adhoc

completed
2026-09-24T03:01:59.588077+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
221.5 s
total steps
285
success_at_end
0
scenes
1
trials
1
errored
0

scene-0

completed

Stand all three bottles upright.

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteAll three bottles are lying down with their caps pointing toward the back of the table. I will approach the leftmost bottle near its neck so I can lift its top and let the body swing downward.
move_to
left_x0.4000left_y-0.1700left_z0.1300left_gripper1.0000right_x0.2940right_y0.0000right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7929, 0.6098, -0.3763, -0.0257, -0.0437, 0.9988, -0.0154, 0.7895, 0.6037, -0.387, -0.0128, -0.0422, 0.9989] state[eef_state]: left_x=0.2959 left_y=0.0022 left_z=0.1837 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.2935 right_y=0.0013 right_z=0.1796 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9989 state[joint_eff]: [-0.4308, -1.4701, 9.6752, 1.7509, 0.0122, 0.2808, -0.1392, -0.8957, -1.1556, 10.2632, 1.8486, -0.1294, 0.2125, -0.1294] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.17,"left_z":0.13,"left_gripper":1,"right_x":0.294,"right_y":0.0,"right_z":0.2},"note":"All three bottles are lying down with their caps pointing toward the back of the table. I will approach the leftmost bottle near its neck so I can lift its top and let the body swing downward."})
tool
executing move_to over 16 steps (1.6s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteThe leftmost cap appears left of the jaw center in the wrist view, and the gripper is still near the bottle's body. I will move forward and slightly left, lowering toward the narrow neck.
move_to
left_x0.4700left_y-0.1350left_z0.0550
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6041, 1.5589, 0.8463, -0.0006, -0.4919, -0.3851, 0.9988, -0.0158, 0.7986, 0.6495, -0.4831, -0.0132, -0.0582, 0.9989] state[eef_state]: left_x=0.3888 left_y=-0.1626 left_z=0.1136 left_yaw=-0.0141 left_pitch=-0.0559 left_roll=0.0242 left_gripper=0.9988 right_x=0.2862 right_y=0.0014 right_z=0.1784 right_yaw=0.0087 right_pitch=-0.0599 right_roll=-0.0118 right_gripper=0.9989 state[joint_eff]: [-0.6359, -7.241, 8.3487, 1.7314, -0.4274, 0.1197, -0.1294, -0.9368, -0.8274, 10.4821, 1.9658, -0.1197, 0.0708, -0.0171] camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.47,"left_y":-0.135,"left_z":0.055},"note":"The leftmost cap appears left of the jaw center in the wrist view, and the gripper is still near the bottle's body. I will move forward and slightly left, lowering toward the narrow neck."})
tool
executing move_to over 7 steps (0.7s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteThe leftmost neck is now beneath the gripper and out of the wrist camera's near field. I will gently close to roughly neck width, leaving room for the bottle to pivot rather than squeezing its body.
move_to
left_z0.0250left_yaw0.3500left_gripper0.2600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4175, 1.8763, 0.8772, 0.3508, -0.3809, -0.2844, 0.9985, -0.0219, 0.7601, 0.59, -0.4473, -0.0288, -0.0582, 0.9989] state[eef_state]: left_x=0.4569 left_y=-0.1269 left_z=0.049 left_yaw=0.0283 left_pitch=-0.0361 left_roll=0.0143 left_gripper=0.9985 right_x=0.2817 right_y=0.0025 right_z=0.1689 right_yaw=0.0157 right_pitch=-0.0448 right_roll=-0.0031 right_gripper=0.9989 state[joint_eff]: [0.212, -8.4718, 7.0359, 1.6386, 0.1001, 0.2076, -0.0464, -0.4034, -1.6068, 7.0085, 2.0293, -0.0513, -0.0073, -0.0073] 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":{"left_z":0.025,"left_yaw":0.35,"left_gripper":0.26},"note":"The leftmost neck is now beneath the gripper and out of the wrist camera's near field. I will gently close to roughly neck width, leaving room for the bottle to pivot rather than squeezing its body."})
tool
executing move_to over 8 steps (0.8s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteThe jaws have narrowed around the neck area. I will lift about five centimetres to check whether the bottle follows before attempting to stand it.
move_to
left_z0.0850left_gripper0.2200right_x0.2940right_y0.0000right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5182, 2.0151, 0.9665, 0.2989, -0.6628, -0.5491, 0.265, -0.0219, 0.7326, 0.5449, -0.4225, -0.0307, -0.0582, 0.9989] state[eef_state]: left_x=0.456 left_y=-0.1308 left_z=0.0254 left_yaw=0.2897 left_pitch=-0.0079 left_roll=-0.0011 left_gripper=0.265 right_x=0.278 right_y=0.0029 right_z=0.1606 right_yaw=0.0173 right_pitch=-0.0375 right_roll=-0.0023 right_gripper=0.9989 state[joint_eff]: [-0.7043, -8.7863, 7.159, 1.4286, -0.4078, -0.0122, 0.1343, -0.4308, -1.4427, 7.0496, 2.0049, -0.0855, -0.0317, -0.0171] camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.085,"left_gripper":0.22,"right_x":0.294,"right_y":0.0,"right_z":0.2},"note":"The jaws have narrowed around the neck area. I will lift about five centimetres to check whether the bottle follows before attempting to stand it."})
tool
executing move_to over 4 steps (0.4s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteThe bottle appears to have shifted with the jaws, though the first lift sagged below its target. I will lift higher and slightly closer to the base, allowing its bottom to swing down under the neck.
move_to
left_x0.4300left_z0.2000left_gripper0.2200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5228, 1.9152, 1.0035, 0.1352, -0.6773, -0.5758, 0.2219, -0.0334, 0.7933, 0.6285, -0.4713, -0.0357, -0.0696, 0.9989] state[eef_state]: left_x=0.4512 left_y=-0.1281 left_z=0.0581 left_yaw=0.3101 left_pitch=-0.0185 left_roll=0.0028 left_gripper=0.2219 right_x=0.285 right_y=0.0004 right_z=0.1728 right_yaw=0.0163 right_pitch=-0.0633 right_roll=-0.0075 right_gripper=0.9989 state[joint_eff]: [0.2803, -11.959, 8.3487, 1.3651, -0.2418, 0.2759, 0.1392, -0.7179, -0.7179, 10.2222, 1.9658, -0.0855, 0.0024, -0.0171] camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_z":0.2,"left_gripper":0.22},"note":"The bottle appears to have shifted with the jaws, though the first lift sagged below its target. I will lift higher and slightly closer to the base, allowing its bottom to swing down under the neck."})
tool
executing move_to over 10 steps (1.0s)
step 45
top_cam
camera top_cam step 45
left_cam
camera left_cam step 45
right_cam
camera right_cam step 45
assistant
agent noteThe arm barely rose despite the higher target, so this extended pose is not tracking well. I will bring the neck inward while lifting, which should also give the bottle room to pivot upright.
move_to
left_x0.3500left_y-0.1200left_z0.1800left_yaw0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5232, 1.8828, 1.0222, 0.0784, -0.6701, -0.5686, 0.2218, -0.0349, 0.7506, 0.5629, -0.4263, -0.0498, -0.0803, 0.9989] state[eef_state]: left_x=0.4501 left_y=-0.1288 left_z=0.0698 left_yaw=0.3008 left_pitch=-0.0262 left_roll=0.0096 left_gripper=0.2218 right_x=0.2807 right_y=0.0026 right_z=0.1634 right_yaw=0.0324 right_pitch=-0.0408 right_roll=-0.0093 right_gripper=0.9989 state[joint_eff]: [0.1436, -10.906, 7.3778, 1.4383, -0.2808, 0.1832, 0.1685, -0.7179, -1.306, 7.2, 2.0391, -0.0562, 0.1099, -0.0122] camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.12,"left_z":0.18,"left_yaw":0.15},"note":"The arm barely rose despite the higher target, so this extended pose is not tracking well. I will bring the neck inward while lifting, which should also give the bottle room to pivot upright."})
tool
executing move_to over 8 steps (0.8s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteI cannot yet confirm that the neck is actually captured; part of the bottle remains visible beside the jaws. I will close fully and lift clear so the gripper reading and overhead view can confirm or rule out the grasp.
move_to
left_gripper0.0000left_z0.2500left_x0.3400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6254, 1.3312, 0.8646, -0.2264, -0.6514, -0.5495, 0.2222, -0.0406, 0.728, 0.5243, -0.403, -0.0574, -0.0811, 0.9989] state[eef_state]: left_x=0.3609 left_y=-0.1241 left_z=0.1775 left_yaw=0.1746 left_pitch=0.0261 left_roll=-0.0476 left_gripper=0.2222 right_x=0.2779 right_y=0.0024 right_z=0.1565 right_yaw=0.0334 right_pitch=-0.0333 right_roll=-0.006 right_gripper=0.9989 state[joint_eff]: [-0.4308, -5.135, 7.241, 1.4286, -0.2711, 0.2369, 0.0269, -0.4308, -1.5521, 6.8991, 1.9316, -0.1197, 0.022, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0,"left_z":0.25,"left_x":0.34},"note":"I cannot yet confirm that the neck is actually captured; part of the bottle remains visible beside the jaws. I will close fully and lift clear so the gripper reading and overhead view can confirm or rule out the grasp."})
tool
executing move_to over 5 steps (0.5s)
step 58
top_cam
camera top_cam step 58
left_cam
camera left_cam step 58
right_cam
camera right_cam step 58
assistant
agent noteThe fully closed gripper is empty, and the left bottle has shifted toward the near-left side. I will reopen and reposition over its visible cap, farther left than the previous attempt.
move_to
left_x0.3600left_y-0.0650left_z0.0700left_gripper1.0000left_yaw0.4000right_x0.2940right_y0.0000right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6746, 1.3006, 1.1042, -0.5529, -0.6792, -0.5816, 0.0106, -0.041, 0.7113, 0.4923, -0.3946, -0.0574, -0.0807, 0.9989] state[eef_state]: left_x=0.3477 left_y=-0.1314 left_z=0.2362 left_yaw=0.1626 left_pitch=0.0007 left_roll=-0.0212 left_gripper=0.0106 right_x=0.2741 right_y=0.0025 right_z=0.1479 right_yaw=0.0329 right_pitch=-0.0401 right_roll=-0.0052 right_gripper=0.9989 state[joint_eff]: [-0.5949, -6.4205, 8.7863, 1.3602, -0.4322, -0.0708, 1.0232, -0.8274, -1.4701, 6.9538, 2.0293, -0.1685, 0.0024, -0.0073] camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.065,"left_z":0.07,"left_gripper":1,"left_yaw":0.4,"right_x":0.294,"right_y":0.0,"right_z":0.2},"note":"The fully closed gripper is empty, and the left bottle has shifted toward the near-left side. I will reopen and reposition over its visible cap, farther left than the previous attempt."})
tool
executing move_to over 11 steps (1.1s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
agent noteThe previous reposition did not track: the arm stayed high. I will return the wrist to its starting yaw and use a simpler approach pose above the shifted bottle.
move_to
left_x0.3700left_y-0.0800left_z0.0900left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6754, 1.2884, 1.1286, -0.6365, -0.6899, -0.5846, 0.9951, -0.0528, 0.7982, 0.643, -0.4736, -0.0757, -0.0883, 0.9989] state[eef_state]: left_x=0.3396 left_y=-0.1234 left_z=0.2384 left_yaw=0.1715 left_pitch=-0.025 left_roll=0.0162 left_gripper=0.9951 right_x=0.2868 right_y=0.0018 right_z=0.1778 right_yaw=0.0406 right_pitch=-0.0544 right_roll=0.0005 right_gripper=0.9989 state[joint_eff]: [-0.5128, -5.5453, 8.4718, 1.4481, -0.4469, 0.0171, -0.0122, -0.4308, -0.7316, 10.0444, 2.0147, -0.0757, 0.0269, -0.0171] 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":{"left_x":0.37,"left_y":-0.08,"left_z":0.09,"left_yaw":0.0},"note":"The previous reposition did not track: the arm stayed high. I will return the wrist to its starting yaw and use a simpler approach pose above the shifted bottle."})
tool
executing move_to over 10 steps (1.0s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteThe shifted bottle's neck is visible at the lower-left edge of the wrist view. I will move a few centimetres left and descend so the jaws straddle the neck instead of passing beside it.
move_to
left_x0.3600left_y-0.0450left_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.382, 1.3773, 0.5346, 0.1562, -0.3706, -0.2832, 0.9961, -0.0528, 0.7631, 0.5888, -0.4442, -0.0834, -0.0883, 0.9989] state[eef_state]: left_x=0.3581 left_y=-0.0711 left_z=0.0795 left_yaw=0.0556 left_pitch=-0.0733 left_roll=0.0258 left_gripper=0.9961 right_x=0.2821 right_y=0.0034 right_z=0.1685 right_yaw=0.047 right_pitch=-0.0437 right_roll=0.0039 right_gripper=0.9989 state[joint_eff]: [0.2667, -5.1624, 6.2154, 1.8681, -0.0317, 0.2418, 0.0952, -0.4991, -1.388, 6.9402, 2.0879, -0.0757, -0.0513, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.045,"left_z":0.025},"note":"The shifted bottle's neck is visible at the lower-left edge of the wrist view. I will move a few centimetres left and descend so the jaws straddle the neck instead of passing beside it."})
tool
executing move_to over 4 steps (0.4s)
step 83
top_cam
camera top_cam step 83
left_cam
camera left_cam step 83
right_cam
camera right_cam step 83
assistant
agent noteThe neck is now beneath the jaws, and the descent stopped slightly high, suggesting contact with the bottle. I will close fully and check the resulting jaw gap before lifting.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2836, 1.5661, 0.3664, 0.6357, -0.3199, -0.2325, 0.9963, -0.0528, 0.7372, 0.5449, -0.4217, -0.0834, -0.0879, 0.9989] state[eef_state]: left_x=0.3666 left_y=-0.0453 left_z=0.0425 left_yaw=0.0841 left_pitch=0.027 left_roll=-0.0071 left_gripper=0.9963 right_x=0.2784 right_y=0.0036 right_z=0.1599 right_yaw=0.0468 right_pitch=-0.0392 right_roll=0.0038 right_gripper=0.9989 state[joint_eff]: [0.3761, -3.7265, 2.6735, 1.0427, 0.1099, 0.1441, 0.0024, -0.4034, -1.4291, 7.0769, 1.9609, -0.0806, -0.0415, -0.0073] camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The neck is now beneath the jaws, and the descent stopped slightly high, suggesting contact with the bottle. I will close fully and check the resulting jaw gap before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 93
top_cam
camera top_cam step 93
left_cam
camera left_cam step 93
right_cam
camera right_cam step 93
assistant
agent noteThe second close was empty; the overhead view shows the bottle just behind and to the right of the fingertips. I will reposition from that overhead evidence, opening before moving back toward its neck.
move_to
left_x0.3300left_y-0.0800left_z0.0120left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2676, 1.5997, 0.3511, 0.7822, -0.3069, -0.2268, 0.0108, -0.0528, 0.7147, 0.5076, -0.4023, -0.0834, -0.0879, 0.9989] state[eef_state]: left_x=0.377 left_y=-0.0443 left_z=0.0555 left_yaw=0.0887 left_pitch=0.1161 left_roll=-0.0427 left_gripper=0.0108 right_x=0.2752 right_y=0.0038 right_z=0.1526 right_yaw=0.0468 right_pitch=-0.0346 right_roll=0.0033 right_gripper=0.9989 state[joint_eff]: [-0.4308, -3.9863, 3.1932, 0.9988, 0.1245, 0.1587, 0.9451, -0.212, -1.2239, 6.9128, 2.0195, -0.0806, -0.0122, -0.0171] camera 'top_cam' (step 93): [image omitted: streamed camera frame] camera 'left_cam' (step 93): [image omitted: streamed camera frame] camera 'right_cam' (step 93): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.33,"left_y":-0.08,"left_z":0.012,"left_gripper":1},"note":"The second close was empty; the overhead view shows the bottle just behind and to the right of the fingertips. I will reposition from that overhead evidence, opening before moving back toward its neck."})
tool
executing move_to over 10 steps (1.0s)
step 103
top_cam
camera top_cam step 103
left_cam
camera left_cam step 103
right_cam
camera right_cam step 103
assistant
agent noteThe bottle's shoulder is now directly below the jaw opening in the wrist view. I will close here while returning the idle arm to its raised parking pose.
