adhoc - adhoc_371df973.json

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: 297.3 s
total steps: 307

success_at_end

scenes

trials

errored

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

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

user

Goal: Stand all three bottles upright.

step 0

assistant

agent noteAll three bottles are lying on their sides, with their caps toward the far edge. I’ll approach the rightmost bottle’s neck and try lifting it so its body can swing upright under gravity.

move_to

right_x0.4400right_y0.2750right_z0.1500right_gripper1.0000left_x0.2956left_y0.0011left_z0.2000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7933, 0.6079, -0.3767, -0.0193, -0.0261, 0.9987, -0.0154, 0.7891, 0.6037, -0.3874, -0.0238, -0.0349, 0.9983] state[eef_state]: left_x=0.2956 left_y=0.0011 left_z=0.1826 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.2934 right_y=0.0033 right_z=0.1796 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9983 state[joint_eff]: [-0.4308, -1.4701, 9.7983, 1.79, -0.0171, 0.0757, -0.1441, -0.8137, -1.0735, 10.2906, 1.8291, -0.0366, 0.2076, -0.1929] 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":0.44,"right_y":0.275,"right_z":0.15,"right_gripper":1,"left_x":0.2956,"left_y":0.0011,"left_z":0.20},"note":"All three bottles are lying on their sides, with their caps toward the far edge. I’ll approach the rightmost bottle’s neck and try lifting it so its body can swing upright under gravity."})

tool

executing move_to over 23 steps (2.3s)

step 23

assistant

agent noteThe rightmost bottle’s cap is nearly centered in the right wrist view. I’ll move a little farther forward and lower the open jaws around its neck, keeping clear of the neighboring bottle.

move_to

right_x0.4700right_y0.2650right_z0.0400

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8021, 0.6411, -0.4473, -0.0189, -0.0292, 0.9984, 0.7406, 1.8748, 1.3182, -0.2062, 0.5583, 0.3973, 0.9983] state[eef_state]: left_x=0.2906 left_y=0.0011 left_z=0.1809 left_yaw=0.0013 left_pitch=-0.0461 left_roll=-0.0018 left_gripper=0.9984 right_x=0.4281 right_y=0.2695 right_z=0.1336 right_yaw=0.0433 right_pitch=-0.0536 right_roll=-0.0427 right_gripper=0.9983 state[joint_eff]: [-0.1846, -1.347, 10.4684, 1.7216, -0.0317, 0.0024, -0.0415, 0.1983, -9.6889, 9.2239, 1.619, 0.569, 0.3004, -0.1929] camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.47,"right_y":0.265,"right_z":0.04},"note":"The rightmost bottle’s cap is nearly centered in the right wrist view. I’ll move a little farther forward and lower the open jaws around its neck, keeping clear of the neighboring bottle."})

tool

executing move_to over 7 steps (0.7s)

step 30

assistant

agent noteThe wrist view shows the bottle’s shoulder farther forward than the jaws, and slightly to their right. I’ll align closer to the shoulder and narrow the opening before attempting a light grip.

move_to

right_x0.5000right_y0.2500right_z0.0350right_gripper0.6500

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7731, 0.5972, -0.4171, -0.0189, -0.0292, 0.9983, 0.6781, 2.0945, 1.2049, 0.1619, 0.5095, 0.3424, 0.9982] state[eef_state]: left_x=0.2876 left_y=0.0012 left_z=0.1749 left_yaw=0.0013 left_pitch=-0.0309 left_roll=-0.0021 left_gripper=0.9983 right_x=0.4571 right_y=0.2622 right_z=0.039 right_yaw=0.0488 right_pitch=-0.0469 right_roll=-0.0397 right_gripper=0.9982 state[joint_eff]: [-0.1709, -1.5385, 6.8034, 1.9756, -0.0562, -0.0415, -0.022, -1.0735, -9.7026, 6.653, 1.8535, 0.0366, 0.0904, -0.0171] camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.50,"right_y":0.25,"right_z":0.035,"right_gripper":0.65},"note":"The wrist view shows the bottle’s shoulder farther forward than the jaws, and slightly to their right. I’ll align closer to the shoulder and narrow the opening before attempting a light grip."})

tool

executing move_to over 4 steps (0.4s)

step 34

assistant

agent noteThe bottle is now centered between the jaws near its upper body. I’ll close gently enough to hold it without unnecessarily crushing the thin plastic.

move_to

right_gripper0.4200

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7586, 0.5709, -0.3996, -0.0193, -0.0292, 0.9983, 0.6174, 2.1429, 1.2396, 0.2298, 0.4473, 0.289, 0.6557] state[eef_state]: left_x=0.2859 left_y=0.0013 left_z=0.1703 left_yaw=0.0016 left_pitch=-0.0252 left_roll=-0.002 left_gripper=0.9983 right_x=0.4834 right_y=0.2539 right_z=0.0358 right_yaw=0.067 right_pitch=-0.0245 right_roll=-0.02 right_gripper=0.6557 state[joint_eff]: [-0.5265, -1.6752, 6.7624, 1.9023, -0.0366, -0.0415, -0.0171, -1.1829, -8.6222, 7.9658, 1.917, 0.2906, 0.0171, 0.2564] 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_gripper":0.42},"note":"The bottle is now centered between the jaws near its upper body. I’ll close gently enough to hold it without unnecessarily crushing the thin plastic."})

tool

executing move_to over 3 steps (0.3s)

step 37

assistant

agent noteThe jaws have stopped at about five centimeters apart, consistent with holding the bottle. I’ll lift it a short distance and check whether its body follows and begins to pivot downward.

move_to

right_z0.1050left_z0.2000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7475, 0.5514, -0.392, -0.0196, -0.0292, 0.9983, 0.6006, 2.154, 1.2572, 0.2409, 0.4332, 0.271, 0.5117] state[eef_state]: left_x=0.2839 left_y=0.0014 left_z=0.1659 left_yaw=0.002 left_pitch=-0.0259 left_roll=-0.0018 left_gripper=0.9983 right_x=0.4919 right_y=0.2514 right_z=0.038 right_yaw=0.0713 right_pitch=-0.0139 right_roll=-0.0184 right_gripper=0.5117 state[joint_eff]: [-0.335, -1.3744, 6.7897, 1.9463, -0.0562, -0.0464, -0.0171, -0.9641, -9.2376, 7.7744, 1.8193, 0.1343, 0.1001, 0.8425] camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_z":0.105,"left_z":0.2},"note":"The jaws have stopped at about five centimeters apart, consistent with holding the bottle. I’ll lift it a short distance and check whether its body follows and begins to pivot downward."})

tool

executing move_to over 5 steps (0.5s)

step 42

assistant

agent noteThe right arm did not rise at that extended reach. I’ll bring the bottle slightly toward the arm while lifting, which should move the wrist into a more reachable pose.

move_to

right_x0.4500right_y0.2350right_z0.1500

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7467, 0.6205, -0.4694, -0.0196, -0.0296, 0.9982, 0.6006, 2.154, 1.2575, 0.2417, 0.4328, 0.2676, 0.5126] state[eef_state]: left_x=0.2813 left_y=0.0014 left_z=0.1817 left_yaw=0.0022 left_pitch=-0.0336 left_roll=-0.002 left_gripper=0.9982 right_x=0.492 right_y=0.2516 right_z=0.0383 right_yaw=0.0735 right_pitch=-0.0131 right_roll=-0.0205 right_gripper=0.5126 state[joint_eff]: [-0.253, -0.4581, 9.6205, 1.746, -0.0806, -0.0708, -0.0171, -1.0462, -9.4427, 7.5966, 1.8339, 0.149, 0.2027, 0.5739] camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.45,"right_y":0.235,"right_z":0.15},"note":"The right arm did not rise at that extended reach. I’ll bring the bottle slightly toward the arm while lifting, which should move the wrist into a more reachable pose."})

tool

executing move_to over 8 steps (0.8s)

step 50

assistant

agent noteThe bottle has moved with the gripper, but it is still tilted rather than upright. I’ll lift it clear of the table at a shorter reach before easing the grip to let it pivot.

move_to

right_x0.3600right_y0.2000right_z0.2600

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7269, 0.5869, -0.4522, -0.0196, -0.0292, 0.9982, 0.6216, 1.861, 1.1919, -0.0708, 0.4187, 0.2794, 0.5133] state[eef_state]: left_x=0.2786 left_y=0.0015 left_z=0.1751 left_yaw=0.002 left_pitch=-0.0301 left_roll=-0.0017 left_gripper=0.9982 right_x=0.4429 right_y=0.2334 right_z=0.1041 right_yaw=0.0971 right_pitch=-0.0911 right_roll=-0.0458 right_gripper=0.5133 state[joint_eff]: [-0.253, -1.3333, 7.1863, 1.9902, -0.0659, -0.0562, -0.0073, 0.3761, -12.9573, 9.5795, 1.9707, 0.4078, 0.1148, 0.0611] approver: 1 step(s) modified (delta_clamped). 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_x":0.36,"right_y":0.2,"right_z":0.26},"note":"The bottle has moved with the gripper, but it is still tilted rather than upright. I’ll lift it clear of the table at a shorter reach before easing the grip to let it pivot."})

tool

executing move_to over 11 steps (1.1s)

step 61

assistant

agent noteThe bottle now appears to hang downward beneath the jaws. I’ll lower it into an open area on the right, away from the two bottles still lying down.

move_to

right_x0.3400right_y0.1200right_z0.1400

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7101, 0.5644, -0.4347, -0.0193, -0.0292, 0.9982, 0.696, 1.4349, 1.2102, -0.477, 0.4526, 0.2989, 0.5128] state[eef_state]: left_x=0.2775 left_y=0.0014 left_z=0.1728 left_yaw=0.0016 left_pitch=-0.0183 left_roll=-0.0022 left_gripper=0.9982 right_x=0.3629 right_y=0.2072 right_z=0.2298 right_yaw=0.1354 right_pitch=-0.0467 right_roll=-0.0297 right_gripper=0.5128 state[joint_eff]: [-0.0889, -1.1009, 6.4889, 1.9707, -0.0855, -0.0317, -0.0122, 0.294, -8.0752, 10.4137, 1.7705, 0.5397, 0.2564, -0.0659] approver: 1 step(s) modified (delta_clamped). 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":0.34,"right_y":0.12,"right_z":0.14},"note":"The bottle now appears to hang downward beneath the jaws. I’ll lower it into an open area on the right, away from the two bottles still lying down."})

tool

executing move_to over 8 steps (0.8s)

step 69

assistant

agent noteThe clear overhead view shows that the bottle stayed on the table, so the earlier grip did not secure it. I’ll return with open jaws and grasp lower around its body before pulling it into easier reach.

move_to

right_x0.4700right_y0.2350right_z0.0150right_gripper1.0000left_z0.2000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.701, 0.5503, -0.4297, -0.0193, -0.0288, 0.9982, 0.4683, 1.2026, 0.6353, -0.1024, 0.2852, 0.1734, 0.5128] state[eef_state]: left_x=0.276 left_y=0.0015 left_z=0.1697 left_yaw=0.0014 left_pitch=-0.0183 left_roll=-0.0019 left_gripper=0.9982 right_x=0.3347 right_y=0.1176 right_z=0.1287 right_yaw=0.1118 right_pitch=-0.0654 right_roll=-0.022 right_gripper=0.5128 state[joint_eff]: [-0.253, -0.5949, 7.0222, 1.8877, -0.0757, -0.0317, -0.0122, -0.294, -5.2855, 7.2274, 2.1709, 0.0562, -0.0952, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_x":0.47,"right_y":0.235,"right_z":0.015,"right_gripper":1,"left_z":0.2},"note":"The clear overhead view shows that the bottle stayed on the table, so the earlier grip did not secure it. I’ll return with open jaws and grasp lower around its body before pulling it into easier reach."})

tool

executing move_to over 11 steps (1.1s)

step 80

assistant

agent noteThe approach nudged the bottle left, and it is now left of the jaw center in the wrist view. I’ll shift the open gripper left and slightly upward to straddle its body rather than push against its side.

move_to

right_y0.3000right_z0.0450

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7082, 0.6197, -0.511, -0.0196, -0.0292, 0.9982, 0.5762, 2.0907, 1.0126, 0.3904, 0.3634, 0.2165, 0.9979] state[eef_state]: left_x=0.2727 left_y=0.0016 left_z=0.1828 left_yaw=0.002 left_pitch=-0.0374 left_roll=-0.0016 left_gripper=0.9982 right_x=0.453 right_y=0.2238 right_z=0.0045 right_yaw=0.1321 right_pitch=-0.0625 right_roll=-0.0395 right_gripper=0.9979 state[joint_eff]: [-0.253, -0.2803, 10.1128, 1.7705, -0.0415, -0.0073, -0.0122, 0.6769, -9.2103, 7.0906, 1.8437, 0.0415, 0.2564, 0.0659] camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"right_y":0.3,"right_z":0.045},"note":"The approach nudged the bottle left, and it is now left of the jaw center in the wrist view. I’ll shift the open gripper left and slightly upward to straddle its body rather than push against its side."})

tool

executing move_to over 7 steps (0.7s)

step 87

assistant

agent noteThe bottles slid left during the low sideways approach. I’ll park the right arm and approach the leftmost bottle from above with the left arm, so the open fingers can descend around it without sweeping it sideways.

move_to

right_x0.2950right_y0.0000right_z0.2000left_x0.4300left_y-0.2000left_z0.1500left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.6823, 0.5831, -0.4877, -0.0189, -0.0292, 0.9982, 0.7223, 2.117, 1.1816, 0.2565, 0.4534, 0.2874, 0.9981] state[eef_state]: left_x=0.2705 left_y=0.0015 left_z=0.1775 left_yaw=0.0013 left_pitch=-0.0248 left_roll=-0.0023 left_gripper=0.9982 right_x=0.4457 right_y=0.2944 right_z=0.0325 right_yaw=0.1678 right_pitch=-0.0271 right_roll=-0.0273 right_gripper=0.9981 state[joint_eff]: [-0.335, -0.8821, 6.9675, 1.9072, -0.0708, -0.0366, -0.0122, 0.1162, -10.865, 8.4308, 1.8046, 0.3736, 0.2808, 0.0171] 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":{"right_x":0.295,"right_y":0,"right_z":0.2,"left_x":0.43,"left_y":-0.2,"left_z":0.15,"left_gripper":1},"note":"The bottles slid left during the low sideways approach. I’ll park the right arm and approach the leftmost bottle from above with the left arm, so the open fingers can descend around it without sweeping it sideways."})

tool

executing move_to over 25 steps (2.5s)

step 112

assistant

agent noteThe bottles have shifted farther left, and the nearest visible neck is left of the left wrist’s centerline. I’ll align above that neck while staying high enough to avoid contacting the bottles.

move_to

left_x0.4800left_y-0.1050left_z0.1500

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6258, 1.6806, 1.0599, -0.0929, -0.5133, -0.3943, 0.9988, -0.1677, 0.8551, 0.6613, -0.4301, -0.2394, -0.1871, 0.9982] state[eef_state]: left_x=0.4197 left_y=-0.1919 left_z=0.1343 left_yaw=0.0005 left_pitch=-0.0449 left_roll=0.0177 left_gripper=0.9988 right_x=0.2985 right_y=-0.0044 right_z=0.1819 right_yaw=0.1107 right_pitch=-0.0309 right_roll=0.0008 right_gripper=0.9982 state[joint_eff]: [-0.4718, -8.1436, 8.8274, 1.7021, -0.3394, 0.0171, -0.1441, -0.212, -2.5231, 9.7846, 1.7949, -0.188, 0.022, -0.0073] camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.48,"left_y":-0.105,"left_z":0.15},"note":"The bottles have shifted farther left, and the nearest visible neck is left of the left wrist’s centerline. I’ll align above that neck while staying high enough to avoid contacting the bottles."})

tool

executing move_to over 8 steps (0.8s)

step 120

assistant

agent noteThe rightmost bottle in the left wrist view is close to the jaw centerline. I’ll descend around its shoulder, with a small forward and rightward correction.

move_to

left_x0.5000left_y-0.1250left_z0.0350

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3328, 1.6928, 1.0397, -0.0063, -0.3168, -0.2386, 0.9984, -0.1741, 0.8394, 0.627, -0.421, -0.2623, -0.2031, 0.9982] state[eef_state]: left_x=0.4646 left_y=-0.0986 left_z=0.1272 left_yaw=0.051 left_pitch=-0.0594 left_roll=0.0099 left_gripper=0.9984 right_x=0.2941 right_y=-0.0016 right_z=0.1732 right_yaw=0.132 right_pitch=-0.036 right_roll=0.0033 right_gripper=0.9982 state[joint_eff]: [0.1573, -7.8974, 9.9077, 1.9316, 0.0513, 0.1929, -0.0513, -0.2256, -1.9897, 7.3641, 1.9756, 0.0513, 0.149, -0.0171] camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.5,"left_y":-0.125,"left_z":0.035},"note":"The rightmost bottle in the left wrist view is close to the jaw centerline. I’ll descend around its shoulder, with a small forward and rightward correction."})

tool

executing move_to over 6 steps (0.6s)

step 126

assistant

agent noteThe bottle’s neck is centered between the fingers. I’ll close fully to secure this grasp, then use the lift to check that the bottle actually follows.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3721, 1.9915, 0.9936, 0.3607, -0.3489, -0.2516, 0.9983, -0.1772, 0.823, 0.5911, -0.4004, -0.2665, -0.2073, 0.9982] state[eef_state]: left_x=0.4899 left_y=-0.1225 left_z=0.0393 left_yaw=0.0446 left_pitch=-0.0314 left_roll=0.0084 left_gripper=0.9983 right_x=0.2912 right_y=-0.0012 right_z=0.1657 right_yaw=0.1346 right_pitch=-0.0341 right_roll=0.0018 right_gripper=0.9982 state[joint_eff]: [-0.1026, -7.3231, 6.5299, 1.3407, -0.1197, 0.105, -0.022, -0.5265, -2.0718, 6.9128, 1.8926, -0.1636, 0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The bottle’s neck is centered between the fingers. I’ll close fully to secure this grasp, then use the lift to check that the bottle actually follows."})

tool

executing move_to over 10 steps (1.0s)

step 136

assistant

agent noteThe closed-jaw reading is empty, so the fingers missed the bottle. I’ll reopen, move two centimeters farther forward with a small lateral correction, and lower to table level for one retry.

move_to

left_gripper1.0000left_x0.5200left_y-0.1400left_z0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3725, 1.9972, 0.9844, 0.49, -0.374, -0.2619, 0.0098, -0.1783, 0.8101, 0.5564, -0.3794, -0.2699, -0.2111, 0.9982] state[eef_state]: left_x=0.5028 left_y=-0.1233 left_z=0.0594 left_yaw=0.0717 left_pitch=0.0783 left_roll=-0.0356 left_gripper=0.0098 right_x=0.2886 right_y=-0.0005 right_z=0.1578 right_yaw=0.1384 right_pitch=-0.0342 right_roll=0.0009 right_gripper=0.9982 state[joint_eff]: [-0.3487, -10.1402, 4.1915, 1.1062, 0.0952, 0.1245, 0.7937, -0.7453, -2.1949, 7.0632, 1.8681, -0.232, 0.0562, -0.0171] camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":1,"left_x":0.52,"left_y":-0.14,"left_z":0},"note":"The closed-jaw reading is empty, so the fingers missed the bottle. I’ll reopen, move two centimeters farther forward with a small lateral correction, and lower to table level for one retry."})

tool

executing move_to over 10 steps (1.0s)

step 146

assistant

agent noteThe arm is staying about five centimeters above the requested height at this long reach. I’ll move back along the bottle to a reachable part of its body and lower there instead.

move_to

left_x0.4800left_y-0.1550left_z0.0050

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3912, 2.1452, 1.1221, 0.5446, -0.4103, -0.2928, 0.9947, -0.1783, 0.7956, 0.5243, -0.3653, -0.2703, -0.2119, 0.9982] state[eef_state]: left_x=0.5352 left_y=-0.1407 left_z=0.049 left_yaw=0.1018 left_pitch=0.1248 left_roll=-0.0679 left_gripper=0.9947 right_x=0.2853 right_y=0.0001 right_z=0.1501 right_yaw=0.1392 right_pitch=-0.0373 right_roll=0.0015 right_gripper=0.9982 state[joint_eff]: [-0.5675, -6.4342, 5.1624, 0.8034, 0.1197, 0.1197, -0.105, -0.8821, -1.9624, 6.8581, 1.9805, -0.2564, 0.022, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.48,"left_y":-0.155,"left_z":0.005},"note":"The arm is staying about five centimeters above the requested height at this long reach. I’ll move back along the bottle to a reachable part of its body and lower there instead."})

tool

executing move_to over 5 steps (0.5s)

step 151

assistant

agent noteThe cap and shoulder are now aligned on the jaw column, and the arm has stopped descending. I’ll test this corrected grasp by closing the jaws.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4801, 2.0995, 1.0428, 0.5556, -0.4732, -0.3454, 0.996, -0.181, 0.7784, 0.4885, -0.3424, -0.2707, -0.2146, 0.9982] state[eef_state]: left_x=0.5049 left_y=-0.1681 left_z=0.0471 left_yaw=0.0921 left_pitch=0.1186 left_roll=-0.0787 left_gripper=0.996 right_x=0.2825 right_y=-0.0 right_z=0.143 right_yaw=0.1382 right_pitch=-0.0333 right_roll=-0.0018 right_gripper=0.9982 state[joint_eff]: [0.1162, -8.9641, 2.8513, 0.6716, -0.2906, -0.1294, 0.1294, -0.7043, -1.3744, 6.9675, 1.917, -0.2369, 0.0073, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 151): [image omitted: streamed camera frame] camera 'left_cam' (step 151): [image omitted: streamed camera frame] camera 'right_cam' (step 151): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The cap and shoulder are now aligned on the jaw column, and the arm has stopped descending. I’ll test this corrected grasp by closing the jaws."})

tool

executing move_to over 10 steps (1.0s)

step 161

assistant

agent noteThe second close was also empty, and the arm is not reaching the requested low pose. I’ll lift clear and move back over the bottle’s nearer end, where the arm should have more room to descend.

move_to

left_x0.4000left_y-0.1600left_z0.1400left_gripper1.0000right_x0.2950right_y0.0000right_z0.2000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4782, 2.088, 1.0245, 0.6071, -0.5323, -0.3481, 0.0106, -0.1848, 0.7654, 0.458, -0.3264, -0.2737, -0.215, 0.9982] state[eef_state]: left_x=0.5061 left_y=-0.1573 left_z=0.0587 left_yaw=0.1483 left_pitch=0.1707 left_roll=-0.0839 left_gripper=0.0106 right_x=0.2797 right_y=-0.0001 right_z=0.1359 right_yaw=0.1372 right_pitch=-0.0341 right_roll=0.0001 right_gripper=0.9982 state[joint_eff]: [-0.4581, -8.1436, 2.6462, 0.4713, 0.3492, -0.0904, 0.8571, -0.6496, -1.7299, 6.9538, 1.9219, -0.1929, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 161): [image omitted: streamed camera frame] camera 'left_cam' (step 161): [image omitted: streamed camera frame] camera 'right_cam' (step 161): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.4,"left_y":-0.16,"left_z":0.14,"left_gripper":1,"right_x":0.295,"right_y":0,"right_z":0.2},"note":"The second close was also empty, and the arm is not reaching the requested low pose. I’ll lift clear and move back over the bottle’s nearer end, where the arm should have more room to descend."})

tool

executing move_to over 10 steps (1.0s)

step 171

assistant

agent noteThe bottle’s body is centered in the wrist view, with its nearer end close to the fingertips. I’ll descend at this shorter reach to surround the body at table height.

move_to

left_x0.4400left_y-0.1600left_z-0.0100

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.63, 1.6352, 0.973, -0.0456, -0.6159, -0.4877, 0.9943, -0.1795, 0.8242, 0.6552, -0.4683, -0.2726, -0.2146, 0.9982] state[eef_state]: left_x=0.4097 left_y=-0.168 left_z=0.133 left_yaw=0.125 left_pitch=0.0025 left_roll=-0.0124 left_gripper=0.9943 right_x=0.29 right_y=-0.0006 right_z=0.1809 right_yaw=0.1414 right_pitch=-0.0376 right_roll=0.0009 right_gripper=0.9982 state[joint_eff]: [-0.3077, -9.2786, 5.9966, 1.4628, -0.4615, 0.0659, -0.188, 0.4991, -1.0051, 9.8803, 1.7558, -0.0708, 0.1197, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.44,"left_y":-0.16,"left_z":-0.01},"note":"The bottle’s body is centered in the wrist view, with its nearer end close to the fingertips. I’ll descend at this shorter reach to surround the body at table height."})

tool

executing move_to over 10 steps (1.0s)

step 181

assistant

agent noteThe jaws are now down beside the bottle’s wider body rather than above it. I’ll close here to see whether this lower approach produces a secure grasp.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5674, 2.0113, 0.8703, 0.5446, -0.6315, -0.4191, 0.9955, -0.1837, 0.804, 0.6167, -0.448, -0.2741, -0.215, 0.9982] state[eef_state]: left_x=0.4503 left_y=-0.1591 left_z=0.0338 left_yaw=0.1665 left_pitch=0.0914 left_roll=-0.0211 left_gripper=0.9955 right_x=0.2868 right_y=-0.001 right_z=0.1731 right_yaw=0.1386 right_pitch=-0.0355 right_roll=0.0008 right_gripper=0.9982 state[joint_eff]: [0.3214, -3.7949, 3.6034, 0.6081, 0.5788, -0.3199, 0.1099, -0.5949, -1.812, 7.3641, 1.917, -0.2173, 0.0122, -0.0122] camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0},"note":"The jaws are now down beside the bottle’s wider body rather than above it. I’ll close here to see whether this lower approach produces a secure grasp."})

tool

executing move_to over 10 steps (1.0s)

step 191

assistant

agent noteThis bottle keeps slipping forward instead of being captured. I’ll switch to the middle bottle, which lies more directly in front of the left base and should allow a lower, straighter approach.

move_to

left_x0.4900left_y-0.0350left_z0.1600left_gripper1.0000right_z0.2000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5564, 1.9667, 0.9455, 0.4393, -0.6369, -0.4698, 0.0112, -0.1856, 0.7898, 0.5831, -0.4259, -0.2741, -0.215, 0.9982] state[eef_state]: left_x=0.4635 left_y=-0.1603 left_z=0.0616 left_yaw=0.2099 left_pitch=0.1028 left_roll=-0.0744 left_gripper=0.0112 right_x=0.2847 right_y=-0.0012 right_z=0.1661 right_yaw=0.1367 right_pitch=-0.033 right_roll=-0.0 right_gripper=0.9982 state[joint_eff]: [-0.335, -8.5265, 5.012, 0.6374, 0.1832, 0.1148, 0.8474, -0.6906, -2.0991, 7.0359, 1.917, -0.2271, 0.0415, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.49,"left_y":-0.035,"left_z":0.16,"left_gripper":1,"right_z":0.2},"note":"This bottle keeps slipping forward instead of being captured. I’ll switch to the middle bottle, which lies more directly in front of the left base and should allow a lower, straighter approach."})

tool

executing move_to over 12 steps (1.2s)

step 203

assistant

agent noteThe middle bottle’s cap is close to the fingertips and nearly centered. I’ll lower around its neck and correct the jaw angle before closing gently.

move_to

left_x0.5250left_y-0.0200left_z0.0150left_yaw-0.2000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2134, 1.7332, 1.095, -0.0162, -0.3832, -0.2871, 0.9961, -0.1856, 0.7788, 0.6521, -0.5091, -0.2745, -0.215, 0.9982] state[eef_state]: left_x=0.4848 left_y=-0.0338 left_z=0.1325 left_yaw=0.2506 left_pitch=-0.0379 left_roll=0.0051 left_gripper=0.9961 right_x=0.2808 right_y=-0.0004 right_z=0.1836 right_yaw=0.137 right_pitch=-0.0358 right_roll=0.0012 right_gripper=0.9982 state[joint_eff]: [0.2393, -11.3162, 9.3607, 1.6093, -0.0611, 0.3053, -0.0806, -0.8684, -0.7726, 10.0308, 1.6386, -0.2759, -0.0073, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 203): [image omitted: streamed camera frame] camera 'left_cam' (step 203): [image omitted: streamed camera frame] camera 'right_cam' (step 203): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.525,"left_y":-0.02,"left_z":0.015,"left_yaw":-0.2},"note":"The middle bottle’s cap is close to the fingertips and nearly centered. I’ll lower around its neck and correct the jaw angle before closing gently."})

tool

executing move_to over 8 steps (0.8s)

step 211

assistant

agent noteThe cap is now directly on the jaw centerline at the bottom of the wrist image. I’ll use a small neck-sized opening rather than a hard full close, to reduce the chance of squeezing the bottle away.

move_to

left_gripper0.2300

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.0013, 2.0468, 1.0039, 0.524, 0.0929, 0.0238, 0.9968, -0.1856, 0.7582, 0.6174, -0.4965, -0.2741, -0.2153, 0.9982] state[eef_state]: left_x=0.53 left_y=-0.0121 left_z=0.0434 left_yaw=-0.1002 left_pitch=0.0454 left_roll=-0.013 left_gripper=0.9968 right_x=0.2772 right_y=0.0002 right_z=0.1758 right_yaw=0.137 right_pitch=-0.0373 right_roll=0.0011 right_gripper=0.9982 state[joint_eff]: [0.2667, -6.8444, 4.9709, 0.8962, 0.0952, 0.1783, 0.0611, -0.9368, -1.388, 6.8581, 1.9414, -0.2515, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0.23},"note":"The cap is now directly on the jaw centerline at the bottom of the wrist image. I’ll use a small neck-sized opening rather than a hard full close, to reduce the chance of squeezing the bottle away."})

tool

executing move_to over 8 steps (0.8s)

step 219

assistant

agent noteThe jaws have closed around the cap-sized region. I’ll lift while retracting to a comfortable reach and check whether the bottle hangs beneath the gripper.

move_to

left_x0.4300left_y-0.0200left_z0.2400

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0006, 2.0396, 1.0359, 0.4915, 0.0776, 0.0254, 0.2357, -0.1856, 0.7372, 0.5823, -0.4767, -0.2741, -0.215, 0.9982] state[eef_state]: left_x=0.5363 left_y=-0.0104 left_z=0.0526 left_yaw=-0.0901 left_pitch=0.0516 left_roll=-0.0035 left_gripper=0.2357 right_x=0.2747 right_y=0.0007 right_z=0.1693 right_yaw=0.1367 right_pitch=-0.0319 right_roll=-0.0004 right_gripper=0.9982 state[joint_eff]: [-0.2393, -10.6735, 6.2564, 1.2527, 0.0269, 0.1001, 0.2173, -0.9641, -1.4154, 6.8855, 1.917, -0.2564, -0.0073, -0.0122] camera 'top_cam' (step 219): [image omitted: streamed camera frame] camera 'left_cam' (step 219): [image omitted: streamed camera frame] camera 'right_cam' (step 219): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.43,"left_y":-0.02,"left_z":0.24},"note":"The jaws have closed around the cap-sized region. I’ll lift while retracting to a comfortable reach and check whether the bottle hangs beneath the gripper."})

tool

executing move_to over 13 steps (1.3s)

step 232

assistant

agent noteThe bottle remained on the table again. I’ll make one more approach to its wider body at a shorter reach, explicitly restoring the starting tool orientation so the fingers descend evenly.

move_to

left_x0.4800left_y-0.0350left_z0.0000left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000right_x0.2950right_y0.0000right_z0.2000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0334, 1.417, 1.095, -0.2592, 0.0437, 0.0196, 0.2354, -0.1856, 0.7185, 0.5522, -0.4637, -0.2779, -0.215, 0.9982] state[eef_state]: left_x=0.4368 left_y=-0.0187 left_z=0.2171 left_yaw=-0.091 left_pitch=-0.0186 left_roll=0.0041 left_gripper=0.2354 right_x=0.2719 right_y=0.0019 right_z=0.1632 right_yaw=0.1398 right_pitch=-0.0297 right_roll=0.0013 right_gripper=0.9982 state[joint_eff]: [-0.6769, -7.8427, 10.1949, 1.8339, 0.0073, -0.0708, -0.0366, -0.9778, -1.1829, 6.8991, 1.9072, -0.2466, -0.0317, -0.0171] camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.48,"left_y":-0.035,"left_z":0,"left_yaw":0,"left_pitch":0,"left_roll":0,"left_gripper":1,"right_x":0.295,"right_y":0,"right_z":0.2},"note":"The bottle remained on the table again. I’ll make one more approach to its wider body at a shorter reach, explicitly restoring the starting tool orientation so the fingers descend evenly."})

tool

executing move_to over 15 steps (1.5s)

step 247

assistant

agent noteThe wider body now fills the space between the fingers. I’ll close only to about five centimeters first, avoiding the hard squeeze that previously pushed the bottle forward.

move_to

left_gripper0.5500left_pitch0.0000left_roll0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1177, 1.9827, 0.7933, 0.6884, -0.1028, -0.0601, 0.9973, -0.178, 0.8238, 0.6636, -0.4862, -0.2771, -0.215, 0.9982] state[eef_state]: left_x=0.4875 left_y=-0.0358 left_z=0.031 left_yaw=-0.0087 left_pitch=0.0638 left_roll=0.009 left_gripper=0.9973 right_x=0.2885 right_y=0.0009 right_z=0.1815 right_yaw=0.147 right_pitch=-0.0454 right_roll=0.0061 right_gripper=0.9982 state[joint_eff]: [-0.1162, -5.4632, 4.6291, 0.7643, 0.105, -0.2222, -0.1148, -0.0889, -0.8957, 10.2085, 1.7705, -0.1245, 0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 247): [image omitted: streamed camera frame] camera 'left_cam' (step 247): [image omitted: streamed camera frame] camera 'right_cam' (step 247): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0.55,"left_pitch":0,"left_roll":0},"note":"The wider body now fills the space between the fingers. I’ll close only to about five centimeters first, avoiding the hard squeeze that previously pushed the bottle forward."})

tool

executing move_to over 5 steps (0.5s)

step 252

assistant

agent noteThe initial opening is still slightly wider than the bottle at the fingers. I’ll narrow it a little more to establish contact before lifting.

move_to

left_gripper0.3800

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1162, 1.956, 0.8391, 0.6395, -0.112, -0.0681, 0.5563, -0.1791, 0.7975, 0.6178, -0.4629, -0.2779, -0.215, 0.9982] state[eef_state]: left_x=0.4982 left_y=-0.0347 left_z=0.0501 left_yaw=0.0051 left_pitch=0.0878 left_roll=0.0035 left_gripper=0.5563 right_x=0.2844 right_y=0.0014 right_z=0.1725 right_yaw=0.1464 right_pitch=-0.0417 right_roll=0.0053 right_gripper=0.9982 state[joint_eff]: [0.212, -9.2513, 5.5316, 0.9597, 0.2027, 0.0024, 0.3443, -0.6359, -1.4974, 6.9265, 1.9707, -0.2271, 0.0171, -0.0171] camera 'top_cam' (step 252): [image omitted: streamed camera frame] camera 'left_cam' (step 252): [image omitted: streamed camera frame] camera 'right_cam' (step 252): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0.38},"note":"The initial opening is still slightly wider than the bottle at the fingers. I’ll narrow it a little more to establish contact before lifting."})

tool

executing move_to over 2 steps (0.2s)

step 254

assistant

agent noteThe jaws are now touching the bottle’s sides. I’ll make a short lift and inward move to check whether this gentler grip carries the bottle.

move_to

left_x0.4600left_y-0.0350left_z0.1300left_pitch0.0000left_roll0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1158, 1.9465, 0.8803, 0.5911, -0.1204, -0.0792, 0.389, -0.1791, 0.7818, 0.593, -0.4442, -0.2779, -0.215, 0.9982] state[eef_state]: left_x=0.5057 left_y=-0.0339 left_z=0.06 left_yaw=0.0185 left_pitch=0.0906 left_roll=-0.0029 left_gripper=0.389 right_x=0.283 right_y=0.0017 right_z=0.1692 right_yaw=0.1463 right_pitch=-0.0326 right_roll=0.0022 right_gripper=0.9982 state[joint_eff]: [0.335, -10.0308, 5.5316, 1.1258, 0.2173, 0.0024, -0.0562, -0.8274, -1.7162, 6.8718, 1.9658, -0.2027, -0.0073, -0.0122] camera 'top_cam' (step 254): [image omitted: streamed camera frame] camera 'left_cam' (step 254): [image omitted: streamed camera frame] camera 'right_cam' (step 254): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.46,"left_y":-0.035,"left_z":0.13,"left_pitch":0,"left_roll":0},"note":"The jaws are now touching the bottle’s sides. I’ll make a short lift and inward move to check whether this gentler grip carries the bottle."})

tool

executing move_to over 5 steps (0.5s)

step 259

assistant

agent noteThe bottle did not follow the lift. The readback rose above the bottle while the jaws were closing, so I’ll reopen and return to a low approach before closing with the low height explicitly maintained.

move_to

left_x0.4900left_y-0.0350left_z-0.0200left_gripper0.8000left_yaw0.0000left_pitch0.0000left_roll0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1299, 1.647, 0.8982, 0.2241, -0.1223, -0.0868, 0.3879, -0.1791, 0.7673, 0.5625, -0.4259, -0.2779, -0.215, 0.9982] state[eef_state]: left_x=0.4722 left_y=-0.0363 left_z=0.1296 left_yaw=0.0096 left_pitch=0.0416 left_roll=-0.0019 left_gripper=0.3879 right_x=0.2808 right_y=0.0021 right_z=0.1628 right_yaw=0.1463 right_pitch=-0.0304 right_roll=0.0015 right_gripper=0.9982 state[joint_eff]: [-0.4991, -9.1966, 6.2291, 1.6923, -0.1685, -0.1294, -0.1343, -0.841, -1.4838, 6.8444, 1.917, -0.1929, 0.0073, -0.0171] camera 'top_cam' (step 259): [image omitted: streamed camera frame] camera 'left_cam' (step 259): [image omitted: streamed camera frame] camera 'right_cam' (step 259): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.49,"left_y":-0.035,"left_z":-0.02,"left_gripper":0.8,"left_yaw":0,"left_pitch":0,"left_roll":0},"note":"The bottle did not follow the lift. The readback rose above the bottle while the jaws were closing, so I’ll reopen and return to a low approach before closing with the low height explicitly maintained."})

tool

executing move_to over 10 steps (1.0s)

step 269

assistant

agent noteThe low descent is stopping early and tilting the tool, suggesting contact is disturbing the grasp. I’ll back off that contact slightly and try a gentle grip higher on the bottle’s body.

move_to

left_x0.5150left_y-0.0350left_z0.0900left_pitch0.0000left_roll0.0000left_gripper0.4500

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1143, 2.0563, 0.8543, 0.8207, -0.1143, -0.0875, 0.7977, -0.1791, 0.7513, 0.5373, -0.4191, -0.2779, -0.215, 0.9982] state[eef_state]: left_x=0.515 left_y=-0.0352 left_z=0.0474 left_yaw=0.0211 left_pitch=0.1832 left_roll=-0.0258 left_gripper=0.7977 right_x=0.2777 right_y=0.0026 right_z=0.157 right_yaw=0.1463 right_pitch=-0.0326 right_roll=0.0022 right_gripper=0.9982 state[joint_eff]: [-0.0342, -4.1778, 2.7556, 0.0366, 0.0611, 0.0708, -0.1148, -0.8137, -1.4564, 6.6256, 1.9756, -0.2515, -0.0073, -0.0122] camera 'top_cam' (step 269): [image omitted: streamed camera frame] camera 'left_cam' (step 269): [image omitted: streamed camera frame] camera 'right_cam' (step 269): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.515,"left_y":-0.035,"left_z":0.09,"left_pitch":0,"left_roll":0,"left_gripper":0.45},"note":"The low descent is stopping early and tilting the tool, suggesting contact is disturbing the grasp. I’ll back off that contact slightly and try a gentle grip higher on the bottle’s body."})

tool

executing move_to over 4 steps (0.4s)

step 273

assistant

agent noteThe bottle remains centered between the fingers at this higher level. I’ll close while maintaining that height, and use the final jaw opening to tell whether anything has been captured.

move_to

left_gripper0.0000left_z0.0800left_pitch0.0000left_roll0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1116, 1.9247, 1.0077, 0.4191, -0.1188, -0.1051, 0.4548, -0.1791, 0.7368, 0.5056, -0.4023, -0.2779, -0.215, 0.9981] state[eef_state]: left_x=0.5234 left_y=-0.034 left_z=0.0846 left_yaw=0.035 left_pitch=0.0677 left_roll=-0.0234 left_gripper=0.4548 right_x=0.2752 right_y=0.0031 right_z=0.1498 right_yaw=0.1463 right_pitch=-0.033 right_roll=0.0024 right_gripper=0.9981 state[joint_eff]: [-0.2667, -11.7265, 8.2393, 1.663, -0.0464, 0.1343, 0.0366, -0.8547, -1.5521, 6.9675, 1.9023, -0.2515, -0.0171, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 273): [image omitted: streamed camera frame] camera 'left_cam' (step 273): [image omitted: streamed camera frame] camera 'right_cam' (step 273): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0,"left_z":0.08,"left_pitch":0,"left_roll":0},"note":"The bottle remains centered between the fingers at this higher level. I’ll close while maintaining that height, and use the final jaw opening to tell whether anything has been captured."})

tool

executing move_to over 5 steps (0.5s)

step 278

assistant

agent noteThe empty close shows that the fingers were still above the bottle. I’ll reopen and lower straight down at the same alignment, without shifting along the bottle.

move_to

left_gripper0.8000left_z0.0200left_x0.5150left_pitch0.0000left_roll0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1116, 1.9186, 1.0389, 0.279, -0.1257, -0.1059, 0.0095, -0.1822, 0.7193, 0.4728, -0.3916, -0.2783, -0.215, 0.9982] state[eef_state]: left_x=0.5146 left_y=-0.0318 left_z=0.0712 left_yaw=0.041 left_pitch=-0.0332 left_roll=-0.0052 left_gripper=0.0095 right_x=0.2715 right_y=0.003 right_z=0.1416 right_yaw=0.1436 right_pitch=-0.0372 right_roll=0.004 right_gripper=0.9982 state[joint_eff]: [-0.5538, -8.9778, 7.9385, 1.873, -0.0855, 0.0757, 0.7985, -0.5538, -1.3744, 7.0222, 1.9512, -0.2418, -0.0366, -0.0073] camera 'top_cam' (step 278): [image omitted: streamed camera frame] camera 'left_cam' (step 278): [image omitted: streamed camera frame] camera 'right_cam' (step 278): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0.8,"left_z":0.02,"left_x":0.515,"left_pitch":0,"left_roll":0},"note":"The empty close shows that the fingers were still above the bottle. I’ll reopen and lower straight down at the same alignment, without shifting along the bottle."})

tool

executing move_to over 8 steps (0.8s)

step 286

assistant

agent noteThe open fingers now flank the bottle’s body. I’ll close while keeping the grasp target low, rather than allowing the wrist to rise during closure.

move_to

left_gripper0.0000left_z0.0050left_x0.5150left_y-0.0350left_pitch0.0000left_roll0.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1165, 2.0319, 0.9756, 0.5499, -0.131, -0.1081, 0.7955, -0.1841, 0.6983, 0.4393, -0.3759, -0.2783, -0.215, 0.9982] state[eef_state]: left_x=0.5244 left_y=-0.0345 left_z=0.0459 left_yaw=0.0419 left_pitch=0.0603 left_roll=-0.019 left_gripper=0.7955 right_x=0.2684 right_y=0.003 right_z=0.1348 right_yaw=0.1417 right_pitch=-0.0344 right_roll=0.0031 right_gripper=0.9982 state[joint_eff]: [0.1026, -7.1863, 4.0, 1.5409, -0.0904, 0.0952, -0.1441, -0.7043, -1.2103, 6.8034, 1.9512, -0.2369, -0.0024, -0.0122] approver: 8 step(s) modified (delta_clamped ×8). camera 'top_cam' (step 286): [image omitted: streamed camera frame] camera 'left_cam' (step 286): [image omitted: streamed camera frame] camera 'right_cam' (step 286): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_gripper":0,"left_z":0.005,"left_x":0.515,"left_y":-0.035,"left_pitch":0,"left_roll":0},"note":"The open fingers now flank the bottle’s body. I’ll close while keeping the grasp target low, rather than allowing the wrist to rise during closure."})

tool

executing move_to over 8 steps (0.8s)

step 294

assistant

agent noteThe jaws are empty again, and the wrist is deflecting instead of achieving a stable grasp. I’ll lift clear and withdraw both arms rather than continue pushing the bottles around.

move_to

left_x0.4000left_y0.0000left_z0.2400left_gripper1.0000left_yaw0.0000left_pitch0.0000left_roll0.0000right_x0.2950right_y0.0000right_z0.2000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1184, 2.0644, 0.9867, 0.6876, -0.1532, -0.1074, 0.0105, -0.1856, 0.6785, 0.4068, -0.3641, -0.2859, -0.2146, 0.9982] state[eef_state]: left_x=0.5402 left_y=-0.0335 left_z=0.0643 left_yaw=0.0608 left_pitch=0.1766 left_roll=-0.0285 left_gripper=0.0105 right_x=0.2649 right_y=0.0046 right_z=0.1277 right_yaw=0.1463 right_pitch=-0.0336 right_roll=0.0079 right_gripper=0.9982 state[joint_eff]: [-0.5402, -6.3111, 2.8239, 0.6667, 0.105, 0.0122, 0.8376, -0.7726, -0.9094, 6.9538, 1.9414, -0.1685, 0.0073, -0.0122] approver: 8 step(s) modified (delta_clamped ×8). camera 'top_cam' (step 294): [image omitted: streamed camera frame] camera 'left_cam' (step 294): [image omitted: streamed camera frame] camera 'right_cam' (step 294): [image omitted: streamed camera frame]

assistant

move_to({"targets":{"left_x":0.4,"left_y":0,"left_z":0.24,"left_gripper":1,"left_yaw":0,"left_pitch":0,"left_roll":0,"right_x":0.295,"right_y":0,"right_z":0.2,"right_gripper":1},"note":"The jaws are empty again, and the wrist is deflecting instead of achieving a stable grasp. I’ll lift clear and withdraw both arms rather than continue pushing the bottles around."})

tool

executing move_to over 12 steps (1.2s)

step 306

assistant

agent noteI couldn’t secure a bottle well enough to stand it upright. All three remain lying down, and repeated approaches shifted them left and forward. I withdrew the arms rather than risk further uncontrolled movement.

give_up

hindsightIn this run, low approaches repeatedly stopped at measured z≈0.03–0.06 m and the wrist tilted; closing often raised the measured grasp point and produced an empty grip. Treat that behavior as unresolved contact/alignment, not a successful grasp. Partial gripper readings near the commanded opening did not establish that a bottle was held—verify actual bottle motion before transport. Low lateral corrections swept the bottles sideways; lift fully clear before repositioning sideways. The bottles ended farther left and forward than their starting positions.

