4rhKaoNHY7M4PwEjH48I3LOmEEAUvhYt5ZnRaiqNY3DCdEFhrTu_QdgQg3FSs-XYWqa-7xD0p-eRTN3PKuQsTwZcxSttn83FGrld0TO4DaTuEBGijD5-QKB-Ap4FfhGNXHo3dkM1Mrq9l0Yrj5H242VJ2l3gecDEegYnARw0ZAKxXcIQNsxn7IHum9cVUyjl77F3vtBzeGE78GujrkRUo87buKtM1Ne7LH4tBvVck7NAGiUIXrbM4HiL7_tpKtw8uIQNXqPrBzwSMVaUDKTFzFACGJ9u_ENvjubENowvERNpTYxjfKAOU1GVeXFVEKyebH-S0nGszz3hUGDh-9pdGYWNdPixNKCKC3VAhZ1QClRWrbhL2MYTa2KpmXUBFr3jZOlHh1oq06KSZn1jPZYV8CmljeivoQU5Z8z8jaMQE53ClDj1teLgBZ9iKFEKeAYvkqymuz9Alh3IKpX3lcsSJkIkbAzay6EyHJULtUzK-ejEAv0QZhUx56JH4kde32Sv0n8kJh2TKNcwrbR90iIUd8jJHz6L52i3nib1Za__e_9rgDG5MqIAsTZHMnZiPAZIbHTcQd2aav8YC5qIBfaeFGkLgNyKnQARgG89O0ACEqxehigBkKNq0dYi6YMFBK4XA_jNCQIkc9gagy5-bW4wOe4b0OHJ8jwikWPNlVgV24lnC_LCOT48COse2WbIbVOyvbsjKCkSoWomfBRMncAmGDmkj53oxG4ZfEtgRvNIE_jifyy0CN9xHG3ThBcB2978nRcUf4SgT3RNzHuo7yYg09HratIdViC1gbdzVuhTjqQbC9oGxZLcYa5zb995e-M2WNVHvI99Tc8RN0YSSoZGVHQ_gNKSVMzYZo-cPUEwhF19YWGbbyFOuF1weTCxVgGQM9N8NnZIv9hJv24CYFWe0Y5tQfsRea4aaWNIvvMxSSpT1gD0Z_NsJYeOpkcLf-NBZalcUf17z2_xlVh0yeP0N3ey0yXsD_5pI-0XXnokBVs3WKEBLN8drs01dsv5tabMX78sNfNRMv44gbM4xefb9SD6twqN8F",
  "id": "rs_0d7c5e9ec0fee733016ab46f7891b487d0ac103cbaf3a50d67",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.05,\"left_z\":0.023,\"left_yaw\":0.6},\"note\":\"The open fingertips are slightly behind and to the right of the cap. I’ll move forward-left and lower onto the neck, keeping the bottle’s body outside the pinch.\"}",
  "call_id": "call_x5PiHdtxkhLbbYGS6cL5cCq1",
  "id": "fc_0d7c5e9ec0fee733016ab46f7a01c087d0a0d63f1194b8fed4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_x5PiHdtxkhLbbYGS6cL5cCq1",
  "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]: [-0.5282, 1.7721, 0.6147, 0.1661, -0.807, -0.7658, 0.9962, -0.0399, 0.6994, 0.4915, -0.4023, -0.0494, -0.0612, 0.9997]\nstate[eef_state]: left_x=0.3524 left_y=-0.0537 left_z=0.0097 left_yaw=0.5119 left_pitch=-0.0581 left_roll=0.0695 left_gripper=0.9962 right_x=0.2725 right_y=0.0015 right_z=0.149 right_yaw=0.0215 right_pitch=-0.0373 right_roll=0.0001 right_gripper=0.9997\nstate[joint_eff]: [0.1573, -8.0752, 6.5299, 1.2625, -0.7155, -0.149, 0.022, -0.5128, -1.2239, 7.0496, 2.0293, -0.105, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3ee4735ed78285745cb6db0847e38d81c224ba1df91357dd7adc40819f41b68",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce61884aea80ac9f352eddd6aa283da3fdc11a0a2dbe5ea4e9323b340b0c7a89",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c02d78554004f2148deca4d6c12300688d1ffe15fb6a39c08f22ed00613c2fa",