move_to
left_gripper0.0000right_x0.2940right_y0.0000right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.485, 1.6089, 0.3134, 0.7841, -0.5037, -0.3565, 0.9951, -0.0528, 0.6933, 0.4736, -0.3874, -0.0834, -0.0879, 0.9989] state[eef_state]: left_x=0.3516 left_y=-0.0849 left_z=0.0465 left_yaw=0.1026 left_pitch=0.1159 left_roll=-0.0574 left_gripper=0.9951 right_x=0.272 right_y=0.0039 right_z=0.1456 right_yaw=0.0468 right_pitch=-0.0324 right_roll=0.0031 right_gripper=0.9989 state[joint_eff]: [-0.6085, -2.6598, 2.0034, 0.6032, 0.1685, -0.0122, -0.1636, -0.0615, -1.1556, 7.0222, 1.9414, -0.0513, -0.0171, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0,"right_x":0.294,"right_y":0.0,"right_z":0.2},"note":"The bottle's shoulder is now directly below the jaw opening in the wrist view. I will close here while returning the idle arm to its raised parking pose."})
tool
executing move_to over 10 steps (1.0s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteThe cap is visible beside the closed jaws, confirming another miss rather than a held bottle. I will lift clear and move farther back over the neck before descending again.
move_to
left_x0.3100left_y-0.1050left_z0.1000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4828, 1.5272, 0.4107, 0.5186, -0.5175, -0.3733, 0.0113, -0.0677, 0.799, 0.6434, -0.4744, -0.091, -0.1081, 0.9989] state[eef_state]: left_x=0.3565 left_y=-0.0842 left_z=0.0562 left_yaw=0.121 left_pitch=0.0481 left_roll=-0.0176 left_gripper=0.0113 right_x=0.2868 right_y=0.0002 right_z=0.1777 right_yaw=0.0494 right_pitch=-0.0547 right_roll=-0.0065 right_gripper=0.9989 state[joint_eff]: [0.0068, -5.2308, 5.9009, 1.1551, 0.0415, 0.0122, 0.9841, -0.6906, -0.7179, 10.0171, 2.0195, -0.1245, 0.0269, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.31,"left_y":-0.105,"left_z":0.1,"left_gripper":1},"note":"The cap is visible beside the closed jaws, confirming another miss rather than a held bottle. I will lift clear and move farther back over the neck before descending again."})
tool
executing move_to over 10 steps (1.0s)
step 123
top_cam
camera top_cam step 123
left_cam
camera left_cam step 123
right_cam
camera right_cam step 123
assistant
agent noteThe bottle is now clearly between the open fingers, with its neck just left of center. I will make a small left correction and lower to the neck's height.
move_to
left_x0.3100left_y-0.0900left_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6659, 1.2461, 0.4576, 0.0547, -0.6289, -0.5148, 0.9943, -0.0734, 0.7647, 0.5896, -0.4458, -0.107, -0.1104, 0.9989] state[eef_state]: left_x=0.3096 left_y=-0.1065 left_z=0.0883 left_yaw=0.0985 left_pitch=-0.0131 left_roll=0.0002 left_gripper=0.9943 right_x=0.2821 right_y=0.0018 right_z=0.1684 right_yaw=0.0583 right_pitch=-0.0444 right_roll=-0.0002 right_gripper=0.9989 state[joint_eff]: [-0.1983, -4.6838, 8.7863, 1.5311, -0.4176, 0.0806, -0.1587, -0.5949, -1.4564, 7.1179, 2.0391, -0.0366, 0.0269, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.31,"left_y":-0.09,"left_z":0.035},"note":"The bottle is now clearly between the open fingers, with its neck just left of center. I will make a small left correction and lower to the neck's height."})
tool
executing move_to over 4 steps (0.4s)
step 127
top_cam
camera top_cam step 127
left_cam
camera left_cam step 127
right_cam
camera right_cam step 127
assistant
agent noteThe fingers now surround the upper part of the bottle rather than empty space near its cap. I will close to secure it and check the jaw gap.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6098, 1.4078, 0.3164, 0.3809, -0.606, -0.4911, 0.9955, -0.0734, 0.7383, 0.5461, -0.4244, -0.1093, -0.1104, 0.9989] state[eef_state]: left_x=0.3111 left_y=-0.0902 left_z=0.0425 left_yaw=0.1246 left_pitch=-0.0065 left_roll=-0.0068 left_gripper=0.9955 right_x=0.2782 right_y=0.0025 right_z=0.1599 right_yaw=0.0602 right_pitch=-0.0401 right_roll=0.0005 right_gripper=0.9989 state[joint_eff]: [0.3487, -3.7538, 3.5897, 1.243, -0.1245, 0.3492, 0.105, -0.5538, -1.5111, 6.9949, 2.0147, -0.1392, 0.0171, -0.0073] camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The fingers now surround the upper part of the bottle rather than empty space near its cap. I will close to secure it and check the jaw gap."})
tool
executing move_to over 10 steps (1.0s)
step 137
top_cam
camera top_cam step 137
left_cam
camera left_cam step 137
right_cam
camera right_cam step 137
assistant
agent noteThe bottle slipped below the closing fingers; the cap is now centered in the wrist view. I will move forward to that narrow neck and lower the fingertips closer to table level before closing.
move_to
left_x0.3550left_y-0.0850left_z0.0050left_gripper0.6500right_x0.2940right_y0.0000right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.609, 1.4078, 0.3153, 0.4633, -0.6491, -0.498, 0.0113, -0.0734, 0.7147, 0.5083, -0.4023, -0.1097, -0.1104, 0.9989] state[eef_state]: left_x=0.3205 left_y=-0.089 left_z=0.0587 left_yaw=0.164 left_pitch=0.071 left_roll=-0.0488 left_gripper=0.0113 right_x=0.2753 right_y=0.0027 right_z=0.1532 right_yaw=0.0604 right_pitch=-0.0321 right_roll=-0.0003 right_gripper=0.9989 state[joint_eff]: [-0.5949, -3.8769, 5.2855, 0.8864, 0.0659, 0.0806, 0.9255, -0.4855, -1.4017, 6.8718, 1.9951, -0.1343, -0.0122, -0.0122] camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.355,"left_y":-0.085,"left_z":0.005,"left_gripper":0.65,"right_x":0.294,"right_y":0.0,"right_z":0.2},"note":"The bottle slipped below the closing fingers; the cap is now centered in the wrist view. I will move forward to that narrow neck and lower the fingertips closer to table level before closing."})
tool
executing move_to over 7 steps (0.7s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent noteThe cap remains just in front of the jaw opening, and the fingers are contacting the wider shoulder. I will advance a small amount onto the neck while keeping the jaws open.
move_to
left_x0.3800left_y-0.0750left_z0.0000left_gripper0.6500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5175, 1.713, 0.4213, 0.7555, -0.5945, -0.4797, 0.6456, -0.0799, 0.7986, 0.6437, -0.4686, -0.1135, -0.1207, 0.9989] state[eef_state]: left_x=0.3712 left_y=-0.0933 left_z=0.044 left_yaw=0.2084 left_pitch=0.1194 left_roll=-0.1181 left_gripper=0.6456 right_x=0.2876 right_y=0.0006 right_z=0.1794 right_yaw=0.0628 right_pitch=-0.0466 right_roll=-0.0045 right_gripper=0.9989 state[joint_eff]: [0.4444, -2.9744, 2.8376, 0.1392, 0.0708, 0.2857, -0.1392, -0.5538, -0.841, 9.8803, 1.9121, -0.1245, 0.0904, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.075,"left_z":0.0,"left_gripper":0.65},"note":"The cap remains just in front of the jaw opening, and the fingers are contacting the wider shoulder. I will advance a small amount onto the neck while keeping the jaws open."})
tool
executing move_to over 3 steps (0.3s)
step 147
top_cam
camera top_cam step 147
left_cam
camera left_cam step 147
right_cam
camera right_cam step 147
assistant
agent noteThe bottle is being pushed along rather than captured, so I will stop the low sliding motion. I will lift the fully open fingers and approach farther toward the cap to avoid the wide body.
move_to
left_x0.4500left_y-0.0850left_z0.0900left_gripper1.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.461, 1.7962, 0.5068, 0.7788, -0.5793, -0.4656, 0.6496, -0.0807, 0.7731, 0.5999, -0.4488, -0.1169, -0.1219, 0.9989] state[eef_state]: left_x=0.3983 left_y=-0.0859 left_z=0.0443 left_yaw=0.247 left_pitch=0.1344 left_roll=-0.1279 left_gripper=0.6496 right_x=0.2834 right_y=0.0014 right_z=0.1703 right_yaw=0.0655 right_pitch=-0.0448 right_roll=-0.0037 right_gripper=0.9989 state[joint_eff]: [0.3077, -3.9863, 2.906, 0.1929, 0.0708, 0.4029, -0.0415, -0.5812, -1.812, 7.0359, 2.044, -0.2027, -0.0024, -0.0073] camera 'top_cam' (step 147): [image omitted: streamed camera frame] camera 'left_cam' (step 147): [image omitted: streamed camera frame] camera 'right_cam' (step 147): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.45,"left_y":-0.085,"left_z":0.09,"left_gripper":1,"left_yaw":0.0},"note":"The bottle is being pushed along rather than captured, so I will stop the low sliding motion. I will lift the fully open fingers and approach farther toward the cap to avoid the wide body."})
tool
executing move_to over 4 steps (0.4s)
step 151
top_cam
camera top_cam step 151
left_cam
camera left_cam step 151
right_cam
camera right_cam step 151
assistant
agent noteThe forward lift did not track, and the wrist is deflected from its requested orientation. I will first withdraw upward and inward to clear contact before choosing the next approach.
move_to
left_x0.3600left_y-0.0850left_z0.1600left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4435, 1.8149, 0.5114, 0.8204, -0.5835, -0.4484, 0.9961, -0.0807, 0.7479, 0.556, -0.4252, -0.1173, -0.1223, 0.9989] state[eef_state]: left_x=0.4038 left_y=-0.0801 left_z=0.0469 left_yaw=0.2615 left_pitch=0.1576 left_roll=-0.1285 left_gripper=0.9961 right_x=0.2798 right_y=0.0017 right_z=0.1618 right_yaw=0.066 right_pitch=-0.0398 right_roll=-0.0045 right_gripper=0.9989 state[joint_eff]: [-0.4034, -3.8085, 2.359, 0.5348, 0.1392, 0.2271, -0.0757, -0.7043, -1.5385, 7.2684, 1.9951, -0.2027, -0.0122, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). 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_x":0.36,"left_y":-0.085,"left_z":0.16,"left_gripper":1},"note":"The forward lift did not track, and the wrist is deflected from its requested orientation. I will first withdraw upward and inward to clear contact before choosing the next approach."})
tool
executing move_to over 8 steps (0.8s)
step 159
top_cam
camera top_cam step 159
left_cam
camera left_cam step 159
right_cam
camera right_cam step 159
assistant
agent noteThe left arm is still well short of its target, so I will return it to a more folded, raised parking pose. This will clear the bottle and let me reassess without further pushing it.
move_to
left_x0.2950left_y0.0000left_z0.2300left_yaw0.0000right_x0.2940right_y0.0000right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4892, 1.7512, 0.5976, 0.6514, -0.63, -0.4965, 0.9979, -0.0807, 0.7261, 0.5205, -0.4026, -0.1173, -0.1219, 0.9989] state[eef_state]: left_x=0.4109 left_y=-0.0968 left_z=0.0698 left_yaw=0.2778 left_pitch=0.1552 left_roll=-0.1438 left_gripper=0.9979 right_x=0.2774 right_y=0.0019 right_z=0.1559 right_yaw=0.0658 right_pitch=-0.0311 right_roll=-0.0055 right_gripper=0.9989 state[joint_eff]: [-1.1419, -10.7829, 7.4598, 2.1074, -0.2271, 0.2369, -0.2271, -0.7043, -1.2103, 6.735, 1.9707, -0.1685, -0.0073, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":0.0,"left_z":0.23,"left_yaw":0.0,"right_x":0.294,"right_y":0.0,"right_z":0.2},"note":"The left arm is still well short of its target, so I will return it to a more folded, raised parking pose. This will clear the bottle and let me reassess without further pushing it."})
tool
executing move_to over 11 steps (1.1s)
step 170
top_cam
camera top_cam step 170
left_cam
camera left_cam step 170
right_cam
camera right_cam step 170
assistant
agent noteWith the arm clear, the leftmost bottle's cap is visible farther toward the table center than my earlier alignment. I will approach that cap from above, correcting substantially to the right.
move_to
left_x0.4300left_y-0.1900left_z0.0900left_gripper1.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0616, 0.841, 0.7547, -0.4564, -0.1356, -0.1291, 0.9976, -0.0807, 0.8017, 0.6472, -0.4793, -0.1345, -0.1299, 0.9989] state[eef_state]: left_x=0.3044 left_y=0.0087 left_z=0.221 left_yaw=0.0968 left_pitch=0.0222 left_roll=-0.0171 left_gripper=0.9976 right_x=0.2866 right_y=0.0042 right_z=0.1783 right_yaw=0.0847 right_pitch=-0.0549 right_roll=0.0018 right_gripper=0.9989 state[joint_eff]: [0.1846, -1.5111, 9.4291, 1.746, 0.0806, 0.1783, -0.0464, -0.9231, -0.7863, 10.1128, 1.8437, 0.0024, 0.0708, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.19,"left_z":0.09,"left_gripper":1,"left_yaw":0.0},"note":"With the arm clear, the leftmost bottle's cap is visible farther toward the table center than my earlier alignment. I will approach that cap from above, correcting substantially to the right."})
tool
executing move_to over 18 steps (1.8s)
step 188
top_cam
camera top_cam step 188
left_cam
camera left_cam step 188
right_cam
camera right_cam step 188
assistant
agent noteThe leftmost neck is now close to the jaw center, with its cap still ahead of the fingertips. I will advance four centimetres and descend around the neck.
move_to
left_x0.4600left_y-0.1800left_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6029, 1.7676, 0.9073, 0.1455, -0.5041, -0.3912, 0.9979, -0.0856, 0.7654, 0.5915, -0.445, -0.1356, -0.1329, 0.9989] state[eef_state]: left_x=0.4184 left_y=-0.1801 left_z=0.0772 left_yaw=-0.0001 left_pitch=-0.0525 left_roll=0.0267 left_gripper=0.9979 right_x=0.2824 right_y=0.0033 right_z=0.1696 right_yaw=0.0822 right_pitch=-0.0401 right_roll=-0.0025 right_gripper=0.9989 state[joint_eff]: [-0.6085, -8.6906, 7.788, 1.6484, -0.2662, 0.1197, -0.2271, -0.1436, -1.4701, 7.0222, 2.0049, -0.1538, -0.0073, -0.0073] camera 'top_cam' (step 188): [image omitted: streamed camera frame] camera 'left_cam' (step 188): [image omitted: streamed camera frame] camera 'right_cam' (step 188): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.46,"left_y":-0.18,"left_z":0.025},"note":"The leftmost neck is now close to the jaw center, with its cap still ahead of the fingertips. I will advance four centimetres and descend around the neck."})
tool
executing move_to over 4 steps (0.4s)
step 192
top_cam
camera top_cam step 192
left_cam
camera left_cam step 192
right_cam
camera right_cam step 192
assistant
agent noteAt the lower height, the leftmost cap appears at the lower-left edge; the bottle in the center of the wrist image is actually the middle bottle. I will shift left and slightly back to isolate the leftmost neck.
