adhoc

completed
2026-09-24T03:14:25.201652+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
208.3 s
total steps
242
success_at_end
0
scenes
1
trials
1
errored
0

scene-0

completed

Stand all three bottles upright.

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteAll three bottles are lying on their sides, with their caps toward the far side of the table. I’m positioning the right gripper over the rightmost bottle’s neck so it can be lifted and allowed to hang upright.
move_to
right_x0.4250right_y0.1800right_z0.1500right_gripper1.0000left_x0.2960left_y0.0020left_z0.1850
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7929, 0.6102, -0.3759, -0.0261, -0.0284, 0.9988, -0.0154, 0.7898, 0.6044, -0.3851, -0.0265, -0.0345, 0.9993] state[eef_state]: left_x=0.296 left_y=0.0023 left_z=0.184 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9988 right_x=0.2939 right_y=0.0037 right_z=0.1803 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9993 state[joint_eff]: [-0.4171, -1.2923, 9.6752, 1.7216, 0.0562, 0.1343, -0.1294, -1.0462, -1.2376, 10.3043, 1.8144, 0.0171, 0.1783, -0.0855] 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":{"right_x":0.425,"right_y":0.18,"right_z":0.15,"right_gripper":1,"left_x":0.296,"left_y":0.002,"left_z":0.185},"note":"All three bottles are lying on their sides, with their caps toward the far side of the table. I’m positioning the right gripper over the rightmost bottle’s neck so it can be lifted and allowed to hang upright."})
tool
executing move_to over 15 steps (1.5s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteThe rightmost bottle’s cap is visible slightly right of the jaw centerline. I’m moving a little forward and right while lowering to neck height, keeping the jaws open.
move_to
right_x0.4600right_y0.1650right_z0.0450right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7982, 0.6159, -0.3794, -0.0257, -0.0292, 0.9985, 0.5556, 1.6115, 0.9836, -0.0921, 0.4141, 0.2619, 0.9993] state[eef_state]: left_x=0.2966 left_y=0.0022 left_z=0.1844 left_yaw=0.0004 left_pitch=-0.003 left_roll=-0.0006 left_gripper=0.9985 right_x=0.4082 right_y=0.174 right_z=0.1277 right_yaw=0.0429 right_pitch=-0.0782 right_roll=-0.0491 right_gripper=0.9993 state[joint_eff]: [-0.3487, -1.6479, 6.9402, 1.7021, -0.0513, -0.0806, -0.0464, -0.1846, -7.5829, 9.2376, 1.7607, 0.4029, 0.3248, -0.0806] camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.46,"right_y":0.165,"right_z":0.045,"right_gripper":1},"note":"The rightmost bottle’s cap is visible slightly right of the jaw centerline. I’m moving a little forward and right while lowering to neck height, keeping the jaws open."})
tool
executing move_to over 6 steps (0.6s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe bottle remains on its side, and the cap is still ahead of the fingertips. I’m advancing toward the narrow neck and correcting the small sideways offset before gripping.
move_to
right_x0.5000right_y0.1500right_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7994, 0.6159, -0.379, -0.0261, -0.0292, 0.9984, 0.4656, 1.8973, 0.8791, 0.3195, 0.3489, 0.205, 0.9993] state[eef_state]: left_x=0.2967 left_y=0.0023 left_z=0.1842 left_yaw=0.0007 left_pitch=-0.0038 left_roll=-0.0004 left_gripper=0.9984 right_x=0.4412 right_y=0.1581 right_z=0.0333 right_yaw=0.0369 right_pitch=-0.0792 right_roll=-0.0469 right_gripper=0.9993 state[joint_eff]: [-0.3897, -1.4701, 6.9538, 1.746, -0.0415, -0.0513, -0.0269, -0.6632, -8.0889, 7.8291, 1.9219, 0.022, 0.0415, -0.0806] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.50,"right_y":0.15,"right_z":0.035},"note":"The bottle remains on its side, and the cap is still ahead of the fingertips. I’m advancing toward the narrow neck and correcting the small sideways offset before gripping."})
tool
executing move_to over 5 steps (0.5s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteThe right bottle’s upper end is centered between the jaws. I’m closing to a narrow pinch near its shoulder/neck, rather than squeezing the rounded body tightly.
move_to
right_gripper0.2500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7994, 0.6159, -0.3794, -0.0265, -0.0292, 0.9983, 0.3908, 2.0132, 0.992, 0.4278, 0.2821, 0.1535, 0.9993] state[eef_state]: left_x=0.2967 left_y=0.0023 left_z=0.1841 left_yaw=0.0011 left_pitch=-0.0042 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4899 right_y=0.1525 right_z=0.0391 right_yaw=0.0463 right_pitch=0.0031 right_roll=-0.0122 right_gripper=0.9993 state[joint_eff]: [-0.3761, -1.4701, 6.7077, 1.7656, -0.0171, -0.0415, -0.0171, -1.1282, -8.0479, 7.2547, 1.6728, 0.0513, 0.0806, -0.0171] camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.25},"note":"The right bottle’s upper end is centered between the jaws. I’m closing to a narrow pinch near its shoulder/neck, rather than squeezing the rounded body tightly."})
tool
executing move_to over 8 steps (0.8s)
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 jaw opening has stopped at about 3.3 cm, consistent with holding the bottle’s upper section. I’m making a short test lift to check that the bottle follows and starts to swing downward.
move_to
right_x0.4800right_z0.1150
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7994, 0.6159, -0.3794, -0.0261, -0.0292, 0.9983, 0.3801, 2.0247, 1.0245, 0.4644, 0.2638, 0.1337, 0.3449] state[eef_state]: left_x=0.2967 left_y=0.0023 left_z=0.1841 left_yaw=0.0007 left_pitch=-0.0042 left_roll=-0.0004 left_gripper=0.9983 right_x=0.5039 right_y=0.1556 right_z=0.0528 right_yaw=0.061 right_pitch=0.0545 right_roll=-0.0012 right_gripper=0.3449 state[joint_eff]: [-0.1983, -1.5111, 6.7077, 1.7802, -0.022, -0.0757, -0.0122, -0.6222, -8.5402, 6.6256, 1.3504, 0.105, 0.1929, 0.1783] 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":{"right_x":0.48,"right_z":0.115},"note":"The jaw opening has stopped at about 3.3 cm, consistent with holding the bottle’s upper section. I’m making a short test lift to check that the bottle follows and starts to swing downward."})
tool
executing move_to over 5 steps (0.5s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteThe bottle has followed the test lift. I’m raising it enough for the base to clear the table and easing the pinch slightly so gravity can rotate the base downward.
move_to
right_x0.4300right_z0.2550right_gripper0.3400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8013, 0.6159, -0.379, -0.0261, -0.0292, 0.9983, 0.3939, 1.8576, 1.0378, 0.2504, 0.26, 0.1452, 0.3442] state[eef_state]: left_x=0.2968 left_y=0.0023 left_z=0.1837 left_yaw=0.0007 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4858 right_y=0.1566 right_z=0.0974 right_yaw=0.0721 right_pitch=0.0219 right_roll=0.0 right_gripper=0.3442 state[joint_eff]: [-0.3761, -1.4154, 6.7214, 1.8144, -0.0659, -0.0708, -0.0122, 0.3897, -9.9897, 8.9231, 1.79, 0.1783, 0.1538, -0.0806] camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_z":0.255,"right_gripper":0.34},"note":"The bottle has followed the test lift. I’m raising it enough for the base to clear the table and easing the pinch slightly so gravity can rotate the base downward."})
tool
executing move_to over 11 steps (1.1s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteThe bottle is lifted but is still angled rather than hanging vertically. I’m loosening the jaws by only a few millimeters to let it pivot while keeping it captured.
move_to
right_z0.2650right_gripper0.3750
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8013, 0.6159, -0.379, -0.0257, -0.0292, 0.9983, 0.4583, 1.5578, 1.2842, -0.3813, 0.2871, 0.1574, 0.342] state[eef_state]: left_x=0.2968 left_y=0.0022 left_z=0.1837 left_yaw=0.0004 left_pitch=-0.0057 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4319 right_y=0.1613 right_z=0.2219 right_yaw=0.1071 right_pitch=-0.0537 right_roll=-0.0327 right_gripper=0.342 state[joint_eff]: [-0.2667, -1.4154, 6.8034, 1.8388, -0.0171, -0.0757, -0.0122, 0.1436, -9.7709, 10.1265, 1.7705, 0.2662, 0.2857, 0.1929] camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.265,"right_gripper":0.375},"note":"The bottle is lifted but is still angled rather than hanging vertically. I’m loosening the jaws by only a few millimeters to let it pivot while keeping it captured."})
tool
executing move_to over 3 steps (0.3s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteThe small release did not visibly change the bottle’s angle. I’m opening another 7 mm so the flexible bottle can relax and pivot instead of remaining squeezed sideways.
move_to
right_gripper0.4500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8013, 0.6159, -0.3786, -0.0261, -0.0292, 0.9983, 0.458, 1.5417, 1.3277, -0.4538, 0.2825, 0.1612, 0.374] state[eef_state]: left_x=0.2969 left_y=0.0023 left_z=0.1837 left_yaw=0.0007 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4264 right_y=0.1593 right_z=0.2342 right_yaw=0.1082 right_pitch=-0.0668 right_roll=-0.0314 right_gripper=0.374 state[joint_eff]: [-0.3487, -1.4838, 6.5709, 1.8486, -0.0513, -0.0708, -0.0122, -0.4444, -8.4171, 10.865, 1.9023, -0.0122, 0.0562, -0.1099] camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.45},"note":"The small release did not visibly change the bottle’s angle. I’m opening another 7 mm so the flexible bottle can relax and pivot instead of remaining squeezed sideways."})
tool
executing move_to over 1 steps (0.1s)
step 54
top_cam
camera top_cam step 54
left_cam
camera left_cam step 54
right_cam
camera right_cam step 54
assistant
agent noteThe gripper has not yet reached the wider setting. I’m making a short, controlled lowering motion while the jaws settle, watching for the bottle to rotate downward.
move_to
right_x0.4100right_z0.2300right_gripper0.4500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8021, 0.6159, -0.379, -0.0254, -0.0292, 0.9983, 0.458, 1.5417, 1.3479, -0.4755, 0.2787, 0.1555, 0.374] state[eef_state]: left_x=0.2969 left_y=0.0021 left_z=0.1834 left_yaw=0.0001 left_pitch=-0.0065 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4258 right_y=0.1597 right_z=0.2389 right_yaw=0.1144 right_pitch=-0.0691 right_roll=-0.0343 right_gripper=0.374 state[joint_eff]: [-0.212, -1.6889, 6.6256, 1.7802, -0.0317, -0.0024, -0.0122, -0.5812, -8.4171, 9.7846, 1.8926, 0.0659, 0.0952, -0.1245] camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.41,"right_z":0.23,"right_gripper":0.45},"note":"The gripper has not yet reached the wider setting. I’m making a short, controlled lowering motion while the jaws settle, watching for the bottle to rotate downward."})
tool
executing move_to over 2 steps (0.2s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteThe overhead view now shows the right bottle hanging beneath the gripper; the bottles still visible in the wrist view are its neighbors. I’m lowering the hanging bottle toward its base while maintaining a gentle hold.
move_to
right_x0.4100right_y0.1500right_z0.1700right_gripper0.4200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8021, 0.6159, -0.3786, -0.0257, -0.0292, 0.9983, 0.458, 1.5417, 1.3479, -0.4755, 0.2787, 0.1551, 0.4492] state[eef_state]: left_x=0.2969 left_y=0.0022 left_z=0.1835 left_yaw=0.0004 left_pitch=-0.0061 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4258 right_y=0.1597 right_z=0.2389 right_yaw=0.1146 right_pitch=-0.0691 right_roll=-0.0346 right_gripper=0.4492 state[joint_eff]: [-0.4034, -1.6615, 6.5162, 1.8291, -0.022, -0.0513, -0.0122, -0.6085, -8.4034, 9.7299, 1.9365, 0.0562, 0.0708, -0.0952] camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.41,"right_y":0.15,"right_z":0.17,"right_gripper":0.42},"note":"The overhead view now shows the right bottle hanging beneath the gripper; the bottles still visible in the wrist view are its neighbors. I’m lowering the hanging bottle toward its base while maintaining a gentle hold."})
tool
executing move_to over 5 steps (0.5s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent noteThe arm did not follow the last descent, and the effort readings do not indicate a firm tabletop press. I’m retracting to a less extended pose while lowering, rather than repeating the stalled target.
move_to
right_x0.3500right_y0.1400right_z0.1900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8021, 0.6159, -0.3786, -0.0261, -0.0292, 0.9983, 0.458, 1.5417, 1.3479, -0.4782, 0.2752, 0.1555, 0.4215] state[eef_state]: left_x=0.2969 left_y=0.0023 left_z=0.1835 left_yaw=0.0007 left_pitch=-0.0061 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4253 right_y=0.1601 right_z=0.2383 right_yaw=0.1172 right_pitch=-0.0723 right_roll=-0.0332 right_gripper=0.4215 state[joint_eff]: [-0.3487, -1.5932, 6.694, 1.8632, -0.0171, -0.0757, -0.0122, -0.5538, -8.4171, 9.7299, 1.9512, 0.105, 0.0611, 0.1148] camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.14,"right_z":0.19},"note":"The arm did not follow the last descent, and the effort readings do not indicate a firm tabletop press. I’m retracting to a less extended pose while lowering, rather than repeating the stalled target."})
tool
executing move_to over 6 steps (0.6s)
step 67
top_cam
camera top_cam step 67
left_cam
camera left_cam step 67
right_cam
camera right_cam step 67
assistant
agent noteThe right bottle appears to be standing on its base after the loosened grip, so I’m clearing that arm to verify it. At the same time, I’m positioning the left gripper above the left bottle’s neck, matching its diagonal direction.
move_to
right_x0.2940right_y0.0040right_z0.1850right_gripper1.0000left_x0.4400left_y-0.0550left_z0.1400left_gripper1.0000left_yaw-0.6000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8024, 0.6155, -0.3756, -0.0257, -0.0292, 0.9983, 0.5179, 1.2076, 0.902, -0.2684, 0.2981, 0.1795, 0.4215] state[eef_state]: left_x=0.2973 left_y=0.0022 left_z=0.1839 left_yaw=0.0004 left_pitch=-0.0038 left_roll=-0.0006 left_gripper=0.9983 right_x=0.353 right_y=0.1455 right_z=0.2127 right_yaw=0.146 right_pitch=0.0241 right_roll=0.0084 right_gripper=0.4215 state[joint_eff]: [-0.3624, -1.2376, 6.5573, 1.8339, -0.0562, -0.0464, -0.0122, 0.1709, -2.0718, 7.6786, 2.1709, 0.2173, 0.1197, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.294,"right_y":0.004,"right_z":0.185,"right_gripper":1,"left_x":0.44,"left_y":-0.055,"left_z":0.14,"left_gripper":1,"left_yaw":-0.6},"note":"The right bottle appears to be standing on its base after the loosened grip, so I’m clearing that arm to verify it. At the same time, I’m positioning the left gripper above the left bottle’s neck, matching its diagonal direction."})
tool
executing move_to over 12 steps (1.2s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteWith the arm clear, the right bottle is still lying down, so the first grip did not right it. For the left bottle I’m correcting the jaw angle and reaching farther toward the cap, where a light pinch can let the heavier body swing downward.
move_to
left_x0.5000left_y0.0050left_z0.0300left_yaw0.7000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.0738, 1.5879, 0.9226, -0.0555, 0.4866, 0.3206, 0.9988, -0.1337, 0.8272, 0.6395, -0.4076, -0.1886, -0.1493, 0.9974] state[eef_state]: left_x=0.429 left_y=-0.0475 left_z=0.1228 left_yaw=-0.5199 left_pitch=-0.0646 left_roll=-0.0469 left_gripper=0.9988 right_x=0.2973 right_y=-0.0029 right_z=0.1831 right_yaw=0.0798 right_pitch=-0.0134 right_roll=-0.0048 right_gripper=0.9974 state[joint_eff]: [0.0752, -7.7607, 8.1162, 1.6825, 0.2222, 0.3101, -0.1294, 0.6085, -1.7846, 7.2684, 1.746, -0.398, -0.0317, -0.1441] camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.5,"left_y":0.005,"left_z":0.03,"left_yaw":0.7,"left_gripper":1},"note":"With the arm clear, the right bottle is still lying down, so the first grip did not right it. For the left bottle I’m correcting the jaw angle and reaching farther toward the cap, where a light pinch can let the heavier body swing downward."})
tool
executing move_to over 8 steps (0.8s)
step 87
top_cam
camera top_cam step 87
left_cam
camera left_cam step 87
right_cam
camera right_cam step 87
assistant
agent noteThe left bottle’s cap is now beneath the gripper rather than out in the wrist camera. I’m lowering the last few centimeters and taking a light, narrow grip at that upper end.
move_to
left_x0.4900left_y-0.0050left_z0.0250left_yaw0.7000left_gripper0.2700
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2367, 2.0579, 1.1343, 0.2634, -0.6144, -0.4702, 0.9989, -0.1406, 0.8234, 0.6235, -0.4225, -0.21, -0.1623, 0.9987] state[eef_state]: left_x=0.5192 left_y=-0.0168 left_z=0.0547 left_yaw=0.5016 left_pitch=0.0336 left_roll=-0.0317 left_gripper=0.9989 right_x=0.2928 right_y=-0.0006 right_z=0.1744 right_yaw=0.0979 right_pitch=-0.0369 right_roll=0.0024 right_gripper=0.9987 state[joint_eff]: [-0.5812, -9.6068, 3.8359, 0.8718, -0.2173, -0.2955, -0.1294, -0.1846, -1.6615, 7.2274, 2.0, 0.0122, 0.1294, 0.1245] camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_y":-0.005,"left_z":0.025,"left_yaw":0.7,"left_gripper":0.27},"note":"The left bottle’s cap is now beneath the gripper rather than out in the wrist camera. I’m lowering the last few centimeters and taking a light, narrow grip at that upper end."})
tool
executing move_to over 8 steps (0.8s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
agent noteThe jaws reached the light-pinch setting, but that alone does not confirm contact. I’m closing further to measure whether the cap or neck is actually captured before lifting.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2699, 2.0937, 1.1534, 0.1356, -0.7536, -0.6559, 0.2755, -0.1444, 0.8085, 0.588, -0.4026, -0.2134, -0.1627, 0.9989] state[eef_state]: left_x=0.4984 left_y=-0.0087 left_z=0.035 left_yaw=0.6677 left_pitch=0.0052 left_roll=-0.0215 left_gripper=0.2755 right_x=0.29 right_y=-0.0007 right_z=0.1664 right_yaw=0.0972 right_pitch=-0.0371 right_roll=0.0043 right_gripper=0.9989 state[joint_eff]: [-0.7863, -9.4974, 4.6017, 1.2576, -0.4762, -0.0806, 0.0513, -0.2393, -2.2496, 6.8718, 1.9267, -0.149, -0.0073, 0.0122] camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The jaws reached the light-pinch setting, but that alone does not confirm contact. I’m closing further to measure whether the cap or neck is actually captured before lifting."})
tool
executing move_to over 3 steps (0.3s)
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 close was empty, so I’m reopening and moving back toward the visible bottle body at a lower height. A secure body grip will let me pull the bottle inward before attempting the cap again.
move_to
left_x0.4450left_y-0.0050left_z0.0100left_gripper1.0000right_x0.2940right_y0.0040right_z0.1850
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2699, 2.0945, 1.1526, 0.1207, -0.767, -0.6655, 0.013, -0.1444, 0.7918, 0.5518, -0.3836, -0.2138, -0.1631, 0.9991] state[eef_state]: left_x=0.4954 left_y=-0.0062 left_z=0.0335 left_yaw=0.6818 left_pitch=0.0035 left_roll=-0.0107 left_gripper=0.013 right_x=0.2869 right_y=-0.0002 right_z=0.1584 right_yaw=0.0977 right_pitch=-0.0374 right_roll=0.0042 right_gripper=0.9991 state[joint_eff]: [-0.2256, -10.5094, 6.8171, 1.2527, -0.1978, 0.022, 1.199, -0.4444, -2.0444, 7.0906, 1.9853, -0.1832, -0.0415, 0.0073] 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_x":0.445,"left_y":-0.005,"left_z":0.01,"left_gripper":1,"right_x":0.294,"right_y":0.004,"right_z":0.185},"note":"The close was empty, so I’m reopening and moving back toward the visible bottle body at a lower height. A secure body grip will let me pull the bottle inward before attempting the cap again."})
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 left bottle has shifted inward and is now visibly between the low, open jaws. I’m closing around the body to secure it for a controlled repositioning.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3019, 2.0472, 0.9375, 0.2497, -0.7795, -0.6895, 0.9949, -0.1169, 0.7986, 0.59, -0.4076, -0.2092, -0.1623, 0.9992] state[eef_state]: left_x=0.45 left_y=-0.0063 left_z=0.0057 left_yaw=0.6711 left_pitch=-0.0109 left_roll=0.0063 left_gripper=0.9949 right_x=0.289 right_y=0.0066 right_z=0.1689 right_yaw=0.1209 right_pitch=-0.031 right_roll=0.0006 right_gripper=0.9992 state[joint_eff]: [-0.7043, -11.3846, 3.8359, 1.2723, -0.5543, -0.1685, -0.1832, 0.1299, -0.4718, 10.359, 1.7558, 0.0708, 0.1636, -0.0073] 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_gripper":0},"note":"The left bottle has shifted inward and is now visibly between the low, open jaws. I’m closing around the body to secure it for a controlled repositioning."})
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 second close was also empty; the overhead view places the bottle to the left of the fingertips. I’m correcting that sideways offset and opening across the bottle’s visible upper body.
move_to
left_x0.4400left_y0.0450left_z0.0250left_gripper1.0000left_yaw0.3000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3016, 2.0472, 0.9287, 0.2737, -0.7795, -0.6876, 0.0129, -0.1181, 0.7841, 0.5583, -0.3996, -0.2134, -0.1631, 0.9992] state[eef_state]: left_x=0.4505 left_y=-0.0063 left_z=0.0062 left_yaw=0.6704 left_pitch=-0.0023 left_roll=-0.0047 left_gripper=0.0129 right_x=0.2851 right_y=0.0075 right_z=0.1601 right_yaw=0.1237 right_pitch=-0.0393 right_roll=0.0045 right_gripper=0.9992 state[joint_eff]: [-0.1709, -9.4427, 4.7385, 1.3651, -0.3443, -0.0024, 0.8913, -0.5265, -1.6752, 7.3504, 2.0147, -0.1832, -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":0.44,"left_y":0.045,"left_z":0.025,"left_gripper":1,"left_yaw":0.3},"note":"The second close was also empty; the overhead view places the bottle to the left of the fingertips. I’m correcting that sideways offset and opening across the bottle’s visible upper body."})
tool
executing move_to over 10 steps (1.0s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteThe left gripper now overlaps the bottle’s near end in the overhead view. I’m closing at this corrected position and will use the jaw reading to decide whether a lift is justified.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0261, 1.8935, 0.6598, 0.5922, -0.3489, -0.2562, 0.995, -0.1181, 0.7635, 0.5209, -0.3771, -0.2138, -0.1631, 0.9992] state[eef_state]: left_x=0.4322 left_y=0.0527 left_z=0.0099 left_yaw=0.3864 left_pitch=-0.0388 left_roll=0.0047 left_gripper=0.995 right_x=0.2821 right_y=0.0079 right_z=0.1531 right_yaw=0.124 right_pitch=-0.0337 right_roll=0.0033 right_gripper=0.9992 state[joint_eff]: [0.1846, -10.1538, 4.3829, 1.8681, 0.0855, 0.3004, -0.2173, -0.5812, -1.7709, 6.8581, 1.9512, -0.188, -0.0366, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left gripper now overlaps the bottle’s near end in the overhead view. I’m closing at this corrected position and will use the jaw reading to decide whether a lift is justified."})
tool
executing move_to over 10 steps (1.0s)
step 138
top_cam
camera top_cam step 138
left_cam
camera left_cam step 138
right_cam
camera right_cam step 138
assistant
agent noteThe bottle is now lying sideways just behind the left fingertips. I’m moving inward to its exposed body and rotating the jaws across its new orientation, while restoring the idle arm’s height.
move_to
left_x0.3600left_y0.0150left_z0.0250left_gripper1.0000left_yaw1.5000right_x0.2940right_y0.0040right_z0.1850
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0395, 1.9079, 0.638, 0.6624, -0.3599, -0.2623, 0.0125, -0.1188, 0.7479, 0.4881, -0.3584, -0.2138, -0.1661, 0.9992] state[eef_state]: left_x=0.4329 left_y=0.0488 left_z=0.0107 left_yaw=0.3851 left_pitch=-0.0051 left_roll=-0.0083 left_gripper=0.0125 right_x=0.2795 right_y=0.008 right_z=0.1461 right_yaw=0.1249 right_pitch=-0.0322 right_roll=0.0004 right_gripper=0.9992 state[joint_eff]: [-0.0068, -7.747, 3.9726, 1.8144, -0.2027, 0.0659, 0.906, -0.5812, -1.7162, 6.9812, 1.9414, -0.1441, 0.0122, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":0.015,"left_z":0.025,"left_gripper":1,"left_yaw":1.5,"right_x":0.294,"right_y":0.004,"right_z":0.185},"note":"The bottle is now lying sideways just behind the left fingertips. I’m moving inward to its exposed body and rotating the jaws across its new orientation, while restoring the idle arm’s height."})
tool
executing move_to over 10 steps (1.0s)
step 148
top_cam
camera top_cam step 148
left_cam
camera left_cam step 148
right_cam
camera right_cam step 148
assistant
agent noteThe low sideways motion stopped short of its target. I’m lifting clear and retracting before trying the approach again, avoiding a forced sweep along the tabletop.
move_to
left_x0.3400left_y0.0250left_z0.1500left_yaw1.4000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3664, 2.2368, 1.433, -0.7532, -0.9501, -1.766, 0.9943, -0.1333, 0.8024, 0.5919, -0.4156, -0.2321, -0.1745, 0.9992] state[eef_state]: left_x=0.4248 left_y=-0.0053 left_z=0.0122 left_yaw=1.29 left_pitch=-0.0691 left_roll=-0.1634 left_gripper=0.9943 right_x=0.2882 right_y=0.006 right_z=0.1676 right_yaw=0.1302 right_pitch=-0.0371 right_roll=0.0059 right_gripper=0.9992 state[joint_eff]: [0.9094, -10.5915, 5.3675, -0.2418, -0.6276, -0.0513, 0.0659, -0.8, -0.5128, 10.0034, 1.8877, -0.1148, -0.0366, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":0.025,"left_z":0.15,"left_yaw":1.4},"note":"The low sideways motion stopped short of its target. I’m lifting clear and retracting before trying the approach again, avoiding a forced sweep along the tabletop."})
tool
executing move_to over 9 steps (0.9s)
step 157
top_cam
camera top_cam step 157
left_cam
camera left_cam step 157
right_cam
camera right_cam step 157
assistant
agent noteThe rotated left-arm pose is not tracking upward, so I’m returning it to the neutral orientation. I’m switching to the right bottle’s near end to pull it inward and make its cap reachable.
move_to
left_x0.2960left_y0.0020left_z0.2000left_yaw0.0000left_gripper1.0000right_x0.5000right_y0.1500right_z0.0400right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.411, 2.2547, 1.4303, -1.0023, -0.9745, -1.8835, 0.9956, -0.1329, 0.7834, 0.556, -0.4007, -0.2333, -0.1776, 0.9992] state[eef_state]: left_x=0.3844 left_y=-0.0042 left_z=0.014 left_yaw=1.3165 left_pitch=-0.016 left_roll=0.0047 left_gripper=0.9956 right_x=0.2845 right_y=0.0068 right_z=0.1595 right_yaw=0.1332 right_pitch=-0.0388 right_roll=0.0045 right_gripper=0.9992 state[joint_eff]: [-0.0479, -13.7641, 4.0547, -0.2222, -0.6667, 0.1734, 0.1197, -0.1709, -1.8393, 6.8581, 2.0147, -0.1197, 0.0024, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 157): [image omitted: streamed camera frame] camera 'left_cam' (step 157): [image omitted: streamed camera frame] camera 'right_cam' (step 157): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.296,"left_y":0.002,"left_z":0.2,"left_yaw":0,"left_gripper":1,"right_x":0.5,"right_y":0.15,"right_z":0.04,"right_gripper":1},"note":"The rotated left-arm pose is not tracking upward, so I’m returning it to the neutral orientation. I’m switching to the right bottle’s near end to pull it inward and make its cap reachable."})