      "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 26 attempt 0 · /responses · status 200 · 9.215 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 89 changed as sent

message 98 changed as sent

message 102 changed as sent

message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.635, 1.462, 0.6064, 0.2577, -0.2398, -0.1829, 0.9943, -0.0284, 0.794, 0.6403, -0.4797, -0.0303, -0.0616, 0.9998]\nstate[eef_state]: left_x=0.3468 left_y=-0.1989 left_z=0.0929 left_yaw=-0.3465 left_pitch=-0.0178 left_roll=-0.0051 left_gripper=0.9943 right_x=0.2853 right_y=0.0008 right_z=0.1762 right_yaw=0.0172 right_pitch=-0.0612 right_roll=-0.0101 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -7.4325, 8.1299, 1.7558, 0.1245, 0.3199, 0.0122, -0.6906, -0.5949, 10.4547, 1.8584, -0.1245, 0.0171, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5751, 1.478, 0.5652, 0.0475, -0.6239, -0.522, 0.9958, -0.0395, 0.7242, 0.5301, -0.4191, -0.0486, -0.0612, 0.9998]\nstate[eef_state]: left_x=0.3361 left_y=-0.0906 left_z=0.0553 left_yaw=0.209 left_pitch=-0.1073 left_roll=0.0755 left_gripper=0.9958 right_x=0.2762 right_y=0.0013 right_z=0.1568 right_yaw=0.0213 right_pitch=-0.0404 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -7.2821, 7.7744, 1.3993, -0.5641, -0.0269, 0.022, -0.294, -1.4017, 6.8581, 2.0293, -0.0366, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5282, 1.7721, 0.6147, 0.1661, -0.807, -0.7658, 0.9962, -0.0399, 0.6994, 0.4915, -0.4023, -0.0494, -0.0612, 0.9997]\nstate[eef_state]: left_x=0.3524 left_y=-0.0537 left_z=0.0097 left_yaw=0.5119 left_pitch=-0.0581 left_roll=0.0695 left_gripper=0.9962 right_x=0.2725 right_y=0.0015 right_z=0.149 right_yaw=0.0215 right_pitch=-0.0373 right_roll=0.0001 right_gripper=0.9997\nstate[joint_eff]: [0.1573, -8.0752, 6.5299, 1.2625, -0.7155, -0.149, 0.022, -0.5128, -1.2239, 7.0496, 2.0293, -0.105, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3ee4735ed78285745cb6db0847e38d81c224ba1df91357dd7adc40819f41b68",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce61884aea80ac9f352eddd6aa283da3fdc11a0a2dbe5ea4e9323b340b0c7a89",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c02d78554004f2148deca4d6c12300688d1ffe15fb6a39c08f22ed00613c2fa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG9_t-jDNfZLgCbCxwka2kAQ9bmtVKYssRqtzdy1WtzQ2_Rocco_Qsz2EoJInt99WgAucWtMFqmDKm3Qk0xe03zltaEG4jLhI_8w4Ux3-1aTATZL3dBb3bKMVVQNKrBCUrnRoVVixzv7OdYtHmuThRrp0I_qWRH3EiAf6sOMO01xDJvk-SXpN_oywtyCz7_SO-JJogL2Z_TZRmqb8YXohbHrzxTVGo2TkZx2J7pbgjoK8Mn-q86ALnIimD2ZLAdYTvq7XoWYr4jvqhllis9YXz79JfVGH-PG7S-rth2pS5KAUjthan5kj8GWNz3K1J9hcGmkDNrEgxd-_D_OFZ_gxSm7C6iV7Ng0e4vB4VUOcNTu3-72V4YsW0gCKyiuxaubhNYlyvLnWAt2LKH4RTDbmIdgbbLQJrGaJF0z2X2rp0aPVOiYgwREy22ohF8po6-rrVZKGwEoJN8RftWfZE0BJhD1pmEJlL9By3-R9Ztyf23wNE9z_4R0tdJeyDkhTLohdZ-YuJdGFlc8a6pU6vFT3SSTDn77QEvWGAi-_KdmLXKCY9TwQI1AjM-eJ8FbVuf-33LtF3XpvSU5NfHIMmfkPYtePmZMNaoANSsibbWpVKHSsyIpRRQRMBbA2Kqt7syZNze9LYqB1KLCqbaQthUykDTcAjzgK7NElINeM7iUawM_AcgsYcrAkKXsTkOrZaKGG8pOS4MXMnBGc3N1MlCC1d5blJUpIK0SDao24IR4KJPsuNSxPfjAiQ9Q2WsbKGRHhvg6DDeRs31D4t8MCCYh5S9bsgs2OpPNb9eVm-uBUdFasOC6JhcRsjLq6bSfl32ephi98WXNX22i0KohuVbyrDxIJG3yF7yB5WdX-S6rvWnngwwxWMcP7KNwZMCJmH1n3CqF0tOvKgSeg3lxcdu3gzpHqcK3UONbsNhPyV2hs9TBt25PVZYj7gG73Wpm1XWcrmLEVuwu0V8ohT_8BzJC8gMfpVAbX2FKZcS5OHuLLjIfI4-d0D67jizJj4SZd8B-geeSngmh_geq1mMZ0T551TAYErulLTM2bPieZJDTxGHHY-hMt8EDBb-DqBuL5BJ87KPZMD84KPyaz7IONoG3hsbECIzE7NH8TRQGTN0Wboy1ocHxDuY1xjU5HnMvoKjAX9AawBqVPUDHcfRMesQMbNlk0gz8Kf1XKc4nEXAHmvkX5cJhk25c6m3c5nzUTK0ICwYeeIHpp-WR_ownaNoaPf9nBuF1VQcWK2R9MAv6JfdRa2zuJAlUU_p81aHoyV9Kv1aTEVByacaktixh_QiLfsehRkdUqEgOf9pdLaOxjeOpGIMAo3E5ShZ0z3aRljNQ1J8cQMP0uGtG1ftJHuDK29O3eU3UXmiyi7e2qVMUizVAV2dPn3sNIEtbnPYU_PasRNha",
  "id": "rs_0d7c5e9ec0fee733016ab46f7dd48487d08d4053ea32857cf5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws are at table level around the narrow end, now aligned more closely across the bottle. I’ll close and check whether this alignment captures it.\"}",
  "call_id": "call_k6l1jGTxms6SqIq58vQtC11W",
  "id": "fc_0d7c5e9ec0fee733016ab46f7eb07487d0af2582046b4cec8d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_k6l1jGTxms6SqIq58vQtC11W",
  "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]: [-0.5228, 1.7939, 0.6479, 0.1596, -0.8539, -0.8463, 0.0108, -0.0399, 0.6777, 0.4583, -0.387, -0.0528, -0.0616, 0.9997]\nstate[eef_state]: left_x=0.3601 left_y=-0.0497 left_z=0.0159 left_yaw=0.5864 left_pitch=-0.0192 left_roll=0.0173 left_gripper=0.0108 right_x=0.2695 right_y=0.0022 right_z=0.1425 right_yaw=0.0246 right_pitch=-0.0334 right_roll=0.0015 right_gripper=0.9997\nstate[joint_eff]: [0.0889, -7.6239, 5.7641, 1.1062, -0.5299, -0.1148, 0.8718, -0.5128, -1.0598, 6.8444, 