move_to
left_x0.4450left_y-0.1450left_z0.0100
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5537, 1.9675, 0.9375, 0.4648, -0.4763, -0.3931, 0.9976, -0.0864, 0.7448, 0.5526, -0.4248, -0.136, -0.1329, 0.9989] state[eef_state]: left_x=0.4625 left_y=-0.1865 left_z=0.0549 left_yaw=0.0282 left_pitch=0.0623 left_roll=-0.0721 left_gripper=0.9976 right_x=0.2792 right_y=0.0035 right_z=0.1614 right_yaw=0.0818 right_pitch=-0.0382 right_roll=-0.0026 right_gripper=0.9989 state[joint_eff]: [0.9368, -7.0906, 5.2718, 0.6081, -0.0659, 0.5055, -0.0415, -0.5265, -1.6615, 6.9402, 1.9805, -0.1783, -0.0122, -0.0171] camera 'top_cam' (step 192): [image omitted: streamed camera frame] camera 'left_cam' (step 192): [image omitted: streamed camera frame] camera 'right_cam' (step 192): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.445,"left_y":-0.145,"left_z":0.01},"note":"At the lower height, the leftmost cap appears at the lower-left edge; the bottle in the center of the wrist image is actually the middle bottle. I will shift left and slightly back to isolate the leftmost neck."})
tool
executing move_to over 4 steps (0.4s)
step 196
assistant
agent noteThe arm is not tracking the low sideways correction at this extended reach. I will withdraw inward and upward, then approach the left bottle from a reachable position rather than continuing to press.
move_to
left_x0.3800left_y-0.1450left_z0.1100left_gripper1.0000right_x0.2940right_y0.0000right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5434, 1.9724, 0.9466, 0.4561, -0.4797, -0.3935, 0.9975, -0.0864, 0.725, 0.519, -0.4023, -0.1364, -0.1329, 0.9989] state[eef_state]: left_x=0.4657 left_y=-0.1819 left_z=0.0544 left_yaw=0.0413 left_pitch=0.0595 left_roll=-0.0684 left_gripper=0.9975 right_x=0.2771 right_y=0.0037 right_z=0.1558 right_yaw=0.082 right_pitch=-0.0295 right_roll=-0.0038 right_gripper=0.9989 state[joint_eff]: [-0.0205, -10.3316, 6.2427, 0.8816, -0.2564, 0.2466, -0.0171, -0.5812, -1.5795, 6.7624, 1.9463, -0.2222, -0.0122, -0.0073] camera 'top_cam' (step 196): [image omitted: streamed camera frame] camera 'left_cam' (step 196): [image omitted: streamed camera frame] camera 'right_cam' (step 196): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.145,"left_z":0.11,"left_gripper":1,"right_x":0.294,"right_y":0.0,"right_z":0.2},"note":"The arm is not tracking the low sideways correction at this extended reach. I will withdraw inward and upward, then approach the left bottle from a reachable position rather than continuing to press."})
tool
executing move_to over 7 steps (0.7s)
step 203
assistant
agent noteThe withdrawal is also stalled, with almost no change in the arm readback. I will return to the raised home pose that previously restored motion before making any further contact.
move_to
left_x0.2950left_y0.0000left_z0.2300left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5434, 1.9682, 0.9485, 0.4408, -0.4793, -0.3931, 0.9978, -0.1005, 0.8028, 0.6476, -0.4713, -0.144, -0.1413, 0.9989] state[eef_state]: left_x=0.4648 left_y=-0.1814 left_z=0.0542 left_yaw=0.0405 left_pitch=0.0518 left_roll=-0.0632 left_gripper=0.9978 right_x=0.2879 right_y=0.0 right_z=0.1798 right_yaw=0.079 right_pitch=-0.0468 right_roll=-0.0032 right_gripper=0.9989 state[joint_eff]: [-0.0889, -9.935, 5.7368, 0.989, -0.2564, 0.2955, -0.2369, -0.5812, -1.0462, 9.7573, 1.956, -0.2613, -0.0122, -0.0171] 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":0.295,"left_y":0.0,"left_z":0.23,"left_yaw":0.0},"note":"The withdrawal is also stalled, with almost no change in the arm readback. I will return to the raised home pose that previously restored motion before making any further contact."})
tool
executing move_to over 17 steps (1.7s)
step 220
assistant
agent noteThe two left bottles have shifted during the failed grasps, while the rightmost bottle remains undisturbed. I will leave the left arm parked and try the right arm on the rightmost bottle's upper body.
move_to
right_x0.4400right_y0.3000right_z0.1000right_gripper1.0000left_x0.2950left_y0.0000left_z0.2300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0593, 0.8452, 0.7532, -0.4725, -0.1066, -0.1036, 0.9976, -0.1059, 0.7723, 0.6025, -0.4477, -0.1604, -0.1444, 0.9989] state[eef_state]: left_x=0.3028 left_y=0.0044 left_z=0.2155 left_yaw=0.061 left_pitch=-0.0015 left_roll=-0.0074 left_gripper=0.9976 right_x=0.2838 right_y=0.0018 right_z=0.1726 right_yaw=0.0889 right_pitch=-0.036 right_roll=0.002 right_gripper=0.9989 state[joint_eff]: [0.1573, -1.9897, 9.9761, 1.7802, 0.1441, 0.2027, -0.0366, -0.2667, -1.4017, 6.9538, 2.0049, -0.0415, 0.0024, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 220): [image omitted: streamed camera frame] camera 'left_cam' (step 220): [image omitted: streamed camera frame] camera 'right_cam' (step 220): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.44,"right_y":0.3,"right_z":0.1,"right_gripper":1,"left_x":0.295,"left_y":0.0,"left_z":0.23},"note":"The two left bottles have shifted during the failed grasps, while the rightmost bottle remains undisturbed. I will leave the left arm parked and try the right arm on the rightmost bottle's upper body."})
tool
executing move_to over 25 steps (2.5s)
step 245
assistant
agent noteThe rightmost bottle is clearly visible, slightly right of the jaw center. I will center over its body and lower the fully open fingers to grasp it from the sides.
move_to
right_x0.4300right_y0.2750right_z0.0150
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0921, 0.8322, 0.7723, -0.5518, -0.1394, -0.112, 0.9976, 0.7681, 1.9736, 1.2407, -0.0147, 0.5213, 0.3424, 0.9989] state[eef_state]: left_x=0.2925 left_y=0.0012 left_z=0.2119 left_yaw=0.0605 left_pitch=-0.0458 left_roll=0.01 left_gripper=0.9976 right_x=0.4251 right_y=0.2933 right_z=0.0839 right_yaw=0.1345 right_pitch=-0.0588 right_roll=-0.0454 right_gripper=0.9989 state[joint_eff]: [-0.7179, -1.7983, 9.9897, 1.7314, -0.1441, -0.105, -0.0122, -0.2803, -10.1265, 9.0872, 1.746, 0.4762, 0.3053, -0.1245] camera 'top_cam' (step 245): [image omitted: streamed camera frame] camera 'left_cam' (step 245): [image omitted: streamed camera frame] camera 'right_cam' (step 245): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.275,"right_z":0.015},"note":"The rightmost bottle is clearly visible, slightly right of the jaw center. I will center over its body and lower the fully open fingers to grasp it from the sides."})
tool
executing move_to over 5 steps (0.5s)
step 250
assistant
agent noteThe open fingers now flank the bottle's body, with only a small lateral offset remaining. I will make that correction and close fully to test for a secure body grasp.
move_to
right_y0.2650right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0921, 0.8055, 0.7292, -0.5201, -0.139, -0.112, 0.9976, 0.7292, 2.0521, 1.0615, 0.3347, 0.5152, 0.3092, 0.9989] state[eef_state]: left_x=0.2902 left_y=0.0014 left_z=0.2061 left_yaw=0.0601 left_pitch=-0.0308 left_roll=0.0075 left_gripper=0.9976 right_x=0.4316 right_y=0.2737 right_z=0.0376 right_yaw=0.1195 right_pitch=0.0128 right_roll=-0.0164 right_gripper=0.9989 state[joint_eff]: [-0.2256, -1.8667, 6.5573, 1.9707, -0.0513, -0.0708, -0.0171, -0.2803, -6.4068, 4.1231, 1.3553, -0.105, 0.1636, -0.0171] camera 'top_cam' (step 250): [image omitted: streamed camera frame] camera 'left_cam' (step 250): [image omitted: streamed camera frame] camera 'right_cam' (step 250): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.265,"right_gripper":0.0},"note":"The open fingers now flank the bottle's body, with only a small lateral offset remaining. I will make that correction and close fully to test for a secure body grasp."})
tool
executing move_to over 10 steps (1.0s)
step 260
assistant
agent noteThe right gripper also closed empty, and the low pose stopped well above its requested height. I will park both arms clear of the bottles rather than continue pushing them without a reliable grasp.
move_to
right_x0.2940right_y0.0000right_z0.2200right_gripper1.0000left_x0.2950left_y0.0000left_z0.2300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0921, 0.7887, 0.7036, -0.5034, -0.1394, -0.1116, 0.9975, 0.7269, 2.0621, 1.0481, 0.4938, 0.4961, 0.3035, 0.019] state[eef_state]: left_x=0.2885 left_y=0.0016 left_z=0.2024 left_yaw=0.0602 left_pitch=-0.0228 left_roll=0.0068 left_gripper=0.9975 right_x=0.4426 right_y=0.2859 right_z=0.0566 right_yaw=0.1306 right_pitch=0.1188 right_roll=0.0645 right_gripper=0.019 state[joint_eff]: [-0.0889, -1.7026, 6.4479, 1.9316, -0.0904, -0.0317, -0.0122, -0.294, -6.8444, 4.7795, 0.8767, 0.0317, 0.0708, 0.8962] camera 'top_cam' (step 260): [image omitted: streamed camera frame] camera 'left_cam' (step 260): [image omitted: streamed camera frame] camera 'right_cam' (step 260): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.294,"right_y":0.0,"right_z":0.22,"right_gripper":1,"left_x":0.295,"left_y":0.0,"left_z":0.23},"note":"The right gripper also closed empty, and the low pose stopped well above its requested height. I will park both arms clear of the bottles rather than continue pushing them without a reliable grasp."})
tool
executing move_to over 24 steps (2.4s)
step 284
assistant
agent noteI could not establish a reliable grasp to stand the bottles. Each full close was empty, and several low approaches pushed the bottles or failed to track their targets. All three bottles remain lying down; both arms are now parked above the table with open grippers.
give_up
hindsightUse a full-close jaw reading early to verify capture: the partial 0.22-width close falsely appeared promising, but the subsequent full close showed it was empty. Low approaches repeatedly shifted these bottles, so re-localize after each contact rather than reusing their starting positions. Several extended poses stalled substantially; returning to approximately x=0.295, y=0, z=0.23 restored motion. No successful bottle-grasp or passive-uprighting technique was established in this trial.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0921, 0.8215, 0.77, -0.5549, -0.1394, -0.1123, 0.9976, -0.1246, 0.8486, 0.7368, -0.5022, -0.1612, -0.1497, 0.9985] state[eef_state]: left_x=0.2908 left_y=0.0014 left_z=0.2131 left_yaw=0.0607 left_pitch=-0.0405 left_roll=0.0089 left_gripper=0.9976 right_x=0.2973 right_y=-0.005 right_z=0.2017 right_yaw=0.0738 right_pitch=-0.0325 right_roll=-0.0026 right_gripper=0.9985 state[joint_eff]: [-0.7179, -0.6632, 10.1402, 1.7851, -0.1148, -0.1099, -0.0073, 0.0752, -2.1402, 9.9761, 1.6484, -0.1978, -0.0171, 0.0073] camera 'top_cam' (step 284): [image omitted: streamed camera frame] camera 'left_cam' (step 284): [image omitted: streamed camera frame] camera 'right_cam' (step 284): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not establish a reliable grasp to stand the bottles. Each full close was empty, and several low approaches pushed the bottles or failed to track their targets. All three bottles remain lying down; both arms are now parked above the table with open grippers.","hindsight":"Use a full-close jaw reading early to verify capture: the partial 0.22-width close falsely appeared promising, but the subsequent full close showed it was empty. Low approaches repeatedly shifted these bottles, so re-localize after each contact rather than reusing their starting positions. Several extended poses stalled substantially; returning to approximately x=0.295, y=0, z=0.23 restored motion. No successful bottle-grasp or passive-uprighting technique was established in this trial."})