tool
executing move_to over 17 steps (1.7s)
step 174
top_cam
camera top_cam step 174
left_cam
camera left_cam step 174
right_cam
camera right_cam step 174
assistant
agent noteThe right bottle’s body is centered at the fingertips, while its cap is well ahead of them. I’m gripping the body so I can bring the entire bottle closer before taking a neck grip.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0467, 0.8181, 0.6308, -0.387, -0.1734, -0.1482, 0.998, 0.334, 1.9976, 0.9665, 0.3916, 0.131, 0.0544, 0.9993] state[eef_state]: left_x=0.2977 left_y=0.0202 left_z=0.1856 left_yaw=0.1617 left_pitch=-0.0061 left_roll=-0.0209 left_gripper=0.998 right_x=0.4821 right_y=0.1466 right_z=0.0268 right_yaw=0.1686 right_pitch=-0.0631 right_roll=-0.0212 right_gripper=0.9993 state[joint_eff]: [-0.1026, -1.6752, 10.2359, 1.6435, -0.0513, 0.3785, -0.2271, 0.1026, -9.5932, 7.2274, 2.0244, 0.1978, 0.2808, -0.0904] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right bottle’s body is centered at the fingertips, while its cap is well ahead of them. I’m gripping the body so I can bring the entire bottle closer before taking a neck grip."})
tool
executing move_to over 10 steps (1.0s)
step 184
top_cam
camera top_cam step 184
left_cam
camera left_cam step 184
right_cam
camera right_cam step 184
assistant
agent noteThe jaw reading confirms a roughly 3.4 cm grip on the flexible body. I’m lifting only slightly and drawing the bottle inward, keeping it low so it can be set down for a better neck grasp.
move_to
right_x0.3200right_y0.1500right_z0.0900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0605, 0.8196, 0.6308, -0.3977, -0.1921, -0.1349, 0.9977, 0.3344, 2.0056, 0.9298, 0.5907, 0.1116, 0.0475, 0.359] state[eef_state]: left_x=0.2964 left_y=0.0194 left_z=0.1833 left_yaw=0.1566 left_pitch=-0.0159 left_roll=0.0029 left_gripper=0.9977 right_x=0.4945 right_y=0.1548 right_z=0.05 right_yaw=0.1888 right_pitch=0.088 right_roll=0.0071 right_gripper=0.359 state[joint_eff]: [-0.1983, -1.6615, 6.7761, 1.9023, -0.1197, -0.0562, -0.0415, -0.3487, -9.4564, 4.3966, 1.0916, 0.1001, 0.0757, 0.3346] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.32,"right_y":0.15,"right_z":0.09},"note":"The jaw reading confirms a roughly 3.4 cm grip on the flexible body. I’m lifting only slightly and drawing the bottle inward, keeping it low so it can be set down for a better neck grasp."})
tool
executing move_to over 14 steps (1.4s)
step 198
assistant
agent noteThe bottle is angled with its far end still on the table. I’m bringing the held near end farther inward and down so the neck will lie within the arm’s low working reach.
move_to
right_x0.2000right_y0.1500right_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0605, 0.8177, 0.6159, -0.3916, -0.1921, -0.1349, 0.9976, 0.5739, 1.3102, 0.4595, 0.2546, 0.2825, 0.1684, 0.3585] state[eef_state]: left_x=0.2952 left_y=0.0195 left_z=0.1783 left_yaw=0.1567 left_pitch=-0.0226 left_roll=0.0044 left_gripper=0.9976 right_x=0.3247 right_y=0.1556 right_z=0.0881 right_yaw=0.2211 right_pitch=0.0005 right_roll=-0.0008 right_gripper=0.3585 state[joint_eff]: [-0.1573, -1.6479, 7.0496, 1.9463, -0.0659, -0.0513, -0.0171, 0.1983, -4.6838, 6.2838, 1.8339, 0.188, 0.0708, -0.0562] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 198): [image omitted: streamed camera frame] camera 'left_cam' (step 198): [image omitted: streamed camera frame] camera 'right_cam' (step 198): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.2,"right_y":0.15,"right_z":0.035},"note":"The bottle is angled with its far end still on the table. I’m bringing the held near end farther inward and down so the neck will lie within the arm’s low working reach."})
tool
executing move_to over 10 steps (1.0s)
step 208
assistant
agent noteThe overhead view confirms the bottle did not follow the retraction, despite the earlier jaw reading. I’m making one lower approach to the body, with the fingertips near table level to avoid pinching only its curved upper surface.
move_to
right_x0.4500right_y0.1550right_z0.0050right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0605, 0.8059, 0.5968, -0.3729, -0.1925, -0.1349, 0.9976, 1.063, 1.0252, 0.1127, 0.1692, 0.6117, 0.4629, 0.3585] state[eef_state]: left_x=0.2946 left_y=0.0196 left_z=0.1767 left_yaw=0.157 left_pitch=-0.0114 left_roll=0.0021 left_gripper=0.9976 right_x=0.2015 right_y=0.1608 right_z=0.0354 right_yaw=0.2886 right_pitch=-0.0172 right_roll=-0.0046 right_gripper=0.3585 state[joint_eff]: [-0.253, -1.2376, 6.7624, 1.8535, -0.1099, -0.0317, -0.0073, -0.0615, -2.1949, 5.6957, 1.4676, 0.4762, 0.1148, -0.0171] camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.45,"right_y":0.155,"right_z":0.005,"right_gripper":1},"note":"The overhead view confirms the bottle did not follow the retraction, despite the earlier jaw reading. I’m making one lower approach to the body, with the fingertips near table level to avoid pinching only its curved upper surface."})
tool
executing move_to over 20 steps (2.0s)
step 228
assistant
agent noteThe low approach pushed the right bottle farther away instead of capturing it. I’m lifting both open grippers clear and parking them; further blind attempts risk moving the bottles into less reachable positions.
move_to
right_x0.2940right_y0.0040right_z0.2000right_yaw0.0000right_gripper1.0000left_x0.2960left_y0.0020left_z0.2000left_yaw0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0605, 0.8017, 0.5858, -0.3725, -0.1921, -0.1349, 0.9976, 0.3439, 1.9896, 0.7288, 0.6697, 0.0315, 0.0013, 0.9989] state[eef_state]: left_x=0.2929 left_y=0.0196 left_z=0.1728 left_yaw=0.1567 left_pitch=-0.0178 left_roll=0.0033 left_gripper=0.9976 right_x=0.4377 right_y=0.1546 right_z=0.0009 right_yaw=0.2912 right_pitch=-0.0208 right_roll=-0.0022 right_gripper=0.9989 state[joint_eff]: [-0.3624, -1.6068, 6.9949, 1.8486, -0.1197, -0.0464, -0.0122, -0.7179, -7.9521, 6.0103, 1.8144, 0.0366, 0.0122, 0.0171] camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.294,"right_y":0.004,"right_z":0.2,"right_yaw":0,"right_gripper":1,"left_x":0.296,"left_y":0.002,"left_z":0.2,"left_yaw":0,"left_gripper":1},"note":"The low approach pushed the right bottle farther away instead of capturing it. I’m lifting both open grippers clear and parking them; further blind attempts risk moving the bottles into less reachable positions."})
tool
executing move_to over 13 steps (1.3s)
step 241
assistant
agent noteI could not establish a reliable grasp that would let the bottles pivot upright. All three remain lying down, and further attempts were pushing them farther from useful grasp positions. Both arms are now parked with open grippers.
give_up
hindsightFor these flexible bottles, a partially closed jaw reading was not sufficient evidence of a secure grasp; require visible bottle translation during a short lift before continuing. The far-facing caps were beyond the useful low-height grasp positions attempted, so a verified inward body reposition is needed first. Large yaw changes near the table produced substantial Cartesian tracking errors; return to neutral yaw and lift clear rather than continuing lateral motions from an untracked pose.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0257, 0.8005, 0.6342, -0.4427, -0.0513, -0.0586, 0.9979, 0.0048, 0.8242, 0.635, -0.3641, -0.0036, -0.0299, 0.9993] state[eef_state]: left_x=0.2903 left_y=0.0052 left_z=0.1792 left_yaw=0.032 left_pitch=-0.0496 left_roll=-0.0091 left_gripper=0.9979 right_x=0.3027 right_y=0.0057 right_z=0.1891 right_yaw=-0.0015 right_pitch=0.0167 right_roll=-0.0084 right_gripper=0.9993 state[joint_eff]: [0.253, -0.9778, 10.5915, 1.9072, 0.1294, 0.0904, -0.232, 0.0342, -1.4291, 9.7846, 1.9463, -0.105, 0.0708, -0.0904] camera 'top_cam' (step 241): [image omitted: streamed camera frame] camera 'left_cam' (step 241): [image omitted: streamed camera frame] camera 'right_cam' (step 241): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not establish a reliable grasp that would let the bottles pivot upright. All three remain lying down, and further attempts were pushing them farther from useful grasp positions. Both arms are now parked with open grippers.","hindsight":"For these flexible bottles, a partially closed jaw reading was not sufficient evidence of a secure grasp; require visible bottle translation during a short lift before continuing. The far-facing caps were beyond the useful low-height grasp positions attempted, so a verified inward body reposition is needed first. Large yaw changes near the table produced substantial Cartesian tracking errors; return to neutral yaw and lift clear rather than continuing lateral motions from an untracked pose."})
tool
give_up: I could not establish a reliable grasp that would let the bottles pivot upright. All three remain lying down, and further attempts were pushing them farther from useful grasp positions. Both arms are now parked with open grippers.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [0, 0], left_roll: [0, 0], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [0, 0], right_roll: [0, 0], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 8.911 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Stand all three bottles upright.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7929, 0.6102, -0.3759, -0.0261, -0.0284, 0.9988, -0.0154, 0.7898, 0.6044, -0.3851, -0.0265, -0.0345, 0.9993]\nstate[eef_state]: left_x=0.296 left_y=0.0023 left_z=0.184 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9988 right_x=0.2939 right_y=0.0037 right_z=0.1803 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4171, -1.2923, 9.6752, 1.7216, 0.0562, 0.1343, -0.1294, -1.0462, -1.2376, 10.3043, 1.8144, 0.0171, 0.1783, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5363d0cf7a2cc6f901b83c4e735a710a749dc2c11989f7fe754689eb52b33fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e72c676735d88ad4c90120f841d797eae3b4aa4ac00d84c756eadfb3abc20897",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3cdb931e8c6be87fdcb0f914aea5a19677e63012c6013c35ebc561ac330fedf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /responses · status 200 · 6.732 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtJWnCN7QkQwfCd6Yrg5hpLFqQWwxwUoWkhhqfTNErzcqlHv7gHOuFp6LZyDjpw7Y6XXOw4aA6FONAC8DYyeBtQl4hkTJnNhnsQ6cKTwotHzMiV3JNLUlpYiWiVTAouyLpwwaN_hhViozBNrXx4pFYMq8c5zxhuVEWMvgew8tiFv11i1vxDC28vhOLevIxqCJcHs3S2gz8sAB0feBkfu18zrtEYueQk4nm79hHade29ZUBeGseAWxEhUug9dXwcl8Y4OOIhIcMuUX-1FbHVZKSvKNjmG61XWmU-AEeeTse-rg9MWVujAKWt4P84ync9IUMX398HXSnMAb02R5vtwl6BaAULcL8wNH5i5MIBaDOtJ04xo2pIFb33XtIesAknQkblK6ukN83PiyhK9AkLiNFbkp_Hj5BD63inugpcLIoSqvbGo1La_XVJajvvJr-BbePBkANpMm8xS4pdBQhsJKoTRF6PLH1yWMvb2W4vybfdvGsRBZ4_eAX1Dd4zT84ItwKrjKDDwxKC1PrbFPDXEmDM9ZaA3K1yVwoZZoW9OxtPjwyENg2Wwv2O-hY9cURrTZEdDoP1V5cOb4ApgBn1EBg_mUuMLJO3WetMELDpHbZP0qZ-JAs7LO8k3UdrMk-a8WaZpno-6REFOFwTSrZorJaXfSnqjfwN6aDpfAhNEL2FavmbrO8Evuk7qnVvG7_8SCj3h3TSI9cb9jRpsdLUGtGCCWn6rMPs9H2NQiZFSPVLBZLwG-1aB84vxMw0Lmcx0-6GVkEeCom3gJOpOs0c0i7GfsaIAjTrhYxQ7_b1_w3-XMhucs0GysUerHrdG7gvDOS4tVFHDO4xDDF7JLs3_DfTNcZZ01Alc8RqZUP8941cZ0bN25aGi2kO6sGVLRdJUcFp3IkRC2WFKlbDQtBLXtT9GkBn2zdWQrBqvIrczMUVrnrs1ljKEHlp79FW1fr8YbzjRjeqt8xB1_BECJEjndiEBFHuV2O55TuRdSib2RWAQO6YggmVmCx_cqptkJlsg-WK9AW9BXUaTGe7Uqxr3gH1VdvF70fKP5pJi8qV_zm4IyzmG75G3AfgvVZ9iIYu2xHLLJgRX5a8BmT7f5Cw1sWrzRkWaCapm_S3pnmTB-oUOoPkZ4BcRPRTyBa4ohnKqWPLeQ4l4VmsXnFHlUBx-2fAyRqCXpSENxWftzWRxInWVZt4PsN0DbGhtLxB8LQyN0HQ0Iswa5UugdTN-lkNhN8PMtepOp2GYzGdKBxhZwc6QkP2pffWHFHb9sr2TIMG_kdnFLW7BVi9opdiWKYpUJlzMHTUmt8n3wXNaec97S_lxGdgcJdmmV3q41Tq1S4ODFl46ooeEwHO2k9ahIqG5pgRKGQAoNiYUwqBdnLfpz-vhbr4sohwgojUZrVJZZM6F8Hk3NYdQjv-EF6T4bHTYNUMkeoeTHZcBjaBBpusSTpeZbSIFEppvWQRUumjCKH_q02VVTxjdN5DLhju0E23_fQfCPr1fEHXG9oyTmHQTlygp0Pxg8gahEWwHOFvWBcjSV64CwsKeSzyiTwdW38r84eOzP-VF5U9RMYZCpzO4mA-eahIjPd53H2qoHjTVyBi2Ki-fhG_mUjkVP3pP58iYppohUwxHZAMtX7QM5ZzlBDQ9KsudTS2RYlWipv47HMag9GA3SghsLH67G5aD8j6743zV0RbMdP1LZJVV124maOi32u82TtkWBEqWiWucazXzUsoUNP9am0H-8TZPTKmzA8_tZrHoNgj0lVp3qKXsvv-VXQR8RdlVORmCzk2_RtLzf4d6d0F2cHX8SBzOEt8K0UJCmhSGmhiVqLpWFrIpuqjjsM_ZlQfRRP5xTA6VWj7CTtTyEbEqA1w0ukcmpLd-bF4w4yU1uof56En3wdP-je4anSIh4uqlGAJP6bAS_aNoag6hhvVH9ebPxstjWNMQV7pTDwYgBgDFktkIrgXRY_yhN1pR4AOdhH2tLA8rOALhDG37zTK71sZaluoDLhxj58Kpr2NMkXX46O3rHvXKUIPcyU37Xpk8MrGCEBYg5tvvIWCZwNdRbhN10VggIFj86QIKJcocIbJP3zmBi0nYpuS-p852KIAYkjSnoSyhvZ2iyja9R3u0ia6v1Pd_MeakRRo9aRX5Nvff1m_WSnPG8PZq5s-ved1yAMyZ9xhWyWJjQnf_JNRH_ifXK-q3iMmDfdTtCi1F4YkbqFbqAd5RgDK8AG4wlGW3DXHG7CayROrNWKXz90gTvE5DuoQf5m68P-xNYSgqF0rOV9awLY02HXr9qQ_3tOqdzi-sv2Mi4rlmGijBbHfMViCVwr11gkcSOdA6GXuVqhvaQpfgRpDiLtEkALMtHD8M66m6KHjB_HZkR_uBPDvzJtpxd6Y58wjYjQLU0K1ipXhCtOLb55hSaTd0EwEKcFWAIjGHvt5PNO6PsGcmWukR0QWRmuuZCDQFph_u5qWCKeb51av6QOR212x2FhAgLlY_-DlB1TeYogNjrLkc07CUHF-wG7_YhFBbSaByYKDqJmHKAFeLcPh3w8x7Byp2f-mYI8wLjQx7AG1SGEoC7lcZGnovfSWEXAe9pLntKPwgQ9oBsZHAZetphCsjyhZth9-9fOe67mlRan1YnQl8QewIdPqu1GNVltpoOMUpPL9ndZSyawLGGpfUNm_8_Yh9xcdneblW1akXXCoEf-Q5MQZnx5jSnl3OddulRyHrsXq_eTzgbh4PgDWN1S_QPmLKrSSsbYBwHpwu5bLUE0XQqFawXSplp1nDHTagc7AG5sDKg_UssEAozG-DbU-xokvnwW_HRGcerVvwFjM4dAB7F3fn79oV13SKDW4reCZcc0ViIlqql6Pcy01N2RlUl-rngGgbTwyDUpF110daGPE6sckIWUWpoQjFf2YfpgnUOsQgimVEeakwXu-61i_IrmCQBZK8Pl15V3MUCVzIAfgSTsHUQKNZ0Sex9i2Kcq9ynFe-qI7N4E0vgkxqbncfaPJbTIkHv7sr1SwqBkU2CgiLd3bM6auJALNyLzSxpAiUJOm1v2168BzZxq4BTMUY4Xsx1GJ3JC1xkoqr5wWne7dx8iYV65gAVWgWxsFMxawcZvq-u8J_IaEXUXpN255jZKb3esScLvzDA2Ju51WrN3DbnMOYUDlXkPkN2wcYtx0m_7gZ7rqFPd0NCEI3ignNP5Tu_V3dkRZrVDh6bb6IXVvzqUyCiL1EOeSb6Ywcc_8L6lHeMhlhkPYw8VaYV2UwOxT_2eS-MyEy9CO00SyDjc1Lk7n0GdVrh4ycNbIVG8aDYPFAVFAfsOKNBwesV6xtqf-BrxgXyAj9WtO8yDHs-GsndczwLioHh17ab8pakjiVFe1QJafHpI2VvQDGqApwkzlXvyH_UM7BYxucpQApWhyd7",
  "id": "rs_052e2af7f11b3654016ab4959f9c5c87d0bb20ef3ab9aa21b3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.18,\"right_z\":0.15,\"right_gripper\":1,\"left_x\":0.296,\"left_y\":0.002,\"left_z\":0.185},\"note\":\"All three bottles are lying on their sides, with their caps toward the far side of the table. I’m positioning the right gripper over the rightmost bottle’s neck so it can be lifted and allowed to hang upright.\"}",
  "call_id": "call_KkC05ihOd2E5coFXniwU6cVv",
  "id": "fc_052e2af7f11b3654016ab495a5d81087d0bc978b422dfffa7e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KkC05ihOd2E5coFXniwU6cVv",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6159, -0.3794, -0.0257, -0.0292, 0.9985, 0.5556, 1.6115, 0.9836, -0.0921, 0.4141, 0.2619, 0.9993]\nstate[eef_state]: left_x=0.2966 left_y=0.0022 left_z=0.1844 left_yaw=0.0004 left_pitch=-0.003 left_roll=-0.0006 left_gripper=0.9985 right_x=0.4082 right_y=0.174 right_z=0.1277 right_yaw=0.0429 right_pitch=-0.0782 right_roll=-0.0491 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -1.6479, 6.9402, 1.7021, -0.0513, -0.0806, -0.0464, -0.1846, -7.5829, 9.2376, 1.7607, 0.4029, 0.3248, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc86919ad718858a7acc0d5d6a4257132d84e30bd519ca0d0a35adedd12f7ba2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfb3f9aa1b819c03bd78bb251fa5b73f54b3ea8c036ff8e18fe22febe3349639",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf2440a06877c178e41a56f7da711d24f236a08b54d9e59cb1ca17ef75c8a92b",
      "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 2 attempt 0 · /responses · status 200 · 6.289 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7929, 0.6102, -0.3759, -0.0261, -0.0284, 0.9988, -0.0154, 0.7898, 0.6044, -0.3851, -0.0265, -0.0345, 0.9993]\nstate[eef_state]: left_x=0.296 left_y=0.0023 left_z=0.184 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9988 right_x=0.2939 right_y=0.0037 right_z=0.1803 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4171, -1.2923, 9.6752, 1.7216, 0.0562, 0.1343, -0.1294, -1.0462, -1.2376, 10.3043, 1.8144, 0.0171, 0.1783, -0.0855]",
      "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]: [-0.02, 0.7982, 0.6159, -0.3794, -0.0257, -0.0292, 0.9985, 0.5556, 1.6115, 0.9836, -0.0921, 0.4141, 0.2619, 0.9993]\nstate[eef_state]: left_x=0.2966 left_y=0.0022 left_z=0.1844 left_yaw=0.0004 left_pitch=-0.003 left_roll=-0.0006 left_gripper=0.9985 right_x=0.4082 right_y=0.174 right_z=0.1277 right_yaw=0.0429 right_pitch=-0.0782 right_roll=-0.0491 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -1.6479, 6.9402, 1.7021, -0.0513, -0.0806, -0.0464, -0.1846, -7.5829, 9.2376, 1.7607, 0.4029, 0.3248, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc86919ad718858a7acc0d5d6a4257132d84e30bd519ca0d0a35adedd12f7ba2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfb3f9aa1b819c03bd78bb251fa5b73f54b3ea8c036ff8e18fe22febe3349639",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf2440a06877c178e41a56f7da711d24f236a08b54d9e59cb1ca17ef75c8a92b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJWvi8IcG3lTwhL1Jw3EoWmYrcIhkZtgS5pS4r1sjQcvhMJcs3AGQBRyTGoaExU01u2SiGwjAWAjuVtmpmLQ1P21raW00znA-kkXpvJnej4JSA9ALTeZDZNKXo_8gIoe8MqFkC6G7QBjFjpMb1JUAcXBhPgv4DYAxV29ALvqE0SSH55UAk4sJ4P-XViokFAS5qqJUZmmNoz689oYrMbXSyg28SozN0FCnyWN6Mm1VlEKIoqcSqRrbS64c0VMqbPbOLOX9tVmoExbzCtVndHVeJITCSVhWvR8dvdFDBZV_nc3hrGMcLiK2iqT2BT9RER4KTW66hIjmL5cq4tKH-9hlNOhPdZ8CfJR23g_g_vTDiQ1_JuvVdamDXxNDzCac2RPuin2YN3syNECKCR18nNLceHlEz0SW1xpsGhKw5R-jDU7_HIBicdzINk93Eg2_WScyr4StMdCYHNqpTHPmScBQ0irJaBCG-x80CS7jQpbT53M1aBdJRsI0ih5SaAF5YOigFU6gTajDUM976hWhkT6LYjucb_ON1AdetL5_kmvy-2f98ZnpS0lKpZiCw6r-fx0Q-Jy8N8O8ISM64I5wPqgOuhf1xcnR7ahE4-mO3iAd7JP7H8eFgt332YE8giPo5eC0Q1pC5EdGVHZcOQB_laig4tBoGTeFxhhs6TGdVF28RymGBkVjiUwxuL1aDQEb3okKWWVIildCgnLr5lSX_ChNdSIuMC3BJ5zdpx_8ujz-YQR7WJSpMkvL-8bS3rG4793kTepw0RX2SVGBRTCIMZuvFFDWeWSX1wr3dihKf7Je4ulg1YQJp0UefYJxD_p3y2KAfzAjPCq8CrdXOIprj6wDFKKpmv1eABX4Cjqw5AdjWiti0LmzOsbIDyiEU2znaVu_avxk75QF_RGY716nvv9RMQR0n5ZIMNdNDP7AV_blW_BU_gaGq-u2UQtAvb089vHPWYOIsKO4uAhy4OhCazZS4R2PXgCARA71faxTDiZH7uoHwuRa8F4XGANwlCGYtbTPZZOtsORMbUgwFDZ5Ry2SPt1m0sYIIkP_jJa5xl5XHNqECQQJfePEEUVXEFTfUEmzaE68r-NKfeQ3ZXNOxIODlm-RQSbqoZebs-iVpo2k6gRt4dYA0E8ZWmxQYg9Vnq-vlMgHONmJ10twxsYyrG0vOoU9efiXKn9l3balIjvTFRZermz_BQ1TqVKcawObQgwRR1J3Nln5aK7tVcPu-Z_Wuh85c8tNfjAy2ADFFeOUO4gPCUyz_-1SvAWiH73vOznOTEFHDzTkwlDETzmD1nXpCyvl4wwKvolQ_q9z0GkHVkxtJYcQ47oH5Oq5ZcQ58NZRfvCg7n1wWTdhLsYKcAscFfIUtphqVvX77q3agmDVWMFnkG5hvmtF2w6RWPGa6BgrsfFa7GEiR2i0edrb7ij-rPDclzvjcJyY3-o73yH3DTySzrsaZK5DU4qgvYCmVejn5cOxOChYWO_MCgLPjYjVtxUQh06-c4ztOOiwXxwcZYfoWiTUyPuDVG6EuEY-oC2mHJ1v8LmTqzpYQ4biBcFmhST2QsKfEF-77q3YRstDxTATipKWbTzSG-0gsDUk9buZZdeA5p77x598E3uLMBlOchZZLi8nlD1ndvtNM_zplao1rFSyInJD-KPIzs8hwlF3IODHajih78tusFZfvlvhkakfA_7etmmnvmKnEKzc8m0H3MNnx-WuHJNT0JBVP4OymIx_UfxyPfRvIximflQB-knYX2pNDEc4IF5H1KKZ2Jc94dv6GRqQVHGLB-9i55vGfYgBCkPJu3jwv8m2B11qXguxxHvJo-oGMEdDOepl6ri5EKqxXNr-rZABYJMqsbZ5R7wt2NrVRBbCvTEPgSISeRHuO0xH7TvHqEm0BhjlISfzJVJQTobfqJOIxP8sWOk1yjli88nPjwJYs3p7U88XEd8gjOKWkWE1dHpNCVTucL-z3lsSPDUbWi9FNQ_n9NdOMA3Rbuyk1LiKYltlh-9HgD7i4FwyxPzLrIHL7UvwFU_7t_pfb3m2A-ItXZymgKrK8qCBvWQ9FLBdDIKtL6i4WZ2hr_wbnPnWj-MDn73PE4SwOxA3_qXTIsZXgv13SIHTBDESC6Kj6IBXDzL1lwxUpXoJ2sNHTNeafOhl_KCVj8_kcrTV7hnp2NSllMisEBacbHr6-mpfCTjwcZMMs_M8W-fvpngH6xd54Whl7Y9VDN_0gftQqInGj13K20mymenXhrDDWnuTR_MADvwGHej-LNAISoWVHkSADoYbuQ6WKZ317alIFrxJ1UmMeflxB8zDdkZvEteQwzmfdLXp3MQSEaJ3iCKZwSqT20jyBimzoOu8q1tvPwDdpBYLLFjFtn9atXjjNpNPfXTMWj_kEZMzoghi03ZMxSKVpZqVxdH-C6-oP8fnMRK7VUf3U_q0k9PXGFo6Jxg3AtUaprcPES7E3H_qr4Y9byPJ1Xe3mYZk-33p-Qo5XXnSD3a-Utj6hs2W3fB",
  "id": "rs_052e2af7f11b3654016ab495aa80b487d0ac11bd6dd48baf40",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.165,\"right_z\":0.045,\"right_gripper\":1},\"note\":\"The rightmost bottle’s cap is visible slightly right of the jaw centerline. I’m moving a little forward and right while lowering to neck height, keeping the jaws open.\"}",
  "call_id": "call_uu5ggQ6HYOV5ei4sIt04bFhV",
  "id": "fc_052e2af7f11b3654016ab495ae312c87d0a68896984fbdcfb0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uu5ggQ6HYOV5ei4sIt04bFhV",
  "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]: [-0.02, 0.7994, 0.6159, -0.379, -0.0261, -0.0292, 0.9984, 0.4656, 1.8973, 0.8791, 0.3195, 0.3489, 0.205, 0.9993]\nstate[eef_state]: left_x=0.2967 left_y=0.0023 left_z=0.1842 left_yaw=0.0007 left_pitch=-0.0038 left_roll=-0.0004 left_gripper=0.9984 right_x=0.4412 right_y=0.1581 right_z=0.0333 right_yaw=0.0369 right_pitch=-0.0792 right_roll=-0.0469 right_gripper=0.9993\nstate[joint_eff]: [-0.3897, -1.4701, 6.9538, 1.746, -0.0415, -0.0513, -0.0269, -0.6632, -8.0889, 7.8291, 1.9219, 0.022, 0.0415, -0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6000ef127a58f6b3354fa6f6a5662e6011fa36826f8670d060ef53250cfd1977",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a78616fef8e9746eb9bfd32468bb4ee6fba54844659b111e27266d1b3ec7ed9c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d0b6f707a0bbe48e26a4eeb9f2cf0ad54ea5d7d0ae9f7daecca63d65aa692e9",
      "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 3 attempt 0 · /responses · status 200 · 5.916 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]: [-0.02, 0.7982, 0.6159, -0.3794, -0.0257, -0.0292, 0.9985, 0.5556, 1.6115, 0.9836, -0.0921, 0.4141, 0.2619, 0.9993]\nstate[eef_state]: left_x=0.2966 left_y=0.0022 left_z=0.1844 left_yaw=0.0004 left_pitch=-0.003 left_roll=-0.0006 left_gripper=0.9985 right_x=0.4082 right_y=0.174 right_z=0.1277 right_yaw=0.0429 right_pitch=-0.0782 right_roll=-0.0491 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -1.6479, 6.9402, 1.7021, -0.0513, -0.0806, -0.0464, -0.1846, -7.5829, 9.2376, 1.7607, 0.4029, 0.3248, -0.0806]",
      "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]: [-0.02, 0.7994, 0.6159, -0.379, -0.0261, -0.0292, 0.9984, 0.4656, 1.8973, 0.8791, 0.3195, 0.3489, 0.205, 0.9993]\nstate[eef_state]: left_x=0.2967 left_y=0.0023 left_z=0.1842 left_yaw=0.0007 left_pitch=-0.0038 left_roll=-0.0004 left_gripper=0.9984 right_x=0.4412 right_y=0.1581 right_z=0.0333 right_yaw=0.0369 right_pitch=-0.0792 right_roll=-0.0469 right_gripper=0.9993\nstate[joint_eff]: [-0.3897, -1.4701, 6.9538, 1.746, -0.0415, -0.0513, -0.0269, -0.6632, -8.0889, 7.8291, 1.9219, 0.022, 0.0415, -0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6000ef127a58f6b3354fa6f6a5662e6011fa36826f8670d060ef53250cfd1977",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a78616fef8e9746eb9bfd32468bb4ee6fba54844659b111e27266d1b3ec7ed9c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d0b6f707a0bbe48e26a4eeb9f2cf0ad54ea5d7d0ae9f7daecca63d65aa692e9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJW2E8Njfvp1T-XoyVIRULMxxHS_pHNiXLueiAiUCBhXtZnpY6FfJx1TWqrU4rQ4q5WMps3_GjJIGpcbJ-DpUsCf9btxfREK4QuZpGjp7vhkjrBWiDOiUK_JSdDeqejW1a4SFbZGirucvnWw_7A6acAdYnHYlnfYiDiZRSobuzw3II2Bab1VYGfZgtnRJLvPGUAZ89krdQBa4nYcZ-oFXG3lTYKG1J2W2Ex8BSciOzhj7AV2yrQrqzCkoZC-Ug20zD5_lEurmtEPrZX_aItP_oalT0PjN6QCpsP3EQmqyMy8QtUhXX6wxsrhoP3O6TGfDbt3IMCCdQ1ewAlwCPs9BjODY80ZCtKeqI2JNbxAmIbeoZYN1MGHDSyFSPTGNb5nS6Ky_Narg9xv80WSHbEtzB63biceNlajhJ_lyLUlBMmbi6YfYgMWqM5mtlErL7Q9m0WVeLX_sh0ulw0iZSYcH_wmezgrpB-I8oDfb564RcviitKW0oO2FwiHpGwIm46Oenk_492roJ2wRfIfsi3H6K40LAiYsbiTx2PTdLtL8qu8DVTVpH2sKkvJ0z9Go4BVmch-OBHBCHDkHL4BtjOJ5ZvyskqYdQ_S-GvawZfkwNzLHdIkVxre6bHp1bBgRmVB6EaJTEVE7bn03AkIDif7wGn9C6FqvryLjRxmsrD5--Xmh5DOr0SMgN4m5bQgUjsGsID_kvpGlSMhiPe5QCp1cuccHlzYtwbpk4Wtr2bNdzLVySoHC5T4kyrenZZ5raqtBqpyCGUmp5sgcjGZbgamIS1Kko8kq6pxTXjwXflNFCma9p6947_PCHjp3JmisDYPHEmvrVMISne8NGKt-AIR_Na0wprX1-oU9AS36ZyIWNzUf3-4DXml-Pv7b47lyymyoKqp_ZpWXWlgpaNeua4QvxpyU412DskYe_bxF6ZYDasMQ-XfgOb6LH2Wm9VeweHcm2OP4iDkeP51WDi3imaPSIlkz9cReHLWVMIIy3qYcRn0nVqy6GNeJvdkwcoL9gHnFOimKg9jAHAh0H6u_Nt6K08pUrUkss5YYsDe73RbPKtOSWQo9pV5GQW2P-NRP3eCRgWe-upqjCh_FyiynT60cueja7P6hg-uulBPFUrY41Ns8qh3mZ-oBYzlX94O6NDgE9SxG1i_Qji2Gr9YCK7pIxA6sbYAUPZ2M2hUSQ6XqHt89wJvobXCMZLgY7B43Qb4pC7Ur5y0XgEUnXc9os9hJL3aO2nRqGxQfBuJ6wlOdqDF1q0fOeP-tgeoNXw1lRwHn-oT2ZAtG8OwX8l1hlSoP9kuwaAOo0cSBsEaHHms9PRljvTRbhTBMcZ3g0OUg-mTvdssc3SluVgmzBC3AfukCcRS0a0NyZVUZE6AMb7GXNzG5bK4CHO1j-LBOKa30fvwXZpWvss6j_O80xu-ftdGanSCgTclgQpm8ZiYGrQSqapvFKZ_YBz_eUieY-HYs43_ehsJJ84EhHAs9UYdxgoyAzLdV8mYqZ712AtDPEDG5VNgYrbY8AzGa2J2s7KH7U4jwQx3Xj6eDtpq4TkS2IZCLBgvhIQs3N9A5N-ioghPMMaW22tTXs6ig4zlkzyolW0sXOKlEFZ5J6Ld7fyL6Ldl5NdK5cFrQV4toymbIaHjd5EQxWS1J2I7vJ45pIsKwsDHF1yepqwEd995Gxb9193bJK-C6wrrNnJH3lqn0yaaxww4G71urXpLYJ7bcBO8JfQKNa8UlwqaQ_FgeVE-VX6-3XtsKsUu-XvZNNk2Fwzn6SOvOYjLzVA9zW5FUr7g89pk-Tx3hNEgjQiJqGTikE1sBYosG6T1UJN2Qxe4MC-6MkJtSSrantHx329q6-XV0PJUpnSSveICsibhTIdtI9IX7DAOSS6BR3aOlcyQoj-3qvitdEPEED30BysM0b2zLZEnUZnj-2L0jzpTy1yIwfezxMWVbVMtVXAsg5dyeigvjLO0F3jISJKjdHxtQPcewT0QGdkLPyGkRSAXp2tJ9Yk-x5nEFUSF4u04gp8hHgpZAM3JQoEmEA79ZncyMWFh4nMkhWDZfQUevd_ZkoY0pZJUJ3QQS2VFB-aBgRCyTY3fjWPqyTrPncH5vZ5Lc_jPttLYZPzfs-OG5vQgzf6b1wt5nmNOGgAiXtgGzkLbkHYkdxo13vqo7ex2Oh0tQlhWrT5oA01oUuZnRrGfIyNRMfJtkNjiL5Ssd4ry5qSKmR9y5gm7kJRalneB2PFvMQDsJQkOAxI9XypYVmpj1YBCRbVuyRgqP4Y1HE_ZCDFDN15DlgLLTdK9aSxSsLBLH4mDoGsPXKEKwieOJ_fmRqmYsQDtN0gz9vsjoYV7jbpJqXEZH9l6MQY=",
  "id": "rs_052e2af7f11b3654016ab495b1609c87d0b9d7393faced9680",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.50,\"right_y\":0.15,\"right_z\":0.035},\"note\":\"The bottle remains on its side, and the cap is still ahead of the fingertips. I’m advancing toward the narrow neck and correcting the small sideways offset before gripping.\"}",
  "call_id": "call_4VHTG0rVCLSGk8CrvTlr8MVo",
  "id": "fc_052e2af7f11b3654016ab495b4d10087d09db3fddd17f644aa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4VHTG0rVCLSGk8CrvTlr8MVo",
  "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]: [-0.02, 0.7994, 0.6159, -0.3794, -0.0265, -0.0292, 0.9983, 0.3908, 2.0132, 0.992, 0.4278, 0.2821, 0.1535, 0.9993]\nstate[eef_state]: left_x=0.2967 left_y=0.0023 left_z=0.1841 left_yaw=0.0011 left_pitch=-0.0042 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4899 right_y=0.1525 right_z=0.0391 right_yaw=0.0463 right_pitch=0.0031 right_roll=-0.0122 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -1.4701, 6.7077, 1.7656, -0.0171, -0.0415, -0.0171, -1.1282, -8.0479, 7.2547, 1.6728, 0.0513, 0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c6e48d7b6c8caa5b673bd213636fc86f733f743438099fcf78aa80fbabb85a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d872a5159c13358f32e1e384234f269b6f026fa6fc122db8948cc2ac345f89a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7545fb2ce5bd04d585d33512bae874d548d32896ac3a612ff36ab8316b1d1a51",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 3.877 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7929, 0.6102, -0.3759, -0.0261, -0.0284, 0.9988, -0.0154, 0.7898, 0.6044, -0.3851, -0.0265, -0.0345, 0.9993]\nstate[eef_state]: left_x=0.296 left_y=0.0023 left_z=0.184 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9988 right_x=0.2939 right_y=0.0037 right_z=0.1803 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4171, -1.2923, 9.6752, 1.7216, 0.0562, 0.1343, -0.1294, -1.0462, -1.2376, 10.3043, 1.8144, 0.0171, 0.1783, -0.0855]",