Raw transcript

user

Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0216, 1.298, 1.005, -0.2768, -0.041, -0.0483, 0.996, -0.1844, 0.8238, 0.6579, -0.4755, -0.2897, -0.2157, 0.9983] state[eef_state]: left_x=0.4087 left_y=0.002 left_z=0.2201 left_yaw=0.0287 left_pitch=-0.0072 left_roll=-0.0068 left_gripper=0.996 right_x=0.2892 right_y=0.001 right_z=0.1813 right_yaw=0.1512 right_pitch=-0.0383 right_roll=0.011 right_gripper=0.9983 state[joint_eff]: [0.3077, -6.5299, 10.5778, 1.746, 0.1538, 0.1587, -0.0464, 0.212, -1.0051, 9.894, 1.7167, -0.0757, 0.0122, -0.1978] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 306): [image omitted: streamed camera frame] camera 'left_cam' (step 306): [image omitted: streamed camera frame] camera 'right_cam' (step 306): [image omitted: streamed camera frame]

assistant

give_up({"reason":"I couldn’t secure a bottle well enough to stand it upright. All three remain lying down, and repeated approaches shifted them left and forward. I withdrew the arms rather than risk further uncontrolled movement.","hindsight":"In this run, low approaches repeatedly stopped at measured z≈0.03–0.06 m and the wrist tilted; closing often raised the measured grasp point and produced an empty grip. Treat that behavior as unresolved contact/alignment, not a successful grasp. Partial gripper readings near the commanded opening did not establish that a bottle was held—verify actual bottle motion before transport. Low lateral corrections swept the bottles sideways; lift fully clear before repositioning sideways. The bottles ended farther left and forward than their starting positions."})

tool

give_up: I couldn’t secure a bottle well enough to stand it upright. All three remain lying down, and repeated approaches shifted them left and forward. I withdrew the arms rather than risk further uncontrolled movement.

Trial 0 Wire

Tools (trial initial)

[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [0, 0], left_roll: [0, 0], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [0, 0], right_roll: [0, 0], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]

call 0 attempt 0 · /responses · status 200 · 9.892 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

{
"content": [
{
"prompt_cache_breakpoint": {
"mode": "explicit"
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"text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n in meters in the arm's base frame (the grasp point sits between the\n fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n the trial's start orientation; 0 keeps the start orientation and positive\n turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n also relative to the trial's start orientation. Positive pitch tips the\n tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n 9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n (both face forward), each with its own base frame: +x forward, +y left,\n +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n With the tool pointing straight down the wrist reaches ~0.51 m from the\n base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n normalized fraction of that (0 closed, 1 open). After a full close the\n settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n and stays there for many seconds. Effort cannot tell an empty close\n from a grasp. Judge grasps by the settled reading, then by lifting\n 5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n at ~45°. It is not a plan view: you see the sides of objects, and image-y\n is compressed relative to image-x. Arm-forward is image-up, arm-right is\n image-right, the two bases sit just below the bottom edge, and an arm\n extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n px/cm in the far half of the frame where the arms work, rising to ≈ 8\n px/cm at the bottom edge, and x and y scales differ at the same spot.\n Derive the local scale from your first sizeable move and reuse it.\n Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n forward of the finger axis, so they look *past* the fingertips. Anything\n at or nearer than the grasp point is out of frame; the dark wedge at the\n bottom-centre is the jaws; a held object is never visible in its own\n wrist camera; the working arm hides from the top camera whatever it\n hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n at or below the bottom edge of the wrist image. An object that appears\n centred on the jaw column with clear space below it is still a few\n centimetres short of the fingertips, toward the base. The jaws converge\n on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n pitched forward, ≈ 200 with the tool vertical): a brief empty close\n shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n table and changes within a single frame (larger toward the bottom\n edge). To calibrate it, make a pure radial move of known size and read\n the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n 3 cm radial move and a 1.4 cm descent shift features about equally), so\n depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n toward the base. Rolling the wrist rotates the scene but the jaws still\n close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n description). The fence-side y bound is tight because a low fence runs\n along each outer table edge; the cross-over side reaches past the\n table's centre line, so any point on the table is reachable by at least\n one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n reach and with a load. Aim ~2 cm high when carrying and when clearing\n obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n unfold from there; if a move out of a folded pose stalls, first raise z\n and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n the shoulder stops tracking while its effort stays negative (still\n holding the arm up); effort flipping positive means the arm is pressing\n into the surface: back off. A grasped object touching down reads as a\n stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n more than ~1.5 cm means one of three things: the target was clipped to\n the workspace box (the tool description lists the bounds), the arm is\n at its reach or folded limit (the arm simply stops), or you are in\n contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n the tool about the grasp point; it does not move the grasp point\n sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n with the far-region scale from the facts, remembering the view is\n oblique: a target's image-y position over-states its distance from the\n base by the compression factor, and it sits in whichever arm's frame\n you convert to (the workspace box gives the base spacing for switching\n frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n look at the wrist camera. The object should sit on the jaw column\n (x ≈ 110). If it is fully visible with empty frame below it, advance\n 2–3 cm radially before descending, because the fingertips are further\n out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n retry once. If the second close is also empty, do not repeat it:\n re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n lift clear, then verify in the overhead frame after the arm has moved\n away. The working arm's occlusion of the top view is expected; do not\n retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n cross-over bound), so any object on the table is reachable by at least\n one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n moves, scale probes or table touches; the first task motion is the\n sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n off-centre. Align in the wrist view before closing, and close no further\n than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n and give up early; the operator can move it or widen the box for the\n next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
"type": "input_text"
}
],
"role": "system"
}

{
  "content": [
    {
      "text": "Goal: Stand all three bottles upright.",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.6079, -0.3767, -0.0193, -0.0261, 0.9987, -0.0154, 0.7891, 0.6037, -0.3874, -0.0238, -0.0349, 0.9983]\nstate[eef_state]: left_x=0.2956 left_y=0.0011 left_z=0.1826 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.2934 right_y=0.0033 right_z=0.1796 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9983\nstate[joint_eff]: [-0.4308, -1.4701, 9.7983, 1.79, -0.0171, 0.0757, -0.1441, -0.8137, -1.0735, 10.2906, 1.8291, -0.0366, 0.2076, -0.1929]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cc61bd1a67ecc25c7fe21c2e891d3c3825daf92e65350499d294c9ca6b14fa5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f7e962d4715ae439620d53bfaa1d1750349ef65a96dcf21f9df60ee14499f33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83eeb8604fd6e1f8e2d3c8759253e5d948aad53e0ec799ed50cad681fd100d3a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 1 attempt 0 · /responses · status 200 · 8.88 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

{
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  "id": "rs_0d8248ce6599b826016ab4592182a087d0af3b963d3ed4b09b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.275,\"right_z\":0.15,\"right_gripper\":1,\"left_x\":0.2956,\"left_y\":0.0011,\"left_z\":0.20},\"note\":\"All three bottles are lying on their sides, with their caps toward the far edge. I’ll approach the rightmost bottle’s neck and try lifting it so its body can swing upright under gravity.\"}",
  "call_id": "call_v2Vty1sSrxTYC0z7WF46ZJMH",
  "id": "fc_0d8248ce6599b826016ab45927db6087d0898bcd0764826f88",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_v2Vty1sSrxTYC0z7WF46ZJMH",
  "output": [
    {
      "text": "executing move_to over 23 steps (2.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.8021, 0.6411, -0.4473, -0.0189, -0.0292, 0.9984, 0.7406, 1.8748, 1.3182, -0.2062, 0.5583, 0.3973, 0.9983]\nstate[eef_state]: left_x=0.2906 left_y=0.0011 left_z=0.1809 left_yaw=0.0013 left_pitch=-0.0461 left_roll=-0.0018 left_gripper=0.9984 right_x=0.4281 right_y=0.2695 right_z=0.1336 right_yaw=0.0433 right_pitch=-0.0536 right_roll=-0.0427 right_gripper=0.9983\nstate[joint_eff]: [-0.1846, -1.347, 10.4684, 1.7216, -0.0317, 0.0024, -0.0415, 0.1983, -9.6889, 9.2239, 1.619, 0.569, 0.3004, -0.1929]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fc9157e0649cf6dfd41860de27458d13b0c3fa5638780262426dec3ac6d682b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:005d96c17808067dfe67aa8ede339e01ad5a87f4e5ecbe83d6b92ac8ae3887ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec894d2b51081609ae3d36937c2ab2a5dbd98b637cfcdb3fd8a4d371e98c00c0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /responses · status 200 · 11.43 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.6079, -0.3767, -0.0193, -0.0261, 0.9987, -0.0154, 0.7891, 0.6037, -0.3874, -0.0238, -0.0349, 0.9983]\nstate[eef_state]: left_x=0.2956 left_y=0.0011 left_z=0.1826 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.2934 right_y=0.0033 right_z=0.1796 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9983\nstate[joint_eff]: [-0.4308, -1.4701, 9.7983, 1.79, -0.0171, 0.0757, -0.1441, -0.8137, -1.0735, 10.2906, 1.8291, -0.0366, 0.2076, -0.1929]",
      "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, 0.8021, 0.6411, -0.4473, -0.0189, -0.0292, 0.9984, 0.7406, 1.8748, 1.3182, -0.2062, 0.5583, 0.3973, 0.9983]\nstate[eef_state]: left_x=0.2906 left_y=0.0011 left_z=0.1809 left_yaw=0.0013 left_pitch=-0.0461 left_roll=-0.0018 left_gripper=0.9984 right_x=0.4281 right_y=0.2695 right_z=0.1336 right_yaw=0.0433 right_pitch=-0.0536 right_roll=-0.0427 right_gripper=0.9983\nstate[joint_eff]: [-0.1846, -1.347, 10.4684, 1.7216, -0.0317, 0.0024, -0.0415, 0.1983, -9.6889, 9.2239, 1.619, 0.569, 0.3004, -0.1929]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fc9157e0649cf6dfd41860de27458d13b0c3fa5638780262426dec3ac6d682b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:005d96c17808067dfe67aa8ede339e01ad5a87f4e5ecbe83d6b92ac8ae3887ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec894d2b51081609ae3d36937c2ab2a5dbd98b637cfcdb3fd8a4d371e98c00c0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFk0V1sM-3TiAaTYEemcUQv507YdVhFI4JG2xu6gMBCiCK0TE3yvLdROnfKiWoP_TUOF3MLJ5F5yxy5JnwLcUUGzOo7p-OnjqokJgDt_xkQnewJpHqzFEj9mizLkUlbB0Btcpjo3CxY1hDEG5RUOM_mi59-S5NZ8DTMkmXkAbWiyKl2boQikCNOn8McThagIhf2LwyS-HcunI7JCzWj77X-1cOLEPNX161zwIZtme5dSL-7odES8EciPkJ5OKe4NILzHNVZPZCOsZZSjLXCPFWESiqg6reaRhaeWzho0M7IfzXKlripSK77bIK6h2r9cqkXa8jjpV2g7kZU9sy8uQiUFGhynVSDQ0ghpI32xIDnMqyxuLLKbjotlD8rXtvKRwlBl5oKab0WJo0CVn8ZPgCiigCPnxNM9ycR4H9t25LiLj7r63afebT9BAbOyQURIA5TTaOW4cf1hXhFv3rSD_it_pV4RLUUfU9jDZjLio_0vyanHbMo_tj2L47OG7SNH55l5pw-g6XKyXRKRYfk6XuEt2rgbUnu2-FFDa6Bn9b4v5Ic9Q0Oa23rDo64lXnTPalL4bGONb0XYUU0zidGsXKg7Y_-ND9FmL7TIrJVuatMFbSNgFgfGmwMy6k5l4_7HlgeVj-VnUu9_6rbJkuyk3vf4zenhHEQAh47Rfw2YC1QybMGXN309P-fJfLiNdWes2AzJccq2B7QbF8NW6lRfIu_tk012rgmMGX5G-KniVGro24M862s8K1kMicOlnnb8-XVj5obYhUYdZltjjXEOCNSgC8jBt-iDq2yC7cWwqwFXEc5ciD3oLgnRPN2AVILfrI4mMuRa-JGUnx-p5jh2moXMJOPlh1i-4nmlVsXl3QT5hTbfowBEAjn3EXPYDx4Fpp37RwZe5wW9byNLxaeyNXV8N-PPk8P-Xmf-fIVGvcVhpN1KqUMHcFjUcY8wPBt005PQ-NmGerx0GpvExAaoN30tV02lpaMm2V941MXO38tn8cjImJPAR0xAbyW2apSzUq0I7yCrteO6o7MdSdRHMXpj_5htSJb4MqxH9CIHa6lfR_fennmMcruu3taXrgTMraAmpm_Q2oRlOkig8XSbIWQwf3KNlnQhnuzuJ_LneEKiCEAJHhafxww8PQxtF7XcHR0ZC24rO2ajHLDzfAVY5Aw5JYTDXWvx3JLtxMDgJtC89eTSf6dAybCFFj4XrK34y4IO_Y3_UZ2HUNKYD3fLFSYvqK-UoBuoh7blXPWZIzz6FBOX8nvcu3Gt2GPBwsHzGbR9LGbbgEnhGnpkV_YzgN4-Dv6fhvGVkpFpkR2jNrx9l3TAox62GwfvkXdUzglwtyrBGLviZU3JAaQIV6wMlm2usmwYDZEhX4ysdRJwhxnGiCnlkyEZnttpHiMAF4bL7xkUa56wShvK0vCk0KN4xxdF4RCvx98fOgxhG0WCT4her7LpeHpwKiZiHquq7wiuzbGPYGlq3UJIXnui2hmdDqbCXHdv-mNqT3-pgT3vrlxF77b0vpFhiIUiEYW6subEvtJ5aABoWVLa9uAN-jQeXR8hrAAMI666TifjzJGCl8JPBcdW2h2PBIAgq5eQv87Wy-cbFAYFfYOW8D4qCYwt8rNTYDGZDJvnZUP8WX93ywit0-8fKgvAEUsmd3UjbmGb-5nBc5CaWY-t6IDKf0dwqp24JPCVHNx1tjzs-AviC5yI5rAmN0LO_78K-Xn78E7SnbrXL7bXQurROg1nuulrnrwzn5ryfo0Y1ryZ85Xhygt5UhdWWQ6BwP29opXxkiFttHIh6ztBXtf3LTRlmEt1VX-V865T7lYMD3IjCYUvnZ4Yf890cJXhtkRoPaCHzFlhtDKeh4FTFvJdrjqswX9I7sPAN99wkxgPdiLa36SYSPATqwUtSvVRR_cC0DXzk0I8qAXbelwYZFWBITUpgFId8yLGT-tcnAkiNjLm1Bf7JWhKRT69TcPj4vDT2y4UOK4m98f97blDfXCLpYpXAvkAbh4wcf5XDNN2zZJOH0eA8bI5skTnTUSHBS_xayn7xFYSaBa4gMxhqI0GHxkN5Wx118qzsSnmfY6R4nLmpeOO6Sowr3BBbacG4aXGU8UpwTXAG9esDjS2q2QWk9o4d-QxmNAGJem0ljUg1p4uZFisCb4lM-qX9t7R115OlQFgXHJ6ps6bBYZKGt5Ds8dlXR1BMw8rm4haO6pS79rF5gN8E6afBCcPcmzkSOzk1uEOBjQgJ-4q8WUhv-YJpyaV74ZZjSncYuBBVHcBfSC-FL7wtLEEDYw4lqBLa5x0M1s6kYwU1nMBoJr6VmF4VmHiQT92OGnmqAjaoteZVT8AmunMzrv0gz4qtz42Ue61DKnZEMGzlDd1_ZfJ2c6qLQSQP4dNkSaRecfqT6qRaRggG1nNduLDpn-aAlu4nTn9SWCabmEsqhZsMU_fEUcpXI35HF1o928IS_BpYimfi749V5b647GpispjoLmRD1G83gIDxT7mcAEoAZx2L_mIGBB8D3rzAhlR57b4MshrbAua8ECtmDF2see_FIMNJzaP27H0XjFseP_J1Gdux_E-2izOQc0iy3DH-Sr4mWugxusKEfXuhMLDQPd1NafG5U1hLyU4ZMXW3onGQ1GNA7Sg7g5Wqz3H1GpKhhsyZaLIiZyIB7o608XqxI3qsyePcwWaE0R07divncED5KAZiJ6EtgrSu5NSqiuZNJ9pWej9WMmL3ZqNw_ebVcND5Yh4lmvVYM85BNF62vDZfKTR85wHNrbSdwQpFOSCuon2K8x65rQAFpCShqya7qN4thztPoascX431f5zyVDaa4cXh8R3yz7FPud1eikhizMsjWDgMV7--sYn2h_V8DuKLcPwOST3ofAx_eeLMWEbq-q2BYtIKKtvchELJUa-mA==",
  "id": "rs_0d8248ce6599b826016ab4592d244487d086e2719481126fc4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.265,\"right_z\":0.04},\"note\":\"The rightmost bottle’s cap is nearly centered in the right wrist view. I’ll move a little farther forward and lower the open jaws around its neck, keeping clear of the neighboring bottle.\"}",
  "call_id": "call_EU67AtnatnM3upbBSLFGhJQp",
  "id": "fc_0d8248ce6599b826016ab459337e8087d0ab6c750d1f410a25",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EU67AtnatnM3upbBSLFGhJQp",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7731, 0.5972, -0.4171, -0.0189, -0.0292, 0.9983, 0.6781, 2.0945, 1.2049, 0.1619, 0.5095, 0.3424, 0.9982]\nstate[eef_state]: left_x=0.2876 left_y=0.0012 left_z=0.1749 left_yaw=0.0013 left_pitch=-0.0309 left_roll=-0.0021 left_gripper=0.9983 right_x=0.4571 right_y=0.2622 right_z=0.039 right_yaw=0.0488 right_pitch=-0.0469 right_roll=-0.0397 right_gripper=0.9982\nstate[joint_eff]: [-0.1709, -1.5385, 6.8034, 1.9756, -0.0562, -0.0415, -0.022, -1.0735, -9.7026, 6.653, 1.8535, 0.0366, 0.0904, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df2888fa1560039af00ed9d1cb626b5efec567c02e5ee602c7de9a1734b4d4f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6863949b2193ce10c6cd38c59d39d0f03c82de0ed2e48fee89707e720a3e0ffa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50c871a6e7e227f022ee9366a484597f14956aa918ac949136946a0fdd34e4f5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /responses · status 200 · 6.227 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, 0.8021, 0.6411, -0.4473, -0.0189, -0.0292, 0.9984, 0.7406, 1.8748, 1.3182, -0.2062, 0.5583, 0.3973, 0.9983]\nstate[eef_state]: left_x=0.2906 left_y=0.0011 left_z=0.1809 left_yaw=0.0013 left_pitch=-0.0461 left_roll=-0.0018 left_gripper=0.9984 right_x=0.4281 right_y=0.2695 right_z=0.1336 right_yaw=0.0433 right_pitch=-0.0536 right_roll=-0.0427 right_gripper=0.9983\nstate[joint_eff]: [-0.1846, -1.347, 10.4684, 1.7216, -0.0317, 0.0024, -0.0415, 0.1983, -9.6889, 9.2239, 1.619, 0.569, 0.3004, -0.1929]",
      "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, 0.7731, 0.5972, -0.4171, -0.0189, -0.0292, 0.9983, 0.6781, 2.0945, 1.2049, 0.1619, 0.5095, 0.3424, 0.9982]\nstate[eef_state]: left_x=0.2876 left_y=0.0012 left_z=0.1749 left_yaw=0.0013 left_pitch=-0.0309 left_roll=-0.0021 left_gripper=0.9983 right_x=0.4571 right_y=0.2622 right_z=0.039 right_yaw=0.0488 right_pitch=-0.0469 right_roll=-0.0397 right_gripper=0.9982\nstate[joint_eff]: [-0.1709, -1.5385, 6.8034, 1.9756, -0.0562, -0.0415, -0.022, -1.0735, -9.7026, 6.653, 1.8535, 0.0366, 0.0904, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df2888fa1560039af00ed9d1cb626b5efec567c02e5ee602c7de9a1734b4d4f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6863949b2193ce10c6cd38c59d39d0f03c82de0ed2e48fee89707e720a3e0ffa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50c871a6e7e227f022ee9366a484597f14956aa918ac949136946a0fdd34e4f5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFlADepPvHbSsChyWsKzE2D3TaUkYQO98biA-Zm5ykaUGnZvAsnXumE9xA3JUpjyv__8ikMC86WmnriqqRYg9alK_Fn1Gtw94audAD43S3YjKU1g8XLasXrG-X1lKsrngdVbDbG1oE2M57-5G0E_8U0bSrWuddpAUI2DT6HqL5l2CSljvLgV-Z6V2woXhLQb7PDA1CkVfWEFdKpciU5jYLIfFDProJXj_7SrfnQlhTm9ub81LWE1g4QnOwD63X8uHeE4zOVwdX5Io9EXhfZs65qNmmZBxMBvgYozw7TSidSvgzTV9vmeEIw4SnOuuF6YiVbfKmgBjdZYAGrlq3pe5no0_AFrwW42TB59iJN1pVuIuKAHFufwLaqp_Yp5vkc4jpCZamicWfDeO9bQa9Gj0kBu_IygKqsHos4--0CIZLDmS_SJJLAndZkobl2AG4oY1OyzUrNkM4b-h4WwIopIisDtg5T-SqwimUPU1pMVtUsqAqpoCtG6HsaabWWAxiZWDuU1Y5IxGNBU6HYrEOrn7Kz-2Q0nmdCJyLuFGfSujAWXwA5WrJQ6vUmd-oa0h3pE0lGfBHtPNmfDxLSNhzlhNd-4IDQygsq1Rm4ixAtqqa27RAVTAlM1gVhOWAp4QmgUL3TIFLLZO75qmXa2APC5YrZgIAt6axG5SmpTN4oyXiBvW04yKKJvlq5ByeCZhHYEYUdLHQVnQWtcMXogQKT-0ZdZ3u_dGLkD2G4vXUAVYLaEYBhvi9VR-vzCGrSfiu-FWxWQUT5h4T2vkA8P52S9_uIV3kR9UwJ4eFquoJ8CauieEA7Z05bVpsreH3zI6pYU7GgiIG_8mPIODpzx_qFf3amyGTz_3GTBqaXE_tHFSU2Pi2bWMDAaVVT5OLPM1yKw4fR-IwRaMTcITdo9Shru-R95ztLakAL32dVaWPl0wLJt0Gs238YF5rBACLqPhq1KIZG016bBBVg_4IZThOPn4u6i0zgPCb_cakyO4gug3APaCgkzJ95hDaMzvulcR6p4Mwf_-OsRMPxtDmrwE438DG0RX6pUrAEfR7RkyP3YA5HBjPorVZ8-VcidNDM8h61tBiWz1QK_2HaW1YhLD0W99TqioJqjL0Y2XEyQRFgEPY1n2n8V9SwwTiK5ASbtXoUuzclBlMrO7tt8YFY8as1hNQf9v0qKSocI5iI4cJd3jONQ4UIL45GZjVeXSeT8FW795kwQ8ClpnYn9tnta2VilRxq_LO-9p56xKKSLR6dwNz8LtXCrT3CZ9O9Ou3LA4lvNDdxidwQBsJEVYoFEgawuiFMjC_u72gT-2k1pg0RF1uSyAjaI58wA8rjHhDOuE3_zGfknVjZnl_vSoGFma6uuwJKQIWbXBh5K5NJLhOHHaqs3aKxpq1xIA_ZCPgD6mtk-h7j0284PzqhHZHFozFXz77112rHof26EIbCUsJC56TzcehZqeoNpdjOyH3HZ2hLsNVICDlpgiKT1S-vXsZeXT2hURkshb0xpRDDM-_S0Qmrwqa406why_8ZVxbnNTKxtjmGtaeyGMkvCZ7EbpgEQwSMS3lFWsVhZPGlxomlj6XaVJ0hHikPsQ-GsYs5i1AaqwrQ0khscTCC98TICHVCSEytWmG8d3n4P53BbaxrxQKFd79etv2_HfiYTh31-vVKSlyIMSdToYCOag_Tn594iNz71_whaMcjiifD_LMntBim_gEtQmuV65yKGDrnUBv4RX1B7Xwn-snsjycPJ3Uw9u5H7xm7UlXHtY9HLY8y5oJzloLtESqDlHLu3oX1T91mYwHzvzfjZXQ7YVo0dveaM0v2rXgNHk9h--5AP1NfVAmNMY90MXflo0Vk7tVtVs798FMyix1NTYkwPdHZ6bGVhUZO4C7D-5FGeklRkXroxl0J0gORHDBigYezBi9tlmwVAHIml11lB98Q9Il6d7OtVicGS2dxl8VYJmoOQJNLNkByCmsaH0NFPTLW6LV0b8KP-vMYDgvKNzavMTMSkjYj1rUBqWdpva3eS5vKDEHUgX-VWzFmk6qYVtMt_Hbw0TZkZsLIFsafKhgO4tomOlgmHyjsvVJ-1H6gwCPfdK2SAzM4jQ4vyt4Nlnh7HCIbezWZuZ9MogmGwPAGc8tswPrtUTC66EvL2k54abovDkHWhLarHXoI6Lcf2FuX0BVaAAOvSnkSQc9eevmB838Qt0H4jjXDdonAbBoK20k-AvYQGO4wZPEiZQOdwNv11-CP5hjepvdGfIDD7JR40zeKw7MXuZzZLMyhYl7Fztzz8-6eZUnzUZtdWfwatDMJrP5RBbKyJHpgNbeoxhM47eZAekYBu1iMTcCvurgk5K60-TYXnUjKK4ekYedeIV0lr8wfJEvNWUL9BmBOOIhiW16Od9Dny5To-2Ywkg0Inse5Pj30hk7QOaytmPcLXqDWJG6RVxRmGS7S91SQt1bf5aLXIFhDPnkklFh72VLSm-uXbgll_SbD_LlpJzgTUayyI4QgrCPqokYUovwv6mc29LMFgsDvmgcslQoShfZU1TUXmjhpk1IJmIkEJU2hCpDh5mYo9j_wCRm5wweFoVHnD28hivVT_w16FY0qfhYaGkT9Z87z7YzvghDuK0cr5WyatEgL97npbFc9kHnmMSHX5GbTpW7nLZsugdHinZNyspMY8n9MbZOYcbVsosAhdmPlSsk1hGBynp2JWfPY_BYjR1HXE3D6iF2gkQRtJVpa9yrjqleT0mgkKfdQbrtMY_zZq2WFDC5KQwW4SYWPLo7XnVRm7pJNN2INblC0kXbv1RLbriUhM8NtUnbWv2x2oO688eUe8DtfwmbzyKZTCsCUE_ra1IKWkA2aNlVZ3sZHo-vTbVE_f9GurrK4-GZcAPDtBVvtJeUfTOu86Hjd2W4oal7vQ8H5WebsFC5SDSExyQoTUz1ny38lobRGfCcd7qO1WkipRYoLyBsH1rz44d8TEkmF_A6kcs0nsATSEDBY4JzVqwl21AlRGNNaFuyxvwU59UOQL_APXAr4KH5buO_9W3JBbDnk5fn3kkCuwMeEkrE8jg5VSfQbu4CBA2WTuKvrtxw_aDa06PjnXNm43WQQm5bE4O0EBXlnZ5rcAqMe3P3ZTqTKQvvhowJ_VRTxHchZqyq6W8O2K3AUBqxCKsECUhgrOQJ6XIWqSxEVzqyvWI3s8ldrqh_ffySGeUtWe9FIaIFWzDzMZUDQrH-MNkJ5SBFnjaAeNZThX7_e87HHh6kangOVWtNQWSG8D0LKTTnzAj_mj2eekfYKm4S2ijpKkrFXK_nstFWM5iOkHrBfLbqHFPvKcnZ6ZVW3fdUJsd_GXogvwDVE9OlhHlhefm32DiSLOOv0MfYa2oQ4lVHEO9ufH-5FQlvSjICfZLIMar_dZRdgIKiNE3IvrY7pp_9ojwCU_4HMM087i7ICvOJlp6CmvI8uE9RSBlHMtL6g61wYOsm1byOwTU7M-GAW_yj-6pfB1CRPqYI_PBzDXWoyaU73iQL_EPaQN55kgVY2brgOLAuOyNE53YlgcoEBFV7M2igPJUIQoT4wnHb39XpbiOWdFjfJwtwJcg2mUAxcNUrpHlGthOjAY5e1F_A0NxD9ht_UYIy2JILatzeMDtzVCLsPg12spraknARugtJkhkfvBPnrIRTG6DXOuONhjUe42BP_xvsZ0fdkwvpuKuA9tZMLbt7yPp-4ab6J05SHyx54DAHDjNj4HoFfj",
  "id": "rs_0d8248ce6599b826016ab4593681d487d0b4bc08ed014f1042",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.50,\"right_y\":0.25,\"right_z\":0.035,\"right_gripper\":0.65},\"note\":\"The wrist view shows the bottle’s shoulder farther forward than the jaws, and slightly to their right. I’ll align closer to the shoulder and narrow the opening before attempting a light grip.\"}",
  "call_id": "call_DISIy80zddIEWLkqWFRk4RU1",
  "id": "fc_0d8248ce6599b826016ab4593f343c87d0ad3f588097887180",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DISIy80zddIEWLkqWFRk4RU1",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7586, 0.5709, -0.3996, -0.0193, -0.0292, 0.9983, 0.6174, 2.1429, 1.2396, 0.2298, 0.4473, 0.289, 0.6557]\nstate[eef_state]: left_x=0.2859 left_y=0.0013 left_z=0.1703 left_yaw=0.0016 left_pitch=-0.0252 left_roll=-0.002 left_gripper=0.9983 right_x=0.4834 right_y=0.2539 right_z=0.0358 right_yaw=0.067 right_pitch=-0.0245 right_roll=-0.02 right_gripper=0.6557\nstate[joint_eff]: [-0.5265, -1.6752, 6.7624, 1.9023, -0.0366, -0.0415, -0.0171, -1.1829, -8.6222, 7.9658, 1.917, 0.2906, 0.0171, 0.2564]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:965675ce944b1087b5e14fe37ca3ae7ae1d806efd48618e34e6242857cb9ff72",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed192431cb368e8a07f202e7b8f47a1b3a3652daa867973bb866664adb38a156",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50ff55efbeb7b818c367bae4cf6aadf259237b7392955d8fce37aeaf5fbc8d13",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /responses · status 200 · 2.696 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.6079, -0.3767, -0.0193, -0.0261, 0.9987, -0.0154, 0.7891, 0.6037, -0.3874, -0.0238, -0.0349, 0.9983]\nstate[eef_state]: left_x=0.2956 left_y=0.0011 left_z=0.1826 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.2934 right_y=0.0033 right_z=0.1796 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9983\nstate[joint_eff]: [-0.4308, -1.4701, 9.7983, 1.79, -0.0171, 0.0757, -0.1441, -0.8137, -1.0735, 10.2906, 1.8291, -0.0366, 0.2076, -0.1929]",
      "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, 0.7731, 0.5972, -0.4171, -0.0189, -0.0292, 0.9983, 0.6781, 2.0945, 1.2049, 0.1619, 0.5095, 0.3424, 0.9982]\nstate[eef_state]: left_x=0.2876 left_y=0.0012 left_z=0.1749 left_yaw=0.0013 left_pitch=-0.0309 left_roll=-0.0021 left_gripper=0.9983 right_x=0.4571 right_y=0.2622 right_z=0.039 right_yaw=0.0488 right_pitch=-0.0469 right_roll=-0.0397 right_gripper=0.9982\nstate[joint_eff]: [-0.1709, -1.5385, 6.8034, 1.9756, -0.0562, -0.0415, -0.022, -1.0735, -9.7026, 6.653, 1.8535, 0.0366, 0.0904, -0.0171]",
      "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, 0.7586, 0.5709, -0.3996, -0.0193, -0.0292, 0.9983, 0.6174, 2.1429, 1.2396, 0.2298, 0.4473, 0.289, 0.6557]\nstate[eef_state]: left_x=0.2859 left_y=0.0013 left_z=0.1703 left_yaw=0.0016 left_pitch=-0.0252 left_roll=-0.002 left_gripper=0.9983 right_x=0.4834 right_y=0.2539 right_z=0.0358 right_yaw=0.067 right_pitch=-0.0245 right_roll=-0.02 right_gripper=0.6557\nstate[joint_eff]: [-0.5265, -1.6752, 6.7624, 1.9023, -0.0366, -0.0415, -0.0171, -1.1829, -8.6222, 7.9658, 1.917, 0.2906, 0.0171, 0.2564]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:965675ce944b1087b5e14fe37ca3ae7ae1d806efd48618e34e6242857cb9ff72",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed192431cb368e8a07f202e7b8f47a1b3a3652daa867973bb866664adb38a156",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50ff55efbeb7b818c367bae4cf6aadf259237b7392955d8fce37aeaf5fbc8d13",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0d8248ce6599b826016ab45943371087d0bb94d9d9a8ee727d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0.42},\"note\":\"The bottle is now centered between the jaws near its upper body. I’ll close gently enough to hold it without unnecessarily crushing the thin plastic.\"}",
  "call_id": "call_Z03Mmyl5BHsaQ96QmMVxMDNp",
  "id": "fc_0d8248ce6599b826016ab45946385487d0938e45448eef0416",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Z03Mmyl5BHsaQ96QmMVxMDNp",
  "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, 0.7475, 0.5514, -0.392, -0.0196, -0.0292, 0.9983, 0.6006, 2.154, 1.2572, 0.2409, 0.4332, 0.271, 0.5117]\nstate[eef_state]: left_x=0.2839 left_y=0.0014 left_z=0.1659 left_yaw=0.002 left_pitch=-0.0259 left_roll=-0.0018 left_gripper=0.9983 right_x=0.4919 right_y=0.2514 right_z=0.038 right_yaw=0.0713 right_pitch=-0.0139 right_roll=-0.0184 right_gripper=0.5117\nstate[joint_eff]: [-0.335, -1.3744, 6.7897, 1.9463, -0.0562, -0.0464, -0.0171, -0.9641, -9.2376, 7.7744, 1.8193, 0.1343, 0.1001, 0.8425]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1aadccc4b87582a43432bfb8ac8192b11d39ec89ac2c1c7c3fd9fd46014c3e4b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae33b3e474f086d41c39f69bb29756b283a36f0c8539fa64b4f6ad215ad12a14",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60d18e2caa7a011adc4dede53d423aa9935ab456de5ce57ab2122a89f94eb527",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /responses · status 200 · 4.272 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, 0.8021, 0.6411, -0.4473, -0.0189, -0.0292, 0.9984, 0.7406, 1.8748, 1.3182, -0.2062, 0.5583, 0.3973, 0.9983]\nstate[eef_state]: left_x=0.2906 left_y=0.0011 left_z=0.1809 left_yaw=0.0013 left_pitch=-0.0461 left_roll=-0.0018 left_gripper=0.9984 right_x=0.4281 right_y=0.2695 right_z=0.1336 right_yaw=0.0433 right_pitch=-0.0536 right_roll=-0.0427 right_gripper=0.9983\nstate[joint_eff]: [-0.1846, -1.347, 10.4684, 1.7216, -0.0317, 0.0024, -0.0415, 0.1983, -9.6889, 9.2239, 1.619, 0.569, 0.3004, -0.1929]",
      "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, 0.7586, 0.5709, -0.3996, -0.0193, -0.0292, 0.9983, 0.6174, 2.1429, 1.2396, 0.2298, 0.4473, 0.289, 0.6557]\nstate[eef_state]: left_x=0.2859 left_y=0.0013 left_z=0.1703 left_yaw=0.0016 left_pitch=-0.0252 left_roll=-0.002 left_gripper=0.9983 right_x=0.4834 right_y=0.2539 right_z=0.0358 right_yaw=0.067 right_pitch=-0.0245 right_roll=-0.02 right_gripper=0.6557\nstate[joint_eff]: [-0.5265, -1.6752, 6.7624, 1.9023, -0.0366, -0.0415, -0.0171, -1.1829, -8.6222, 7.9658, 1.917, 0.2906, 0.0171, 0.2564]",
      "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, 0.7475, 0.5514, -0.392, -0.0196, -0.0292, 0.9983, 0.6006, 2.154, 1.2572, 0.2409, 0.4332, 0.271, 0.5117]\nstate[eef_state]: left_x=0.2839 left_y=0.0014 left_z=0.1659 left_yaw=0.002 left_pitch=-0.0259 left_roll=-0.0018 left_gripper=0.9983 right_x=0.4919 right_y=0.2514 right_z=0.038 right_yaw=0.0713 right_pitch=-0.0139 right_roll=-0.0184 right_gripper=0.5117\nstate[joint_eff]: [-0.335, -1.3744, 6.7897, 1.9463, -0.0562, -0.0464, -0.0171, -0.9641, -9.2376, 7.7744, 1.8193, 0.1343, 0.1001, 0.8425]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1aadccc4b87582a43432bfb8ac8192b11d39ec89ac2c1c7c3fd9fd46014c3e4b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae33b3e474f086d41c39f69bb29756b283a36f0c8539fa64b4f6ad215ad12a14",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60d18e2caa7a011adc4dede53d423aa9935ab456de5ce57ab2122a89f94eb527",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
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  ],
  "role": "user"
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[blob elided: media budget]