tool
give_up: I could not establish a reliable grasp to stand the bottles. Each full close was empty, and several low approaches pushed the bottles or failed to track their targets. All three bottles remain lying down; both arms are now parked above the table with open grippers.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [0, 0], left_roll: [0, 0], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [0, 0], right_roll: [0, 0], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 8.595 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Stand all three bottles upright.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7929, 0.6098, -0.3763, -0.0257, -0.0437, 0.9988, -0.0154, 0.7895, 0.6037, -0.387, -0.0128, -0.0422, 0.9989]\nstate[eef_state]: left_x=0.2959 left_y=0.0022 left_z=0.1837 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.2935 right_y=0.0013 right_z=0.1796 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9989\nstate[joint_eff]: [-0.4308, -1.4701, 9.6752, 1.7509, 0.0122, 0.2808, -0.1392, -0.8957, -1.1556, 10.2632, 1.8486, -0.1294, 0.2125, -0.1294]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ffebefe0b418450906d38120cc334b79fec705d5fe1bd1066cfa39d1a0d625c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00d0dc0e9c32f2dbd28ac4abf0c8a821f4e2b7b264d238b32ad0c8121bb9bc6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23838d99289a77446c29a55f460ae20a61cae356f08010440a3795f70ad46282",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 6.661 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtJK96PhsdNs3SSTMgOib3l7iGJa-o2TfbVp-j3o0j_nKUe0DL2lHV33bMK668NCer-ogmN3dNUuNoExEqniqnW5VIVkZBwrObZPN-2hSZrvO6WUVCLxxTmGiuMR41w0I9V3CijANd4_69-q_0IvYldDX5UiRDEMaXSP-91ZMNNH3vtN2uRUkv8mt6mt8LeUEiTpOGhZIkTLrx2ob2kmOZJR1tJVJYGmO-P-IkDwSemez_75nvJgAc1dHfRXLDuKD956eOE4mv1VapF5TnEDK8f0Jd9F3D743K9YJaToCY5L4II5q8-T84v_ZYNBCWIlk7HjGIVO5WS_P5UoutQe4VvYAbOfLoVkKECWtpjbmvAlKEZh0aTWe3peJ_S4Xw38KLGWNj8NMaoe0-FfVN0GNIVZC9ARPHizy6KHdrvAgjM2W_xtArPY6Sp00pnnwABAShb7MexZofOYqzKp-8CMswxMnuIub1pJJg3ci1-xfA9OFI2PvSUDZv4px8-ADbGn_Ou0xkjuIKmaIUjboxEmtzHqgYn9972zsGlBPT0Xel_Pq2KeLMfpxMEIEzKZqOas_VWmezuTwKrlj8UhemOz9tr2lNSwUUchxKywg4-lrCuW6fISI9Nk2Xuw0EvwwZscL9dOkTupizT8ud6hWiMogjyIw7lAOVbkgllZpCG3QVMPkiz6FZOlLLEOKan8al3pP1_XCkyqSSRlZqcqfoHUBworbEYuEr5aJkhU_r9-qqaOuaL886-YhEZp1Oyizg3fRmXJ61KEAcE1yu-YlrDH3jpsfhr2NXcv3ZR4rLP664OnMpwX_ZwxRsHbJ7Dgq4yzYFHQZmWLdYeAbKKvaAzN_IAWP1YJVzu3QK1TX5ytt7ddylUpOn3c9CCaLrQF1umYPuweMmRzBWBKKfywkVS5XtwydEGYvYAxgXRUThLhXb9iml9G86Gz_t29j0xEpsdwd6UU33YxRWs6k33Pr_0vkGnutCcxHtzAy7pSco2wAlc77aQQdoEMIq3rQuKSht1WlPv4jPo377PM3YWFw8g06uWq_DCjoyD-AB-2c0aC7SrPTcItqGBJLeSkR0nswd2uAJ7lSJBmpKIea7gXrZoPULCwzWoD8P82KaE91aku1d4QavymSjjCMDNjSK_XzPy_JoRSGfjk1GH-MXUG9d7ohG2Mig47gXqIikam_jn8j_5hRIqkheNhN_A4FQifi2PAmfB8peMj_Q4jsTqBSuwKV2UaCsxrqzzK50C0bsrL64DnccM5ZkWRCxORKB_osxHjZbrc5O4Ji5izqGISS63SaL1JOS84sILro6Wj2_nHAdah4S8IhxKYgDlwVL229bZpNqkt-l9VU2ST88MGysFQPYOXELfErUe1yNBlWJIR6jN-IS-qN3lKLnOpI7mEDJZp76vhErsyey-tZMoLJMvDxKdSC2kFGyP1SSTrmqT12O4Dgtf1oRGjoSPQLKyoWoJRpW2v-OLO07EN_2lCQDZJjGi_G8SK3XTn5IJtiU9hEEfH_9htJRAg5PQ2bWwGwsXh09t2fw00OZNivrsqdzJSnuo8xJtLI4bL56I2OlpeA4IVA8n4OOMLdOdsCV0dtGb7DaFL2HEQFULbwFH1UZiQtTrUQnyDxdFJOObfh8rLDwby_KEvVNVc5wke3XiEgPO6JYVZHJNXnoFxe8gNbla-bPo7FMcPACMrej0pd5PO6PkTMhIQwhkaM7syOMpul_ECpowvgK49SArBhzjpwl95-2s1Uk3tG26zxT08a--0ZNaW_eyINy3I00WMyEG3IAeOMyrS-4TmpJnoc4rRsWEHL9U80B4VAQrwz9w2tw3eUjVl3A82NWNQR5lZOED5cyWQqWgD8Hx_Tfg5Mnc0Ip8QivN-xE6DiHrR891OTiOu-FLxyuQQBCTy0WpdBSeRt_eXlKGYVTROtopWP1_3s61JJZTmDJqX3kv1Np61IRCp-AujO_Oq-aV6lLm9qrlfoF6AVh-a7cAJzFOktb4YkTNSkT6DkBE6-3qeTW4CZi9w9I8VQcHDcw4YA3G2Qv3yzJPxXkNSLe8RiamRdqWFAnQCIVXABGODD91fUUuIiiS9ksWifF8qDKXxYM2CnTgQqgVHlwylWESOsaeuJEeOKiuOnpgs6R7kzKFx7FPnBjO6ehqz-yVyh4ulg5ZQ_A2jmYdVaxuOzkLrngztcBlcw4oenT2V4hzjsdj-zJeLcxO_U8FjtZ-RFB16tLQM69lssNM1GBNd-9VLR9JiodfrwQvGCHiTW5NA6w8KmGTv3WLH0geRmxqiW-Rjx3uP170nY9VMYvw06iBsMgKqzHCWq5Ux0Rs0gfT_FVkvB9Gx1bte4hTH51vlPOlaJVhfRqpvk27LS_5lktNE78RZGPf58vVSnM-uK-oaW8bDC5JjVaAYadGY8HHgD19BOh1U8ZPWZ9xQwIQQa4rQ4NT6osiBrF2N9OkXu-NUwg_6w1GBRSZD4hHPWHUq8O0XOEWR-O61TqMIwNJewPmdy8oMA3d2PHiiYzKGUPR4dLQqAOqjgK20TmcWCxWbFg7q07IB4AIxj40NsOI6HD3wh2pjy6V9pGV2oR9Jm3qzumAXQorYEvVrPVSRRT89KSTWZC8TJvvMNPVMpNJCI7feTUYxB6LlvKfEgKBA-URkyJ5oBGlkOnmB_NZIuDVI=",
  "id": "rs_01611dcd11576875016ab492b612e487d087b7a80e221fe368",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.17,\"left_z\":0.13,\"left_gripper\":1,\"right_x\":0.294,\"right_y\":0.0,\"right_z\":0.2},\"note\":\"All three bottles are lying down with their caps pointing toward the back of the table. I will approach the leftmost bottle near its neck so I can lift its top and let the body swing downward.\"}",
  "call_id": "call_MDCyEB2gpMtt79VhIaeOX4x1",
  "id": "fc_01611dcd11576875016ab492bb8f6487d0a62d2a2811956d75",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MDCyEB2gpMtt79VhIaeOX4x1",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6041, 1.5589, 0.8463, -0.0006, -0.4919, -0.3851, 0.9988, -0.0158, 0.7986, 0.6495, -0.4831, -0.0132, -0.0582, 0.9989]\nstate[eef_state]: left_x=0.3888 left_y=-0.1626 left_z=0.1136 left_yaw=-0.0141 left_pitch=-0.0559 left_roll=0.0242 left_gripper=0.9988 right_x=0.2862 right_y=0.0014 right_z=0.1784 right_yaw=0.0087 right_pitch=-0.0599 right_roll=-0.0118 right_gripper=0.9989\nstate[joint_eff]: [-0.6359, -7.241, 8.3487, 1.7314, -0.4274, 0.1197, -0.1294, -0.9368, -0.8274, 10.4821, 1.9658, -0.1197, 0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e181a51ed8f8f9d9093b375c66f1d6bcadade90cb2a9de10e4aa74a37936769",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37cb46dd7039a32f8f1e13257782c1d9b80a960aca3b97e8d337ac0ccb246ad4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f25a13791959db4627cca84388d33576a36d70c9af690c2584d87fe64be99b16",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 2 attempt 0 · /responses · status 200 · 6.024 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7929, 0.6098, -0.3763, -0.0257, -0.0437, 0.9988, -0.0154, 0.7895, 0.6037, -0.387, -0.0128, -0.0422, 0.9989]\nstate[eef_state]: left_x=0.2959 left_y=0.0022 left_z=0.1837 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.2935 right_y=0.0013 right_z=0.1796 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9989\nstate[joint_eff]: [-0.4308, -1.4701, 9.6752, 1.7509, 0.0122, 0.2808, -0.1392, -0.8957, -1.1556, 10.2632, 1.8486, -0.1294, 0.2125, -0.1294]",
      "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]: [-0.6041, 1.5589, 0.8463, -0.0006, -0.4919, -0.3851, 0.9988, -0.0158, 0.7986, 0.6495, -0.4831, -0.0132, -0.0582, 0.9989]\nstate[eef_state]: left_x=0.3888 left_y=-0.1626 left_z=0.1136 left_yaw=-0.0141 left_pitch=-0.0559 left_roll=0.0242 left_gripper=0.9988 right_x=0.2862 right_y=0.0014 right_z=0.1784 right_yaw=0.0087 right_pitch=-0.0599 right_roll=-0.0118 right_gripper=0.9989\nstate[joint_eff]: [-0.6359, -7.241, 8.3487, 1.7314, -0.4274, 0.1197, -0.1294, -0.9368, -0.8274, 10.4821, 1.9658, -0.1197, 0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e181a51ed8f8f9d9093b375c66f1d6bcadade90cb2a9de10e4aa74a37936769",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37cb46dd7039a32f8f1e13257782c1d9b80a960aca3b97e8d337ac0ccb246ad4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f25a13791959db4627cca84388d33576a36d70c9af690c2584d87fe64be99b16",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJLFSybrlSs_YGmrWjRPHgt3r9M0oOaOGu0bBXMGHHPQndcPLg2qbYHBOX8zrh0GWsx4EvwjLRgGum7cOvoRkOAM-MWnYChrjAgfGngjpOmooZPWaSYDZzulvkvaICDaFwu2Hvy8DLLb0z6Ofr9JeyJHb_LfOxgC-J11pTO6t_iQX2jpA8jCQsXfL8g-nHLy3wlIPvepfxPPqrHURR1qY8BpE36UUN-B8kz38DxOJRZ8gmOewpgYZAiLvvaso2pyTLZk7PMUQy7IlzeaZ0DeVumBrhbCRPd18IOgxI3jt04kMN0R44HtAILhmFIxzi20uY0NDeoFzHIUh4iJ2JheiGw2T6hfdQB5yaSm2-BKY0hywsBavyFVJeT-7B3vR90xXzxzC22ji270vX6BAz474XNUOJJ5vFwk1YUI-XbR1A6X3BmzAuBLpGNtqn2wc74bvbookraKZHG6i_wBewjkG21lu-paI-LboOKOSFLpsKEfk4wWjWi1zLhAcMCHSe13OU781CnOADJUmo61bSzk52wIVTRcNJmCuysoQpZ6EyjY8GagHPChxehWI49g_hDU9FMfctxlniMVKTgliTyK3u3dBBpuTE385rZZ0FpPuLv31uuZAW3BdWNcVnSnt2HHP8HIaBvxf_xrgvvWMwnHk79Sc2hEE14tta2g03FiZWaL76vhZRE8ciTpKxMBTRGhdaFIQCZ5MRx5L_1XFmWIPaugCbMTFML_ZDupxCcHTFp-yNGs0uLCtuZGS5iEYS-7vN5riEbBtyPA3EAToo7A3Uz53ssTaUaC__-uwyLycdpfurUKBhSvwQ0oQnJBbqop7rA8MaokjYTed3U3_qORaTv2V7OeL7KPu4zSXuE0CqBxS-HaSp_KHnINAP3Li1JJj6gV0LuZn0VAkMwmzIIRnMt4JbomBgy-kkE1mAdYJENLAYwV48zHhQZcGN7qlMojuwHVhbvaW0Xp0p_izBGAg-MBnMO_Se1lHZrQyFlTmGsIL6tRnDHp8CX9PA0gKrCWDKemo71T1FSioTXRSE35dKH2DT-rOir4jO0BxJ8fTSS6EIUIGbLHBUEXJ3Bs48OIg-MNREA1Mduzc2dbEjrBvkmnX204UxJ7wzliqFxN5YD9tiMgcGSzMyEFRx4vqwZv-9fxjxzeFlNx1WO61_xCxBNFOYNSffsIP8RxY3BSUEbd0ij09L4gHi7wYE1ehEcaKSUIxBr7y-ZS1TOXGgeiS5xSwTeAqdit-b57vvdpXQZu5KtSt8HemDcyBTuUqXivhmdr-kDwfPv2MBEzC0xhf4oBi9casGsCSSSTtmC4aJ6NsO3QlnZ1_JcTa0gD4qMpq-l9BOpwTfi6V7JSr7Fi3iGoKmB_GhwaIlOZCn6FudUItSAQGK8c64SJEp0NdM_VVA_RlPML-8EyYL3GW2xobWzqdVR8Vsc4aYPrKT_MeXYYaRLJD2EnWSduW4UEp5xJHlNkqABP-pqlfH67job9vZMgRiL_pgd4W8UvH1WXyxeeQvYTpFPHdyfKht0Fga7nxAl2p8rJCZquDhzsiUdvgGptqwWhGMIBLtyIJ1m-0w3nm3A-WAzlQX3bjDJcxYujX9dl48LpDfmz5Gw8n1xxd3r_dc9JbNQ-xDWGqxegJOLLVEjgf2rQqpFjr6Jd5jhL8ABUzfMJjfQzSvPyMEplLhBtYrCWLqK5ohtjYGSZe09OQ0H7Rjisus4pvCprwFd55rcCFANZ7wevpGOLohyVtBllH3UaBcdsGnmXddaPM36BiWFdTe21uCezs5QtL9A4shoaS7qns0WfwsNGFHGuql_hDjj_tACelJprviLuQJEc6QxvU0bijgUZ1HJ9FOManARauvjRqZ6oCN7PYAgIYbwcdMQGH08bfvzmd2Nl3XKIzXsTjYybwbLG-r7hiyVZToI9VThsTyHSioJ0wu50mJss9tI8Md5lp59yAZxyEnfbGNFuzuE-7Jkdh8__ZWMpKgkHcEGvd4OoYhVicB2s66pCVvoab865R9SYkM_ayhqltQplgwBncFtI67Dv649VWMppInGBib2pQ8ydzSpfGp1bwK7FLQPwbp9i6kWwUZk9iVQQSUnFWPRjJrDzJRef0Ni7TCfl8eh8WWBvrqpRQc81UHU3vmI-K5VfmQVfBtpxaEIJg4c8AlMs8kp1VihYiFnr9YjKpnq7ylRX2UpzMxXq17dM2rEwkS_SDNpp3XFBuvhM0b6ve9zL0bTeRyJIskrGV82cFtvcGeZqiPJM_F_wHYemxblFr54R7r2MqnGCD14=",