      "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]: [-0.02, 0.7994, 0.6159, -0.379, -0.0261, -0.0292, 0.9984, 0.4656, 1.8973, 0.8791, 0.3195, 0.3489, 0.205, 0.9993]\nstate[eef_state]: left_x=0.2967 left_y=0.0023 left_z=0.1842 left_yaw=0.0007 left_pitch=-0.0038 left_roll=-0.0004 left_gripper=0.9984 right_x=0.4412 right_y=0.1581 right_z=0.0333 right_yaw=0.0369 right_pitch=-0.0792 right_roll=-0.0469 right_gripper=0.9993\nstate[joint_eff]: [-0.3897, -1.4701, 6.9538, 1.746, -0.0415, -0.0513, -0.0269, -0.6632, -8.0889, 7.8291, 1.9219, 0.022, 0.0415, -0.0806]\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]: [-0.02, 0.7994, 0.6159, -0.3794, -0.0265, -0.0292, 0.9983, 0.3908, 2.0132, 0.992, 0.4278, 0.2821, 0.1535, 0.9993]\nstate[eef_state]: left_x=0.2967 left_y=0.0023 left_z=0.1841 left_yaw=0.0011 left_pitch=-0.0042 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4899 right_y=0.1525 right_z=0.0391 right_yaw=0.0463 right_pitch=0.0031 right_roll=-0.0122 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -1.4701, 6.7077, 1.7656, -0.0171, -0.0415, -0.0171, -1.1282, -8.0479, 7.2547, 1.6728, 0.0513, 0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c6e48d7b6c8caa5b673bd213636fc86f733f743438099fcf78aa80fbabb85a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d872a5159c13358f32e1e384234f269b6f026fa6fc122db8948cc2ac345f89a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7545fb2ce5bd04d585d33512bae874d548d32896ac3a612ff36ab8316b1d1a51",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJW8cE32dI7Q4wkIniO9geVY1RzTxGXvoDYFqjDIcw8iBMTI_4STLVHEA-13fmaFe_P26SCq0lUNkiycQcB6wj05WS6eMTxaRqzYnQuxXT30-xPXVaprFigEXBMkXen6AN3O7Y2-xdBfsF03eVDDZeKzom84aEDo9KtXwC8VjVgHt87I9hPFX0uHaTirpzmNNkrDjMMQCzlScvGCc7M3aBauxpKDHxKELqR08ceiX7pTYIkvYZRxlxyM5GZoxAP9H6M7R3Nwlri9R9fTwlEXT77nXxJsZ4qB-dTcABVcl61WtBN-gcbckGfYH8VwGO_JSaaqfvL7bWkf4fsFXJaDaARuQ3gl1zT4523ed0SELnjgAQZ7HphSU5cT9S4Gx4MAk1MFTULHzD-ZbwTZILSv21ZW17BZ80G51VoREbXhwiLHxFB-5fVJNQcM-jH2hOWS7wTN2jLcYornYyYooNZDR3Oon9FF7LHui-aJpg3Si-ynYZTEtUrVNLWRXNPPd_XEiDHQTOQ0dCZW933Yb7cO5B9_9ql4okCdp7o8iBW0Kjr2qDMqNYawhuTl1O_hda740EUmKBrc8yhc9a-mxSVN8AWoRv7TRpkMR15mcTiSendfaTYl11pHx1_iWX1fDv2HNX-JnrHENg6SDjXlpxko5F6Werjx7jOHaRKXMbZ7IrHUd1-a4ciEuA7t7MYyPKHil6_FL0o2twtG0Gw_ypI0Xgb6hGRyc0f3LGCqQgrhcVZ3twN4sbSNVv_9hMUqrkUzATqvVAUP-eHINsboJ9bOT9V8zqSeMCAhLdcP1bDE-UFBTJgp4M7bgb2dbpqm6A8UWlKV9c5lh25ZYnG9KIskuqcAacVYGTElfYyGlR5RlQEoNNck9Mf514LfUHn1YundloOJZ5MIFH6L49tBepdQWjdW4BtUfP9PGCOhSMXpbYDzTKzfA9CwKuOZMS3f-MviKW9O5mfCBmMTJmHqPkqHsdXONjGazSfOw2EGYGbeiJ--8SpsjJwoRNTeNWmxIwHyP6DFMpL_WtiROpIb5_5vFmq50qH5M0UhS8rHMiVOLg_Oaaa6aEQKlF6rGxWR0w4JWe_JwCXPRWcMBdQ6sNT9OO7ChuKTG681m85EiAlCyVuYe0IPS7fJzgrtGL58de6uFyi19N2-wI0lcTGlk2mCsqb86rzN0h0d_cwhJiL3ErgxU45wze-RWmB4bw9b-gAedp5ElbvP2q8-s2iDonavaddi5h-kLVUGeaH__mLtc-zimfkFu7RNbTS7jG6UL5bzC-tEltdlMUAvWmZQg3lUtOa-td-GyY5bBSjn3Ha7H3ElOQaE1mIWVIDp5oYJyXf_hPRgfc9_dfmhvd27k0vApm6hjBmG9UBrbtNWyqH2a8UoIGyEFm1EjUvYQ2llPA7pZXRzwMWk7obK0h_texMfICaXXcPMmpyvUqFwKy6txlG7zuFaadit5kClszfv_T_8n2jm716L6-htgEaPMTsb9wnQdEz8vjWLD_fDLbciaJI8fyAtBlUAU1c1R7aP5Qx7RDWFwf5k5QGTYcYgrhAfL6idb1tXGM4B60rR1o7cLgngMfiL7mXnMI-bdjNU0J5hp0gFtFvjGKMrgHX5uhCUeacTk_k-ps0SC3e6fJnwjzpV13D_VqfZEKmsRAB_Adou6Bn8eD4MK_TYQz0X6GP93jJTILQslJ85mqjjOxNK2GPZG1AQHhgmfUjHsnxBCjkUiB7EV0Dc3DOsue_SuQ4e9PjSWrMu5iH_hzefWUOAIEIJ6dYR9ieElJRX11o6mFLc10Uxm737_HRcmxEq2tr9K6-C9-byOOfQrxly9bujW-H93I9d94suaf_v-Tx-d0YMd5wWR26GoeejxIzPNbgVeuzh-12rQWbMfRIlIlg1Z56PFyN2HHZQ0hACmp4heAVwQqCKcj7N7p-J_PtA7WpEXz7roepLv0e-Up5G9bIH8xn-9WQaTDGEMyftUbZz0EVQWj65cdqBNYlJIWFDoDfX-j4W4RZVOPrlRyei0H9rUzSBONmWHoZ1zNgeawcms2YPisd2EztjBrPmkgi9MMV6stNqf5Z1mVH9y2w3RkAOW5pZpvli-R3DgJS2CknZOWUITUWF6ldxEXUGYGFZ8yTecwzb_ZN9pj40EpCj_d1EzbOUXjq17nGFGlLgIqSLMFCkR5CnwmuBf8uoN0y92atkX4_0f5yVrOrIZim7jeXWgcuFJVA=",
  "id": "rs_052e2af7f11b3654016ab495b837b087d0821a013e2738c096",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.25},\"note\":\"The right bottle’s upper end is centered between the jaws. I’m closing to a narrow pinch near its shoulder/neck, rather than squeezing the rounded body tightly.\"}",
  "call_id": "call_vy8aWyNw2oAwKsI0iGn52eN7",
  "id": "fc_052e2af7f11b3654016ab495bb89e087d086df74c10329ae4e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vy8aWyNw2oAwKsI0iGn52eN7",
  "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]: [-0.02, 0.7994, 0.6159, -0.3794, -0.0261, -0.0292, 0.9983, 0.3801, 2.0247, 1.0245, 0.4644, 0.2638, 0.1337, 0.3449]\nstate[eef_state]: left_x=0.2967 left_y=0.0023 left_z=0.1841 left_yaw=0.0007 left_pitch=-0.0042 left_roll=-0.0004 left_gripper=0.9983 right_x=0.5039 right_y=0.1556 right_z=0.0528 right_yaw=0.061 right_pitch=0.0545 right_roll=-0.0012 right_gripper=0.3449\nstate[joint_eff]: [-0.1983, -1.5111, 6.7077, 1.7802, -0.022, -0.0757, -0.0122, -0.6222, -8.5402, 6.6256, 1.3504, 0.105, 0.1929, 0.1783]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdbde899b6a67131e10bf8c6ead7690148669459ebd5768714e1defa808231f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffa9bad821335d472530acd963c69409a6e1eaca9c2b08053ed5ca1f14aed8db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9895088a1fd366fd6f9f830225b3315c88c9d87199d40838f6da2fb64f08094b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 5.554 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]: [-0.02, 0.7982, 0.6159, -0.3794, -0.0257, -0.0292, 0.9985, 0.5556, 1.6115, 0.9836, -0.0921, 0.4141, 0.2619, 0.9993]\nstate[eef_state]: left_x=0.2966 left_y=0.0022 left_z=0.1844 left_yaw=0.0004 left_pitch=-0.003 left_roll=-0.0006 left_gripper=0.9985 right_x=0.4082 right_y=0.174 right_z=0.1277 right_yaw=0.0429 right_pitch=-0.0782 right_roll=-0.0491 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -1.6479, 6.9402, 1.7021, -0.0513, -0.0806, -0.0464, -0.1846, -7.5829, 9.2376, 1.7607, 0.4029, 0.3248, -0.0806]",
      "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]: [-0.02, 0.7994, 0.6159, -0.3794, -0.0265, -0.0292, 0.9983, 0.3908, 2.0132, 0.992, 0.4278, 0.2821, 0.1535, 0.9993]\nstate[eef_state]: left_x=0.2967 left_y=0.0023 left_z=0.1841 left_yaw=0.0011 left_pitch=-0.0042 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4899 right_y=0.1525 right_z=0.0391 right_yaw=0.0463 right_pitch=0.0031 right_roll=-0.0122 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -1.4701, 6.7077, 1.7656, -0.0171, -0.0415, -0.0171, -1.1282, -8.0479, 7.2547, 1.6728, 0.0513, 0.0806, -0.0171]",
      "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]: [-0.02, 0.7994, 0.6159, -0.3794, -0.0261, -0.0292, 0.9983, 0.3801, 2.0247, 1.0245, 0.4644, 0.2638, 0.1337, 0.3449]\nstate[eef_state]: left_x=0.2967 left_y=0.0023 left_z=0.1841 left_yaw=0.0007 left_pitch=-0.0042 left_roll=-0.0004 left_gripper=0.9983 right_x=0.5039 right_y=0.1556 right_z=0.0528 right_yaw=0.061 right_pitch=0.0545 right_roll=-0.0012 right_gripper=0.3449\nstate[joint_eff]: [-0.1983, -1.5111, 6.7077, 1.7802, -0.022, -0.0757, -0.0122, -0.6222, -8.5402, 6.6256, 1.3504, 0.105, 0.1929, 0.1783]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdbde899b6a67131e10bf8c6ead7690148669459ebd5768714e1defa808231f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffa9bad821335d472530acd963c69409a6e1eaca9c2b08053ed5ca1f14aed8db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9895088a1fd366fd6f9f830225b3315c88c9d87199d40838f6da2fb64f08094b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJXAyP6fGGvgXTRngD59hx3C9eKBTDpc_QEiLquqaYIMxYGC2iiuPHT3Jdvqr6N7fK16g2bwns-N2r5stV22hPyw6Cl2TlLo-uhu-xAUS6tO7pg8LSCSE-V-QZ4VZoQ8diRowmIK9MakdWQrqbQxhcaYu0OU3HkPoHLtdzxZoYAp_THpjK7U3HQVbyPGOUdahqcrzwhD0dGLAheZA6igvOTn_UhZ2KwBOLv-jhvw7V_RY4z-k-2bVBXPCHnHk62b-6MzL6UedmLbu2uZ9wrGbavs01mVOS-2mj8OVtdSxSrMC-lyBlm4DZvaVTb1AFaFToDMTvwzV6WU4XC-By57vjbNt8ArWWD0876TnY-yGvArzyfMluH2kqw06RDaeFMpHWQjROzSWCiwJmHo6Qc_GK6MM4na5bHg3TtkI3t5KRHTIojWXzKcpLfOTq6u_Kn9va8CJlHwtVr8l9DlxEyBwINjEiBTo3copgtohxU6tkvsqNAB_S49e6dBMpb0XVnIUrc_WDypakuTArdCLFP4vY1g3bXZHaTo-TNNkPrU1QLhMdsLau57OY31IABv9GPnJ7j1V4_fqrQFNbTo1kyEYYlAUn_Mf3WMa58-4Npt8nmjh6mvgY21MrkPDKdNIykGL9dH8dVZ1CMPhRvEZnLBZO1eVuXSCZcMgSK9x4kQlQUH8Ug2tynLCBzetwLVlA1pCDHT_jB4rg7VE4Fpfd9TyBqZZxnyikZuBrmXwk3NID_YUDZheRJTdI0JOaRqZYYJcXQ8i1g7rRxrEKF3mF8aOMR--9g7MWIzFR7LWxIZTQi1PWzzeqG6k66seK2N_Rx4gL08yDKD3iPKjetBm56PmDhwZlRlEQsaX-1NHxxRDbcKQnNU5wGJbFNFbTXutG9KlK2YC4cVKeASP_NhWsEDkqy6YjRgG_5afrFB2sxFNMB8XWzgr96-BJROQWOxv3abUxBBsezjGXYq6EtXqcJ3s8l0UaQwEW8UkCNmXMey6Gi1_lZaMooY0XUNFV0uJtndFLkAPfy-5CxLAStrvsloi97RqvtkrapPZiS7PVpqJPKMbbI5M9xf-AkRnyr5RLXSig4z5nhNk7dEv7ApSl0kWuuCft-0hvFasY9ytFCKTAuZ7EU-GZjupIvb5-Y4Fnq3wUC0Im51g4yoPBJq6ElpD4B_one_LZVcE4-OdvGIiuBnBI6GrA-qfTw2QQkrTa4PU7VmbSghUNBPL6VtEtnLjvlBsFGKTezdCvH8iEVUNO_9epfX4PVVXqIEhAKibjpHIGnrtSoCU3vl1dg6w-Zvp8e3tvtkpp4HkQaPfy34ag8N26pGKcHl8g0k2MQiQqR86IRE9c9BXWtSaaTHs02fmzyovzx5Zm9FSZwoZKD7rbWSfx7ycyuflaxT9JOAoR34I9oB",
  "id": "rs_052e2af7f11b3654016ab495bee11c87d0bfddb1d254732b2a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_z\":0.115},\"note\":\"The jaw opening has stopped at about 3.3 cm, consistent with holding the bottle’s upper section. I’m making a short test lift to check that the bottle follows and starts to swing downward.\"}",
  "call_id": "call_4bGg6xSPey2jID8s1ZQp9JHP",
  "id": "fc_052e2af7f11b3654016ab495bfc6e487d0aacb3728103e1382",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4bGg6xSPey2jID8s1ZQp9JHP",
  "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]: [-0.02, 0.8013, 0.6159, -0.379, -0.0261, -0.0292, 0.9983, 0.3939, 1.8576, 1.0378, 0.2504, 0.26, 0.1452, 0.3442]\nstate[eef_state]: left_x=0.2968 left_y=0.0023 left_z=0.1837 left_yaw=0.0007 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4858 right_y=0.1566 right_z=0.0974 right_yaw=0.0721 right_pitch=0.0219 right_roll=0.0 right_gripper=0.3442\nstate[joint_eff]: [-0.3761, -1.4154, 6.7214, 1.8144, -0.0659, -0.0708, -0.0122, 0.3897, -9.9897, 8.9231, 1.79, 0.1783, 0.1538, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f0496431769fad4c864809edf21d63c0c99bd067e88552ed2729f2aed39ece2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcc555924e374b30238f86f8f6985aa77e7c1047eec36e2196e8f6759f051fdc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52591871758fea96ec1b20cbc3e2620242ddc302047413a59ed919f17ab1bab7",
      "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 6 attempt 0 · /responses · status 200 · 6.217 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.6159, -0.379, -0.0261, -0.0292, 0.9984, 0.4656, 1.8973, 0.8791, 0.3195, 0.3489, 0.205, 0.9993]\nstate[eef_state]: left_x=0.2967 left_y=0.0023 left_z=0.1842 left_yaw=0.0007 left_pitch=-0.0038 left_roll=-0.0004 left_gripper=0.9984 right_x=0.4412 right_y=0.1581 right_z=0.0333 right_yaw=0.0369 right_pitch=-0.0792 right_roll=-0.0469 right_gripper=0.9993\nstate[joint_eff]: [-0.3897, -1.4701, 6.9538, 1.746, -0.0415, -0.0513, -0.0269, -0.6632, -8.0889, 7.8291, 1.9219, 0.022, 0.0415, -0.0806]\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]: [-0.02, 0.7994, 0.6159, -0.3794, -0.0261, -0.0292, 0.9983, 0.3801, 2.0247, 1.0245, 0.4644, 0.2638, 0.1337, 0.3449]\nstate[eef_state]: left_x=0.2967 left_y=0.0023 left_z=0.1841 left_yaw=0.0007 left_pitch=-0.0042 left_roll=-0.0004 left_gripper=0.9983 right_x=0.5039 right_y=0.1556 right_z=0.0528 right_yaw=0.061 right_pitch=0.0545 right_roll=-0.0012 right_gripper=0.3449\nstate[joint_eff]: [-0.1983, -1.5111, 6.7077, 1.7802, -0.022, -0.0757, -0.0122, -0.6222, -8.5402, 6.6256, 1.3504, 0.105, 0.1929, 0.1783]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6159, -0.379, -0.0261, -0.0292, 0.9983, 0.3939, 1.8576, 1.0378, 0.2504, 0.26, 0.1452, 0.3442]\nstate[eef_state]: left_x=0.2968 left_y=0.0023 left_z=0.1837 left_yaw=0.0007 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4858 right_y=0.1566 right_z=0.0974 right_yaw=0.0721 right_pitch=0.0219 right_roll=0.0 right_gripper=0.3442\nstate[joint_eff]: [-0.3761, -1.4154, 6.7214, 1.8144, -0.0659, -0.0708, -0.0122, 0.3897, -9.9897, 8.9231, 1.79, 0.1783, 0.1538, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f0496431769fad4c864809edf21d63c0c99bd067e88552ed2729f2aed39ece2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcc555924e374b30238f86f8f6985aa77e7c1047eec36e2196e8f6759f051fdc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52591871758fea96ec1b20cbc3e2620242ddc302047413a59ed919f17ab1bab7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJXGUASArVZwURAbgG1k2h1q5Iy18zX3TLwaF1-120344uCMwAkqqwkSdM2kPe4NxJ9Zjcxrfrdfqyq4l_WkI84UpB5Ay7fDOpCNZyjsI8SWtq6nvVreAWwD2BgooB-ivn9wmosZs0gkK14vusbnR6SgFgwEORUbt2jXD3NkLFRqPvIxFJbIAc8UGI4OjYQSZdGZWKwpsi8zSSH1jHeEJxBgi71pN8pp0a9Q_6JYf1Q5TdMrYsXdyrBv1ATcbfICMVkRcnQJmZeZCdmua9-Z4W5SIk-yIW0oKJ_MlE0zmTaJlzU1JSBNUp9DDgRLSTHRt6fEl7FHP08dR3wKBKQWi9loJxz3THeTehlghjHh5pLzHWJ47WaAMY0p5EvposZ5r4PgmJwFBHFhRkH727Ryo3-51QdTdu7O4Vefi7J6vJPzVEorWEx0mEvYy1n1yFcjaw0UyBvjiLGBxlB8vFxQluv18-BIQ8KDzd7wnXHNs6uwdzrFbVjL6sSraEsbZRHY4PgCgbcsWU3wBCNhDq6ZpsnKTnBF-8iBtE8g04uGGp73pwder9x4ek2vXSBV310k6B-UZPAw6mbhsmnQxQ-epDPMPVzjeCGuG2zePuv6vyfz2ChnsY9x7rmRisJBUbacDL1GLk_7Bl5LDnJAplLWfWmvA3CAlcFKo_Nn7jnETCE0nXTcphVnbgTlxer7IjRX_xuAi9z6VEczHep1M7e-KoOeXPTIo7eH_dkmFVAcjbKgYLM1Ml-1PB9mLDmpq94aaK3NOhIhEFq-7W7jSyssl3iEFFqI4nr-CyVwxnfr0dI8euGY_0u0wgmoxidGjrCOL-b0Ej2QoLbOW6AZgTsKPr8PkjsgcFoDWk4sws63Ob6b-QCGTXPo3U2wVdiuwoAeCfCl6HJJ24qC0sJxqMRQuZowFNKAFWpp8-AsCiLpEkAmKUhaRx5EA9P16WzVFOMBeAuqZcrgl-xMLrPc91IDzG92VGPqaY4EJ499wz4JMV_btGJ_s8ruLkf0S7QVAnL4hkOVYjlGNutLNkog_R5x9MLgxG0qvs6xECzFCGw7EMBEg5V1_-eM6jHQPWJbYh-XcM3A1flX29BA_3eQpoHHE7aNuejp4aBXrVmDTd2yg1pwigbuEPa1PXgDK-rBmb-NpwKwEmOgB62LrftNfr-pnG0-wCEaHa2bY-9mAv9t2k4x15NbJDMBxnBZp0ieF35YgBXQonbT4DuFTsgQ-ZN6tUWOGA_FOVg6hO1PLF42ebwhizNg1-TN3mqcq22MbP0YapCqzBMwnN9RA0UDrtIhluf0rZZPNj0PzyufWIFhK_0Es8qDi3obFHPW75J857vdoX7-uGtHL9uFzSgLpdnRxJDZ_Q3sMgleswOS9s5tEv0eyJMRqxdQL2ucmhdOOwIp718qoP2WlP1Ouob3vWC7cUPi8VOWicVnpHsbEUrRNCwbXKN4mrU7pw9f9vVUgOTuIzBPIKZBypLEtVoa77TbmlkxjRjNLj7LeuSnxUDTd-CaOFT6-cUmg9pBxVHICZAPxxs-oojH0N2G5FEDlEupzwdpzOzvA7Z5zixwhUVnZCVwhvTlxcCaY6sI8LJFsv9AFIlDS73VvHoWbAsvl6e-LjDTNviwz0o_0EQrbLE8QZLxgsWQCazWk6seQ2yHEQk92kHh",
  "id": "rs_052e2af7f11b3654016ab495c3cde887d08de5bcd952871181",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_z\":0.255,\"right_gripper\":0.34},\"note\":\"The bottle has followed the test lift. I’m raising it enough for the base to clear the table and easing the pinch slightly so gravity can rotate the base downward.\"}",
  "call_id": "call_Ik4GNPMikZJrRE8xu6VzlQmP",
  "id": "fc_052e2af7f11b3654016ab495c5424887d0912959df167ce294",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ik4GNPMikZJrRE8xu6VzlQmP",
  "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]: [-0.02, 0.8013, 0.6159, -0.379, -0.0257, -0.0292, 0.9983, 0.4583, 1.5578, 1.2842, -0.3813, 0.2871, 0.1574, 0.342]\nstate[eef_state]: left_x=0.2968 left_y=0.0022 left_z=0.1837 left_yaw=0.0004 left_pitch=-0.0057 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4319 right_y=0.1613 right_z=0.2219 right_yaw=0.1071 right_pitch=-0.0537 right_roll=-0.0327 right_gripper=0.342\nstate[joint_eff]: [-0.2667, -1.4154, 6.8034, 1.8388, -0.0171, -0.0757, -0.0122, 0.1436, -9.7709, 10.1265, 1.7705, 0.2662, 0.2857, 0.1929]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48807efecc594d5a7f069ece8b06c262930db9c6b3ed85c57a07605af8740e57",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81e30c70079c034e54714b14e90bedb3010a176fac9238adf738644db3f27b29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52c5e78feedb7db4aaa2d86f2ee896ec8c9d98cdfd16c7d716a4a6b29c2863dd",
      "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 7 attempt 0 · /responses · status 200 · 5.361 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.6159, -0.3794, -0.0265, -0.0292, 0.9983, 0.3908, 2.0132, 0.992, 0.4278, 0.2821, 0.1535, 0.9993]\nstate[eef_state]: left_x=0.2967 left_y=0.0023 left_z=0.1841 left_yaw=0.0011 left_pitch=-0.0042 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4899 right_y=0.1525 right_z=0.0391 right_yaw=0.0463 right_pitch=0.0031 right_roll=-0.0122 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -1.4701, 6.7077, 1.7656, -0.0171, -0.0415, -0.0171, -1.1282, -8.0479, 7.2547, 1.6728, 0.0513, 0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6159, -0.379, -0.0261, -0.0292, 0.9983, 0.3939, 1.8576, 1.0378, 0.2504, 0.26, 0.1452, 0.3442]\nstate[eef_state]: left_x=0.2968 left_y=0.0023 left_z=0.1837 left_yaw=0.0007 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4858 right_y=0.1566 right_z=0.0974 right_yaw=0.0721 right_pitch=0.0219 right_roll=0.0 right_gripper=0.3442\nstate[joint_eff]: [-0.3761, -1.4154, 6.7214, 1.8144, -0.0659, -0.0708, -0.0122, 0.3897, -9.9897, 8.9231, 1.79, 0.1783, 0.1538, -0.0806]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6159, -0.379, -0.0257, -0.0292, 0.9983, 0.4583, 1.5578, 1.2842, -0.3813, 0.2871, 0.1574, 0.342]\nstate[eef_state]: left_x=0.2968 left_y=0.0022 left_z=0.1837 left_yaw=0.0004 left_pitch=-0.0057 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4319 right_y=0.1613 right_z=0.2219 right_yaw=0.1071 right_pitch=-0.0537 right_roll=-0.0327 right_gripper=0.342\nstate[joint_eff]: [-0.2667, -1.4154, 6.8034, 1.8388, -0.0171, -0.0757, -0.0122, 0.1436, -9.7709, 10.1265, 1.7705, 0.2662, 0.2857, 0.1929]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48807efecc594d5a7f069ece8b06c262930db9c6b3ed85c57a07605af8740e57",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81e30c70079c034e54714b14e90bedb3010a176fac9238adf738644db3f27b29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52c5e78feedb7db4aaa2d86f2ee896ec8c9d98cdfd16c7d716a4a6b29c2863dd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJXOTmWJdmxYtOpWn6DR6csrIP0LTDXWXpncLrvreVuHC3spSzyksYx_2e9_UfSVuzyEYH72maWbT7_w3DJjt8Yio-yWISTHCffknZDDRDS2VI8c6DdStuRtveTLQVrV9Xq7dgHLf-53G7L3ouv5uOrwZBOGZzM5tg7EJgroY-IPY5fTlX0w0MkuDd4anaHPDAc1l_LGfnojwyrX1lC4bB-hYUNRUDW6-GVHH4HO1Pj8dWTWQ15HGmzviuOi290behPVu3psTLsgYKZG51BdXqKCNPUFG0v6uL8-WXs0qznXUbIHzNqBFwGyPxyLkJx_oHBxHohB5M6wx5CVWnYmMnDSvnYGgx82qDZJyMuN3r5g1KwVCxYSqprwdWurQnIABV3zRiyw5s8KNAab2CgHefZP0ox7SWcTC3fl7c-Rr4XG8dLJnIRVG82D1kn3oOFTTwQv9KhrjAj3Q4gDNdsCNPBtRKBT5fC9hF6mgG7Gxl4lmrBqcfNKZR_BK8SXJJTqwm2wWws7u5ofLgYO2wKP7jwGM8ghW7oV1mjQG_XMxZa3ZrxOu4DglLDx0k7Go_3OrIxoRq099WBf4jiB_Jl674xEyYEDeLi7L79QmAk0-wFhPGMZtm1YN9Xil2-4AcJWMmnsKPIYSnXYjA86lAxeu6j4vgQc77iZ5OexmosVUPDMNt8--lPsSs9fDwWF8Cv3-YOxfBM-Esn47_xp41zF_naTvv6XlaEpW4QTY68g7_1xJzh3Lq59j3nynjJTC8c5-o71CvRbgYYBoyDIbjSwZZ59wM-xmWfNwW10CsqWIT3EMHfjdCSJYzl-eMmFzAJmk-08G4tE4Nb00F47IaB9MoxsN_r28zVpN2VnOjW5s7vcRBi12WSElEDBG-C5lvETLF2t7XMsFZXcVBUFbNsXm6kXUiSITJfsoVdkYCpEyBtxhDlt6jveeForhcC20SZG85-xoHa9BaJ1th5bGPbvJxwLKtbUb8v6FO1eJzZtERUsAqkDXJDcZd-3EYOyyY0gbuJejzhdVTcWZ3d3Vw2_04Gfbb773q7XgfPwWYjcg0VPL2SIWbLR6PzWayb5UxwNteCj89vTV3SVkl2jusn-kJOwTeN7Bsi3zYz_BoDcfA3D7sd9_NViXAy42bQsRcadOztTPCRaSebDzWpyDSjH17cz0R2bhH2nL6zwWNqNBSJp_EhMJgo6vSmbh6Rxh70pf_AoSYbGXIfQag3zVrgWVmTMycUkt585VBpdp3GcoBiQPqq1UXnIs-6Kd0Eo_iSPMNliDdvyhHS_g4BoexT1UkdC62_DlV7McgOQTVI2AZkHVScbI-Dmx_T7nAEx609f4mqd1qTOFP2AlBx84GWG8n5EaOyhrvC69ZoScmlw7vjatjnb0OsW2DaVxKtU_gP6GTTmBC3VR2UqgFLorWe7FzD_8pZdtj7r4nKv_UziHnNezqbfRJGUq12LdX171IoDnVkblhy50e3MtoFuxnsAMaPEjUSMoUapg-upk2Su3JZfMn06Pd2W599GudV4BiNHOHRKi5HpJ9pNsaiOCMN18neFVUkUh6UE87uOLZRwC9bsn6iIj4oiWsoB-CNsHlJ254KYihP4nUbm1x8jp5zIGkomidtoMjj4jUJ4Ho2rshFORPk434PG6q4CyLQCQoeP-9RoSOkF13ps1JifK2om7OIOXwVHE9ruUhTNtJI6AQc7XBsFXnuJ8Rr_t2IZC_1Wtrkh6RAkeiubuTXk-iujchUWYNVjJ8Rb1Qk9EXRQLZk88ynG3XlW6CBoHByzSmIAmTkj8dELhwk9OZZ1ywElE3Ua42E47NvZY_zhpWq_Svx5X57ncmaQyJ4Ue1MbwSUz_FMzrmo2806deTROpY8s5tylkf0RPBtLro1sW3iYTx6Kui2SdGMf9Sf9WwjZjOO3O38Gou2u4ZluubIYk4iaU4kepJKx7zvHbNhdoraZP7YMxE1pW1g-4OSykbOHQdYtEr3o76a6WAXx_2hIW4pT3ds9bELMh2EiupTdCAq24f62Z-UVsck9OjQHySzSUa8bIkrI_fKHkP9l-gnFmJb1DSIYDKVKH0CEwnkfD-RDMDXcuOEuMRI0me_VybXZRrg2wJYEsMAUcCRK34EWVMCiaBZS5uEDeDBy_l8V3mO5y8GvqONNWiOlFh4b-rYL15CkRAeM",
  "id": "rs_052e2af7f11b3654016ab495c9d2d887d08d0bce1d35090d27",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.265,\"right_gripper\":0.375},\"note\":\"The bottle is lifted but is still angled rather than hanging vertically. I’m loosening the jaws by only a few millimeters to let it pivot while keeping it captured.\"}",
  "call_id": "call_6AL0waaVhImbs203wbsUVHFa",
  "id": "fc_052e2af7f11b3654016ab495cd2c4c87d090c02d85a800916c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6AL0waaVhImbs203wbsUVHFa",
  "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]: [-0.02, 0.8013, 0.6159, -0.3786, -0.0261, -0.0292, 0.9983, 0.458, 1.5417, 1.3277, -0.4538, 0.2825, 0.1612, 0.374]\nstate[eef_state]: left_x=0.2969 left_y=0.0023 left_z=0.1837 left_yaw=0.0007 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4264 right_y=0.1593 right_z=0.2342 right_yaw=0.1082 right_pitch=-0.0668 right_roll=-0.0314 right_gripper=0.374\nstate[joint_eff]: [-0.3487, -1.4838, 6.5709, 1.8486, -0.0513, -0.0708, -0.0122, -0.4444, -8.4171, 10.865, 1.9023, -0.0122, 0.0562, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a71567109ab63ad86019ccdfe36fa8531e502256dcb1a04541adbc7285d0515",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:001714d8ace43ea7d8dc6928d57e41ae7ead288deb854be819dc26ba4d762b99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:978b4917fa486987adf68c6d048b3871f96ba730ac6ae32a84b7fea3a869686c",
      "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 8 attempt 0 · /responses · status 200 · 3.299 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7994, 0.6159, -0.3794, -0.0261, -0.0292, 0.9983, 0.3801, 2.0247, 1.0245, 0.4644, 0.2638, 0.1337, 0.3449]\nstate[eef_state]: left_x=0.2967 left_y=0.0023 left_z=0.1841 left_yaw=0.0007 left_pitch=-0.0042 left_roll=-0.0004 left_gripper=0.9983 right_x=0.5039 right_y=0.1556 right_z=0.0528 right_yaw=0.061 right_pitch=0.0545 right_roll=-0.0012 right_gripper=0.3449\nstate[joint_eff]: [-0.1983, -1.5111, 6.7077, 1.7802, -0.022, -0.0757, -0.0122, -0.6222, -8.5402, 6.6256, 1.3504, 0.105, 0.1929, 0.1783]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6159, -0.379, -0.0257, -0.0292, 0.9983, 0.4583, 1.5578, 1.2842, -0.3813, 0.2871, 0.1574, 0.342]\nstate[eef_state]: left_x=0.2968 left_y=0.0022 left_z=0.1837 left_yaw=0.0004 left_pitch=-0.0057 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4319 right_y=0.1613 right_z=0.2219 right_yaw=0.1071 right_pitch=-0.0537 right_roll=-0.0327 right_gripper=0.342\nstate[joint_eff]: [-0.2667, -1.4154, 6.8034, 1.8388, -0.0171, -0.0757, -0.0122, 0.1436, -9.7709, 10.1265, 1.7705, 0.2662, 0.2857, 0.1929]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6159, -0.3786, -0.0261, -0.0292, 0.9983, 0.458, 1.5417, 1.3277, -0.4538, 0.2825, 0.1612, 0.374]\nstate[eef_state]: left_x=0.2969 left_y=0.0023 left_z=0.1837 left_yaw=0.0007 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4264 right_y=0.1593 right_z=0.2342 right_yaw=0.1082 right_pitch=-0.0668 right_roll=-0.0314 right_gripper=0.374\nstate[joint_eff]: [-0.3487, -1.4838, 6.5709, 1.8486, -0.0513, -0.0708, -0.0122, -0.4444, -8.4171, 10.865, 1.9023, -0.0122, 0.0562, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a71567109ab63ad86019ccdfe36fa8531e502256dcb1a04541adbc7285d0515",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:001714d8ace43ea7d8dc6928d57e41ae7ead288deb854be819dc26ba4d762b99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:978b4917fa486987adf68c6d048b3871f96ba730ac6ae32a84b7fea3a869686c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJXTi2UEEw7rG6Pk6ieANwOVlFVJI7ZHGWhtjjQn-oYh8qmrhpXX-w6mFqLbUH9u0TNywLER3q7IkqYFB54UX2uAKykKb-h_ITjmCqruJ6Sssw1S3Oc7gsQNlhcXELIGKr02CdstHH5kHHULEY33KeF1S-tgRZWXZBDRdZohviTMG3d2VwRq3KCdYtu4j4p5iydWtqbeiq2cvejkjTPognXbvuW3TgtR0yXdNEN3_-_C7DZq9sPEHEjjEpkTqHDuuBbFdQK1SBdjHmnPACUFAotmvoTeizmZruBOlhpmgOcnY5rzbR6F16ZG16y2hSnAQ91GaQ_Y5fspy4jlWicfjQV0QTgMdzYX1r_57HUa7bGZhjkDDiWx-Ftbnqe4C17yLoFp0_n9AWZbQE2g2JgKHyUwfAS3Lmu7wcaCmBiEWAmfdD9v3B8mGArPbIaCMXE_io5A1TL-PFWCGVrigU6HqYd1r1BLTws79y8O0WOVIDa7qGrgf4PcOtBMHGGEZmYpa3gI7BI13FXBVbg8ejnmP5N1ocJXT48fYnH7twunYXUFv_yB7XYph-4thTfSsdZmuox1D-3WDJFDufE6dwhyUTokyLxco2zFpxU0l4kJrNNLLq-C5L_ALHocETjm28B9rSrm3x76ZouiXEHzQli3dblOyrE_O_SX1EXCCVrpjRbswpN9vgIJUfEhZlHMcbVrGOpr-GD6zrfZiyBRAwUBKUp8iNnOsxrZQWl9DUh2qekmsySpc0qF1MfakxcCdo5-QCaVyh70eG4mrl_auRxs9pNqUAciLu-qf41dCvSxfQFwKsTu-v_ONX_mZ3dZgY5aN6XM0ytrjzrn_KiidwAVbJ8-th4kXyEHbETz0BpzcMFijT5qMcjGx-PLXYgT7EkLfSdIhFsz4pWuQCZiuzn8ZxX6QzYwJkxWgIaxRjflQAytaHnqXiV6KYLetL_0k14vT3Br2v70-5Lyvt2BoAAcvPpXbVJ05JIXU02dUgBzu1jfJyrG_qo574uOjh5HkiC2aZPqFPruiyCYhLoM81qPUgPAOK1md1IbQh0O2u_cGmyfQ-Nj2kg1wDtEoEtFvzz0s4Dbyjh4XZ-agNBhGjEObGjNbGPSItnDg6wmMm1YT84dgcJ0inNGti3ecqPzOJpTH_pJqvyJacCO59kyS9ul7C0QwaDxMMc3334ODO7yyrQxBAFs2DGaasCkULDtC_H5EWrVQcFgnv5UO0yHIII695g1ScT9R-5ZnEbQ-2NFmX7gtMg7Io0ZKbkMMyWpx0d3PurjpT-YvfaWrpHPRJi1A7cW8FNlnynecwX8ZJ-QtOkSLDishe19qb_bHfHLRnJAS0ClO9jL-V9qcz7cmMbNWMrLbMUeaUZu8nXBrUAdcSkNzCseAUlvM4wx663czL2B7ITuwOfm-rIjFO0dElz6YVUSWxWTSVhCzJx1uj7rU5p1aD7ZEFZMcTYbCAGNG1Q_IeqpcOko1bH7SM-umfqPVmeuRuufIm2wric56IHHOyv_OoXDCMYgKkTwDBhDsxWRy8_7LWyz7KYGYMCb9VnVaErTsEdaMFKU21gYcGZj53xSCx9DXwjuluis0E-qfHL4k9TYKIUWFLPIOQO8FKeLlhkmCc51MFnXD2OqcwM1uGJ9IITWAV6z9ABKf26lTjYtbWRNiBGdlvRyFcpEHPo7P4qwOKUcyW-SjZhaMAq97yU3W7lW5BA2-c-pICcXv1TLSSIt_np1h6EOOuaOBvSWQAGnKAfYuIFKZgc2HtL5Ev6dP170A6tdqdzKmVJrWo79xC0KXbBqb_aTqv21oIbPBMktcc0OqRkSBDcKKUha1Ouxybw=",
  "id": "rs_052e2af7f11b3654016ab495d06c7c87d0b2f099987ecfa308",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.45},\"note\":\"The small release did not visibly change the bottle’s angle. I’m opening another 7 mm so the flexible bottle can relax and pivot instead of remaining squeezed sideways.\"}",
  "call_id": "call_gZ1Whg7OlbhqEe7aMe1UcaGo",
  "id": "fc_052e2af7f11b3654016ab495d2897887d0a04bcb862153ec98",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gZ1Whg7OlbhqEe7aMe1UcaGo",
  "output": [
    {
      "text": "executing move_to over 1 steps (0.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.6159, -0.379, -0.0254, -0.0292, 0.9983, 0.458, 1.5417, 1.3479, -0.4755, 0.2787, 0.1555, 0.374]\nstate[eef_state]: left_x=0.2969 left_y=0.0021 left_z=0.1834 left_yaw=0.0001 left_pitch=-0.0065 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4258 right_y=0.1597 right_z=0.2389 right_yaw=0.1144 right_pitch=-0.0691 right_roll=-0.0343 right_gripper=0.374\nstate[joint_eff]: [-0.212, -1.6889, 6.6256, 1.7802, -0.0317, -0.0024, -0.0122, -0.5812, -8.4171, 9.7846, 1.8926, 0.0659, 0.0952, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af65a90f3c7fb1a34685c5990558fdf8e6d31a2bdc766507aafb7846160609f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec235a9e52f3e9e3c9b5be9c058eaccdcb32b11f03c18af5f275a0d21fa60e41",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:110edadace5e6965d50ff4e3fbf33955299f77f4d084bae137e8077a166eede3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 7.321 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 22 changed as sent