1.9658, -0.0269, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:841b5a28dfb65b9addd9747ec58e9369cd4275469e1426fcd5f3b42b90ab2d66",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08c00d68af4ae842b1feb6a4102e2159a28e41333a70ca3d9edb1e4339722ba7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a56ad9ee7326b2a8ad7502942f1aba2508bd93a0069112c82a14184f3a42753",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 27 attempt 0 · /responses · status 200 · 4.681 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 94 changed as sent

message 102 changed as sent

message 106 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.2588, 0.9276, 0.7738, -0.5098, 0.4435, 0.2825, 0.9954, -0.0341, 0.7563, 0.5777, -0.4442, -0.0383, -0.0612, 0.9997]\nstate[eef_state]: left_x=0.3027 left_y=0.0054 left_z=0.2037 left_yaw=-0.2729 left_pitch=-0.0292 left_roll=-0.0205 left_gripper=0.9954 right_x=0.2804 right_y=0.0008 right_z=0.165 right_yaw=0.018 right_pitch=-0.0503 right_roll=-0.0056 right_gripper=0.9997\nstate[joint_eff]: [0.335, -1.6752, 9.8256, 1.5995, 0.3346, 0.0757, 0.1099, -0.6085, -1.6068, 7.1316, 2.0488, -0.1294, 0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5282, 1.7721, 0.6147, 0.1661, -0.807, -0.7658, 0.9962, -0.0399, 0.6994, 0.4915, -0.4023, -0.0494, -0.0612, 0.9997]\nstate[eef_state]: left_x=0.3524 left_y=-0.0537 left_z=0.0097 left_yaw=0.5119 left_pitch=-0.0581 left_roll=0.0695 left_gripper=0.9962 right_x=0.2725 right_y=0.0015 right_z=0.149 right_yaw=0.0215 right_pitch=-0.0373 right_roll=0.0001 right_gripper=0.9997\nstate[joint_eff]: [0.1573, -8.0752, 6.5299, 1.2625, -0.7155, -0.149, 0.022, -0.5128, -1.2239, 7.0496, 2.0293, -0.105, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5228, 1.7939, 0.6479, 0.1596, -0.8539, -0.8463, 0.0108, -0.0399, 0.6777, 0.4583, -0.387, -0.0528, -0.0616, 0.9997]\nstate[eef_state]: left_x=0.3601 left_y=-0.0497 left_z=0.0159 left_yaw=0.5864 left_pitch=-0.0192 left_roll=0.0173 left_gripper=0.0108 right_x=0.2695 right_y=0.0022 right_z=0.1425 right_yaw=0.0246 right_pitch=-0.0334 right_roll=0.0015 right_gripper=0.9997\nstate[joint_eff]: [0.0889, -7.6239, 5.7641, 1.1062, -0.5299, -0.1148, 0.8718, -0.5128, -1.0598, 6.8444, 