  "id": "rs_01611dcd11576875016ab492c045b487d0aca33edd1834aa65",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.135,\"left_z\":0.055},\"note\":\"The leftmost cap appears left of the jaw center in the wrist view, and the gripper is still near the bottle's body. I will move forward and slightly left, lowering toward the narrow neck.\"}",
  "call_id": "call_IyY0lqmMtOemcDMXT6EwE1bz",
  "id": "fc_01611dcd11576875016ab492c4072887d0a4f6621fe45aac59",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IyY0lqmMtOemcDMXT6EwE1bz",
  "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]: [-0.4175, 1.8763, 0.8772, 0.3508, -0.3809, -0.2844, 0.9985, -0.0219, 0.7601, 0.59, -0.4473, -0.0288, -0.0582, 0.9989]\nstate[eef_state]: left_x=0.4569 left_y=-0.1269 left_z=0.049 left_yaw=0.0283 left_pitch=-0.0361 left_roll=0.0143 left_gripper=0.9985 right_x=0.2817 right_y=0.0025 right_z=0.1689 right_yaw=0.0157 right_pitch=-0.0448 right_roll=-0.0031 right_gripper=0.9989\nstate[joint_eff]: [0.212, -8.4718, 7.0359, 1.6386, 0.1001, 0.2076, -0.0464, -0.4034, -1.6068, 7.0085, 2.0293, -0.0513, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e525be797531060b981be261ffb55639aba6c64e916992eb23f05a287db7e5ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:567cb53098d116efd4b24b0efb6a077d3aaff21e3bf29d71af9285e8f8ea79d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e32bab7bb2cff7c689ddb27a319859164c2e07d9175e6c73fd7d317eacf577e3",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 2.984 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]: [-0.6041, 1.5589, 0.8463, -0.0006, -0.4919, -0.3851, 0.9988, -0.0158, 0.7986, 0.6495, -0.4831, -0.0132, -0.0582, 0.9989]\nstate[eef_state]: left_x=0.3888 left_y=-0.1626 left_z=0.1136 left_yaw=-0.0141 left_pitch=-0.0559 left_roll=0.0242 left_gripper=0.9988 right_x=0.2862 right_y=0.0014 right_z=0.1784 right_yaw=0.0087 right_pitch=-0.0599 right_roll=-0.0118 right_gripper=0.9989\nstate[joint_eff]: [-0.6359, -7.241, 8.3487, 1.7314, -0.4274, 0.1197, -0.1294, -0.9368, -0.8274, 10.4821, 1.9658, -0.1197, 0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4175, 1.8763, 0.8772, 0.3508, -0.3809, -0.2844, 0.9985, -0.0219, 0.7601, 0.59, -0.4473, -0.0288, -0.0582, 0.9989]\nstate[eef_state]: left_x=0.4569 left_y=-0.1269 left_z=0.049 left_yaw=0.0283 left_pitch=-0.0361 left_roll=0.0143 left_gripper=0.9985 right_x=0.2817 right_y=0.0025 right_z=0.1689 right_yaw=0.0157 right_pitch=-0.0448 right_roll=-0.0031 right_gripper=0.9989\nstate[joint_eff]: [0.212, -8.4718, 7.0359, 1.6386, 0.1001, 0.2076, -0.0464, -0.4034, -1.6068, 7.0085, 2.0293, -0.0513, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e525be797531060b981be261ffb55639aba6c64e916992eb23f05a287db7e5ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:567cb53098d116efd4b24b0efb6a077d3aaff21e3bf29d71af9285e8f8ea79d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e32bab7bb2cff7c689ddb27a319859164c2e07d9175e6c73fd7d317eacf577e3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJLL6QEcj2_zVNH0qmWN4MBPaDfPpFki7rkR38aezrZufPlFXz1ArdNuMLwELBysvRwk-YvjR3RV6Fy8v-e557GnFOMnyGEQR-kEeGre6dO20iipKNLnTTjcAhCTCZd_MAdddiIl7xvI-B5S1XhdbvPWLQ3YfXAiTshL9S3KSsdIB6n9PkwIQJ6yQbS8_CY-BeMLPLWIKJ0Z-qg5FIQpcn-d2UmDxiktd-6sDE4KS3FQvfdA9OYlApAWDhw7lJ2UIm95YK0QOB-IXoXDUf5JWHz9h9fq47xRZNEK0IpHVdOrXsOJTkeB9Dcd77QOYREfNvVEC4x5nn-82XWg3uVlmaWjzJU6GLNc6J2rt1HtA1mAylNfl4LiLBf7FQ75HTujVHfpspyOIy3E3RPZH2tisAGv44FPRaDbBcP2f7GWnMYomgvkUEXACqyWRdZY0nWGsqQpr5ejGIIoLo19VkP1QpoazT7pkKSEUcGkRYoW7qJfZs1j5LjDdv-w3JGPgZjztP18oMeOFYpg2d0T9exnWAlRwTj_ecmg3Z5hbtZqpJMtoC4-inbF6GeikLvJuMaXfVRMw7ZDzadSMs0pWV0kQEKrh0UXCMmGbDJbDg6rJPD6s2XeDERJAE5mDrWOvB1Q6Na-1z9KmkfYW02qx7mY5HoW_xdyxNkMDbDCAJsU4P1ly5xharUekEkUfSdm8KBSDkuH7L2K7lwgk6kvJfv0LakM6KVJVf69a8IitbtEFVxc4OWZ9H-FDv1WMxLRubtCHfBhOLFJv4hgDX_MT6nKlLq1LLXE6GHoX6wAXnW6nDDSKzt56XyPTFUf4d54Pt8xUhApXjBDh3diBCAxwEIiqOnP5zeg1XRdgy4M-nQPc_tWqVjzPwk0q10iLWGTpmUUbVSC4tlbAVr82VoB1DmAnFmN2MFzPQ6hB3T4VZ3Zxeds40TUhr2ovHWUlKmGmQjWfeh5EzAUMQYbCZgpXq4i_XpB_z7nI7w48_zEKY-9BAMLW-yZBHQDD7I8HEJQeSn0oQuObVQsONa18hg0S7BgO8QXlCNpjL73zwaEvdO7Dzst1jsvgTCkfCMdLAwkrO51Q8tRq-HlBfd8RZbwBtan3lKRQHmRBqp15G_Xm0jg1GaKD6LZbfF-bepGXOCLcHku5Vwygx2g8qVYBm9v4u2VCCoJRLihkOBO47Lwpea3LB6sczeoSVYaF8CjYVDi1PoEAP32DJvAd0vKnlhP4mNS0cGbbNY_hFJ_7HTdgFHxUhIPD0ZE-JzLRN9EuwD2QAGrfAeSRWCRPUoUna77ST2PUL6p7WN2oyDQeMqX5zZrH7p-_DWAk5dlaqkwd7lV0yYv2cwaYwoUXhcgppZM7FE8dQOAO1uCD0-VMKyN_wxOCtx0BSzrm82EZjJhrdX4Jg2usWAQWfwi1Wj3JXw-pWaXHn-ipmPMJ8AQvhqTMqLDRsZj4Q_TgP4tmBEj5sBPdbb-NGcYOdxanzLHxfNeVfO4SXPIswvsFEq2bhywYO3vfMIIptBsrFr2aMQj6cSeeSiTZNPIkjVQOXFEcJDDsZgZCn8WVB4BZ_ue8pNZgl5N9hOZdv7kpYrMmBtzlhDC-nEnWw6AOoGcF3Oyer_9ZlEgppuzg0nJabwhsohi5AypNARpYKnNQbKl2w-ongjw7MQa-9MwPnDTCsRm1A1Wo4ONafMY-xsiJ7D0ggkVM80Y65kvg8GdpCEMHLbeiycbcbLW0Br3fCbdxjmevTHJChNIJ7iw5aaejrwm067vGodcFgK16YMqk-vg1NvzxdOq4rLWGt5RWJFA5gxqCNyqL-mMRoIHqQ==",
  "id": "rs_01611dcd11576875016ab492c7aff887d0933056fb5b50a320",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.025,\"left_yaw\":0.35,\"left_gripper\":0.26},\"note\":\"The leftmost neck is now beneath the gripper and out of the wrist camera's near field. I will gently close to roughly neck width, leaving room for the bottle to pivot rather than squeezing its body.\"}",
  "call_id": "call_FLGS6DSZSElUXNwOr1UzCu8G",
  "id": "fc_01611dcd11576875016ab492ca8e8487d0822ecc469a16f33b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FLGS6DSZSElUXNwOr1UzCu8G",
  "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]: [-0.5182, 2.0151, 0.9665, 0.2989, -0.6628, -0.5491, 0.265, -0.0219, 0.7326, 0.5449, -0.4225, -0.0307, -0.0582, 0.9989]\nstate[eef_state]: left_x=0.456 left_y=-0.1308 left_z=0.0254 left_yaw=0.2897 left_pitch=-0.0079 left_roll=-0.0011 left_gripper=0.265 right_x=0.278 right_y=0.0029 right_z=0.1606 right_yaw=0.0173 right_pitch=-0.0375 right_roll=-0.0023 right_gripper=0.9989\nstate[joint_eff]: [-0.7043, -8.7863, 7.159, 1.4286, -0.4078, -0.0122, 0.1343, -0.4308, -1.4427, 7.0496, 2.0049, -0.0855, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f69c50c8279311ef37745b21aa44b16a23c7b0d8e19502ca19724ab187d3673a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91ec1ecea2019e0d6d45069872f4934bc63717329b8ff9954103dbfab8537b3c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48cf28004ed20fe508e2b01e11f0ebf714d33976825aa95b03ab5d5f4e61db3f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 5.393 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7929, 0.6098, -0.3763, -0.0257, -0.0437, 0.9988, -0.0154, 0.7895, 0.6037, -0.387, -0.0128, -0.0422, 0.9989]\nstate[eef_state]: left_x=0.2959 left_y=0.0022 left_z=0.1837 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.2935 right_y=0.0013 right_z=0.1796 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9989\nstate[joint_eff]: [-0.4308, -1.4701, 9.6752, 1.7509, 0.0122, 0.2808, -0.1392, -0.8957, -1.1556, 10.2632, 1.8486, -0.1294, 0.2125, -0.1294]",
      "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]: [-0.4175, 1.8763, 0.8772, 0.3508, -0.3809, -0.2844, 0.9985, -0.0219, 0.7601, 0.59, -0.4473, -0.0288, -0.0582, 0.9989]\nstate[eef_state]: left_x=0.4569 left_y=-0.1269 left_z=0.049 left_yaw=0.0283 left_pitch=-0.0361 left_roll=0.0143 left_gripper=0.9985 right_x=0.2817 right_y=0.0025 right_z=0.1689 right_yaw=0.0157 right_pitch=-0.0448 right_roll=-0.0031 right_gripper=0.9989\nstate[joint_eff]: [0.212, -8.4718, 7.0359, 1.6386, 0.1001, 0.2076, -0.0464, -0.4034, -1.6068, 7.0085, 2.0293, -0.0513, -0.0073, -0.0073]",
      "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]: [-0.5182, 2.0151, 0.9665, 0.2989, -0.6628, -0.5491, 0.265, -0.0219, 0.7326, 0.5449, -0.4225, -0.0307, -0.0582, 0.9989]\nstate[eef_state]: left_x=0.456 left_y=-0.1308 left_z=0.0254 left_yaw=0.2897 left_pitch=-0.0079 left_roll=-0.0011 left_gripper=0.265 right_x=0.278 right_y=0.0029 right_z=0.1606 right_yaw=0.0173 right_pitch=-0.0375 right_roll=-0.0023 right_gripper=0.9989\nstate[joint_eff]: [-0.7043, -8.7863, 7.159, 1.4286, -0.4078, -0.0122, 0.1343, -0.4308, -1.4427, 7.0496, 2.0049, -0.0855, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f69c50c8279311ef37745b21aa44b16a23c7b0d8e19502ca19724ab187d3673a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91ec1ecea2019e0d6d45069872f4934bc63717329b8ff9954103dbfab8537b3c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48cf28004ed20fe508e2b01e11f0ebf714d33976825aa95b03ab5d5f4e61db3f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJLP2khmB4wKibGn7CHKOvk5BwjtNF9TFDRKSOxRnEQEATS21_VIdZmO_qO7GrJlvEUhv1Dkwf94PPvVdyxyFiZkONmLrlOYDoyjjLIMO8rlrYXTIPzCt0kJm_BNJ0hRvTQZhKzGZUy0prv0iAJPx-5pcU8te7s7krNpeWfBejRnMPINmTB_YzgsMcTOIcp08InL2alq-95KH5LF4e8KlTBaVuzIb21xsBH2Tzgicn4HS59hwclqzHF2AXAFIgi13USJWjx8jpMv3yQ7wNBF1l-jcgp-RWsluK4jNoYMWJI-EITIci66BE8YRIWO0gbsIiibNDx6Ys5VtNnQ_J_BJ7O4ZkF_C__9ESjr4CW5bBW0i8owM3ntvYWoqqn5lxKM6SHvBurKKS7FXz8fP7jq3M1LjFyBu41IaA_pkmdyq1LDnzx69YwxywmQdhQLHwW4LRmVVKZm8m6V5MlXMNbGYf-XNk79hcjAqqQwO3uN0aqPZZkjpTEIDUeER0XFsSmbAuejqwaS8VyHfIIXrSMFhuT61PvmfDPOlHQ2KjEp7UGSEqLtcWXtD0tT960LqTAik4WeHYKHD5wOtE5BH8-JlGklpmOVTp8Wy1PXuCmVl8BVFIh0R2kkLQ0tlf__1N92V86iD4IiFDvPIUl8eYtgYYUUImHr5Vi-qV4lznEO4HvuprlHKDUK7ZLRIUt98ajGSZN8MTYCL0LZ8zJqjz7TytntLXTHH6eKy2WQ-ypO3iPeoy-VLwb55muUpkj-ZPMP-Vaw-5RAJGHKZHo_1LDgmPkLm3A2CmXUHX4k-CPLQYMo0I-qC8vZYnRCILQQVQJGEj7wYO5MvBcCIrtihhN5EiuYHPEHlFS7njPbjelcqdwjieL7Udx-yqjWnO0MU4EZ1G9scZaEgmpjOUh9Eir14WGAf09lYlv4TQ5N04quQTCQWw8q0gqGRItf4PgvIIqXehzOB8SIzx1tx1f_FyBwxDR6kLn0ZgiwP0beoFR16XtF2lBh1iN6rZVOy2bkOn72DZrrhf6idnA3bhR75GdBuhMdPXEIo2FGkZrpdUUkr6bSof2xhplYeR90736VUZgplqMv4fQNrefuEqaP8iZFFEznUlz8ZDXM-A_BvUaFQa6MBrKmhN9J4JzZizsnO-AM2c0mBjGDve6c9Lt8wfNUFGPCngo_xkv5uMXViT-CA8J4LgxunWjUUQ2TBtXy5Bb_xrmewnfvuQEnXdrJloze2-DlYg==",
  "id": "rs_01611dcd11576875016ab492ce46cc87d09b6ce974d217d948",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.085,\"left_gripper\":0.22,\"right_x\":0.294,\"right_y\":0.0,\"right_z\":0.2},\"note\":\"The jaws have narrowed around the neck area. I will lift about five centimetres to check whether the bottle follows before attempting to stand it.\"}",
  "call_id": "call_vG1BtswWDOC9YXYCth8T7S01",
  "id": "fc_01611dcd11576875016ab492ce747087d081bd33fbddbca4d9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vG1BtswWDOC9YXYCth8T7S01",