message 30 changed as sent

message 34 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6159, -0.379, -0.0261, -0.0292, 0.9983, 0.3939, 1.8576, 1.0378, 0.2504, 0.26, 0.1452, 0.3442]\nstate[eef_state]: left_x=0.2968 left_y=0.0023 left_z=0.1837 left_yaw=0.0007 left_pitch=-0.0057 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4858 right_y=0.1566 right_z=0.0974 right_yaw=0.0721 right_pitch=0.0219 right_roll=0.0 right_gripper=0.3442\nstate[joint_eff]: [-0.3761, -1.4154, 6.7214, 1.8144, -0.0659, -0.0708, -0.0122, 0.3897, -9.9897, 8.9231, 1.79, 0.1783, 0.1538, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6159, -0.3786, -0.0261, -0.0292, 0.9983, 0.458, 1.5417, 1.3277, -0.4538, 0.2825, 0.1612, 0.374]\nstate[eef_state]: left_x=0.2969 left_y=0.0023 left_z=0.1837 left_yaw=0.0007 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4264 right_y=0.1593 right_z=0.2342 right_yaw=0.1082 right_pitch=-0.0668 right_roll=-0.0314 right_gripper=0.374\nstate[joint_eff]: [-0.3487, -1.4838, 6.5709, 1.8486, -0.0513, -0.0708, -0.0122, -0.4444, -8.4171, 10.865, 1.9023, -0.0122, 0.0562, -0.1099]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.6159, -0.379, -0.0254, -0.0292, 0.9983, 0.458, 1.5417, 1.3479, -0.4755, 0.2787, 0.1555, 0.374]\nstate[eef_state]: left_x=0.2969 left_y=0.0021 left_z=0.1834 left_yaw=0.0001 left_pitch=-0.0065 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4258 right_y=0.1597 right_z=0.2389 right_yaw=0.1144 right_pitch=-0.0691 right_roll=-0.0343 right_gripper=0.374\nstate[joint_eff]: [-0.212, -1.6889, 6.6256, 1.7802, -0.0317, -0.0024, -0.0122, -0.5812, -8.4171, 9.7846, 1.8926, 0.0659, 0.0952, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af65a90f3c7fb1a34685c5990558fdf8e6d31a2bdc766507aafb7846160609f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec235a9e52f3e9e3c9b5be9c058eaccdcb32b11f03c18af5f275a0d21fa60e41",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:110edadace5e6965d50ff4e3fbf33955299f77f4d084bae137e8077a166eede3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJXXLkQb7PiQikQk-I383Ba4UuyZyprKm0_SuV1rPMlxuiLWma1G0OopSLGWi-JnzcCI2mGbo3UoJCn8Leer2sIQyTmPnSImlxG2jb8k1hXa8lBZgi9bR62l-74C2qEajzPInze4ACUEAFCKHI_pvp5SZwZpVgGGE5zyEGryn0I8uSEl29qcd9hgVNiIKpXWcp2WcToUn4u_75ZUPh2-8LOVPxx0Rw2gaJnhi-kV_NgglFaN-L5TSBWLmCGOQwWNtxRmxrUxykjrbTm4P3miu7QVGY5WTwOpzv6AHKeqMWRnIOEFcGI1tiJifxioUvQw1nKad3dIC91G6K4ESsLH6e199Yws56E1ar80FsOFyqFnahO8I_0HCpU2xmy6LI0lZ2oujNRCU53qH4z81apHCEM2sQUf3qpYa_EZMazgN2g2ULpPWQZspdA7jKpkPcworyrV3xkWscwm1O01BT3wbXPvpXjk3-dmwtaj3JKnNIuz7N9kBk2WExdK8ym5pfM2rAomCIM3VYfKsDOGUYyoSFErR905gl88Pv4VA7plimqrzze4ABgbQ9UC9JYa9d8wWtnffibcSsB_dYmyMHKf31sFSVVCN5duc3QhJUOIz1yz5DfeV0RaF0ir7BzmwCqsv-pgVWbx9YdDzJKewZhKkL04yMTgnyVGCVFpFNV_sVT6WPiyPPRDOXYcvBAyMQtET30sqkuOMMWrn-zThitQ6BT4GYfMt3KSoFR_i_qmIgmVXD0Ng-OnTl59gI5cghp5KJtO57u6UZ7pMjXVpu3KS3s_95BZRY5eO_pTcZeei_8RzQqSwTAZ5WlUnmnN1Ks2kXDMkMYwt3w8OtkFaOp3clnRsGeKkbor7rWnBHqt8Mu13jYp_B1LnxxPAnB-K3hJ01hp6515UEnrnsqemaCjJx5vLP6B9G-VVOY802ae5hc1f_WaStlqgzkkKXPOg9SHLOua5qSwcMM-hBtxeWZZTEm9QreUrtwqBMQCRGa4RDorv4hIzarQmXq0CHFSmEpx5fV8e1Ep7wJJF8ENfolWbcE1hWzkHIHZKRW0-GrNq3-OX-brn0gyR9E8lwrJ8Hq3Wv7fYKcnsGXj5iIIrE1gPBQM98OYAXe_o3dEG-JYsO9VNXvAaBicgeXW6QpghgODWLZTygr3D6xI0-F4wmBBMi0jDtViideF0MBX1Cjw03vtbVBvLNGrC2n94Q8dUpr3CEhhwdJgWAwFNk1ezH3xjCbzNRv2-h2bbBttXMDU4DGa6rlqTv7WCASqbp5Z-fipH-VgYpeBrlZnZ_m_x-BpXhU0Fg==",
  "id": "rs_052e2af7f11b3654016ab495d5976c87d08d5c146ebafc7652",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_z\":0.23,\"right_gripper\":0.45},\"note\":\"The gripper has not yet reached the wider setting. I’m making a short, controlled lowering motion while the jaws settle, watching for the bottle to rotate downward.\"}",
  "call_id": "call_V1ap2EaaqtMNyZL5An5z5p3B",
  "id": "fc_052e2af7f11b3654016ab495d5e79087d09b7535b39ebd5e51",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_V1ap2EaaqtMNyZL5An5z5p3B",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.6159, -0.3786, -0.0257, -0.0292, 0.9983, 0.458, 1.5417, 1.3479, -0.4755, 0.2787, 0.1551, 0.4492]\nstate[eef_state]: left_x=0.2969 left_y=0.0022 left_z=0.1835 left_yaw=0.0004 left_pitch=-0.0061 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4258 right_y=0.1597 right_z=0.2389 right_yaw=0.1146 right_pitch=-0.0691 right_roll=-0.0346 right_gripper=0.4492\nstate[joint_eff]: [-0.4034, -1.6615, 6.5162, 1.8291, -0.022, -0.0513, -0.0122, -0.6085, -8.4034, 9.7299, 1.9365, 0.0562, 0.0708, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a169cec540db358419980945eeb9e638996a3a3c6e3dc8d3185c04aa569adfa8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aae123a2c909e5083ed27771dd1e3177679403af34dddc6e423be69d927aff10",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b99a5d9186c5a398d785a469e42014dd0fa78bbaa978edd94475421e430728e1",
      "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 10 attempt 0 · /responses · status 200 · 4.689 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 26 changed as sent

message 34 changed as sent

message 38 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6159, -0.379, -0.0257, -0.0292, 0.9983, 0.4583, 1.5578, 1.2842, -0.3813, 0.2871, 0.1574, 0.342]\nstate[eef_state]: left_x=0.2968 left_y=0.0022 left_z=0.1837 left_yaw=0.0004 left_pitch=-0.0057 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4319 right_y=0.1613 right_z=0.2219 right_yaw=0.1071 right_pitch=-0.0537 right_roll=-0.0327 right_gripper=0.342\nstate[joint_eff]: [-0.2667, -1.4154, 6.8034, 1.8388, -0.0171, -0.0757, -0.0122, 0.1436, -9.7709, 10.1265, 1.7705, 0.2662, 0.2857, 0.1929]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.6159, -0.379, -0.0254, -0.0292, 0.9983, 0.458, 1.5417, 1.3479, -0.4755, 0.2787, 0.1555, 0.374]\nstate[eef_state]: left_x=0.2969 left_y=0.0021 left_z=0.1834 left_yaw=0.0001 left_pitch=-0.0065 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4258 right_y=0.1597 right_z=0.2389 right_yaw=0.1144 right_pitch=-0.0691 right_roll=-0.0343 right_gripper=0.374\nstate[joint_eff]: [-0.212, -1.6889, 6.6256, 1.7802, -0.0317, -0.0024, -0.0122, -0.5812, -8.4171, 9.7846, 1.8926, 0.0659, 0.0952, -0.1245]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.6159, -0.3786, -0.0257, -0.0292, 0.9983, 0.458, 1.5417, 1.3479, -0.4755, 0.2787, 0.1551, 0.4492]\nstate[eef_state]: left_x=0.2969 left_y=0.0022 left_z=0.1835 left_yaw=0.0004 left_pitch=-0.0061 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4258 right_y=0.1597 right_z=0.2389 right_yaw=0.1146 right_pitch=-0.0691 right_roll=-0.0346 right_gripper=0.4492\nstate[joint_eff]: [-0.4034, -1.6615, 6.5162, 1.8291, -0.022, -0.0513, -0.0122, -0.6085, -8.4034, 9.7299, 1.9365, 0.0562, 0.0708, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a169cec540db358419980945eeb9e638996a3a3c6e3dc8d3185c04aa569adfa8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aae123a2c909e5083ed27771dd1e3177679403af34dddc6e423be69d927aff10",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b99a5d9186c5a398d785a469e42014dd0fa78bbaa978edd94475421e430728e1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJXeEq9pSdBiennRcVlytZ17NDwqUdj6DwDBbhUDL55uWlb0pXxLG62FAd1y5kFYspGytnFulvdXGKqKc7_nyOufk67IKqNxbwFjP4nKJZoB9mhDSc5sbwfkHNbFmVon69HNbmkC-djq97kY5ppMXes2Knm-oNBfXWLU3rJm4sbh-lgm4fCKtM3n33PwPenKvzAmpvs30NPfOphZEIhU3knibWSg1XuSM4SkVq7Gp-qq5P2m-LqYjlsXdGUSDQ9Vs0vriAK7uINy-XRoBvwMrCZd4zdxZXZLsIWyoy6KClUcyf47NeLPAFepigSe3gK-A7mnXJGwRGYY4r_fO4oKRuaUCmmK-s99VtDkDy0wiBMgiuofy8WcKJmVqpUjD82zPD_JndVJ_1DaP2gI8GPgBUK7aotl7MOtGWZANtJwXwkV2m174XbWgP6w8Oq_C07RhMRAvPoaXwr9t093blY_Q8t2e2BhC5lFXwcYop-SYHGvtfCKkpykidL5gpNx0Gmya3uUvh78vaVW-u8vyMuSQFffm5NNXT89TbcNUnX541BXX74XBUHagkI34lsL4_oHBxwsN8KA1J8Oc8rAQd0Zw_ibQipqmY1mpa2hcOpnLsifwEWBaA4UnfX58x2HhUkY9fXIrJNQNetSr7SDEM2daqe_NsZMhfcrGXksx6Cxujf7DTk8c4mgw78kXeo8rxaxapwzGHo6-KLmCtLDVf3KU4br3fl5RS0newRifxscrq0Mx7uOGukoFsTO3vD5M_ZR_BAI-pOBK9TW066yyqc5KosflAdm9fFxh9a1D2rkfGJTQxFPRVcOuVoJIAlyCQXFCjeDQcUYqSxWdUT2eTrVL0OdLSOyoF1VoJmrvHASXWqHo7DDCc9g6_v0RCiKDXNnpBiosyornNeVZVAClr25w9ARM32H2ChmRQqL-Zn32z-cw5ev7S3gOuzUKnw7ek9Ty6GPAif_lwi4kO8pwjasCSkShO9u8WrclG1MOXAt6AEqViyvwUuEZMIyv3QehBWtlt0IrRsqTh_1wwkXJLdEUr5d2uR42cV1w5mYQYfS50TxnwMQ9JuB1h0KNVjGG-re84wPQuJPx8D-rHim9As5tx6Ut8BnrovfDCdp-_0wNTWaN0c9QuymrVZ3sJ1MXEEntGOjDuNLtxPUGKmBQrjuPf-T2rPACPialp4Fs2tAAC8DL_7s1dD8q_CsDaK4yGWsLtMruJ5-9CMQHSAiQXZcTYeXc93T4WEGEwHbobCpLjQJToBIKLhjEtcF0EACPrkMraxR5SgaCLmuDBrGZpQQENfMqMUyZYFv4GBTDNHtcGEu1tAZmiwsECEDHD8VE3OOgJGdSKacVuT7EmyfyOkfQq_sLA2RYO8dEOHsrGtT6P0GpIYWhbUMGgLrtX5qfzvkg6LD0_JaUPb5Th1pDMnAQmNrXMg-BHKxDxmX0Knw9_qFevOVHYfsXnrvrE63WuDBiiJZbNn42XGYWDAlGpOwFZlKys99dg0mH6vqtvTKsDJeCjCNIi1G1YI5VAzf7uJXKleyd7U2g7TONAeJFThXGBGgbPARtLRzsjr9YmRMUn9poEdJOkYxPUlRt1aiSZx68DiKmcqE0vNVlG4XYP--ijN7ncYIxsKojlWMgWcdTw18uthdESXepU6eJrUd7zAQxXQ03meZeecvOgnOFpqKwxEtSh3IG11Nk04oIIr0hzcwAc5rwS_abLlo9xm-r2S-Zq5Vk5yB5KR-udZqg2cqikRMwik16QufnCWt-9uKJWNA0KV_aCLv9HZvAStVF90nyl5GlYhm8-HgihFozhw2mCp3JhtK_PUqpsCQtWXF0OCla5lVCfL5bkpRWPYOowy38u3qadyuo9CPBS1Uz9o50gGGEIivRxXFUPAbqfrTFV3i6SD5za-OHHH8XD8VPEOB29l-xIq7nFjjcnE-XaYPXYoxHiKdOqFKlJvrlotx78Xs4uADLSzWPEs5LBq0PCwnLOs6nSd-RwM6OnOd0_jnoNPHiHO95SxgWbnZrLWaVaZ0wDxyOHK0Bf9ln7YGqpniF-yyeAClIj7aZceblXWGH6yRxuRS8-UlXSfnBzobL3B9KnliyjRZdmo-YnmhoAzlfqTvZHWdaQbphB_LbPsAN1ntFA-GZmjJwcCGuOFrJIS2wNV4VG7eEK95dQAf6mCC3urkugE0MzM4UUA7kgz9lo4UL4_ix1Rd3FRQpRDwfuWRUGU3Poa29qhh6FkZR4Ngsb5nuDIAV4_EQNLcZv0yufe7-o7Sepa2YcONkfvXSgHnI7kJlc8RBmN10Yxh9ZUAexwMUL8FYcwxN_lBx63PEdGGiMxEqRTuySn4QeaV0JxpAXvdzqsULiHS5fukEOpDoiIE3uk-t6J3qTF4xlljtyebiyvQM5xl3Jn071SmAnC7cYmxwPgvjVp1H8d1jl4nTUvRy0ibT5Zr6ok478p-2uoZLCP59MZWCIRAqq5M3Dx-SuUjXvGOX-pkUKIqAosqxeWBS-HmR4wLInCTO96YlXdJy5J2WmoV6ONaIhwylxNW1XHT8-gmQeTsC3IAhuiPkmSfzKR4ph7ElbGbVbwFCDfSrPelWKWYYfT98SfGfKilfp7fmVcB-C32pI0XceRmtBK822TJBF-JhgZ1gBpMvpdsZUEcw8A4UVpPlVOEkeDXWwKBBoPVuqbW5T89-Fw4YX8ydlco1I6GQhFA9YnBvqUbh_prT1PwtWXtAqzf9ouMuZc=",
  "id": "rs_052e2af7f11b3654016ab495d8f01487d0bf34565d91b18ee8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_y\":0.15,\"right_z\":0.17,\"right_gripper\":0.42},\"note\":\"The overhead view now shows the right bottle hanging beneath the gripper; the bottles still visible in the wrist view are its neighbors. I’m lowering the hanging bottle toward its base while maintaining a gentle hold.\"}",
  "call_id": "call_UiHfupbU04jhyRVH2GThpE8P",
  "id": "fc_052e2af7f11b3654016ab495dd7a2c87d09d1479e8273f3d82",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UiHfupbU04jhyRVH2GThpE8P",
  "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]: [-0.02, 0.8021, 0.6159, -0.3786, -0.0261, -0.0292, 0.9983, 0.458, 1.5417, 1.3479, -0.4782, 0.2752, 0.1555, 0.4215]\nstate[eef_state]: left_x=0.2969 left_y=0.0023 left_z=0.1835 left_yaw=0.0007 left_pitch=-0.0061 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4253 right_y=0.1601 right_z=0.2383 right_yaw=0.1172 right_pitch=-0.0723 right_roll=-0.0332 right_gripper=0.4215\nstate[joint_eff]: [-0.3487, -1.5932, 6.694, 1.8632, -0.0171, -0.0757, -0.0122, -0.5538, -8.4171, 9.7299, 1.9512, 0.105, 0.0611, 0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4efacf36d08cf03254d88c083efe08171665a595c487cf97251d222f2bc0c59e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:849baa8c34c4d154da2353620681d60e6288187286d39aea6767446ba517f491",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf26f0bfa0e847bb299f2b61ce63c3cca7e661e4e0dd2719edd55f5c7a517a72",
      "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 · 7.389 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 30 changed as sent

message 38 changed as sent

message 42 changed as sent

message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8013, 0.6159, -0.3786, -0.0261, -0.0292, 0.9983, 0.458, 1.5417, 1.3277, -0.4538, 0.2825, 0.1612, 0.374]\nstate[eef_state]: left_x=0.2969 left_y=0.0023 left_z=0.1837 left_yaw=0.0007 left_pitch=-0.0053 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4264 right_y=0.1593 right_z=0.2342 right_yaw=0.1082 right_pitch=-0.0668 right_roll=-0.0314 right_gripper=0.374\nstate[joint_eff]: [-0.3487, -1.4838, 6.5709, 1.8486, -0.0513, -0.0708, -0.0122, -0.4444, -8.4171, 10.865, 1.9023, -0.0122, 0.0562, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.6159, -0.3786, -0.0257, -0.0292, 0.9983, 0.458, 1.5417, 1.3479, -0.4755, 0.2787, 0.1551, 0.4492]\nstate[eef_state]: left_x=0.2969 left_y=0.0022 left_z=0.1835 left_yaw=0.0004 left_pitch=-0.0061 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4258 right_y=0.1597 right_z=0.2389 right_yaw=0.1146 right_pitch=-0.0691 right_roll=-0.0346 right_gripper=0.4492\nstate[joint_eff]: [-0.4034, -1.6615, 6.5162, 1.8291, -0.022, -0.0513, -0.0122, -0.6085, -8.4034, 9.7299, 1.9365, 0.0562, 0.0708, -0.0952]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.6159, -0.3786, -0.0261, -0.0292, 0.9983, 0.458, 1.5417, 1.3479, -0.4782, 0.2752, 0.1555, 0.4215]\nstate[eef_state]: left_x=0.2969 left_y=0.0023 left_z=0.1835 left_yaw=0.0007 left_pitch=-0.0061 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4253 right_y=0.1601 right_z=0.2383 right_yaw=0.1172 right_pitch=-0.0723 right_roll=-0.0332 right_gripper=0.4215\nstate[joint_eff]: [-0.3487, -1.5932, 6.694, 1.8632, -0.0171, -0.0757, -0.0122, -0.5538, -8.4171, 9.7299, 1.9512, 0.105, 0.0611, 0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4efacf36d08cf03254d88c083efe08171665a595c487cf97251d222f2bc0c59e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:849baa8c34c4d154da2353620681d60e6288187286d39aea6767446ba517f491",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf26f0bfa0e847bb299f2b61ce63c3cca7e661e4e0dd2719edd55f5c7a517a72",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJXjhS_KCHecq4soFNS28ZH2LCFmTDPa0VHXI7WC5vubx8bDdpX9Aaanni4nwgrsYc9UFFS-bHZDTuZq4yQZqxYFXNJjLJh5m2tmEGt0T54WKgE3SByCBaUt3mwwsdtxniLo2zIo000XsTQ6oaPpS6IJjwFF-k3wv6f0IhjbtMlBQczR5zArXQAm2jLpcy199KUx_l0OG69wAJ07aK5wc6oh0Mkg_4Jwd0ypckm9FclM_3dChKFV0pD9svUv7F9LgVskRC8I_ob5kS2cmRf53NPniTu2gH8IGJf6ZUR1PXeEr43Nug39NDk0tWUqmRPd-TfDeMQ6sDad4uaerswGABpy8YDGY6SZryKWjISv5bszp1d_Ny7nSGFGUR32q-It3ZWDIBdML6IGq6wDJigiBJ2tREVXsZe0kvRCe2jkLkJowK7k4KcXlumGxhgZcWEkBD6oWLwr-4lf_mayyC46vw4bTlt9hLb321XOy5vPpPb5Fcn6gDa0Z_VuRpAK5Yh6sh1ZB1-krph8vcq-3XGRNPx1v5MxgNQ8dSwyiYP5kqiYAliD7oldywmK4rVnKkgBEA3bUguK0sJ8wtmdRH2WoVpV4UGrKD5x_OpjDILZYp_P0AEF8S3Bn8H4nZ-Gzkbg4gAxOG2XkVrAgk4oZs1F8BdsFyjI8IJ0W6sl_m2RvgwmfCDTfQSzsxjBQmoR6V1kYH2q9N0Bpivrl6ntH7V2r5bUZOxlTaXRP1F4joRGrSiD79HRirfJ9JKjPuHldsgqENzKarMaqmqXygNtc4fr5WqaEkRbvyKH-9Ym5pxO3TUQVvbXDVoZTCUQnYxZw8Bu70AWY9nZfx_odpR3TARV-TbzMeUPl1zS6Gurq1pJwaKEhQexY7g2eA832w4amkIowkycR90bU15-DwE963XyCoogfxoA5cJS1huT3f5Wii_lWdI3UAAYl_87tYw3fuyn7k_-P2-3EWKU9ZPbayptXe8twbMD8R99kh0RVTGTVzqrqvCASkqRF1T5O67Dp5KZ4qA5yojjAxYDkUQQueX2637KtJ5fC437wHaPU0aR7zRjKG6XRmwlH9cTw3zAcgsI3LIRJZq5kcpXZm85RPppxquiE48B_meTN_O6LHvt4ETzWaNSi0zwEcVrnvdnVPGZlxQ05y53xo7HAuvM-Zy4cN4LNd5ybpG-ZPjjL0C7M1WDyFbY2RG246tHBijaclsEfPizz2hf_JgwGsvyBjFYVwU1fRNLoQ30J-WybZ3UbxzVHM7vEZkBn__o7JWD80CR57hlko67Al8PY5dAkbuf21cDfsiP6I6rXUTYdXw_i3TFtlncvPwBUOdQnKAbpdqcjT0UxRl9HA-wTivpz0xvhA4-NTaJbB7gVGXjGfVBlF3MZTJCXAH1xBjDm0mMrpCuEkQxND2KhHNHDTHLJ45q82NZLnzeVXEuTwwQRrkgAIEF1qe7VDD3t1dqhXcGSHL6zxfSHRQB-sOBZD2IJYrJpWNas8Ql-fyC-wMKQQjVgyVlClL9vRHWwwlu5cwuO3WgrkHUhtHhkjcP0oUcj6uXYkhrJt1-qvdFFGUdW63rZDQ5XRf7-BJqNtnPhp80ZTHuGQzkO8E9SZKyFKBQNE7y3YQBZsNPLyZI0_0ooJ7StGuNx0UYUJnp_iF-386pZ4s87HXnOrkRKjGIvTfj6grD-c35z7TpbVRP7UkTzDzUcGgpPPCz4GM1vzaRdLdJF38srGFeZwDcosnbNYOwy-pSZOR6805KmB__fMIoWA8isk9FdqQ=",
  "id": "rs_052e2af7f11b3654016ab495e0985087d08cbf95f6072f184d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.14,\"right_z\":0.19},\"note\":\"The arm did not follow the last descent, and the effort readings do not indicate a firm tabletop press. I’m retracting to a less extended pose while lowering, rather than repeating the stalled target.\"}",
  "call_id": "call_uiDKRuexR8bdkImkNMmvrqM2",
  "id": "fc_052e2af7f11b3654016ab495e25f5c87d0a3509ead511c9986",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uiDKRuexR8bdkImkNMmvrqM2",
  "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]: [-0.02, 0.8024, 0.6155, -0.3756, -0.0257, -0.0292, 0.9983, 0.5179, 1.2076, 0.902, -0.2684, 0.2981, 0.1795, 0.4215]\nstate[eef_state]: left_x=0.2973 left_y=0.0022 left_z=0.1839 left_yaw=0.0004 left_pitch=-0.0038 left_roll=-0.0006 left_gripper=0.9983 right_x=0.353 right_y=0.1455 right_z=0.2127 right_yaw=0.146 right_pitch=0.0241 right_roll=0.0084 right_gripper=0.4215\nstate[joint_eff]: [-0.3624, -1.2376, 6.5573, 1.8339, -0.0562, -0.0464, -0.0122, 0.1709, -2.0718, 7.6786, 2.1709, 0.2173, 0.1197, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7c8b0a0ebcf361d10671bba74066092c7fe1e89346a84e481343990b1b673ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abcac6beff8e7f6662343a499c1e0d736bc7b75ee49c10ffe4ecb10b3565eda6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f76eb54c6a70efb10376dcd33c61945b1a4c523123e0956fac3d5bba73875ca5",
      "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 12 attempt 0 · /responses · status 200 · 10.97 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 34 changed as sent

message 42 changed as sent

message 46 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.6159, -0.379, -0.0254, -0.0292, 0.9983, 0.458, 1.5417, 1.3479, -0.4755, 0.2787, 0.1555, 0.374]\nstate[eef_state]: left_x=0.2969 left_y=0.0021 left_z=0.1834 left_yaw=0.0001 left_pitch=-0.0065 left_roll=-0.0007 left_gripper=0.9983 right_x=0.4258 right_y=0.1597 right_z=0.2389 right_yaw=0.1144 right_pitch=-0.0691 right_roll=-0.0343 right_gripper=0.374\nstate[joint_eff]: [-0.212, -1.6889, 6.6256, 1.7802, -0.0317, -0.0024, -0.0122, -0.5812, -8.4171, 9.7846, 1.8926, 0.0659, 0.0952, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.6159, -0.3786, -0.0261, -0.0292, 0.9983, 0.458, 1.5417, 1.3479, -0.4782, 0.2752, 0.1555, 0.4215]\nstate[eef_state]: left_x=0.2969 left_y=0.0023 left_z=0.1835 left_yaw=0.0007 left_pitch=-0.0061 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4253 right_y=0.1601 right_z=0.2383 right_yaw=0.1172 right_pitch=-0.0723 right_roll=-0.0332 right_gripper=0.4215\nstate[joint_eff]: [-0.3487, -1.5932, 6.694, 1.8632, -0.0171, -0.0757, -0.0122, -0.5538, -8.4171, 9.7299, 1.9512, 0.105, 0.0611, 0.1148]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6155, -0.3756, -0.0257, -0.0292, 0.9983, 0.5179, 1.2076, 0.902, -0.2684, 0.2981, 0.1795, 0.4215]\nstate[eef_state]: left_x=0.2973 left_y=0.0022 left_z=0.1839 left_yaw=0.0004 left_pitch=-0.0038 left_roll=-0.0006 left_gripper=0.9983 right_x=0.353 right_y=0.1455 right_z=0.2127 right_yaw=0.146 right_pitch=0.0241 right_roll=0.0084 right_gripper=0.4215\nstate[joint_eff]: [-0.3624, -1.2376, 6.5573, 1.8339, -0.0562, -0.0464, -0.0122, 0.1709, -2.0718, 7.6786, 2.1709, 0.2173, 0.1197, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7c8b0a0ebcf361d10671bba74066092c7fe1e89346a84e481343990b1b673ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abcac6beff8e7f6662343a499c1e0d736bc7b75ee49c10ffe4ecb10b3565eda6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f76eb54c6a70efb10376dcd33c61945b1a4c523123e0956fac3d5bba73875ca5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJXroGuJQMmlngUqo2dW0vOqQp42zmLKU0hDwYYXuk9WPmGrB1Bq9u9OtHUSVpB3dc2zerWBghQ6uEk-XVGv8Sq7sKG_ZA5M3K81No3f5UO2iklnHGfHw15gREgSKxkJFuCRDnWB_5i5noA05ZiwUM4RmfI0Xuxeu8Tcnn5edO2W_YwRNkqjcMRJbPWbLMWLe9C0MzKQjqgQ7A_sW-9VHmyremiR4hpXqbMzQe9NmWE-2OoXvNv3wwK6W6AtPx-wIOWn4vcHtV1shfikiuo8tHQSWbpCeT-E2zqdVqYnS6EfGLk4HquDqCpFxO8-WImgsOI45jJ4NpPuUKkRI-qan9U73dTR8p8m-BMq-X5qHL-wkmO5YUb0xo9o81LNCAc-1Tv8OWzbuCIgTPpk_9xtBubjQfpbzwmz0FDsmU9DfzRhmGtfQgRYEt_tH37GzmZtwaOSPPDmT5HVuXPSFwg8epL86UA_GTLqVrJawiI-FKVNzK60jvZ3RswD1pzkEVsk-tPzUc7nfoUCVbjkFOMaI068RUPHCBbaCyZIp1xERSlgIvnnxdjYQs4PzQvKGfssAKkx3pWyKkjV1C26JFd86fa_ars_ozXZQ8DrJ0b8n3PG7pVPXInseEQcqUh5QU7S7_PowlWzQK52EX41VCOzUfezDUeD-H5geA8ESLp78mKA5oQVPSZPfVwzprtIcLIwJCFRVuHVtyqUHSt_n1ZfYoreitQy6bYr9aBQ1cWiDQFFxPfIE-rUMQxm0s4R7NAUaI0YOs-9U_mtn2yhVen6BNVZXuRas9T3Rie4X_kOfYNiCp_qt9Nv1pyE92TYs6MeZjuv9UL7b3_BUQRDODbFi1RmUoyzk3kSLP5lPM70TD69nsXlcAwpONQkVVRs6k7pVO8wa_SrPunNEcnfA9pLEUnxlmvDCZuLXyutf5a5rJ_qwVfQOCzkQ6wz232k_Ngks7hTDCP10p8CEFgVLp7rHFK08dLpCsQ0B5BW2ka00TqZXVBlHXmaUGmea13uATfODSKIaZt3BCjECAi2AnokFX8GBwVwOGOKdoRghGJQemyQabxcCMnGS4k-jtRZtqhXnjdQ-JIvgtvD-yASYzXAb6_QJFeGzH9U9fnxan7LMvu7rQi2Ens7Uf75guRZvSeHmAIJKo7kKcdu8V8ajpixWGrb4I2hbMrNtogKpf_6m7_nr0woilT9kd-QspbKqWj7tkPhy_KKgIiuqIXlzUsB1HPUWjc1O78v4TQVI6asLNELIp_7eS05nlvEIdzL0xCt315R_QYtDEd5Ezzd0K3WV59slYvmTueczMEcfqT_jpyShcDCEr3YhtygXS-Se0FVXTMA5LnI_noc0fRD59uzPaTxYCHPVv5da_ZmsKE2f5B53gOg4TxKpuetzyQrkXdWyjYEBoZ955o-Hs8uI_toZgRL6h5B1VbICeF9RVXi9TDupHbpCfpi70Dxy8P_QkjLr3HE8qGYMLsQE9L7ApGKHku_GxIjn3EcSJL00OIlL7Z9XF8ysRzkk-jPUPkMZOSdzoLQyi6Z7ivBuSW4nqDIXGE7Ihse3Z8qLCEQKsVcHi7HSsLXaJGsS2sj3U6B2men5nWM8fzgVqQ84P_c6KeOYqFHxo5p3ZCvZDtnyA5DHotX18d3bjGlbrUDeKWcDs44q20w6VyvCkndiZVNinlQhNO4OGBczdeZxvDBSZGIuornaBUdPffF6NGAuKb_rC4ig9pZdctmaJZECPj4GUWIdXvG_DrPDZ0UBP5cQppT1-VLfDQBPxHNE-uCzoMc87YO8HMhwLShs4jsZJ7axzxsMVMa-CGd47LqS9U8C_9-xJhcDsrwS2YuF5IVKsF3jW-dIOpLNHi-EkSHM_LpSLK9-4qxJwajD6qVo0ivlAwFLwZV5yReF9gb2gCxaeVSfC8qxqCmGkGsN2WTnx_TBknxUWjnSVeDZq67OPYr5hipNUKNN3DUouMf6_OHblYyitcIrzrRfU3AklST5FArQ-c_R9Ag5x05NXXLgn2I7pUqhtZfe62p-T9uwMXVYviKgUU_e_4NjYjHpK1SOSkKtjB88DOtrTANcR4fWIHdIEqoGZlLhlHfGU_yXGzjNQfIXsEGtrYRxy9M7rfNywK_roSBh17nAAQWghaNCDyr7OwnIA42EpqyYjbgyDRO1WSCbYHwKPWgRZba4pkKF5SSTRnuQs5eVzff0nJcGQ_5qMcm8cZtQU81MB0n_5MI_PftDsQiddMe8KE-P06muwGdbeqj4AFVaowOQgIIaO3nc3mZaizDhq-POgYmhwjE7JZrjsfy6ND3w8D3ogbsmW0FLYdQB9AGInbIGG00aJNcpt856wEXcLsEMov-2jVk8ZZo7sw425Bndc8LpJldKUF8Zdql3b1PJST_3-v6pg49Xu4TG1Kf2h9pSFKiXEabbDZeGexd_399ss2dIHYN70RSj28OywqOFG744dnpfZuCo8F6jhM6qK1U-2g1B-RmTMl1Ug2tuymg",
  "id": "rs_052e2af7f11b3654016ab495e5e25487d08ed485f593af3a17",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.294,\"right_y\":0.004,\"right_z\":0.185,\"right_gripper\":1,\"left_x\":0.44,\"left_y\":-0.055,\"left_z\":0.14,\"left_gripper\":1,\"left_yaw\":-0.6},\"note\":\"The right bottle appears to be standing on its base after the loosened grip, so I’m clearing that arm to verify it. At the same time, I’m positioning the left gripper above the left bottle’s neck, matching its diagonal direction.\"}",
  "call_id": "call_5vYDqgmFNES44qJj83Ok4cp3",
  "id": "fc_052e2af7f11b3654016ab495e9ad6487d08d6652fbb01802d5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5vYDqgmFNES44qJj83Ok4cp3",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0738, 1.5879, 0.9226, -0.0555, 0.4866, 0.3206, 0.9988, -0.1337, 0.8272, 0.6395, -0.4076, -0.1886, -0.1493, 0.9974]\nstate[eef_state]: left_x=0.429 left_y=-0.0475 left_z=0.1228 left_yaw=-0.5199 left_pitch=-0.0646 left_roll=-0.0469 left_gripper=0.9988 right_x=0.2973 right_y=-0.0029 right_z=0.1831 right_yaw=0.0798 right_pitch=-0.0134 right_roll=-0.0048 right_gripper=0.9974\nstate[joint_eff]: [0.0752, -7.7607, 8.1162, 1.6825, 0.2222, 0.3101, -0.1294, 0.6085, -1.7846, 7.2684, 1.746, -0.398, -0.0317, -0.1441]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c916938d4f18e68bfa6d4f63830218378d53f1f35357ba1a841295791eda5e3f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7ff9216004ea85aa69e837084d84c60c0dd9edf26c0092433d070a92ab382bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38ee349d9501d69b4a4d283e56b9b11e8981b2408b0e1bfd747a5419cddd0c90",
      "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 · 4.491 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 38 changed as sent