{
  "arguments": "{\"targets\":{\"right_z\":0.105,\"left_z\":0.2},\"note\":\"The jaws have stopped at about five centimeters apart, consistent with holding the bottle. I’ll lift it a short distance and check whether its body follows and begins to pivot downward.\"}",
  "call_id": "call_J3hry7n028ytPPdg6TqhPnte",
  "id": "fc_0d8248ce6599b826016ab45949298887d08c6adaf4671e81b9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_J3hry7n028ytPPdg6TqhPnte",
  "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, 0.7467, 0.6205, -0.4694, -0.0196, -0.0296, 0.9982, 0.6006, 2.154, 1.2575, 0.2417, 0.4328, 0.2676, 0.5126]\nstate[eef_state]: left_x=0.2813 left_y=0.0014 left_z=0.1817 left_yaw=0.0022 left_pitch=-0.0336 left_roll=-0.002 left_gripper=0.9982 right_x=0.492 right_y=0.2516 right_z=0.0383 right_yaw=0.0735 right_pitch=-0.0131 right_roll=-0.0205 right_gripper=0.5126\nstate[joint_eff]: [-0.253, -0.4581, 9.6205, 1.746, -0.0806, -0.0708, -0.0171, -1.0462, -9.4427, 7.5966, 1.8339, 0.149, 0.2027, 0.5739]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5d52597d40b343f64bec8975fcf33fa40bd9157c9b79734bf83f25ae7afe25c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9753ac06127f92bfe77e7a57019fae4ec110b7b8fdb9c51a1416441fe5b1233",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b41b2c3dc1c75c49dcf57648f4e814722732336018cc34f63be847672652dba",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /responses · status 200 · 6.319 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 10 changed as sent

message 18 changed as sent

message 21 changed as sent

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7731, 0.5972, -0.4171, -0.0189, -0.0292, 0.9983, 0.6781, 2.0945, 1.2049, 0.1619, 0.5095, 0.3424, 0.9982]\nstate[eef_state]: left_x=0.2876 left_y=0.0012 left_z=0.1749 left_yaw=0.0013 left_pitch=-0.0309 left_roll=-0.0021 left_gripper=0.9983 right_x=0.4571 right_y=0.2622 right_z=0.039 right_yaw=0.0488 right_pitch=-0.0469 right_roll=-0.0397 right_gripper=0.9982\nstate[joint_eff]: [-0.1709, -1.5385, 6.8034, 1.9756, -0.0562, -0.0415, -0.022, -1.0735, -9.7026, 6.653, 1.8535, 0.0366, 0.0904, -0.0171]",
      "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, 0.7475, 0.5514, -0.392, -0.0196, -0.0292, 0.9983, 0.6006, 2.154, 1.2572, 0.2409, 0.4332, 0.271, 0.5117]\nstate[eef_state]: left_x=0.2839 left_y=0.0014 left_z=0.1659 left_yaw=0.002 left_pitch=-0.0259 left_roll=-0.0018 left_gripper=0.9983 right_x=0.4919 right_y=0.2514 right_z=0.038 right_yaw=0.0713 right_pitch=-0.0139 right_roll=-0.0184 right_gripper=0.5117\nstate[joint_eff]: [-0.335, -1.3744, 6.7897, 1.9463, -0.0562, -0.0464, -0.0171, -0.9641, -9.2376, 7.7744, 1.8193, 0.1343, 0.1001, 0.8425]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 21 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7467, 0.6205, -0.4694, -0.0196, -0.0296, 0.9982, 0.6006, 2.154, 1.2575, 0.2417, 0.4328, 0.2676, 0.5126]\nstate[eef_state]: left_x=0.2813 left_y=0.0014 left_z=0.1817 left_yaw=0.0022 left_pitch=-0.0336 left_roll=-0.002 left_gripper=0.9982 right_x=0.492 right_y=0.2516 right_z=0.0383 right_yaw=0.0735 right_pitch=-0.0131 right_roll=-0.0205 right_gripper=0.5126\nstate[joint_eff]: [-0.253, -0.4581, 9.6205, 1.746, -0.0806, -0.0708, -0.0171, -1.0462, -9.4427, 7.5966, 1.8339, 0.149, 0.2027, 0.5739]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5d52597d40b343f64bec8975fcf33fa40bd9157c9b79734bf83f25ae7afe25c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9753ac06127f92bfe77e7a57019fae4ec110b7b8fdb9c51a1416441fe5b1233",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b41b2c3dc1c75c49dcf57648f4e814722732336018cc34f63be847672652dba",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFlOitd1Kg93iI7M8rQPVoNuYI5tHbRtIlwkCUCc2R3vzgepxk7BwjVQwiAkQHzGKncUjsEmsa8I98aQfVfBEIebTjYDlsuljcyFTpbCL7W666q2k930e7DPkb270T9RhBnXnuCfpQB-AcmwWtA7td06LQ_jKrS057MpKx2yPgXj1aG3eyhX-10Fgb8Qr0aWbdJAKq1gYfnuI4xUhe52V9gP7ZnHmoGS_WYWIBonuC6Coq5Fc6kmCABpzGLMJTE6V17M2xcgc_28UXdwksRO2ooO5_3XNOzWy2-sPnfKRd8ArkHTU9vRHpT8hn_ctG-YiF4G8inplV0sZCVefGeYAfXptFXl609VDlUeH2S0LsQJDyOdoOay_CZkmU9k2QxBiMz7FqsvPpkS0gqWKSX82x6i9c6XBf9I8WqLNxZT8JGmx4vz-Dk-cv7kSk-V3wpmdGKxzkX6kHlN0xGy4Si0S8UjYQreM1A9zWrDvrc-Sb_vdHEQrL2xtwKW0SvYUEI5PjAblkJ9Gu5rnSYDa6T1gygit5e3mHrOhObXlllMXT9RTk7dvzcANZ5As2-hYspsJBL39tIqdZglxcDpWgeiwEuJOMfTbO38xAyrINFkSIeOBVFxxa37IUmrWnolZD-jlTD2TeRjDp5EUGGjVKrge16Qr0RQyyrWEti4ISaC6CNHUKya80IUhvrEp7xcqniqNMvnUDhkDuAbsMgBBpgT38uXVUlO0Eu02yfYv6YGeQo1IVncjLB65mxu9VZc-EkrAn-CWa56QkSaEZMGOkoP_j3nUrsPgNbE9Brnt_2uNPD_EBbB7P4getE070yEefZr2ysBb3wrRzLy_ci4evrYKT5IBUYYK_y6jIj6yHzz48tM_zuLtfuxQ1km3gAYynIJXb-zgHK6OfKwbD7ATIX7CRkUHAkfr1jEBjsHC0Q2vohvHpzXKyBPqkYLo12qvlc7ToNhpCO56smvsabTyZwvb4hK-53zWSA7ofZVcLTBWXroHbEHXi25OIOVwcaWkYbi8E0Ey5PCE4vMAfAifwyASHq_ML06XlGIAHGa3f9HoHCV5hSKmxccNHqKZLaQnKGhtZnVxhKeuTILxpIafstvZoB-5xQogbevEXHnGqQ6K0wOxxdLl_1Re6g5mDw6Sbrv7lzfqjLEbOKqQQpopeFeM4feD_B71r7dK26XLZezh2ijrpF7oPOaGDv0SHoUgXSgA5Q6DXRKY8vUN_gb8jtpbhEZr7YPszHPrxBFghylGphAVRr4xwjDi479Ocip_qXkpEqt",
  "id": "rs_0d8248ce6599b826016ab4594c54e087d0bd61b4449cef13ef",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.235,\"right_z\":0.15},\"note\":\"The right arm did not rise at that extended reach. I’ll bring the bottle slightly toward the arm while lifting, which should move the wrist into a more reachable pose.\"}",
  "call_id": "call_uHdwr5DmSWgaCiqJLsaPZlqF",
  "id": "fc_0d8248ce6599b826016ab4594da0f887d0be0d67ef3f12c6eb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uHdwr5DmSWgaCiqJLsaPZlqF",
  "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, 0.7269, 0.5869, -0.4522, -0.0196, -0.0292, 0.9982, 0.6216, 1.861, 1.1919, -0.0708, 0.4187, 0.2794, 0.5133]\nstate[eef_state]: left_x=0.2786 left_y=0.0015 left_z=0.1751 left_yaw=0.002 left_pitch=-0.0301 left_roll=-0.0017 left_gripper=0.9982 right_x=0.4429 right_y=0.2334 right_z=0.1041 right_yaw=0.0971 right_pitch=-0.0911 right_roll=-0.0458 right_gripper=0.5133\nstate[joint_eff]: [-0.253, -1.3333, 7.1863, 1.9902, -0.0659, -0.0562, -0.0073, 0.3761, -12.9573, 9.5795, 1.9707, 0.4078, 0.1148, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0633143da617927958592584b9f029f09cd25c35bc302e12235069becfa430e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad8f3555b8f5ec6201f6544fb476b29df5d5aed3c92f7ac39e9e6e476f3c79f2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5854ad3167769240628138f58ae22eae0b3829fbf1b1d59d42fc874ce8e0c87e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /responses · status 200 · 4.933 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 14 changed as sent

message 21 changed as sent

message 25 changed as sent

message 14 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7586, 0.5709, -0.3996, -0.0193, -0.0292, 0.9983, 0.6174, 2.1429, 1.2396, 0.2298, 0.4473, 0.289, 0.6557]\nstate[eef_state]: left_x=0.2859 left_y=0.0013 left_z=0.1703 left_yaw=0.0016 left_pitch=-0.0252 left_roll=-0.002 left_gripper=0.9983 right_x=0.4834 right_y=0.2539 right_z=0.0358 right_yaw=0.067 right_pitch=-0.0245 right_roll=-0.02 right_gripper=0.6557\nstate[joint_eff]: [-0.5265, -1.6752, 6.7624, 1.9023, -0.0366, -0.0415, -0.0171, -1.1829, -8.6222, 7.9658, 1.917, 0.2906, 0.0171, 0.2564]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 21 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7467, 0.6205, -0.4694, -0.0196, -0.0296, 0.9982, 0.6006, 2.154, 1.2575, 0.2417, 0.4328, 0.2676, 0.5126]\nstate[eef_state]: left_x=0.2813 left_y=0.0014 left_z=0.1817 left_yaw=0.0022 left_pitch=-0.0336 left_roll=-0.002 left_gripper=0.9982 right_x=0.492 right_y=0.2516 right_z=0.0383 right_yaw=0.0735 right_pitch=-0.0131 right_roll=-0.0205 right_gripper=0.5126\nstate[joint_eff]: [-0.253, -0.4581, 9.6205, 1.746, -0.0806, -0.0708, -0.0171, -1.0462, -9.4427, 7.5966, 1.8339, 0.149, 0.2027, 0.5739]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7269, 0.5869, -0.4522, -0.0196, -0.0292, 0.9982, 0.6216, 1.861, 1.1919, -0.0708, 0.4187, 0.2794, 0.5133]\nstate[eef_state]: left_x=0.2786 left_y=0.0015 left_z=0.1751 left_yaw=0.002 left_pitch=-0.0301 left_roll=-0.0017 left_gripper=0.9982 right_x=0.4429 right_y=0.2334 right_z=0.1041 right_yaw=0.0971 right_pitch=-0.0911 right_roll=-0.0458 right_gripper=0.5133\nstate[joint_eff]: [-0.253, -1.3333, 7.1863, 1.9902, -0.0659, -0.0562, -0.0073, 0.3761, -12.9573, 9.5795, 1.9707, 0.4078, 0.1148, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0633143da617927958592584b9f029f09cd25c35bc302e12235069becfa430e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad8f3555b8f5ec6201f6544fb476b29df5d5aed3c92f7ac39e9e6e476f3c79f2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5854ad3167769240628138f58ae22eae0b3829fbf1b1d59d42fc874ce8e0c87e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFlVeq7AldaUYuU1WyXXVYknRr0cBKGVw1E_kgDhkWeYIMQQVvnlLYy2CC8ulTl4ZbQIuxOMMgiCAuSU4d37A4Z5uSAjCmHTRcf4uDUDLtwuz4jgyiLtAFeE07RYV5DUosul4JDz_ZomaBWdEEpojktJCXndFVEa10Ulyw2FKryN4TXw8rvAHWMfJrj_cCdd4OrywafnguPEH59xnH3rLlZ-tar7LJ1F1QkVFAQsI_Hj2_0M26csvgdfqUnAJZNl29nzoeGde33urcA0efHNfJChp3EhFXzeuXdHVudq8A2fmPMI-S62XnBqWWmdJ7g-gis0n4-IuAKE_Z00OddmLxr4bSfiTVfD3CfPT5Pa4eFVDqBbrM0bM2KGZ9N65cu5HQMgEw-qULhFe3ijj1jlCMVCsj-_YHXtaKiDwr5xR78m0zuJUZCbxRdylnmkySmKgOwoKyekMN9hRr8m8L8gY1KdkyqBs6rdMe3ZGdGlq8WPCwea1gnQas5Z22QyF6hFUjsdwmS-Xb3Jl1Xz7bc2mVd7H_y7qb1Ikshqit_iQMXSdB0dzVo1AeirBgSWVMoreGi1x-kCawR0BvDmsH968hX5f1vNSkYKe-1Qw-VGtjALVWCg2RW50Z66Dqh47-a7FysCivF5JG35bTwC-VU24HGCJQNinepqz8LOxXhyiLEid9nBgpL7I5WnWcCpinnC5-UMnZi3Y1BtllA8bJhOihiZIawclsI2QPkLysoJXWUm4u0SO50x0YF1oJpr7l--tTLt3dLUiOkkWmZx43_v3lT51Y2DS3QW1CnYMRibiglGWKYkATKCCXaE_uf5_LGJgAYsqFDJObj6q4_mqBEcXyci3miLDORWsTogqKNuczeIn89DVe_mjUprwv51v0nT2zvEjhqyUgGEpzbVfMKuSbvfyTW4xVDkqec9XO-FWJ6-N9G3DEzp9K_JN5YUvAeBTcUOBY7AXYwhbDmAOoYTpQA2ZQSAEp4AldaS6A5-OsdZSnFbeAFATq20dUGF7YzRgshmtNN3qlVoto14jJwdxyn8pntJO_qyYrMDYf6l3iwSKcltoQns7GNMZe5viObGmEVka3UqBblpoJ1VeByo3HSVtfVnc7UBin4UU6pyYSJbrxHNV8uhaGRpmRBLS4r13UFsXgr8sZgp1KXLp7Qc8tgMgpiIBvbkQqgRZXJ7tThqcm_pekDcvEhF-BGF3ch5zcuGvmZzR9OvB1oP1WC0BYl3YNpJon78L76by8JnIGOWEryn_uxg6xVZs7O21Hw-d6RKdVT8Cui6Vnp_Ue-Ctw7V7uWPxGOkR5IidLVtXLh9sD4ZWW91Tp5G-9aRn4gmuiJV16-Zl0XnHZceWRkdRdsqJOzkA3JTs41uRBaxFtFCeJa3RfzyClT57J7RYYUBz06GYYu9WgiLL9dfm85eNH0CxzShv8NEaxakR8PsdBCCPZOJUbHmb6VCGpNMf1ty8CMI0kQaYfy0UQ0ZY-6XRXmZs2fJ7tQRwrP1q4XP5RaATj09JJvXe6diU4ySLG5KKfvtaLav1FK8DU2co4yjULXwPEKHSTye_iFvGcatoUcTp32oxW58CjOX5dQpN3xZbg6XVinleOv5FyTeOHDZ3H0l4QEYlA2GlxRnEP9IjuW8kttHtMMWtOaWpQpqpVpY4ikS9JB4YLhU_8NFURFN-BMeMtAwcDDSe0HyiPLF1BtJNyQYxmsZq86lESEgGs668pXVo4MW0Wn4OplOpsGCy-AwQAkoIe0Wqy3tYcit09xUdXpB8JmB1A7dRHeWSu4HQGhANeaBkKkyU3Pq3GN-v7gJBDXJIiLXrjkgTKjy8TvlEvwTrg5RHzwdvefjToGTWA9xEiUmoSfY0LjmfrXV-NOdjspEyeL_znyblfeY1bGwVwUF02_lMh0_q1kaKRTXZyQo8jaVssAhVd1LfXYtRtw7v8-JZjF1fmoaCVxJ1YG9QrV27u7thsRTy0VpMYWp0rUhZI8_aPV6BZEldW4j2uUbLopW31DV75ykrWF9ZDv1mzR9lygjoeVnszP6fehi0nbpsba5oor3bovgAQUstkwadxs32qyBXWFGPUDdbPgN0MiCi9KxzDh2C3Ih-fEXHRPPvw92SRgF4AGZ9yqf__u2iu29RkslcxBfr_OzMWeGpEWj-wiaBEtXOSUA1Lk6j2TOMQk-9fyx6PT04kNsYwTJDuju3plgA3C9dcggYy2Ui-GI3mLPUbpQsAAe0DXn2fizvaw_iCpZiHYPDB3RfmcOn1DUuOqs2FVbNJuHlTcMU48q3q0RnpSr_6n5VVDvuqpnD3N21lPDYvcYPa-sBE0JNH-ZVEE3hv6qIos2ptcW2gE=",
  "id": "rs_0d8248ce6599b826016ab45950e82487d0aeea344d655346b3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.2,\"right_z\":0.26},\"note\":\"The bottle has moved with the gripper, but it is still tilted rather than upright. I’ll lift it clear of the table at a shorter reach before easing the grip to let it pivot.\"}",
  "call_id": "call_U4nGACHRJcB6cHJs8DmJ76Rr",
  "id": "fc_0d8248ce6599b826016ab45954c7ec87d091c3f0bf9361442b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_U4nGACHRJcB6cHJs8DmJ76Rr",
  "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, 0.7101, 0.5644, -0.4347, -0.0193, -0.0292, 0.9982, 0.696, 1.4349, 1.2102, -0.477, 0.4526, 0.2989, 0.5128]\nstate[eef_state]: left_x=0.2775 left_y=0.0014 left_z=0.1728 left_yaw=0.0016 left_pitch=-0.0183 left_roll=-0.0022 left_gripper=0.9982 right_x=0.3629 right_y=0.2072 right_z=0.2298 right_yaw=0.1354 right_pitch=-0.0467 right_roll=-0.0297 right_gripper=0.5128\nstate[joint_eff]: [-0.0889, -1.1009, 6.4889, 1.9707, -0.0855, -0.0317, -0.0122, 0.294, -8.0752, 10.4137, 1.7705, 0.5397, 0.2564, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0b14ce431d958c6c92bcb95990efcb89f3fdd9ddbf8e5c0423809b15d85e2a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4198a8d2b5f537cfdc1afa1737c79b61d3aa067ff1dc5d3803665b8a70c2c27",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce72ec32bc1226577809712f12307c97457a7c36791b76282f320e2b13b96c5b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /responses · status 200 · 12.65 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 18 changed as sent

message 25 changed as sent

message 29 changed as sent

message 18 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7475, 0.5514, -0.392, -0.0196, -0.0292, 0.9983, 0.6006, 2.154, 1.2572, 0.2409, 0.4332, 0.271, 0.5117]\nstate[eef_state]: left_x=0.2839 left_y=0.0014 left_z=0.1659 left_yaw=0.002 left_pitch=-0.0259 left_roll=-0.0018 left_gripper=0.9983 right_x=0.4919 right_y=0.2514 right_z=0.038 right_yaw=0.0713 right_pitch=-0.0139 right_roll=-0.0184 right_gripper=0.5117\nstate[joint_eff]: [-0.335, -1.3744, 6.7897, 1.9463, -0.0562, -0.0464, -0.0171, -0.9641, -9.2376, 7.7744, 1.8193, 0.1343, 0.1001, 0.8425]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7269, 0.5869, -0.4522, -0.0196, -0.0292, 0.9982, 0.6216, 1.861, 1.1919, -0.0708, 0.4187, 0.2794, 0.5133]\nstate[eef_state]: left_x=0.2786 left_y=0.0015 left_z=0.1751 left_yaw=0.002 left_pitch=-0.0301 left_roll=-0.0017 left_gripper=0.9982 right_x=0.4429 right_y=0.2334 right_z=0.1041 right_yaw=0.0971 right_pitch=-0.0911 right_roll=-0.0458 right_gripper=0.5133\nstate[joint_eff]: [-0.253, -1.3333, 7.1863, 1.9902, -0.0659, -0.0562, -0.0073, 0.3761, -12.9573, 9.5795, 1.9707, 0.4078, 0.1148, 0.0611]\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 29 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7101, 0.5644, -0.4347, -0.0193, -0.0292, 0.9982, 0.696, 1.4349, 1.2102, -0.477, 0.4526, 0.2989, 0.5128]\nstate[eef_state]: left_x=0.2775 left_y=0.0014 left_z=0.1728 left_yaw=0.0016 left_pitch=-0.0183 left_roll=-0.0022 left_gripper=0.9982 right_x=0.3629 right_y=0.2072 right_z=0.2298 right_yaw=0.1354 right_pitch=-0.0467 right_roll=-0.0297 right_gripper=0.5128\nstate[joint_eff]: [-0.0889, -1.1009, 6.4889, 1.9707, -0.0855, -0.0317, -0.0122, 0.294, -8.0752, 10.4137, 1.7705, 0.5397, 0.2564, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0b14ce431d958c6c92bcb95990efcb89f3fdd9ddbf8e5c0423809b15d85e2a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4198a8d2b5f537cfdc1afa1737c79b61d3aa067ff1dc5d3803665b8a70c2c27",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce72ec32bc1226577809712f12307c97457a7c36791b76282f320e2b13b96c5b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "id": "rs_0d8248ce6599b826016ab459586fe487d0939dae4e5a904b9d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.12,\"right_z\":0.14},\"note\":\"The bottle now appears to hang downward beneath the jaws. I’ll lower it into an open area on the right, away from the two bottles still lying down.\"}",
  "call_id": "call_rus22uycWDpm2WCMCEIqU001",
  "id": "fc_0d8248ce6599b826016ab4595aa40487d089e3c338e65dc95e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_rus22uycWDpm2WCMCEIqU001",
  "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, 0.701, 0.5503, -0.4297, -0.0193, -0.0288, 0.9982, 0.4683, 1.2026, 0.6353, -0.1024, 0.2852, 0.1734, 0.5128]\nstate[eef_state]: left_x=0.276 left_y=0.0015 left_z=0.1697 left_yaw=0.0014 left_pitch=-0.0183 left_roll=-0.0019 left_gripper=0.9982 right_x=0.3347 right_y=0.1176 right_z=0.1287 right_yaw=0.1118 right_pitch=-0.0654 right_roll=-0.022 right_gripper=0.5128\nstate[joint_eff]: [-0.253, -0.5949, 7.0222, 1.8877, -0.0757, -0.0317, -0.0122, -0.294, -5.2855, 7.2274, 2.1709, 0.0562, -0.0952, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d00c9a9c280ef7a775365778b8703edd90a5ec023d42bac2ad2d860899a2b042",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbcd5c0282beb2c229155a3daaecb4c472618f05cceac5c2884b45b5a54fe2c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e2e0d40820fc1b51a4985bf631039359a85bca40908e1902c48edd8acac492b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /responses · status 200 · 8.11 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 21 changed as sent

message 29 changed as sent

message 33 changed as sent

message 21 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7467, 0.6205, -0.4694, -0.0196, -0.0296, 0.9982, 0.6006, 2.154, 1.2575, 0.2417, 0.4328, 0.2676, 0.5126]\nstate[eef_state]: left_x=0.2813 left_y=0.0014 left_z=0.1817 left_yaw=0.0022 left_pitch=-0.0336 left_roll=-0.002 left_gripper=0.9982 right_x=0.492 right_y=0.2516 right_z=0.0383 right_yaw=0.0735 right_pitch=-0.0131 right_roll=-0.0205 right_gripper=0.5126\nstate[joint_eff]: [-0.253, -0.4581, 9.6205, 1.746, -0.0806, -0.0708, -0.0171, -1.0462, -9.4427, 7.5966, 1.8339, 0.149, 0.2027, 0.5739]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 29 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7101, 0.5644, -0.4347, -0.0193, -0.0292, 0.9982, 0.696, 1.4349, 1.2102, -0.477, 0.4526, 0.2989, 0.5128]\nstate[eef_state]: left_x=0.2775 left_y=0.0014 left_z=0.1728 left_yaw=0.0016 left_pitch=-0.0183 left_roll=-0.0022 left_gripper=0.9982 right_x=0.3629 right_y=0.2072 right_z=0.2298 right_yaw=0.1354 right_pitch=-0.0467 right_roll=-0.0297 right_gripper=0.5128\nstate[joint_eff]: [-0.0889, -1.1009, 6.4889, 1.9707, -0.0855, -0.0317, -0.0122, 0.294, -8.0752, 10.4137, 1.7705, 0.5397, 0.2564, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 33 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.701, 0.5503, -0.4297, -0.0193, -0.0288, 0.9982, 0.4683, 1.2026, 0.6353, -0.1024, 0.2852, 0.1734, 0.5128]\nstate[eef_state]: left_x=0.276 left_y=0.0015 left_z=0.1697 left_yaw=0.0014 left_pitch=-0.0183 left_roll=-0.0019 left_gripper=0.9982 right_x=0.3347 right_y=0.1176 right_z=0.1287 right_yaw=0.1118 right_pitch=-0.0654 right_roll=-0.022 right_gripper=0.5128\nstate[joint_eff]: [-0.253, -0.5949, 7.0222, 1.8877, -0.0757, -0.0317, -0.0122, -0.294, -5.2855, 7.2274, 2.1709, 0.0562, -0.0952, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d00c9a9c280ef7a775365778b8703edd90a5ec023d42bac2ad2d860899a2b042",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbcd5c0282beb2c229155a3daaecb4c472618f05cceac5c2884b45b5a54fe2c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e2e0d40820fc1b51a4985bf631039359a85bca40908e1902c48edd8acac492b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

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{
  "content": [],
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  "id": "rs_0d8248ce6599b826016ab4595e4e9087d0a7b54bd440f54d71",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.235,\"right_z\":0.015,\"right_gripper\":1,\"left_z\":0.2},\"note\":\"The clear overhead view shows that the bottle stayed on the table, so the earlier grip did not secure it. I’ll return with open jaws and grasp lower around its body before pulling it into easier reach.\"}",
  "call_id": "call_wjYPDV7U29sFPppx02BpSECL",
  "id": "fc_0d8248ce6599b826016ab45967abd087d0ac3a4f5bc7cf9605",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wjYPDV7U29sFPppx02BpSECL",
  "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, 0.7082, 0.6197, -0.511, -0.0196, -0.0292, 0.9982, 0.5762, 2.0907, 1.0126, 0.3904, 0.3634, 0.2165, 0.9979]\nstate[eef_state]: left_x=0.2727 left_y=0.0016 left_z=0.1828 left_yaw=0.002 left_pitch=-0.0374 left_roll=-0.0016 left_gripper=0.9982 right_x=0.453 right_y=0.2238 right_z=0.0045 right_yaw=0.1321 right_pitch=-0.0625 right_roll=-0.0395 right_gripper=0.9979\nstate[joint_eff]: [-0.253, -0.2803, 10.1128, 1.7705, -0.0415, -0.0073, -0.0122, 0.6769, -9.2103, 7.0906, 1.8437, 0.0415, 0.2564, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c749da78bdc55945383052d550fb60c3e3c6c05961891c93cbad422246a67ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:850168a45ba07215e9931fe1c5d19fe48993e687c36839cc1b316b1d32afa731",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73bfea0d755229fd172eeb7b8bf7c258a074b05d883f559df3dd586458172890",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /responses · status 200 · 7.247 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 25 changed as sent

message 33 changed as sent

message 37 changed as sent

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7269, 0.5869, -0.4522, -0.0196, -0.0292, 0.9982, 0.6216, 1.861, 1.1919, -0.0708, 0.4187, 0.2794, 0.5133]\nstate[eef_state]: left_x=0.2786 left_y=0.0015 left_z=0.1751 left_yaw=0.002 left_pitch=-0.0301 left_roll=-0.0017 left_gripper=0.9982 right_x=0.4429 right_y=0.2334 right_z=0.1041 right_yaw=0.0971 right_pitch=-0.0911 right_roll=-0.0458 right_gripper=0.5133\nstate[joint_eff]: [-0.253, -1.3333, 7.1863, 1.9902, -0.0659, -0.0562, -0.0073, 0.3761, -12.9573, 9.5795, 1.9707, 0.4078, 0.1148, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 33 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.701, 0.5503, -0.4297, -0.0193, -0.0288, 0.9982, 0.4683, 1.2026, 0.6353, -0.1024, 0.2852, 0.1734, 0.5128]\nstate[eef_state]: left_x=0.276 left_y=0.0015 left_z=0.1697 left_yaw=0.0014 left_pitch=-0.0183 left_roll=-0.0019 left_gripper=0.9982 right_x=0.3347 right_y=0.1176 right_z=0.1287 right_yaw=0.1118 right_pitch=-0.0654 right_roll=-0.022 right_gripper=0.5128\nstate[joint_eff]: [-0.253, -0.5949, 7.0222, 1.8877, -0.0757, -0.0317, -0.0122, -0.294, -5.2855, 7.2274, 2.1709, 0.0562, -0.0952, -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 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7082, 0.6197, -0.511, -0.0196, -0.0292, 0.9982, 0.5762, 2.0907, 1.0126, 0.3904, 0.3634, 0.2165, 0.9979]\nstate[eef_state]: left_x=0.2727 left_y=0.0016 left_z=0.1828 left_yaw=0.002 left_pitch=-0.0374 left_roll=-0.0016 left_gripper=0.9982 right_x=0.453 right_y=0.2238 right_z=0.0045 right_yaw=0.1321 right_pitch=-0.0625 right_roll=-0.0395 right_gripper=0.9979\nstate[joint_eff]: [-0.253, -0.2803, 10.1128, 1.7705, -0.0415, -0.0073, -0.0122, 0.6769, -9.2103, 7.0906, 1.8437, 0.0415, 0.2564, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c749da78bdc55945383052d550fb60c3e3c6c05961891c93cbad422246a67ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:850168a45ba07215e9931fe1c5d19fe48993e687c36839cc1b316b1d32afa731",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73bfea0d755229fd172eeb7b8bf7c258a074b05d883f559df3dd586458172890",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0d8248ce6599b826016ab4596bc18c87d0bf98df2efdee3fa1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.3,\"right_z\":0.045},\"note\":\"The approach nudged the bottle left, and it is now left of the jaw center in the wrist view. I’ll shift the open gripper left and slightly upward to straddle its body rather than push against its side.\"}",
  "call_id": "call_y5zVJLADBSQNFfo9ymuLes4K",
  "id": "fc_0d8248ce6599b826016ab45970c28487d0b2a085e9cf167c6a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_y5zVJLADBSQNFfo9ymuLes4K",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.6823, 0.5831, -0.4877, -0.0189, -0.0292, 0.9982, 0.7223, 2.117, 1.1816, 0.2565, 0.4534, 0.2874, 0.9981]\nstate[eef_state]: left_x=0.2705 left_y=0.0015 left_z=0.1775 left_yaw=0.0013 left_pitch=-0.0248 left_roll=-0.0023 left_gripper=0.9982 right_x=0.4457 right_y=0.2944 right_z=0.0325 right_yaw=0.1678 right_pitch=-0.0271 right_roll=-0.0273 right_gripper=0.9981\nstate[joint_eff]: [-0.335, -0.8821, 6.9675, 1.9072, -0.0708, -0.0366, -0.0122, 0.1162, -10.865, 8.4308, 1.8046, 0.3736, 0.2808, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3e61f58e97b39369e151ade97e68a6adcf403edd8d04fdb04def5e2db462be0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02a4ecd9f5f01904d99ce86be39513739c4362bda7de58baaa5f5a3c4eee473c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f5f0d5d537d590c7dd9fadb8da8c4daea5392cda470fccb9d8d7c2571735f9b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /responses · status 200 · 5.792 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 29 changed as sent

message 37 changed as sent

message 41 changed as sent

message 29 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7101, 0.5644, -0.4347, -0.0193, -0.0292, 0.9982, 0.696, 1.4349, 1.2102, -0.477, 0.4526, 0.2989, 0.5128]\nstate[eef_state]: left_x=0.2775 left_y=0.0014 left_z=0.1728 left_yaw=0.0016 left_pitch=-0.0183 left_roll=-0.0022 left_gripper=0.9982 right_x=0.3629 right_y=0.2072 right_z=0.2298 right_yaw=0.1354 right_pitch=-0.0467 right_roll=-0.0297 right_gripper=0.5128\nstate[joint_eff]: [-0.0889, -1.1009, 6.4889, 1.9707, -0.0855, -0.0317, -0.0122, 0.294, -8.0752, 10.4137, 1.7705, 0.5397, 0.2564, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7082, 0.6197, -0.511, -0.0196, -0.0292, 0.9982, 0.5762, 2.0907, 1.0126, 0.3904, 0.3634, 0.2165, 0.9979]\nstate[eef_state]: left_x=0.2727 left_y=0.0016 left_z=0.1828 left_yaw=0.002 left_pitch=-0.0374 left_roll=-0.0016 left_gripper=0.9982 right_x=0.453 right_y=0.2238 right_z=0.0045 right_yaw=0.1321 right_pitch=-0.0625 right_roll=-0.0395 right_gripper=0.9979\nstate[joint_eff]: [-0.253, -0.2803, 10.1128, 1.7705, -0.0415, -0.0073, -0.0122, 0.6769, -9.2103, 7.0906, 1.8437, 0.0415, 0.2564, 0.0659]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 41 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.6823, 0.5831, -0.4877, -0.0189, -0.0292, 0.9982, 0.7223, 2.117, 1.1816, 0.2565, 0.4534, 0.2874, 0.9981]\nstate[eef_state]: left_x=0.2705 left_y=0.0015 left_z=0.1775 left_yaw=0.0013 left_pitch=-0.0248 left_roll=-0.0023 left_gripper=0.9982 right_x=0.4457 right_y=0.2944 right_z=0.0325 right_yaw=0.1678 right_pitch=-0.0271 right_roll=-0.0273 right_gripper=0.9981\nstate[joint_eff]: [-0.335, -0.8821, 6.9675, 1.9072, -0.0708, -0.0366, -0.0122, 0.1162, -10.865, 8.4308, 1.8046, 0.3736, 0.2808, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3e61f58e97b39369e151ade97e68a6adcf403edd8d04fdb04def5e2db462be0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02a4ecd9f5f01904d99ce86be39513739c4362bda7de58baaa5f5a3c4eee473c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f5f0d5d537d590c7dd9fadb8da8c4daea5392cda470fccb9d8d7c2571735f9b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0d8248ce6599b826016ab4597492cc87d0ba791960b7a8992c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.2,\"left_x\":0.43,\"left_y\":-0.2,\"left_z\":0.15,\"left_gripper\":1},\"note\":\"The bottles slid left during the low sideways approach. I’ll park the right arm and approach the leftmost bottle from above with the left arm, so the open fingers can descend around it without sweeping it sideways.\"}",
  "call_id": "call_nJ1L0Gr0mYhsKg2Kx0mHpvXV",
  "id": "fc_0d8248ce6599b826016ab45978cc1087d080d2986ca78c8272",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nJ1L0Gr0mYhsKg2Kx0mHpvXV",
  "output": [
    {
      "text": "executing move_to over 25 steps (2.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6258, 1.6806, 1.0599, -0.0929, -0.5133, -0.3943, 0.9988, -0.1677, 0.8551, 0.6613, -0.4301, -0.2394, -0.1871, 0.9982]\nstate[eef_state]: left_x=0.4197 left_y=-0.1919 left_z=0.1343 left_yaw=0.0005 left_pitch=-0.0449 left_roll=0.0177 left_gripper=0.9988 right_x=0.2985 right_y=-0.0044 right_z=0.1819 right_yaw=0.1107 right_pitch=-0.0309 right_roll=0.0008 right_gripper=0.9982\nstate[joint_eff]: [-0.4718, -8.1436, 8.8274, 1.7021, -0.3394, 0.0171, -0.1441, -0.212, -2.5231, 9.7846, 1.7949, -0.188, 0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58e97cba0716eaea6edb68b4a38289141986d68aaa386d0cb9e70eec6a8f28c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d91735c1bc57dcfb68d31ff982b158aa59ec18b5a6f68c409cffe338ecbe49e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:337c3669dcdb6bb538d3120144ba2df61d5aa0dd7bfae567ff024d29c2cdc67b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /responses · status 200 · 6.843 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 33 changed as sent