  "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]: [-0.5228, 1.9152, 1.0035, 0.1352, -0.6773, -0.5758, 0.2219, -0.0334, 0.7933, 0.6285, -0.4713, -0.0357, -0.0696, 0.9989]\nstate[eef_state]: left_x=0.4512 left_y=-0.1281 left_z=0.0581 left_yaw=0.3101 left_pitch=-0.0185 left_roll=0.0028 left_gripper=0.2219 right_x=0.285 right_y=0.0004 right_z=0.1728 right_yaw=0.0163 right_pitch=-0.0633 right_roll=-0.0075 right_gripper=0.9989\nstate[joint_eff]: [0.2803, -11.959, 8.3487, 1.3651, -0.2418, 0.2759, 0.1392, -0.7179, -0.7179, 10.2222, 1.9658, -0.0855, 0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e9d813255215a65bafa464ccbac3a27827717e2a61a6e6a9bd98f4770edbb74",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b40da78269c4cb04e27caecb8a7a506d9ae23b96e8cd1367dcfbe12c3245010",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7285644758346533c5b2b3da9d33110b8299ab7db1489c77854de2ed22fd87e6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 5 attempt 0 · /responses · status 200 · 4.829 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]: [-0.6041, 1.5589, 0.8463, -0.0006, -0.4919, -0.3851, 0.9988, -0.0158, 0.7986, 0.6495, -0.4831, -0.0132, -0.0582, 0.9989]\nstate[eef_state]: left_x=0.3888 left_y=-0.1626 left_z=0.1136 left_yaw=-0.0141 left_pitch=-0.0559 left_roll=0.0242 left_gripper=0.9988 right_x=0.2862 right_y=0.0014 right_z=0.1784 right_yaw=0.0087 right_pitch=-0.0599 right_roll=-0.0118 right_gripper=0.9989\nstate[joint_eff]: [-0.6359, -7.241, 8.3487, 1.7314, -0.4274, 0.1197, -0.1294, -0.9368, -0.8274, 10.4821, 1.9658, -0.1197, 0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5182, 2.0151, 0.9665, 0.2989, -0.6628, -0.5491, 0.265, -0.0219, 0.7326, 0.5449, -0.4225, -0.0307, -0.0582, 0.9989]\nstate[eef_state]: left_x=0.456 left_y=-0.1308 left_z=0.0254 left_yaw=0.2897 left_pitch=-0.0079 left_roll=-0.0011 left_gripper=0.265 right_x=0.278 right_y=0.0029 right_z=0.1606 right_yaw=0.0173 right_pitch=-0.0375 right_roll=-0.0023 right_gripper=0.9989\nstate[joint_eff]: [-0.7043, -8.7863, 7.159, 1.4286, -0.4078, -0.0122, 0.1343, -0.4308, -1.4427, 7.0496, 2.0049, -0.0855, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5228, 1.9152, 1.0035, 0.1352, -0.6773, -0.5758, 0.2219, -0.0334, 0.7933, 0.6285, -0.4713, -0.0357, -0.0696, 0.9989]\nstate[eef_state]: left_x=0.4512 left_y=-0.1281 left_z=0.0581 left_yaw=0.3101 left_pitch=-0.0185 left_roll=0.0028 left_gripper=0.2219 right_x=0.285 right_y=0.0004 right_z=0.1728 right_yaw=0.0163 right_pitch=-0.0633 right_roll=-0.0075 right_gripper=0.9989\nstate[joint_eff]: [0.2803, -11.959, 8.3487, 1.3651, -0.2418, 0.2759, 0.1392, -0.7179, -0.7179, 10.2222, 1.9658, -0.0855, 0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e9d813255215a65bafa464ccbac3a27827717e2a61a6e6a9bd98f4770edbb74",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b40da78269c4cb04e27caecb8a7a506d9ae23b96e8cd1367dcfbe12c3245010",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7285644758346533c5b2b3da9d33110b8299ab7db1489c77854de2ed22fd87e6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJLVFBo-yg-xmn4pKo7AczeAA4OQ1jjkdwULfvsnAiRvexSbLZwkm3wXgMKEjYOp4WT3QATAUW55zHKriIDEoUga2kQKrw086MiWuXYchUrQyBQOIX3JbbNDo8E6UhhtrHtkVzZxNW3TkpdLMXpwoXzTVI4D5KL0QKeQrYRggpSAiaD_cwLwKjCOZT_v9fEXSIz235A-1JzjyZ0Xm7DeT4wWtzEBDNjKX29KIaATUbZ5426B_hwqrIP8T1Cro4G3u_KXw0hdo0lq60E0Gs93rVY-ifs955mKQfDJ8bX09h_kRK41v_hmp3zD0NoCR9xIHMA5RaANa2OuU_Kl-7u54PACon0r0YnXwBLevIdsi39AFzaTf5uiPSlWqkBprnO2lYDq_8kR29Ttukl573z6Z2be5CdP4PcG5zqw978CUmbj2-BlC98d8TuYgWruhIV5rryuGjJ91UaW5uMuZS8V9MMcwc_6812fpmUk6-Meuop1Dcr5yi08Se-tyVeakG5eebsPK9JLKYz24DHAaMDySJ4rP_DgSSiAhibSOdBcgx7KLnWJqdWfVLPBsUInduYlZT7kRHijY1SGJlrE3G7boeYdKr_fthBU7lDUcxi6LYjT5inOQIhzJ6QqmH-IvVTbmOmLlMwnY7QwHOYv2tV0r5-83x44yoBkLHk-AHu7f8_4q4fzlA2URo2JUR3df0HL4pMT59j7oofvZGAaE_eZAqjE-m8eaulL7QmFUhBF8iCVqOG0-K2hAQONSIrxOQ0xDRZOG1Ndz7UEkiGzSTLx_DDXJVrvc-vPJeCJzgQE0Thm1xNrDt3Pt90kJxsTj0TooBofW8KFqO57t6cCetp8n3sz3WzD9ieBc5c2LHVT1y029485vjY33VOh2iTih1UPbnek1k72_4GMpkYtTlmcXmO-gXl_L0myrHaVOL0YQMk7n9x-Kbwko6oot4RfbdnLJQ2tNTH7ZPJnCCkw4o1RfrN_K1NR57R4dd27_RjPipKgZEtYgvNfSpoKK1BXKr5mYJfsoWfLYeRkZ0nM6e2eIiPl8wTjs1kirK9caIjHOZVvhj0j-iCW-CI-0uY471Ai2YSPMOmRJFFLKKjskEj7gff3l09O6bH_1CiR20L_EzB_SxTpY9yLVhNZ3XbwiYBTNasETA6_zekPWOW0THKd8v6o7OWAJB9jGN7oIYHPojpfkEpPPzyCstheN7Uu4Kqt1qO_OePNR_V80UChZREN1j0aPRIlWMW-9DyaemJ5uSXJTN1LgzrMyAiJGQHKfiJkYor4NxBlcQ-tNRWDlFCvvoQOeNyws6I5jrKJgU8J9jparDKAaYc7VneztGwGG8ZUA6GCR3wMv2g3aiZxDejQyQlKv8Q1rCKbcmi4s2lFbhUSvVRwxJUg5Nu_ILPVa_cSck831OLicd0_HIYx4JqjbivD8jIAoi_7W6SiaqflsskLaeisHGz5HlgF46EhZP9LUi9lFY1BPEgzxvfxveP8e-_Q1l5IWJrx9Mku2mOWvY1heWk3GkGCFfPc1RrkQTqK5JqU6PtznBe26q9vjr8P2KlfQuQ8PHRGno0gLOqK4wV4Yhu4LTkvy7cWnlQ5WC5QOfOpajA62HDnBA8g6Fh5tQhGlSsl6xS362snDk5o7U1EvDRG4EOa1Vb2yQOP2kqGIR0R3ulk7jClDNIyX4JFlRV5EOHXQQCbufU0Yhau3_c4RCI23uNBNfNCNpv0TnkruqhjqyRbcj_Zhj9G7hXpCYKvoFZbtuIa95t47RGBTIOd6E7_xYDxUhqwWJTWSzaAJVppEHBNU8kV7x1y9aJ_mcmYcg==",
  "id": "rs_01611dcd11576875016ab492d1ccd487d09fa9caa8f0cd0342",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_z\":0.2,\"left_gripper\":0.22},\"note\":\"The bottle appears to have shifted with the jaws, though the first lift sagged below its target. I will lift higher and slightly closer to the base, allowing its bottom to swing down under the neck.\"}",
  "call_id": "call_Xw00PQp2TxHhS5S7HjHpQ2JY",
  "id": "fc_01611dcd11576875016ab492d4566487d08645a523f591c68b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Xw00PQp2TxHhS5S7HjHpQ2JY",
  "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]: [-0.5232, 1.8828, 1.0222, 0.0784, -0.6701, -0.5686, 0.2218, -0.0349, 0.7506, 0.5629, -0.4263, -0.0498, -0.0803, 0.9989]\nstate[eef_state]: left_x=0.4501 left_y=-0.1288 left_z=0.0698 left_yaw=0.3008 left_pitch=-0.0262 left_roll=0.0096 left_gripper=0.2218 right_x=0.2807 right_y=0.0026 right_z=0.1634 right_yaw=0.0324 right_pitch=-0.0408 right_roll=-0.0093 right_gripper=0.9989\nstate[joint_eff]: [0.1436, -10.906, 7.3778, 1.4383, -0.2808, 0.1832, 0.1685, -0.7179, -1.306, 7.2, 2.0391, -0.0562, 0.1099, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9c9fc08a7d3f826267492316c6e08ef433298b82acc8e750ea0a478a131bc1b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:460d1d62ae6e0b39ef5d0e7c5ef67f94a4e18be237f35c3327354cdbea474f02",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7ccb656b5d9be78a49519ba11739ddc99471062de2ad0e7c0e05d8580ad45d8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 6.092 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4175, 1.8763, 0.8772, 0.3508, -0.3809, -0.2844, 0.9985, -0.0219, 0.7601, 0.59, -0.4473, -0.0288, -0.0582, 0.9989]\nstate[eef_state]: left_x=0.4569 left_y=-0.1269 left_z=0.049 left_yaw=0.0283 left_pitch=-0.0361 left_roll=0.0143 left_gripper=0.9985 right_x=0.2817 right_y=0.0025 right_z=0.1689 right_yaw=0.0157 right_pitch=-0.0448 right_roll=-0.0031 right_gripper=0.9989\nstate[joint_eff]: [0.212, -8.4718, 7.0359, 1.6386, 0.1001, 0.2076, -0.0464, -0.4034, -1.6068, 7.0085, 2.0293, -0.0513, -0.0073, -0.0073]",
      "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]: [-0.5228, 1.9152, 1.0035, 0.1352, -0.6773, -0.5758, 0.2219, -0.0334, 0.7933, 0.6285, -0.4713, -0.0357, -0.0696, 0.9989]\nstate[eef_state]: left_x=0.4512 left_y=-0.1281 left_z=0.0581 left_yaw=0.3101 left_pitch=-0.0185 left_roll=0.0028 left_gripper=0.2219 right_x=0.285 right_y=0.0004 right_z=0.1728 right_yaw=0.0163 right_pitch=-0.0633 right_roll=-0.0075 right_gripper=0.9989\nstate[joint_eff]: [0.2803, -11.959, 8.3487, 1.3651, -0.2418, 0.2759, 0.1392, -0.7179, -0.7179, 10.2222, 1.9658, -0.0855, 0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5232, 1.8828, 1.0222, 0.0784, -0.6701, -0.5686, 0.2218, -0.0349, 0.7506, 0.5629, -0.4263, -0.0498, -0.0803, 0.9989]\nstate[eef_state]: left_x=0.4501 left_y=-0.1288 left_z=0.0698 left_yaw=0.3008 left_pitch=-0.0262 left_roll=0.0096 left_gripper=0.2218 right_x=0.2807 right_y=0.0026 right_z=0.1634 right_yaw=0.0324 right_pitch=-0.0408 right_roll=-0.0093 right_gripper=0.9989\nstate[joint_eff]: [0.1436, -10.906, 7.3778, 1.4383, -0.2808, 0.1832, 0.1685, -0.7179, -1.306, 7.2, 2.0391, -0.0562, 0.1099, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9c9fc08a7d3f826267492316c6e08ef433298b82acc8e750ea0a478a131bc1b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:460d1d62ae6e0b39ef5d0e7c5ef67f94a4e18be237f35c3327354cdbea474f02",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7ccb656b5d9be78a49519ba11739ddc99471062de2ad0e7c0e05d8580ad45d8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJLbNN7RAdZIZdBPhIMA5Avj2bqeZIV56PVbkkyz3j2_sC-1OCMnqQeQxfWwcjdIofHjSR5aF6ejpN5nubywpp2_M7B-symeXEtBahaxBB77XON5WKnxVpClp73DgGBbxMBnmZNdNGFatES_V7vDU4kNTxakEv8nulToYHE_iabkr2KFMTUZvp7DQTeUYdDZEEosd3jqZluWYqDKSTlvDgKi1kDLiUZBvnx6-emz8Yf95mcAeTqMkbgSNY5JVbDglCkh0VtzbTbMPMLXVTNsnuiYMyTkImjb1vMYkNFvQ1TKZRBp0RjIR-1wk3rkpjZDAGRu8jHU6sNvQbw6zwsEPPBfSzZpF0HFAFxcWDQmUCw2H6LsNTV9FEjantM5XsOJ3lLWn1yrsys0MS5qAHAxuCk4oyabti8kgdcoTwvOiZaAz3jnLqidYWkk3ZpWX1AkkvGD2tzv0LWkaot0Zr1YFux3rydaMlfVw1mL4UksB_bn4XDti_5rvZwTk6wi9uC1KkU-3IFPxB7Eej4b_-Og3n7H2n-vX4fw3wkbedQkQt7nRxL37IJbkQNqiXW6ZWOrCZoYacc0FsRyYtZZoRd2f31PE3NI36Q_dZyO_U6kXB4xI8zrG3dNrrz-cneDbHeCvwF2eZjytX63MGsvHtPQ0ORxHcNeqbGFLtypahTOAmixdr9H9AVqz5y333UuBxRQOqNJKr_3t3eDhvgNGQ9enYYjSpfSZ12-oyBEzUSxLb0OQ6yct388pOBNdsrKxoIxIVXtAxmr8mvk7HsU-flMIqDHgK02noWmmQaqJT7w6PsKLtkyeBPdNxuRoQh4ATunAUfbqCDQGgCddwuLRxNtBgIErO-Pc79_ARLCChsjSl16THzwH3AuAIHBeklzn85sTavabEs6lKrnaueV3GD9xMrpQ8wtLTGDrUC5y6EbPSGyq09nLr69Y3Tx45jHF5d1U4anBiykxLXyq8jTMzKdJ9utXtwQ5YQEsfFruZXWSk9Li1bxgB9MQgFoUYWTgXo4vQOMJ_xL-HOhT2a0niWRwvZl3v6gLjxenkaXsc_9H02iDwwNyy-dJ3JJ2wF-2ky4y561cncFkGjAaAvmMJe6OGMn1iB3xVuIm_ckzsPT3XmtvPO0X7a2HIo-RThs3XCnYy-00nZ4N-3c_vQZdxaoZ9LPgLYET0m4rEB75ngnjYrJGQNASZED45D-LpriCjifXGmgLl3icjueq1wuk4nftMw8dbfXkO3F8zcT4og4LaSzCvMXlQcylnB7-CKXVdtcUM6Hn9bemYFpn6wz_w0AlJvdypqIY3vIUdQDykNKP4vJqiIaSfykah94zrvIj8nKL4bTefZXWZ2X7Ufyy7_xxJL9_zKbaRwwnO1OH75_rNlYYZDKhy0Gxl3_F0oQ_dsKFEnB1jh5ToD-Cxwh6Rs_gNh5MquxWZQhx0y2F8wgiJ6FjRcF9_Tbv6THsqWErjht0qhY7PrEjbJ997GrQKYeBvb6rrrIHgDpo5zlnLAPSoCqGbBIdyyWQh4qYN-okNChFXvicPznM8WlvIaU7ZdqfA99VjTkqYuDOe7NjcEVhY4KCTMlW1N1nCjw6YwNiCY8b8dgsjutnp4cMYH38zNFRdZST5rlrJyxuG8IYxo0_oBXvsW9aHYSNqDG9pg0CuVprhZlvmPsNKtkk_LgFFAQpqqtmQ==",
  "id": "rs_01611dcd11576875016ab492d7e14087d0ad99895398e1ced9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.12,\"left_z\":0.18,\"left_yaw\":0.15},\"note\":\"The arm barely rose despite the higher target, so this extended pose is not tracking well. I will bring the neck inward while lifting, which should also give the bottle room to pivot upright.\"}",
  "call_id": "call_vtjwIPyoPisuUeCyUXYiObV0",
  "id": "fc_01611dcd11576875016ab492d9c27887d0bffe9be81bedb715",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vtjwIPyoPisuUeCyUXYiObV0",