message 46 changed as sent

message 50 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.6159, -0.3786, -0.0257, -0.0292, 0.9983, 0.458, 1.5417, 1.3479, -0.4755, 0.2787, 0.1551, 0.4492]\nstate[eef_state]: left_x=0.2969 left_y=0.0022 left_z=0.1835 left_yaw=0.0004 left_pitch=-0.0061 left_roll=-0.0005 left_gripper=0.9983 right_x=0.4258 right_y=0.1597 right_z=0.2389 right_yaw=0.1146 right_pitch=-0.0691 right_roll=-0.0346 right_gripper=0.4492\nstate[joint_eff]: [-0.4034, -1.6615, 6.5162, 1.8291, -0.022, -0.0513, -0.0122, -0.6085, -8.4034, 9.7299, 1.9365, 0.0562, 0.0708, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6155, -0.3756, -0.0257, -0.0292, 0.9983, 0.5179, 1.2076, 0.902, -0.2684, 0.2981, 0.1795, 0.4215]\nstate[eef_state]: left_x=0.2973 left_y=0.0022 left_z=0.1839 left_yaw=0.0004 left_pitch=-0.0038 left_roll=-0.0006 left_gripper=0.9983 right_x=0.353 right_y=0.1455 right_z=0.2127 right_yaw=0.146 right_pitch=0.0241 right_roll=0.0084 right_gripper=0.4215\nstate[joint_eff]: [-0.3624, -1.2376, 6.5573, 1.8339, -0.0562, -0.0464, -0.0122, 0.1709, -2.0718, 7.6786, 2.1709, 0.2173, 0.1197, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0738, 1.5879, 0.9226, -0.0555, 0.4866, 0.3206, 0.9988, -0.1337, 0.8272, 0.6395, -0.4076, -0.1886, -0.1493, 0.9974]\nstate[eef_state]: left_x=0.429 left_y=-0.0475 left_z=0.1228 left_yaw=-0.5199 left_pitch=-0.0646 left_roll=-0.0469 left_gripper=0.9988 right_x=0.2973 right_y=-0.0029 right_z=0.1831 right_yaw=0.0798 right_pitch=-0.0134 right_roll=-0.0048 right_gripper=0.9974\nstate[joint_eff]: [0.0752, -7.7607, 8.1162, 1.6825, 0.2222, 0.3101, -0.1294, 0.6085, -1.7846, 7.2684, 1.746, -0.398, -0.0317, -0.1441]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c916938d4f18e68bfa6d4f63830218378d53f1f35357ba1a841295791eda5e3f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7ff9216004ea85aa69e837084d84c60c0dd9edf26c0092433d070a92ab382bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38ee349d9501d69b4a4d283e56b9b11e8981b2408b0e1bfd747a5419cddd0c90",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJX3Pvw6NUwC84YxzOoQ4OFnMDqCgH7kJXqpBBw3PWAJqvA8S0eUOYQF3Vul9R7akUfYNsFyemG7k_hr9jDdu73CgssCGrmBPYsjDv7ONddDYQLbpqvDZtAlwUzYf7w6Un94Z1maUy5GB0ttiinljM_tiJt1hPiGmTmIRbrImlH6IzjbiYum5RFlvDGRjzxSDHjblvTcvXDl5OyKkIY_lDBqLzuAd8bc9jRvEZsqFKNPxeNOg6-jt4zYuPLyEsoV54J5IS2NIKwy9mBDSFJJSfej1tyYWe9G4Rem_mq1DpKVbzE2up3UPSIzJIqKC4SSM9wLH4WNr-SAvTPTLsjI4nazpAwr6t9tq2cdc0OuI0YxLS2vaMs8aq7qoZ-fWe8DEk8ArqAv5EINcdpJ2VFsXbhgEnOaXCIZeYDRayhYYZe1P2Mbzf_ekm1Sdn-jl5tHNB0IMzC3KMKNuqaV96TRWyvqnqoncaWORs8r86PhSxx0LSZxE1ghkcWqctrKnVLeJaIeZRJfJsKYFz23pC9XqIvP234IBhV1e0j9n48n_DA4SBJAH1nWCTPVimh-Q3lnGGP7aQHlwfdfu5saGGrDIBL05LcolYOUx3Ydnek0OAczGXKG3JoZlohQ-VVzZr4iuEiuuKekDGc38HIcnI2UeMDJ4VyQKhsLlczTmYyEZm3X56UkYAT2cDcG9a3sdWsR4Xoixz9S87ni5MOAVmUNwXEunWCi2pUwGiRxzyhgG90zTinCqgtdpkb6z-2mGj1IJq-vczjvXmCd6PX_SHViBH8UiI7WQ7JIZ1iaJ3mrWwgyU0g0KoSvSgef6ag_kJpZ-987IF3EDZ0UHU0lu35Fpd20VZQ8eRxhThJqsKTECZekfbxgMC7yW3IRVPrcO3V3viaHs0X_3iX12kZz33LqgYhNY8DZgdcZ88TsvcwQgSAVgcvdPW_jj7pGr2_FekK9bkvM9eaMCC1AjbbA2Foe1YxOmBr7YuLV_wh9aHTWIM-jonb-7n3ZiFMgsxV0UxqOArL0Q-Lp3ZVsJr21cpmWGfrjpqY1iM5NAV4hVwuEC3u_CnHYDF27PibX_vMbU_-gTSVtMmVnfTNFD9IUOmQQnsGQgIsbgqWMT6xe_QqtKL_zPnfBHt3uoRR7OPwFxtvlXg6Qdj2sbg3s-o5wOaInnePLW6JK6hQkpnRMAUDTZSDLsZwyu4uI94Txgc7pLA_ko7QXN3QSe7ilx50lq8L_wQZQrWm6G0kL-qs5zKHoAAruUe2gp4lPA_2Zgs_mQO7d6-QhyGLQYICUd7hZ09fhYENAjhLAlH0ZVk9kKgV9l3jdBOwDIAMk_HdRvJ_RDEi12ADacjsnThmB2h8gmLdw5wozDKbf3mjfR3JKYkVX96DggwOkwttuv1tuvknx_Sk-9vDIDvvuRBDVaO5-PmEPM0ruh6VpxTGWQmHLV4w7gBdLnyA0XKJyCNmARfbScECDaeqvq3Wk0FNRwRCTsQvcP2J-f_sHlDMPtaXlvOQ9aqKYgSSMlS1VbPPaGzBHA0bGM8Z1S7B8Ptn7N9NhAVNV92bXM9KF6TITzJ5DuYc5iBZevy-3Ziyg3w-_QxIpWjZLpuxC7AlmsoNV5Wiipu5CItX-7oaxOF0ncAXsQO1fr4dTCScfl-UE8SYaVUsWpTIYyGm4hyNUQbnzjXJ2tS-LuGCjXI1zJ0wGh18QZFoPcno3kQacskHgoy0nkuVBDLcfGN5RZ6oV4MNcjpjjOqQ0ysR4QYWImKfF2ti9jXpAN3wKkCEJdzbH86XN2__Z9fUSvRTVR9YLtn0g5Jk03dlECI3KzsZNeSq7Efar7ZQgg5Q-ijYBbyNHmy5faybJB9bf7HnPZWmoWWLxO4ZZGrTGqVWkcXm5GDHMeaaNpESI5Z6N3Y01lkRZJzHfAiKCLvH8XRnnbv4N5HQCeWvJQaecbLAw3a5qpPIkUMcCtopqakzyzFgb-ZlkRoOD6vvZBO-jc7vnnNlGo2DzVsTNBq1IbvX35PJ0sXd_Qg6Y4VCynmKmiOWQdhV_TbS_vn12rLKWhhYeDJb_MG1SBNtBIX07EWr77-Mp-igEoso6VyMdhpeUEumuG1hydonA6ePP2hQA5iAsuk14elM8q7izlDOX0dMhiBBZo_W42LHOMrKIoRocvcwZ8HTckj8KzUsq5WTwPdDrc73GUrHWGIHvMyj9JUV-MYmMouFT2RCVjQVzaIrJKtNZx0Qge1xL0kC4pf6loMxk_e7JgkqJTN03cek5EyRtwTSsfoj9po3VTrIuKxXiyDPhvyNCC51EhuFP11_mbf6p2Gj8HbQDY_51Ny5BEQXdEx3LmTRB4xw4hf4-oiMIhCqf_ZxGxai4gGiO7xRhIoFrJoiDGgrvn6yY1AxcP85hb5LxITyMVCzrLyG79UaUHhlbVl5YxJlPiDnxv76py0izIfz5R05M_GwvC4Ni4jXlkFgqKFcjQex4fxsj7OV8DkddpDawZXYx9eSd6zcaFMfUf8WNvBTgy0wcy-R2UtFoAsyq1i9PMPCam0vX8-YKXMFJuin9SrfjeVQovjISgViRClEGfKFhhFngNCd7JpV40mhO_Bcx76NQsGxz9Avyk2XcJVyokovPspfdQwFla0KvM-peTBVmEPx1SlshAkWNFn7f2lZJLkWGkOO5lIU0XLl8u4pUM_j3RhvKy2cibyGecSbo7JCsRhry07FQF9gVBprJ-ynOIbZEPeqcLfPUvN9oOku6BzLsl27ALvo12ZwucSloB1ru0V5TTG2kAotJRvaWitLC5sRFy5MO6msxDXbcY1DSaFF1OCsf9UHb1e4q7wfbGXXpWYC8UGPa9KIlbZ8KHAh0thbX25YLUQPZB_Pozqov1g2SkeQiCvZeWii33m02Xi8oXPnYMAcNJmzyQJjGwEZu0VlnpxEOMSuW5DKFEVlWJpULLRw-6mRYyRu1jEgZ0xRPHZTSdADmtcwHWyBgpxFQCYBCiTVl-TbsLV3PIdtcZRv6ruEvIO1hgFM9yu8zZ60-Iz_yP7ROIMMzZr4TmN6ZsmxdHkyVN5T_UXIlxP4D8mlG1_hdRLZPTv0UlsbY9jVlCROf9_5CUQdvu1ApvoOpKLd34WDeTIEze_iKFMwpxEG6lwhuClqDDqETsnMvfg7D1ds8PRIlvM5izi0EjCW9IAQe9ry4EI8brMgjuEcw7z3nq48O0IYArZr5UyO0FUeg8ZwlrbXcwxzaaXdB5XLv6NPuht-Lo5cXHo-7Y1qrN2UVXZ0yR79WKtmJYFXPlyctkDjoRc6MkH5Fv-mXLuVEmh-80yrvBuoDx988Nbvwj68t6EUbCOyySgJhR_C8-IWpUoikYUZexLGEe0hpHrm3fFeZgIB1FZQqdoeajvXEdF9_igggRDkyG8rTULauA_3NCdO1loDKKOrkyRfC-EtOgbaEuLZ7SNLojBYvYRkHQIWAXfRRIlYMeB4_",
  "id": "rs_052e2af7f11b3654016ab495ee845487d0b1db2e5c3eddd9ae",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.5,\"left_y\":0.005,\"left_z\":0.03,\"left_yaw\":0.7,\"left_gripper\":1},\"note\":\"With the arm clear, the right bottle is still lying down, so the first grip did not right it. For the left bottle I’m correcting the jaw angle and reaching farther toward the cap, where a light pinch can let the heavier body swing downward.\"}",
  "call_id": "call_47AsmTwlknq2cwyfHHz1dymz",
  "id": "fc_052e2af7f11b3654016ab495f5b8e087d09124074e997fdc77",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_47AsmTwlknq2cwyfHHz1dymz",
  "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]: [-0.2367, 2.0579, 1.1343, 0.2634, -0.6144, -0.4702, 0.9989, -0.1406, 0.8234, 0.6235, -0.4225, -0.21, -0.1623, 0.9987]\nstate[eef_state]: left_x=0.5192 left_y=-0.0168 left_z=0.0547 left_yaw=0.5016 left_pitch=0.0336 left_roll=-0.0317 left_gripper=0.9989 right_x=0.2928 right_y=-0.0006 right_z=0.1744 right_yaw=0.0979 right_pitch=-0.0369 right_roll=0.0024 right_gripper=0.9987\nstate[joint_eff]: [-0.5812, -9.6068, 3.8359, 0.8718, -0.2173, -0.2955, -0.1294, -0.1846, -1.6615, 7.2274, 2.0, 0.0122, 0.1294, 0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1ab4ef6ac166eaf67f6b6be4db8f71b66fa27cc550b608eb091dfb00f14a88d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9097db157a96067d70a523756c171b035f9e51e1c969ab1cb9a1de2982cbb1b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b192e32765346bd0f45eb3b54930eed4e1c3e18cf1103ed93b064f30dca4617",
      "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 14 attempt 0 · /responses · status 200 · 3.652 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 42 changed as sent

message 50 changed as sent

message 54 changed as sent

message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.6159, -0.3786, -0.0261, -0.0292, 0.9983, 0.458, 1.5417, 1.3479, -0.4782, 0.2752, 0.1555, 0.4215]\nstate[eef_state]: left_x=0.2969 left_y=0.0023 left_z=0.1835 left_yaw=0.0007 left_pitch=-0.0061 left_roll=-0.0003 left_gripper=0.9983 right_x=0.4253 right_y=0.1601 right_z=0.2383 right_yaw=0.1172 right_pitch=-0.0723 right_roll=-0.0332 right_gripper=0.4215\nstate[joint_eff]: [-0.3487, -1.5932, 6.694, 1.8632, -0.0171, -0.0757, -0.0122, -0.5538, -8.4171, 9.7299, 1.9512, 0.105, 0.0611, 0.1148]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0738, 1.5879, 0.9226, -0.0555, 0.4866, 0.3206, 0.9988, -0.1337, 0.8272, 0.6395, -0.4076, -0.1886, -0.1493, 0.9974]\nstate[eef_state]: left_x=0.429 left_y=-0.0475 left_z=0.1228 left_yaw=-0.5199 left_pitch=-0.0646 left_roll=-0.0469 left_gripper=0.9988 right_x=0.2973 right_y=-0.0029 right_z=0.1831 right_yaw=0.0798 right_pitch=-0.0134 right_roll=-0.0048 right_gripper=0.9974\nstate[joint_eff]: [0.0752, -7.7607, 8.1162, 1.6825, 0.2222, 0.3101, -0.1294, 0.6085, -1.7846, 7.2684, 1.746, -0.398, -0.0317, -0.1441]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2367, 2.0579, 1.1343, 0.2634, -0.6144, -0.4702, 0.9989, -0.1406, 0.8234, 0.6235, -0.4225, -0.21, -0.1623, 0.9987]\nstate[eef_state]: left_x=0.5192 left_y=-0.0168 left_z=0.0547 left_yaw=0.5016 left_pitch=0.0336 left_roll=-0.0317 left_gripper=0.9989 right_x=0.2928 right_y=-0.0006 right_z=0.1744 right_yaw=0.0979 right_pitch=-0.0369 right_roll=0.0024 right_gripper=0.9987\nstate[joint_eff]: [-0.5812, -9.6068, 3.8359, 0.8718, -0.2173, -0.2955, -0.1294, -0.1846, -1.6615, 7.2274, 2.0, 0.0122, 0.1294, 0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1ab4ef6ac166eaf67f6b6be4db8f71b66fa27cc550b608eb091dfb00f14a88d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9097db157a96067d70a523756c171b035f9e51e1c969ab1cb9a1de2982cbb1b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b192e32765346bd0f45eb3b54930eed4e1c3e18cf1103ed93b064f30dca4617",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJX8K7PdspVGknA7JCCAgkFDXodqUi-tc-HRFkBBPvTdoJeqcngTA_ByN6xBgGLvfCaZDXcX_oAsVbjzdw659VZVKyE7ny2QPU9AtS5AcqY9IU8Ki68e-UWhXEzM7zhh94fnhTK0M1OeYRaPFdhLDoYNqYpK26YcBokM0UCYyt2jpWb_qZ3_9sNIkGQlBTPnMeCr87TaLNCVcm-8-Nr1OoPsTnreTkp0f0Aty1at0Dk3r7LqwtQ26WSOkdZMyORoWHqRYmDig28pNppKyFkhXZC1jtJw7uRXTnSKWZnX_s6kLI01_iAerKu5IKyaT41H4dAUsgdNkUx1VEz6zzLP3aoWS1RXTl_w-_gUdXYBi32onIy7BDcgeeEUfyJIQ9mO9fSp-SegDT5Vhg8qY66SfqNGSHdm9QWMiGnm7JlU6VovzAVfxl07gIWgpF5ZDCoPRREBy5NJMEthYOS6z91XP6H9NUbJrtOOu29FM9ZPtEXuwOx30aj6ElEE_3_uSwSSJpg034ONdpx5mf0hFTzqvqyh4LyWItsaI-QANljUAa2vf2gRUi-XmoV3gz3x47OVHK8Yxe0Pa-6Y92PfAsXhEgA4PKy7Ij0UeSZuHCeKIaF3AmzPHLh0uVUeE8xoF7lfplKOwZUr2355YvYq_JC4vrmMncxcxBwPPhHTBeNucz_5HLy-ScdrpgCJLwD5Lj_6IXxJNonpx4Yto4LRSw7QkIo-aq134r5myiZI9gNGs0c_awuhmE8Cx_6JG4EfpVUOKa7Yfbn-Tj0osdqOmaoC0p-3AKmQcOIPscnwBsGEP5EVIvQ0AygJFn6H5gkrlV9kwXa_o6n9ZlWtfhDt2CQR6t3zgV6zHW4hCcClNjMlABjwpc-_YPFHjVFtymuUcdimJrDkq2-KkVuWCduJimHVKnhAUg-Z9gIseyb2o1iHJjvbQnxAsRbLd_-X8-FtjFziKPhTpCEmZZ_PmkGDL4srsUSk2k8g5VyqlYxQ2rfMotqTDoWTnBebW3l-8aWAmqz-353QqwofHXKHqqQ_BhXKcnnIp2LijY6Z1kFtsEVRPGsWbGT4TQzq_9ZpXJ7N-exLrkYd6ej-0aXY7R6m01HEL6rcrn6mXjmES-fGsVjZ6dfKHVJtt7GXcVRjFrUoi6LEaWYl2lVa4dB1ICUKSgXkERr078xhEt83ZkbIx-cjeEJFFs8p5tguwRfgCgrS8PEtMCxqAouCDEiUnDa6okRUbdNGZREWeJ6mx_DkUNz62htfXsN7dooUmFhq44HGJpkPT8JRRCIZk2U48R5ERHp8U0M2m3FvOYhodnq6oRjYq2UWN0xPBNRRk0131H0V58IhbkgWgwrtGIqVA-HXdZ4IYQOAwj6wfBTZjHnWtyE9jOh7pbEmTb-5BKXdfN-l6FnFVretaWDVaBjRrNN1RlYSSp4rbIH0jkI4nssCFPJ-f1rByB7cNKUrO4RPqW0Y0zRUup8D--SHKydHTABu0D_6Dr_Dxv1iylhPRTGMSrnXtX71yvdS7QfZhsu3yt2R9WMQknOIqS4VSSzrEng67ir2Ang_NJE5oheii7gPH2eDCPqkn5JB5PHYzjA6sB3AeYwtInuJnGIBJN9xzqJk-imoM9B4sg==",
  "id": "rs_052e2af7f11b3654016ab495fa444887d0ad2c8e550f6bacfa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.005,\"left_z\":0.025,\"left_yaw\":0.7,\"left_gripper\":0.27},\"note\":\"The left bottle’s cap is now beneath the gripper rather than out in the wrist camera. I’m lowering the last few centimeters and taking a light, narrow grip at that upper end.\"}",
  "call_id": "call_UNSQHA1J2b2TBPResqCjSBW1",
  "id": "fc_052e2af7f11b3654016ab495fbbe9487d0929d66b383aa72a3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UNSQHA1J2b2TBPResqCjSBW1",
  "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]: [-0.2699, 2.0937, 1.1534, 0.1356, -0.7536, -0.6559, 0.2755, -0.1444, 0.8085, 0.588, -0.4026, -0.2134, -0.1627, 0.9989]\nstate[eef_state]: left_x=0.4984 left_y=-0.0087 left_z=0.035 left_yaw=0.6677 left_pitch=0.0052 left_roll=-0.0215 left_gripper=0.2755 right_x=0.29 right_y=-0.0007 right_z=0.1664 right_yaw=0.0972 right_pitch=-0.0371 right_roll=0.0043 right_gripper=0.9989\nstate[joint_eff]: [-0.7863, -9.4974, 4.6017, 1.2576, -0.4762, -0.0806, 0.0513, -0.2393, -2.2496, 6.8718, 1.9267, -0.149, -0.0073, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c57d861d95c9ff97f0c9c47b02eac579238e6d6402584aa62279b38544c39f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1670b7c946c7db4bde3810319d9d4aa00782f77a1e279951e57d00b411bbd25f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa3b3f8e8e982d6a21ad786bb974a1c5944c5bada24edc5b0cac79f359428a4d",
      "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 15 attempt 0 · /responses · status 200 · 11.41 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 46 changed as sent

message 54 changed as sent

message 58 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8024, 0.6155, -0.3756, -0.0257, -0.0292, 0.9983, 0.5179, 1.2076, 0.902, -0.2684, 0.2981, 0.1795, 0.4215]\nstate[eef_state]: left_x=0.2973 left_y=0.0022 left_z=0.1839 left_yaw=0.0004 left_pitch=-0.0038 left_roll=-0.0006 left_gripper=0.9983 right_x=0.353 right_y=0.1455 right_z=0.2127 right_yaw=0.146 right_pitch=0.0241 right_roll=0.0084 right_gripper=0.4215\nstate[joint_eff]: [-0.3624, -1.2376, 6.5573, 1.8339, -0.0562, -0.0464, -0.0122, 0.1709, -2.0718, 7.6786, 2.1709, 0.2173, 0.1197, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2367, 2.0579, 1.1343, 0.2634, -0.6144, -0.4702, 0.9989, -0.1406, 0.8234, 0.6235, -0.4225, -0.21, -0.1623, 0.9987]\nstate[eef_state]: left_x=0.5192 left_y=-0.0168 left_z=0.0547 left_yaw=0.5016 left_pitch=0.0336 left_roll=-0.0317 left_gripper=0.9989 right_x=0.2928 right_y=-0.0006 right_z=0.1744 right_yaw=0.0979 right_pitch=-0.0369 right_roll=0.0024 right_gripper=0.9987\nstate[joint_eff]: [-0.5812, -9.6068, 3.8359, 0.8718, -0.2173, -0.2955, -0.1294, -0.1846, -1.6615, 7.2274, 2.0, 0.0122, 0.1294, 0.1245]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2699, 2.0937, 1.1534, 0.1356, -0.7536, -0.6559, 0.2755, -0.1444, 0.8085, 0.588, -0.4026, -0.2134, -0.1627, 0.9989]\nstate[eef_state]: left_x=0.4984 left_y=-0.0087 left_z=0.035 left_yaw=0.6677 left_pitch=0.0052 left_roll=-0.0215 left_gripper=0.2755 right_x=0.29 right_y=-0.0007 right_z=0.1664 right_yaw=0.0972 right_pitch=-0.0371 right_roll=0.0043 right_gripper=0.9989\nstate[joint_eff]: [-0.7863, -9.4974, 4.6017, 1.2576, -0.4762, -0.0806, 0.0513, -0.2393, -2.2496, 6.8718, 1.9267, -0.149, -0.0073, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c57d861d95c9ff97f0c9c47b02eac579238e6d6402584aa62279b38544c39f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1670b7c946c7db4bde3810319d9d4aa00782f77a1e279951e57d00b411bbd25f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa3b3f8e8e982d6a21ad786bb974a1c5944c5bada24edc5b0cac79f359428a4d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJYBDIX7pNFa1_F6Xb1VFNYNgI-A-P1mLfe9Gt6IZjTVZz8k0VPysCMZdzkMWB4t0KKDeW3kz6fxN09BBIJzmGka97Hw1rKwgb9pzJ6QRjgmOD6yIPLJ2fcJ5QDm4GlNPiT79fxgdbf5g4lpUYopRyhVdShlRHb_iXm7JJyamZ-7qKkIkmLOBu2YPyXGY7KazTZcfKWQlqCOOXAMDgAqe6lMEJ7sXERvGEntOokSP6xkXntqzgCe3M77ZquhKz6CZwYEAEPX17TUuKaMbHxhjrZaE2z349M0bf9ZiMWjaPWDuBWzqOtKFTJpamQTppbmqmUo2kZgkWU7R0PDPnkrI67KWioosaqzkKWy9n5dJGo2-iroEC__NuxGGkVd-FvvKc2_M1WyAjEceKmRIV5Dzm9qNmLV5qPS8AjEUcug_RBs2dcwRqY29o8QrRG8NlZSvRnoigatCZqBab15n_5ETOPlqh_hc-blVl2Z49gS8h8BL-2J-IaIRON-lZVFEVZCm6eaHADvP8ijFIgFhDnbISIvxWl4gG8S2hbLo4MkZYy_dWaGSNPOyt1bbXqxCOgNZ5NqGoXhSPuJdH88K0kwMxlZetvIFDcqSc-o81S9LvPCOBgTx1jTSWGyAdRYjDxHYja4yiePBf9SVQu6myt9JhRoNV0u0cjm5hQgummiba4Bodz_3BfW4027MLkLHiSBOOzJ5_8WOEmLd6y0XC3P54AXDRhxa_cuxc_pVs7OIpIsJ9a4jsXSS-hy3cfhoj4hfPi_6N46jBgtgdsgZFQyJAFjl2OfYAVn2G3LBiQNa9pMYcylFAX-b-JcD-4tCcWQA7Nva29IaFzA-Z3N5ZNsa_xAnnOrgRz-zQO2gQ_KJDxp2jXEBU8SrPGUc6g54Xnm_5OwTWL82-fkL-SJCvbt8zQ4Anup1hp1uPgPnL9n16eBNwXgQnk1XiYi5gTRsNvGguRsxU406ln_IMME3E9xoGutDGkfaMDjtMIwZd8Hy9snPNvTkywZkCu41OdB_xiBZQsC0Ovs19wJPLzB9sn10UcGfrJDLD4a2TEh4l7k4-vBHErHrn03xE4umTzkVZTtmVDpbc1ACs_1nWEWrvBCEZTjcXGYKJfCHmjdDKkiiYzOZpSCdclxPJsn-nUfPN_gZ0pJKp0X9ZX7IluMYb-gUYD4HTf3G5EherPCB2m3FRZMF5j8QxOwkm41XEJhNXIVWQD-nzHhSBbQea12i1gae1tMcTyJjcKKc6CYPmTMU3c-6UyWaV7S8ebb13Xp8Yk8xD3T",
  "id": "rs_052e2af7f11b3654016ab495ffe59087d0a4d5ab82a74cd8fc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws reached the light-pinch setting, but that alone does not confirm contact. I’m closing further to measure whether the cap or neck is actually captured before lifting.\"}",
  "call_id": "call_7LYztArGAngUunVT37TwkO29",
  "id": "fc_052e2af7f11b3654016ab496006be087d0ba17381c35257a29",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7LYztArGAngUunVT37TwkO29",
  "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]: [-0.2699, 2.0945, 1.1526, 0.1207, -0.767, -0.6655, 0.013, -0.1444, 0.7918, 0.5518, -0.3836, -0.2138, -0.1631, 0.9991]\nstate[eef_state]: left_x=0.4954 left_y=-0.0062 left_z=0.0335 left_yaw=0.6818 left_pitch=0.0035 left_roll=-0.0107 left_gripper=0.013 right_x=0.2869 right_y=-0.0002 right_z=0.1584 right_yaw=0.0977 right_pitch=-0.0374 right_roll=0.0042 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -10.5094, 6.8171, 1.2527, -0.1978, 0.022, 1.199, -0.4444, -2.0444, 7.0906, 1.9853, -0.1832, -0.0415, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03079cb9249a582e60e03ff39691cc43c7355ec10fa8bb5cc8024ac9dae9542a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f221fa07fbb8cff9b25b1736c700a7fc143db1ad4a6a2fbeaa3460b1ea06588d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06d7c049b83c8f443dc08c18ab90bfcff7f57c3108b333fd8053f08c779abeeb",
      "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 16 attempt 0 · /responses · status 200 · 3.624 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 50 changed as sent

message 58 changed as sent

message 62 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0738, 1.5879, 0.9226, -0.0555, 0.4866, 0.3206, 0.9988, -0.1337, 0.8272, 0.6395, -0.4076, -0.1886, -0.1493, 0.9974]\nstate[eef_state]: left_x=0.429 left_y=-0.0475 left_z=0.1228 left_yaw=-0.5199 left_pitch=-0.0646 left_roll=-0.0469 left_gripper=0.9988 right_x=0.2973 right_y=-0.0029 right_z=0.1831 right_yaw=0.0798 right_pitch=-0.0134 right_roll=-0.0048 right_gripper=0.9974\nstate[joint_eff]: [0.0752, -7.7607, 8.1162, 1.6825, 0.2222, 0.3101, -0.1294, 0.6085, -1.7846, 7.2684, 1.746, -0.398, -0.0317, -0.1441]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2699, 2.0937, 1.1534, 0.1356, -0.7536, -0.6559, 0.2755, -0.1444, 0.8085, 0.588, -0.4026, -0.2134, -0.1627, 0.9989]\nstate[eef_state]: left_x=0.4984 left_y=-0.0087 left_z=0.035 left_yaw=0.6677 left_pitch=0.0052 left_roll=-0.0215 left_gripper=0.2755 right_x=0.29 right_y=-0.0007 right_z=0.1664 right_yaw=0.0972 right_pitch=-0.0371 right_roll=0.0043 right_gripper=0.9989\nstate[joint_eff]: [-0.7863, -9.4974, 4.6017, 1.2576, -0.4762, -0.0806, 0.0513, -0.2393, -2.2496, 6.8718, 1.9267, -0.149, -0.0073, 0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2699, 2.0945, 1.1526, 0.1207, -0.767, -0.6655, 0.013, -0.1444, 0.7918, 0.5518, -0.3836, -0.2138, -0.1631, 0.9991]\nstate[eef_state]: left_x=0.4954 left_y=-0.0062 left_z=0.0335 left_yaw=0.6818 left_pitch=0.0035 left_roll=-0.0107 left_gripper=0.013 right_x=0.2869 right_y=-0.0002 right_z=0.1584 right_yaw=0.0977 right_pitch=-0.0374 right_roll=0.0042 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -10.5094, 6.8171, 1.2527, -0.1978, 0.022, 1.199, -0.4444, -2.0444, 7.0906, 1.9853, -0.1832, -0.0415, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03079cb9249a582e60e03ff39691cc43c7355ec10fa8bb5cc8024ac9dae9542a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f221fa07fbb8cff9b25b1736c700a7fc143db1ad4a6a2fbeaa3460b1ea06588d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06d7c049b83c8f443dc08c18ab90bfcff7f57c3108b333fd8053f08c779abeeb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJYMhBxaREDz8vNyJ6xvB59Twd6CrVO2o5qKRrGEZ_HgZKm2SZ29jv-p1ETPWkzVPvilZuzAkuaYy7r0XIY3srlQRH63h076BxQ9G79wUZeSI0s5ltFprQf210JoJUZYrshW9Pm1jtilUw3eMFZxIXqacsl5_D0F2yCw_adkdRDqTJ6-elAt7c0on8ZTIzkDB6XU6KExeFZxMl_Uz1sfyoSKzKOekr7U_FNCZZJEM9N6jw5dK03Wn4Mt19H92lJcM2V9p1FlculNWqbDvA26oE86kIv1REzoSfGNxCmrkTxZz8HWqSRLLUcyiiblLcpJEvm4dMa1aLvwxmKwYlxJbxyFpVkQ14vI3-rW4zByeDeAbpT1fycnR65ZDvnlqtPAzI007UR6_jbXQqgelD9Amtnl9NzAl4N8r8nbpLmzS4yFsKZY4E1WH6ijILnag3r1JiHSAsBGP9I81kBH7bYF1KQpri2msrvNFg3NxpwzLIC7fOi0EvAw3pPCU06n3uctkbJAsR3m8iUVXZqFOPRP3rVwRR7vFrXRi_Fe_o7b1er9XPHX_2iy133bps8hJ86xhl5GE0BKNZ4Nv3NzDD6jEA3Tux6tNmUgeFAeWQGdFP9r1Da14nWmIsuyzC_amiaeMsCSzp8Yb_WTu2Z-cmfW1od6uPY2T4K3JrCNllxCZQmcDAUuVKBAzrtb_o6S9-fDB19TImhgakMlGtTC-hjyO5qrUqzRgjS8cjZP0_Qm865iHvfMYJDwAlg7S2sY3p-zo1zZtjXj_9ZC_YfhbMaWRHrCEi61W6gko_Z7o9gE7DhKFOPI8S3bYaJG4c5ghw1hclr-5qtXvTMJ-dHWFqaVUTl_5_B2dDpT6Znx0d08ylwK1cY-A1a9XsdS41m7V5oS0P8aTTVSibNjellpfKQJh9M6_623WFEghZHC_w6Iigf8LbC1RIez8X9lCKUxbAQ9KC2GHPu1S0SdkUl_c42bqZjYhLXkNPwySme0Ubx1eL97nnjCeFvTLfj8Ju6YZcg7Dykm5JaJzXPykk1lHyS5GfBqp4gDdikTuL97A31bNTm7t1D3E6_CvwrnDyzns7rNSPGvKa4Ngx_st4LkllEUabusUITa0n7Ib8LKz7sYvX84rmN_CFhxBUhASwCJiIuIxJNt_z4Jzl_5mQ3kk7galJm6jjH-NmKDfFyT4t3Z1dQmjRISZ76jf2P6EhPFlva3qR8IGMo8H5re6QuVhhNTVZtOIfffNLst-Wh6jhadcxC2zSr0TZpHgicF7LU_KPC6tX1BLQVsFmS3xK-MtDPs1cEzsHbtdH8kNDYEDcN2FYskNyTMpVqIX_slFDYao5xLovk7otSEbgjz7XOvmdeiTS0hpyC5S1m5goxoSRkWsLDY5qzAynQenniv6tazJVk4aA-k5Qg0XNB94dNFKON98seXc-RuWikHd4PP6xfba3TthfJdsxNGLXjbEQioPcd328QBUtu_GmksNuFc3gzzBdVju8lcJ8-2ng6MeiLowP84lJutwa92AU5XTIXe1Y9DF_yTsQt9zkOeJyDHv1l195ajRRcalIxorykY8szlMDJXEcop64jYa50ofBW_AxJw9eFua0vWm4pK4_lSPn2KaQQFjDot8rJO7F4EaXCRYjQ2ufzVotcmDdmJGzXkNHpjY_hNH90qlJoBh3DvS5EBh3nqxahzZ-guOR2jHcxlNG_-bAKFnkyZlblukF9i5CfyCJnTmP3EH3AT1f3SOpclnxfZCsTM5NoBcnuABvoGHEkp9qrcqUy_AnxyQb2p0tmQHL7uUQosQ8EfJSC_DKvWM5cPDOnRx_kmCVOgqRB_9aN8fo4Iprorj1bo6tY6qmyDNUNs1IGeR5jNCKOBM9fF3NlacEpOd2lEM-VpbMOvi7_A7TtWmCysaWICG6kw07tAw3SU1P5MDA9ttxNTKQoxcF3aDLHFAtmVJvq1VI7CDx4i3C7xNuSbpseYUcQTbqhOG1cYQgAw6oADD03TD3AFMv-thu47ftFhQJTeuNv6-2J9yD4c2bl1Flg0H1v4WkvsoJC-0In9hm8Agwx_1yvdemtiPfg6CiwhjkoMB0Tqn_7RsPN9wk7RRfZ52M720JbRv_2fO27p3FboL2WrAUO3w2GVpUGuwSI7vKrQj-a05Kish1W4hkze1SWpepSyKJbROECdCFmwBNfzeQZTnI3aVgWX6DapR-hEYWOFWLPbO1og3qRXbolIebBDCikAsKdOg1g3hCRuKK-kNl2mSqZRK9TUoANLZ4duzwkK9x-aYnOnmssvQhgXa5gEbTsalknf487vC1Pb9sM2B0hOW8_j1veT3DTniBl3IsWnPpEJqXcdiUvStgwuDBC-tC3yJ6Wz7hPSfUDHlvbavGcZTUDGEFIVZ_boa9OsJrZzu0_Z7HDVNtdVVhfBtO7znWUpcljE3dA_nTc4uS3FE7aJd7kxYmL97jlEhIGft3jWal5khdqgFznulebw956v1TEhKqAilLEdeyixlMlCcL8N2RxfbAfl5NtaAVgdus46cPVwwuX1ovDhhprIZpXLD2qyluo76p3mSUnZ1i-BsNxHa8GlyjYNTEEGImxIBvgtr49-VZi2FIZQqEuxyvybm8nI7ppAMpNtmhegGuJrr3ditfOLsQPkYAeWt97Cy0XlBl0GbhoAWHbv6Lekpy5VhOZRnFRosvtYpEveUFgn6sn0G76Kr8qfvRALqUwk_ZAn7DqVF0hVC63SH31ubRt-UTCqiLjVV4N09hfPxuhqGrUSqquHrKsrSmgo6T14VwZfst11IVRp0HFgj7mc2rHL6U6nNj9ShOZKR5lpx2yymY5wQN8HBr15oqDN_N3pGxhGMTJYn4G8B8pnhb-LscLxsu7TR1bdcpNt0L9w5dtkdgTTlg-8DNyJhyDv9aTjd3VV1s76lVv_pKyvwr6Brn6K583BDuvAmXu7IEdmPXWW8PS3M-42vbKWjFoCWCzU8h4UqkM1vI1QsrH4s25mAZ99w2vMusthBFqVp_qfeCoVnsa0HoqPTmQ9SdkHCy7u98vPiRJ9ZUDasOayEOQOVf8K5oxL88mrL-Vo9awl2zq1fee_fnQc-0__XUhG0ZLhrHKx6w4xCwkh00CrVH3S4_-ynt6g570tswSwtXq0I_-QgUiND3qI-MEXYxVc8HOCVZDwpyLP2pd0swBUuhEU8t7fSw9Ch4al73QrPoDxQ0YqeviNMMfxKa012CrPyH5R61Mx04n1Ns04pSLKXGpzSB2EeWd2rphTH10hCkNRMMAEdG599THsGJAKoEknC2XKgQIm1ICEAUBqUBrkFgklW1gUj_Zon4c-XcsXkhDt_rLlDE8K0RSOJOgr7Zsz-8VV6LeQsyWbQATGDGKtuIpVy5kdZ-s69q4cN2qoYoYr58RWR-6ShJ5_7iOuc0EC5zB8Qt-9zfMrHJ2G6yF46R-dlD9PFltl01EopxU2XK7bTEKZjaRPsSl2KfLNF0AmSz1QQ8OrTtiAc4-TDYupyyCphzEV0qnbI2C8DDuELRJ51pbaA5df_yoUtDT0ktzCtfO-zx_2dE6nYC7We4lQKbVrXcXLUYwdgofCXyHl3zXWEfGQnZ5LWal9d_cnJ4c7lMV7IGd4abLUdcvbbKTlLBr21g6DlMpmDuIwvuRMMC2YtgzhXb3m5IfGvh1IjJ_yolsW65fr43cx-0r6WpMWzjXnhk9nIrx_lPFyuqC0NdIxzzjfJ1Dfl-gP0Ch0Ao175NFa8fWejT6Pmd9JdPC_RN40K5vDm5b5SASloL6RwtD_SYWyz57RlKOxIO23qBLKP-KSUzNZdV15aNCeluoID2DASyzbt5IyKWX-7Q2eS1tgu_7kWYeQTFR48dax7A==",
  "id": "rs_052e2af7f11b3654016ab4960323ec87d0be3cad40a6a1006b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":-0.005,\"left_z\":0.01,\"left_gripper\":1,\"right_x\":0.294,\"right_y\":0.004,\"right_z\":0.185},\"note\":\"The close was empty, so I’m reopening and moving back toward the visible bottle body at a lower height. A secure body grip will let me pull the bottle inward before attempting the cap again.\"}",
  "call_id": "call_BgKjU0lm2HHKekM06FIPuzOZ",
  "id": "fc_052e2af7f11b3654016ab4960b52d487d0a42990cd8dbd7fdb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BgKjU0lm2HHKekM06FIPuzOZ",
  "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]: [-0.3019, 2.0472, 0.9375, 0.2497, -0.7795, -0.6895, 0.9949, -0.1169, 0.7986, 0.59, -0.4076, -0.2092, -0.1623, 0.9992]\nstate[eef_state]: left_x=0.45 left_y=-0.0063 left_z=0.0057 left_yaw=0.6711 left_pitch=-0.0109 left_roll=0.0063 left_gripper=0.9949 right_x=0.289 right_y=0.0066 right_z=0.1689 right_yaw=0.1209 right_pitch=-0.031 right_roll=0.0006 right_gripper=0.9992\nstate[joint_eff]: [-0.7043, -11.3846, 3.8359, 1.2723, -0.5543, -0.1685, -0.1832, 0.1299, -0.4718, 10.359, 1.7558, 0.0708, 0.1636, -0.0073]\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:0d14f72c15afab60a2e97e8b40c74fe6d684c83104a8b615e91b0621b624b298",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29327c48d1e4d30401926ca45168d2675d5a95753a10985e98d4a29e88c8ca2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:991f9c9536a04399be1314f66e79897c5b67a39629cf45ec326cfe87efe80911",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 6.801 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 54 changed as sent