message 41 changed as sent

message 45 changed as sent

message 33 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.701, 0.5503, -0.4297, -0.0193, -0.0288, 0.9982, 0.4683, 1.2026, 0.6353, -0.1024, 0.2852, 0.1734, 0.5128]\nstate[eef_state]: left_x=0.276 left_y=0.0015 left_z=0.1697 left_yaw=0.0014 left_pitch=-0.0183 left_roll=-0.0019 left_gripper=0.9982 right_x=0.3347 right_y=0.1176 right_z=0.1287 right_yaw=0.1118 right_pitch=-0.0654 right_roll=-0.022 right_gripper=0.5128\nstate[joint_eff]: [-0.253, -0.5949, 7.0222, 1.8877, -0.0757, -0.0317, -0.0122, -0.294, -5.2855, 7.2274, 2.1709, 0.0562, -0.0952, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 41 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.6823, 0.5831, -0.4877, -0.0189, -0.0292, 0.9982, 0.7223, 2.117, 1.1816, 0.2565, 0.4534, 0.2874, 0.9981]\nstate[eef_state]: left_x=0.2705 left_y=0.0015 left_z=0.1775 left_yaw=0.0013 left_pitch=-0.0248 left_roll=-0.0023 left_gripper=0.9982 right_x=0.4457 right_y=0.2944 right_z=0.0325 right_yaw=0.1678 right_pitch=-0.0271 right_roll=-0.0273 right_gripper=0.9981\nstate[joint_eff]: [-0.335, -0.8821, 6.9675, 1.9072, -0.0708, -0.0366, -0.0122, 0.1162, -10.865, 8.4308, 1.8046, 0.3736, 0.2808, 0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 45 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6258, 1.6806, 1.0599, -0.0929, -0.5133, -0.3943, 0.9988, -0.1677, 0.8551, 0.6613, -0.4301, -0.2394, -0.1871, 0.9982]\nstate[eef_state]: left_x=0.4197 left_y=-0.1919 left_z=0.1343 left_yaw=0.0005 left_pitch=-0.0449 left_roll=0.0177 left_gripper=0.9988 right_x=0.2985 right_y=-0.0044 right_z=0.1819 right_yaw=0.1107 right_pitch=-0.0309 right_roll=0.0008 right_gripper=0.9982\nstate[joint_eff]: [-0.4718, -8.1436, 8.8274, 1.7021, -0.3394, 0.0171, -0.1441, -0.212, -2.5231, 9.7846, 1.7949, -0.188, 0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58e97cba0716eaea6edb68b4a38289141986d68aaa386d0cb9e70eec6a8f28c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d91735c1bc57dcfb68d31ff982b158aa59ec18b5a6f68c409cffe338ecbe49e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:337c3669dcdb6bb538d3120144ba2df61d5aa0dd7bfae567ff024d29c2cdc67b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFmC9sknkZRkRQcZdlU3pY3-0n6paw20q2htJAuIdyntVajey37n9T46Gg4x3cZ8oI4mTqOWa8bQTBK9zjxEv56ZhCZO5g-RIuA4VogzWBg3tJasMYx-5HRsUpIIXectvoqz0ZFXeJRHH4EgARZqe_ruEB8omRINpbn3s5xqCzZ5R73tZXYnjB_8SiaBBdezoqYCzcIjw4-CI_c3uFRO5Hw2nalpywsqg_IaJ59dCR6skiVH9SFXA_FAEOE53gymWSzVxspvBEc9bXxJ10C8aqIwV7SQWDj0N7PcB5BNm5M0WO_Jp-4B2TUuj5IhqVMsV8StgXe05d4Z5V1sT7petqjRaxtHQnOdefBl552Ft4v4i5q28FbBfZS8v6WJMGrBJd0Gib2qiZjCm45TAXYm2v-GbMJatgHZ-ZLvRj7V1OAU2oYdnzJM1O7PtE6gnGlIoKZzqrDShQannT_88VNoKfG1GDE2_Df48bUn-kWdS7C_RhzTcoovWYFhXlcH7DieQAz916L9yTUaynZADKz8mTBSJ3fjA3ZerpSFt0pcMW5cEZGbukBkk7aNGQLH5QFjjOPRxx7PGyC561T8EsjvaB96snUIAm0Efdikt1zUBk7CIKGjaf680dlmGzHzs9XH1lH8w9JVtuigpBaTrOSd9aO_mibAtCjSAjRywGAGBiLzJvcRQy1qKRKKIcEV1GGFEPY2hCoG8C1R78BFRnAGF1vMg7rwkziCGFT-EIQBlwlK8Y3mDq0hQX7kNRnfwKoNQg52_1xmV5zc3UjRvofl1ss5rNl36s8h9YH29S4tCRVodfhDvIDW7-91czP30wk6takUCZDiiu6gA9pAZKunQicd-I1gKafqgtVRRFDZu1Glv0s9hPGfxmyZFPAz3XZsK4rlLV2RVrnWVWsGona79uvZkHhl43V8ea5JyqZBPQRHBjw7yqZKlk5ZubeW4NdsA7f1Q3CxDkvl4sTpuBZ5rgkIeOEu8SG5vK53eVTksi-zY3iftcf-I_WJgrkfpPSb3BqH2SlyojpYJQAw1XVNh1cKfsxj88JMbP_dIZ8AceKuw3wHqK9OCrh0hs2g11v7RObAscLQ2Q0kV7ZR3FTupkK_Zls8ulp30ZlQFoIphGD9_EKpCnO4TrFh5fWvg34CA2SaOxnG7ccPZ6GnrfR2Z-DarrdCatVnoKYZvDrRXIgoX8QIm8HHrLl1eHWEUJ8F8MHIK2oBhifOgtujIDPzzMtMIH_J0XuRMONcQwskeaiWzIfFbB0YeGGo5mgAZHZDwWU9K92A22vgNzOhDRMJd2oSzQH7ups1xKcUAIP_paeH1mEQoliH5qLRXVUrfG0wmAm_YU8Al9LR6gPIBV9IGMirG97p1nVFggS6LHruqSyVvQtZs13BnVwUP0yDNKZsaWes8yrZ3Kdccpg9xfMtz0BKBeU89GgWnar8WlGoDxs9xYlXuO9aVUhKH8sUe0Yp8N2hGUf-Cd7p5QltZltno8UQjEMX_-j9MQ5gAS5gvvLcv3ZUTmCpTn_i3pPmkfZSQlm12HxEEXtzw2cv9bhJfc0Xd_Hh5N8SDCcW_NLkH0vMYYHEIi3gVgWawqYxxx4jW2FBAwLLDLa9qPkI8sQs7gOeYWj1szOoM53UXuoPH37-JZC3jRplDEHvAdj7cppUTevp_5vd2hhYgDY4VZ20lItjuox3MkRw9jp12eyVD-eOaoFpvrYZzM7GX-Vd25RK1H7NNqzn_wCsRQXbefJOFEZj27skpsA89_EVxFmy7PiLEZ0cMJmySX186lNnlOeJxUBwhvPAA2aVpoj2FXFG8rXReIVep_fD6GoJyLWBCiDkNa58T-d_eW-YhXiDByNzGgn2j-QG82Y1nWwUTcDFG6x7LLRWoq4krPwsw7uleFNfAz7eAdrI-29OBLs-TZ1GSvAhKEGPKyGSVJRnmeFVux3ZqfHHSFSgK5I3kHmL5MLuHSlDB4GJqvNp_Y_ke0zgcoDuJklfj0PcV5eue708Q9ekP7SQX4JDr3OCRwC2MCMg4WzZL9PWskvoZ4vvAxiDK_ur5YRbm02KAftdblVYMxja_Q==",
  "id": "rs_0d8248ce6599b826016ab4597e22fc87d0868911d6ce448236",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.105,\"left_z\":0.15},\"note\":\"The bottles have shifted farther left, and the nearest visible neck is left of the left wrist’s centerline. I’ll align above that neck while staying high enough to avoid contacting the bottles.\"}",
  "call_id": "call_GuPns1uEcsaDLmyikTUAoXdT",
  "id": "fc_0d8248ce6599b826016ab4598140dc87d0a9af07dc102ea8fe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_GuPns1uEcsaDLmyikTUAoXdT",
  "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]: [-0.3328, 1.6928, 1.0397, -0.0063, -0.3168, -0.2386, 0.9984, -0.1741, 0.8394, 0.627, -0.421, -0.2623, -0.2031, 0.9982]\nstate[eef_state]: left_x=0.4646 left_y=-0.0986 left_z=0.1272 left_yaw=0.051 left_pitch=-0.0594 left_roll=0.0099 left_gripper=0.9984 right_x=0.2941 right_y=-0.0016 right_z=0.1732 right_yaw=0.132 right_pitch=-0.036 right_roll=0.0033 right_gripper=0.9982\nstate[joint_eff]: [0.1573, -7.8974, 9.9077, 1.9316, 0.0513, 0.1929, -0.0513, -0.2256, -1.9897, 7.3641, 1.9756, 0.0513, 0.149, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00f09b8eb8b770a3f56b33e81ca06f5681345c629b14518a3ed1c49d0092d0fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a74af7bd4e4798041d327e23ead08708e5106f376bb112da962113bb91c52dc5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1938ccda3fb0a6e9d07a5964a83f18ed7ba679e22a9c284bef4e4cf3a7bc3c08",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /responses · status 200 · 3.979 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 37 changed as sent

message 45 changed as sent

message 49 changed as sent

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7082, 0.6197, -0.511, -0.0196, -0.0292, 0.9982, 0.5762, 2.0907, 1.0126, 0.3904, 0.3634, 0.2165, 0.9979]\nstate[eef_state]: left_x=0.2727 left_y=0.0016 left_z=0.1828 left_yaw=0.002 left_pitch=-0.0374 left_roll=-0.0016 left_gripper=0.9982 right_x=0.453 right_y=0.2238 right_z=0.0045 right_yaw=0.1321 right_pitch=-0.0625 right_roll=-0.0395 right_gripper=0.9979\nstate[joint_eff]: [-0.253, -0.2803, 10.1128, 1.7705, -0.0415, -0.0073, -0.0122, 0.6769, -9.2103, 7.0906, 1.8437, 0.0415, 0.2564, 0.0659]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 45 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6258, 1.6806, 1.0599, -0.0929, -0.5133, -0.3943, 0.9988, -0.1677, 0.8551, 0.6613, -0.4301, -0.2394, -0.1871, 0.9982]\nstate[eef_state]: left_x=0.4197 left_y=-0.1919 left_z=0.1343 left_yaw=0.0005 left_pitch=-0.0449 left_roll=0.0177 left_gripper=0.9988 right_x=0.2985 right_y=-0.0044 right_z=0.1819 right_yaw=0.1107 right_pitch=-0.0309 right_roll=0.0008 right_gripper=0.9982\nstate[joint_eff]: [-0.4718, -8.1436, 8.8274, 1.7021, -0.3394, 0.0171, -0.1441, -0.212, -2.5231, 9.7846, 1.7949, -0.188, 0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3328, 1.6928, 1.0397, -0.0063, -0.3168, -0.2386, 0.9984, -0.1741, 0.8394, 0.627, -0.421, -0.2623, -0.2031, 0.9982]\nstate[eef_state]: left_x=0.4646 left_y=-0.0986 left_z=0.1272 left_yaw=0.051 left_pitch=-0.0594 left_roll=0.0099 left_gripper=0.9984 right_x=0.2941 right_y=-0.0016 right_z=0.1732 right_yaw=0.132 right_pitch=-0.036 right_roll=0.0033 right_gripper=0.9982\nstate[joint_eff]: [0.1573, -7.8974, 9.9077, 1.9316, 0.0513, 0.1929, -0.0513, -0.2256, -1.9897, 7.3641, 1.9756, 0.0513, 0.149, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00f09b8eb8b770a3f56b33e81ca06f5681345c629b14518a3ed1c49d0092d0fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a74af7bd4e4798041d327e23ead08708e5106f376bb112da962113bb91c52dc5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1938ccda3fb0a6e9d07a5964a83f18ed7ba679e22a9c284bef4e4cf3a7bc3c08",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFmJARExiEShw7VsgSvSmmznZRjlF6KPdzP9dBbE20-STf5P16qUzCO1STRYRfIPLpudgE1vzCQ6PAhIYzqJvED57IOrUAMpkj1Ei5DkrvPfx8zMXDLjEEbtbJT8J4ao9ab3WaUynncwV5A6_NeyRxrmVgUdsj0yChv-_qXuNn9HZbkri21uAwbG3zrwHHFU9LHJYAo9mnUk6vuuQqGz468jn7MzzBB-9qL0_FfM4hB60vyKqOF6POEGBdtc-bBHU4dda3EQWzIUsc83eam8QubC2ZjhVxxg3K_2nZlFFOVZdDrw51AQmiyztkqy1XriBgCEy1M72Wq_fpF1MF1vp8ES4_AvAwy1Y8Kb6mhi6FRXyjvWZUDmOsu5-o38o327tF8F0qQcUSOWGPbaGQKKOAPVpxijWQy3Gj7o3e7-g9-ZYQZRhBuoFIRUFEtIFXusM_A1GJfp9LdIjpLuJ_u4as02kg8_W5MoJ71mbF-EgBBrr9b4nOEN4-bsZsZOPOU_Jo2P_BxUYcnllzWwnWdGlKNTQBMwQ_OL5gK_WWifO60GSNF9B0LSKCCtqGMTdmETU7HmNC3M4FmxeVoD5nRu5yDiGoWVZyWrRa2sxGHTeebWCs_qSzM9YyxDJ6RzBA6BicwN2U6k9eutyUpwBwRPFnt8list5DlYnsnWj42Av2sXTSHT_xcmIK6ilbbZyN5dpB57zo0B78z2OTRc-Ge5fjcr9dGC6tEXT8yl8IcDRoMjyIGtJ5mzs5bq6mtzHNmJhRnmCwKpd4EX-A88C0nm5hkLUQoiJV58BygQKcOJsACMgrMhN9SSpJ6WZ8m_8yZK0BdpjgLckZDtxYrkoKIncwYsdw16kPwXg1NX9OLCyRgmyIezSXoCXtqyXIcZTeTpcRxCD-Ryzq4mqiMo2TIFWtk9uJ7Oaor5iSnSjemOj-H5TCYtkehX5M1FVU0SeXl1CqlussXLAGR7X2bLftbZ8gavmeLpV5H5LwkgxR4x_OdDz-7qjPfKnBKrlOtPNUem4KGoO1PhZxsLb1TkomyCh_LowkIsPeTky6WZgss2kqdn6ZsV1O2dD3NJitA4RMwrWjECiflnTZhXkicOnHCCZGR9VsZCj9Y2ilfT0WaZldknJQbtXpNb8A6Vgt-jxVZM3mXvRvFcX_047n7AF1Q6olEquM_UNeDYIMVMDiCDby7VxY8EUTZItDkCkXzsVkKBAAlGQBsjHrh91E3ex81d1pGjFjwYO5qRXCtyfcZTiABguJFLxhdEG0A1VdZrVDuYiQ6Z2DN_yrWQJNLxAE2qoM9rNimMdC1L-51DOWKK8zPQUl0r8pb0AezBnyKTafV_LSU40vvCMWoD_7TJqWoNRUpXImwHTMYqKnMXO7N5U7sRC8KIi5hiRjrmxOzpRsBX-CDzi4ORQMCVKr1A7-GxaJA49LIvI4vuW_dhrTKKIyPz-WPsYF4jYPVGbtZVMosDCrIV0FAX-f-jGXtW9rppfGSHYOONDYaSXO1BVsTPSu-bB7OhCBHp7ZzAlsOgtbZs4-er19RinqXrMGYVVmQFaNK0K-_vhfOJX38AZnZJmHpiA1SfvqNMRVQ5wg1Vq_mYQWlv0KgNsx2lhtaDSZhTk5KjlVSlWlbcJNbtB4LtGnxJ76Ih5CLh5IQiDzguCaItYGlqWsoLvF8i2WX-slxe0WKl3Xi0H2gy-pOtIH_jnhNSauucLuIUlOcDsdOT-8ZE4NIBl13MlXwksEoaaA_WJFsRkMTBjLnxFi2zObUil4C8Vxl9u9h8JBOw1E7EM5FOuyB1s3pKcA2q0-94NNdSHcqbnXS5e0wqQ9EGABdNy3l8roKldiLENZ5m3SnLHUTortPr1VwSjtUryTXjubRFpDRfwRdY-iHIWeK3iGQEnuAjZl0ap-cThL3zANkxXW7JfTJnWlUdc1FTngHRCirpC-RYMD5Lp50gQ8txD5VCOAg9FhpJ52evdHTNeyNcBlALx9ttv_cksn4HcTiBGfCW4ELnwFT3Kgw2GAKUs4dTbA70BVLo8dlvabdr0i03JturEvgNUvMjrRivGqVdWTnKBEyKslr4OhuTmP5qcH0OTwI16BcRWWTSWduOJccsV6ULn6GYzZGaBxLl8vbzSDKoedHD1BVXwyAoB9j_X1jgul7F868VdshlwUbxL0yMMbj9NlhilEFR4CnRiH7G4clTZZwhGabUMYmTQAQ_mhrqPVDZdsTg26HpjwENrU3Tc0F5ZTfOtN9RHjkxrSWQs-cqkic2rTsJyD2RNQ98XdRk6DpJmt6nAfSAsQimtMi-omrNOkkXpMq8ch2ZZg0RzAn-fKJlaV-uUPUeaMSUUjmORRm-_khLCkhG7-2rWTFzC5U4OoXb",
  "id": "rs_0d8248ce6599b826016ab45984ab4087d0b2eed484bb59bdcc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.5,\"left_y\":-0.125,\"left_z\":0.035},\"note\":\"The rightmost bottle in the left wrist view is close to the jaw centerline. I’ll descend around its shoulder, with a small forward and rightward correction.\"}",
  "call_id": "call_Innh8Fd6VO3HQZlpbldHUJLr",
  "id": "fc_0d8248ce6599b826016ab45988f3ac87d09ccd788d16507802",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Innh8Fd6VO3HQZlpbldHUJLr",
  "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]: [-0.3721, 1.9915, 0.9936, 0.3607, -0.3489, -0.2516, 0.9983, -0.1772, 0.823, 0.5911, -0.4004, -0.2665, -0.2073, 0.9982]\nstate[eef_state]: left_x=0.4899 left_y=-0.1225 left_z=0.0393 left_yaw=0.0446 left_pitch=-0.0314 left_roll=0.0084 left_gripper=0.9983 right_x=0.2912 right_y=-0.0012 right_z=0.1657 right_yaw=0.1346 right_pitch=-0.0341 right_roll=0.0018 right_gripper=0.9982\nstate[joint_eff]: [-0.1026, -7.3231, 6.5299, 1.3407, -0.1197, 0.105, -0.022, -0.5265, -2.0718, 6.9128, 1.8926, -0.1636, 0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db40aec421b6595d69890c97c7e4e99565bad7569041c98ee7aa49dd490ee21f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87f09cd965489e04094340ff62a07b7fcbce2e19f07184dbd1b61fa6bccc01e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94448600d8e0824ca89d9d86f1b7cdc1c6271d4cb95e5a8cdfb21d309eb1fbe1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /responses · status 200 · 9.853 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 41 changed as sent

message 49 changed as sent

message 53 changed as sent

message 41 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.6823, 0.5831, -0.4877, -0.0189, -0.0292, 0.9982, 0.7223, 2.117, 1.1816, 0.2565, 0.4534, 0.2874, 0.9981]\nstate[eef_state]: left_x=0.2705 left_y=0.0015 left_z=0.1775 left_yaw=0.0013 left_pitch=-0.0248 left_roll=-0.0023 left_gripper=0.9982 right_x=0.4457 right_y=0.2944 right_z=0.0325 right_yaw=0.1678 right_pitch=-0.0271 right_roll=-0.0273 right_gripper=0.9981\nstate[joint_eff]: [-0.335, -0.8821, 6.9675, 1.9072, -0.0708, -0.0366, -0.0122, 0.1162, -10.865, 8.4308, 1.8046, 0.3736, 0.2808, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3328, 1.6928, 1.0397, -0.0063, -0.3168, -0.2386, 0.9984, -0.1741, 0.8394, 0.627, -0.421, -0.2623, -0.2031, 0.9982]\nstate[eef_state]: left_x=0.4646 left_y=-0.0986 left_z=0.1272 left_yaw=0.051 left_pitch=-0.0594 left_roll=0.0099 left_gripper=0.9984 right_x=0.2941 right_y=-0.0016 right_z=0.1732 right_yaw=0.132 right_pitch=-0.036 right_roll=0.0033 right_gripper=0.9982\nstate[joint_eff]: [0.1573, -7.8974, 9.9077, 1.9316, 0.0513, 0.1929, -0.0513, -0.2256, -1.9897, 7.3641, 1.9756, 0.0513, 0.149, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 53 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3721, 1.9915, 0.9936, 0.3607, -0.3489, -0.2516, 0.9983, -0.1772, 0.823, 0.5911, -0.4004, -0.2665, -0.2073, 0.9982]\nstate[eef_state]: left_x=0.4899 left_y=-0.1225 left_z=0.0393 left_yaw=0.0446 left_pitch=-0.0314 left_roll=0.0084 left_gripper=0.9983 right_x=0.2912 right_y=-0.0012 right_z=0.1657 right_yaw=0.1346 right_pitch=-0.0341 right_roll=0.0018 right_gripper=0.9982\nstate[joint_eff]: [-0.1026, -7.3231, 6.5299, 1.3407, -0.1197, 0.105, -0.022, -0.5265, -2.0718, 6.9128, 1.8926, -0.1636, 0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db40aec421b6595d69890c97c7e4e99565bad7569041c98ee7aa49dd490ee21f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87f09cd965489e04094340ff62a07b7fcbce2e19f07184dbd1b61fa6bccc01e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94448600d8e0824ca89d9d86f1b7cdc1c6271d4cb95e5a8cdfb21d309eb1fbe1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFmOReMGZMqXGH7WtK-Nt2wMDb52bkn0aazCkeWkl9RPPA7vggWUhikn2PUOY6Vw_YhzDievt3uILlWNsINwjABEOmt6mkkUnqtzm8KkiBl1-40KSYOMFzs3xeJv4Hg0LOPMz9DrHBRpnPbR2IGkAQSlcqLmM9OViLJIu-PkRAchLJYUSkZjaFSLzgTnZiZS45pHJXUz3bfw7zqxrEqZwMmMyjyuGks6AAyRqbQzUF5Qk46nhBY4KYszRSufsn1ygqbzJWh7Z_BqujGPtoXxgSBd5ozGC1EqjWaUVRijOteAMB1LBej6vsST0YNEjgdFL3Yme1y4B0n1FPzMxGYGFQaq55U9sBjeOnNalwV3VmAhWxz2dk8BavAS8DLBovsbh_ESR-3Um9lIjlMNqqB6gOTAC6OS7-KgrzUYHg4oH2UAwo9VAuihzXM4pxyhiGvon5PsKH-VToWkbLytx3sk0k-_XFrxsFNecLy7mnp8L_wB_2uTwC62o5FVc6_jk-qemAuzyA4o0CvGqusfooeFdtMQknQxKBaNkcXbYkSNXG5ZhoxHMz6WIFHPffZkIgkhtNt8_mmQwKcvNfZRlhcasvqWyqgU2-jIreflBHDbC79bE748kkxoEg3DEDEH6Ye07sTwWmg-Ez3o25YpAX-cerHbJ_qR6NFK9tk_qeL9_ryO36x_n14AU_QZWno0-0qVRNPXC6XhpGIcYURXXTL92lDM-gYrooc_5fAyOppEd5UkK4XEhXBLjZxJl192EI0cP1Tt318vLS6eC2ayWDQoxCvtyXgn-PVAPkVlUsMX7b4Iga-RlU-dU-zivXPOr0bh9MijqdVtihGC53A7pRYjrGkRPKs-68L3JV8-zkmCji3FP72vbloGiJaFc8NLwhXU2nwhZi_uVK5lSOzl2J7GkM4-pKklyNQh9FaLTaJuSAAQt_CYD0i9zpvBohgT0N2E40T6QbAtxIHKFMEMutSfbMubjTVo1VpniY5WTrbasiSklkZAMpkcxriuQzEYqU1DX94Fuq56uGJGZ8mhSNcgaaZER7xHVZazLMe123J4y2mzj9e_41z4KZc3Mr9wF2u8mTYWcD6_vP0Dyu9i94wRBqM3xw0Rsg0_Thp_eERo3q6nJDXd-nM1SLWoGIj7qogaAEGkRKj9FYtP_B-Zl64CS0h28k3HmMEEmwXal7LEMaUXixwEGuIb05P_J7lKW54-6fxYyg59uJTsC0e5rvqXHeIlrqpxdg88oNCdiv9vfbvaR2h3MpdWNcEVAyAu9l05IP6ImstxXbIObUAYor2GTkMC5KUi9w-aFsFpSe2Vj6xLMhww_Y9gIW1BkJcGmU0kRvCIBgX6aWeLWAo5g8kG4jxUzO_-Iwa1EDw15RvWOCJTj0c=",
  "id": "rs_0d8248ce6599b826016ab4598c8c3887d0a1e34c2aeaad02ad",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The bottle’s neck is centered between the fingers. I’ll close fully to secure this grasp, then use the lift to check that the bottle actually follows.\"}",
  "call_id": "call_ytLskvdffu7kkhitbq1I8EJm",
  "id": "fc_0d8248ce6599b826016ab4598d7d0487d0a0f4a8506ecf8b7c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ytLskvdffu7kkhitbq1I8EJm",
  "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]: [-0.3725, 1.9972, 0.9844, 0.49, -0.374, -0.2619, 0.0098, -0.1783, 0.8101, 0.5564, -0.3794, -0.2699, -0.2111, 0.9982]\nstate[eef_state]: left_x=0.5028 left_y=-0.1233 left_z=0.0594 left_yaw=0.0717 left_pitch=0.0783 left_roll=-0.0356 left_gripper=0.0098 right_x=0.2886 right_y=-0.0005 right_z=0.1578 right_yaw=0.1384 right_pitch=-0.0342 right_roll=0.0009 right_gripper=0.9982\nstate[joint_eff]: [-0.3487, -10.1402, 4.1915, 1.1062, 0.0952, 0.1245, 0.7937, -0.7453, -2.1949, 7.0632, 1.8681, -0.232, 0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b25a90cac4e2f16ebc7a714b62134d2a9df38ff89cdf89789ea76ffcce5c2c45",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:462595574c5d38006922900b3864ef085878c8695331e893860b9b0a6e12354d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c46376117e266c22c0198a2d5e97ca3443c43b1f91d2b9edc43ba4fd5ce732fc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /responses · status 200 · 7.84 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 45 changed as sent

message 53 changed as sent

message 57 changed as sent

message 45 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6258, 1.6806, 1.0599, -0.0929, -0.5133, -0.3943, 0.9988, -0.1677, 0.8551, 0.6613, -0.4301, -0.2394, -0.1871, 0.9982]\nstate[eef_state]: left_x=0.4197 left_y=-0.1919 left_z=0.1343 left_yaw=0.0005 left_pitch=-0.0449 left_roll=0.0177 left_gripper=0.9988 right_x=0.2985 right_y=-0.0044 right_z=0.1819 right_yaw=0.1107 right_pitch=-0.0309 right_roll=0.0008 right_gripper=0.9982\nstate[joint_eff]: [-0.4718, -8.1436, 8.8274, 1.7021, -0.3394, 0.0171, -0.1441, -0.212, -2.5231, 9.7846, 1.7949, -0.188, 0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 53 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3721, 1.9915, 0.9936, 0.3607, -0.3489, -0.2516, 0.9983, -0.1772, 0.823, 0.5911, -0.4004, -0.2665, -0.2073, 0.9982]\nstate[eef_state]: left_x=0.4899 left_y=-0.1225 left_z=0.0393 left_yaw=0.0446 left_pitch=-0.0314 left_roll=0.0084 left_gripper=0.9983 right_x=0.2912 right_y=-0.0012 right_z=0.1657 right_yaw=0.1346 right_pitch=-0.0341 right_roll=0.0018 right_gripper=0.9982\nstate[joint_eff]: [-0.1026, -7.3231, 6.5299, 1.3407, -0.1197, 0.105, -0.022, -0.5265, -2.0718, 6.9128, 1.8926, -0.1636, 0.0415, -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 57 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3725, 1.9972, 0.9844, 0.49, -0.374, -0.2619, 0.0098, -0.1783, 0.8101, 0.5564, -0.3794, -0.2699, -0.2111, 0.9982]\nstate[eef_state]: left_x=0.5028 left_y=-0.1233 left_z=0.0594 left_yaw=0.0717 left_pitch=0.0783 left_roll=-0.0356 left_gripper=0.0098 right_x=0.2886 right_y=-0.0005 right_z=0.1578 right_yaw=0.1384 right_pitch=-0.0342 right_roll=0.0009 right_gripper=0.9982\nstate[joint_eff]: [-0.3487, -10.1402, 4.1915, 1.1062, 0.0952, 0.1245, 0.7937, -0.7453, -2.1949, 7.0632, 1.8681, -0.232, 0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b25a90cac4e2f16ebc7a714b62134d2a9df38ff89cdf89789ea76ffcce5c2c45",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:462595574c5d38006922900b3864ef085878c8695331e893860b9b0a6e12354d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c46376117e266c22c0198a2d5e97ca3443c43b1f91d2b9edc43ba4fd5ce732fc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFmZBv-OM8YgTlQl8lQ7en8v-bR1yq6NkDB6CxlA9NebLlzm4bnW6gMNJInGYTHlZV9974Xyov7nZLLS2qmoFMbnNc_IDi8HtYzVLv0KKX-v6P_Wng_Sq5PZpfaa51u6xwdS0N51wgIYRl3lUD9HjGqyZjOz71TCH6Of131FP241RzXFXS_byFjZJ8YsclH6Ja57k-nPtKf7G6wHh1tJ3Oth_qGxF97JZiPL_tvuxVLhAWXxUGuiPvm7AAMpIFAZXkHzlj8S1BfIinIcndQ4IiOrw0AtvPXg49_68_Gs3ixToQ9DtfSsaeP0ZIcpbPq1dY5VLT9s12cbFMPn2EyBVLFPM-XPURslhe7bkruQp6G0Ic4p-UVyUgtMJ1sa4VjoekFcDLdfQ1PJzghpb3UnkTsI_dC_FXTT_Hwev-D4h6dYIKhEMnQouslO73J8H7SFxoliTwW9jO7QEWmEMjXOVFleibcRJd8O_uxq6qGyW0LHYPrt400mhzhl0K33_Q-IA_TlPJT57SAmkc22O_CLk5bmRVB1ZcG8xQjH8HGxsLRoL8GZcPcYoGy5451SlgPXU7YB0uVFxXB5w46zn0LCFrPRoBzCCLTmnDUmkpvbs1SlGi5Vr0FB_f7n_KQTr8CfIOkMuKspvBnpVRxRaaGsqKTYXkUXNc_DE-bZSnUT6NTEUt0ThlSWcnSISnZsmGZwJMTrIUV_Jxwib7QxW3kXX2IyhmgRg5kOY4kb4E2X2rnlRZ7XkQP-MdJCs2l2dG8FdeRT367Tc8I-le6OmVSDoK7oAm25Q70Oa-I25Acv6nl6VUddldQL2EGbBOpI6Lu73Ex6yMwzKAEFh2JgqOFilSHdDmRW5VS3XuB-l6xiuL8-3YVfMvSpQ-gBCNH1Lv8wjHM4FmOrVPTIHM7PTMBnq7B5Do-6cUdwgkIWfUHoS7_aNF9vqdjLiAARJ8wyX4BNwT7mB1uUJ1_w8ml-GeiKvE0FU0X-jX6ib1dXok2q1LFs8ApXPvwHScjJ39JeZhdtwc2RQR2WXXLvy2aUNHAjt803SIsj2zfsME9O52PiPWvJspDTe1ddf32JTUZwbKDrzutVj9g4ub9RU4drR_T55q4moYgY2ikzofC1supTPlJmEVzy-3XxKGdJxTUKwzZyGmC2EM2XHBochA1fAr7QVV_6FigvUnD8zwQtFRO0D2cLhKE1JAAlo3QM_sRB2Fj9U5voF-7xni3wZoEuyYNPrXiMeOIxzFfb--yEy9RGM58Hd8Wjd80GPUiIqldaDp6X_8K48Y7b7CP1T7gJDEXiKAj51WrjMYQbKbd2L3rGcdDSzJNIVw9qdyL6dW6_uLKoYvXi6FeZ4QDKw2fPfOPhZlDMwZjTgJuRSEIGkTMCFYo1zncygW0HfgR0g_TL6qYER0Jnf9lDTXQpyomI5Jed5yV95CmMOAw2WIlvmvX97MewHcoIqEp4-WoOxhODgc74fEwYEY69tKyGUgJpmvS-xVutFIKMzpjbnRm_IPUcVsUkf7fgx6BAjOjQtBPrn9sm8b8K6JNMwnxPhN7tfYFTQI-eCr6f8nHNmgJTRwPkLUOpCJsxkJncpmLFHuQkyhqrQbdVacxsZRMNKHydDjZtQDSCC5_x1WM8ExJt7TIyzx6pF001J5w9YPlW1iciXJzxEHeEWJq8ZXpDUE04idnaAdTY6fW3juBYWm--TzPMUTTpAIKN8y941gg6dSvzhTYkF6O6V6nGJEG7qmlgSWbYGw8jdvqBx_1Pfeb0G_UbNs71KWTDJF1fj3GoT2H8REKUktUi_NwS4xWv88ZUiHyD1MbvLw970QBiYLZEo1ylaf3I660X_8zU15JlI_K8QRDGtQzYkfhERBO_T5uUGUfTHEMOUroB9iJoSo4QKMREvu6ZgATOlvlewefjakbuu2E6n0yEyOEmYrKAYRh49oDh9KyK6M269WQ-Vg0ekGzFcvFygt8m63UDcZXXLWYZ5tqi1qO8I9z2b0i7sfKE84Yy52RI3_KLUohbZslQHJ5T_UBD-v6nCJQ26ttYEmlaM2FUN-KVk8JbG4bKh5j5_LWwpEsq7ErK2cbIPThyGRq2C_nQ9rjHndv2DuCHJvH22uyetGNT64VQXTkh2Q_L2arDjfDlwEiK8U9XjobF7ECISJlgWETohl-Wd8sM14i4t_c7NSnY6-fEyQ62PXOI_H8gf16D0k1i_zmFxfcFyYbe2wyRUgJDa9-vX40ZczZ01a2MMHPz7ematElzQr2o9cFjO59R9QD5_Q1NXfZGZTKXaYMvb0t1R4CCQEz5j7HlluqTtRfmspu7N1K3njzpc8S3FWqEtd1A0o3YSp1kVFGp1gc7N_6YdCUp52_MArSGN3ojIpon9_ZNupvNvcaq1KGr0bItMW_UFa7xs_KOgeyi1b4o0xRc3l07YkFLTorGBn2_yX_FeZ7XV9FRW4uw4ZzY6gMgt1enXqgSJQiQbneZPa6VHRG8FWsnUPIIimT6hti5zZkDnqdF7LR2NApJtukvqibm_Ig2m0NqdB307UrSxDaD8a_P4uilqRZUELPTmKverJIl_ViWAtWrs31OCGnDXlniL-ix14YsOfKLo5MfAW-LDeN0SRGAeXz37_7jWuKG_FtckSvb97h1EOwy9qz8Ft4lJltGrE6_a7OpHjgQmupvdGzP5bfwO5MSbOQeqQX6rRd3jCLz1vYkki_8G9Xq5YCcwkA_KD5jgriKNV7QTbQcpyWLXotp-TI_WjJ7CofaJMVXhP3lrIOkw2ZtSw-y-MINqmO5LemZaFQ996c4CUXTRrupUfk9rObueSTNvNyvrEuyKzbbANLY6wVw4km-K5ZZ-Rw-S5ut5doBDev2T81FIH0NA0s7VXxeGhrrkLS9JFVpUn664pHUXsfkdwyF_1aVkftY9zTdVX1N0BFliKpFGWZ5VJ4JaTbkyU0FqJK8qH50",
  "id": "rs_0d8248ce6599b826016ab4599193a487d08d4e5234043444ad",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.52,\"left_y\":-0.14,\"left_z\":0},\"note\":\"The closed-jaw reading is empty, so the fingers missed the bottle. I’ll reopen, move two centimeters farther forward with a small lateral correction, and lower to table level for one retry.\"}",
  "call_id": "call_6WuS4YuR69cnpwpmHPR4cndX",
  "id": "fc_0d8248ce6599b826016ab459979a4487d0a1c95abcfcad7cf4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_6WuS4YuR69cnpwpmHPR4cndX",
  "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]: [-0.3912, 2.1452, 1.1221, 0.5446, -0.4103, -0.2928, 0.9947, -0.1783, 0.7956, 0.5243, -0.3653, -0.2703, -0.2119, 0.9982]\nstate[eef_state]: left_x=0.5352 left_y=-0.1407 left_z=0.049 left_yaw=0.1018 left_pitch=0.1248 left_roll=-0.0679 left_gripper=0.9947 right_x=0.2853 right_y=0.0001 right_z=0.1501 right_yaw=0.1392 right_pitch=-0.0373 right_roll=0.0015 right_gripper=0.9982\nstate[joint_eff]: [-0.5675, -6.4342, 5.1624, 0.8034, 0.1197, 0.1197, -0.105, -0.8821, -1.9624, 6.8581, 1.9805, -0.2564, 0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fe6ff60a114ff25ed6d76aff35d3656493da5a9f34c49820c1b7d2b23c40b50",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbce5e667bb1ac71122b079e9cce622ae6b5a62ca061509b7ccd94b74ae1c67e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c8e9a99a10e8c011a29781a5da01a2015de380b6960f73c8460290fc81267e9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /responses · status 200 · 3.098 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 49 changed as sent

message 57 changed as sent

message 61 changed as sent

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3328, 1.6928, 1.0397, -0.0063, -0.3168, -0.2386, 0.9984, -0.1741, 0.8394, 0.627, -0.421, -0.2623, -0.2031, 0.9982]\nstate[eef_state]: left_x=0.4646 left_y=-0.0986 left_z=0.1272 left_yaw=0.051 left_pitch=-0.0594 left_roll=0.0099 left_gripper=0.9984 right_x=0.2941 right_y=-0.0016 right_z=0.1732 right_yaw=0.132 right_pitch=-0.036 right_roll=0.0033 right_gripper=0.9982\nstate[joint_eff]: [0.1573, -7.8974, 9.9077, 1.9316, 0.0513, 0.1929, -0.0513, -0.2256, -1.9897, 7.3641, 1.9756, 0.0513, 0.149, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 57 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3725, 1.9972, 0.9844, 0.49, -0.374, -0.2619, 0.0098, -0.1783, 0.8101, 0.5564, -0.3794, -0.2699, -0.2111, 0.9982]\nstate[eef_state]: left_x=0.5028 left_y=-0.1233 left_z=0.0594 left_yaw=0.0717 left_pitch=0.0783 left_roll=-0.0356 left_gripper=0.0098 right_x=0.2886 right_y=-0.0005 right_z=0.1578 right_yaw=0.1384 right_pitch=-0.0342 right_roll=0.0009 right_gripper=0.9982\nstate[joint_eff]: [-0.3487, -10.1402, 4.1915, 1.1062, 0.0952, 0.1245, 0.7937, -0.7453, -2.1949, 7.0632, 1.8681, -0.232, 0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3912, 2.1452, 1.1221, 0.5446, -0.4103, -0.2928, 0.9947, -0.1783, 0.7956, 0.5243, -0.3653, -0.2703, -0.2119, 0.9982]\nstate[eef_state]: left_x=0.5352 left_y=-0.1407 left_z=0.049 left_yaw=0.1018 left_pitch=0.1248 left_roll=-0.0679 left_gripper=0.9947 right_x=0.2853 right_y=0.0001 right_z=0.1501 right_yaw=0.1392 right_pitch=-0.0373 right_roll=0.0015 right_gripper=0.9982\nstate[joint_eff]: [-0.5675, -6.4342, 5.1624, 0.8034, 0.1197, 0.1197, -0.105, -0.8821, -1.9624, 6.8581, 1.9805, -0.2564, 0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fe6ff60a114ff25ed6d76aff35d3656493da5a9f34c49820c1b7d2b23c40b50",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbce5e667bb1ac71122b079e9cce622ae6b5a62ca061509b7ccd94b74ae1c67e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c8e9a99a10e8c011a29781a5da01a2015de380b6960f73c8460290fc81267e9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
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  "id": "rs_0d8248ce6599b826016ab4599be1bc87d087b4bb691fd1ee0f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.155,\"left_z\":0.005},\"note\":\"The arm is staying about five centimeters above the requested height at this long reach. I’ll move back along the bottle to a reachable part of its body and lower there instead.\"}",
  "call_id": "call_nBgzyJOW39dmw0mMV9YeN6at",
  "id": "fc_0d8248ce6599b826016ab459a0f50c87d088f8c07d8ad9054c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nBgzyJOW39dmw0mMV9YeN6at",
  "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]: [-0.4801, 2.0995, 1.0428, 0.5556, -0.4732, -0.3454, 0.996, -0.181, 0.7784, 0.4885, -0.3424, -0.2707, -0.2146, 0.9982]\nstate[eef_state]: left_x=0.5049 left_y=-0.1681 left_z=0.0471 left_yaw=0.0921 left_pitch=0.1186 left_roll=-0.0787 left_gripper=0.996 right_x=0.2825 right_y=-0.0 right_z=0.143 right_yaw=0.1382 right_pitch=-0.0333 right_roll=-0.0018 right_gripper=0.9982\nstate[joint_eff]: [0.1162, -8.9641, 2.8513, 0.6716, -0.2906, -0.1294, 0.1294, -0.7043, -1.3744, 6.9675, 1.917, -0.2369, 0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99a216e5feee1b2497101cab89a582867c8142158e4330507032a1771e507600",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3393c44aec0166a7dc480cc9b82daa740ffdece39b58711a32853ccc79c097f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75b32b47144bd31ecea1d5eb6bac5cc0d6e05e7bc4f2575c32cc733444e6c793",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /responses · status 200 · 11.4 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 53 changed as sent