  "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]: [-0.6254, 1.3312, 0.8646, -0.2264, -0.6514, -0.5495, 0.2222, -0.0406, 0.728, 0.5243, -0.403, -0.0574, -0.0811, 0.9989]\nstate[eef_state]: left_x=0.3609 left_y=-0.1241 left_z=0.1775 left_yaw=0.1746 left_pitch=0.0261 left_roll=-0.0476 left_gripper=0.2222 right_x=0.2779 right_y=0.0024 right_z=0.1565 right_yaw=0.0334 right_pitch=-0.0333 right_roll=-0.006 right_gripper=0.9989\nstate[joint_eff]: [-0.4308, -5.135, 7.241, 1.4286, -0.2711, 0.2369, 0.0269, -0.4308, -1.5521, 6.8991, 1.9316, -0.1197, 0.022, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b6a8c6eb261b787471dae19301d72c433814662a6f589d2e1175097b2c123e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba04f43f78611a2d8f8b99634c51e0fe8128ec5465c66e80f449c807d8a31850",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ad896d1a45b2895b940c62ef04c07480400cce6d4756a8d1a43dc0459d9f9b8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /responses · status 200 · 7.328 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 14 changed as sent

message 22 changed as sent

message 26 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5182, 2.0151, 0.9665, 0.2989, -0.6628, -0.5491, 0.265, -0.0219, 0.7326, 0.5449, -0.4225, -0.0307, -0.0582, 0.9989]\nstate[eef_state]: left_x=0.456 left_y=-0.1308 left_z=0.0254 left_yaw=0.2897 left_pitch=-0.0079 left_roll=-0.0011 left_gripper=0.265 right_x=0.278 right_y=0.0029 right_z=0.1606 right_yaw=0.0173 right_pitch=-0.0375 right_roll=-0.0023 right_gripper=0.9989\nstate[joint_eff]: [-0.7043, -8.7863, 7.159, 1.4286, -0.4078, -0.0122, 0.1343, -0.4308, -1.4427, 7.0496, 2.0049, -0.0855, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5232, 1.8828, 1.0222, 0.0784, -0.6701, -0.5686, 0.2218, -0.0349, 0.7506, 0.5629, -0.4263, -0.0498, -0.0803, 0.9989]\nstate[eef_state]: left_x=0.4501 left_y=-0.1288 left_z=0.0698 left_yaw=0.3008 left_pitch=-0.0262 left_roll=0.0096 left_gripper=0.2218 right_x=0.2807 right_y=0.0026 right_z=0.1634 right_yaw=0.0324 right_pitch=-0.0408 right_roll=-0.0093 right_gripper=0.9989\nstate[joint_eff]: [0.1436, -10.906, 7.3778, 1.4383, -0.2808, 0.1832, 0.1685, -0.7179, -1.306, 7.2, 2.0391, -0.0562, 0.1099, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6254, 1.3312, 0.8646, -0.2264, -0.6514, -0.5495, 0.2222, -0.0406, 0.728, 0.5243, -0.403, -0.0574, -0.0811, 0.9989]\nstate[eef_state]: left_x=0.3609 left_y=-0.1241 left_z=0.1775 left_yaw=0.1746 left_pitch=0.0261 left_roll=-0.0476 left_gripper=0.2222 right_x=0.2779 right_y=0.0024 right_z=0.1565 right_yaw=0.0334 right_pitch=-0.0333 right_roll=-0.006 right_gripper=0.9989\nstate[joint_eff]: [-0.4308, -5.135, 7.241, 1.4286, -0.2711, 0.2369, 0.0269, -0.4308, -1.5521, 6.8991, 1.9316, -0.1197, 0.022, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b6a8c6eb261b787471dae19301d72c433814662a6f589d2e1175097b2c123e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba04f43f78611a2d8f8b99634c51e0fe8128ec5465c66e80f449c807d8a31850",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ad896d1a45b2895b940c62ef04c07480400cce6d4756a8d1a43dc0459d9f9b8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJLhUYwGdnHtIqeQJ67-DvovpDFnWYyKRqlhw1DZKvCmfWY3WeT1F3Yjj0MxX_UmSBTVrlc4EHOxDTgfJgH9YfFSv9rRqCcnvd3wsplmMSkl_1XL-actP7dw01ikjz7qHitjAAmN2k-EECQQwqsJstWzyc4vVdRTiQwMTJN6vnznkmHxgJgbyWVCcRJqvH5ZPG9gkO51aGPC16KRcnWn5ZLaHt7JUmpeQiKz0ZzxWtfMLqMze7z9Eey7Np00OZBkBN2V71z5FReRdgrWnSC7bfugjlUrJc4e7qV4wIhby0s7F_uzUe71L32KsnJI0SXoHljXuHS2XlSBXmEnlVz31HVfAOSSGtC5b2D3SP5ubQbd7cw3SnjQN3mIkqpDvtiP5Rn00bShK-irWHGU0cd3KMHAE_2yuW2WXeCkYgJQLepWvnZIhfi9AqEYjJxjEd1GXRc4YmZ5FljtMYmJz_ydQniNeigXcPc2SXw7c1BX0vjfU6X64I2TkLj5N8r00XnfWg2pQPFnoJIS09hEu6Xz42ApDPI4ue5ydFDII66VZnS-7hop7JCA6kC-fWff3ltJgzz_ovjUnEgPcbrLqqm4RIEv6DqcSah-U0DxJx-fkx-PiQmQWWJ1Rmk0_Z5ll7czgd4LflMEA6MJXFpIQ5M0vLi0xk1XULIGVtAcRetxFKxSQ_wGG60dDu5g-dZNNPfxF2L_neD-oD9p5d3_B-pkv_b3FlLArldYellESGwBfrGJ7JXNjnZHWsuDXLRqXWe7UmZXjhL-GpxVo4FV9FXDRFjr4wv0E4H45e428voys7ShppkuW-9madudyW3PGJ5CWrrgBtAdGqCiLKdBZpytAVmOmvdBpEZkySkf-SauRUMf3opBNatcnCAdBygFjhHN7HUpTpUrxvSoSuURJZNcge48ioH-1yaDKVaKLk6LTaluQU00V58bJwb5BwgbjfT1EE7bHW_OZAhS8kHXkAiTBFERZLgspruUk8F7LXE0bRwOdap-4QRNl1lRMbtljwk-CLne8V65N46iTm4cuDrxgpp_6LaeBEDBq9B0leGG-1anJL2hako_xOM_SgDpRn48C827p3phM1xvVrIpusNNN9oFStSF6wx80vEjQHNzH9ZXHUQwcVhAiBE_66mCPBQ9XzUz12L3mN19CThapaiyXfnFxgSO4r_FNn40WLEX1PhxR_go8TL3zYVVQhFn0Gw7Jzwt-Cdgd9lvZxC4bEZHJcLEW2ZEob4yp7wErLpzK3AOcS8h2cWfI4PEZuARbzM-R21uRjO6TrvSBfV7RiZz0e74Y_rODQYQNHdI_-l7fJdjMJ25l5JXnMOQsOOMhWMFr01Q8h1RNxJuHj4BVTx6CHvSY5rzABwcrmAEkj4L_toamAsCymeATmMDU0IY9duLsSBOunQlG_Odx_H0kSy5rDMnMUY4NfLTrKGaJ3goMI7RvFm3vy5ehIJNIbhxcZWIqk0OMPyrGXuJ5UgzrNo-NkxbeXCNcbVzwMCSLg-zMBWkr7GVVrvlg6fcG7IBYia6AJku3AXSOCD06Yxa22KJGvOg24UXDNBmhdA7OKHbUVSTlBkjy6QIhgUqxVOjssIwqtlIwAJcPpwhKpW9EocXzGIeuB7II8PKwGA4ibPfQWD9ZWMBWyXxFbvpixj1yorEbsITs9U_AdvdL2lKnX6V0CS50B-tvzI6ywdt16z3usgh01ezTOk-iIagaM58R_Hc_Uqhd0HAF-QfumY7OXvCI3G4ekDbAIvL86GttZnt_oj6kJ82t18SEVjumzlQZ38ChYpNqPUGFz-zddqYB24irwM4TbISojxNP7WEYsmdNnZ0TFPVgLjvyDGtFyQ6IqFRo6nNFmYCAKax94jJTfQ-tTh5j2nlLuy0sSk5eLlDgLN5djdG0714oTg4dkIJTjQMtNWyEQ1PqbGDd4k0lzW3iIzzEEXPPP7_kDnG-uVDnNLb-JTNTL6zzN-onRKyOS17QUtxihaJNb63ghXWYHBVHtHdjxkaQZJg81XhBdGpZabLcvBnbNkKk7DbHtmzO-T-UX5W9nDW-B33W18UwnUA856kDy9gErCsXNoLhscAxfyhuzgRoQOsuxIKBOIWgJOPOXepDOUmH-LCQ4lGcNXNy4e5GcQAkSg4y84LFgulVjzZ6Spw62q-g8UFPxwW0EfDmYx1oFZe3LFMXkGDzwqBe-F03ZVfNLBB0NJUzcLdjlHnMmt_psH05hUJclg2XJ3Ta0x5uVYUj1FAMV6oiB54Ww7krCF04Xb3LQgjUDfeuxnrwo2ZzDpxyKSCgwbxuRZzSOpY",
  "id": "rs_01611dcd11576875016ab492dd7f5c87d08e6c6bcbfbd3b562",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0,\"left_z\":0.25,\"left_x\":0.34},\"note\":\"I cannot yet confirm that the neck is actually captured; part of the bottle remains visible beside the jaws. I will close fully and lift clear so the gripper reading and overhead view can confirm or rule out the grasp.\"}",
  "call_id": "call_OgpazYaYODUDSkJtGBjgFsm7",
  "id": "fc_01611dcd11576875016ab492e0780887d0a064a1f0b11c82d3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OgpazYaYODUDSkJtGBjgFsm7",
  "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]: [-0.6746, 1.3006, 1.1042, -0.5529, -0.6792, -0.5816, 0.0106, -0.041, 0.7113, 0.4923, -0.3946, -0.0574, -0.0807, 0.9989]\nstate[eef_state]: left_x=0.3477 left_y=-0.1314 left_z=0.2362 left_yaw=0.1626 left_pitch=0.0007 left_roll=-0.0212 left_gripper=0.0106 right_x=0.2741 right_y=0.0025 right_z=0.1479 right_yaw=0.0329 right_pitch=-0.0401 right_roll=-0.0052 right_gripper=0.9989\nstate[joint_eff]: [-0.5949, -6.4205, 8.7863, 1.3602, -0.4322, -0.0708, 1.0232, -0.8274, -1.4701, 6.9538, 2.0293, -0.1685, 0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12249cd84a8300382523060449c0ba9994d518c3031c0249eec006e4c71aaa43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e4dd39c9a00fd153a3f35129901621bb57cddf5cf0826061296cc700e1c8ec0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c095944c5b110ce62cb33b1a79c74b14cafa8a7eb5c14ee78203bff8da6b4bff",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 3.668 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 18 changed as sent

message 26 changed as sent

message 30 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5228, 1.9152, 1.0035, 0.1352, -0.6773, -0.5758, 0.2219, -0.0334, 0.7933, 0.6285, -0.4713, -0.0357, -0.0696, 0.9989]\nstate[eef_state]: left_x=0.4512 left_y=-0.1281 left_z=0.0581 left_yaw=0.3101 left_pitch=-0.0185 left_roll=0.0028 left_gripper=0.2219 right_x=0.285 right_y=0.0004 right_z=0.1728 right_yaw=0.0163 right_pitch=-0.0633 right_roll=-0.0075 right_gripper=0.9989\nstate[joint_eff]: [0.2803, -11.959, 8.3487, 1.3651, -0.2418, 0.2759, 0.1392, -0.7179, -0.7179, 10.2222, 1.9658, -0.0855, 0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6254, 1.3312, 0.8646, -0.2264, -0.6514, -0.5495, 0.2222, -0.0406, 0.728, 0.5243, -0.403, -0.0574, -0.0811, 0.9989]\nstate[eef_state]: left_x=0.3609 left_y=-0.1241 left_z=0.1775 left_yaw=0.1746 left_pitch=0.0261 left_roll=-0.0476 left_gripper=0.2222 right_x=0.2779 right_y=0.0024 right_z=0.1565 right_yaw=0.0334 right_pitch=-0.0333 right_roll=-0.006 right_gripper=0.9989\nstate[joint_eff]: [-0.4308, -5.135, 7.241, 1.4286, -0.2711, 0.2369, 0.0269, -0.4308, -1.5521, 6.8991, 1.9316, -0.1197, 0.022, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6746, 1.3006, 1.1042, -0.5529, -0.6792, -0.5816, 0.0106, -0.041, 0.7113, 0.4923, -0.3946, -0.0574, -0.0807, 0.9989]\nstate[eef_state]: left_x=0.3477 left_y=-0.1314 left_z=0.2362 left_yaw=0.1626 left_pitch=0.0007 left_roll=-0.0212 left_gripper=0.0106 right_x=0.2741 right_y=0.0025 right_z=0.1479 right_yaw=0.0329 right_pitch=-0.0401 right_roll=-0.0052 right_gripper=0.9989\nstate[joint_eff]: [-0.5949, -6.4205, 8.7863, 1.3602, -0.4322, -0.0708, 1.0232, -0.8274, -1.4701, 6.9538, 2.0293, -0.1685, 0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12249cd84a8300382523060449c0ba9994d518c3031c0249eec006e4c71aaa43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e4dd39c9a00fd153a3f35129901621bb57cddf5cf0826061296cc700e1c8ec0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c095944c5b110ce62cb33b1a79c74b14cafa8a7eb5c14ee78203bff8da6b4bff",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJLpRstxg5m9YNVkFDzVetzuRjol9f9bdtzgPGTBwUkXWm4ZHnJW3f9sI3bQOItALHXYoDwBI55eG_SMXZ23pi9Q00fOZsTQsmg-C5SUv_b5PryhQC6BFwRn2iXSRxxEbNSURGPqcwfZWyoq1CAWo08zjHQ5_lKdPHYc19Tx2OGcuGckxI1LJAe1pFQS1OMhbmUZz0EtS1Kq-8l0a0UL5I9Iq0oWPkS7zO9Sn3wW4OvV7HJJPEjcMJ-547O_QN19YFwJ6UdOXttmkhxcZXFDaUz0DnH3bkvq8uacqxfYW_EpeNb8dTIA1xNHut8jVRSYxaLyVaKYip3niyDA8rnH4tPOVTbVdsI3wGYnO9hrF4l9YE_92qu9uftVv6Y_b683CUouevTWPbNjfek2H8pUxSx5fbC2eszun7j88nHA8hQfNBs_9-1fw6Z7yiNepcEIvF6KhJqxL1ejC9iuliuJA9OSOt7YCw24Z5kVvJYWhhTx0L694oUcO2BXo6YcvCmZsqModdh7ZwQtdxFGmgmL3hdh2mRTBf5GDWPVo0qxksoFWou8xfHRZmQfBOTnAXYKnrYZUS9NPmpjnyI_xobA06zCJZ6sys7PuBwbBkQIE1OinO2qiE2AOYZILeJ0EG4e5148N0SYqCY1MygjU4TY3TPaJlUrqLyvGvPPaZKaTnP4b2F1Yam4_lboN7kL8SHp-lP4Zw5bsXSjghjKda1EFgY0eIvNfDTpLbapvb-i6aAqmF5SAjNR8dRaQ69yllA3tDqpyBVK23Q_WACaB3fpkYSuBN3SfieCW7gQmMckJuqBL-uU4VaSTQTxavagrAlZwE8gVqnuiXA1MbnUiNdov2XtEe5ruI-G4fz9Ek2qpNgKWA4cHZ3fDLyJkxxla9hYnND_FDFWOmeP29iK678QVbpKjPxdFWqcRpr_YXGqR0AZNJWs6om8U9fG_rAXFCuSl_-Yz6yvufYQgoZyUNGSWUzuK3Y-JeiIk3ENS7nu1dBT6n0xHkFsFniVAJ_Ap3MJmb3N8IcHyaFBHICeOws9qtwtC8cctmP5STtbYUkFivy_LW16j1_NmEnMUe5OFHg61jljjBRk4YoGS1h1kPHEbQmNJeLcwIVS6ht3vnskXcAnkO9wpO-KFCEa433XivrWSBO2qeiUlITW43pmu-f1pn4aQ2uoT6EK3C1-QuAvM2uzomCgm-qlC7dM7y78xPE4lyWMXHHQ4MtYb2ijeoW2lO-kNtozB6fDGtpFWKlPVbsTI34Iam4cSkXiEJwq-HliB8tzj4WINVdQ7NVgoXElg5ssRm3J4TP05kV3_UJSM_AaEUBSMe1ab0upShYj5WLcrRV9wSmFfqwzOGrKwLN3N6a2mZcB-zD8VnVrmfJvMmDwnRV0hwXLlzuK-N3lvjjpH-ZTjj4eAUTnGUyghjdvtb4mzeZD9k2phvjHQ_Jg4FfjxQbyyv-atKeY8eXXQ04M_b6Scydo0-8CFIlycXjtLu1x6bykCWUwwrdP6Qh5WME2qKmGDsYL9wU6vIA2htwbU8SOHjuG5CeY99rEzlkDDTtSXm2KTE3kx-Jnel9Hs7C1LyIanUbo0b2YuASTMs6XLlZkSvZiVHItdyhrYKCiJoJL61lWOFj3hmQySVedTEWFAK-350dNTHqYk8xhHxarVTi_bhEtB78sAISm3VXOOtXlXZLgwLcKFDYrb7XBrO5IvR4r9GLrw136lipbg7lMpkYLzwWs5pWiMUpddPdD03C7iEaOAdOSrwUKmPsKbE3dGFFeQYd8FX25XGn4r6ljXLzgmnCqr4hWx54fddK42DKuk36VbJ1yuT1hz7fywDIUVcs_Wf-3D34w2hLIjD2nGk17eQwyRTc010yzOgSlBMCQAo-xb8LglFwX0ZBtNJegLXuUJleos2XwJEG_o6XDvw25lWnXcUUckqPlKqBARicnlwV7C3xoEobCO9J-jXW7WumR4voFZYcTlBKx53yUdJCxqk3X7_MVw0dtAVaV6p4uyjuwju_OX5a6JteKCC0ixPMssfZCgmobkL_LO8R3PNap",