message 62 changed as sent

message 66 changed as sent

message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2367, 2.0579, 1.1343, 0.2634, -0.6144, -0.4702, 0.9989, -0.1406, 0.8234, 0.6235, -0.4225, -0.21, -0.1623, 0.9987]\nstate[eef_state]: left_x=0.5192 left_y=-0.0168 left_z=0.0547 left_yaw=0.5016 left_pitch=0.0336 left_roll=-0.0317 left_gripper=0.9989 right_x=0.2928 right_y=-0.0006 right_z=0.1744 right_yaw=0.0979 right_pitch=-0.0369 right_roll=0.0024 right_gripper=0.9987\nstate[joint_eff]: [-0.5812, -9.6068, 3.8359, 0.8718, -0.2173, -0.2955, -0.1294, -0.1846, -1.6615, 7.2274, 2.0, 0.0122, 0.1294, 0.1245]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2699, 2.0945, 1.1526, 0.1207, -0.767, -0.6655, 0.013, -0.1444, 0.7918, 0.5518, -0.3836, -0.2138, -0.1631, 0.9991]\nstate[eef_state]: left_x=0.4954 left_y=-0.0062 left_z=0.0335 left_yaw=0.6818 left_pitch=0.0035 left_roll=-0.0107 left_gripper=0.013 right_x=0.2869 right_y=-0.0002 right_z=0.1584 right_yaw=0.0977 right_pitch=-0.0374 right_roll=0.0042 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -10.5094, 6.8171, 1.2527, -0.1978, 0.022, 1.199, -0.4444, -2.0444, 7.0906, 1.9853, -0.1832, -0.0415, 0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3019, 2.0472, 0.9375, 0.2497, -0.7795, -0.6895, 0.9949, -0.1169, 0.7986, 0.59, -0.4076, -0.2092, -0.1623, 0.9992]\nstate[eef_state]: left_x=0.45 left_y=-0.0063 left_z=0.0057 left_yaw=0.6711 left_pitch=-0.0109 left_roll=0.0063 left_gripper=0.9949 right_x=0.289 right_y=0.0066 right_z=0.1689 right_yaw=0.1209 right_pitch=-0.031 right_roll=0.0006 right_gripper=0.9992\nstate[joint_eff]: [-0.7043, -11.3846, 3.8359, 1.2723, -0.5543, -0.1685, -0.1832, 0.1299, -0.4718, 10.359, 1.7558, 0.0708, 0.1636, -0.0073]\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,$blob:0d14f72c15afab60a2e97e8b40c74fe6d684c83104a8b615e91b0621b624b298",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29327c48d1e4d30401926ca45168d2675d5a95753a10985e98d4a29e88c8ca2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:991f9c9536a04399be1314f66e79897c5b67a39629cf45ec326cfe87efe80911",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJYRcA2gnPyuLZT2GwZryLBRkoEzUvhcCXKcJemjAsZAGfMSj7PEJxd1euD02xQDwD_7VsXdagamodDE_Fm9vnqq6mJwzMk5eOp0hrtiMgB_lCzKfzxdH16QNWHXIU7LftlC4uzpg3dnJ20ZUIVA2sZxj-2E25IkGJZjGrwpFGoJClMFY2n0B854Q1JEFE232v9kgQ3kjbKbBCqicVkXZkgMfkNhja1xNNK4w_8PIxG56eMoGRpm0fT_tPH-FZO4pyCvFC8lp_q0CS80PAmVN505U0HS9ipGLqvBxjgwn8RAFCpKMCVvKQUHSUQuBY3BV_4M1oY06oyyW51GJywWy6xBqvE8ALV24gAbFz_aJvMag_BzxoNXORUXoHWbFrvNtR2FuL9sjAyRrKEfwWsJHWbqyT2iw5Pkz8P2fx_KeMH-ciSGnpCqCEt8EiASG2ATyh9Hi1vURlD9he9Fjf6E74Xps51_7yTrlWMYQ07EGofRgoVWv7akBFkhH3HMhtwZ5PMrYI5uTGEDPbxbMf-eD78ioolICigyrzCROIpiO33OQ01aQr5bCq_XkOfu9-fcRZJbBtOT--Nk24pMtJi7IkThS5LGkgz2l5M5DA2p4wzAkKfavd_tPi8WcTNEpFFSoLA17M4Pema-mxkM1Emqaz1V2hak-29KQDC-VgfglEdxuIxU4JURjaWQ7Y4btHG8fU686B6XG6p79zO3tbBGx29Thqzomi1nMFTkEP_HFfxbVZLu2PtLcrZfO6yEw_5RjT77_dHth5798a4CVeU2GyEZNCFd-_II2aJJbUEPdDcvnwtMaou1_9C4sdGkZ-0MwcbSx1pupwmVNe0sBfYE8iJC0TzLWzj5JdvbL-WsQhPVYHgY80FYMXWLeJsoWM_3nCYMjw5Fl8d8QZZwNpGxBUWLoOAKCRO2i7DGULUyl-PCdDNnCzCHkWW5R5BBlZamN8rXaMmVW4-AYpqqpcZulBhhp1v2FV4LLi-UVEb_nzBfeTn2F7qVwhN5xn2edFyLUDIpl6NjIGf-PF9-JVPL2dhpF--UCs9xj644t3V3QXQfpjkbAsJ50P3xMhLwDEaF9qg49-dvvFS3qJ1akr8meN9Mths2jttg9fE4sOqAUc7NKD0HjF_bj8bjaqH8eYpYTZdBpZM5iA872CXaqS0pbiHcmj6Rqq5L7A7O2Pb6RbtZtLWer1goJQU8qahIvm_5YDPOKcn3k0zBJfwlDkq6NPue--97RumGqnx30lihXNKyU49CB-IT8KA-cmqM9ovm2t8slP624yo1EGMdPY0W3BYb3Ae9uSkQl0CmQ1MywUfdOWzoDUUKC3jspnvAkxfaEir4_mW6O_Ii7MfqHv5rM-kQx-e-5fmhcdl48y-mrN8JmJSAsR96e-Gqjziy13UVPU67DRwzhdhEcy58edeCy9cYfXuRcEHdTPGvjkDBens_KzpKZLSdcROAWrnmTeT_IYQD",
  "id": "rs_052e2af7f11b3654016ab4960f898487d0a24aad4c0c2ee5a6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left bottle has shifted inward and is now visibly between the low, open jaws. I’m closing around the body to secure it for a controlled repositioning.\"}",
  "call_id": "call_6adTZv9bimXDnFBBp5fIBLAG",
  "id": "fc_052e2af7f11b3654016ab49610af0c87d0b47b6ea3ce78cdc6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6adTZv9bimXDnFBBp5fIBLAG",
  "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]: [-0.3016, 2.0472, 0.9287, 0.2737, -0.7795, -0.6876, 0.0129, -0.1181, 0.7841, 0.5583, -0.3996, -0.2134, -0.1631, 0.9992]\nstate[eef_state]: left_x=0.4505 left_y=-0.0063 left_z=0.0062 left_yaw=0.6704 left_pitch=-0.0023 left_roll=-0.0047 left_gripper=0.0129 right_x=0.2851 right_y=0.0075 right_z=0.1601 right_yaw=0.1237 right_pitch=-0.0393 right_roll=0.0045 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -9.4427, 4.7385, 1.3651, -0.3443, -0.0024, 0.8913, -0.5265, -1.6752, 7.3504, 2.0147, -0.1832, -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:f4a93b622f7cee27b6f3dfbb3c3e0315bc65e80f6f3011a9aab3d9afd4db51ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:610541551a792033a88b066f115ad70f34232c94fe76866dd2bbe7b1101cda1f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc16a85cf3d1186a5c6797fca75e31d3ccc6c4307bbd328f20369efc6057d4f2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 3.871 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 58 changed as sent

message 66 changed as sent

message 70 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2699, 2.0937, 1.1534, 0.1356, -0.7536, -0.6559, 0.2755, -0.1444, 0.8085, 0.588, -0.4026, -0.2134, -0.1627, 0.9989]\nstate[eef_state]: left_x=0.4984 left_y=-0.0087 left_z=0.035 left_yaw=0.6677 left_pitch=0.0052 left_roll=-0.0215 left_gripper=0.2755 right_x=0.29 right_y=-0.0007 right_z=0.1664 right_yaw=0.0972 right_pitch=-0.0371 right_roll=0.0043 right_gripper=0.9989\nstate[joint_eff]: [-0.7863, -9.4974, 4.6017, 1.2576, -0.4762, -0.0806, 0.0513, -0.2393, -2.2496, 6.8718, 1.9267, -0.149, -0.0073, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3019, 2.0472, 0.9375, 0.2497, -0.7795, -0.6895, 0.9949, -0.1169, 0.7986, 0.59, -0.4076, -0.2092, -0.1623, 0.9992]\nstate[eef_state]: left_x=0.45 left_y=-0.0063 left_z=0.0057 left_yaw=0.6711 left_pitch=-0.0109 left_roll=0.0063 left_gripper=0.9949 right_x=0.289 right_y=0.0066 right_z=0.1689 right_yaw=0.1209 right_pitch=-0.031 right_roll=0.0006 right_gripper=0.9992\nstate[joint_eff]: [-0.7043, -11.3846, 3.8359, 1.2723, -0.5543, -0.1685, -0.1832, 0.1299, -0.4718, 10.359, 1.7558, 0.0708, 0.1636, -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 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3016, 2.0472, 0.9287, 0.2737, -0.7795, -0.6876, 0.0129, -0.1181, 0.7841, 0.5583, -0.3996, -0.2134, -0.1631, 0.9992]\nstate[eef_state]: left_x=0.4505 left_y=-0.0063 left_z=0.0062 left_yaw=0.6704 left_pitch=-0.0023 left_roll=-0.0047 left_gripper=0.0129 right_x=0.2851 right_y=0.0075 right_z=0.1601 right_yaw=0.1237 right_pitch=-0.0393 right_roll=0.0045 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -9.4427, 4.7385, 1.3651, -0.3443, -0.0024, 0.8913, -0.5265, -1.6752, 7.3504, 2.0147, -0.1832, -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,$blob:f4a93b622f7cee27b6f3dfbb3c3e0315bc65e80f6f3011a9aab3d9afd4db51ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:610541551a792033a88b066f115ad70f34232c94fe76866dd2bbe7b1101cda1f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc16a85cf3d1186a5c6797fca75e31d3ccc6c4307bbd328f20369efc6057d4f2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJYZGU4B9rDesZ2P9nPDcT1ixgDx7gNRWodW4UG2gsRfFq0rRS5jMmsDMObnrL-UJRA2hiNv6cyTfBnXe4S_mWNomtxGyj7fxuNb9VanRlyqq8i02q_nzlNa_EXxYL37HQTVMsFAjtLBHMGqo_v4u-SrnXGIWkzaaD3Yfj4kMz7Qg5xtr7vk1mtgklKLzV9HgZM0sQO5SBywT5Lku-uPi8cXMXDM7Pip_z3dwWFFnMswRj6oCMBg-aVKpTJg8DvYZKvs67-d5mi3n3uhgfnNNpWdHXQPYNLq_BovSV0OL-N1sGbHXTZ76QRSK3eVj8gMEUmcWsotZBPGTjJbU7UViCMhJvummP68sZ3gEGxgoS-C9D4Mjd-cSIM4daBDOXimSedIlQaxJylA3dTSPfHztic5r9MJqoq68IHMFQXGUhFfO1XfhcVzVY5d7-k7mGswCrKyTbMsq-AjbaSFutipUZIL62VPpdT9HHoAewD6EFnI2B5NbfJlcui8OhRP1uTej0m0sFJlNri6UGzIlVy2oX8O1sUJJ48F2kq7IvAwN4wJ4IQxzQNKuwJkcmqQaKmZZL3mn0nlDuurjL_ifB-FeGp_9-jHbMjwL-RKJzcX2Z0b5DfeWV8sIfylNmNVsFAlsPuRNogp1Lt6_EI5iYMD07jeSqbIPs5KlCK0OAGVVwOWy3jsiGT4e2fixrLOcm8AcXa4TIw_YfuEVpMYkTAbPe-zi5b8CWEPbh5FN9PLLhzk_S-Q8Di__0hetRbcLCWD6iHcBus6b-S70yfxBdGfhhOm14GtDcI2AdxHm5_mFnwKI1yLzO8-MqQVYvZRO4_2GuWmSyjPHzrVpVUuxxz5ai4QA-kC3w5KoKVzwIMUeJYFAmG_BjZCKfIOeFgGK9r1G8l_7pk7FETMAoy00qeoGJlAIAwgiGRQ0-5XpFSoX3rhEzi9OfEjDpMn14D7Szob3xsNJfYRBvyunrZePb6FLuHq7nQJRC8yQoqonc3wUb1OygFKLfun7DzHUfBElvAmX5fhVkGT_aTPOrmMm11k1Tb35Oi7Ed09pOFz8hvxTDOTpmSk5QOFTn942MF0CDei52zHox5ZLC4-9KEeBjWkcX4cCiJch1RuvC_NiO-MaO4fqH_6qVDn7hqpBak4vRReK4_M1o7ToWc2GWHkiP9k9aPaeTpSmJPaCgSLTnY5t8jTTebmpkB4Dvf0_pFgvZmFq1GC9x9xQbK2SzPHVcBVUWAbCjylaLkIGk5DhU6KmTzeYlGPhKLRPSMmqCiZxJy7EVyvDvojil49Y1GArJkZmw98r5GWnjPjiUOBRwsdXVHdsBPxt36eACkl_6NnDS-LdUNdKJNhsuFz3Zi9zgN3H7GDzmsQKauVWAOn-oH6_vsatgmMVNPle8E5lQ6peBFy2_1CrKHOe9nkN6nE01mWAYdDo47DozTCi-5pE_Ezn1N7mZB_2b9Kk-YJ-u5Z9S4xQv_er5stccX6ESy8YSt0jUw8VMQZ3m7pKeyema3kJRGLlIObsS5gfoeWU_wudmiUvbATqc3aImEWJKjHqrMGSBx8cFUBuhiCo6eXUwWRowfwwxa9Xmm1l4oicT95S8LhHSOdfsRYGSmbIHUHojaOd1GM5vObzmL56bT4mJpRBLmjngjVR8keX54vZ1TSe56Ntz-MbUK9oyMn9yP4PTS1IRiiHLMLeTEQlTitXFg8vcmEI0ulY-3_JTUdAbc20eBQ3iiBrXP5gy9mZY7XTAnwhkYUEqM2ayuJBbiHhynu674kQFtXDdJA-AwvNVw5QWCh4swxJPNt1_D3ZdFkICIV2UfAkJjflld79wB0vkccdHdZErtDo-om9Midj2rMQbwr2MLrgqnsukPIkXaXiw8LfNFNoZoM-I-vE7ioAYATuFx6hV7UPwtTa8uk3M1kDr9aSs6Qv_AXMHjYHqYAMCDnSQaV4s9duPTF0cGBc4zasuvhI2CMM0gumib8U0eatUGJGULPgFyJ65_oU5znWZ-eFsc4TLoO3lbida1A3sJtDpVZVl9lao2K_F5mV1MzmDLPXxSNVFKEK17heO-Eu_QyueHluVvecn-hwcLmj7FaKx731NTlNT52AHwhNq0W0OMDAd_rtm40FeDS94aTxY8q8osJzhBZIBXvKqrzVmLrf9DrkgVDS7eEF8REF4dAUeIH7_aTNqONJFcef-iFIxRpZepaqTNsWeehynRsrhOWq2pnLUc=",
  "id": "rs_052e2af7f11b3654016ab496144cac87d08e5aee3587080524",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":0.045,\"left_z\":0.025,\"left_gripper\":1,\"left_yaw\":0.3},\"note\":\"The second close was also empty; the overhead view places the bottle to the left of the fingertips. I’m correcting that sideways offset and opening across the bottle’s visible upper body.\"}",
  "call_id": "call_kbl2vHaKd9R3YzZ8ebtdAVZT",
  "id": "fc_052e2af7f11b3654016ab49617fc8887d0b725831426b88b70",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kbl2vHaKd9R3YzZ8ebtdAVZT",
  "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]: [-0.0261, 1.8935, 0.6598, 0.5922, -0.3489, -0.2562, 0.995, -0.1181, 0.7635, 0.5209, -0.3771, -0.2138, -0.1631, 0.9992]\nstate[eef_state]: left_x=0.4322 left_y=0.0527 left_z=0.0099 left_yaw=0.3864 left_pitch=-0.0388 left_roll=0.0047 left_gripper=0.995 right_x=0.2821 right_y=0.0079 right_z=0.1531 right_yaw=0.124 right_pitch=-0.0337 right_roll=0.0033 right_gripper=0.9992\nstate[joint_eff]: [0.1846, -10.1538, 4.3829, 1.8681, 0.0855, 0.3004, -0.2173, -0.5812, -1.7709, 6.8581, 1.9512, -0.188, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5a56352e5c3e6adce33da996395de8fb336cfbe1598592d99842dd3176e973a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd2a888576412e28b1848ed9f77a876da80bea39fab9ae8c4278ed8e7f2c4a5e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:550a8524018c205fbfdfe29109c89b0c498c28199edc4314c305f6bc06ecd60b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 12.5 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 62 changed as sent

message 70 changed as sent

message 74 changed as sent

message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2699, 2.0945, 1.1526, 0.1207, -0.767, -0.6655, 0.013, -0.1444, 0.7918, 0.5518, -0.3836, -0.2138, -0.1631, 0.9991]\nstate[eef_state]: left_x=0.4954 left_y=-0.0062 left_z=0.0335 left_yaw=0.6818 left_pitch=0.0035 left_roll=-0.0107 left_gripper=0.013 right_x=0.2869 right_y=-0.0002 right_z=0.1584 right_yaw=0.0977 right_pitch=-0.0374 right_roll=0.0042 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -10.5094, 6.8171, 1.2527, -0.1978, 0.022, 1.199, -0.4444, -2.0444, 7.0906, 1.9853, -0.1832, -0.0415, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3016, 2.0472, 0.9287, 0.2737, -0.7795, -0.6876, 0.0129, -0.1181, 0.7841, 0.5583, -0.3996, -0.2134, -0.1631, 0.9992]\nstate[eef_state]: left_x=0.4505 left_y=-0.0063 left_z=0.0062 left_yaw=0.6704 left_pitch=-0.0023 left_roll=-0.0047 left_gripper=0.0129 right_x=0.2851 right_y=0.0075 right_z=0.1601 right_yaw=0.1237 right_pitch=-0.0393 right_roll=0.0045 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -9.4427, 4.7385, 1.3651, -0.3443, -0.0024, 0.8913, -0.5265, -1.6752, 7.3504, 2.0147, -0.1832, -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 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0261, 1.8935, 0.6598, 0.5922, -0.3489, -0.2562, 0.995, -0.1181, 0.7635, 0.5209, -0.3771, -0.2138, -0.1631, 0.9992]\nstate[eef_state]: left_x=0.4322 left_y=0.0527 left_z=0.0099 left_yaw=0.3864 left_pitch=-0.0388 left_roll=0.0047 left_gripper=0.995 right_x=0.2821 right_y=0.0079 right_z=0.1531 right_yaw=0.124 right_pitch=-0.0337 right_roll=0.0033 right_gripper=0.9992\nstate[joint_eff]: [0.1846, -10.1538, 4.3829, 1.8681, 0.0855, 0.3004, -0.2173, -0.5812, -1.7709, 6.8581, 1.9512, -0.188, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5a56352e5c3e6adce33da996395de8fb336cfbe1598592d99842dd3176e973a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd2a888576412e28b1848ed9f77a876da80bea39fab9ae8c4278ed8e7f2c4a5e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:550a8524018c205fbfdfe29109c89b0c498c28199edc4314c305f6bc06ecd60b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJYeVIZgZHxbUBFK0PgJyjYhbmLMlXwkSZPFlTi33o644JQPwN0--olIugnqksPCP4pEFmIS5olaZYaX3jP0BkCVl9k0YZ5gAQHcadlUHyF_ZWHySxiXn4yMh3zZrobBYCbh0qcOkR2AdNq0OCHw63KSdZf09gEcNcw6MkW1BDHd_XJYusX637JPLC4negBJ_Jv8Ls6jefsgO5npNPumaySBiaglQLSNqQvl1Bj1suWww5HCbbFWS3QliaSAqdCrqm7zH0lEuA6t-3Cj82zaW9d-i3Oad1aWlZTKQl8gIgAF9ieuO0P4bGl21_VTU6DB9CdeohcsTaX7u_47pRPQPaV-fIqlpIW0M14SJXHuOPT8qk6qLGUCOjnTK_S54fSSfQGtJwWQoViifPSTWBArCFdf4cqrnkw4XtkRg4K628tC8N1zqB4HgVGfuTPwCwBhNr87sctN6ENiOY69V3TGvpgvB-M1AVsNQuk90Demk6IEfuCWatQ-g0DnW0LvYklZLLMi9jmdtbdsU55X080SAsGgWVWAHYNapUcRJoUItICJ_gfGjrMJePyDCyqbhHZFgCZkX3dhcPw45JP7jVhPTV9UmuBCgfDOr3V_ja87JeQfKd064gsOA4QKDItgZ2OztjYjfoTQXR3wayQeBkAkI8dWGeROd8pzbjB1g-DwTfQ2ksjNBlXEofxofmuF1YOgDELB4HgSRerhouWPtJTDx8dHVMl2qNfgtRqxa2DsCS1VtHGPqsG_sghPoHIcZBa2NCJcdcfEGNfi4UXUscfmxwAR1cTdN5ywWQsRTRmehth57l8Kr_FqtJgAVKtsbbZezDspTom1MUgWS-UeShHe6jmUURQ2dwhEtV7-JfuYMYL56FlgGahx4fEm3mhc7A6zWNw-NfA-JUWazqJw6J9HnJh8xrjKzf5XUcWg1z0JdUIi6O76pAfkbIdvqdK0DKfC-Jbs_j5mVObMq5_Gxvq29gOaIGOimUs6hJ5Z6q7BudrjPlWfDUJ6aL3ODVrDC1aoVfhXyF9dptA_B22trJuflGafu3E-HlnhfjtfvYTSUUPJ4kugHqyH4cWYlYONQAbZrc4NJKmA5ss9hHcX0dzkzdshkTzd0ZI2H_lNx5bh1bJJoAlVLHzlOrPH5f1ZWhdRyqIcYZOe_nOWKgTGtshTLmigKu5X1Qb83b4OHyd5XDq1SB4p3_QGDXjt4rK5EsAvDD_tVH1lgSYJJR_xNZyeGwhkAQ6CUG-foBnj7CwnIfJqB1QLdYOH5lchKTt2edKS_rvyr5koKpubZZW_JQk4adKzQo1vDL2lXKtcpp6lF59BhyY9d0ATy9qmpyPXzo7QvbBFY498zhj3Wi2Gzy7rTIwLXzoHcXjXV2EOlHdkThOhl0GHNBT4coXgVKkDMXuVKo5_kiE0Gb01ZXMLdm3QuKD1Uz7FPeEVpzDPwu4cKO0Dr5Nllobb_68o9CK7UK6KvPSRBjluagtoJbgC9yvsxcH4oFXbDv-OUE28LJ7_1Ki5etc=",
  "id": "rs_052e2af7f11b3654016ab4961c00d087d0855cb525f594f4d2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left gripper now overlaps the bottle’s near end in the overhead view. I’m closing at this corrected position and will use the jaw reading to decide whether a lift is justified.\"}",
  "call_id": "call_1UhKj8GNDvLOEnK8ZSS4qP9u",
  "id": "fc_052e2af7f11b3654016ab4961d1db087d0bd81eb346fc31018",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1UhKj8GNDvLOEnK8ZSS4qP9u",
  "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]: [-0.0395, 1.9079, 0.638, 0.6624, -0.3599, -0.2623, 0.0125, -0.1188, 0.7479, 0.4881, -0.3584, -0.2138, -0.1661, 0.9992]\nstate[eef_state]: left_x=0.4329 left_y=0.0488 left_z=0.0107 left_yaw=0.3851 left_pitch=-0.0051 left_roll=-0.0083 left_gripper=0.0125 right_x=0.2795 right_y=0.008 right_z=0.1461 right_yaw=0.1249 right_pitch=-0.0322 right_roll=0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.0068, -7.747, 3.9726, 1.8144, -0.2027, 0.0659, 0.906, -0.5812, -1.7162, 6.9812, 1.9414, -0.1441, 0.0122, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69a52145143268b0f8f88ed93a8dd3e439e119c71be5a530f55aa41ca8bc8c20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d44ce2d72c1932bac048904c84c39dce53135f20066d48acd64ff459fa95b40",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:754db64c933422fb2189659127a9cffe64fc6b3ec0bbd0abb6b9436c4b4deaec",
      "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 20 attempt 0 · /responses · status 200 · 5.53 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 66 changed as sent

message 74 changed as sent

message 78 changed as sent

message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3019, 2.0472, 0.9375, 0.2497, -0.7795, -0.6895, 0.9949, -0.1169, 0.7986, 0.59, -0.4076, -0.2092, -0.1623, 0.9992]\nstate[eef_state]: left_x=0.45 left_y=-0.0063 left_z=0.0057 left_yaw=0.6711 left_pitch=-0.0109 left_roll=0.0063 left_gripper=0.9949 right_x=0.289 right_y=0.0066 right_z=0.1689 right_yaw=0.1209 right_pitch=-0.031 right_roll=0.0006 right_gripper=0.9992\nstate[joint_eff]: [-0.7043, -11.3846, 3.8359, 1.2723, -0.5543, -0.1685, -0.1832, 0.1299, -0.4718, 10.359, 1.7558, 0.0708, 0.1636, -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 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0261, 1.8935, 0.6598, 0.5922, -0.3489, -0.2562, 0.995, -0.1181, 0.7635, 0.5209, -0.3771, -0.2138, -0.1631, 0.9992]\nstate[eef_state]: left_x=0.4322 left_y=0.0527 left_z=0.0099 left_yaw=0.3864 left_pitch=-0.0388 left_roll=0.0047 left_gripper=0.995 right_x=0.2821 right_y=0.0079 right_z=0.1531 right_yaw=0.124 right_pitch=-0.0337 right_roll=0.0033 right_gripper=0.9992\nstate[joint_eff]: [0.1846, -10.1538, 4.3829, 1.8681, 0.0855, 0.3004, -0.2173, -0.5812, -1.7709, 6.8581, 1.9512, -0.188, -0.0366, -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 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0395, 1.9079, 0.638, 0.6624, -0.3599, -0.2623, 0.0125, -0.1188, 0.7479, 0.4881, -0.3584, -0.2138, -0.1661, 0.9992]\nstate[eef_state]: left_x=0.4329 left_y=0.0488 left_z=0.0107 left_yaw=0.3851 left_pitch=-0.0051 left_roll=-0.0083 left_gripper=0.0125 right_x=0.2795 right_y=0.008 right_z=0.1461 right_yaw=0.1249 right_pitch=-0.0322 right_roll=0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.0068, -7.747, 3.9726, 1.8144, -0.2027, 0.0659, 0.906, -0.5812, -1.7162, 6.9812, 1.9414, -0.1441, 0.0122, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69a52145143268b0f8f88ed93a8dd3e439e119c71be5a530f55aa41ca8bc8c20",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d44ce2d72c1932bac048904c84c39dce53135f20066d48acd64ff459fa95b40",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:754db64c933422fb2189659127a9cffe64fc6b3ec0bbd0abb6b9436c4b4deaec",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJYrOlS2S9DaJwtmUos7-2HkpO3q27T7TRfQEIOjmndiS2OyDXTp1rI6M4GHz7LFKhQ9vz7zQeMULq5x9jRiEddI_e0IPp162TvCXKVB8aZ0f3mh-oMw5dC0NRwK98y5-iy0ofZ9VVH6I8y_A2fae2FKVemmDrovB_W4U-vu79ul_yoPVcUNFDDwSRmZs0vaD3Z7TLvDnvbjZJqM56CBVYPltHan8ReHQIC55otSQTHHmK-yzyK0cUd4lA84n5GAzjWCcEKN3J4Y6_RzWJ8pKjUMorIOgOrO-aM1mSRWhpeprPrr3ij1G3mXL0gP0BSonhRu2WZuWsb4Me_L8xJiXV27m7WTcRl5jM2eo1WsvNfNTycj7kvV3mLwcYMDxsQSbO-m-h4j0-QSD6Ng1ThUFhgf44nUrVGpOf0nlMPieoP19efUPJ5CVMmtooyLOPe0X2HVIvgm6kHz6bRG27JpzbckS1KIERJTMyzEqlFtiIZNbNalmGNUqswoAmXpLsYaTYgULNQiyOTuPHpHz_2Ru2xL9zd0B1s-ltBuopgPsgn6zPL2tTjluTq4yXH5tZRV-kh0IFt4weC54TMN7Owffo7f-xJTQ4iDrGciEKFW74HXdJUZD89OPuJFHCXp2fGWKHS82I4v6v8xpuDl_VaspJy1S5AQ1F3MYRUiC4DES2Dc48i92UqAkFgFy4dFYZGT6d-tAuZ15r5wr84_D4Z7CxKknKYDLD__Cp9Ny6NvuAGhuOgEdAc4HmqhklKa6GEfeh6EKsXM2tpiPR3jOkloFVkCq1Fai9Mw1p4lg5Y8gvM8uV8rLy9ctWdjdOop3xGDzI9tWGL0RS2zd-jyYsBlQDzH6VgFoUhCTforapp3F-3AJPrCciYYljDUqF_7iwR-tbcUY5ARu4oZSa6unOTexZaHETAPQM_KGStj0J_qN91QEPLwuQW3WfMX7MpJ_JO-KNB4geg4o_1k_wB3FpFiCHgdldeNzD45mXdlIKkTxXMRdcVmNQzg9x4leCJyPEy81pQCokyl6DjBvN0PasQQpJZ5Oy9YmGstEiBB-uPDGM-AbBb7a1_LK5o8Ts3S92viHN1KE0MATyXAKa5ULSorQ33cVSKuS-WvHbZKgowtTQTL7URnHEfzZle_koVzOhAjq-tgmhUzgWwLsNao7yz7as0ZLdx_a-iXwodaPWcooF_Tf9pfk2a5oVKFRJpakjOqWgKQzIr4N2ZMds-idOTl5DP-fOjqqCZ0LkO9Ay30wvWze1A8jfWGXAHslVWBMGFi8Q862kTm9g5TrTiPcn3zLDdJ__iYliB-_5FAfjwSYOhsPOAAJIYxTEaYjMnCM5J9nOqU4oAPOdij_bqvD9bFOSMXli1I1E8sUqN5zvhAKSbCv24eGblqf8i8przAELhhlgaiogLMk1qVi6LxP-OCCN5VGP6QdRdUiZWgUQGaaAgc-iNQujNE5xhEVab-DGBl3aA3EUFvCiWLiIYEItwivBVIZd0mBmurCBtIOtMwasgMnLvhYVvIMhJMKpkeNhk09EESMOeCwLPg4zH03P8PSoyfjTSFJscvWl_-h0SAIvxODEgyRsyyRgLy23A63K8_mSFdRPWJvMOX_u-UC0cVcUuZXPkXS-JE7tODXPUibWox9Zgw-qrvJLTrM4xPfdKD85aMNsPeYBFSCeJVLbkH6nw0YKCE11v11fQCromOAdhWtW6zSsL9dtTg1f1Hawmd1PDf0O3owZZ8MGApCz7uVqgbrCGWEN76mqQnz1PGpaIHACMnz2jWAHwkeisetyftgQvobXIVuA7dfmih0b2HSp0ny-rwVxeJ8ApAh-6QgbY8fdcbF5B2iD4OrRh4TFMuXvZsCf-8B07brtmSIw8J56SLOWOBiMUIrn3KviIR_2l-AXnIF8Cz3KXFLLAbTkw-OsIPLhnU7acs47zW-swsmYljcVOlcCZLsCRHEY8S8aXe_Ecy9jIgPZy0WP-NCMWYBlhHNOSk6GF6TNrfKD-MrdgOhzAmluZ41Jwan-F5vW0bJTlOlFcmFlNFxOuYJiHaVSDiXWHE3iTRhD7v0H7LE9HJVDIcHk1qJoW-UoWrFVWcfcb1Ac8zoObSP1m65zgujic1LFywQOI1Q_zZLR1cZU1P9mjTpFSlX9yeafuHaKScIj7wo3ozl2KgivtCFtbF85QbOAQTUtrLi__1Cer1gkIuKgb5oprK1boZObQm3_JpeV6K9jYR6FysZOiE2m43cITjrah7eWIs0qtHVwVwbgvoFPLU1UTcubsB_8-aLVasRO21yiq3SFyOVxccloKfoDKxCxtr58zO3gg3nR4f8Wk7j-9gNs9ceWVGIPfZynFlsuFgiD1Og13-XA2bcnJpFAS6X9auh9jKXO8Bc-HMnMmIxQqqP6d06DKnT5mO9u2kM2wDJFMZu1lv-NcLcCPRdPTUIeo8xSx9uxdhJDTBHLJZ1fkFX3LNyMet5R8ht8wKmNmpCtvfaB1b0c3JJWJtUK6cdqFeU98tm1IuHmC47jVC3vdH6HKvcptIL9xwuPllTD9FgG5PBJVAjfd619_GjUJFBZIGNCvOohgGjy7sN_DhJto-btexi_-hQnEsAH81efNEV1Kjd_QYHulVTW9S6FkNheelEn6L0Wn47Y1MPQpPMfHQk-0tDE9uYQ1HA8hlspqw1XP4QrDdRk7EiDYGxsJX-0n2aCwgZtHC0fy5Jav0fdeONCLaYjbBapnqvWNt3CqIH3KImqqhK1MulrCMw4x9wZB72-5xxooXTJwzz8TMgmaUKaAj7Ouwa4pLJKK0ywUg6QR80sv4wPH8GTtxx8uNgy1iP7FFNwB4WkmHwkXRr6jLQvx9HDf4BBI5W5zWITNUf4iuF8UY9Qi0egpjGwIx-pamrqD57IzP5kNlpmYrWHviTmOh_ZNGHqYd8mSz3gbKc0sQpd0Q_C-e90IfCeT0rhi174WafVLXG-G6jIuBkR9pGvVnMlhG_3BDt34xv7GRIByVO67MaZ6g9pV2n4QoUSpJw6S7kZi_sZlu9YPlZzr3logy7TTcUGXEJpQ6GwlejHfF65FS5QQzKPMLUABQA0Ijt-TdFHDvpq85Pg0amlPRBkcttR5hgQjcEHSkqNmZm1aURScLJlSPz1ve8NMWvJI4X6VaXvWOTGzTepsuocp3QZN7NdAKe5STh9pYTOGWFJdnjgbqG_fpKyr5lz_XxnjNKlCgeAgm4L3PSO2F_l4mDu23wwmRs-3wnDz5F66hIVvQTS48eRnWvp0xCZ3f4bEZKIdCxfA2azPedMZbIXpGSZ_Ftm_iWx6wu9iT4PQe2uWqfByYnKxnos8_wY28k4Ym9LXKSB2QDdzP3BC9rUtl_muT1HrWpKtv7PmForqaMEXO9MPFeFEHgmqJRgOHIYRoDRsqizpaaTPJ4xeqwP-wEM6kEQXQ0OeHEtCHY1XFkwK1JW2rPL0kgetKcQdbmaJnfFwRFdMRkxevzTFuUS0gMV3FJnZ1vbnAJeM72IwkkS_EtinSlVnml4rby16qTrswiXXWP8XO5P794zRHAVKVvXmZFkjR2xs-nykxTLJS23-udekP2c-jaJDfUA1DZm1jW-i5lxWl74lukgy-i9O68hXH6N458LSHjhvlvrSEv7OT6BebrN2uwvJiSaP4obi8VkOlJsNP0DtYMvqycp4lPOmqaT0VmvPiMRAeUNke7usEQuCd8e0vptwR46EFat8ziMsm3m4QGr-fFSyKdKGbjUzM6qYsizV8XX7Y41H68IYQiKLQ9nLZ50SZ6-xUVF9h2FGhn_zfpyn4q0DrPCLSS2G6E-d0U8gn6Hy14BtiEvgzG2q0yq7F72qZqfzl7PAw_a6XwW8jkKu-myVVfzZjJ9YCHcCVWYNXy80A_wchobzlfPKaJtP7y3FkfgFBeOSePa7-1082NrARVLyYNC05sJ-SnaboHQz_mqciboZuefqsNVtWMkv8wfbDV4SVdOmsMsf5ZAdeDU5NaxEkkFBppUM_mKH_7aJXJ5kHHyK3iGVCylr4fZS_w2QeX6DCQewZTxnITvul9-ws2uoqpg==",
  "id": "rs_052e2af7f11b3654016ab49621029887d0b4730d3fca04feeb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":0.015,\"left_z\":0.025,\"left_gripper\":1,\"left_yaw\":1.5,\"right_x\":0.294,\"right_y\":0.004,\"right_z\":0.185},\"note\":\"The bottle is now lying sideways just behind the left fingertips. I’m moving inward to its exposed body and rotating the jaws across its new orientation, while restoring the idle arm’s height.\"}",
  "call_id": "call_mNZHz88oRjDRJPqtTrvnP9DN",
  "id": "fc_052e2af7f11b3654016ab49629eb2c87d0ae49c262dac767fd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mNZHz88oRjDRJPqtTrvnP9DN",
  "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]: [-0.3664, 2.2368, 1.433, -0.7532, -0.9501, -1.766, 0.9943, -0.1333, 0.8024, 0.5919, -0.4156, -0.2321, -0.1745, 0.9992]\nstate[eef_state]: left_x=0.4248 left_y=-0.0053 left_z=0.0122 left_yaw=1.29 left_pitch=-0.0691 left_roll=-0.1634 left_gripper=0.9943 right_x=0.2882 right_y=0.006 right_z=0.1676 right_yaw=0.1302 right_pitch=-0.0371 right_roll=0.0059 right_gripper=0.9992\nstate[joint_eff]: [0.9094, -10.5915, 5.3675, -0.2418, -0.6276, -0.0513, 0.0659, -0.8, -0.5128, 10.0034, 1.8877, -0.1148, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00892b431bfbdd3bdfd81500b3bf87585a2cd05abf608082fbe9526c831b593c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f72b7d361a0f3b083bb96bc9c4d5eb99007e815fa7cefa1d5f4ffea88f19ed60",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94323c5740b2a3707bff461a0a685c4bfd06f2c6bd6f5bf3a0786223e282c468",
      "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 21 attempt 0 · /responses · status 200 · 5.101 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 70 changed as sent