message 61 changed as sent

message 65 changed as sent

message 53 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3721, 1.9915, 0.9936, 0.3607, -0.3489, -0.2516, 0.9983, -0.1772, 0.823, 0.5911, -0.4004, -0.2665, -0.2073, 0.9982]\nstate[eef_state]: left_x=0.4899 left_y=-0.1225 left_z=0.0393 left_yaw=0.0446 left_pitch=-0.0314 left_roll=0.0084 left_gripper=0.9983 right_x=0.2912 right_y=-0.0012 right_z=0.1657 right_yaw=0.1346 right_pitch=-0.0341 right_roll=0.0018 right_gripper=0.9982\nstate[joint_eff]: [-0.1026, -7.3231, 6.5299, 1.3407, -0.1197, 0.105, -0.022, -0.5265, -2.0718, 6.9128, 1.8926, -0.1636, 0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3912, 2.1452, 1.1221, 0.5446, -0.4103, -0.2928, 0.9947, -0.1783, 0.7956, 0.5243, -0.3653, -0.2703, -0.2119, 0.9982]\nstate[eef_state]: left_x=0.5352 left_y=-0.1407 left_z=0.049 left_yaw=0.1018 left_pitch=0.1248 left_roll=-0.0679 left_gripper=0.9947 right_x=0.2853 right_y=0.0001 right_z=0.1501 right_yaw=0.1392 right_pitch=-0.0373 right_roll=0.0015 right_gripper=0.9982\nstate[joint_eff]: [-0.5675, -6.4342, 5.1624, 0.8034, 0.1197, 0.1197, -0.105, -0.8821, -1.9624, 6.8581, 1.9805, -0.2564, 0.022, -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 65 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4801, 2.0995, 1.0428, 0.5556, -0.4732, -0.3454, 0.996, -0.181, 0.7784, 0.4885, -0.3424, -0.2707, -0.2146, 0.9982]\nstate[eef_state]: left_x=0.5049 left_y=-0.1681 left_z=0.0471 left_yaw=0.0921 left_pitch=0.1186 left_roll=-0.0787 left_gripper=0.996 right_x=0.2825 right_y=-0.0 right_z=0.143 right_yaw=0.1382 right_pitch=-0.0333 right_roll=-0.0018 right_gripper=0.9982\nstate[joint_eff]: [0.1162, -8.9641, 2.8513, 0.6716, -0.2906, -0.1294, 0.1294, -0.7043, -1.3744, 6.9675, 1.917, -0.2369, 0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99a216e5feee1b2497101cab89a582867c8142158e4330507032a1771e507600",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3393c44aec0166a7dc480cc9b82daa740ffdece39b58711a32853ccc79c097f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75b32b47144bd31ecea1d5eb6bac5cc0d6e05e7bc4f2575c32cc733444e6c793",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFmlQYil9fp_mGS8eWdNasLLT0XxVFpjLTkyIqexH0dGxkeyF-JoqexDknyXvCCdhfaUsujZbLuCNQ6hrCElP8aYWbrqrGzMVm-dcpITXzdKskCe_CqnV88MvfqUl8-RiTk0V8YinMm5_pHnGQgxN_fp-10ILXTwIoWpbuo4skH7Ca0-gbRq-vr6kYiG2BnYFBu2ReTt3VMy4MImBl2F1ykeaik_X_8Bh7axSUDN458DJKQvGt_nlYpZugczrL8iz3f_QJml20JEDa-TAoJNclTo7nf6st0QwejRmWjTabdRqk2MLrJVmrbhIPXbcmSzChbYgtvRUN0jX5E0-cfzGxBuQK7-5uWYgNVCSzI8-3k-Z6t2gFZhzLEycxS5QqWDWDfVoK2u028niNphMLy2ylNiGt5yKAR_ed27p5cbn0yJRcb5XJjbzaKfw28ZPdXs1YMr_ONtbmEdgD0G34SKTD_iiVK0tQ_xdVMyoG8Sb3u-gdV1jNmLHdwIFaxxBXeY-Kn7-YH8QRBrlOGWIlCN8NfwSRFBpwrJPrW6B_KtXqyU4FirkIkTrHTOIxsd6dz5yxkyHbZF8cluvJPWwVaJP-nebuSdnoEU9ZGt0WB1PMRUYt52mTDQ6KJmlmYY6ruSxUWVK3W86o9BuFEgMrgku8WPp4mmUunwcT1zo9e8JeNgrj4EtdZFo5Ff6cNvXEdxZnVij9RzVEbcWhRIeKU2DTIbC55y0onGAfUNcTcOusjzq7I8VFMYsLYr1dMpYDhr-wW6C4SDgF2a4aOmPzRfaFB6UIxwK2kkb2x65pldrM4qxfSatbuM1yEOzWp85BdFzlGPb3wE1o4OxZZnNgLi3YsFaIBQbM9roL3SEE-qIKJO6ihpPoiSTqLeKRPSJmR-6Ge7ly_t4VcVgLz7jHpWIUZOWAdObMxpqojwVwkyZeiokOhFITkinPyDJjstnFvelBxkofioV_Od_5NmbFht9SECpwiIwUEnkD9iwX5XCBdHCIH8UCVatoCKYnNoEUgNxbH5S5qnYEVJ2cdcDWtnc-oDrLBGqE9DAN2Fki-8lPMk7Xelc7iWgGXFyfTelOqHFMp592YLt7sBnkMMd8WEIzQQzdSrv10OIDZCEYO_3z2wuCWWwisvgl07VaW7dblkqrMtdJpWtGlIYoiIy_TcZxZKTaU9VqTzOrdLS8_ncD7AmFVNNFR0F2_4maccRcMLybVy7PceB-ts1FL8Sh68BIdxUQF_DPvmMh-Ks0rOD-Wdhw1CJp1dFTwa0-VeZjwXkTej",
  "id": "rs_0d8248ce6599b826016ab459a44a1487d0a299e35007704520",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap and shoulder are now aligned on the jaw column, and the arm has stopped descending. I’ll test this corrected grasp by closing the jaws.\"}",
  "call_id": "call_72YFctytbV73yDmK5np5bxjM",
  "id": "fc_0d8248ce6599b826016ab459a48bcc87d0b046c0a7caa34673",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_72YFctytbV73yDmK5np5bxjM",
  "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]: [-0.4782, 2.088, 1.0245, 0.6071, -0.5323, -0.3481, 0.0106, -0.1848, 0.7654, 0.458, -0.3264, -0.2737, -0.215, 0.9982]\nstate[eef_state]: left_x=0.5061 left_y=-0.1573 left_z=0.0587 left_yaw=0.1483 left_pitch=0.1707 left_roll=-0.0839 left_gripper=0.0106 right_x=0.2797 right_y=-0.0001 right_z=0.1359 right_yaw=0.1372 right_pitch=-0.0341 right_roll=0.0001 right_gripper=0.9982\nstate[joint_eff]: [-0.4581, -8.1436, 2.6462, 0.4713, 0.3492, -0.0904, 0.8571, -0.6496, -1.7299, 6.9538, 1.9219, -0.1929, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5235defeaeee8356cfa7e9b03285004a047b5a4df32b3d0f1b9764e70446545f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1a5a4c35a790b8598db126f931f06c63dff2f63468628e52745e0be5fd10b38",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf890323f994020148449c3861e339495ab428a87a0e2bd2e190f5bf1ce34185",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /responses · status 200 · 5.756 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 57 changed as sent

message 65 changed as sent

message 69 changed as sent

message 57 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3725, 1.9972, 0.9844, 0.49, -0.374, -0.2619, 0.0098, -0.1783, 0.8101, 0.5564, -0.3794, -0.2699, -0.2111, 0.9982]\nstate[eef_state]: left_x=0.5028 left_y=-0.1233 left_z=0.0594 left_yaw=0.0717 left_pitch=0.0783 left_roll=-0.0356 left_gripper=0.0098 right_x=0.2886 right_y=-0.0005 right_z=0.1578 right_yaw=0.1384 right_pitch=-0.0342 right_roll=0.0009 right_gripper=0.9982\nstate[joint_eff]: [-0.3487, -10.1402, 4.1915, 1.1062, 0.0952, 0.1245, 0.7937, -0.7453, -2.1949, 7.0632, 1.8681, -0.232, 0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 65 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4801, 2.0995, 1.0428, 0.5556, -0.4732, -0.3454, 0.996, -0.181, 0.7784, 0.4885, -0.3424, -0.2707, -0.2146, 0.9982]\nstate[eef_state]: left_x=0.5049 left_y=-0.1681 left_z=0.0471 left_yaw=0.0921 left_pitch=0.1186 left_roll=-0.0787 left_gripper=0.996 right_x=0.2825 right_y=-0.0 right_z=0.143 right_yaw=0.1382 right_pitch=-0.0333 right_roll=-0.0018 right_gripper=0.9982\nstate[joint_eff]: [0.1162, -8.9641, 2.8513, 0.6716, -0.2906, -0.1294, 0.1294, -0.7043, -1.3744, 6.9675, 1.917, -0.2369, 0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 69 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4782, 2.088, 1.0245, 0.6071, -0.5323, -0.3481, 0.0106, -0.1848, 0.7654, 0.458, -0.3264, -0.2737, -0.215, 0.9982]\nstate[eef_state]: left_x=0.5061 left_y=-0.1573 left_z=0.0587 left_yaw=0.1483 left_pitch=0.1707 left_roll=-0.0839 left_gripper=0.0106 right_x=0.2797 right_y=-0.0001 right_z=0.1359 right_yaw=0.1372 right_pitch=-0.0341 right_roll=0.0001 right_gripper=0.9982\nstate[joint_eff]: [-0.4581, -8.1436, 2.6462, 0.4713, 0.3492, -0.0904, 0.8571, -0.6496, -1.7299, 6.9538, 1.9219, -0.1929, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5235defeaeee8356cfa7e9b03285004a047b5a4df32b3d0f1b9764e70446545f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1a5a4c35a790b8598db126f931f06c63dff2f63468628e52745e0be5fd10b38",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf890323f994020148449c3861e339495ab428a87a0e2bd2e190f5bf1ce34185",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
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  "id": "rs_0d8248ce6599b826016ab459a8219c87d096b45a36784f6354",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.16,\"left_z\":0.14,\"left_gripper\":1,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.2},\"note\":\"The second close was also empty, and the arm is not reaching the requested low pose. I’ll lift clear and move back over the bottle’s nearer end, where the arm should have more room to descend.\"}",
  "call_id": "call_f4wbTts1E3MIXb0KmRBVUM3K",
  "id": "fc_0d8248ce6599b826016ab459b0990487d085662733adb2ce20",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_f4wbTts1E3MIXb0KmRBVUM3K",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.63, 1.6352, 0.973, -0.0456, -0.6159, -0.4877, 0.9943, -0.1795, 0.8242, 0.6552, -0.4683, -0.2726, -0.2146, 0.9982]\nstate[eef_state]: left_x=0.4097 left_y=-0.168 left_z=0.133 left_yaw=0.125 left_pitch=0.0025 left_roll=-0.0124 left_gripper=0.9943 right_x=0.29 right_y=-0.0006 right_z=0.1809 right_yaw=0.1414 right_pitch=-0.0376 right_roll=0.0009 right_gripper=0.9982\nstate[joint_eff]: [-0.3077, -9.2786, 5.9966, 1.4628, -0.4615, 0.0659, -0.188, 0.4991, -1.0051, 9.8803, 1.7558, -0.0708, 0.1197, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2a5850c5c24735837448af63e775d803f38a853dfbf9aafbab70192545c00a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bd9d9fa76ff5f2780a8679a0712352659dc7ce51654e50e4fa55b6f5204e81f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0669e662d4b038a60e0396cb30d0b238b217c4a6979ef856121d714aeb64cd27",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /responses · status 200 · 11.18 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 61 changed as sent

message 69 changed as sent

message 73 changed as sent

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3912, 2.1452, 1.1221, 0.5446, -0.4103, -0.2928, 0.9947, -0.1783, 0.7956, 0.5243, -0.3653, -0.2703, -0.2119, 0.9982]\nstate[eef_state]: left_x=0.5352 left_y=-0.1407 left_z=0.049 left_yaw=0.1018 left_pitch=0.1248 left_roll=-0.0679 left_gripper=0.9947 right_x=0.2853 right_y=0.0001 right_z=0.1501 right_yaw=0.1392 right_pitch=-0.0373 right_roll=0.0015 right_gripper=0.9982\nstate[joint_eff]: [-0.5675, -6.4342, 5.1624, 0.8034, 0.1197, 0.1197, -0.105, -0.8821, -1.9624, 6.8581, 1.9805, -0.2564, 0.022, -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 69 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4782, 2.088, 1.0245, 0.6071, -0.5323, -0.3481, 0.0106, -0.1848, 0.7654, 0.458, -0.3264, -0.2737, -0.215, 0.9982]\nstate[eef_state]: left_x=0.5061 left_y=-0.1573 left_z=0.0587 left_yaw=0.1483 left_pitch=0.1707 left_roll=-0.0839 left_gripper=0.0106 right_x=0.2797 right_y=-0.0001 right_z=0.1359 right_yaw=0.1372 right_pitch=-0.0341 right_roll=0.0001 right_gripper=0.9982\nstate[joint_eff]: [-0.4581, -8.1436, 2.6462, 0.4713, 0.3492, -0.0904, 0.8571, -0.6496, -1.7299, 6.9538, 1.9219, -0.1929, -0.0269, -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 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.63, 1.6352, 0.973, -0.0456, -0.6159, -0.4877, 0.9943, -0.1795, 0.8242, 0.6552, -0.4683, -0.2726, -0.2146, 0.9982]\nstate[eef_state]: left_x=0.4097 left_y=-0.168 left_z=0.133 left_yaw=0.125 left_pitch=0.0025 left_roll=-0.0124 left_gripper=0.9943 right_x=0.29 right_y=-0.0006 right_z=0.1809 right_yaw=0.1414 right_pitch=-0.0376 right_roll=0.0009 right_gripper=0.9982\nstate[joint_eff]: [-0.3077, -9.2786, 5.9966, 1.4628, -0.4615, 0.0659, -0.188, 0.4991, -1.0051, 9.8803, 1.7558, -0.0708, 0.1197, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2a5850c5c24735837448af63e775d803f38a853dfbf9aafbab70192545c00a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1bd9d9fa76ff5f2780a8679a0712352659dc7ce51654e50e4fa55b6f5204e81f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0669e662d4b038a60e0396cb30d0b238b217c4a6979ef856121d714aeb64cd27",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFm4PDprPtu9Aeq6mIgxRDcX4cI0-dbO8BhANDiZPSsEKgeWumvFMMiwE3FpqoxaG6YR26lRUvX9GJ5uC6NJHlZ92EE-sebxh61uKZCHWGye252AieXkTjbwMxmZvKvjcuuq0szYvnXn2tdjulRuoqWE2RPPSJp5uCQDBIdq60ezQZlzs7tPYMNt7yfzAnmwvc5qBC628ddifCcTareM1x2XGBIHJdEfy6Xc3nfhVnswLajwbMzSZ7qCZ0HalMxh6EGgTsZiLQb0YtsuNvcE-lw2717XwkOGt-0ZVSP5qrqzvoQkF2rL4iMXCiWeW-KxQP1IKJIuEKFtXMYCbLqgS-BkOJ3PIR-vcH3b7gIy2jAEnFtnuGeWm0oe_AIv-cvl7B5pJPy7zaMiL860JJ8cc-G30EaOIj8OYicys4gHKfOaYlgybjE7HLoCBUNS-AANn-asfvX8ge00hT6_K40G1Nfd2cOP3kJ4pt2I7k2vNx3KsRggyBvnyLxTUOGEVjh1okO3115RCT5iSVBECBlfUXvmnAZ_ulnKVNaUommuZMkrWim2Z0cOdb6YJ-f0fd9-hzVf9fGp8tQVIj6F6__XGvzWKkL6CZTmuATmecvbL5-ThEtJsomng6ZlkZEpMViRjazuFTJND0cZF7NWRSzhztyOEsNSz3AqbZLsgCVsPK1YVZ6kZcKo2N5QUQiU2-JnC3N30Ln7LtsU2GIvWMJV30ADgqskr0yxY32KSIZTkz3uIPXkR7h_zhVAiYUAvlv7AZdaOAbcaC4IDb-REGEumtZRrn356qVIx1GpHaw08DkL-Hq-q6eyK4omOKUlyXFaH4Hpka-1Riu2kNBzBNEmN4Gonaq2M0yCC0cPS4KICa-eESQbrJ1M2SleBHXLCMYpITDGXRUDpWZtD0EJTZK48BTgRCy3nFDXv_WM5bEpmxf5BcJ4dk92LmcdCnuR6Z5vHIh0HsZhR6cfPZzjPpTMbWXvAdDX-S-qB808okoXfXuLiGqy52bqeGWa2xQNnjuz04ICaIBYhf3pqJtnrpeoY3v6DswSbw_iaogEWvDMWbCLh1wMPqyYYn9m-b64Fai2s9k_xr7kbI4FMa60Og-A-loPIJxHA8G1iX5j2oQn2d93-j7V4nWCLoS6C61F4LIzOnxt3s2mqgBnkGOvfOdM6LZnvxRyz84Jif-8ohzoVFev5KTcBwIEB0GtbvdoB55s3WsrtHlh2BYQbhHEhTTawlr6zV6vJFbqQf6qiEnzD8mggrvsU_eiRjk_-K-L5OVt9_TY4E8bFR1eLWG37PBebTO03mwOeahe1Zt172RVMXcJbH9_tHUmb5JWdQUM7v-FNulXKLSo8Dgke4XpS32c7s614gRo6IEETwakq3XDjmIyNaKMYTykH1HB9gPD9fowrTsaIzYYXRl_67KVMps2wi2SH7ypzapQQ388HoKnBq7skR4Y0_5toIaayp19yH-V0Gj8RKEyGjICvj1kBzCTDETj522LP6F_hiy3fI5E0JO8tRZANGoHQ5PbBR6nss90TbD-o2_7tv8PGaiefP7ruJ9xGtff_mbHMNyJCoqKfkLrdt-R9YKCkTFncdpFSNt-5L0dZztOtnHbO1sEfrcHSmXnBjN6xm4Uz-iV6W5MYEHxxHdOm3LzdK8sxr_lMAcuZFoestcZLY_rQHygwL32cWCFFIh5_qPgS_zGKXNzaiivLCH1jT5uhrj2Pb19k077CJaiyA4CcGpOjQS_Mm-ZkQ22u19jfQAaoFU47_38GC1j-hwfCzjapW0Zdz5xJxh6QXOLN1snlcUdbnhpfTgrQVk28E9dzAwRVdg4OXy-PKDIxuXhU5yvPmHfJuUaoqAI_WIoGy3-qEMIdQigCuvsxL0JMdlLLWhWQNtif-mus--N9HlrsNoDYCBafhaH-igmWBLMkNibqw3asw0LDDd-cM8pGA==",
  "id": "rs_0d8248ce6599b826016ab459b4a33887d0a700a2f8763ca03d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.16,\"left_z\":-0.01},\"note\":\"The bottle’s body is centered in the wrist view, with its nearer end close to the fingertips. I’ll descend at this shorter reach to surround the body at table height.\"}",
  "call_id": "call_g6M6RsaY2ah1Oj8orkwIfot3",
  "id": "fc_0d8248ce6599b826016ab459b7451887d0921293e5d692ef72",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_g6M6RsaY2ah1Oj8orkwIfot3",
  "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]: [-0.5674, 2.0113, 0.8703, 0.5446, -0.6315, -0.4191, 0.9955, -0.1837, 0.804, 0.6167, -0.448, -0.2741, -0.215, 0.9982]\nstate[eef_state]: left_x=0.4503 left_y=-0.1591 left_z=0.0338 left_yaw=0.1665 left_pitch=0.0914 left_roll=-0.0211 left_gripper=0.9955 right_x=0.2868 right_y=-0.001 right_z=0.1731 right_yaw=0.1386 right_pitch=-0.0355 right_roll=0.0008 right_gripper=0.9982\nstate[joint_eff]: [0.3214, -3.7949, 3.6034, 0.6081, 0.5788, -0.3199, 0.1099, -0.5949, -1.812, 7.3641, 1.917, -0.2173, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:495d64e2405852a1069000a1bbb75ea32f3b1397782ce98753f0d1537094813a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ca81832dcaf74ae4199f2f965479100296a29b862df2b079beb98d4907448b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26e8b7e91fdeaf462bc454dbbdc0269a6ef51eb960808ca11cafe405140cb9a7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /responses · status 200 · 19.77 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 65 changed as sent

message 73 changed as sent

message 77 changed as sent

message 65 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4801, 2.0995, 1.0428, 0.5556, -0.4732, -0.3454, 0.996, -0.181, 0.7784, 0.4885, -0.3424, -0.2707, -0.2146, 0.9982]\nstate[eef_state]: left_x=0.5049 left_y=-0.1681 left_z=0.0471 left_yaw=0.0921 left_pitch=0.1186 left_roll=-0.0787 left_gripper=0.996 right_x=0.2825 right_y=-0.0 right_z=0.143 right_yaw=0.1382 right_pitch=-0.0333 right_roll=-0.0018 right_gripper=0.9982\nstate[joint_eff]: [0.1162, -8.9641, 2.8513, 0.6716, -0.2906, -0.1294, 0.1294, -0.7043, -1.3744, 6.9675, 1.917, -0.2369, 0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.63, 1.6352, 0.973, -0.0456, -0.6159, -0.4877, 0.9943, -0.1795, 0.8242, 0.6552, -0.4683, -0.2726, -0.2146, 0.9982]\nstate[eef_state]: left_x=0.4097 left_y=-0.168 left_z=0.133 left_yaw=0.125 left_pitch=0.0025 left_roll=-0.0124 left_gripper=0.9943 right_x=0.29 right_y=-0.0006 right_z=0.1809 right_yaw=0.1414 right_pitch=-0.0376 right_roll=0.0009 right_gripper=0.9982\nstate[joint_eff]: [-0.3077, -9.2786, 5.9966, 1.4628, -0.4615, 0.0659, -0.188, 0.4991, -1.0051, 9.8803, 1.7558, -0.0708, 0.1197, -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 77 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5674, 2.0113, 0.8703, 0.5446, -0.6315, -0.4191, 0.9955, -0.1837, 0.804, 0.6167, -0.448, -0.2741, -0.215, 0.9982]\nstate[eef_state]: left_x=0.4503 left_y=-0.1591 left_z=0.0338 left_yaw=0.1665 left_pitch=0.0914 left_roll=-0.0211 left_gripper=0.9955 right_x=0.2868 right_y=-0.001 right_z=0.1731 right_yaw=0.1386 right_pitch=-0.0355 right_roll=0.0008 right_gripper=0.9982\nstate[joint_eff]: [0.3214, -3.7949, 3.6034, 0.6081, 0.5788, -0.3199, 0.1099, -0.5949, -1.812, 7.3641, 1.917, -0.2173, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:495d64e2405852a1069000a1bbb75ea32f3b1397782ce98753f0d1537094813a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ca81832dcaf74ae4199f2f965479100296a29b862df2b079beb98d4907448b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26e8b7e91fdeaf462bc454dbbdc0269a6ef51eb960808ca11cafe405140cb9a7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFnE_YIzQAWwmjrRKtTMP8DYheEtLQYFaSKgmPCFI-mfEOx3alPra8nfLPGBBVPhxNOxrfVHaSkee_GtWb9xMdFYmNv65FZnxNzKkSvIU6NtEFwresgrBZbfvh2Zy-00Nmepof1A8Xk0fylaqM7tCBKJ3Q6AXAeWtEpKs-NCcjt9omsrUI4a-3dMNSRpnLLE9cZNMLDP2nSG5KcFa-688aaPPRrt9X9qUvlQytc6tpkb4n6u6cWUn09eqv8yH1AOwkADzCdhTqSR2bZOZoZMmAwfB0niKrxdxDM3_2uF9stQegwSaSjGKNbmsUAS-_F8oz9Gkgwm6apJrJtzumnDFWewKW6dsH13hW_L28BUdZIJY4K7zQRKirxd4e85aepMEUwc5p1dfvVpod06fYGyv8QjhQT2aro69PolBN9kVmcTx8zc34Rv3gTXYeKNeiASFHW-bR82FzLE2TmR-xdwJeC8fCu8MbKEZi0T6OtyciqMxmme7RV2tjgP-O0Me8xvl_S8AlzEKBudTRzZFXqmitS-vBlIt6sq7OUXlYPQjn6HQ1pANdhbpWME9Ox-DN2OqzMBxLdVDQz1DG8UVVxsJjvJCCWzt9ycjPOFPRN_LXR66el75jFVmnXhRIIw_yPF85QU7XxcX6yQGOuUcGKElHyXBezzEUgYku30KFpxgpyrTedptJxdt_YhQWJqu7__iPamcJ9-W0QlRDj_WclptVkdug6Mrfn_w_SbwTIFfACNmob5tqfdqlw-zgPtMOdMZ0fpcKsp5mLEN8xKlGyxdnbfXPyL5sfr7vskSVHCHUkgmJo6_Qcv7fLCVgmYqJstJKXpulZ3VMEFdhO66f0hlazFXKyLcTqC-VPrN5s_tXd28ltMssg-sysTZkOsBPDY3KTOoahlwo98FIp5zfymDHgf9vjdtUri83lgfvu9pnUbVr9n-ckYL-ZPmnISqamwDhS8xz9BfeLxWgIUq6I1YpCWpNP5JaNK5wAdfTNQeSXXlflTXRHPAehXZYsHDe1V0t_gvf-37EypzZXtu25M4TTq4u0h5SgpFP8zal9KIl5G4FFdxj5rj3TDO23WdDnTt1EuxgR9KqDHfxtdff5cG1np-MX4GaqSMCf3VaNLD1zGime94ZJwuavMf7iHUdH0OjU90E5ITkB0cDbRLcRaNJX1Wz5WmKezSgSWqH3qHogdeS-i2PJkSdAc8N9nGDS2lkOBEzYApcu9TsqwS7CRVvHmgbCd8lOIxSBhjAax19fZR1JCFizFUkXnIJC3SPHITBLvR-A71JFo2q2tCxHE6OsRnbcVLibRjqJ9EEAAeyC4S3EsYevncoOYFFx5HwxN42Jq46N_6i330q44TJoaJGnYoKWUoCU4GcTuuxziew-z9OzHNKAqxlCzT0eV139briY4ZC3DcftNxWjNM8wMWqDX6XRVQdWEkIbKa9uYejxor3IHXQ8nf1I08wQGtB2py16v90zCqL80aw8BwKSqvYFUgtuq_FzoOcPjoeZ8_qt8nxMeh6TMmTn569bZSdYxJlyL2wpNRgHuttyJDJ1KTbHpTedFYl1nfZZlShoNLJtRXDozj2DxWAA6TbHylnh4zzf7XvyrnNKhzl6v214DoW0DPOh3a5PhmggW3_-4nBDAUg_o8mpwGK2t3lYK_UbJG5_5KyyR9BEqaelF7kAJOuZccIUQFrunCWz15I31gKAZSDDwVsc2u52FU1nJZ0kv-EM1Wxlc4MGxpolQo6P72VYNqtygDcgG8vZaFXYSgcCscgbVYCBVHMpXbWVgErJ3WLyXqIgfjY8lsSUf3QIK7yTfBoZePSUnnByIdjbvsYReymkBz1sd9RR_wmrYf2U4gd4tK9Q-QTF7zsnwdNeyNZfNK0SsvBMUuPssx32P0j0HP2pCk5yemXAJJSvzos48k7iqiFKrtZc_iWT3v_zuVPqQDCX1gEp5Piq6cYutQSJ3S7hzIXurIWTj4DF5ydUPMjxaeBgWjuN8zl74JKPa0J-X8abuNhkkHieqhfuhAP_m40U__GixBlwRqHpEKnh3z-jvHy5Skwie-ZG7eBctiCjwGtMHwOAYfHHQmE4FVGSZxoDmK-OGu8ErXOXbiSWT2ensmWCz6Gnu861rlVWiekpKgrQcqng62ttOzJOlnESJAtrHLDQMdUGY76T9ibRyGZKoqtDeCUqUgqF1klp_jxQqdVPV3lYRJBkGe7HFAUrCHAISn6pATMjSK6OuV3Kzs6yYV6T2tmRlA5hbno5imZurmGF594Jn0vLlZ2u09XNKH8IPmRfb0hcHjACVfvNQrCh89tnDYtA6nvglAscwUNsm9gTsYcrl9iuP9UenWqkjvwdYoCkQfk-U84k7xg65fBQv2SKQ9KglJnx3Geb3Lk-6EEDJw7et1zKW4wlXRe-SqwTT0LkmauqfF2tqV5h698Grt5gJC99Pt3J5U50xGvbVs_sfKTORBQRZdOJXzBL4AHgsmLjJphyuuZcdPjm3BVuF2uV21docfhz7143XU-GcZZJhevugn3P8FG8qssmujBKaZXGPX4l3NyJmWx5x8nsSYmaajmhTR_lBIdIj4lIhYZ9jZsTwvvkqF-Zg-8Mor8p2-YEgc6ZI3zKnAcIpgEQ0IIwIVmS8-F9KibIFwzF9sGjNPMAVwefRX2NQWP_B9u-lGVtHIvw1o-qQX4NUgISFjA7clLY61jsp40HOVti0sBTbMyB5PevaN49Hxqplga07qhxDO5BtkzvcHuSkqjlentDrrCFiFQmGKiugYezi7X1yfD8o5ipkzc2yZ8clFAlovlFv9RvOzK01k6JeXyTehyLSv-qhIl_MILmYCfG0Wn6MinWM9U6LHMVdTZKlRrfIycy_k3jRhXHRUQhxLQ72mCUnodgakS2_VNc-Td6NffAiM6JyAOR1QTCoeRFq01Aee9Q7PHDNqer7KwHbNIe2wEpOM9ErBFHHmBNxCr-Gx8RMbqjklFt5VoWSOQdAhCqDQh6xRttRjAoTshEkalWWrajbbWItlq75nzd9YRpggVaKTOPCz_g8Wzd2g2lgcim2aIV1GQF_O8__lIIsREh6q00PxnjZ9mkKKlBDWOEey-K6BZOjyhsJxNC8fWyCiaBn56zMdjCYs8iQPGO1lyXty1kShUp9Vm20d_5OHp47hNwd7ln8K6bV59hWET3u3oewx3pXgWXXJGPJAVfsNq7j8hpkBmYqcpD25TGfoXxz6sHOpoZIWiLCMvVIMNg9TYTC5AzMGMxA2z2B-JNyiQbzbXwhye8KUl3KpcX-kWEgGDfIYDonv486BiTj2por-3LcDFE5Hoe1Q0SSMhBOjWbY3UCjMqrkWrl0bpsYJeKw0TnKULHOnrSvaKJm1hLwB3q4AcmK6mcFGx4qUx2d6al8iH0YqXpupF5dngUd4fPmmw==",
  "id": "rs_0d8248ce6599b826016ab459bbbab487d0932eff3496268185",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws are now down beside the bottle’s wider body rather than above it. I’ll close here to see whether this lower approach produces a secure grasp.\"}",
  "call_id": "call_CbebooC02jko323BcguSqSgd",
  "id": "fc_0d8248ce6599b826016ab459c32bcc87d08fbe921608c82978",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CbebooC02jko323BcguSqSgd",
  "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]: [-0.5564, 1.9667, 0.9455, 0.4393, -0.6369, -0.4698, 0.0112, -0.1856, 0.7898, 0.5831, -0.4259, -0.2741, -0.215, 0.9982]\nstate[eef_state]: left_x=0.4635 left_y=-0.1603 left_z=0.0616 left_yaw=0.2099 left_pitch=0.1028 left_roll=-0.0744 left_gripper=0.0112 right_x=0.2847 right_y=-0.0012 right_z=0.1661 right_yaw=0.1367 right_pitch=-0.033 right_roll=-0.0 right_gripper=0.9982\nstate[joint_eff]: [-0.335, -8.5265, 5.012, 0.6374, 0.1832, 0.1148, 0.8474, -0.6906, -2.0991, 7.0359, 1.917, -0.2271, 0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c94e0aa544c1a3985e99a5c19364eca9632bb52c794d5ed5c80735a30aebcde8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4853c426d51e7c9aa941748b7e40682d8a50be6b782039935165c322ee70636",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89d5bd0243bf571d649d957b473342f4e7524fe1f90e568c92d55e08c0bb5517",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /responses · status 200 · 8.094 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 69 changed as sent