1.9658, -0.0269, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:841b5a28dfb65b9addd9747ec58e9369cd4275469e1426fcd5f3b42b90ab2d66",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08c00d68af4ae842b1feb6a4102e2159a28e41333a70ca3d9edb1e4339722ba7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a56ad9ee7326b2a8ad7502942f1aba2508bd93a0069112c82a14184f3a42753",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtG-Khqkms13YyS6huJrnmQyiRK3vlOb095gpHQwO63ny14zunnFyi9Dfzx7yzpBgOB-EPB-hES3FFdS-513q3xmqlsxaCwF_0gazaAtjQ2_J1r0pTkXyjVlc5etPDVP2QEYohR_Xx68bHpTYG4TJjr-avh9TUYe3uIErisjAuvGL3iaSJgHwt25Bsgd3r2pLgsmQw-uyyGlrnaiMBFHa134pUlDT6dX3cYnkgNukvn7M2f5h5vpK8PaurCp3kkrOcBaFwxWOd7ChkHbWpDcSWoTgNZgniQ3QTBv4Nj3rwGKiA55drGRqV24_VVVsFL3RLBDkMuc30wv4BJGU7opCRehv_AZiOeewn7zduJlTZK7Cn8iHNG5mi4BW4NWiLbepNX23loLbzIQFQmVytvJBNVRzazyLu6dtIKfQZvOEJorc9jut3uZTCgkbEYONaXwRvR4iht6Z8LdeKNUH7UF11ES4qXS_Kw-SwpQF5hOcDH5uJv28NasmFiLfs4VDsnHnYzbJ47501E6ZRgb8Eh0wgmehPxIOTVtoX3Hoi7Fy1HYoOP7uYOjSTRXRtJh7K8uCaJy1RPBEZrHjXwGntA3EZGPs0HCQiRbdMPvJA6q-kEaFLswqd_rgOgHoLI2FWF0kR1NaD97WrEEzj60EODF5e0i0B0poKqe96tNAEVRhTuwsCqZq3xj1GhTWWoko0gXuzdYixBHiH029nDAOoGN0jMc8ZLUL6baOrVfYyunL6lidPlMgokZzNPAg0gk0-7trOjxcpWeIMnmpH1wRdmNGsJPxrTVKjv4iGmIITqtTLz5KoFwy0EOqw4cGpUdM4DSxRD_ndc7ro9_kn4Vr9NUCuVY50kdQFHkDN7_fUHTgErxmNTI-4zOfswufSTd6dIbBw2rq3XEMHrY7BArMnvEYTXl8UOoPsoWJpSOTDBPTmMcMnZa9V-P3dyH6JHSQTLsymvrvs5jy2bSZUK_bmeNtEyaBJEWf32EUVQ2l_GU42lfYCsAZ2G0ZjlrXbmng7_RBGuSMvnN2tbfhApcSFxHqYFkoR-x7ki1i_D3ZX7LCkw9YyVc9O3wdpqyRFzMX0Cpx3DZqq6uciLPsXYgqNfJj_PCrgNZyeb-tJgbjRBGFb53xtLimDNGfL1_aH1qczYScTS6Fhc8-91GZLr2sJK3oKjs7CzQZIAcljVQCjzxS_F3UpmK9IGsJzm0dvg6Nf0ZmvLkl_NzeXoIlc90g3zG4R_vcVApc7pAs0KtnOgyjxIWZxfiWFz_7Up3vYZnKVOWZyLhqztzrF6HBoKsckEQGDXq0g997HiKJ2vD-NfPQAJ-VfCv559937Gc4AQzo-zH_bkxa-XF1wPNu88jyuBZtnK5m6xPMQNxy8Px4hKbY1nSElWYYsmSr3cyS8tmny_tyNSHvpZn2640YIDY29fqfqzIXWe93P9zCXn1YSNRKkbxCGKJL6hBN5JiJyWS0R6mjMFJlSKwhd_HKo4C0opq8IXu0tVpxOptVu3GR23kHf4LsPP4EbEIbFrNfjLOFgFA-SiYB9Lq0yxoOrsArJb7V6Tjrufa1y0mNuAlJjZPxwPf3RGxQxi8WGfCL-rBdj0SDGTo5VTZsmQdDXg-8o3ZbZgcYq29BGog0XEUvJG2NFaMPPFLu4YMwSFNKDkieoIUkg4Y6V1kRB0wiJsRhe1CrxE9XbZmeEv4OB2qv8s6tVPAXwLUYxlL-iAy8xqAuzl8hBKSuVTmtB3uhMbstEGUbKo7S1GbBhuQ1DA4NBHO1x92US47CQ_YaK733ZCqXWS4jlk8dhDPu6PNIwAWfxeViuYuz-wV0Q59TrpkT_BCbS6afVntSrQl_g1dI2zjugBehtZcnwkHJ7WrfYcUcilAPFilJe4Kfcfoli3ZcQEFwGfytDGtwccNLXk-GEDo3dM_z5-eWhk9kdfK8fws6h1ynkatDv-V1Aw1xd9CbKSwqjKxa-9pxTSjvY_TvNeKooPkti5hrkAQ3L_0Yh8x2ZC0l2oeQHVfWX740BdQ24ayXW4f54oPJTOzwBBttoVaI5cOO_8tX1ASnYc2IikbLs146uJNlWWYwVe-DZJy1ZoWh6t1il1tPjmJDA9zZLxs2uQWi_ohE6R8IunZeWAPkcN1iIWb-5sbyxHux4gIWbs259dqOlLVRoHc4Umnkc0ejvIDW5LF_3xnPfLb6WCuLlParUX3BJTtJMVjoc_wwqQpQgaXpXBUJZJ8dphIbTDifjPcbwkoLzMvOUj6LshGZxNvSx-YlJHABaka3pIJf69elwfJysHCwO2HaE1F7RK9qpQmY4Plk1_Eft5f1uzT6Ny1PbAbuaHcPXQwN-NGKvjAmSvPlKS0vCC05ZOEeyZz77HeSVaT6P6AwQ_fSFyXu16aO2O1gwHYOlOAYtUCPw-PfLWT07TLisd52mndVLuZAqTYx4VieFz_IjdwlZI9DEd81aV_84cnO-N-vpomoikSKJzNWrSyhp9EbQkWcaIoLul9v8jj05BqtJTsoJeVlXEaiy5ASa526JE0GkO48hbTXHA_739sdWBE2GboaQt9D_Qe7cQ4iWfhOTgTv7yUNKZyMuj8nrn2MjKxHSXA3RB5fz9JrM2BWiR-rVwrhoqXKYTRE2K8bABDznRZNc36sq-u6397vXt3KqGVI8kVzmzEzNYFWUgWbmpHowjfbcFOyLBndQMe-zpHigYMbv_xapJcz56yCXNl7jNfVn8zuVtLEX8uR18IjnH_xo1HqIU8sXye-y5Gpjp5SL2Xho_vvLJtpd49MAidBVKcCjM8tQBbcjcB_vlNx4KnpZbtqNO3fi9PKXEQSXSItEWmP7BLagwtnc_1nJJybCQk9k_zuHp2qENKGGXRvOA0hki2-mLBxt7_jsIUCvtwqnJ_GGfXUBcmU6fYSPKTWqA9ALuNXbD042TgAR5qhPoWeNnlnmoD3gEQsByYDFiZmnxZ9AfYi68XDKEcroA==",
  "id": "rs_0d7c5e9ec0fee733016ab46f83385487d0a7b0c369a7701c4c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.2958,\"left_y\":0.001,\"left_z\":0.22,\"left_gripper\":1,\"right_x\":0.2935,\"right_y\":0.0012,\"right_z\":0.22,\"right_gripper\":1},\"note\":\"The grasp is still empty, and all three bottles remain on their sides. I’ll withdraw both arms rather than keep nudging the left bottle without a reliable grasp.\"}",
  "call_id": "call_TcmAA2uiKE7JbqMWw8YCkU3C",
  "id": "fc_0d7c5e9ec0fee733016ab46f88c98087d08e998624d79788b1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TcmAA2uiKE7JbqMWw8YCkU3C",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4698, 1.1027, 0.894, -0.6781, -0.8238, -0.804, 0.9965, -0.0395, 0.8089, 0.7265, -0.5415, -0.0532, -0.0662, 0.9998]\nstate[eef_state]: left_x=0.3039 left_y=-0.0049 left_z=0.2083 left_yaw=0.5984 left_pitch=0.0057 left_roll=-0.0465 left_gripper=0.9965 right_x=0.2873 right_y=0.0016 right_z=0.1988 right_yaw=0.0278 right_pitch=-0.0509 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -3.9453, 8.4718, 1.1404, -0.3883, 0.2955, -0.0562, -0.4171, -0.8547, 9.853, 1.8632, -0.0171, 0.0122, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d39d592b8a6174a03afb0d48c0d8fa6367651cc79cd1c125e1644512413eb4b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ccf4e5828ad0d838afc7bea8cbbbbc9d9d550b7362087761965d760bcb67834",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a73d7afd9ff23383313885497f53ec79d4a30af2fc0086efd6d1098c99bf4f98",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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