message 78 changed as sent

message 82 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3016, 2.0472, 0.9287, 0.2737, -0.7795, -0.6876, 0.0129, -0.1181, 0.7841, 0.5583, -0.3996, -0.2134, -0.1631, 0.9992]\nstate[eef_state]: left_x=0.4505 left_y=-0.0063 left_z=0.0062 left_yaw=0.6704 left_pitch=-0.0023 left_roll=-0.0047 left_gripper=0.0129 right_x=0.2851 right_y=0.0075 right_z=0.1601 right_yaw=0.1237 right_pitch=-0.0393 right_roll=0.0045 right_gripper=0.9992\nstate[joint_eff]: [-0.1709, -9.4427, 4.7385, 1.3651, -0.3443, -0.0024, 0.8913, -0.5265, -1.6752, 7.3504, 2.0147, -0.1832, -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 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0395, 1.9079, 0.638, 0.6624, -0.3599, -0.2623, 0.0125, -0.1188, 0.7479, 0.4881, -0.3584, -0.2138, -0.1661, 0.9992]\nstate[eef_state]: left_x=0.4329 left_y=0.0488 left_z=0.0107 left_yaw=0.3851 left_pitch=-0.0051 left_roll=-0.0083 left_gripper=0.0125 right_x=0.2795 right_y=0.008 right_z=0.1461 right_yaw=0.1249 right_pitch=-0.0322 right_roll=0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.0068, -7.747, 3.9726, 1.8144, -0.2027, 0.0659, 0.906, -0.5812, -1.7162, 6.9812, 1.9414, -0.1441, 0.0122, -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 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3664, 2.2368, 1.433, -0.7532, -0.9501, -1.766, 0.9943, -0.1333, 0.8024, 0.5919, -0.4156, -0.2321, -0.1745, 0.9992]\nstate[eef_state]: left_x=0.4248 left_y=-0.0053 left_z=0.0122 left_yaw=1.29 left_pitch=-0.0691 left_roll=-0.1634 left_gripper=0.9943 right_x=0.2882 right_y=0.006 right_z=0.1676 right_yaw=0.1302 right_pitch=-0.0371 right_roll=0.0059 right_gripper=0.9992\nstate[joint_eff]: [0.9094, -10.5915, 5.3675, -0.2418, -0.6276, -0.0513, 0.0659, -0.8, -0.5128, 10.0034, 1.8877, -0.1148, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00892b431bfbdd3bdfd81500b3bf87585a2cd05abf608082fbe9526c831b593c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f72b7d361a0f3b083bb96bc9c4d5eb99007e815fa7cefa1d5f4ffea88f19ed60",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94323c5740b2a3707bff461a0a685c4bfd06f2c6bd6f5bf3a0786223e282c468",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJYx1OgIclMzgcDP1VKcIPqy-lzmJiwLfcBbuVwY7J6izWI7R03ivWJIkH0qoD9UC2af9dyMPkNa4AzdadlerGai-Zb_wYaJrjBUwTV8lp6VudjkhZMpQaczX3aIO4TcRyicYoTbat4KTf6YiwhYrZqymVsjCeJCQGhu1gQrzHVRwJuxaMiudqbInhWGjLRo4vZSoTw9_bESW3fxkGi96-paz3rNigoUGJoQMO_IuikX0dyEUH64meCZSnbQl49A2mD6JKNqRiLong-GiDDg8PO-18IN34Jj8Q0ixRgOPL_DtWyb0WTAaZjwxUAgvkJvqxs7DgVKA9aS5xcj_UqtmpVvTTVhMDfrjLP0vt0sUU3hhagEyH1bsKqHEgaDfb_kL8VHyTUHGHG9-udn6YXuLDE1-PQjxAW6bx6942vMOeM7X4dCNSQDfcJQfpeVDfTNXkvn9YSnZX14nBA-g4GzBrCCWni9uSwdBBcJ4iKgQdWKeu6Ek-CNu-gJqUplqrgKq77apQTvxrIr0GTApZvDBZcQkhjwa2kaLKUNr0OKr-P7tTY032WzM48hmlyveUV8Gj-FQh5ThCMcalqMa2CRIkSE30hY6VgZV9TR9rBk0Q5XwCIT2eoDEPuFiCZXZ_weobaW04o95dHxS25VyhuQYXaXzWcm2z6Ecq5bezeMYGLGxbPenm0sjySzyVD_hUb6bAzD-tGMt75Ka_hitUcfFx5oKthnUy2Dm6AIM7oWzERH5YtFoAnvmnTwjlLamR9iNUu77b_7dpWxkZ5mayBWuacPHzOQvhPulUA4YWJuaSBT_MZ3eCKVuTs0cPP30D_KsDL9NlnyhZhLjaYOaxnVamXZMFfVxyVZiWvNMVtYbor3wDkIiW9xuD0a3mNuogG8W9w3IjS9FtraE_mvcpR2tnUEIvN4bwPpu8NzPZ96XKIFJSgUIY4rGc6_hVBhf8kNAnJdxT4s4x92O3pUzV-aO8INlBDTJpulavZumzoLrZnMnabwaEQwjd1UAhfgy5dgP3WX_k6erEBHFhcvuY8kTyuz_muSXUYNlqjHlWro2lRHRsC0BM3Qn76WdV3SJFowdjQzI1w5zGwZX2KVhupJXNiFBlb_9gR0c6eoAh3PvSiE-R2qA2MT-vWVZIH18vOZQptXh3YbJGrcwKYaKeqhWlwqNPKNnkEbD2hsTb0SPbvv2wF8JFd_e3cLCtSpUCQgsA07PO_6SkZUO8x2e1EWgOSrBVb88mrPyBrcsdbQZi96wm_Ai-6HTtjoBVSdg14r1j-ENJVIGhjWjaxQURlg7RJVBy5wpOdz5-4cm6rxQpkRvZppbQ5w7aNgS7QaVSiXoN_YNzt6SC-jl3c6eTaeTYsfdv1sQgRFj3X7jYKbQ1Q3yjD2SQWhkykq65Jd8LOvAB8A9raSf7gQrlzw7JoKVGHmkFXwX-AkwcAksqymksuuq2qDG3578mY9ccAVe1B7SLyoVnMHkDLyojCow22MPeaX4YZdV4Vlb_fkOUAUnQtSRFOrzh4IeXA2vasJZKSYXQ_12WQR7IbLMiX4hRkgxP0L69XH6ZFrqiiXxICxN6kTj4ar2hZpB_z66amz-hk_E9xkzTor2VjjbEopVY3Vwv0im87A7TFFMHb1ef3Eba-VAHpV6AXBw2VktL0h8_O_wXL9_TNG0pS-qYTzQymXl3sHMQX4pxUmzSO29yZ8SYPr99yykLC__XmDYT__dsm0H_fg8xI-v1T5KtDcUDcIhdmgtLkLx5YDhfByA9lAbdvkfU3bzALmUHETlFZapD26-QcebWnozsp-oJNJMCRMk3shayFJT3kg4Hz35OZi43y6IqA=",
  "id": "rs_052e2af7f11b3654016ab4962e324487d08e3c8bc5588f066f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":0.025,\"left_z\":0.15,\"left_yaw\":1.4},\"note\":\"The low sideways motion stopped short of its target. I’m lifting clear and retracting before trying the approach again, avoiding a forced sweep along the tabletop.\"}",
  "call_id": "call_dOudZI31xozJmkgMi4FgQzv3",
  "id": "fc_052e2af7f11b3654016ab49630d24087d0a3d7fb9864fe606a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dOudZI31xozJmkgMi4FgQzv3",
  "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]: [-0.411, 2.2547, 1.4303, -1.0023, -0.9745, -1.8835, 0.9956, -0.1329, 0.7834, 0.556, -0.4007, -0.2333, -0.1776, 0.9992]\nstate[eef_state]: left_x=0.3844 left_y=-0.0042 left_z=0.014 left_yaw=1.3165 left_pitch=-0.016 left_roll=0.0047 left_gripper=0.9956 right_x=0.2845 right_y=0.0068 right_z=0.1595 right_yaw=0.1332 right_pitch=-0.0388 right_roll=0.0045 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -13.7641, 4.0547, -0.2222, -0.6667, 0.1734, 0.1197, -0.1709, -1.8393, 6.8581, 2.0147, -0.1197, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd9be7c52da07f2d4fce70d2142e4dc00305ddf776720e8df8503f7953378179",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d981dd558e44929772bbecdcd484318c3461489c66a7f19543cb57ceb9565129",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:309c38b0f84bb546faed913c49484e4e740c8a1f4d3445e4a2be34283067ae0c",
      "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 · 3.49 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 74 changed as sent

message 82 changed as sent

message 86 changed as sent

message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0261, 1.8935, 0.6598, 0.5922, -0.3489, -0.2562, 0.995, -0.1181, 0.7635, 0.5209, -0.3771, -0.2138, -0.1631, 0.9992]\nstate[eef_state]: left_x=0.4322 left_y=0.0527 left_z=0.0099 left_yaw=0.3864 left_pitch=-0.0388 left_roll=0.0047 left_gripper=0.995 right_x=0.2821 right_y=0.0079 right_z=0.1531 right_yaw=0.124 right_pitch=-0.0337 right_roll=0.0033 right_gripper=0.9992\nstate[joint_eff]: [0.1846, -10.1538, 4.3829, 1.8681, 0.0855, 0.3004, -0.2173, -0.5812, -1.7709, 6.8581, 1.9512, -0.188, -0.0366, -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 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3664, 2.2368, 1.433, -0.7532, -0.9501, -1.766, 0.9943, -0.1333, 0.8024, 0.5919, -0.4156, -0.2321, -0.1745, 0.9992]\nstate[eef_state]: left_x=0.4248 left_y=-0.0053 left_z=0.0122 left_yaw=1.29 left_pitch=-0.0691 left_roll=-0.1634 left_gripper=0.9943 right_x=0.2882 right_y=0.006 right_z=0.1676 right_yaw=0.1302 right_pitch=-0.0371 right_roll=0.0059 right_gripper=0.9992\nstate[joint_eff]: [0.9094, -10.5915, 5.3675, -0.2418, -0.6276, -0.0513, 0.0659, -0.8, -0.5128, 10.0034, 1.8877, -0.1148, -0.0366, -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 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.411, 2.2547, 1.4303, -1.0023, -0.9745, -1.8835, 0.9956, -0.1329, 0.7834, 0.556, -0.4007, -0.2333, -0.1776, 0.9992]\nstate[eef_state]: left_x=0.3844 left_y=-0.0042 left_z=0.014 left_yaw=1.3165 left_pitch=-0.016 left_roll=0.0047 left_gripper=0.9956 right_x=0.2845 right_y=0.0068 right_z=0.1595 right_yaw=0.1332 right_pitch=-0.0388 right_roll=0.0045 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -13.7641, 4.0547, -0.2222, -0.6667, 0.1734, 0.1197, -0.1709, -1.8393, 6.8581, 2.0147, -0.1197, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd9be7c52da07f2d4fce70d2142e4dc00305ddf776720e8df8503f7953378179",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d981dd558e44929772bbecdcd484318c3461489c66a7f19543cb57ceb9565129",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:309c38b0f84bb546faed913c49484e4e740c8a1f4d3445e4a2be34283067ae0c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJY3m8ho1a2Tkl58e_EXdUU04XYmO4VDLhRGzvOA84RiZ13aFb5N1Hk7Ddm6ib4KIgfYkB9JXKdeDMiQLT7HjFn6WX9TrE3UwhJW-ttsKBktOFgWd_wLs9RC7llcaeGLcFpDHr-QM6t0zSGO9tMD9KmKz6jIre9tIaZBRgzHpTOoP0NZIPZ_gpngqedF-DWShJrfjNhWZY0s8858Kxy40OwEtPGGOfqZqHqLATOTO3d3bTebrcq074mD7KFyyNIk7GjhC5LaZEbxV_trRiN33Jjq8Ms-RRzaaKDM6mhUPJMzfvBfSLTM2aj0sBojWmBdwruSTMYKERCfFbYQ9IX03rPt5kxEuQTkGnfkQ48R7yc0HTEH0_7sPoBFIgP2ANMoQrkXlDT75T1A9RlnaFAG4blYuIJIQA4z6_uIeBtc52oWP97PQz24UuG9GObSM1pXUIu95FiUPEeseNWZZZAJHzZDOBn17GhbaPN2nlnnmCIBwwONVu2MBzAelv7K5SazH4qzJIQ9csHacTSXnCEWJbpCRxSlwnwxgZTtOjFBge-eUUtWpJogEXaX-UW6cylN8RxW32qKGhUFeST51WYs-YcAz05ebP4npJlvJGmp6A1g5R5SIODn_K2NQdlECqUGCS8CYKypbJyEEaFEdhakChzHfcob8AbmyduIN7o96tiqCg2szYUCoA6quTVJoBtrDRhu1Ny2CZjluNFg3FQR1KosKHGiEDzDMzmWxRxmwDXzc477VJvj-XK_pMsht7Aq0EovZe-CjwGoSwMjJ6uFPh0gJXtP5OUuP56k0qkD9OMY8tEmMOrwDM-uRp1uG0gmep1-8f40z8NW9P7dV1w0OtFTXzxdLwPsNlNhlXVL4471UiMCg7GCIhIMannW9B8w0TcKVbQ4jRMsJ9UIcLFMo3sN59aEZ6v8aVWPN8EgEo6rnYfrWzGqVijfA8IzjBlRYXcSif0viDwuR0U9C9eBASfFTtdrS9U2S_Y14x34tMTdBhSphowGx8SLF5H9aeKVsLNW-UXb-oWapE0jbr-FIuex384QYPuk1e5p3LE696xcUEt2ksUxPO9fViRiGfP5lt-c4ZL1b48EMFaWGFK0JOmLp6GWdPBPdUgtIFQoeh63Msopnn9BsmbEf0lcUrfA1CB2DTlPY2bwtkz4pxRFKDJftMsDOPZgxtWIlJDQoxVUAJHlVNboG4iCSdyglIFq-6pQP2Zo1V8riNy2RhDdqrCUp-toB9NrnmZhNXv2tM8xX6pkTlfXwtoyeDUnoKkpljos-Jm34lQeiHH4eHJ1heVbzsSG2YDzkvuksi2ywA1i6pJDfUodm6h9T_UujnWCUEQmPN3Us7M3xdsEP_ZNpKxynQ-6IxpzB-zmiuU28oF6VW2OWi9yg_bUzaKYhBUB2ORKKzDy0-PibzTedr6bg4XG71LG0V60Z-F6QrQ11yBNwTWfFR9DSspHixrC8z3p0QZudqZ-5Hc5YFdaKpYhMHzkwuGaNxe6PY8m4joZDBIiPc8RPeWd5PxSErrff2k8TrT3utT6-yCaqX5csXO5eGMu1mM8f3FNW09IVOngYB4hqtIwS-lW-8dZEiFf9Vg7WZbA7OdFsOvVLb0HYNymoclL2TspWX4lJySXYzTUNKfPyKo4oQXLNOPZSXvyNBULh7J8",
  "id": "rs_052e2af7f11b3654016ab496352aa487d0ae46523493e8f87c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.296,\"left_y\":0.002,\"left_z\":0.2,\"left_yaw\":0,\"left_gripper\":1,\"right_x\":0.5,\"right_y\":0.15,\"right_z\":0.04,\"right_gripper\":1},\"note\":\"The rotated left-arm pose is not tracking upward, so I’m returning it to the neutral orientation. I’m switching to the right bottle’s near end to pull it inward and make its cap reachable.\"}",
  "call_id": "call_vh54bRzGZz7VUNPuSkJkhtuL",
  "id": "fc_052e2af7f11b3654016ab496366e9487d084ef4ecb51b5551c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vh54bRzGZz7VUNPuSkJkhtuL",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0467, 0.8181, 0.6308, -0.387, -0.1734, -0.1482, 0.998, 0.334, 1.9976, 0.9665, 0.3916, 0.131, 0.0544, 0.9993]\nstate[eef_state]: left_x=0.2977 left_y=0.0202 left_z=0.1856 left_yaw=0.1617 left_pitch=-0.0061 left_roll=-0.0209 left_gripper=0.998 right_x=0.4821 right_y=0.1466 right_z=0.0268 right_yaw=0.1686 right_pitch=-0.0631 right_roll=-0.0212 right_gripper=0.9993\nstate[joint_eff]: [-0.1026, -1.6752, 10.2359, 1.6435, -0.0513, 0.3785, -0.2271, 0.1026, -9.5932, 7.2274, 2.0244, 0.1978, 0.2808, -0.0904]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea5054b536055ef62e9da0adcec3333267f0a5de6f14b1621c1602836c47c179",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5842b44b4f2775b6fd876a4e4fafe7689a2ec46275cdbc79321c4d6b97fcdb2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99d027f34012913d725e2b546e83c8b9b1ca64ea15fc083add51783b62c25e6c",
      "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 23 attempt 0 · /responses · status 200 · 3.231 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 78 changed as sent

message 86 changed as sent

message 90 changed as sent

message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0395, 1.9079, 0.638, 0.6624, -0.3599, -0.2623, 0.0125, -0.1188, 0.7479, 0.4881, -0.3584, -0.2138, -0.1661, 0.9992]\nstate[eef_state]: left_x=0.4329 left_y=0.0488 left_z=0.0107 left_yaw=0.3851 left_pitch=-0.0051 left_roll=-0.0083 left_gripper=0.0125 right_x=0.2795 right_y=0.008 right_z=0.1461 right_yaw=0.1249 right_pitch=-0.0322 right_roll=0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.0068, -7.747, 3.9726, 1.8144, -0.2027, 0.0659, 0.906, -0.5812, -1.7162, 6.9812, 1.9414, -0.1441, 0.0122, -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 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.411, 2.2547, 1.4303, -1.0023, -0.9745, -1.8835, 0.9956, -0.1329, 0.7834, 0.556, -0.4007, -0.2333, -0.1776, 0.9992]\nstate[eef_state]: left_x=0.3844 left_y=-0.0042 left_z=0.014 left_yaw=1.3165 left_pitch=-0.016 left_roll=0.0047 left_gripper=0.9956 right_x=0.2845 right_y=0.0068 right_z=0.1595 right_yaw=0.1332 right_pitch=-0.0388 right_roll=0.0045 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -13.7641, 4.0547, -0.2222, -0.6667, 0.1734, 0.1197, -0.1709, -1.8393, 6.8581, 2.0147, -0.1197, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0467, 0.8181, 0.6308, -0.387, -0.1734, -0.1482, 0.998, 0.334, 1.9976, 0.9665, 0.3916, 0.131, 0.0544, 0.9993]\nstate[eef_state]: left_x=0.2977 left_y=0.0202 left_z=0.1856 left_yaw=0.1617 left_pitch=-0.0061 left_roll=-0.0209 left_gripper=0.998 right_x=0.4821 right_y=0.1466 right_z=0.0268 right_yaw=0.1686 right_pitch=-0.0631 right_roll=-0.0212 right_gripper=0.9993\nstate[joint_eff]: [-0.1026, -1.6752, 10.2359, 1.6435, -0.0513, 0.3785, -0.2271, 0.1026, -9.5932, 7.2274, 2.0244, 0.1978, 0.2808, -0.0904]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea5054b536055ef62e9da0adcec3333267f0a5de6f14b1621c1602836c47c179",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5842b44b4f2775b6fd876a4e4fafe7689a2ec46275cdbc79321c4d6b97fcdb2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99d027f34012913d725e2b546e83c8b9b1ca64ea15fc083add51783b62c25e6c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJY8baaa6dT3X7n9TuwtQUouF3j1Qrf8EVwYSy8atJmFd-zbFyWw_QI7hYXBaFgDa-mK6IU8ZvbiEhLdXWVzww1oD7XHhzuG_QrT1y6T7T55aRErZVztxN4zlXtOUyYxmsqraSVTMYB6q0RuuRTvTHAMwjXLe4YaWKcJ8zjCHF4ijknZlr6WkAQBRJOCZd_1GJ6fxbSXdhEOBkBuMmgWFzbdEZzOYN8xXGf6nfiK3FogU0cCIRffmb5wvSZ-cTbQSbMqlKvuCaJoREMrqg_Senm6LUtpfrGB3OXIWozOfzcZiV7Bjm_yMffV2AJl2s42wa1b_gtF8iN0YVG6fx9GrpMFamOL9Ah6dQTr04sPwg8mr-a0URPbtK19vRJwFBHHW5DCtYtzBdBMrW0I4wKjqOcKyk3bdVZYNiOYp5QCG8FTZpQFBPPzuCoI5aXyqOQ70sab6FtjHgobyViWxmtUBA9zJbouFXrTbocR4qHZPAKKse-ODxKCTgYgA9oBKE_EOcJ78klKI7KuuOErQTm6sRllyQMqPmNjKkJIBPouUiqJFkbpwlyuAsF2IKdGFNwOJNF9uUISM3ogHwfkpP593AEbBbiB2FBKgEhsS1yarWHcu2AQUQnYeWsnzC4UnvtmGLqUanIAvKJFzdiQy8BMz-H-NwkTDcaiTbvxY6V3WwnuT0BmVgO-CVdLPrOZ72KhoF4v5t_BT2g32gwKKP3EuWCpIu-wNDyJP8FgFenqkNLXhWzo7LRQ0r-VEQWZtXqNeIhlJBR2hY2r5sfyauG3TyP-ucHe2xv0R8BlTnP78jLtB-gInFlVmWXVkc9YKnySLB9HhE2VKxsYSHiJlHQi5Toeg6Wm6h14X1d5qqnVSfq4MHQPCV6gvyoRvEaej7KbnAUQ6VCdi-u7Fpu1723TAocMORJ_hi-QGPgyN2O3SmYsW5iCJKnCRkKW5DnKdn9EjSNWo7FYZZ01JpurUMCpOtHiS5gLQoszy99NMfX9hDKY0UeWEK_shL-H8dAtks0KLkhidZ5o_id11EEgcgh9DeXTfwmSeC_s3FK4eYBmKHf15uaj_qFykQLzKY638mWzXgxIIy7YBmJ3wV7Kh1GSAVxsb_ToOe0IHqZxAH8lU7u3YpSBeeHSnoNL1um65BtvFNgsVjX7IyTZxb5b7bKNF5m5Ex1IZS4WLhobEj75ZBayzQB_lp4Abg5mRnZ4N1ZOA6sCfun0ZlTF_gdUvihjUDJTyAZgBHaZRUOdFtaL57-IK0UV_xqBK1fzxLl24k6DKZz9g1RVwQslTlyju5zgLueAE_xpCagPqrsEDggiUTnu9wLzRuQuiznLFkVA9WNaaz4Rt0HZIsWbY5PjUOs0FTvbafoVF6wB4rFDH1De2Dgc6XB8XLZPXTjziu3ANNUJxG6Y",
  "id": "rs_052e2af7f11b3654016ab4963b4c5c87d09ca7c8a8f8ac3752",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right bottle’s body is centered at the fingertips, while its cap is well ahead of them. I’m gripping the body so I can bring the entire bottle closer before taking a neck grip.\"}",
  "call_id": "call_NUtMFrjEpYFf0K5q9NJ91DIy",
  "id": "fc_052e2af7f11b3654016ab4963c222087d09c810f761ffaa233",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NUtMFrjEpYFf0K5q9NJ91DIy",
  "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]: [-0.0605, 0.8196, 0.6308, -0.3977, -0.1921, -0.1349, 0.9977, 0.3344, 2.0056, 0.9298, 0.5907, 0.1116, 0.0475, 0.359]\nstate[eef_state]: left_x=0.2964 left_y=0.0194 left_z=0.1833 left_yaw=0.1566 left_pitch=-0.0159 left_roll=0.0029 left_gripper=0.9977 right_x=0.4945 right_y=0.1548 right_z=0.05 right_yaw=0.1888 right_pitch=0.088 right_roll=0.0071 right_gripper=0.359\nstate[joint_eff]: [-0.1983, -1.6615, 6.7761, 1.9023, -0.1197, -0.0562, -0.0415, -0.3487, -9.4564, 4.3966, 1.0916, 0.1001, 0.0757, 0.3346]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78a2c0a600e8783ceb02ed84faf93b035cf31bf179ff2affc6f1765b47462dc5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:678ac140d6c307e786d3c0b486deb497ac39c5e9dc2e35adf9531982b82c48cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21ac25aa479e4cb888c7d2d02c9cef9fe7521c5ebc7f31ab317a1ad0c4f8dd4b",
      "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 24 attempt 0 · /responses · status 200 · 6.935 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 82 changed as sent

message 90 changed as sent

message 94 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3664, 2.2368, 1.433, -0.7532, -0.9501, -1.766, 0.9943, -0.1333, 0.8024, 0.5919, -0.4156, -0.2321, -0.1745, 0.9992]\nstate[eef_state]: left_x=0.4248 left_y=-0.0053 left_z=0.0122 left_yaw=1.29 left_pitch=-0.0691 left_roll=-0.1634 left_gripper=0.9943 right_x=0.2882 right_y=0.006 right_z=0.1676 right_yaw=0.1302 right_pitch=-0.0371 right_roll=0.0059 right_gripper=0.9992\nstate[joint_eff]: [0.9094, -10.5915, 5.3675, -0.2418, -0.6276, -0.0513, 0.0659, -0.8, -0.5128, 10.0034, 1.8877, -0.1148, -0.0366, -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 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0467, 0.8181, 0.6308, -0.387, -0.1734, -0.1482, 0.998, 0.334, 1.9976, 0.9665, 0.3916, 0.131, 0.0544, 0.9993]\nstate[eef_state]: left_x=0.2977 left_y=0.0202 left_z=0.1856 left_yaw=0.1617 left_pitch=-0.0061 left_roll=-0.0209 left_gripper=0.998 right_x=0.4821 right_y=0.1466 right_z=0.0268 right_yaw=0.1686 right_pitch=-0.0631 right_roll=-0.0212 right_gripper=0.9993\nstate[joint_eff]: [-0.1026, -1.6752, 10.2359, 1.6435, -0.0513, 0.3785, -0.2271, 0.1026, -9.5932, 7.2274, 2.0244, 0.1978, 0.2808, -0.0904]\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 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0605, 0.8196, 0.6308, -0.3977, -0.1921, -0.1349, 0.9977, 0.3344, 2.0056, 0.9298, 0.5907, 0.1116, 0.0475, 0.359]\nstate[eef_state]: left_x=0.2964 left_y=0.0194 left_z=0.1833 left_yaw=0.1566 left_pitch=-0.0159 left_roll=0.0029 left_gripper=0.9977 right_x=0.4945 right_y=0.1548 right_z=0.05 right_yaw=0.1888 right_pitch=0.088 right_roll=0.0071 right_gripper=0.359\nstate[joint_eff]: [-0.1983, -1.6615, 6.7761, 1.9023, -0.1197, -0.0562, -0.0415, -0.3487, -9.4564, 4.3966, 1.0916, 0.1001, 0.0757, 0.3346]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78a2c0a600e8783ceb02ed84faf93b035cf31bf179ff2affc6f1765b47462dc5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:678ac140d6c307e786d3c0b486deb497ac39c5e9dc2e35adf9531982b82c48cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21ac25aa479e4cb888c7d2d02c9cef9fe7521c5ebc7f31ab317a1ad0c4f8dd4b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJZBfw49a0488pimApB3rrWMPN98owJ5AQdTcVTZ-hqSK6-CSYMHfJ8AtLbRF-fRaqvo-u7juCWFeL3yZKGEtzkiceOWAe59rgG_05MlNX3gkjI2fXmhJBmA8YnNmGAXx5flVoLYZ_XNZ3nVV-FrNHOWRBWtUJenMe-Ih5dSXtH6k_JvowDlVzGB4lL61Gwm1VWj9UXKegWHBr9QPWINCs2IIjEWkPFeUNzc4TgynksuJvIkgXsOdXXI6YwTM6a1WN7SMX8yKLCHgHQmjvvyq11hgnNmi-SHw2pOvHw3nuGPXJ6ot4lAI2Dp-DQn2lYP19FRKU4TphywKfaCNDDXuJLH9eVT5nW-oDFVlrCrfFALkHY74OWGzIbBpcqd2vHqtvWwDsIop87oY3JMOzKTi8rxkpdljZaPa6z1KlwKSzJ9UXrXpd74kmc26gkREhogHs3UPeAudYiKcphTz9mKqd9nvbH9oizxyUgwUTQQ3tIhUU8fPtkmoLDXd80a-zxpCammkTH9R8fJSCJ4k7yeF_j7lr83pDLTqNT6tF5PdDYCI3EfQm4JJH10cLcmDqnom5Z_iTHvhhGCz_trPVTkGg1i2W4N8eGw9zjBRRJh6O5WM7IaOxa1hA8ehNqE_lTOYzq7w-qHkrwjOA95CBAkKPL_luy062gnIdcY8wiMqEEiZ3LhqVM641uW0Qu4gh0kqVbaEkJHR7acviUGujkDRkt1bmeNZhCefm6mzyrbNAbEvge9e0CrAv78K5l3DZDEUd2kdQ1OT5i31qS86O50MIm9RwWVhXvkL8093Q9UhlOl0LdMbN7ERe1uFJXRgG0kbrqWmQ7wbZ_X37DTW_XCLYNbNi4JWpyQ7ij6q7gRCclGi-p8-Nkyh0tjQfNxuglFiuy8nHXSlNQytleiSKV9P3-7i2EMs87hu3g721ZlPsfBkLgULmalCAvJuJsPUoakmFfgtkN4_OPjK4B-58d57k5B3X8ug5aJhI6bRAvG102XgLD8qWNiAyK-JOh6Qv42OOX0hCdLvfGpqtvRRPqpTYxPNW_lO7kbNsNecYrrhvmk-IxUE30HrCgWlDwfuF885VpUSbcUGz_FOBbzeNs_8adfBxjc4sXAazu_5z5065tG5L6sDeOL7c5WPvWUZw_MXIY1x3HgTajzLxg3m6YWHgpxjP51usPciYzP5F94PDbKD37CkEtz4SSF7dRF3HpyNbyB6grApUvpThNkKKBBKyeSaOUdq_K5jqiNa0tCeNgk_0vQxlmhzVjyIgc3RrBg-rlp",
  "id": "rs_052e2af7f11b3654016ab4963f54e487d0b14cc9309dced83a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.15,\"right_z\":0.09},\"note\":\"The jaw reading confirms a roughly 3.4 cm grip on the flexible body. I’m lifting only slightly and drawing the bottle inward, keeping it low so it can be set down for a better neck grasp.\"}",
  "call_id": "call_DucSfHI8zGheGly6W0nr2lA4",
  "id": "fc_052e2af7f11b3654016ab4963fcd7c87d0a43e18028149c0c6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DucSfHI8zGheGly6W0nr2lA4",
  "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]: [-0.0605, 0.8177, 0.6159, -0.3916, -0.1921, -0.1349, 0.9976, 0.5739, 1.3102, 0.4595, 0.2546, 0.2825, 0.1684, 0.3585]\nstate[eef_state]: left_x=0.2952 left_y=0.0195 left_z=0.1783 left_yaw=0.1567 left_pitch=-0.0226 left_roll=0.0044 left_gripper=0.9976 right_x=0.3247 right_y=0.1556 right_z=0.0881 right_yaw=0.2211 right_pitch=0.0005 right_roll=-0.0008 right_gripper=0.3585\nstate[joint_eff]: [-0.1573, -1.6479, 7.0496, 1.9463, -0.0659, -0.0513, -0.0171, 0.1983, -4.6838, 6.2838, 1.8339, 0.188, 0.0708, -0.0562]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abb892b2aceff95f4fe75c52e9fea300a1728addf412cd1234aabd921977bc39",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cf33ad36d934dedce39793edef0077f656ed9b6758fd17575b3dc5a59ee5602",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:974d15a522737490b709a80af6abea1d4299f37a31d37af099151394ee1db646",
      "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 · 9.772 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 86 changed as sent