message 77 changed as sent

message 81 changed as sent

message 69 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4782, 2.088, 1.0245, 0.6071, -0.5323, -0.3481, 0.0106, -0.1848, 0.7654, 0.458, -0.3264, -0.2737, -0.215, 0.9982]\nstate[eef_state]: left_x=0.5061 left_y=-0.1573 left_z=0.0587 left_yaw=0.1483 left_pitch=0.1707 left_roll=-0.0839 left_gripper=0.0106 right_x=0.2797 right_y=-0.0001 right_z=0.1359 right_yaw=0.1372 right_pitch=-0.0341 right_roll=0.0001 right_gripper=0.9982\nstate[joint_eff]: [-0.4581, -8.1436, 2.6462, 0.4713, 0.3492, -0.0904, 0.8571, -0.6496, -1.7299, 6.9538, 1.9219, -0.1929, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 77 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5674, 2.0113, 0.8703, 0.5446, -0.6315, -0.4191, 0.9955, -0.1837, 0.804, 0.6167, -0.448, -0.2741, -0.215, 0.9982]\nstate[eef_state]: left_x=0.4503 left_y=-0.1591 left_z=0.0338 left_yaw=0.1665 left_pitch=0.0914 left_roll=-0.0211 left_gripper=0.9955 right_x=0.2868 right_y=-0.001 right_z=0.1731 right_yaw=0.1386 right_pitch=-0.0355 right_roll=0.0008 right_gripper=0.9982\nstate[joint_eff]: [0.3214, -3.7949, 3.6034, 0.6081, 0.5788, -0.3199, 0.1099, -0.5949, -1.812, 7.3641, 1.917, -0.2173, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 81 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5564, 1.9667, 0.9455, 0.4393, -0.6369, -0.4698, 0.0112, -0.1856, 0.7898, 0.5831, -0.4259, -0.2741, -0.215, 0.9982]\nstate[eef_state]: left_x=0.4635 left_y=-0.1603 left_z=0.0616 left_yaw=0.2099 left_pitch=0.1028 left_roll=-0.0744 left_gripper=0.0112 right_x=0.2847 right_y=-0.0012 right_z=0.1661 right_yaw=0.1367 right_pitch=-0.033 right_roll=-0.0 right_gripper=0.9982\nstate[joint_eff]: [-0.335, -8.5265, 5.012, 0.6374, 0.1832, 0.1148, 0.8474, -0.6906, -2.0991, 7.0359, 1.917, -0.2271, 0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c94e0aa544c1a3985e99a5c19364eca9632bb52c794d5ed5c80735a30aebcde8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4853c426d51e7c9aa941748b7e40682d8a50be6b782039935165c322ee70636",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89d5bd0243bf571d649d957b473342f4e7524fe1f90e568c92d55e08c0bb5517",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFnZmwBiPG9uwev_qP7IF2XF8Kmry6oCW0ei26DbEETSy-cnJm7HoS0WKy-r_mcNhzUU-VpWKatb9AIVB2OF718aufg3dfsRYmKV1kekG5eMu49M2O5xLdMxHDIHfaj4JBmYRtmAvWdJuy-e_-U1zEVUwB-lLEKxJypc2AZdwpxW3roBDmV8yBdxWlik3fyDqERInv_XYYynhDkzDnU__1TnevWqfbxB8_MrnV2MSZ564Vmjhu9QRntiZZRXGvw6fpZALoDjbJ8WENEXY-dmN_jF5Dd7uNXezqQ3oTYt33G98sMO22zWCuwBZxrYhMNWXeGWA3W7bMZk5O1x9fhIk5XWaXTGa9JD5U0SarG2gLJ9uzc0JmpsSYAdqF0SPIPFi2O-WJ9IvbiQhwFs2rEEEwU8Z4L0IgmWdR3xyNPzrgfvPSchxqOEc8Wzwdp1TrflKpb_us6upi71BCIpKG6lRrz4PKQA7ehAIuN1vi7FRUCJZ6UVqZxOJdFuKSnHcnaw20WFtnhwMwacy7QCF_SX6WbpXXD5PhKr1YT4L7xKtf2QHld_EgNAw_uTKmzP_V5UiDSTcMulBn5MSm6vsb7oN0lW_55OtchXBRDMd4douh070BQacrsygVOk81dr6I2n73IrulN7Cx7qHDw-4dHdpTDxGHcxTxOtlfM2F1paJb_EQ55BB9fQCAdc-pzfS6det1dleh3OBV0KyHKd5JnXa0iLEdF8bvSIUFdyVev1zuLU58nCIjm7CMW_jk8s7sHuxuHUl6tokLSTwDmCXuaajN6IPZZ1FJYr02veH6gv5wEWXD3wQcDCJMhqtKqS8bURxLP-j7JcPAKYd6zLWop07Chms6wMaXkkiBEqv-I-duAcg503n_zolO1dfWAbCzLGNDQ4Trby-Ixzly2vHTAnsr0HDxt7MniBG_dvl616s8CMQZ4dif-1iCZCKGFAFl_cmY2DiDiCQytOCNxm8G5mbxWidxjD11fQeEBYU9IVxkP_g_JZYFlpC_k8tsodZSZHY4Uv0NHo0q0f6PybMoJjsAd8YzL7hvETqwC9cIv5zmVcEDpqRniHgYrnKlhpGu0we54IjTeitLYx9aMOFGQ7fQ5pYPbap_BFOd7-1y7m6B8uvJ53LrNT0UFUTQTv6gEN2WHXivpKG9KOsKW4zn7wAVvxBwDqVWFl_bJuOqOBx1s0aKKY421oeXjG0FuiRitqxQOPb-Td79ipEAs_Sy_KEUKJe-gN5acWajwMSvFoPo5b903E2E-ayW9fLV5w0f4pUra0dlPH_akIp2gewXqK2ie0tvh58P0DrveICYsSomVRv-2nwTW0j2WWfw3sa2vnOrBh8SX_AvnqVbDJrDl25mwiqzXLQm5HHGoXtfP9c615E6boXWqWRyaHpwBbtyArZN-JV70-uZD6JmnQ7LdUzjsiiaQxyni0VYgkRE5p3p7Qhkm0FjQNOwKTl42ninaesu3fBoYF1X_mg3P39je1t5tCyBsv_OrfcwxHjGoUVxv6TwIyqU-quAZ1AFLWidES00AeBccgr80jUg-7ZC-Lmcwi6snisNegMnHyj3h-nU-cIYelPiDgAggzAj8Sr2BNHxfCnJDnM9Lo_zSq6N_trtFPlkytflwzM0cu_Fmjd6eiiZcdtllgYnicDm9As1Oju7w0BaCJ_jrLmkvOhxgbrSqM76BOvJMPcJBECc7GXKYL6c1SakFalGobQcnWczx9BcBhPfSz0YRCuef1pwwMxgolpUQ7Chz03bnItZTcHj5djb_FiZWOJbzn1CLDX-e0Z6li9R77h2tTyic8vVs3kCM7NorZA4NfrD5lULIQEgLS-Ce44AnmuCVhXdiV1ecUXIQCXRMT3Zvxr4TbNhzgUKk2wlBRpXN8bGxg0LfVP6N7glrsBtYK2a1bL75RRg9a6FfNh62z8cE1ZaKHX3-URv980_WQy9MZeZzEHcG3BHNj80Stp8VwZ4rpfxS-zpLP-1fO6RDCfzjzNYJVloviZEkKz6i-PCG_3X8jhBAeNGh1kM3wvQY0qpia46zjH3ccgmezK8dT4H5uZtDAtUlJDwsj-6YuAY5mjzweTbZ6ymhrrAiH9qcC5QA0wP8hsI8033wqv9sntOScfztaP2pvX4ADKf-RXyYAb62hpPquyNdyY5epTgM4VCwDA4-RlPIaJ3UwesWL71Hz6XfQ1NgSqwByfi216R9hDYa7LuOpnMxx3Pt5Ip42Uxe_prPDH5SIZHYJFS0kKKODWkkvB_qVxgfTbWt1FK5hkUnZHZN-Ijjn1XPD-D2sH9i9YHfuMwZarXIbixe4pN30uRv1lbk6isyLZEP1TFBO2OVTCB-GLgBVrSvu0Ug7YUF-YhlsRGrTviSzMt6VzgG9mldQuBEgdgSRNzOTl-8SAQLY3X9y9dLnElpFJbhl8iyaUIla6EMe0fGm5-vB8nMesHxoXHQ4h1oQtiP9QMe_V5gM-PClzxu6CiNys2JpYv9h-O1f4teDSR2GnptKKQNEYm_DWt6M68y6bwo2FNccgLwIk-eFWTwfnMSgJWLQdCaUiAwaByK7UJqC9wI8g2-09JQfJcrxVhEqTxquYpgFZ7EYtGTL1AfgVxzqOo0q0rzAmkyfLlcOs9iTOsHmaGfCRbOPRnRSMY_OZErlmmIJKFoQTc_9BaDwWnrMhFMMTSmwnYP1xT1TIkrTMobXvmCj1Wh5_3RIKvyNTdbFMn5Ga7fXfzOd9WxF_Kbe7EZc2dJwYbYMawGoPYRV2P4SVPzPqrpNDtSyairJypD3WLe_QmieFqFvwA_bwDxevnrfgOO2AUdbeVHAmrDCBat-JUzMRG7V8-xVPu0TALvKtLygAFhJDyenZTSCVXqq9mhqyeAhIcPsi6VNX1gRR63enZkEhY3fz2TNdvh8ndGTKOAN9CrnkK7cRroNMud0S7VVaWQEcWdSxOGkG1QJZ1DhqwO5LOQixjqOUX5h2PCwLlhAJiXn2y7LCaieiJbBQsFd1E1D33x_UN-yw0s3T5fxDIuJYpJmIlQpwDlq1ushmn-acvmtrNcbwVHf7p9WB4R1sMS6lJLyxIQ_UPPjxZ5rX9Pjdc8hR1mypOriNb9JOqrQxBL8k7XNY3mTbGuYDpUnluse5_IwkmbWQz6eJS-f-XrTcH7G3dZPNWGiK7cdrMlJizcJaklmuy7-Rgez7fRf3MOqL0Z6gRfz85pnsR6pK4zX9JpVnc1XEOhzGjfZZhc-4tiH1KJQ6YJjkrrDKW1LgoJbcHM0J6mFybFcw5Aqah9m3NVc4KzAg7B2ndw-80C8Y0Bb1yGUrqUlc7i34eKvgdaWyv2S8fcbBOk7DLvSdI_P8xQ9AEMCDhJmcLsq4A9mGxBhDvSmOUQ0xMYD2Qn2SWEpMqBedpa0NsM55G5bCprTaaSOpNiZwPHDOa7WGH0jjUsrPOWefmBOtkj5UWnA28m0YrM5l5mycDPSOH1AI7YSH22kBdTOoZHi34yOteanVwKaTNwV5XEnoDGzH75M9HUGM_V4kx5rCjBIdZUeZArXBOnJ70pm-0hybS3CAjezVlPOQLlOuuk_Q0jGL0aGlQIwn0f7aHhwQz5f1kB3-2nAO3uHEToUNg2041xYN0_YM40gYgm7YTFBj5fVGwQZ19V2E9gR3iWqIRXh7SO_GpU1qS_WmipjHWiG6p1UV8SdzIV6UYSmZ2m89Z5RiKfaOIFCgrhdEA43d5J_vixZJoNdC9mRk1ldZ2H5zVvieA-z1_vtAEmMGSqNgqUW2cwi6gakhWV3f6IEY8B2BJpdVp7KvRRMG6TUCoWhwrAqKjCo-vMyjprGqIWktU86oxtkYww6Aa3in5Dj40xtV00NoXx56Nd9eiDYp4Fa7IHhN-TChzi8BzYa4YSf3_r3mQS6RbPujuG1J3qi4gOr8GvfDa794MXtMDIsB1MX2C809M-yYxosrJY8RKo5lqAx5wxV90UOMk0-aNmhK5sq5guYnciAbyOSmESQ7RwhTIpAWFZuNK8SX1osqbSGHcsJSB13BNOjwcxhpEKalomJGtNhlMuhm9IajyqMrfOExw4TONsPNyDUgLqaz6BRr9YanoqINTRt8XWUtuNpvbYzS7ZUWl2LQ9gbGUNH3aCvKbjRlr1BFbP3CFrH0-Y720_PmcLQC-j3TBkEGc6vD7qqOilurHoxHn_h0xioJRpU7p0rnNFz8iJDeQju1pgrZO_j9hVh80HBsC8y97CBv2yO8EdzC9h5NlbmdIyImBIhlp8ISDvKr1JTbzth1H3H0s0=",
  "id": "rs_0d8248ce6599b826016ab459c7ab9c87d083ec54cbd71fa898",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFnZOjS0NmjjvWUipszer179BZI6OSBCqB-TgXmNkqdcRxXwZy3AXAe5cwvLHCurnenATQsjv5U8iG42h7HRdVzDKBzeUt2F8UUkJnQIIWtElEs8We8rS_DZ7GvgvjGo6rTh3iOE9fqimfCJL-sZHqYz0XzA0ehhniVQ2GMKkRKysh3QpAEYjZSMTNwF7Yq8sQ0bEEXlMrIBJIGzPqkZtCouMRsyY4_IN8PL0XWTYMiWEj3ODZZ_TbXY3NXkCEdI6I-vfpEUkCT7cKdmKz60jKeoFLeI1RgOVOhfG3dytSka8DUandYoti9hJZxopVy3mTrFsVM09wBxWXS6PKWp_58dXrk2Gi6SHXtNtcaN_wyCQ1JZMMDF3-rJSdtcqhJO_0cX8mVBA8D5wojByYgyVkTCaytUGz6pmxCjUcxu6aytoy4HPi-m6AFZ737lt9GCrYS3dkrt7PHpaGhGmpBcm76xrRWsxZoBEWMn0iSbHvLeFJJIWZLqA7ZI58G-8P14ICPTJgTMiV6Yu8noEJ41i9ohOa9XtkHsE2lnC_3yg6ZIo9dJ1S-vjsGPMrOirmQqSga_thXFMjVNPdeqqKaWsc4sp29woneqHFUSeCnXxW43wLNXEZxlVHlQ5jrFonD8h1F3xfH9Awb6G51qdZe2Z3G8yfRNL1zV94i23oIIBFo30067IikzryvhpYFOYCl8ImJerlimwgqR7fyMd3Tzl0Ai8-kxS2EJoZQMGpX5AH0NJLWouRx8RhGTNierU8QE3j1L9nlQe2Xx3oUXQbaOswDtidbesY-PA-milE1_99J5q1i9u3jbjEyR-xWU-L4JNcg9jIT_ZAQuLt4h1NVojRexS662IQ3g_pX0caMByECH67-eR1f-Zm3EHDnaoTZTcxj03mLczx6cxppz8op33JJZlcC0aBy-M31ioTiUeU2bcBvdDMIt6UK6ybJ14kY_iPyDNd4FJmTkHJ93Fe4YuxZBIiZbG1QBRqdU8FKZkjVpwZpaiL_UeZcJObDLMOrEKYwefH5bQZG17O1tvIB8e47IcLYZibFcngbpHEf3pE1-9k5umOcnSGfvpo0z2DmiTC6LfawXMxmO5XVPflAJBwCuxPmOtLvt_Coxh-fu2NyfeF2I9HR9Yi7RMumRZnwXPMV1Mc44GhkN_RVbJwEw74Oy8nXqMUItuqpANAC4qezePWz--gTma0UYNh_nObvF7kNZrji9fkBTvBpWMb8Zq75q5O7ca11sPQ1eNpUNKPLpTR86GJ6XO0khQycKSCwlRZsDGqfhypxaJSgPJdE_VC6TN6xAW1PU_MxPvInlApsEYFs1snjdFuSaFnIiaQIu8WHkX6hAvAIZJo7K5vJ1rOeIqXmTU8pRgB1vIZJTNx1HstW3KLSJOZpJP_nIL8KaOCFXlD83BnMNar8ZiOeCP7MeqgZrJQsC8_AkpnKEzEbR4bxoc15IQ-yxpQrtKcOUEj4moS0nn7hXsXy4bd1SKsXgDKOCSyzyhCcb75c3fRo5MTSksEJz1BL18gkUkva5-V9L1gimlEZt-IvP7kPEcK2e25-Yx0k9fbQ0owAUrhr27Pv_CL7y-4hmSnHmJH-feLBB4j0rRr4p1K3_FhFv9oIQntFQowka60rpUDeBoLeNSAPeZ37nUFm0LHcsCLyQidiZADaFNWdPXSE-aLUj4T0BCYCCC_DzXN53Y2tHzq4ayMUb71EKLacUhFAtcfVuVA1qivk-DUpeUquYDRPWGBQ16fQ-YbmPacSifyINrHH6wQgYgc3W-8yMQXNqlrM2E5M5a3SUBt09EYCsWVoX1SDYYdOtgAi0nnRZ-GpdAxADtDqxr2RlbTcZzeCLwCVRV40K6kgXPgRVjIdm5JZJ-4fSO4CqLK0vm1TgD1uZ03MN2Nlhz6blgPggzSy2OaVR3HjvvqNtQYQbi5GrfY_5-FegkklT3rtyJUOEPY_ec70FD8WIhgbB9B4-KyGmm8yXwjw4xu414tdmNQpetOjgjquZccJm0FHyH6PMkIp2LJbqe3sBDbCJv91uiSIqwJF-ldt4xweZG3RUsFAGRlszvH0p7bNH3qH1yL5O83uo9X1xnjA-jDyH0MhYsW7XGWQQPRx3BldThZPxaIgAWrF8CvL_5wUt0AC7bWA5UvCMBvPBfLIGQLLoVHH-IYbWLaJ-E_esYMhvr2fbCrUE2XO58nbnqDy9sJnXGcx7iES2TCr7LBzB7Eh3U-X13pwu-qmzjNCToGWhOIl9PMfnVvP0xHlhqXeRcgTV5nu-NcNLIrJz0DP3hXGRFBi1K99p5aEp9KfPGu42JDDWchVkrNd1zun6S5eqywuT00aLOynAPszdjU06V9vyxOpUMyRzasIGntEv4bqBLIMuDz2XX8yN-7xT33qCMWND2kVsgFni3beYMlEGGDiuJdhIyDM3m_IEfBHpL0YB49Ok11P_FLCC3CIh6S0eFruqmhf3LPyrPgpvb_kP3CVxFAjWedcJcwNwYK5oL8CN-xyfykxxqqj7JMYHp9QK7D7UGsSOEtWGkJLtd1Gz0DsZxhP9EVBRhJJo_ooUvNv5vKQtjtB7q107Q27mvdBsN1mtzYo1Ix1ui9NT3EDOI5xbluoa5mmA3CAirANdVICrq4R1B4PuQ93QUUf0LcfpCu8F5w3Kmil5-ZRd7u_EuYz1Al-otq-9oZnkBEJpgH_2E7sVCPggumvHN_vvc8tc03CmvmwrQSfHTOAhG_PuxI8axucxgJInut9h0Mvftxup2_Vg5x8Zi2a2VFS4gT2oyyPKAilzYiCpgLBnqzCzdL_pVyS1w7rB8Z40CQB0nrqVrsD8GfT7ci7A0d_-Sk_lCCMnoy4_vnkO9GnbwKAw4Dfm78qY24lYd3FN2tIzd9vFkXyic5Pkhu7c1gRNBIs5VPIaBriHiyr8lNhjzO78D0d9bdfL_CbZNMth7EIoxqg-atLERW5DaImAWjJr0o_OOmz26fz21BG25KqkxIpKxFOoem8GA2eeAeJXFQeW0FGIRdpFhYdhGvLwYh6vyG2H6lnGyctA_qbAZVKyAd96stV-aMu9OFgug4mVfDiYBRIyQCBaF9P-TvFsMnOCdQ==",
  "id": "rs_0d8248ce6599b826016ab459d1446887d0b50a53b15e75626d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.035,\"left_z\":0.16,\"left_gripper\":1,\"right_z\":0.2},\"note\":\"This bottle keeps slipping forward instead of being captured. I’ll switch to the middle bottle, which lies more directly in front of the left base and should allow a lower, straighter approach.\"}",
  "call_id": "call_m50HUu6CiFTY3kh6Winb1LvD",
  "id": "fc_0d8248ce6599b826016ab459d7dc9487d0a5962efebf8a5f55",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_m50HUu6CiFTY3kh6Winb1LvD",
  "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]: [-0.2134, 1.7332, 1.095, -0.0162, -0.3832, -0.2871, 0.9961, -0.1856, 0.7788, 0.6521, -0.5091, -0.2745, -0.215, 0.9982]\nstate[eef_state]: left_x=0.4848 left_y=-0.0338 left_z=0.1325 left_yaw=0.2506 left_pitch=-0.0379 left_roll=0.0051 left_gripper=0.9961 right_x=0.2808 right_y=-0.0004 right_z=0.1836 right_yaw=0.137 right_pitch=-0.0358 right_roll=0.0012 right_gripper=0.9982\nstate[joint_eff]: [0.2393, -11.3162, 9.3607, 1.6093, -0.0611, 0.3053, -0.0806, -0.8684, -0.7726, 10.0308, 1.6386, -0.2759, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75783cf0958d494467b571e916aaec4bc46209f3468e48934a16a02ef8e60aae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99a4eecfadfd3bf9917c9e23d612f19ab45b3f5491784da2b354a8e267bc9216",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf17b4dfcd740c1f0d7bdf1ace8a57af3aca5323302fcbe4c40bdb64dcd4cc35",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /responses · status 200 · 5.087 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 73 changed as sent

message 81 changed as sent

message 86 changed as sent

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.63, 1.6352, 0.973, -0.0456, -0.6159, -0.4877, 0.9943, -0.1795, 0.8242, 0.6552, -0.4683, -0.2726, -0.2146, 0.9982]\nstate[eef_state]: left_x=0.4097 left_y=-0.168 left_z=0.133 left_yaw=0.125 left_pitch=0.0025 left_roll=-0.0124 left_gripper=0.9943 right_x=0.29 right_y=-0.0006 right_z=0.1809 right_yaw=0.1414 right_pitch=-0.0376 right_roll=0.0009 right_gripper=0.9982\nstate[joint_eff]: [-0.3077, -9.2786, 5.9966, 1.4628, -0.4615, 0.0659, -0.188, 0.4991, -1.0051, 9.8803, 1.7558, -0.0708, 0.1197, -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 81 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5564, 1.9667, 0.9455, 0.4393, -0.6369, -0.4698, 0.0112, -0.1856, 0.7898, 0.5831, -0.4259, -0.2741, -0.215, 0.9982]\nstate[eef_state]: left_x=0.4635 left_y=-0.1603 left_z=0.0616 left_yaw=0.2099 left_pitch=0.1028 left_roll=-0.0744 left_gripper=0.0112 right_x=0.2847 right_y=-0.0012 right_z=0.1661 right_yaw=0.1367 right_pitch=-0.033 right_roll=-0.0 right_gripper=0.9982\nstate[joint_eff]: [-0.335, -8.5265, 5.012, 0.6374, 0.1832, 0.1148, 0.8474, -0.6906, -2.0991, 7.0359, 1.917, -0.2271, 0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 86 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2134, 1.7332, 1.095, -0.0162, -0.3832, -0.2871, 0.9961, -0.1856, 0.7788, 0.6521, -0.5091, -0.2745, -0.215, 0.9982]\nstate[eef_state]: left_x=0.4848 left_y=-0.0338 left_z=0.1325 left_yaw=0.2506 left_pitch=-0.0379 left_roll=0.0051 left_gripper=0.9961 right_x=0.2808 right_y=-0.0004 right_z=0.1836 right_yaw=0.137 right_pitch=-0.0358 right_roll=0.0012 right_gripper=0.9982\nstate[joint_eff]: [0.2393, -11.3162, 9.3607, 1.6093, -0.0611, 0.3053, -0.0806, -0.8684, -0.7726, 10.0308, 1.6386, -0.2759, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75783cf0958d494467b571e916aaec4bc46209f3468e48934a16a02ef8e60aae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99a4eecfadfd3bf9917c9e23d612f19ab45b3f5491784da2b354a8e267bc9216",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf17b4dfcd740c1f0d7bdf1ace8a57af3aca5323302fcbe4c40bdb64dcd4cc35",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFniICSqPhFUl7yAXK27QE8mBJajKHUzNzgx6gC6YpweUFL_dcfuIax3x3CzfQiS8xt8Xev3BcY-MHk56jERBqQWPH1lDq82wOPnP_i-CkXc3_MWBjiQfQwtaR1QXwNgyoybjDiFoAprkOT7m6JfUfXGVKPqDaR2fOuZRku4NtRYN9oZJZfOIX6xTmDIyokW7KxjlGdbyskhxPsPgokuVQQOgvisANbJezou79bfhtHUKDxr3DtnJM8r08TTZ6edRrF5N-pUznEokuUayDRyQCuPPn_4xFwzW-BV4cGVDA0PRIZJPzykFMOzHi6sWHQR-0ySzSHnWfL4Fy55cfUdbekQms2oR39TH0irgg6lcOQVvw3qaZezuQarVyCRNSoeTSwP5O-zgAjTEKAp9oEGwPxtn2bo5QE9mIr4iw101KT2JsONuit6WU3zXKkyKJ8-b3IHWv1YPWTkA-uq3VnNkndBkEmWPe8PastPYpEnbhCSksnywDofT6LE0ifmfWCDJuMbXFasrRk-lJ2_4rnTG1n91Q05YqIhIrrckTBi5_5rKMHbWkB1tubhgEnX8KbOKtwY1Bc3m-h7M2025NYWrAg-fgYozY9SHyr2PkIXV2QmH395H_l-CAqC6cgdj_oa4zRIAQf0Su8OteZJ1CCKE_JwEgqSpjOe9ZZjAhvRSwRGvWzt1X9KtUIWpcDkKgjyJt4mPXnE2cIbtDkwT8nTQYZNPp-KXxbkTj3nKPygRQ6AI7c4BZUuHZp7-ZQMssdbQI9NBznnoJyeobt_7j1gRDkUTv7xTA1-dfMX8AclQWK4MOV_7J7APEAqUIGp04Jafh-hZvGbmD35rX9qzVJCU0pgGRFPS15qe8PRMGXil-HEYgL1e7e7MAdHCik-2qfZgVd1dG4j9u8qwYkeAlY4thWZcNHGafiesoHnXElGFeD7-z25ABGiuug4ON1AkSQpDrjukG_GfZSNVDGu5BzCZE_CJlcHxnIyj0_Hi5bOre3FUE1ZsodQGuHerSrC0zdMsH3FmtXf70rIeSen9hjbkJ0V_ynKcKQlliwwzBNJpaBfECeMQjy8QIKnK-fp1JzUthKlWbO3eTij1KvBJ5gZQiu1Q5Fe5cr-CkQcjMo5OPKolgCz10qdFNTvPaKnYV29cKN09pAxsjhJFsOe_DkQ5_P3ncaSQrWtw-8hUE1fqPHrVsb3hyQwB_kWZmRFWNUSsQ2l4K82w87jpKf1Ovy9YQznfX8jmpz--nP5MShNXSi76ZTeGPsApMSi0iCb55vSGxcWzdCbRcbUWYOIJblqIORqBvoX-WJ48Q8aQB1SvHGTEcq7g5zqmUSWEpjsu6_D_mE8-gYzNugvDZsYlxKvRAeZJy5DncbCaNCMeqPbcPOqZ5Kg6B5U7KUKmNVFeqhVudoDPJ89RM6I2wSF70epXwQXkhaGx9gdk0eSgZa8PDaut8lYIVAHK-8g4GqH8fzNTP3CDrfMK-cDMBGoajdVUKmXaHs3MIkCBdOtvMxWKl9PTkt66kmLDvt-JZxmxMZ9sByK1zHjsYKuCZ3EI69ug6MP1AjKtdvMwDy8qKuv7ll30bryh2dd0dBFn9d-Ssawt7Vv71lI9SfZqP7KO5FcxRjsvfvM_sFhu80lTVr-HEKwXU5GVW0L65VILLZfd0s8jqWkV8lqoclEaVOpnMWnn9k_yts4phU7sZUHQxdjM3Avy_BivSO3x4mDyRLqeWafybqTYmR5F10bDXgSYtHCW3TqX3iHTRSs6vUIV4jjKuf4Yxbx4LoBu7A9Xx3YE8LVDG4A4vbqZgjTu7mRipvynERe-zW8sFg0Qm4fd84CUX5-_be9Aaf5XSGDpFnDaP0J83RhhixpGTKqxCU3_L-EpIt2LxwAs7Ym8dzWEmKQ4HBDB20vo7m9MvQBklpudwIV9G_hKBTUgmR8UXI8kcIxTtAGybPK0ZKjkcryyvzCCK5Q7w3SELswIrqdOysAK7jIYbXCVmYkjtDA5Or3k-RfaTGz-YH35VtiHWaf_2F_Fr-sgCA82mYSTfdKshxd9IowyLA9DokJbDw5OjXRuPSfDrq48flWj_LHEQ-nAIH4qCrL_A2zgdz3ntazjnY6ylFvimtRGzN9giOLC6xEX43pCYY4_4j0bIkvXKvEq1TVQzLQXCM7Fs-C9Fo0gdlEm8TgGvQeRn4H_CMhe2MVekH2qta3ZzddzRrsvTpZ_Mmm6cX6Iy_21THNqVy4gHOPIxnszSHr",
  "id": "rs_0d8248ce6599b826016ab459dc9af487d08df81a84d5d03dc8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.525,\"left_y\":-0.02,\"left_z\":0.015,\"left_yaw\":-0.2},\"note\":\"The middle bottle’s cap is close to the fingertips and nearly centered. I’ll lower around its neck and correct the jaw angle before closing gently.\"}",
  "call_id": "call_wKUr2xNhDKtpnbC2MkmyKlhG",
  "id": "fc_0d8248ce6599b826016ab459e1302887d0869caf93bcc3793d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wKUr2xNhDKtpnbC2MkmyKlhG",
  "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]: [0.0013, 2.0468, 1.0039, 0.524, 0.0929, 0.0238, 0.9968, -0.1856, 0.7582, 0.6174, -0.4965, -0.2741, -0.2153, 0.9982]\nstate[eef_state]: left_x=0.53 left_y=-0.0121 left_z=0.0434 left_yaw=-0.1002 left_pitch=0.0454 left_roll=-0.013 left_gripper=0.9968 right_x=0.2772 right_y=0.0002 right_z=0.1758 right_yaw=0.137 right_pitch=-0.0373 right_roll=0.0011 right_gripper=0.9982\nstate[joint_eff]: [0.2667, -6.8444, 4.9709, 0.8962, 0.0952, 0.1783, 0.0611, -0.9368, -1.388, 6.8581, 1.9414, -0.2515, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1ab7ae78359e30c329303dc5199d4ff5d6dcdd4f36474c6463b8719b6737050",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a5d7256bb8c783fa08ebc29d876c0d493cbe08a44762b0f5bf8417e65c4e967",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20706a4284c7239b13acdda827e55bd78174f41699b67c66cf1905bc5424e3f9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /responses · status 200 · 3.787 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 77 changed as sent

message 86 changed as sent

message 90 changed as sent

message 77 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5674, 2.0113, 0.8703, 0.5446, -0.6315, -0.4191, 0.9955, -0.1837, 0.804, 0.6167, -0.448, -0.2741, -0.215, 0.9982]\nstate[eef_state]: left_x=0.4503 left_y=-0.1591 left_z=0.0338 left_yaw=0.1665 left_pitch=0.0914 left_roll=-0.0211 left_gripper=0.9955 right_x=0.2868 right_y=-0.001 right_z=0.1731 right_yaw=0.1386 right_pitch=-0.0355 right_roll=0.0008 right_gripper=0.9982\nstate[joint_eff]: [0.3214, -3.7949, 3.6034, 0.6081, 0.5788, -0.3199, 0.1099, -0.5949, -1.812, 7.3641, 1.917, -0.2173, 0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 86 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2134, 1.7332, 1.095, -0.0162, -0.3832, -0.2871, 0.9961, -0.1856, 0.7788, 0.6521, -0.5091, -0.2745, -0.215, 0.9982]\nstate[eef_state]: left_x=0.4848 left_y=-0.0338 left_z=0.1325 left_yaw=0.2506 left_pitch=-0.0379 left_roll=0.0051 left_gripper=0.9961 right_x=0.2808 right_y=-0.0004 right_z=0.1836 right_yaw=0.137 right_pitch=-0.0358 right_roll=0.0012 right_gripper=0.9982\nstate[joint_eff]: [0.2393, -11.3162, 9.3607, 1.6093, -0.0611, 0.3053, -0.0806, -0.8684, -0.7726, 10.0308, 1.6386, -0.2759, -0.0073, -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]: [0.0013, 2.0468, 1.0039, 0.524, 0.0929, 0.0238, 0.9968, -0.1856, 0.7582, 0.6174, -0.4965, -0.2741, -0.2153, 0.9982]\nstate[eef_state]: left_x=0.53 left_y=-0.0121 left_z=0.0434 left_yaw=-0.1002 left_pitch=0.0454 left_roll=-0.013 left_gripper=0.9968 right_x=0.2772 right_y=0.0002 right_z=0.1758 right_yaw=0.137 right_pitch=-0.0373 right_roll=0.0011 right_gripper=0.9982\nstate[joint_eff]: [0.2667, -6.8444, 4.9709, 0.8962, 0.0952, 0.1783, 0.0611, -0.9368, -1.388, 6.8581, 1.9414, -0.2515, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1ab7ae78359e30c329303dc5199d4ff5d6dcdd4f36474c6463b8719b6737050",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a5d7256bb8c783fa08ebc29d876c0d493cbe08a44762b0f5bf8417e65c4e967",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20706a4284c7239b13acdda827e55bd78174f41699b67c66cf1905bc5424e3f9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFnoiCoUWCbY5RDKJtOcO-OIc4QRQYn-jiYvjWIU21NjbLTYz-5FfPV885cJNmCvfcUJdNxluhTvJdP5rWTd6RScoiF1BB5yWHLLB5iN8pninON-oEYNQ0Q0TIifj4g35b2-82HOK98mRT4djquJrJNUqC6ktRw54Y3Z0YIOGPWc60y81je2it1LadkgX0yLoVN-as9cuPpT-zcwD8ewo-Xu82po0Vc9j1Lz0K_d0imqtYedcwYyg3lnMaapDxxpRdnDaG8_-uXCC2ZZjvwwGIjRm5rBtBs7inLqmo31BpuPHKaBXGNWjd54o6P5ZlYMCgPJlJ78yM4akJFjSLUKbeFonqsWsGy0_3qRRzAzWbIsnh-4pOe_7D5oEQlVaVzMmzsPRY6aIc-cIgidDGhbcO29a4htmcnE_XIMZYy3mdRZBhYINBzcMTqOrByQYZZJC9zWeF5pJWtyQC7O_GfCIMaBo22dnW_HTWJza1bUAA7cKM024SkUygevmU1IGXWBPU9RwTgsDe2ezwQznhftYxQ6QJ-Cj8aGjJGEEArrBg4crR89-Nn6xYUy1pMjJ4yBp96Kwpl9dCXgx0OLF7zzx_LGmjEGqpAhLNoSFb_lq2HanPJ9YGxiT5iBmgdETwfXbF5QTIAwXGSXqPrd2ohNn4aRlRMb2SvoK_wRH8g3_S8cYJm3JcJl4DDQTRUS7xNLyLD9gkttb8o3XaMjHQMTgrveWGFI7BK8Ge17RY_mumRIJLk_j22C6v9mjs1JFPDnPISEO4twL-lyX_62vjrrILVYtr55kdsjC50ac5z4WE4dEmE7jaWAYz_IIGkpiWipBrbC5079ve3tVsD6tASQQ4vMJeGxlH9LF2mzi_ruhBhgxeOW7_EYp_kSOsCMMC5_El5nfIUynldYjNHmHngip8abdlkYSUO9zpkzSrLE-THtO6Ht5eSTiQoAvUh7gxrN2z9brAcFpof21NHrB_jnrNrP6FR52060nJ-iu0qnl4g9SCx6zGW1VuF6o2-1d7pc8BheLFdF7n2pX1q39KVc-6rvGpJMgXaPwzyhm1B_0aYJnqmPQhx90ziNBAiAuJ4dkWPdZZ7z13kpnH7VQy5WnFbXnea1-tDokZ2AM8XDHXmaIY7hRQ5-YLuI5f-Bgl5pDdJEI1KLHncgQ7vhkGX0XqJjCXBWGcbfheY43HOlENF1nBbyx_k7162BxS1olwRS-OZ85tXcpdQCk_ZWtklxjA8QtGoNBOsys0qSYMduES5DzqxXiTpmY0KAsB6L2Quv67bCpRrLytOiUgGakOea-cFp2cIyhZWDv83P6GIaR8ifKXU2T5OlTGZYaU2mViip3ppsWFelXZULMusbG1bKbcJ-3GkgzrNm_NUcQXhoRBVnlh-cLRVkO8yzEClTPfiQ1JrDftCoCZ557TCiCUYM5x8WPA==",
  "id": "rs_0d8248ce6599b826016ab459e6286487d0a4c837a05441e1a7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.23},\"note\":\"The cap is now directly on the jaw centerline at the bottom of the wrist image. I’ll use a small neck-sized opening rather than a hard full close, to reduce the chance of squeezing the bottle away.\"}",
  "call_id": "call_20ghBbM6GwPkpgHtMhZR58Px",
  "id": "fc_0d8248ce6599b826016ab459e76d8887d0b13fff3108689441",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_20ghBbM6GwPkpgHtMhZR58Px",
  "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]: [-0.0006, 2.0396, 1.0359, 0.4915, 0.0776, 0.0254, 0.2357, -0.1856, 0.7372, 0.5823, -0.4767, -0.2741, -0.215, 0.9982]\nstate[eef_state]: left_x=0.5363 left_y=-0.0104 left_z=0.0526 left_yaw=-0.0901 left_pitch=0.0516 left_roll=-0.0035 left_gripper=0.2357 right_x=0.2747 right_y=0.0007 right_z=0.1693 right_yaw=0.1367 right_pitch=-0.0319 right_roll=-0.0004 right_gripper=0.9982\nstate[joint_eff]: [-0.2393, -10.6735, 6.2564, 1.2527, 0.0269, 0.1001, 0.2173, -0.9641, -1.4154, 6.8855, 1.917, -0.2564, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c29fdfd269835e783efc420278d503da660c9737428cd9d86c56c9e5afc17a88",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef28f5cee160b1fc1d976ce3b7e3daf80a59a616f2368980a94c648c796f016e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2938b5cce1abab8f07ce640a01d79316ab9a5a09c14cd4cdb3f1d5ff4cc074fa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /responses · status 200 · 17.35 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 81 changed as sent

message 90 changed as sent

message 94 changed as sent

message 81 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5564, 1.9667, 0.9455, 0.4393, -0.6369, -0.4698, 0.0112, -0.1856, 0.7898, 0.5831, -0.4259, -0.2741, -0.215, 0.9982]\nstate[eef_state]: left_x=0.4635 left_y=-0.1603 left_z=0.0616 left_yaw=0.2099 left_pitch=0.1028 left_roll=-0.0744 left_gripper=0.0112 right_x=0.2847 right_y=-0.0012 right_z=0.1661 right_yaw=0.1367 right_pitch=-0.033 right_roll=-0.0 right_gripper=0.9982\nstate[joint_eff]: [-0.335, -8.5265, 5.012, 0.6374, 0.1832, 0.1148, 0.8474, -0.6906, -2.0991, 7.0359, 1.917, -0.2271, 0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 90 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0013, 2.0468, 1.0039, 0.524, 0.0929, 0.0238, 0.9968, -0.1856, 0.7582, 0.6174, -0.4965, -0.2741, -0.2153, 0.9982]\nstate[eef_state]: left_x=0.53 left_y=-0.0121 left_z=0.0434 left_yaw=-0.1002 left_pitch=0.0454 left_roll=-0.013 left_gripper=0.9968 right_x=0.2772 right_y=0.0002 right_z=0.1758 right_yaw=0.137 right_pitch=-0.0373 right_roll=0.0011 right_gripper=0.9982\nstate[joint_eff]: [0.2667, -6.8444, 4.9709, 0.8962, 0.0952, 0.1783, 0.0611, -0.9368, -1.388, 6.8581, 1.9414, -0.2515, -0.0269, -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 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0006, 2.0396, 1.0359, 0.4915, 0.0776, 0.0254, 0.2357, -0.1856, 0.7372, 0.5823, -0.4767, -0.2741, -0.215, 0.9982]\nstate[eef_state]: left_x=0.5363 left_y=-0.0104 left_z=0.0526 left_yaw=-0.0901 left_pitch=0.0516 left_roll=-0.0035 left_gripper=0.2357 right_x=0.2747 right_y=0.0007 right_z=0.1693 right_yaw=0.1367 right_pitch=-0.0319 right_roll=-0.0004 right_gripper=0.9982\nstate[joint_eff]: [-0.2393, -10.6735, 6.2564, 1.2527, 0.0269, 0.1001, 0.2173, -0.9641, -1.4154, 6.8855, 1.917, -0.2564, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c29fdfd269835e783efc420278d503da660c9737428cd9d86c56c9e5afc17a88",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef28f5cee160b1fc1d976ce3b7e3daf80a59a616f2368980a94c648c796f016e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2938b5cce1abab8f07ce640a01d79316ab9a5a09c14cd4cdb3f1d5ff4cc074fa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFns6wO9b9mZFfSPeVLTgWe9FeE83qZZs4wIk_nn8jsN9A0CNiAzlhA-f1MZWUQtqyejJg8i5x53tmWwkBo1rZD_SLKIxNz185sgQetQVkF1FqKTRtyGuWFrlQpJunwr3y13DH641nv7eGaAGZqetLItjHSzAByeD1KMAU5mss2mAPTbtQRvN7c1qJA-0TCQoKO-HZWGvKPae3mFiF0iLwHzb-xM7DkDpLYN2DgltmFmzzSgO66XkeXxlWojmWW5a2Dn4N3VTyJshbr6C0TRsmY6csDYAd-aIZdrroXW1whXKtKes5DFxF91IKeI32NUCkJjoe8XLEnv4tniHTCNJ4yA_rN4wfv2ZWcLohMmnyaOD4aoQCGH3KtDJPfsVMpthX0sIByvpg2H7ukeDpCeFV_qrepjH5CBkkFqWCQ8dY8gL5nZSZlkZQgtz14B9Ub1TiM90ApGU9NCCpi0yX6EiYuVLhbyMCfON607Bk7Gt4OUUQnnhkemCveqyzpZT-Tfdql2Mmvi70KJFdq105J_e2fZDCTc5kUyh5E6nDA3chVkOyEOPtmyBdRejoKRkLiLMaDsK545fwhU-0IRGLE0HvWZDXx2pzOSfrXloEZuKHGaY_XzN2In1xzZQKD3zy3YaCBsfUkviLhWKEDYb5yJ3arQe1Sh4H9obhfYgUiVsq1yxkuQa36KC6JWASfWdQ05B9NnVhTI-gONNW0Y2pdQUDikVpmKKf9PZ2eSYxK6KhUPUTM9inIq8kbAhQNMq-8aUbjUW3BAQQilOhHKjjLVPZJ936igcuyjOwgGMmyG28CQ7XGc_TQC8e6nLEY_usr1-kiDcgszZoVyvUryHd3S-3Y64B2QWRG-LEznUDt63LdqVNtlZEc6FXLcuLQjaoTtTBXaVu5DSNtJRqH57_EVNxvABfXWprgyUi1IbsgigOQW1WuzBJK0N3sqmDP9Nr_aVj_pRH6iZKgoh9J2TgsI5OJ5mUxt8mEOLVd0N3REI7ANEOBap4_cf54N0DT-TXZxpESBHbt9U3yTe9JTWRBuPBwbKZYglfKwF2YsonE75oNztfFS3kI9SmgboP2kTZb8EEwgYwrBiBqaFnroXBfhXLduLdlsAY4euLhFp215eCwmdSeXF4vq0TJIrBkEpxGuCS6pQFL4Q7h43g67MJUB881lKrywlHue5yv__EOTfD7p1ZRz0occrx21NuguB1fLq3g2hN-8o153s3prWx6R8ArL9czqHDjesMOQvUEwTLNM3swgpv2PJIxklZ0w306JiEyHW6VEMCWefDxE7-LKkn41xMJUvzEOiSoLv1K_HvLnmSIYLhtuvCt68NvVYY3Y3IkvGJzEMMDteZPVQ9b5f5eGXwARQj9Ysm1FZYiS-ql_rBVGnxziV6iN8lXBPjrMRcoz",
  "id": "rs_0d8248ce6599b826016ab459eb614487d0a88b368ca14f3a1d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.02,\"left_z\":0.24},\"note\":\"The jaws have closed around the cap-sized region. I’ll lift while retracting to a comfortable reach and check whether the bottle hangs beneath the gripper.\"}",
  "call_id": "call_STTzMP7uenui9z42Z0UnNa7o",
  "id": "fc_0d8248ce6599b826016ab459eba87887d0b51b872ba12269ab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_STTzMP7uenui9z42Z0UnNa7o",
  "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]: [-0.0334, 1.417, 1.095, -0.2592, 0.0437, 0.0196, 0.2354, -0.1856, 0.7185, 0.5522, -0.4637, -0.2779, -0.215, 0.9982]\nstate[eef_state]: left_x=0.4368 left_y=-0.0187 left_z=0.2171 left_yaw=-0.091 left_pitch=-0.0186 left_roll=0.0041 left_gripper=0.2354 right_x=0.2719 right_y=0.0019 right_z=0.1632 right_yaw=0.1398 right_pitch=-0.0297 right_roll=0.0013 right_gripper=0.9982\nstate[joint_eff]: [-0.6769, -7.8427, 10.1949, 1.8339, 0.0073, -0.0708, -0.0366, -0.9778, -1.1829, 6.8991, 1.9072, -0.2466, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c47110d798aa76b4e3c1faa05106e38de481c439cecb2d4b1359535480031db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcd02858fe8524674a501e1707590c32a18667d13a778c8645487cbca5fc244d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e42883beccd1aa14e476ff4a150ecd340219bd452c3a5971216c02a49a9818b6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /responses · status 200 · 5.298 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]: [-0.2134, 1.7332, 1.095, -0.0162, -0.3832, -0.2871, 0.9961, -0.1856, 0.7788, 0.6521, -0.5091, -0.2745, -0.215, 0.9982]\nstate[eef_state]: left_x=0.4848 left_y=-0.0338 left_z=0.1325 left_yaw=0.2506 left_pitch=-0.0379 left_roll=0.0051 left_gripper=0.9961 right_x=0.2808 right_y=-0.0004 right_z=0.1836 right_yaw=0.137 right_pitch=-0.0358 right_roll=0.0012 right_gripper=0.9982\nstate[joint_eff]: [0.2393, -11.3162, 9.3607, 1.6093, -0.0611, 0.3053, -0.0806, -0.8684, -0.7726, 10.0308, 1.6386, -0.2759, -0.0073, -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]: [-0.0006, 2.0396, 1.0359, 0.4915, 0.0776, 0.0254, 0.2357, -0.1856, 0.7372, 0.5823, -0.4767, -0.2741, -0.215, 0.9982]\nstate[eef_state]: left_x=0.5363 left_y=-0.0104 left_z=0.0526 left_yaw=-0.0901 left_pitch=0.0516 left_roll=-0.0035 left_gripper=0.2357 right_x=0.2747 right_y=0.0007 right_z=0.1693 right_yaw=0.1367 right_pitch=-0.0319 right_roll=-0.0004 right_gripper=0.9982\nstate[joint_eff]: [-0.2393, -10.6735, 6.2564, 1.2527, 0.0269, 0.1001, 0.2173, -0.9641, -1.4154, 6.8855, 1.917, -0.2564, -0.0073, -0.0122]",
      "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]: [-0.0334, 1.417, 1.095, -0.2592, 0.0437, 0.0196, 0.2354, -0.1856, 0.7185, 0.5522, -0.4637, -0.2779, -0.215, 0.9982]\nstate[eef_state]: left_x=0.4368 left_y=-0.0187 left_z=0.2171 left_yaw=-0.091 left_pitch=-0.0186 left_roll=0.0041 left_gripper=0.2354 right_x=0.2719 right_y=0.0019 right_z=0.1632 right_yaw=0.1398 right_pitch=-0.0297 right_roll=0.0013 right_gripper=0.9982\nstate[joint_eff]: [-0.6769, -7.8427, 10.1949, 1.8339, 0.0073, -0.0708, -0.0366, -0.9778, -1.1829, 6.8991, 1.9072, -0.2466, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c47110d798aa76b4e3c1faa05106e38de481c439cecb2d4b1359535480031db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcd02858fe8524674a501e1707590c32a18667d13a778c8645487cbca5fc244d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e42883beccd1aa14e476ff4a150ecd340219bd452c3a5971216c02a49a9818b6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFn_3MYIWIE1P0JLD4fB4T7uor1pnS9jtdn0gZ3gXFNttpcA2SX7IGQs5hJjmSOGlKpzKRBEjdEg-CKlPR4dTeKehZJc1Uz2aUGaCs76S5t-Amw5qEiom3iaguWNsNE_j59b3fIQJ2NARsvOW5k6LvvzQoS4ggw0VnqaWHRj_BAxotsp0yFJZPNAmsGKowsTX_tn7IsiO89CsLhu8yhGPLaSI7_8TF4KEH8fqDeiBOXxGDV_wSoOzjUgNT-MmR5ZH8uTZFQe9_AK8ySvDT6V3bWbUzqK0rm-dRbh4h34oTOwv7sEE2JZ5Q1cpGTcYlSeqYlQlSdArDE6SH92HIAkuFOnzWfwyHyqgYLQXlbhz0InXFyhxAGNRb3EKhBTAVISn8pmqZ5q_g1Ws8usfHjoVjKnxd8pq42EjfNL3tcOUOzKiZgewbQDsdIlZWJ7g1-q1SX-11mDRLoyZP2fg-meSDNDNpc7-daaWfHnz2c4Vo4U9sjo-OTTV4PCL_sA_YkSAIih9xnm9XDRax3_Y7s14AL0t-5tZ2DeYaNintS_IhuYm9Krlhm6qLn__3AUoLXGBBAHitRuWR8yYnAjaCOz2b7lV_ni2e9QUPWUs9SlhfRWwTefkMSy0viUj1BJUAx_c5i2dWYUY2ibb6aFJuc3OieJcqk7tKcLp_U9IfnQh30pPIbRVbanlFSnv2jLu1ImlVsPT4cVilAdTBB9W3WIvvp8-M_Y-_t80yVjqb7tbSzeV6N4bXP0ctyUlplGx7Ua7_XN_DCKiqLWAAId1zJiZIzIcb48a1nVJFp19yhUmHTg3aR5iE88eX2gbxOsiHcEV7cOia5CjjMNMw94KMJhiT4WPia9yRcHrPav1Ts4ZgzxrmDbCsiYjJMshU5JlCJAxA1pKD2fBrQxDpqwx95k2NOHClo9ehowez29IUiTlHcAjNUbLnzwg7jlBfonaTxelXVUIHJqCuiXyIFu86mBwATuZ0gvHejALZhhkawUS8DAlXiY2EiaiPlcO2I5lwNAE0SF8Hw0kzf2uFizk6SPHVSqWitJCWSZ45qmfNtCd4oESZYBO4jwVHCE7356q5osH4t5wA-poiaBF1-iwbGR0HO-yRgxIHSma5bYQCf5Q3y9fsZ3PogQiWd9bAWf4Z8txthmdtPzprvfFGRqexZp1Ne0lPIPmDCKig78lrDF4mnblHm5RzXLqBRTGI6qoIsFAdvsJSMQkqaiiXvrhTEWjxexLED143GQ6yWqpCDiUbPUK6sVFFdlFDJrFkt3DSMQtDGCaFmZ-5kZJsD74BBh6xyxUxyqUghrLQRZ7g6VJCftQUv-98R1qLgoQAtGgffBM8RM35_RBFg0ZLiYi4kGDsrLUA0Uk8WrDG3dO-Hpr8xklCinSPJeHeDcOTLPPIOEJBbcrrmJkIZt4s8BOSuiWKBeCjiKI295iPbvTPtrXYhThkE2xqn-L96puDq8sGzznyZ6kf8aDVdcJi6WOBG2UUKYJLUvgcjd1DA1hDvOuMT-oPfLj2BgQvDI_rqRBBIC9oNpm4xTjzTQRkPi1Wy2ZsmOxcDWo1pBFULrCFROmoUuJODTxdzOYTJL4QcaFSb_jD9IpLmYQJGG1Eh7yaiXcajqoPHGu6Z1qE5KnVfY1BHDAPZu1YvhW4W2FwOEzWAfcnWjWyruqIKFaVrrUplXtrz286ovp2wiGvd-wCgLOWXY1AyW4Ssko2h-GcN3I-Bp_B16lHNxR1YbrA22j55aj6y1MeUgCtsq0VcJu8uLMW3OtmsPxGjMo9D6ijpSoHLgWGfq8yYloAmmhD_kqiV9dq9rXUaSOuPn_5ytI5CX8sjnKP2mUGXc43xTr9P_3B0OgvSJxwwAiWez8qSFqJ2KFDe_8MLa7g4owiJhpWm-7z98oS1a3zoVoKYfat5JL6eKmIuet3awn64RnMpvGQS-1eIvkOfJc8x5WbfrQH8gyIseDqVu0zvWXMQsJD_7NHs-cAeH4XI-cFz6ADCX6xUDYrnV18sFeJ5lvRaRqdQ2jP5tn_qXED2kIECK1iho_Jw00siD3gSGztLDfMkSZ3tze63u1v846KIxCHNjfiJTZ1Ju8twvUbMelqcRWgzI544zf5Rwl2mLz00wOWw76L9kbRtbZn4_Qi7I8ilIUMaPKa2eDl6X1AeTy69CoOfnJRY22xblImBBDJxZZw0Ux67Rci_SS79md0pW7Uw-Ztz6LISvVMsO6aM1t_GGnYhsi5KCVSkE38WNVLVDqo1SI4OG6j4gh8_lTZwo-VqlrOk1qZRRYaWPqjN5BAnW4H6DDNkZY-NrUVAUmhMfroL0mEJLacS55-uEqlNbrse4MRvckGglpsAfYn9HPqE4yHL1SvFjyrUWeBPtUpnue7tWOVCteWZjhln9JL5M5zKGLD2e7OkOxqRBTNlHf5NuK89A2yffvuSbG3mL0mlFPqla-hny-fIXBK0AtBCKpKxkZP_72jORbOHvrWVgj-Fm4wNqgYb3yfILEJ9m9C9dAQPlxkTxIm3RDs8FJD6OB7iJOxEU7gQ-QByM-Dh8Hdik_SB4KvnthXMRuTgcU9j8NaIWAye3L6A7AP57d-o69vN-atUdgUa3aZUt2LGkXWOfOEm5IJacafjgAdsdOWH36mw_n7HTFDacCpjqxKWMbvEnLhNQdDC4CADUe-p2ey1-KfMGLdRhzQLe-d06_sgQyv1j0jGbEKtZdrSRCVDeK_A0lvHpBNJx0tAWiGA7GPVN6mSFjlnp-htqv5zkMdaatB-3PF_w-7sKEI3xTIGMG6YWoQKheBRSlDpJWD0ozpvyGKdd1mt4fc3SSgzagNhqB0Yi6Bnj6QpWhjVVNf-B9sj7u6LBoE408hcmjmv_byyktI0b3EnyDILGMjgPStTw1AoG1oagyyvO50ZaiJtS81TtmO_xcS0FC2aH5MmOgFbYC29OsHXBV5jvuExEFBTKVC-QqH3bTwVhMbqM6SiIvXP0NiB_1ktxUM1K0XTXEVA14neqyr_uP65Qm0yrlGS28HOZQu_KcD9bqItVNQj5c24IZClVluZEh2WxrEufQB88NtVLn6gYUgwFiQ5zhqxGT_fyeGSqfXKzAGme-h7ReOGx6JC84mYtm7j1xfaPlVwB27OYiY1JXvYF8mty_6wf1yekaWNCkjsFaJRlwYm3QT3ldFvz46ZswmOTFYyfH9dDk0ACb7c_ETBUdiZvU_u6l94nsxi8HHFtjAzsx4tu_At-QAeeYNxn7nGhieAakGdMzNyjvxaj4o-ioOPw-o-0uTavdRB-b3lRGnzgnzMsurwZ-SCP6BbsucAX2nlacXlOJK3Oc_-4-ZQnVX9YWfeRyjRI5cWW4cLnIkJ-YQfsWUHy55dwyXvY5idwbl3n3n-jMKKaixvdY1IHBWlC3wc40InXuoSVusDnQSXgmamfyfK8lM7I89LlkfxbwXV2UWMSHkSRrmgx5BTb8psb1sVl6tvvoa2pyH7Y4yE6-PJkrxzYRn5cx1OBblSVkkiklt1YA2tQuFtAKcbhfZocMdM6ptfxs1ZvdxHf12ouitVLoKsu4zVXjaQyjQuYb4IdIOXibEK58bSi0waU5H5h3Ds1F3uTztCOASBS_t-VRlUfB-ymjVLhp7_R3ac4Rv2Pcggd2lxNRHiwIi4aR_fDo5IqxeT3TykPlygBRj1SP-qHOqIGCh5ZJHmHU9tTPEt2MmOciBAbClToIwbIKXUVGoJA9NONZDeNXDhup013o-pGD6igy5k3BURrfbVz3WsxjCKJhzxOCg59YuIieqyKYfq0qblh2gu1mcajQ5Y6y0ytjAOt_OeKF2MsSUZEwzuIydbTjzB1aQuUnGSYZoryJMRKVS5pkWNMWxELKWCKSZYCofWw3mFe08MOVTrwjqv_lm9RFPqtJnXexWBC",
  "id": "rs_0d8248ce6599b826016ab459f06a1087d0818f57118157bba9",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtFn_B1C35MhnBOgRGbVWPWaNpP39TIlEM9RhKPvqeUin1Z3ikKBWFJ34SZcRwQr4b4l8fpkw_AbXX_R-IZArDuCNSftnd60x-Vs7C6APDQV26lg_RI4ci2mQjkqWQRcBTw07yY62nluArpk172Scn9YTXnWCarB-X9uhnZNMC8URyzWzhF0PV5s8hjuKdnmhecTqo6m3EksrKrPE1USoFGlUteWltGMRTiyET7L1g82xZqy9jE1vN01T7XLzQdtiQBKfbvgO4ssOrBCavOB-OzHvm04qf-A6qCdbZE0_KyrvFpLzRwE21kAoH_aVda_he2kaxZQCuw_e_2UTmNDysBBpE8k8FchrCGjRWq7IyMBCthd3b6kvfGi038X-KGpDbSdbTuomS22RPE0OLlaMOG-r2w-YqkKmQt2P5orUdy3XzHkjZQBoth4RnACMo_-QV54SCsdkwFSAFbWDQ0sU0Qwcnan-WwiSDrWREaDgFn5ZXQv9GCPcj7LeUSnSIoPba112L71k1OJ7QsQ1SCM8EM5iJ1zn1G_jYsT3GybESFhcW0_pkL5vQdhayaHZaMk_jjX7D37aHOCzQK-uZQtYTni299x5fWCdRiJGRcmmsiLqMrp9lxpWFMY7g4FpiIdbzQGLY6fG2l1_0qbdS5tmjCl3ICVZk12mx04iFOzq5d57R3Mn8vBv3uJSnbuusRqdRfWLaO_cjdB8UdFwzPLVRgOz6uK7STmRQmXsYsB4sjV5wc5hBPzyoDnh1v4C2Zh4s4WilOfx6e9bCEabVu0F4EBHccg9QlzUlxcQVv4oT_zjqbgSOA820jVOykbpJc7c9UA6oFP4zOGxxsurG20uVcTQ7M4QTsT-2zdElzbmhfyHuI0U0QDvqX0BbMhZB3JPHbN_Q7PU0Qe1WMpkSByWhx6MotYTl20gPiF9kQDFJEGXqv0vwYXpHaDWgBlCIuKdSRm9_xlaPQoxg1gvSI4fK4RD1rb5FjcrGxjsbgaPXYFRj6wq_0-4SfSEenxzNkgAt79s0ZgujFJ6gLfRSJ9DpwHdWVZ21wfTur2pAt8WycZKIv_EgW1epsf3S728RKzd-1ArV6Ugtg_244LH4bYoA4_tUBL5lpYJ89UpmV6ZC63ITUHjE4xo3wOMk1TFrY9cyYYa99Ux1mVS71YV8Vs0T8bnS4Lc4vAtoO1NtcR6BHXedZ_J9ZjtbyEZ0HYNEcKxzE730jNrSW2ULVG_2mcMpT0ASO7JYpM7brdleYRz5lKEyJUqFjrhWDCBKkf3g1lmQaT1Xhv3TUwCLm01rSTgtV1UnvXxq5aVgRABGi7HCYYt-gqC9W5nKxnysDAAPiVrkN-41rze3RVzfhyGidNNHL9LOKBv25WkpTuOP2mG4LhUST47FnK0-wvXBgyDnQL9SJGHtSRaYdGukITFpd-zIeThvOMiHCg3SSBUv03ooGEIRzz7OiqGvpaR0IK1684nMI67yYVdewIwQFPlGNEO-Z4ffgmus4xk6CWkD-ui4tYyLpw73m9Imz2Eet0P4w_fKtzmNoHSKQC6HaO1bemavpT1WUyusoL3iTFs7_UpkAWPzZDQyizL6c-JnRBedJUq-qHePeQvPpu3kHtKKemqUVKmiUqUCtGJN9l6VAhbulCmdPDqjERlXWnhQUan6oA2Q8Z4GT5uTY0Jv5mqRFRlo4CW8092gxdqvmbDqpwhBq7Fb7qfYg4zDD9vZLpY0NsqY5y7wOrQzt86yFgK7GYhIxguzAD512RV4iLIDSBvn3yRp97a8iB6aQ1BlQX1bc_17Bm112O45PGbLipJ_o2SdBwQYa4-49w5tvlj0Ktr5S7UEGvyj5IyZk2xE6HcEe0xmBUzt6QBXssVvhOq_eymDNrJPZLcebgLwovmUw-AdvxSJdjtcxc8fCqobBZe1tMQBOOVxtst-OCXfEXk62CjoZ8DbIOklXfzTuskFie5rT1DTTOlnDII6JfmXIUlkLWBsLv5g8127GZRypI2ElZ3gZXRymEU7WwOY-7lMLjKfUpdSTLaFaFsM5oNM0Yz9i3f--D1F8X6X93w6diY0Xb_Ot5ovWzr7p5JnVK9cknE-Kl80Bu9ZTP3F-R_UUxF1wWJ0JWyP0qxhrtugjmMIdP6WcTxVwcYvJCEY-S7YXzwcVoQMWHbT7YolmnWtIm0nAUYQoeNS8L_TzqQ5SLalHDWUuGxsNOi11_Ugo9wBv9wbJm_cBZIbP6np9RmhicX_JXeNkyV9bipklspEiQ258ZNTVnzty7Eyb2nMvIsS2YS3n5hZuxG2eCO8LeHxQ1RRCqg7xEdYtnhqBf0SpVT9RP7psURTfr3CCchTS-ZucOCfVLatCPkJ0yN5Za5WAskYdw1nvx6SwlMG0EFqmFV5ABGxm2eWZIuslTscMW11Ag_lhAUTes50-v9WvJjlF3jfkZORUqT4MwnvBgLfWRPLGWENlR2sgT4CeU2Y1f3DDnqVu2nYvvt_K9YpQCZtpJiZBJsnvskhIzKtX4Uo1AZmAza9PvPSwVyQ646TzhTkPYWhbAMI5mWdkNOd2tiWQSkZuyGWiewu35d-OJMK1zgrEnjgBchL7ob2Nt0Cxjnq18n6PF5QgRTi11R4Re1clff-zDEIrUwP-ro-f2UCQAXZ93P47jg7fchqa9_kHRk3d55ROnbbaicAlmMD_kMb0tprK8O0kqkhR3fnLV_5KpapQBjyX7mqg==",
  "id": "rs_0d8248ce6599b826016ab459f8e41487d09d6a3ab37fc263df",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.035,\"left_z\":0,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":1,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.2},\"note\":\"The bottle remained on the table again. I’ll make one more approach to its wider body at a shorter reach, explicitly restoring the starting tool orientation so the fingers descend evenly.\"}",
  "call_id": "call_mdv8GdwPpFGfUDbadmkMqnwM",
  "id": "fc_0d8248ce6599b826016ab459fdb44087d0a5d42643c3971009",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mdv8GdwPpFGfUDbadmkMqnwM",
  "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]: [-0.1177, 1.9827, 0.7933, 0.6884, -0.1028, -0.0601, 0.9973, -0.178, 0.8238, 0.6636, -0.4862, -0.2771, -0.215, 0.9982]\nstate[eef_state]: left_x=0.4875 left_y=-0.0358 left_z=0.031 left_yaw=-0.0087 left_pitch=0.0638 left_roll=0.009 left_gripper=0.9973 right_x=0.2885 right_y=0.0009 right_z=0.1815 right_yaw=0.147 right_pitch=-0.0454 right_roll=0.0061 right_gripper=0.9982\nstate[joint_eff]: [-0.1162, -5.4632, 4.6291, 0.7643, 0.105, -0.2222, -0.1148, -0.0889, -0.8957, 10.2085, 1.7705, -0.1245, 0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9ad7b9220f68d296f81bd43675e0315513f3039d62ea6d9a7c5f702fb062919",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae20ea18123fc2cbc2fdf3d42844d8394cfe784bbf41e71c79a62eb54e1330fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cfcb8733007078ba013514fb2d9be04d2d4fa988535e5fecf34cbc987d5f980",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /responses · status 200 · 4.549 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 90 changed as sent

message 98 changed as sent

message 103 changed as sent

message 90 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0013, 2.0468, 1.0039, 0.524, 0.0929, 0.0238, 0.9968, -0.1856, 0.7582, 0.6174, -0.4965, -0.2741, -0.2153, 0.9982]\nstate[eef_state]: left_x=0.53 left_y=-0.0121 left_z=0.0434 left_yaw=-0.1002 left_pitch=0.0454 left_roll=-0.013 left_gripper=0.9968 right_x=0.2772 right_y=0.0002 right_z=0.1758 right_yaw=0.137 right_pitch=-0.0373 right_roll=0.0011 right_gripper=0.9982\nstate[joint_eff]: [0.2667, -6.8444, 4.9709, 0.8962, 0.0952, 0.1783, 0.0611, -0.9368, -1.388, 6.8581, 1.9414, -0.2515, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 98 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0334, 1.417, 1.095, -0.2592, 0.0437, 0.0196, 0.2354, -0.1856, 0.7185, 0.5522, -0.4637, -0.2779, -0.215, 0.9982]\nstate[eef_state]: left_x=0.4368 left_y=-0.0187 left_z=0.2171 left_yaw=-0.091 left_pitch=-0.0186 left_roll=0.0041 left_gripper=0.2354 right_x=0.2719 right_y=0.0019 right_z=0.1632 right_yaw=0.1398 right_pitch=-0.0297 right_roll=0.0013 right_gripper=0.9982\nstate[joint_eff]: [-0.6769, -7.8427, 10.1949, 1.8339, 0.0073, -0.0708, -0.0366, -0.9778, -1.1829, 6.8991, 1.9072, -0.2466, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1177, 1.9827, 0.7933, 0.6884, -0.1028, -0.0601, 0.9973, -0.178, 0.8238, 0.6636, -0.4862, -0.2771, -0.215, 0.9982]\nstate[eef_state]: left_x=0.4875 left_y=-0.0358 left_z=0.031 left_yaw=-0.0087 left_pitch=0.0638 left_roll=0.009 left_gripper=0.9973 right_x=0.2885 right_y=0.0009 right_z=0.1815 right_yaw=0.147 right_pitch=-0.0454 right_roll=0.0061 right_gripper=0.9982\nstate[joint_eff]: [-0.1162, -5.4632, 4.6291, 0.7643, 0.105, -0.2222, -0.1148, -0.0889, -0.8957, 10.2085, 1.7705, -0.1245, 0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9ad7b9220f68d296f81bd43675e0315513f3039d62ea6d9a7c5f702fb062919",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae20ea18123fc2cbc2fdf3d42844d8394cfe784bbf41e71c79a62eb54e1330fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cfcb8733007078ba013514fb2d9be04d2d4fa988535e5fecf34cbc987d5f980",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFoGZPI7_xlzAv3sncx7rXJwqK2owa6H4Wp2UkL9lP8MG1DMtIMgh9_j8MJeyHvPjoIl7cX8b7gRgtPKnp5MhqFYF7EuX62-ovqtpYbQupew32EKjERHmTjMaygHYJjqQ8DvHrPvgXUgq2Afu5r-dbUybYZr1SMM-ey-tDfMkxxki79VU1nAOVV2TKTDa5R8trDnYobm4XfCZBhIJ99YMVUaUN_i10ROX7edmOrrzbWaW4cv7QWmSpC7_3RguLPpoFHlKI_opZA_dCWhziXLRXMuTfV6P0lhKZAt4CDk_aUK5heW2rU61imoaOfz-fINIhS5W-quorW5iUmEXYl_tV-fGA_4AXcPk5NjUoC4tTjTIXOfCLYEdyO08AMe4hgGAiSgC9p2_cYyEL-y5D3q9dZP3C1UIa-dF7gae-rDx9wPFcU32znvUJA4Vpaw2DiLdyFn-t6v2woyevxu2Y4--vi4C3aRLYVNqg46X0fp_d7QtGB2d264n1ViBk0IUEVd6a9jceBXZWP3rt6jc7zZtK7H-WvX0DedhB8Y6yetG5ETlnpYVEdWCSRLYGCA0f3vVw1-akxQW5crzRZZI9L4URP0M7MDV-cq_NIqSWZg8Hevyz_sTxR3R7hX4GDs3jqkQj79k-sHtQqdSPq8y6lglNs6MF5RTTeKz5JfxTThwpOwt62_ZFuI33E9kcAInrsQO1XEW-9w7D5pDB4m3ADpneB8Z9DrZaqVTa1_JNauIlr-yJdjKbRLJ61dSQkN7WLLl6oFdWc-YhTG6WK69LpCN4_iqWC0THhq5FicirAC7cUm0k4zHeF2U1eGZucrT34pbfrTku9YxnZRCXjsIh50l7cB2yXGShNuTrWSNus8y80RsXZZuW2nrlxwT6WNrqzyuy4BwufTsM4L2gpWCEQQoCyzU4JSz-6CZVwHV3xT_n-bDsCAs3_qzU-tYwWIIjE2KEjxKH3vIgaeN0A1e5HyyerFPlXBS6H-SefaKrydz-38zKT339DTq2ZSWL_1NOjdmsPAIYCA8lo-olG2BtKxhu9rVLnfQeOXRi21OtXsp3peESq11BSIjw6ZrSJSXY2niMtDdtgMPMULkpiw2YEVUU9vYyetisx8rU8Q0eMr4RJqwDJmPkao4ac0-H8nrL06TmJ4JOFliY26N_2Y1_HO7jZGQA-9TyLhRbIwq1L754c00n0Ef2aAzj4EHSs1BjYq9sVvmwQgBg0L3wHB4RVUmeDOpf-Nas7FFMihcekSmyBysFb1wB8qaICQjv-vicrM2o5kN-SMfih1t8pSIxThirF4SBzJvDNRPDQpzsvkyiw525Ht_XLccLPKLPq85Rh83FXAjGWQEBRZd9lJ7R1q0EdHsaDEbcS6vmMeazxuBbYYJaIQjPgiAhutZkbQH30DxqaMx5LiUJHG7AKlE07Y0xIN4WCGv_IuzmaOV82Lyqusq9y3j8T7JPdXejKGZ_2sqAMsYoasZCFi13lxl1YQFPQGXcrGW1k6TSsRTvu3SpdKU6bDxRzIp5HT7_ZVNlePa7m6aY3EBhVIC5_SXF4wqaSiR6iufsAU6yhxZIh4IKpNuwZaJ1CAcuNCXZWdPFNpaD5l8Af0QNvgEaIjlll6u_Pa1Q-0HXVYSrTcH7vfxQ3L-uR5zhMFKXU7NPaeSt9EyBf5Rge4-kH1PPaRNL_03fA2E645EXfwvieFq5OBbJiggXF2LqzB-XKhkVLLIM1_ImGPaN8zYUGA7sXqRERsiLjgF0aX33_d01GABiF13RcJ9rQLz3tLSFuf27-M_4DaNh-vDqRaKA74aBaBcGd-yXNoDuwZRldhtKOhp_R6JLOSUIoLHvyk-vJLhdb-Do2vk3H4EgWt75pgM9Ny383VL_Vyn16fDfk8ZiMYRQ0x2861nlzSv2ArsIH-WB7YdmzKFs5uENPsptKlfget_SDVTKBP4LtE6TtwMp_mm-Ev_GoaKyc=",
  "id": "rs_0d8248ce6599b826016ab45a02936487d09b2a062812615776",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.55,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The wider body now fills the space between the fingers. I’ll close only to about five centimeters first, avoiding the hard squeeze that previously pushed the bottle forward.\"}",
  "call_id": "call_UjbfvAworUpUv0zzQzjuoJ3J",
  "id": "fc_0d8248ce6599b826016ab45a0541ec87d0be6c61e6afa29a4b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_UjbfvAworUpUv0zzQzjuoJ3J",
  "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]: [-0.1162, 1.956, 0.8391, 0.6395, -0.112, -0.0681, 0.5563, -0.1791, 0.7975, 0.6178, -0.4629, -0.2779, -0.215, 0.9982]\nstate[eef_state]: left_x=0.4982 left_y=-0.0347 left_z=0.0501 left_yaw=0.0051 left_pitch=0.0878 left_roll=0.0035 left_gripper=0.5563 right_x=0.2844 right_y=0.0014 right_z=0.1725 right_yaw=0.1464 right_pitch=-0.0417 right_roll=0.0053 right_gripper=0.9982\nstate[joint_eff]: [0.212, -9.2513, 5.5316, 0.9597, 0.2027, 0.0024, 0.3443, -0.6359, -1.4974, 6.9265, 1.9707, -0.2271, 0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a38306de38f64209eb148f6e8fe630dd46a32959a6bcd315291a8af6bf73d5bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc560ad3dab9a8ce350f355ceafa9a3e4e5a26787658d0339822344695dc5b4e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f7800b969c1b94f01f10ad667b6131a32d62624ea9c8db45dc9dde5c002f9c5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /responses · status 200 · 3.826 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 94 changed as sent

message 103 changed as sent

message 107 changed as sent

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0006, 2.0396, 1.0359, 0.4915, 0.0776, 0.0254, 0.2357, -0.1856, 0.7372, 0.5823, -0.4767, -0.2741, -0.215, 0.9982]\nstate[eef_state]: left_x=0.5363 left_y=-0.0104 left_z=0.0526 left_yaw=-0.0901 left_pitch=0.0516 left_roll=-0.0035 left_gripper=0.2357 right_x=0.2747 right_y=0.0007 right_z=0.1693 right_yaw=0.1367 right_pitch=-0.0319 right_roll=-0.0004 right_gripper=0.9982\nstate[joint_eff]: [-0.2393, -10.6735, 6.2564, 1.2527, 0.0269, 0.1001, 0.2173, -0.9641, -1.4154, 6.8855, 1.917, -0.2564, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1177, 1.9827, 0.7933, 0.6884, -0.1028, -0.0601, 0.9973, -0.178, 0.8238, 0.6636, -0.4862, -0.2771, -0.215, 0.9982]\nstate[eef_state]: left_x=0.4875 left_y=-0.0358 left_z=0.031 left_yaw=-0.0087 left_pitch=0.0638 left_roll=0.009 left_gripper=0.9973 right_x=0.2885 right_y=0.0009 right_z=0.1815 right_yaw=0.147 right_pitch=-0.0454 right_roll=0.0061 right_gripper=0.9982\nstate[joint_eff]: [-0.1162, -5.4632, 4.6291, 0.7643, 0.105, -0.2222, -0.1148, -0.0889, -0.8957, 10.2085, 1.7705, -0.1245, 0.0611, -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 107 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1162, 1.956, 0.8391, 0.6395, -0.112, -0.0681, 0.5563, -0.1791, 0.7975, 0.6178, -0.4629, -0.2779, -0.215, 0.9982]\nstate[eef_state]: left_x=0.4982 left_y=-0.0347 left_z=0.0501 left_yaw=0.0051 left_pitch=0.0878 left_roll=0.0035 left_gripper=0.5563 right_x=0.2844 right_y=0.0014 right_z=0.1725 right_yaw=0.1464 right_pitch=-0.0417 right_roll=0.0053 right_gripper=0.9982\nstate[joint_eff]: [0.212, -9.2513, 5.5316, 0.9597, 0.2027, 0.0024, 0.3443, -0.6359, -1.4974, 6.9265, 1.9707, -0.2271, 0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a38306de38f64209eb148f6e8fe630dd46a32959a6bcd315291a8af6bf73d5bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc560ad3dab9a8ce350f355ceafa9a3e4e5a26787658d0339822344695dc5b4e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f7800b969c1b94f01f10ad667b6131a32d62624ea9c8db45dc9dde5c002f9c5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFoL93jG2VhUMUPHLf6I3KBzyMEi9duMofI5VHrYodo3jBWbCIrJDKn-GizkRwu827vQen9qT1v88Z9UxH0LhX3xC7vMPtdINOtXQr-aL0tXsnbs8HSWHVGqSYF5xV3ItyT7CyjpNA3jyxt8RayJ8dnAZ7WxaMUSndxbGp1-P5JOSR4y-qT760zzDoiZb2gY8PyP8sYIKMLarxbHPaLr_tgztfj8Kvvj8oqaencjl_n3cxPkkOb67PIXHEa9ywqutZQGgXIkvBehD9VlkuLvA-g8b57CsoHv4zozPoNXqbxwNG37LKoRTVLTISyeg42Bjmw8gVxnIyODD2iwE7C0yoI53TMccDjJUP52ZFhC9ZNhCpDJNNi8guKI6bq-dMAYDTHOMHITMl6YTsFJhXRIQKP82fvdDvquRNaoa9BRKYpyHQ-xrQ3YRzg5xaPTMpcNNZySE18sW2ubb5MZaMnEqnPnocvN5G4hPQisuxAVz-X_Zuv8A6wnjvx6okSiRwVwhvsRL_mVi_R1UCJRrb2xQ4x9XrArgmqfA07t8rS8GFkRBWXORmHG4_XNWcX1dVjZvJK74XQqbcdbnekk9nISt5Rld-cnKBjw7eDAIALE_ErF3dJipNcAUWvbVaLfn--Op6qNHqoAPUDvPstYY-OpXtYMhIvzqcRw3u-d7bncCl74kHoSrs1Sx7hmUC0vdw01FVda5dj9-Jb_8Pg0t5Y1UiXcNdo1oj3bXTgNwuBAsyBHt6ZeCwTS5r8_a7c-V60MkDCMg4H2Dw70XQ_1Bsnlvcfo6giYdSenxlY_SvtEhfoX59pdm8_Rjh71VXOC0c2xFsvANbXwMwLS0cFCLZyXW1eceeozPf-mWPmmdNjE-EV-afAwo93p52Y_s6h2TYtpgEjk3jUU0OQSEuulPAABLCeCMRCKnVD_BmbPLdCPQk00tmB_PYnZ65LOTfdSmhd-NpNrcI-qMBCeNz4goc08j4agFn00J2ETxb-ONZuZKShMNoTo9Jk5y9yTPv_XeUJwHKzD6fkrPRSTlx985swF9wtT7u78SiAJM9ly-eRkvfE-Ultgnxgp_KBNj5bIVbKYSGXdE1SLzciaqqfF4aUpcQCNqtNc5yQHMms-AtH3U0tafnBjFaiacW2OGs6tsB6PI86bCO_WWeJfxuBdnzsjdInfshNeF97FL6NQLj_iZaMFzJp2-LKkZ5X8AudF6f27YTazHvqcJ76oyGMof0Vjd-RP70pB1ROGIFER3EzymSLAPo1oYWqggOrQ_nIRDSr7PfZeeY3NkHcz2-Hb9rgHz5BJZwHq07NN6lm6GXkVpICgAjI2JKYyT9HM6a-TYhKU-YYZB6np9BryO9PKMQZGzV3JSdTW1rnPWJ76oLkSAYDY56fHW2iOJt7g03tiffq6UyEPa2gPW_hInmzJawzuO0EVGHp20ZtKwjxDWBz44o9tSm6hSECQXFxvKOwkGJXUVihRfUAdaGQ4b46JaoH2xKoN4CjxMUZyIZ_AMVN6G-tpHgq0xjYdui_9xI8pMOliV2TcQDYcgPJc5u-IGUGD9E78KXBknQz21jmkpPOjZT6CtmW4opU0JB8Q458BABxprNVZDC2MF7_AAaigps-3Fm3FYvyRqC-WOjX52IcahIGdKpC7MeXn5Hc4YMDF-50X_cg1",
  "id": "rs_0d8248ce6599b826016ab45a0867b487d0bb02d36bfb3ade98",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.38},\"note\":\"The initial opening is still slightly wider than the bottle at the fingers. I’ll narrow it a little more to establish contact before lifting.\"}",
  "call_id": "call_d9gVgw0dgVYRtKEgpn7oTmMh",
  "id": "fc_0d8248ce6599b826016ab45a09c96087d08476a023a2aed2c7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_d9gVgw0dgVYRtKEgpn7oTmMh",
  "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]: [-0.1158, 1.9465, 0.8803, 0.5911, -0.1204, -0.0792, 0.389, -0.1791, 0.7818, 0.593, -0.4442, -0.2779, -0.215, 0.9982]\nstate[eef_state]: left_x=0.5057 left_y=-0.0339 left_z=0.06 left_yaw=0.0185 left_pitch=0.0906 left_roll=-0.0029 left_gripper=0.389 right_x=0.283 right_y=0.0017 right_z=0.1692 right_yaw=0.1463 right_pitch=-0.0326 right_roll=0.0022 right_gripper=0.9982\nstate[joint_eff]: [0.335, -10.0308, 5.5316, 1.1258, 0.2173, 0.0024, -0.0562, -0.8274, -1.7162, 6.8718, 1.9658, -0.2027, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fee9eb7f8180bdfbcb437f449666a76cccbaa85ac11c7fab38bad2cd96820c0a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c17339765c61aeba8a1f7e2fa6b5ea7c62d11f8bf974b769cb8e865724890815",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:354556badce7d7da88eb1b73c56609de3a1b392ce5605147d9b2ec81515e0567",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /responses · status 200 · 7.662 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 98 changed as sent

message 107 changed as sent

message 111 changed as sent

message 98 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0334, 1.417, 1.095, -0.2592, 0.0437, 0.0196, 0.2354, -0.1856, 0.7185, 0.5522, -0.4637, -0.2779, -0.215, 0.9982]\nstate[eef_state]: left_x=0.4368 left_y=-0.0187 left_z=0.2171 left_yaw=-0.091 left_pitch=-0.0186 left_roll=0.0041 left_gripper=0.2354 right_x=0.2719 right_y=0.0019 right_z=0.1632 right_yaw=0.1398 right_pitch=-0.0297 right_roll=0.0013 right_gripper=0.9982\nstate[joint_eff]: [-0.6769, -7.8427, 10.1949, 1.8339, 0.0073, -0.0708, -0.0366, -0.9778, -1.1829, 6.8991, 1.9072, -0.2466, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 107 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1162, 1.956, 0.8391, 0.6395, -0.112, -0.0681, 0.5563, -0.1791, 0.7975, 0.6178, -0.4629, -0.2779, -0.215, 0.9982]\nstate[eef_state]: left_x=0.4982 left_y=-0.0347 left_z=0.0501 left_yaw=0.0051 left_pitch=0.0878 left_roll=0.0035 left_gripper=0.5563 right_x=0.2844 right_y=0.0014 right_z=0.1725 right_yaw=0.1464 right_pitch=-0.0417 right_roll=0.0053 right_gripper=0.9982\nstate[joint_eff]: [0.212, -9.2513, 5.5316, 0.9597, 0.2027, 0.0024, 0.3443, -0.6359, -1.4974, 6.9265, 1.9707, -0.2271, 0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 111 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1158, 1.9465, 0.8803, 0.5911, -0.1204, -0.0792, 0.389, -0.1791, 0.7818, 0.593, -0.4442, -0.2779, -0.215, 0.9982]\nstate[eef_state]: left_x=0.5057 left_y=-0.0339 left_z=0.06 left_yaw=0.0185 left_pitch=0.0906 left_roll=-0.0029 left_gripper=0.389 right_x=0.283 right_y=0.0017 right_z=0.1692 right_yaw=0.1463 right_pitch=-0.0326 right_roll=0.0022 right_gripper=0.9982\nstate[joint_eff]: [0.335, -10.0308, 5.5316, 1.1258, 0.2173, 0.0024, -0.0562, -0.8274, -1.7162, 6.8718, 1.9658, -0.2027, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fee9eb7f8180bdfbcb437f449666a76cccbaa85ac11c7fab38bad2cd96820c0a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c17339765c61aeba8a1f7e2fa6b5ea7c62d11f8bf974b769cb8e865724890815",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:354556badce7d7da88eb1b73c56609de3a1b392ce5605147d9b2ec81515e0567",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFoPdswGq-VZvS_V_ilUteFLYKFGvL63wvDH_5RwriBJAnm8NK0GluJswgAu7exLSi3woWtD6tQDhMAjlrNzNK_nzP6ltix5mxTdpB2NkIXSK43kiOyCkxMrCUYqtCyBrZMrlGnvzjMPvhezTsJXvFVvn9m3qCXaRBz5V-6c6huECPcyBaXx1qWRnwyztDlyWfH63D5LAyoPNmV_CZlPt6p95R1isGvsL46VANc3pmfwMe4ojhdnphQIqsAEjWAbH6vwUlX7PVZALNVeJLGmJOFs2ooRbIef4AhGQLdzErIiuIM6mOkJ4jEJVRkZPbomR2_eM5PSXSsaW6AhMOGNknGTCLJvWLqHt8SE2YUhCPouvsjqZQN9corxil4KcW65_Az7qx61bbEO9T_XOtR1FN4ZCFPrbNt2xqGKqx4f21nXKWj4cJ6_L06d-_R8wQ48djFz_MtKxmKpAfXPrm6BFblNtCImMY0MOBYLwQbShNt4mj0VEd8g1cQfJgybuoK0cmd9UzS3FtMS581Ls5z-DldKup71e__pyEBelyI92dKIY-AYzfrpUUlhp83IqpCGBtn_hJ_spxZ7fNGfIuuzWdLGQMBX5yQc4uovpUYRNRH-WHnP83mEpg2kBbwF_KCCjUVIIDjcgxouaPbfIIrOQuryIGoGRO2cqrxJoOhunl9db4nuG057K7fWbEl2DRSC9Uc9vsAX9KYOl8npaUyFx3wyQ8_EUAtnGd24sz2yLTWERlj4j_Xp-m8k8sZOQFS084r3YBmwJYeo_yzRR8enY7PZO9vk4fJhV9W8M6qH2H7JXfB3Cti4SwkT-5pyQ7B2gT3taoi4c3m1IdznT1QPeiN41Y7arAp2bhoaJKqGY5TvyKZ0COuS_NhGjVI6CkIO_pnP-fp0uM6qJZ2webTBxTIygGcoisDogDp_7IxG3qOJhrH4iLtaQ0bz17jwFcA8NHKRFUwmhU9rgraUkk2sUnWCX69LkNXzNiVp26BB7-6hJHi8x6y_bPJjziIr-rLixw9XP0pmVFJAby-h_zZTK1gQwb1bEpljUUtGAQgrDZmU5A1QcbqIuevrFqMICxuelNpoxrtQr3SvWJjhKaoORKOxGJ4LhkDQwIeX0PfOIgecjLIVHpbwNJ_xmyx57aDh8on_41WtiYbjd5xMEBaHUM825oZLzTT9waMxnQkNKk-l6BgRDZPQLfOM0gfW8rPY6Wfu5IKATJDYG5A2p17ieQu3VyFP1P9YwW6ZeATDtBlnbSSzPYM7WIWWAOROMFuPfJUnl93X4dTf0J3dAdLFWJPoyDR1hV_a8EWX0hql-Dg_fSGhJLOnmT_y1Q_9O4TvjS7d",
  "id": "rs_0d8248ce6599b826016ab45a0d681487d08315feee1fde9b9a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.035,\"left_z\":0.13,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The jaws are now touching the bottle’s sides. I’ll make a short lift and inward move to check whether this gentler grip carries the bottle.\"}",
  "call_id": "call_a7XytUATNA5LMQiKSMz6tCwh",
  "id": "fc_0d8248ce6599b826016ab45a0e066c87d0a048c3b24be7ef10",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_a7XytUATNA5LMQiKSMz6tCwh",
  "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]: [-0.1299, 1.647, 0.8982, 0.2241, -0.1223, -0.0868, 0.3879, -0.1791, 0.7673, 0.5625, -0.4259, -0.2779, -0.215, 0.9982]\nstate[eef_state]: left_x=0.4722 left_y=-0.0363 left_z=0.1296 left_yaw=0.0096 left_pitch=0.0416 left_roll=-0.0019 left_gripper=0.3879 right_x=0.2808 right_y=0.0021 right_z=0.1628 right_yaw=0.1463 right_pitch=-0.0304 right_roll=0.0015 right_gripper=0.9982\nstate[joint_eff]: [-0.4991, -9.1966, 6.2291, 1.6923, -0.1685, -0.1294, -0.1343, -0.841, -1.4838, 6.8444, 1.917, -0.1929, 0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9eff48f6741090b7dc7acf2119f1db99bc562499c469e7a0825c9debc854a9b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a52f3bfc4c671ba228675a7a954c0de699635f97d38666985ac1757acb9fb75",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea00c9d4726ac4434cfdd991a8678ac322042658e581d1c6c1dfad7982ff4ad4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /responses · status 200 · 10.88 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1177, 1.9827, 0.7933, 0.6884, -0.1028, -0.0601, 0.9973, -0.178, 0.8238, 0.6636, -0.4862, -0.2771, -0.215, 0.9982]\nstate[eef_state]: left_x=0.4875 left_y=-0.0358 left_z=0.031 left_yaw=-0.0087 left_pitch=0.0638 left_roll=0.009 left_gripper=0.9973 right_x=0.2885 right_y=0.0009 right_z=0.1815 right_yaw=0.147 right_pitch=-0.0454 right_roll=0.0061 right_gripper=0.9982\nstate[joint_eff]: [-0.1162, -5.4632, 4.6291, 0.7643, 0.105, -0.2222, -0.1148, -0.0889, -0.8957, 10.2085, 1.7705, -0.1245, 0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 111 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1158, 1.9465, 0.8803, 0.5911, -0.1204, -0.0792, 0.389, -0.1791, 0.7818, 0.593, -0.4442, -0.2779, -0.215, 0.9982]\nstate[eef_state]: left_x=0.5057 left_y=-0.0339 left_z=0.06 left_yaw=0.0185 left_pitch=0.0906 left_roll=-0.0029 left_gripper=0.389 right_x=0.283 right_y=0.0017 right_z=0.1692 right_yaw=0.1463 right_pitch=-0.0326 right_roll=0.0022 right_gripper=0.9982\nstate[joint_eff]: [0.335, -10.0308, 5.5316, 1.1258, 0.2173, 0.0024, -0.0562, -0.8274, -1.7162, 6.8718, 1.9658, -0.2027, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 115 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1299, 1.647, 0.8982, 0.2241, -0.1223, -0.0868, 0.3879, -0.1791, 0.7673, 0.5625, -0.4259, -0.2779, -0.215, 0.9982]\nstate[eef_state]: left_x=0.4722 left_y=-0.0363 left_z=0.1296 left_yaw=0.0096 left_pitch=0.0416 left_roll=-0.0019 left_gripper=0.3879 right_x=0.2808 right_y=0.0021 right_z=0.1628 right_yaw=0.1463 right_pitch=-0.0304 right_roll=0.0015 right_gripper=0.9982\nstate[joint_eff]: [-0.4991, -9.1966, 6.2291, 1.6923, -0.1685, -0.1294, -0.1343, -0.841, -1.4838, 6.8444, 1.917, -0.1929, 0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9eff48f6741090b7dc7acf2119f1db99bc562499c469e7a0825c9debc854a9b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a52f3bfc4c671ba228675a7a954c0de699635f97d38666985ac1757acb9fb75",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea00c9d4726ac4434cfdd991a8678ac322042658e581d1c6c1dfad7982ff4ad4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFoXHrC_jMicojqD0yGTVZRAlMq9Wp2NVPs13DjkLCPAr_RKc92_v5mB17ZdvB9Wnf02VvbDMnXzvvT92UopNN3n4SyFbmaBL18nn3kDuJknn2DacPmVT6q2t1xcrjrg06QFM17Af_rznSpddpmBtFB5M8K-S80NTfCZAlVySCZyU2UHQN3krpSb0gLQ9RcyZQBrEdB1U2DoJgggRzQjUFXbQhKGh9g1v3tivESt6ffqI9sOs7nzyns0mkBc4CQQ2xCtJ6-jYFDNuoGslQ_6BOnzOshfJVyvVyFsO3hJFGWxicLai_la1T0SRVs1oN0r26lkaMDlIG_gFKVkrI-lwQ5kzRh9RcikyXv0afj1n8YTRKjktAzuioUhN3yQpM4xxYODbAo9SYm4EEvu51mVpi23H8Nsi-9yjIEsOjr_dR5VT6xAS8YQnA5Ou4I1-seSy7urDaIVg47t-RYLYzm9T2WmaVkwWvSfZrEUp2XOycYLkIotRIv4MXuw9tv5-jWSu5H31UBU0z8tiovOOBa-xIdfDcEj43Up7-K2n9IwIpCnqLNmNSoe8NKdGeIHjCBNyomQN8x8jth217Lf66s6nDmGJ3eRz9M9Lp_Bi49oSC9itw5z1F9-weP6FpqISPoYLWMxZ98eL2pElSsBxs77H4Hs2NNTn5WaEAlUast6bksl7WcDgs3KCyswpZwYiSVxwpV4gQnIW45rQM2P-1l1LTVZWKk_G_FIJMmlXF9dEsmsYDFH6ubMLV_wJwNaMtJyD6X0Hz1sBbC5X2N5DBMd8I99wXEvIQXIbWD_mxvaPVczlhAu1sC-SA3QjjBJwApUKhXX95gVIcfbPRlqVjr3l5NBx7Wben8Nl6Z3aU_FXZq4b8zmSfKyIlO-FrtTNwAUBoJOz5zItCSD8yNiwoPyeDNQElIqbfpIwlH17OTmum5h3RtNtiUr7SECKXWIkFLO_NYNBEdN8g6k5etFxHHKPNbmGrUWQEgoF5kMD4QrDvnZTgYD5SgFbylYUzXEhdLqeO-7-8F2RlX-qf31MszcBNIBuBbELsak5IrcQzouXNwV65OhTu_EBTM46dLIJ72yzQGTomuqTtIqDLrMJ6K3KC7dEjuvXTzN4Z_d8eTILsdT-jFvIPG6gXAZcdxDvZM7FVN3PO5kphr0VZxKg1MKaGGFfLtDCud7944myHqWFC2uE5W69YNLi8bjB4ZKwW0fs4s2Xxw6HEZxDW0-Q2sr19vOq_4AYxNeHiCZvxU6fBTvM_IwLEu0WRxoQy5RjZLvtfmSTs3NWDNCMo6PwJbK4WaL5s6hapTmBZoi-GUlvPLQGe-74OFwdVbIOHWq_rYcIO9Rz_0JrxTR3NJpoQkiHgljz34r6I2vUGPOLCdXaLm2kxNFWe0F_iqFhW2sc2eFR8D78z35zlEUGkWbhvqf-HtMeCraZxngzNH3X_oaSG-x0Ok3ltA5tJKmyG62ske9W9hTFNs11H2fvCyzv0xLZ1XSrfx4AX0CPlLIgds4qJK0TUIZjFXnXedVv8y2lFSCuxTW0ji8TkETZ0Z-Abj00It9eW5xnSmGmKATDr7NDE0qyNYC7CFre6NoTJZI6Xy_G04E4l8rciA33bhqgw736VclgEam0Qux59PA3vIX3Qtr0BKxRFqzjR_k8Zdh912F2OdJ35c_kqZGDKVvc4LfZAo6kk1d4Ayr_HN7V7zVx9s1qpw1JhVKQqyAWp3CaxbtCD-iRec0_2GreG086l31nOhw_oFB9vS0nDmGmlO3JQF7bQge00sprhazQlAcu7DLy0YaWi0VEfnIEcNN5v1p-0UwW0QsPby-sY9PV3hreXCG5Iqvc6USzPT3cUBU96tP63XhsUvd5atrVF2LtPDFvB8wRi-2v8PER-dp-Ghyt3p4_PrJZ-vcR-DDDCL6rrIbs2WHWM0dbnyQSpKceWSzAB0xRpMYood3RknI-zc_fZZxKatmInxCZqKx38ecK4H7KBxG3nzGygfZ-rK__BWavK1eN1inZzTBggUvv4ojhSHjR-iMpdAQlPP845KYQPDS1rC7nM9guXwOPO1cMZ2SjqDza7B-CUo0L24DX7FMaAP5MyZHEiNsv-rLmZW0wrNJ1fuTv02sb5IWdTh2_iY0BVPooylzlrvMPcF5lWpChLVz4Mtj0usBcK4pIs5OORY7x1rXHXTz5uWX1gmrdKDRDgglga8PPytbE6W5_ghGxngECxB4DqGB8kTEfiqJx3CWOlx8SNNv2qx8o8kaLhf_K2XCpob3TyOWvuVlIUD781fwfBq-yOVPzm3V2PLrChoL05pTCi9AIFCySHjCZHgmF34okw_dsrfiUeHsQLGMPkKr7ZOlfwYZAHnjO8-FD1WQNj0BDWVkRQ0eBIQ0ytS661Q-4UUkt2qo07VExDtOpTRGzg0rKRm4aNaxibKVezJbOTuZh3jpLevQa42Njv2uUaw1P7c5p8-W2eL72ZpOUjwZ_wP4EpYm0k8OeBT8tPj4ESHF7heZ6s7rDHXiBDRfPfmzSGHTZpFkGZP-KwuVtSRu2w-jV8Y7ir9ts1IHtZDgD5jKVm1xs7aeYzk9IaqwebzIoWLi7o6td9A3JRsUFu9hlfRlIbv-3bWZFeKu-12ibhKiMy3gN6_ydYO5KLRLWO55ag==",
  "id": "rs_0d8248ce6599b826016ab45a117ed887d0a466a521c52281b7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.035,\"left_z\":-0.02,\"left_gripper\":0.8,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The bottle did not follow the lift. The readback rose above the bottle while the jaws were closing, so I’ll reopen and return to a low approach before closing with the low height explicitly maintained.\"}",
  "call_id": "call_RPoRqX7JC5bveIxVaIiY0ftC",
  "id": "fc_0d8248ce6599b826016ab45a15d02087d0b482d1e9d33cb22a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RPoRqX7JC5bveIxVaIiY0ftC",
  "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]: [-0.1143, 2.0563, 0.8543, 0.8207, -0.1143, -0.0875, 0.7977, -0.1791, 0.7513, 0.5373, -0.4191, -0.2779, -0.215, 0.9982]\nstate[eef_state]: left_x=0.515 left_y=-0.0352 left_z=0.0474 left_yaw=0.0211 left_pitch=0.1832 left_roll=-0.0258 left_gripper=0.7977 right_x=0.2777 right_y=0.0026 right_z=0.157 right_yaw=0.1463 right_pitch=-0.0326 right_roll=0.0022 right_gripper=0.9982\nstate[joint_eff]: [-0.0342, -4.1778, 2.7556, 0.0366, 0.0611, 0.0708, -0.1148, -0.8137, -1.4564, 6.6256, 1.9756, -0.2515, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:625a29ff918febc39bb2e1af9a25650383a2a0b74102f81fe66bc16b9932b2fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f2dbe4686cce2ed26b99f05e360a72275911f13ddd03d50d0a2926bc99d13a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8152ada9276f76388cee49892dac6ff639b0dd5ecf5bd4819bf1094ec742734",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /responses · status 200 · 3.75 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 107 changed as sent