message 94 changed as sent

message 98 changed as sent

message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.411, 2.2547, 1.4303, -1.0023, -0.9745, -1.8835, 0.9956, -0.1329, 0.7834, 0.556, -0.4007, -0.2333, -0.1776, 0.9992]\nstate[eef_state]: left_x=0.3844 left_y=-0.0042 left_z=0.014 left_yaw=1.3165 left_pitch=-0.016 left_roll=0.0047 left_gripper=0.9956 right_x=0.2845 right_y=0.0068 right_z=0.1595 right_yaw=0.1332 right_pitch=-0.0388 right_roll=0.0045 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -13.7641, 4.0547, -0.2222, -0.6667, 0.1734, 0.1197, -0.1709, -1.8393, 6.8581, 2.0147, -0.1197, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0605, 0.8196, 0.6308, -0.3977, -0.1921, -0.1349, 0.9977, 0.3344, 2.0056, 0.9298, 0.5907, 0.1116, 0.0475, 0.359]\nstate[eef_state]: left_x=0.2964 left_y=0.0194 left_z=0.1833 left_yaw=0.1566 left_pitch=-0.0159 left_roll=0.0029 left_gripper=0.9977 right_x=0.4945 right_y=0.1548 right_z=0.05 right_yaw=0.1888 right_pitch=0.088 right_roll=0.0071 right_gripper=0.359\nstate[joint_eff]: [-0.1983, -1.6615, 6.7761, 1.9023, -0.1197, -0.0562, -0.0415, -0.3487, -9.4564, 4.3966, 1.0916, 0.1001, 0.0757, 0.3346]\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 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0605, 0.8177, 0.6159, -0.3916, -0.1921, -0.1349, 0.9976, 0.5739, 1.3102, 0.4595, 0.2546, 0.2825, 0.1684, 0.3585]\nstate[eef_state]: left_x=0.2952 left_y=0.0195 left_z=0.1783 left_yaw=0.1567 left_pitch=-0.0226 left_roll=0.0044 left_gripper=0.9976 right_x=0.3247 right_y=0.1556 right_z=0.0881 right_yaw=0.2211 right_pitch=0.0005 right_roll=-0.0008 right_gripper=0.3585\nstate[joint_eff]: [-0.1573, -1.6479, 7.0496, 1.9463, -0.0659, -0.0513, -0.0171, 0.1983, -4.6838, 6.2838, 1.8339, 0.188, 0.0708, -0.0562]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abb892b2aceff95f4fe75c52e9fea300a1728addf412cd1234aabd921977bc39",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cf33ad36d934dedce39793edef0077f656ed9b6758fd17575b3dc5a59ee5602",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:974d15a522737490b709a80af6abea1d4299f37a31d37af099151394ee1db646",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJZJPbUq2VGmQPema8_CMm-CpydTCEeuW1yrhxXqJ8EehvK3QT1AQ4h6GeLP7KTII-0IUqjfQB86di2pOtJJSsqsQjD4u5qVvmEaKPsJF3a6Vmz_VI1htYNYF5GHKOcXy6IG25KuMCKFBQ2vOhMegj2EztzdvIRz3xwn1c2eUbIhVYNOhfntON28MKBZv8w6J_lr5-fjuiivkJ8u1knDqNbTCysovqjeKr0GpNM5rafu2-KHOWrt3D7-Zc2pkZ_PZ6slzO0P0OpT9_fWee-9AMGJzQvjjkdViq4y1RwnmvpoiEK89T7xad5E3MA4JyYdfTS76gPcH1dhh-r9U3mf4jYa8fPXtTL0w3KzQ6BjCekV7KzHLQPQksp2O-DRGIEUB0LvYOLBLSGY5GcKDGGlRUPNR5XAd32Jxc094btSdE6hiSfEZUH6zO1awJRfVizGLuaofdPTmWi-zb6ZYuDW9mJS7YMNO731EgJ3vutuZfzIo_1K7pZJlDgkLbylaxC6THQLOjlUdoH_4B1pOyi9OWaGVUFKKsJDBskFzSvt8k7xAdHkaPzCXMEjCeaBkn10f8K0onWheIt8HqOKJS6UeohtdAWyeL1MQTdrXHvxh8rolnwftwl21j94VkX0w36_AzwCDJX66LJ0mGK-w5-OerGjUckNqlj_NLK89M4OpUUdcpjmjcGFgGO9P8MXG7Bjx3xkwAR1KjuK92p6QBF7WOyvkculR67dcxOuPeiPE4mWx5RSO7uO2VDCV_MTkonZufnDEAryVUKoZW7pLXx4mRVyRmeUsSuSwnK7LpyPqjCZqWrDI_hXfyJYJpctLIsb1N4xPm2FFEvGVICTZ--J71mFH_zG5Nb7xoYgpkPeJYrLm_QC9cf9NSgs4vrwSU1PPpFatT8k7NeWYtj6BK6QYfzkp8Lgv5rAmwt2zeXFD8MUAemqwCmcdUumyBGZ--xBSDMhZZe4dSvsqVz91wZTPnT7ddcVPJnoQCP5GnvSO7_x8I7A7ZnFLphZGzvqLRbdbtJOru37mQAbHT3aQZaFCOz6Fk09olXi2GtSeerLCJui-e7MrtI0siPToHLe1lBvdk-e3oGkPWlmJRANaD0ZVJaulZobUfL-AFZ_jRm0Ho5hcQxu_FJgy4inCNy2JSpBW9aGhIMmXUkpTpj-_6v2aSsxsYIvx6Az0U2Lh96vwA8GP2OzuM4J7hfnj2I0ohG5oaHnjH9PNds1flfTl4q6gPN64Fjr1Wu-6eMbEVg-F9rNLvcpXyZUZFY8lmh5-hUiTdUp90QZ5PX-1xOMPevpsiEYPf7WBjcmg8wE7bmRRYXteQZPPtpsdbjYLw_9Ck8GjmO0M_WnED_cy4vVNNEAsNXtDQ_UpUV-iHdQVB9WyQNhJ-VxEOYsTVYLVfoF2jSVDysuifj6jAhHSanxko_WmUV-83qurdUHptEAOhvxJCzSlFMMTsecVp9AQ_2ZL_7RFocOPt4-d6ypfiQasp72maYKBH0vZ2gp_E2CA3lNUXFf_bmVGf4yv40eHX2JDtmyXMUEMooQCBccEc6b-PMK1qUv4-Ayz0260vdhHUMKG2boZvh28GMLw_P7WrbMX_v8M85r5q6ok9ImZVE98iP-8voP5CmTmOYlq_ShAvG9aA0pYwkxluiEbnaeNUvR1CwT6ee9M7I4YzhhCtOC2VQRXCR8kw2JyQPkJKCBgcMpF2JXDs51VqFAq3ma1trtR29fjp4rdL2uuI8tTHfOUB8xI0oK5Wn6i0qjg0YK81DOOcA8d2Nx5DJBQB2UZGPqXr7sexB_2xkJ1rPIoP4LmvZ1jqPRResAOqfyOHRB9_Y5zV-WRtatsXOBwSc0JEVceXgBEGVYAkUa_wjuHm5HfXbyO_ilLgvTGhLBkdixVn06iOV_20HKbXut_sZPlLZRtsotJ494vIbpd6eu5LgmWYFZ9qSYgCZbFLopssWkutFE-0Nc4QLz2q1PrcuzG3YF0FC9MAq4PLfAbU-LAFFYYuRuLnesEPQ8Kced7PWGW4BEgdkZf2oP5SZEKqUzr71c5DevTqL7vyVZhOuiBU1Mq7LGMkWq-zY0jMg_3ZQcDqcFhlL5Ovt-dH_EA8dX4m9t5hFXZa3omNzJzNqqY9v_UrkD4lqRBPC-5AobIK5caPTpEMwIgp-kHBur1hGNewUXVaWsoWkl41Xd4mhXEbkYsaLytFMpPjU6mIMx3e9ulc692JLm-5yhfseHdBheoNo-L6MSGbVkTPsy-sVJjZYym9sM5FP0dBicadl0zs2sE0UBS0FHyXiXNZbzNNU6q7RpUHqE85ctHocMVyJ_zbJO2FsiWLNfCx6pSHLp0kgGRCO79DnzfIgaoq-Tdc47r2Ph2ZvB0VEGz9XPXL2BSntoVx-2Bsve47kTFXsUaOLY3ZvBNU1WGXOjEGGLZmJA0qYRQfj36SbhOSoEqZG3WyzvjzU3uCHKvrPCKNpTmlGa1aa8TFVi0STIYmp2tjlP7YfcFtG8JXECeLgHbmcMQx10w3Con84y5w==",
  "id": "rs_052e2af7f11b3654016ab4964449a887d0aba648286291e3f0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.2,\"right_y\":0.15,\"right_z\":0.035},\"note\":\"The bottle is angled with its far end still on the table. I’m bringing the held near end farther inward and down so the neck will lie within the arm’s low working reach.\"}",
  "call_id": "call_z5vi2BEHRaOJtoYhgAegNrTh",
  "id": "fc_052e2af7f11b3654016ab49648482887d086cde23037f190ae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_z5vi2BEHRaOJtoYhgAegNrTh",
  "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]: [-0.0605, 0.8059, 0.5968, -0.3729, -0.1925, -0.1349, 0.9976, 1.063, 1.0252, 0.1127, 0.1692, 0.6117, 0.4629, 0.3585]\nstate[eef_state]: left_x=0.2946 left_y=0.0196 left_z=0.1767 left_yaw=0.157 left_pitch=-0.0114 left_roll=0.0021 left_gripper=0.9976 right_x=0.2015 right_y=0.1608 right_z=0.0354 right_yaw=0.2886 right_pitch=-0.0172 right_roll=-0.0046 right_gripper=0.3585\nstate[joint_eff]: [-0.253, -1.2376, 6.7624, 1.8535, -0.1099, -0.0317, -0.0073, -0.0615, -2.1949, 5.6957, 1.4676, 0.4762, 0.1148, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35f8ff0d56cb441af021847b2df8a9cb06cc3795fd43fdd34911a4a4a8e61ab8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc06865a12a53fef24e1c2619875f18046634655e4208a1937cc67a6f42aab45",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00505358581f7783f3a1437521546e0b51c521ff0c243e135d9adda5150a8916",
      "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 · 10.85 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 90 changed as sent

message 98 changed as sent

message 102 changed as sent

message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0467, 0.8181, 0.6308, -0.387, -0.1734, -0.1482, 0.998, 0.334, 1.9976, 0.9665, 0.3916, 0.131, 0.0544, 0.9993]\nstate[eef_state]: left_x=0.2977 left_y=0.0202 left_z=0.1856 left_yaw=0.1617 left_pitch=-0.0061 left_roll=-0.0209 left_gripper=0.998 right_x=0.4821 right_y=0.1466 right_z=0.0268 right_yaw=0.1686 right_pitch=-0.0631 right_roll=-0.0212 right_gripper=0.9993\nstate[joint_eff]: [-0.1026, -1.6752, 10.2359, 1.6435, -0.0513, 0.3785, -0.2271, 0.1026, -9.5932, 7.2274, 2.0244, 0.1978, 0.2808, -0.0904]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.0605, 0.8177, 0.6159, -0.3916, -0.1921, -0.1349, 0.9976, 0.5739, 1.3102, 0.4595, 0.2546, 0.2825, 0.1684, 0.3585]\nstate[eef_state]: left_x=0.2952 left_y=0.0195 left_z=0.1783 left_yaw=0.1567 left_pitch=-0.0226 left_roll=0.0044 left_gripper=0.9976 right_x=0.3247 right_y=0.1556 right_z=0.0881 right_yaw=0.2211 right_pitch=0.0005 right_roll=-0.0008 right_gripper=0.3585\nstate[joint_eff]: [-0.1573, -1.6479, 7.0496, 1.9463, -0.0659, -0.0513, -0.0171, 0.1983, -4.6838, 6.2838, 1.8339, 0.188, 0.0708, -0.0562]\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 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0605, 0.8059, 0.5968, -0.3729, -0.1925, -0.1349, 0.9976, 1.063, 1.0252, 0.1127, 0.1692, 0.6117, 0.4629, 0.3585]\nstate[eef_state]: left_x=0.2946 left_y=0.0196 left_z=0.1767 left_yaw=0.157 left_pitch=-0.0114 left_roll=0.0021 left_gripper=0.9976 right_x=0.2015 right_y=0.1608 right_z=0.0354 right_yaw=0.2886 right_pitch=-0.0172 right_roll=-0.0046 right_gripper=0.3585\nstate[joint_eff]: [-0.253, -1.2376, 6.7624, 1.8535, -0.1099, -0.0317, -0.0073, -0.0615, -2.1949, 5.6957, 1.4676, 0.4762, 0.1148, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35f8ff0d56cb441af021847b2df8a9cb06cc3795fd43fdd34911a4a4a8e61ab8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc06865a12a53fef24e1c2619875f18046634655e4208a1937cc67a6f42aab45",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00505358581f7783f3a1437521546e0b51c521ff0c243e135d9adda5150a8916",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJZUfIqP3whFbgBndwPptFYRhlpKQ0iuTi2vxa5itA5PaCR0DD7rvztSafJA3IXxV25dIQ_z1lpkkycCtiZHv-OyUw-PdqWQdw4w0rBA2LGislj8ViNkZQ2z1A0BUOH9Hu_Flmf_ChHBvvpRPVl3JKj27lJqmTxpRonRRrP1maUkByQYJJaqG7qXzPC_Rgf_7cGFJR5fSPYT8_FIWBjU5DbrDzYLmxy3ZTFShpnEYRVzQhYxKhda8KVaOdROuAyd-BQC8c6b2bf1OuW-SJnqg-95G5CUa-Yc6JcjcPPqhbP-g7I-1SN2ghl93_SEbWIElGgb64ivSZcE4K5Qem4Dpgu4VvGLPy8BD7x5iWILUJ1R7ybfufbSHBG2xk5R2ceTEXfB5IPk_a0LJsuVV5xEM8Mad2ioJ4bNVd1k6mhZd3-w1ALdGGca42GEqV3Glr9-PDMsXBeem0CgaYuAaTimXsYe0_6Ka6lwcd3zHRIdxMT3Ry_TNpI4zJoHeJbaKz84tyQhybrbWudOdJYIs9gf8v6VTxiGQyrUnNF_z-TAzPNztPDoEJxaiN_DlEmqP8dF8x9OfFxVteFz_3xEWFXuHLYNJB_mLFstFm_xvU5kPDuht_vquHsXDmFjelzcJ1rbHMvzLi_QQxelY2HM7skWvGwwT9_1374JLKCFvF0GK5qtR9C9i8xCsEkNLhZ6K9t1dDeE96nxDC5X76gKHM-n031lt06-Sy4HoGD00aqGwFgnSv00A2wh9uz0Dh9Eh7lFf_JDF_GdqYlCDw-Mgkd4ZmcvjBdOiJB2rQMbc0YyhCcqJ8NQoxM6nt8aSLsYZ5cRs3JTe-eUKLDg21puhSZsPnb1pLZyyxcTeGu4KeCahh051alR5gvHN-k2Oyro9SFbJ-eHXZwtfeBbeA8RTWR4fwBm2aLv639mM0KTPAYFyPThFL6WC3hgT60XBk3vblUzDYAFlmifj9xW-Y3-s71W71bnK5x7v090E5B6quPhWrC89I-qFRltTrYDAdnApkyao1lfP-BuUIqtVffZtzZnAPZ1qZW9GXjHo-5eXuPfyvtTmZNU_AF3YPmlYOBU_dmxeHsW293xgWPxm8yWfdCt6RVCj0hUq571jVrFvxyuHffNa12ADSUbtHp2yVtOe8K0mAIWhYPmh0kFuGiQFMASFk80kJM2lT_--2L-qjySW8qgjfsS63DZikT-DbIGknUZAWsKwnUafCVE0YelpZmhC_wgZu2hQilzF6LRNcHiyUyBERtB2NuM7bWQ1dKJJZVri4L8HaYPMatUB_rJamdafyKJ_d5_nF37ZDsKvFNqU60UipFIcyzwXf2hLk69NfQ6SRREUGDnMiFH0bOewu-53B5Nkf_oT0yyxczGm8jjwLgJ5tQUu-ZskB5HMIQZ7MXtQKq6c6M3aA5iZiud3gWXtdRzH3A8K5zSy-FwVzEB7wslmIv-prblmhp23r7e3ixh3ZFv5B2U6UY9Xma9qXr0BGczKgHBtXPlcNheaWeWloHTSS7x6pg4nqd_6cNTgTejUYiHtxT_-fgqfKl2Q_rQZcETfmcG4KjtEaMDb2jojushgXaY5b_NYHxXbNnKpMxvQpvet1KtL24Jx2D7dQ2uz0K8mlKeoMOz8n2PlzjI6f0G4OhcGexJXAPijftWhfNSC0Krn6tNlUzaAHrU2JxV4m5cs0WSIpW5-TW2P8QsD1PSG-Hwuq2KhduBg6RXtXOu-dv0OpnTne1JwztQsO-mOcAPZdsy2rpivo_lt8zsqAJwoZuTrVFDtmGZ4vL518EYD0zyxLO_ahkeHjBnY7v8Sa4uX4GaWpy9PkD_3uS2GvrqqO7b7_Y-mNeh6KpxzbFeBXSrPxteAFEhBBILMUWoGmYKKcnl3vspODOwcsF-HLD4PZKZyWQI2DMpPJG5y1fN4-LOagvJrhLdvWURIdt5MuD2BEvxzvLE6UPy0rEEuOh_BK0_TLga-tV7yKvKLZ4HW-jwlHSeXnFfF6REh6xdHKZmbVr9PNdI37y1ozmD0CmZnAvsTNjNnQ6liiG4krWScGMwiec7IiNPeK431KrxTU9Rp9GV0coAe8zaM3MUiQUsdHugzvaL17uN2jm83fJOkhs2JQ3m4LGEqOcp3U4K9KfAA_6a0cQqmSBc91ADNTXfkPAvBN8KgzaJQNNa0TNhcBEZ1WRiNokqGJoezqp_mA1JbEg9Nk-xRAnF021u4wvoXnQpjM-pZMwI53C79jwXBrEd14Ihb5Kl_8RnD717LZ_ExOsN1HPB9P0JKx0hSLibxuDaohVTeQC3j7alXqeXtOGA76go0_EBNuIqFIJ1AIC1XPXO09jq2xv_Hac3LBSlN9JqZkvNh4tN4payAaxdP5S592zsxkOXPx2jtjvb1zLGcmns1LQ4eFgE5zO1isOfUkuc23Ilt4wSgEfGWZpcy8Nf5V9qPHx8cAL7mFYEZ528Ypn6x7FArdM6FPQGbWWlU46ebfB8Ewo6Tj3DR7ZiXSwsOaWMwr1W71EJtJb9rPkv1R9A5WMcc73SlXeBHMMAOMAP4yD2jvvoqIB4yCtvWC0jMEudVpaIrSFr9k-Gh-ZeJ-afHc6H1LHvO74cESifiH4k-sfTKMG68_XWefOA6oXaJyvOx6F4DFcUD5P3IOg2BZu2y6SFoI_5VeS2cIxBo9WLFzYZE2HlvLZJSR8DpPtqZiGm76_CD9BEok9bNabvTQhkkcCvbCIRfqjxkWOTkSalm_bMlzbIrYrOfn76XfI5NkmDsqDZfGtb6gTl2Huoj9_qwRmJZ9l6UwNEiBxQU4tzf_86JakoymiRQDRI899X84V1eWTi0v6KvtT7sbhoBdjJnCH_5H4vz3kAcEHla2qcnJDCNYY1FMB8Z-Xpbar5zLtmkpEeSSnetYjH72mlakw6p2HmDAZ0GhWntrzqD3ebgtdearsbnj3un43sQh3Jz5es8Vo9pad7JgrNK4sWXZd5McszRU-5cgGio8ncgL5KSlkPoGe7VYmWteMHANU5zEOp_0zt4a6_-hHQm-wJD1HgKmDO2KFyDW3YC75Lw-4KTr5VDGt4aP_BNmVWGTsSXKYMhhpIIVoWu27olIiEC-c8mCGFkMRYPLM37vgyIKWfYnurgSrBF4qJE2dXaKrF98qbdE_Lx0fSXm3fmod5VBlntSGffcR7-ROyWenRH3hGkjJTfp3GJfSgDPVR3lXI0O7Se-e3Q2ujniIM3Rn1b8vOmYnf-9trocWJSXmoZgWJvDeqvt-An9SyojTd-ig-C4ORxX2PBQqzsjLnFeYsuWkq2qRL2kKswqoGYzIzqNsjiHClOqZ0Od-0HQ1y4P0mrB0Zxd7dNaB4Si9CySBKT5LWoQNuDdTmyJbwnxc_RHo=",
  "id": "rs_052e2af7f11b3654016ab4964bf92487d0be05d2ea0dbf4ccc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.155,\"right_z\":0.005,\"right_gripper\":1},\"note\":\"The overhead view confirms the bottle did not follow the retraction, despite the earlier jaw reading. I’m making one lower approach to the body, with the fingertips near table level to avoid pinching only its curved upper surface.\"}",
  "call_id": "call_TLQF30PO1Dtl9Eocc6bE1AbF",
  "id": "fc_052e2af7f11b3654016ab49652ba3487d0bac08a299cd1da9a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TLQF30PO1Dtl9Eocc6bE1AbF",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0605, 0.8017, 0.5858, -0.3725, -0.1921, -0.1349, 0.9976, 0.3439, 1.9896, 0.7288, 0.6697, 0.0315, 0.0013, 0.9989]\nstate[eef_state]: left_x=0.2929 left_y=0.0196 left_z=0.1728 left_yaw=0.1567 left_pitch=-0.0178 left_roll=0.0033 left_gripper=0.9976 right_x=0.4377 right_y=0.1546 right_z=0.0009 right_yaw=0.2912 right_pitch=-0.0208 right_roll=-0.0022 right_gripper=0.9989\nstate[joint_eff]: [-0.3624, -1.6068, 6.9949, 1.8486, -0.1197, -0.0464, -0.0122, -0.7179, -7.9521, 6.0103, 1.8144, 0.0366, 0.0122, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb0540c139da0a4d7599f75d0157935c3354c7772f2b26fdbf7475eec68ed206",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7817e8f13114dd4684b1a61846755b6e1ba482a5e10c3e9dfabc4ac78067206d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7208a083387826578d437834f1b99fa4ee617a62c04bbc57f286b33f7a521b0f",
      "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 27 attempt 0 · /responses · status 200 · 4.392 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]: [-0.0605, 0.8196, 0.6308, -0.3977, -0.1921, -0.1349, 0.9977, 0.3344, 2.0056, 0.9298, 0.5907, 0.1116, 0.0475, 0.359]\nstate[eef_state]: left_x=0.2964 left_y=0.0194 left_z=0.1833 left_yaw=0.1566 left_pitch=-0.0159 left_roll=0.0029 left_gripper=0.9977 right_x=0.4945 right_y=0.1548 right_z=0.05 right_yaw=0.1888 right_pitch=0.088 right_roll=0.0071 right_gripper=0.359\nstate[joint_eff]: [-0.1983, -1.6615, 6.7761, 1.9023, -0.1197, -0.0562, -0.0415, -0.3487, -9.4564, 4.3966, 1.0916, 0.1001, 0.0757, 0.3346]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.0605, 0.8059, 0.5968, -0.3729, -0.1925, -0.1349, 0.9976, 1.063, 1.0252, 0.1127, 0.1692, 0.6117, 0.4629, 0.3585]\nstate[eef_state]: left_x=0.2946 left_y=0.0196 left_z=0.1767 left_yaw=0.157 left_pitch=-0.0114 left_roll=0.0021 left_gripper=0.9976 right_x=0.2015 right_y=0.1608 right_z=0.0354 right_yaw=0.2886 right_pitch=-0.0172 right_roll=-0.0046 right_gripper=0.3585\nstate[joint_eff]: [-0.253, -1.2376, 6.7624, 1.8535, -0.1099, -0.0317, -0.0073, -0.0615, -2.1949, 5.6957, 1.4676, 0.4762, 0.1148, -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]: [-0.0605, 0.8017, 0.5858, -0.3725, -0.1921, -0.1349, 0.9976, 0.3439, 1.9896, 0.7288, 0.6697, 0.0315, 0.0013, 0.9989]\nstate[eef_state]: left_x=0.2929 left_y=0.0196 left_z=0.1728 left_yaw=0.1567 left_pitch=-0.0178 left_roll=0.0033 left_gripper=0.9976 right_x=0.4377 right_y=0.1546 right_z=0.0009 right_yaw=0.2912 right_pitch=-0.0208 right_roll=-0.0022 right_gripper=0.9989\nstate[joint_eff]: [-0.3624, -1.6068, 6.9949, 1.8486, -0.1197, -0.0464, -0.0122, -0.7179, -7.9521, 6.0103, 1.8144, 0.0366, 0.0122, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb0540c139da0a4d7599f75d0157935c3354c7772f2b26fdbf7475eec68ed206",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7817e8f13114dd4684b1a61846755b6e1ba482a5e10c3e9dfabc4ac78067206d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7208a083387826578d437834f1b99fa4ee617a62c04bbc57f286b33f7a521b0f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJZgBxjqPneRy5gb4wxYxnoWTcgmU3IkB-MKBKPiLW-oa0cEX9u-VYlOYGEwUWcwIlc62xVMAjsja26nH45Xr6iqfURTZauR1GMbYKm7auEC_605CMdhIZJynSH_hvokx8QGz48J4aYvpBLEPc2cyuR6Z1ONQSGz9UrSDXpGD4656NYCwNAQXNSHeyaVDwxQhMsuUC9pQk3mYb1cpuG9uzge1GVhsOzkvdL9JXWqEI3chj8R65zigKtKBXIUR_J_FgaoTCmPLsypB4YZJkEBy7OQOqmnNEoQaMN7HL9lH9JN-7Ctacct51u_71JRSjqjV3dOPWhi7Ey0dRRGPSLtgsAQj628O1M9jHqOrrdMTm2QhIqvcHS8uKKTmsCYuHCBIfLxNysusGkNiujmbaNnBVKfkO72qJyAtQ1QEIM5ioS7_bmkJkCQW1Ebvc6CHTHZwHk_Z2emkFcCdelm5IsMs_nvrhJsHJhVCpjj4c5KtaQU-LGjRB-ygMu8JkzZGv9IjH9y__ueY2nnyunpuDspwp4zA5IqESjIH-hIp47-CMaOB9q8MyWv35JDwkZe2vm4ABqYCpufz8LqL3BogmUx5JETF8kXhQ_CiPile_NAXgC71BLzEsSNsvHLkcTNeH5_9fjutqk1qEAFG_4iNT9iKpAcOKtK_MXOXHqxAasb3DtkhkG2M0HPjTbjIsOffMX-4h63S4wmy7nUetpfqE6CEgmzKF1WgpADsXOsnH9fsDdvo0p2P3A675BBHJmg_G0lBkVQVCAuutiKS2pjxNBnrXVK9XTxyYWO_cjc48yxJOJD0DRs-2JTWLEawfB8cOdwCLm0e_uqvKlh04O8qcLTHbM4FoIT2M4dsHbtz8bwij6aRlyoVKkSIWEolztZ80L5vUJvmlRNEoQd73LDtgJuOg6k_caoijrt8fkKsHEtAQQXmTJiGpjWuxe9qKm4bpz0Hqww3NUwv3A4bXb2bAzC04EkIOS01gssfBUwVdqCPi4XQw_8wq3PfyWV6iV5UraFbUJaLZSDDsutAEpjkDiOvhg0wqZ57kUnGEUEFUzeb_priDwT8uZrywF5JhJXhc3l_JekBuwzPpt72L3fTkeRyJknbtBaOdXyDMT152skihfErt0hilt8p_ouspp11Vx_KqzFkl-Mtc1vQcXeqtdIAFYIRzf9MA_3lyRv9uCDTv5NZvVVhdISvBeNrIhcW5nBVV4jeaJs9Lb-EJmyJv4JDDEGZotzsGm_MmGddmTMV5UnoNhW1od-l2-pk5c-LnMWrR4kSDCfqGhrRzv3zE5tUjKohRxBsxgMmZj5Kru2ymLonkPWATZv4igE-MD0Z1fk4CnTqmYcvH9dfbCM3VgUFBdpq4PUI-BbSzNisJzsPaAjzQMZvM9fxpKVhkEfQ4GaqiXF6xRve6PozfL45ziAwNClQB6jOGi5xBsflmzlfZN3JvYzo8obM0Mz3_ypGFun_Mb1qI4s93DKxg-j50ZlcxjRl3ytSgb-1XayGZWuyE8SeVjXhabuGOdoIHohSYVIpoJEWk4bnn9oj0bLUd9N86gOKm0A2WqmNkqY7Ep3O-outyLqAEfoWBO7mABOdHWYWAlvfnarlKRjANmV2Q7k-VjHGnFLZCAOTQztusHoQRUoa9Wh96AcEO2utoMUCL0Nr_aVl3e3i2ePC_ecAUB7W2soRgAY1zHLkz8fU6ka4ivuKv9xK6063ZgA-T7GIclSVWAnsdzaTK2rRZfKCKcxK6cCQyzMwgyVJKle1S6g7i0v92TcYV0IsZqve8TNfMB6gSIZ00W3vYvBQPCN-S0Krv26-ZJf45mdvZ-5KBRMu1vO1F-dzL_iCQxBzBAk0VHJx287IlFmAao4E8H_1ULdVzrq48RbgHoUmNvyw8faK9mYfiB0ASmnMtAfQ-Ti_6ogNNZAijpGxLPcCxKxS8QUPw1PaZWYCnPKSbZryXEiI-fLT9If70dcUDKrZ--HnOqsvlJDql8JmNrmAMQsu3eHWC9-ouHernAh2GGf7Buzk9tCZkD9Jye8mV8wI3Jkr7zqXJqBTc_wRh7hWes-4uC16KFjgyhJ8dWrL2CIuBkPoT9TyCRLnMqN8aHBT0DPfD2hFFVhS4QJOgTCvi6D0IsEfMNPV6RspsDjK9DHK38ZB0ck9EdrHEK0-LCyRgsGJ192Gh4_CaQvL0IE-2mT8UDZUVhmgUWRl1KOvJSeRSIy7ldPz0-rIFO7gsq7uJaHKsklMi-KdbXlYTTAVfT8Igwd_KVrwfQbgtAvID9DcmfhDDne7ydBlYx3F31Oya6aBggtHsx1LUVSE0QfUwed796bY5DgURqesQamW5yGbO9cP8qt5dpjOJQh8FNuQ3yjiFpH5aiuAwPyN1W5J091OxL14X2jLZiO5K4HCUOaQbY_MNCdi_R9PMVb39I9gNI13FBrIbXxJ4IInzn9UUDJNPGmNIcoCiV1dtkSno6Db5DBpBdAEmr0H30jwrFZM1AvFeGXWRqA7jRcV50FOFh2a47Qp0wr4ZSOHrWtOW3XCAWxZ28EwRboglz9__4ks5ZM1WxuD9D_8QnxvnqCxMUrjjm-74GYO_CvtNB76Pr4G7p45kgxcU_o_avv5GFjqvWsWW7mRenq2dlDr8FsXNNyIz8d1A2tuUMQowHL5wim4AJq90IyrUjivtgqNIaj-fS_kPkwMlyRvaHlL0Oz9d4Sky0RJnwhLyyZDf6Qug6QMRKhpUX3JNN79g6gC2pjQZFhG5UzqeoPAtGon1I7iv3R6ngvxRt4gNLNGFeQl-NlirsM8frN-6KKXEKenos43rAoQGxiutCtcgn8-TuB8v4btVm3OxBL7L8HZpiyLivk-vLXmSTdHPuAjs7uhdT4q3vtS5cr_--Jpj0G0liwCrEOn3Z3oJAVSbCn1WqyPyvySSglemgOiHziwQX8MLZYpw74fZc7RyaduUHmXy7FFN8__yg9cAdVh_48ytsGH0dWRrAIBjb97mRr2WIP8ivLSamkzzGOu_ARDT8fbNoNscwGZzEqR9AGf9LHwOylAiQn_CSDGrEl68JwQpK_tWGu-PKCjMegUIBddi2CB6JKqRQ3LdQXMbGasvNthnafr0oSIdI6S3vKF_nfBU3LSjGPRqIv0Cm0MX8MP28e4LNKVagNRIWOGCQLj674wreA85rrsv_QKtMWEsX_BHN05LPcia5idA8y7dMnuVOQbMjdLkFcfsXyeMyuCVM2MQGqw0k8NBTLhr0cEQwzeybYTagFAjl0cc_bXnQDBslQ15rJEGmkhMCEjp5MxwZf5KmnPJYjJU2vY4mLtUf35w0-RI5TICj7iXneDVTJO60DC9PibnQXdjA5H1PlV4vCVaOUKQR4gakG_HAvBBrQyzKYJctF4wWk39_R49LeNl59xodUMae02T6iCyR-ObCh-rcVOcmMJ3QkIvYsBUTvQoIh4gV-FFSReGwBm2LXZ0KyOwLJcZ1XelmDF2tsIu_OslMul3N_3piBKB67kZN6kyRYU0Sh-Wj1iD4JrraWZTFyVA0z6I_-ieeoSAvLsPR78j2I9rixEQm3WrGfP9c1J1rEYnbwzyBrPVod_ykR-BYRjtws4PBSjT2b-1Apky3uC9P0ajnaKRlRwy35FovpxV-YDYiY19cylG5u8klNgRaZEI37cQVza5B9ypq9oNA7fs2BWP2cUD-TxGOS9-0oqWWd8tabQFsax6Kx3qOZ9pXV6xC7ol96B89ZTFa2iw2ER5S7ioQeRuLEnGeVPVnHP7-ara9Z1AQSBGz20w24eNzFOV7w5yYR4AWzDzibuYpGYCQpKZktz8jq0EcxLSg=",
  "id": "rs_052e2af7f11b3654016ab49657e11887d08e4de3e0a0c696f2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.294,\"right_y\":0.004,\"right_z\":0.2,\"right_yaw\":0,\"right_gripper\":1,\"left_x\":0.296,\"left_y\":0.002,\"left_z\":0.2,\"left_yaw\":0,\"left_gripper\":1},\"note\":\"The low approach pushed the right bottle farther away instead of capturing it. I’m lifting both open grippers clear and parking them; further blind attempts risk moving the bottles into less reachable positions.\"}",
  "call_id": "call_jYvs4v3cZyqUIU6UaOAxzSvs",
  "id": "fc_052e2af7f11b3654016ab4965f615487d08015fc870eb1c9fe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jYvs4v3cZyqUIU6UaOAxzSvs",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0257, 0.8005, 0.6342, -0.4427, -0.0513, -0.0586, 0.9979, 0.0048, 0.8242, 0.635, -0.3641, -0.0036, -0.0299, 0.9993]\nstate[eef_state]: left_x=0.2903 left_y=0.0052 left_z=0.1792 left_yaw=0.032 left_pitch=-0.0496 left_roll=-0.0091 left_gripper=0.9979 right_x=0.3027 right_y=0.0057 right_z=0.1891 right_yaw=-0.0015 right_pitch=0.0167 right_roll=-0.0084 right_gripper=0.9993\nstate[joint_eff]: [0.253, -0.9778, 10.5915, 1.9072, 0.1294, 0.0904, -0.232, 0.0342, -1.4291, 9.7846, 1.9463, -0.105, 0.0708, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d80ab6766fd4b0be00dd3435429cf94569fe0ca60b30f74f4346da4c3c712ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eae5e6e36747bcda60a63e7001aabdfeee3f5afeb53a35ba26bee7a8bcb533ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e131a0ce56a2499aafc606969e204438e8b3f298c9c32e887c18072252a7c77",
      "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]