message 115 changed as sent

message 119 changed as sent

message 107 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1162, 1.956, 0.8391, 0.6395, -0.112, -0.0681, 0.5563, -0.1791, 0.7975, 0.6178, -0.4629, -0.2779, -0.215, 0.9982]\nstate[eef_state]: left_x=0.4982 left_y=-0.0347 left_z=0.0501 left_yaw=0.0051 left_pitch=0.0878 left_roll=0.0035 left_gripper=0.5563 right_x=0.2844 right_y=0.0014 right_z=0.1725 right_yaw=0.1464 right_pitch=-0.0417 right_roll=0.0053 right_gripper=0.9982\nstate[joint_eff]: [0.212, -9.2513, 5.5316, 0.9597, 0.2027, 0.0024, 0.3443, -0.6359, -1.4974, 6.9265, 1.9707, -0.2271, 0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 115 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1299, 1.647, 0.8982, 0.2241, -0.1223, -0.0868, 0.3879, -0.1791, 0.7673, 0.5625, -0.4259, -0.2779, -0.215, 0.9982]\nstate[eef_state]: left_x=0.4722 left_y=-0.0363 left_z=0.1296 left_yaw=0.0096 left_pitch=0.0416 left_roll=-0.0019 left_gripper=0.3879 right_x=0.2808 right_y=0.0021 right_z=0.1628 right_yaw=0.1463 right_pitch=-0.0304 right_roll=0.0015 right_gripper=0.9982\nstate[joint_eff]: [-0.4991, -9.1966, 6.2291, 1.6923, -0.1685, -0.1294, -0.1343, -0.841, -1.4838, 6.8444, 1.917, -0.1929, 0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 119 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1143, 2.0563, 0.8543, 0.8207, -0.1143, -0.0875, 0.7977, -0.1791, 0.7513, 0.5373, -0.4191, -0.2779, -0.215, 0.9982]\nstate[eef_state]: left_x=0.515 left_y=-0.0352 left_z=0.0474 left_yaw=0.0211 left_pitch=0.1832 left_roll=-0.0258 left_gripper=0.7977 right_x=0.2777 right_y=0.0026 right_z=0.157 right_yaw=0.1463 right_pitch=-0.0326 right_roll=0.0022 right_gripper=0.9982\nstate[joint_eff]: [-0.0342, -4.1778, 2.7556, 0.0366, 0.0611, 0.0708, -0.1148, -0.8137, -1.4564, 6.6256, 1.9756, -0.2515, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:625a29ff918febc39bb2e1af9a25650383a2a0b74102f81fe66bc16b9932b2fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f2dbe4686cce2ed26b99f05e360a72275911f13ddd03d50d0a2926bc99d13a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8152ada9276f76388cee49892dac6ff639b0dd5ecf5bd4819bf1094ec742734",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFoj8urFntEsp8GjMP-P-_crVlx-ousv3ScLjLMeR1h1Q_RR9x6q_HvKnWIS2ph8nqsAt_qXeLRpEQASd9hic2c5X5wHc2TzB_dvYjC-KCcv98oENIcNjUToxjw9gGnY3y3HuJD1ZkhdCJJjBE_rHoGguqi5Pn_aGIulzggOltp5yRMLBFCFU2fDU2MdDkoKRlMPsCnSn2q-2Nc5FCMY4Kp8FZqjpIbyroAijnHK8xPlNjMhUUuntdtw2JvTLkHxhuvplalIDhNCQcu_xh6FzsbnZY6-2QF1k4ThEW261Eau6IUYQGG34EvIZkRFXwBZdUbr3EzG9LZT3j2l-O-TwZoUTjB9XrLIPemBuclCJebUvRsKjaTwe39zi1CNAS2kPPKyYfZ0iUG6SP0n2FSvONaWTYVpBIVC-PDz03CjlxwyJ6vyYwNrSpSo0xx7ZdyUJ_UE9dxC-zXFQrUTw5g_jf2q9tUfSM-7B2fQzyIYq1QrjUDc3m_u05Mbu9kmS23yqnT4jULLEHZyJt2njPsZzhtIQaCAhCAikCJWtaa57mM4D1OFzt1yz8_04w_Wl5M22T2pmc3R-QOJ1u3_qVfuTeo6FXs0kIH-V2yMVBObR6a1NiwVhYRctMdZteNBTSrE3d0s_19T6ECPG7cqOzUo6TNYIbpOsEWKcBX-u0EI2--FpruqGHXCOD6xE_-WCK6BUybu-7LxleoOuD1DIOCThN9hsSMEDESGzDMFmisnUob-j6CM_JKqCWi2lXOS4Iw3ck_ccftLOPoK0UTtuBJQaXhul6ipy-nRqNH51sjrX3DtKo8S4YIkpJysX_CtAwELIDZdJGePAON6llkpi3FvAVQNHTE02_dnJ19TxVodFhrXVtPNkoWuS5kR0gw1qfKUwi2uEoe6R81YfXF_Fz0gORSTU_tvwB3IkvpxY8Ds-EVltUgtAn9R3Eymt-7SZU_pkcYRdHngenxdRUHTpMpCee0SMy6WcZqsGpk0rQnOYLCSsi6IsRs-siEI1khAGBHDCvqZ-_exIv83IVHbaSxBm5zzLPf9lmjhKSE9n9hWyXri1knbuS57Qaipcpta2HiRZFhLbx91QhHSnsnVR9_Zc0V8CqEE07b03QSGSnly8LBc_Fk80i2G4_W0xYgtc-WKTdbjyeALq_ZAaJ6W1Z5DWcX9S-ammzTWz-B3uVo49DWOdYiLk_sbEuPhhkjbY6gGeXkTLIWuOGwdkCfPLX6eLvSXu5mdiFJ9V5te9og9_Sjs00LJS33qOOLw31S4_CYMGb7ofeGSBktuqVYNqqQWi87AnSpOtiuT2R8u-wehVPGyEug-Vwcnwr7aVJhowcnEs3osTKEEGdbHgIz5hyE2p2F-MxMJkAmbvk99_J9g3U7c6vKKB0HQwsZ_v8cCSFAdgATeFB6A2wXIBaNnn_kdgveFbz1UTP_M8CPNNkfWsQmaIHHeOsNDZhOK6CfIMrlOSY5YarUbkcY1mqmmsHQr5VjSHvbtJBdgOqP6E_cuNiR0S9-W-EoWgQ6vrmB3k3_Qfpu6Y_cLEWGVXe7F0SXzA3JWvacTx3VccojVqwgwcKRzaS8VkxFiq-rSET-ws-eJtMydNpghVqJ9Y14jBYd-Vu2RTQZaEOAAopM88Bpl3EEj09sYbytOliMm6YYOpnlp_Xmgfy6PivkT5_k37kAkQaNTlafoCDDByDP3h2s1g1wDvmE6QUAPJCsZDMrsYhrCmega68spK8oPu6YaFkONyLMA2lNoETiz13j-KA1AAWpLI4UpsaiM0pC_SIbe87cn1WqM-exjt2DhjTrp5yrywX6108EbssNENnw25ijwlSY99k1EB3gAXY1_EhLiAn2_-tW7WqeTRh23SAWviQLXuKU7GehNP2lnPc1R_ozmeDBc9iK3EQWFgc3WU3bYkn9XG_ZadAjSfmqzCWCKwUOqOyt3IT1o8ePM6d7QKT4qxxqQQ7oJyGJDe5kShyifssh3XNsVHCZPdIuwP0ESZpcm8zBVrWz-PtLt9DMzYfSQ5iAoXQyUtxclfgiJA6N25SB5bG2MIXWDyks6G5erOWWoPMLBNcQALv7dNuG9hclI2BnndZXtt37EEaVAiBuU-1bZ9NHbD6PWwLb_apv5qPfOo_n7sn9SO25QV7aW2ktSwZDqtW7jXUK6YdDbmbi_CK43VQBBhAnBsypUuv7_rymuRejnjPlyRmXWQ9gIcOJQ86yF7c5x_4kyQXvTfXIUyVQfHTSkkV0k8qFucwNP04zTvpMOh1NH_NoLrqj90iUtFtVxwD3T2VXEMCcmO3T0UBCtkcgK22Xc9u7iJoGVXqbtn4LcVotLA08LsTnWZPC_d238LLkIZAP2ZVcg8Gq_6RLueZQFglJQdtw_MD861DA6f9bFVfnhblR46BWPjExelQ2re5jY-ZDzbhdA8XzmK7nDZ_CUNQ5I-cVHeozg_x2OKaRrWBt5sseE8BfJvtAp6JMmY3Ybx0UfV03BWmpZTe7_XfnwrK36Ph-BhGM7wpGPfNvO-1EzlqSB-WUOgTpfV379yVwBO76MUgwG59nu1huafZkIDY0w4Mpd4UCH6s6D9VSFF61z-To_e9CkJy6faEpRVaL4XEQn1sXawjQPre1RzcCXsDWGhcsVrcuoE5xYxHGj__4_tHfb0GxGt8rg-Q5kYEhIuCwieHjg-HaCeB3GWqZeMJDc9Os5bHbJjlNVYDlDBZlFE59qcCp0RomSQF5dMceU3kPnhAc8OXo8zM3hk6izZcyfnu6OTlOqjtByKDY0EzDe1XknttNK-imgRb3Ze006f-SROZ5K-7vfArY9EtlLVpl01DhxKPYebgwmVXzhv4Ptkn_ILqXCPRvy3kcA0kRLWJ-scGGug8qzGgiw1dvdMVnyC6Vx3vcIqHtteTZzityIXQjv6ynyQ4SWL3vIuOkYhvczKlS33-RZsoBDwRKJmNwsy5o2DmxJiKR3cr0VJWb2bP3jwX81USh7rFeKMCmej4UHp0kaATuHRyg1XMsPFRjC6FxthPrSuXovzB3jd0KztyS--_Wg5eqMvPG03PTflXL8Rmml1piWr2UF7oUgIFmknnpBNB-43EfKwLGg59okjloqugDwmDz3ezEKe9C6umynrejSu8NYHELUZWueKNnrF1zadSd16ilJzceXAKTSS2E5hO40do9mMNOfIXTCueLwSGBG-UJ0Dv2WV2WO_Ee9C6XKrdbaD6PNzmlghlIuZ7xQbkn-k_4RQi5aopURbqm6LiZveJtNq7v71xIGxHqvgMnkqiTnDEJZcrm4bibvcgRGRH2cba_WyGxmfZKozUTRvFTuQNu1iT3xN8Kr6zL9bU5AuwTl5fYIc_on9x2H85DWkZVHF6Su5oErE6Z1rF2rcDgU_tsGuti24-4WcDl-H8c-cv4dsp4vHYJgz1n-DkdNk_oBF8FIOYZHcNA=",
  "id": "rs_0d8248ce6599b826016ab45a19d76087d0b4f4fc2151601fe4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.515,\"left_y\":-0.035,\"left_z\":0.09,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":0.45},\"note\":\"The low descent is stopping early and tilting the tool, suggesting contact is disturbing the grasp. I’ll back off that contact slightly and try a gentle grip higher on the bottle’s body.\"}",
  "call_id": "call_QOKnRouayDDpeVT3aPh4MgxO",
  "id": "fc_0d8248ce6599b826016ab45a21843087d09033e380019bb232",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QOKnRouayDDpeVT3aPh4MgxO",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1116, 1.9247, 1.0077, 0.4191, -0.1188, -0.1051, 0.4548, -0.1791, 0.7368, 0.5056, -0.4023, -0.2779, -0.215, 0.9981]\nstate[eef_state]: left_x=0.5234 left_y=-0.034 left_z=0.0846 left_yaw=0.035 left_pitch=0.0677 left_roll=-0.0234 left_gripper=0.4548 right_x=0.2752 right_y=0.0031 right_z=0.1498 right_yaw=0.1463 right_pitch=-0.033 right_roll=0.0024 right_gripper=0.9981\nstate[joint_eff]: [-0.2667, -11.7265, 8.2393, 1.663, -0.0464, 0.1343, 0.0366, -0.8547, -1.5521, 6.9675, 1.9023, -0.2515, -0.0171, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b1e48ee5b39a677319a528dc74aa22a257259958cfddc0fe358c8a73315ea26",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:344697d0c6ba99a647798a74ed96b5f4f756659f3b5dfe87b8c7b8e3a7e880fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c0b38391715d891c76021a07c79765b7f7b715f7fcb1656203e357d43c73891",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /responses · status 200 · 6.027 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

message 111 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1158, 1.9465, 0.8803, 0.5911, -0.1204, -0.0792, 0.389, -0.1791, 0.7818, 0.593, -0.4442, -0.2779, -0.215, 0.9982]\nstate[eef_state]: left_x=0.5057 left_y=-0.0339 left_z=0.06 left_yaw=0.0185 left_pitch=0.0906 left_roll=-0.0029 left_gripper=0.389 right_x=0.283 right_y=0.0017 right_z=0.1692 right_yaw=0.1463 right_pitch=-0.0326 right_roll=0.0022 right_gripper=0.9982\nstate[joint_eff]: [0.335, -10.0308, 5.5316, 1.1258, 0.2173, 0.0024, -0.0562, -0.8274, -1.7162, 6.8718, 1.9658, -0.2027, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 119 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1143, 2.0563, 0.8543, 0.8207, -0.1143, -0.0875, 0.7977, -0.1791, 0.7513, 0.5373, -0.4191, -0.2779, -0.215, 0.9982]\nstate[eef_state]: left_x=0.515 left_y=-0.0352 left_z=0.0474 left_yaw=0.0211 left_pitch=0.1832 left_roll=-0.0258 left_gripper=0.7977 right_x=0.2777 right_y=0.0026 right_z=0.157 right_yaw=0.1463 right_pitch=-0.0326 right_roll=0.0022 right_gripper=0.9982\nstate[joint_eff]: [-0.0342, -4.1778, 2.7556, 0.0366, 0.0611, 0.0708, -0.1148, -0.8137, -1.4564, 6.6256, 1.9756, -0.2515, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 123 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1116, 1.9247, 1.0077, 0.4191, -0.1188, -0.1051, 0.4548, -0.1791, 0.7368, 0.5056, -0.4023, -0.2779, -0.215, 0.9981]\nstate[eef_state]: left_x=0.5234 left_y=-0.034 left_z=0.0846 left_yaw=0.035 left_pitch=0.0677 left_roll=-0.0234 left_gripper=0.4548 right_x=0.2752 right_y=0.0031 right_z=0.1498 right_yaw=0.1463 right_pitch=-0.033 right_roll=0.0024 right_gripper=0.9981\nstate[joint_eff]: [-0.2667, -11.7265, 8.2393, 1.663, -0.0464, 0.1343, 0.0366, -0.8547, -1.5521, 6.9675, 1.9023, -0.2515, -0.0171, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b1e48ee5b39a677319a528dc74aa22a257259958cfddc0fe358c8a73315ea26",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:344697d0c6ba99a647798a74ed96b5f4f756659f3b5dfe87b8c7b8e3a7e880fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c0b38391715d891c76021a07c79765b7f7b715f7fcb1656203e357d43c73891",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [],
  "encrypted_content": "gAAAAABqtFonPVHGnPScNipDGZ2xhye6ZRmKri7wzZQ3zupKygRb2mmNhutA1S9IM8LIXKCbP2YBsd817YW7RCj0IOsJOO2jzSpjBqv1KiMtrA3l2G2oKW50BLWBUdfbMIOstinlD5THoyidu1APN1TaTXZW8cIJre8W86NnEyaMT-oOjXYsPfXgQEULYwC2o1mJMcoNoJXPVmFK3N9V7IAAiNjzNKCZiSXoxl5mi6jR_BRGtt4wLNvegGVxJ9ZrIqKMdnCMZ6xKRRLOKXej38vEQdNk0oSGcRbuqZNMfj9FyRXDwROK4Ell_0q3L9UxPXud7ul2OOnHZ8B7LnWa_DziCTh-xU0cn-K7QAU9jORC_kxG7zJgUH_T1B_XmCTRUWVwl-OZv9PON_QVF0PKxH2Nt1cXqHIbsNxGvDIyr7wcoIMKZcTUGB--GikH1wVpVf3DSxt-JsOMxZI6Q8P4P1hXD9GaGjJqfhmB7SyBK68IzDkkeuEnn9mwzV3fBNYQNQrNyGYTyy166lGnpjEhZrxPtaurAHnT9z2FJHseRua-3R1JnNpsmrNkCsuUcx1ibZGe6goMfAouyaUDOckbRFUBZCPH4f2cK-EFVU_erYduDK58UlzAIlEwfy6pAXGLMutB-mT_VaRokVrwG8D5vzmtjHZMJxDGqq8SJE0pOy-yxrNA-q245N5FngKVKzeuODAbjWpEXAZ9fLE2krOz8K9O6pqkMIAZM7SXliRIR9o6li4NYQCC3LN20KNGKuKOHXahKBE5nw5v2eX-5x4G5LvEq59Kkzcd_fb3ZpTIxn4UOLfxWLUdxRaZ7yYQcqOIoAyQWV4YhArxVjZpmJkpm6CdMdMLszXgDGykBImrAyChxwHjLJm1yS3znawZgRG_t3g01hXkzpSZjzHrSaE-3xLoKDOG-7wIRLx1wb5cEdkjxgCjKjM43rurkCpjIrRt9OWk9udeAbm1ZSdaXqrLfylLwSpJJDqsSs88LUmliaf2iw74tCT3JJEDi4JJmtU1EXkoMq8M5RCvX0m46PQwzEuBWhDDC2xNXAwNkVnI9WJ95ETX_6RoilKjM7PyQuipk-hiW2_iSslQWFmXDSS7YRWb3FJHpdTD7rpY-FtM5izpJp-IvLhMvjXu2kWltGSH1dPz53_c_0SSLTYJ-I_xZllJM8F3D4yOFZqnQuk3l7mlCE1GFb2pCROM7U9_eKz-v59VnF0db9lLRWhIKtKXKzw7zvdbfrmCvWEc_Ok99JDEyAiDmX0NZs6PFMTPoSLHlVh2olzR5pLDYoXHrL4ViITa6fCI1hSj-dgifJy3uSUfSFSmacUU3fMw5bFhZ8AMIAfx-J8zI7le7ncR_1EIlFAwfCrl6FobDXLakASqN-adVcQ4K4NV_NMUDaL-MguOuQmaoEYvTd0m",
  "id": "rs_0d8248ce6599b826016ab45a2535e087d097b45ac6ee438042",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"left_z\":0.08,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The bottle remains centered between the fingers at this higher level. I’ll close while maintaining that height, and use the final jaw opening to tell whether anything has been captured.\"}",
  "call_id": "call_RjWF16skgxkfskbahbkmVhxl",
  "id": "fc_0d8248ce6599b826016ab45a25f53887d0b0836f0601526274",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_RjWF16skgxkfskbahbkmVhxl",
  "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]: [-0.1116, 1.9186, 1.0389, 0.279, -0.1257, -0.1059, 0.0095, -0.1822, 0.7193, 0.4728, -0.3916, -0.2783, -0.215, 0.9982]\nstate[eef_state]: left_x=0.5146 left_y=-0.0318 left_z=0.0712 left_yaw=0.041 left_pitch=-0.0332 left_roll=-0.0052 left_gripper=0.0095 right_x=0.2715 right_y=0.003 right_z=0.1416 right_yaw=0.1436 right_pitch=-0.0372 right_roll=0.004 right_gripper=0.9982\nstate[joint_eff]: [-0.5538, -8.9778, 7.9385, 1.873, -0.0855, 0.0757, 0.7985, -0.5538, -1.3744, 7.0222, 1.9512, -0.2418, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e913d81da141e2d699c723e8bd63d2a0f5fd08ed72ca3c54b6af735099a2caf1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e08732e15eba2ed59c3045056345ff2441c6834e166079c3a4e98523e2d569f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffa34b2431801f64931ef3d08aedda91b1f62ac9e066132b67a656ff5f20fbfe",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /responses · status 200 · 4.808 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 115 changed as sent

message 123 changed as sent

message 127 changed as sent

message 115 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1299, 1.647, 0.8982, 0.2241, -0.1223, -0.0868, 0.3879, -0.1791, 0.7673, 0.5625, -0.4259, -0.2779, -0.215, 0.9982]\nstate[eef_state]: left_x=0.4722 left_y=-0.0363 left_z=0.1296 left_yaw=0.0096 left_pitch=0.0416 left_roll=-0.0019 left_gripper=0.3879 right_x=0.2808 right_y=0.0021 right_z=0.1628 right_yaw=0.1463 right_pitch=-0.0304 right_roll=0.0015 right_gripper=0.9982\nstate[joint_eff]: [-0.4991, -9.1966, 6.2291, 1.6923, -0.1685, -0.1294, -0.1343, -0.841, -1.4838, 6.8444, 1.917, -0.1929, 0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 123 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1116, 1.9247, 1.0077, 0.4191, -0.1188, -0.1051, 0.4548, -0.1791, 0.7368, 0.5056, -0.4023, -0.2779, -0.215, 0.9981]\nstate[eef_state]: left_x=0.5234 left_y=-0.034 left_z=0.0846 left_yaw=0.035 left_pitch=0.0677 left_roll=-0.0234 left_gripper=0.4548 right_x=0.2752 right_y=0.0031 right_z=0.1498 right_yaw=0.1463 right_pitch=-0.033 right_roll=0.0024 right_gripper=0.9981\nstate[joint_eff]: [-0.2667, -11.7265, 8.2393, 1.663, -0.0464, 0.1343, 0.0366, -0.8547, -1.5521, 6.9675, 1.9023, -0.2515, -0.0171, -0.0122]\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 127 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1116, 1.9186, 1.0389, 0.279, -0.1257, -0.1059, 0.0095, -0.1822, 0.7193, 0.4728, -0.3916, -0.2783, -0.215, 0.9982]\nstate[eef_state]: left_x=0.5146 left_y=-0.0318 left_z=0.0712 left_yaw=0.041 left_pitch=-0.0332 left_roll=-0.0052 left_gripper=0.0095 right_x=0.2715 right_y=0.003 right_z=0.1416 right_yaw=0.1436 right_pitch=-0.0372 right_roll=0.004 right_gripper=0.9982\nstate[joint_eff]: [-0.5538, -8.9778, 7.9385, 1.873, -0.0855, 0.0757, 0.7985, -0.5538, -1.3744, 7.0222, 1.9512, -0.2418, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e913d81da141e2d699c723e8bd63d2a0f5fd08ed72ca3c54b6af735099a2caf1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e08732e15eba2ed59c3045056345ff2441c6834e166079c3a4e98523e2d569f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffa34b2431801f64931ef3d08aedda91b1f62ac9e066132b67a656ff5f20fbfe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
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  "id": "rs_0d8248ce6599b826016ab45a29671887d09ab8615a1abc68f0",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0.8,\"left_z\":0.02,\"left_x\":0.515,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The empty close shows that the fingers were still above the bottle. I’ll reopen and lower straight down at the same alignment, without shifting along the bottle.\"}",
  "call_id": "call_wh7V7DwBviCCnBqvOWe1NeJU",
  "id": "fc_0d8248ce6599b826016ab45a2c90f087d09459a3a776cdf828",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_wh7V7DwBviCCnBqvOWe1NeJU",
  "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]: [-0.1165, 2.0319, 0.9756, 0.5499, -0.131, -0.1081, 0.7955, -0.1841, 0.6983, 0.4393, -0.3759, -0.2783, -0.215, 0.9982]\nstate[eef_state]: left_x=0.5244 left_y=-0.0345 left_z=0.0459 left_yaw=0.0419 left_pitch=0.0603 left_roll=-0.019 left_gripper=0.7955 right_x=0.2684 right_y=0.003 right_z=0.1348 right_yaw=0.1417 right_pitch=-0.0344 right_roll=0.0031 right_gripper=0.9982\nstate[joint_eff]: [0.1026, -7.1863, 4.0, 1.5409, -0.0904, 0.0952, -0.1441, -0.7043, -1.2103, 6.8034, 1.9512, -0.2369, -0.0024, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca1f58eb43fee050ec1f54f8829c3241470d8dcc3747e93f74007c8dd1de010c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d913145f479fa6fb57866d0863458cb622670da7ea63d1d7b984faf236d5145",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cda89bbc20d8f221da4c4ffce8a29fbec2a82c5ec2ee7701acd4fbe0a146c1a1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /responses · status 200 · 6.504 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 119 changed as sent

message 127 changed as sent

message 131 changed as sent

message 119 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1143, 2.0563, 0.8543, 0.8207, -0.1143, -0.0875, 0.7977, -0.1791, 0.7513, 0.5373, -0.4191, -0.2779, -0.215, 0.9982]\nstate[eef_state]: left_x=0.515 left_y=-0.0352 left_z=0.0474 left_yaw=0.0211 left_pitch=0.1832 left_roll=-0.0258 left_gripper=0.7977 right_x=0.2777 right_y=0.0026 right_z=0.157 right_yaw=0.1463 right_pitch=-0.0326 right_roll=0.0022 right_gripper=0.9982\nstate[joint_eff]: [-0.0342, -4.1778, 2.7556, 0.0366, 0.0611, 0.0708, -0.1148, -0.8137, -1.4564, 6.6256, 1.9756, -0.2515, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 127 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1116, 1.9186, 1.0389, 0.279, -0.1257, -0.1059, 0.0095, -0.1822, 0.7193, 0.4728, -0.3916, -0.2783, -0.215, 0.9982]\nstate[eef_state]: left_x=0.5146 left_y=-0.0318 left_z=0.0712 left_yaw=0.041 left_pitch=-0.0332 left_roll=-0.0052 left_gripper=0.0095 right_x=0.2715 right_y=0.003 right_z=0.1416 right_yaw=0.1436 right_pitch=-0.0372 right_roll=0.004 right_gripper=0.9982\nstate[joint_eff]: [-0.5538, -8.9778, 7.9385, 1.873, -0.0855, 0.0757, 0.7985, -0.5538, -1.3744, 7.0222, 1.9512, -0.2418, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 131 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1165, 2.0319, 0.9756, 0.5499, -0.131, -0.1081, 0.7955, -0.1841, 0.6983, 0.4393, -0.3759, -0.2783, -0.215, 0.9982]\nstate[eef_state]: left_x=0.5244 left_y=-0.0345 left_z=0.0459 left_yaw=0.0419 left_pitch=0.0603 left_roll=-0.019 left_gripper=0.7955 right_x=0.2684 right_y=0.003 right_z=0.1348 right_yaw=0.1417 right_pitch=-0.0344 right_roll=0.0031 right_gripper=0.9982\nstate[joint_eff]: [0.1026, -7.1863, 4.0, 1.5409, -0.0904, 0.0952, -0.1441, -0.7043, -1.2103, 6.8034, 1.9512, -0.2369, -0.0024, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca1f58eb43fee050ec1f54f8829c3241470d8dcc3747e93f74007c8dd1de010c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d913145f479fa6fb57866d0863458cb622670da7ea63d1d7b984faf236d5145",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cda89bbc20d8f221da4c4ffce8a29fbec2a82c5ec2ee7701acd4fbe0a146c1a1",
      "type": "input_image"
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    {
      "text": "",
      "type": "input_text"
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  ],
  "role": "user"
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[blob elided: media budget]

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  "id": "rs_0d8248ce6599b826016ab45a30339487d0a6eb8e771cf296fd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"left_z\":0.005,\"left_x\":0.515,\"left_y\":-0.035,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The open fingers now flank the bottle’s body. I’ll close while keeping the grasp target low, rather than allowing the wrist to rise during closure.\"}",
  "call_id": "call_XXAvHaThvKQxe812eLUi4d4y",
  "id": "fc_0d8248ce6599b826016ab45a3194b887d099520489d4268841",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XXAvHaThvKQxe812eLUi4d4y",
  "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]: [-0.1184, 2.0644, 0.9867, 0.6876, -0.1532, -0.1074, 0.0105, -0.1856, 0.6785, 0.4068, -0.3641, -0.2859, -0.2146, 0.9982]\nstate[eef_state]: left_x=0.5402 left_y=-0.0335 left_z=0.0643 left_yaw=0.0608 left_pitch=0.1766 left_roll=-0.0285 left_gripper=0.0105 right_x=0.2649 right_y=0.0046 right_z=0.1277 right_yaw=0.1463 right_pitch=-0.0336 right_roll=0.0079 right_gripper=0.9982\nstate[joint_eff]: [-0.5402, -6.3111, 2.8239, 0.6667, 0.105, 0.0122, 0.8376, -0.7726, -0.9094, 6.9538, 1.9414, -0.1685, 0.0073, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f175d16065a39549e66ac4907c1adb9c4422136f9d42775eba7e208beaa5240e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e83c32bfda90fabfc6acc455bf394a2a9d85ab0e661dcb32a421747c4ef2684e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e191381b730c97485b8c4537989781ac1d97ef53b8a279120e3a6fdde9e42cd9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /responses · status 200 · 5.387 s

model: gpt-6-astra
effort: high
temperature: n/a
tool count: 3

message 123 changed as sent

message 131 changed as sent

message 135 changed as sent

message 123 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1116, 1.9247, 1.0077, 0.4191, -0.1188, -0.1051, 0.4548, -0.1791, 0.7368, 0.5056, -0.4023, -0.2779, -0.215, 0.9981]\nstate[eef_state]: left_x=0.5234 left_y=-0.034 left_z=0.0846 left_yaw=0.035 left_pitch=0.0677 left_roll=-0.0234 left_gripper=0.4548 right_x=0.2752 right_y=0.0031 right_z=0.1498 right_yaw=0.1463 right_pitch=-0.033 right_roll=0.0024 right_gripper=0.9981\nstate[joint_eff]: [-0.2667, -11.7265, 8.2393, 1.663, -0.0464, 0.1343, 0.0366, -0.8547, -1.5521, 6.9675, 1.9023, -0.2515, -0.0171, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 131 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1165, 2.0319, 0.9756, 0.5499, -0.131, -0.1081, 0.7955, -0.1841, 0.6983, 0.4393, -0.3759, -0.2783, -0.215, 0.9982]\nstate[eef_state]: left_x=0.5244 left_y=-0.0345 left_z=0.0459 left_yaw=0.0419 left_pitch=0.0603 left_roll=-0.019 left_gripper=0.7955 right_x=0.2684 right_y=0.003 right_z=0.1348 right_yaw=0.1417 right_pitch=-0.0344 right_roll=0.0031 right_gripper=0.9982\nstate[joint_eff]: [0.1026, -7.1863, 4.0, 1.5409, -0.0904, 0.0952, -0.1441, -0.7043, -1.2103, 6.8034, 1.9512, -0.2369, -0.0024, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

message 135 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1184, 2.0644, 0.9867, 0.6876, -0.1532, -0.1074, 0.0105, -0.1856, 0.6785, 0.4068, -0.3641, -0.2859, -0.2146, 0.9982]\nstate[eef_state]: left_x=0.5402 left_y=-0.0335 left_z=0.0643 left_yaw=0.0608 left_pitch=0.1766 left_roll=-0.0285 left_gripper=0.0105 right_x=0.2649 right_y=0.0046 right_z=0.1277 right_yaw=0.1463 right_pitch=-0.0336 right_roll=0.0079 right_gripper=0.9982\nstate[joint_eff]: [-0.5402, -6.3111, 2.8239, 0.6667, 0.105, 0.0122, 0.8376, -0.7726, -0.9094, 6.9538, 1.9414, -0.1685, 0.0073, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f175d16065a39549e66ac4907c1adb9c4422136f9d42775eba7e208beaa5240e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e83c32bfda90fabfc6acc455bf394a2a9d85ab0e661dcb32a421747c4ef2684e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e191381b730c97485b8c4537989781ac1d97ef53b8a279120e3a6fdde9e42cd9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

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  "content": [],
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  "id": "rs_0d8248ce6599b826016ab45a36e57c87d0bb80fdaa3ead16f8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":0,\"left_z\":0.24,\"left_gripper\":1,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.2,\"right_gripper\":1},\"note\":\"The jaws are empty again, and the wrist is deflecting instead of achieving a stable grasp. I’ll lift clear and withdraw both arms rather than continue pushing the bottles around.\"}",
  "call_id": "call_9lyy9PH99DPBkKzndZmA5e2R",
  "id": "fc_0d8248ce6599b826016ab45a38b7ec87d0bc24c83b68f35b6a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_9lyy9PH99DPBkKzndZmA5e2R",
  "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]: [-0.0216, 1.298, 1.005, -0.2768, -0.041, -0.0483, 0.996, -0.1844, 0.8238, 0.6579, -0.4755, -0.2897, -0.2157, 0.9983]\nstate[eef_state]: left_x=0.4087 left_y=0.002 left_z=0.2201 left_yaw=0.0287 left_pitch=-0.0072 left_roll=-0.0068 left_gripper=0.996 right_x=0.2892 right_y=0.001 right_z=0.1813 right_yaw=0.1512 right_pitch=-0.0383 right_roll=0.011 right_gripper=0.9983\nstate[joint_eff]: [0.3077, -6.5299, 10.5778, 1.746, 0.1538, 0.1587, -0.0464, 0.212, -1.0051, 9.894, 1.7167, -0.0757, 0.0122, -0.1978]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aafc2b514ddc7fd5a9e9520fcc827e2684e12ead317ce2660df4d0ca60100b1a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84743df947c786dd19f6824fa5ffbd7f762e4304b4e4615cfb7eb8b263123c77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e43c8286a14021e945cf5988195650a33e66875ec856da9a343c2e580508f4bb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

[blob elided: media budget]