  "id": "rs_01611dcd11576875016ab492e4257c87d0acc0fa75fcff7e71",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.065,\"left_z\":0.07,\"left_gripper\":1,\"left_yaw\":0.4,\"right_x\":0.294,\"right_y\":0.0,\"right_z\":0.2},\"note\":\"The fully closed gripper is empty, and the left bottle has shifted toward the near-left side. I will reopen and reposition over its visible cap, farther left than the previous attempt.\"}",
  "call_id": "call_evTPB4bngJDO2PVujmghhi7V",
  "id": "fc_01611dcd11576875016ab492e829a487d08d1e2250954cd8db",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_evTPB4bngJDO2PVujmghhi7V",
  "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]: [-0.6754, 1.2884, 1.1286, -0.6365, -0.6899, -0.5846, 0.9951, -0.0528, 0.7982, 0.643, -0.4736, -0.0757, -0.0883, 0.9989]\nstate[eef_state]: left_x=0.3396 left_y=-0.1234 left_z=0.2384 left_yaw=0.1715 left_pitch=-0.025 left_roll=0.0162 left_gripper=0.9951 right_x=0.2868 right_y=0.0018 right_z=0.1778 right_yaw=0.0406 right_pitch=-0.0544 right_roll=0.0005 right_gripper=0.9989\nstate[joint_eff]: [-0.5128, -5.5453, 8.4718, 1.4481, -0.4469, 0.0171, -0.0122, -0.4308, -0.7316, 10.0444, 2.0147, -0.0757, 0.0269, -0.0171]\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:e76f57bc9136be0692a93f5e7bd694c42faeb2028f1019b6467543ff78257d13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c969a6f60dd1c9c1f2f9bdfe176b4c3bac9fbfa447ca45b552979f0e2c8ffef8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16432a76c1fe554f413d2802656229ce8ca9e4334ec518e8d5e0b4fb79743e08",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 9 attempt 0 · /responses · status 200 · 5.144 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 22 changed as sent

message 30 changed as sent

message 34 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5232, 1.8828, 1.0222, 0.0784, -0.6701, -0.5686, 0.2218, -0.0349, 0.7506, 0.5629, -0.4263, -0.0498, -0.0803, 0.9989]\nstate[eef_state]: left_x=0.4501 left_y=-0.1288 left_z=0.0698 left_yaw=0.3008 left_pitch=-0.0262 left_roll=0.0096 left_gripper=0.2218 right_x=0.2807 right_y=0.0026 right_z=0.1634 right_yaw=0.0324 right_pitch=-0.0408 right_roll=-0.0093 right_gripper=0.9989\nstate[joint_eff]: [0.1436, -10.906, 7.3778, 1.4383, -0.2808, 0.1832, 0.1685, -0.7179, -1.306, 7.2, 2.0391, -0.0562, 0.1099, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6746, 1.3006, 1.1042, -0.5529, -0.6792, -0.5816, 0.0106, -0.041, 0.7113, 0.4923, -0.3946, -0.0574, -0.0807, 0.9989]\nstate[eef_state]: left_x=0.3477 left_y=-0.1314 left_z=0.2362 left_yaw=0.1626 left_pitch=0.0007 left_roll=-0.0212 left_gripper=0.0106 right_x=0.2741 right_y=0.0025 right_z=0.1479 right_yaw=0.0329 right_pitch=-0.0401 right_roll=-0.0052 right_gripper=0.9989\nstate[joint_eff]: [-0.5949, -6.4205, 8.7863, 1.3602, -0.4322, -0.0708, 1.0232, -0.8274, -1.4701, 6.9538, 2.0293, -0.1685, 0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6754, 1.2884, 1.1286, -0.6365, -0.6899, -0.5846, 0.9951, -0.0528, 0.7982, 0.643, -0.4736, -0.0757, -0.0883, 0.9989]\nstate[eef_state]: left_x=0.3396 left_y=-0.1234 left_z=0.2384 left_yaw=0.1715 left_pitch=-0.025 left_roll=0.0162 left_gripper=0.9951 right_x=0.2868 right_y=0.0018 right_z=0.1778 right_yaw=0.0406 right_pitch=-0.0544 right_roll=0.0005 right_gripper=0.9989\nstate[joint_eff]: [-0.5128, -5.5453, 8.4718, 1.4481, -0.4469, 0.0171, -0.0122, -0.4308, -0.7316, 10.0444, 2.0147, -0.0757, 0.0269, -0.0171]\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,$blob:e76f57bc9136be0692a93f5e7bd694c42faeb2028f1019b6467543ff78257d13",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c969a6f60dd1c9c1f2f9bdfe176b4c3bac9fbfa447ca45b552979f0e2c8ffef8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16432a76c1fe554f413d2802656229ce8ca9e4334ec518e8d5e0b4fb79743e08",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJLuYb1Ar6WTLeg6MKsTUFboQWZ8phk9O7DBE_R_NXy779fgTVivgb5B9886i7vXZz0XtHFarFi3OVQ0EIcDZW2j3CXcBALc7EoV1VO8jDyaS3cSN4IrTXJCMNd4BBxEGySbSKzb9PxNPkWixuaSFGId0doYmbLuXvpnZFVkwU73qm_r-twbyLE4sdlkOyvY7lwB_cr6RmS-Okxqori6WjYlEGcnF1NWIXqlXnMQtCs3t_IHtAy-qdCfw4NvqUBqzVscWsJ1tzg6V4Ns5PMi27AgZKgkl2HnLhCK_twmkvsjZlCPBLP4i349_2m_SOGHKGL7KsAX46WCLyT0m20hKjExtSJRyTG6TGKD1gC7t12kfXB2eQwhJmzXMIWo3xCS1Ml0jmpDjl65wO7abJ3jEN2qSYXAOa0wD2GiNFKtYh5vsdtBab3h3z4LHA6zroOgExBduu0sK8blFsUqmZwbLaUeUzJu6qvtMrclOD9rc8Ftk8hgrjnVSkif9530Znzj0LGAjCLq-2Atr5fiplzfjPKBQk4M5kWepW3rKSGDMADeB_rnf5BH2qtFwLKkt-3A4LIKfnmrLawvjxd7lCjOknqSQncMRwqvv6Cg2FQOyI6FmPzHulqPMr9dyjGjD9EshZqvMPwMK4KXI7GWTyLsRUo-SU-72c_CyXR--HBvmMemLjq_HeiEI3olUzWSObsHpgb-ysTZQcgwKiCcgLieRQeEvO-1jvaS0Ba7-jNFD5f46pkWU_B63JW74pNqm-8w9nomcxfq9MbtBkxSeI9ksA3a3-bu8oysvZ-ckLvtKpIAurOuGBRP2XRTOr64cRuxRaxhdRalK-80xBkGOyGQkBJlgu7SWrDHiRobn6aV-SXyL9-T1MkbvBYa_OaafqcwDhXwrPU6QsjmL7osonKAZgcpK1VIYGVivVw4rB9q_uZ7ynXW5hjjqLuPUpW5n-Pei9ZIPb_KJxf2e_uMd6E0gkKWYrRr1NVd6vZPB8BKC5_tQPzyflZ-24LmuWKh34XfJSdef-xBixX17pdT-0-hKrYKttlKd3iN0aw34Q_yZFbgfElcW3V9Y8wTUKBRbX95hTiusaoSXRW3S9ZajtMZ8md7vUOhbMWEi1Efj_rQfFie4usO6l022QKBO_UUBB6uAhduoxh2pfv6C-iindVQI4jpG2OA_kU22K86XiAVhxG4VzAfODz1ACgHwvhHK-FaBL6yJG3Hbr30R_eEzO1E5Cp81eaHZhG9l1gkrwBJTyJyYQG-NbjRaPeiQNe9mRRSl3egHx6u-yUnCp90YxmaOQtz2ONSniI2C9G9bUiAJ6cacXAGDlfMYKC7h7LStLuy4NVHluRrfcgqAO1bPIfadshKdPC_ATeArywbD70_xSwg_6RaB-YEvAn5w5_h_yJ2l862aUsuIn59h08E7HcU6IxKWSt8_0hToVsvVzeGqV95u2Q=",
  "id": "rs_01611dcd11576875016ab492ec587887d0abc3cb1f2d235b44",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.08,\"left_z\":0.09,\"left_yaw\":0.0},\"note\":\"The previous reposition did not track: the arm stayed high. I will return the wrist to its starting yaw and use a simpler approach pose above the shifted bottle.\"}",
  "call_id": "call_NTuLpMcXBcKVsaoEcldB3t8R",
  "id": "fc_01611dcd11576875016ab492ed2bc887d09b586117ba4eb558",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NTuLpMcXBcKVsaoEcldB3t8R",
  "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]: [-0.382, 1.3773, 0.5346, 0.1562, -0.3706, -0.2832, 0.9961, -0.0528, 0.7631, 0.5888, -0.4442, -0.0834, -0.0883, 0.9989]\nstate[eef_state]: left_x=0.3581 left_y=-0.0711 left_z=0.0795 left_yaw=0.0556 left_pitch=-0.0733 left_roll=0.0258 left_gripper=0.9961 right_x=0.2821 right_y=0.0034 right_z=0.1685 right_yaw=0.047 right_pitch=-0.0437 right_roll=0.0039 right_gripper=0.9989\nstate[joint_eff]: [0.2667, -5.1624, 6.2154, 1.8681, -0.0317, 0.2418, 0.0952, -0.4991, -1.388, 6.9402, 2.0879, -0.0757, -0.0513, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b16409f6e5c65149287f721cd00fb1be65c8edfd91b182b0367da70d2045126",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5ff465245acd50be5f8d4ccb0ea8f263d21a96568808d56258a9f06b8fb103c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df8e71587aec417c19178fe524ddaa6efba5f04d2ad9ca5d61ebff55cf3092f1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 3.21 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 26 changed as sent

message 34 changed as sent

message 38 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6254, 1.3312, 0.8646, -0.2264, -0.6514, -0.5495, 0.2222, -0.0406, 0.728, 0.5243, -0.403, -0.0574, -0.0811, 0.9989]\nstate[eef_state]: left_x=0.3609 left_y=-0.1241 left_z=0.1775 left_yaw=0.1746 left_pitch=0.0261 left_roll=-0.0476 left_gripper=0.2222 right_x=0.2779 right_y=0.0024 right_z=0.1565 right_yaw=0.0334 right_pitch=-0.0333 right_roll=-0.006 right_gripper=0.9989\nstate[joint_eff]: [-0.4308, -5.135, 7.241, 1.4286, -0.2711, 0.2369, 0.0269, -0.4308, -1.5521, 6.8991, 1.9316, -0.1197, 0.022, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6754, 1.2884, 1.1286, -0.6365, -0.6899, -0.5846, 0.9951, -0.0528, 0.7982, 0.643, -0.4736, -0.0757, -0.0883, 0.9989]\nstate[eef_state]: left_x=0.3396 left_y=-0.1234 left_z=0.2384 left_yaw=0.1715 left_pitch=-0.025 left_roll=0.0162 left_gripper=0.9951 right_x=0.2868 right_y=0.0018 right_z=0.1778 right_yaw=0.0406 right_pitch=-0.0544 right_roll=0.0005 right_gripper=0.9989\nstate[joint_eff]: [-0.5128, -5.5453, 8.4718, 1.4481, -0.4469, 0.0171, -0.0122, -0.4308, -0.7316, 10.0444, 2.0147, -0.0757, 0.0269, -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 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.382, 1.3773, 0.5346, 0.1562, -0.3706, -0.2832, 0.9961, -0.0528, 0.7631, 0.5888, -0.4442, -0.0834, -0.0883, 0.9989]\nstate[eef_state]: left_x=0.3581 left_y=-0.0711 left_z=0.0795 left_yaw=0.0556 left_pitch=-0.0733 left_roll=0.0258 left_gripper=0.9961 right_x=0.2821 right_y=0.0034 right_z=0.1685 right_yaw=0.047 right_pitch=-0.0437 right_roll=0.0039 right_gripper=0.9989\nstate[joint_eff]: [0.2667, -5.1624, 6.2154, 1.8681, -0.0317, 0.2418, 0.0952, -0.4991, -1.388, 6.9402, 2.0879, -0.0757, -0.0513, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b16409f6e5c65149287f721cd00fb1be65c8edfd91b182b0367da70d2045126",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5ff465245acd50be5f8d4ccb0ea8f263d21a96568808d56258a9f06b8fb103c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df8e71587aec417c19178fe524ddaa6efba5f04d2ad9ca5d61ebff55cf3092f1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJL00xEGwgQc-cHdmKz4m5Q5TtCLVa7OIGqH27vjmeknYUsrb7TgGQRv2XnHPYu_WcI_mgOr95Cj9suwxXih9Fs23UaoLuPhYLm_6WkzIh7IkqTqz7PgGnafYl7qxsotBy-V2SbigsX1bwUjWuwzbyCA7FElnFGSlWA3ZUngUkFR6Ib4GH_J8lSb40EzcU0mHllT5_so-UVRxpZce0dVhvVDwuo43Zyr4ikOPwDQmc5cxNCahMVgnBTyMt2aAzPz0UJ8Y_yqBNOmNmh6NjPoNGZSZpfdXkwih8pIyoFhRmx2wd9kWoqS1yEnm6i9j_SUJ9Lu-pJbo2OPsgcSZWEgYIcCjQVT_uue3suMOm_6ISnh3vfEYnjh6-YvhikCrENCFZo_nChExfNGz4TNxgraYbOLaIIMF1121JBnozZf6FaxkVzPiYJhLhjjXK02KxzpKvpjRfGBUgFgxNpF4J1ID54DFnjEN-Qqc0PZGga09rylPwxT0ku9qn2aa9WTU4wFqgNz7S5nDSzuRp_-m9AdUaWBVm1N-S2GnDqHQUyVrgZOU7ExsehkSo373Kh7x8ddG19TEHfB7sqvDvLALzg6vi7H1AddgdnW1D1eMNEt-7Ek_X83LQ7Qme6Ovzpn1vOMcDz1Yd4nb1LaiIYtkpMvbBl8Pd8O7tFa9RxfG3OFCZOWVf2d_W1XEHy9RxowmO2dxNnFBCpLby1tBGmRh1MtjbskjyiX-k6KMvUetu6P9-k8LaEtcuai5p91VqeYNcIqBUXt-7uuzeSEG_DSvX31XxA0PCQeCMyuBk4NtGzTW7k394HdSlbmuZ8N8zUEcQH0xcIZnljnut-SNIwdq8oNW7XNmqxgBvlWwk0qwBxRcwZjsmaxYWLu_0Ay8FTTgolrn4atS0S-AYww8tmpBEbx-um9cVW1g-jsfsCICeC1RHidUjoHubPVxYhoS4_i4NRqv_POj-xZphCBFxQh0gc9gGQ-5r-MRq2GDPpc2ZSPld3bKB1ghKMtE8HvBCFiWL3QTmvZyGxVnUDG7zyosuErx8LpllNQu6Fj_TB7E6WHZuY2CeRxri99pW90UGYCweTk4s3cU3cgglFwTdh32eu7zhsUbGXpK0W-7cJ2lHvmosIhhsMO9d_6i_u1Gwed3hazKrLOYtejSrH6BUrW4qIZ0vmPD_iWbBrrsWvrouCm0_v0h3Lq4TTVRsa7lwVSDG020c8QCV8I1O3eD0H2KsJ75b9nsDw3RsqX5SE5iKVv9wknJoWZQywKsYaG4lvPfVQuU1C5CeKdILcw-DPxLNa16Hx9LaerSSobb1M-VamARY3hW_Nt8Lirq_W_yna74jTplS_uzjuP4HgZnDNych0V9bSfFJCV4Nrk2aiyvdFY1LjbRXf5xMcsjFtKceGpMIhAuWfPc2b3KRsz-yEqtPKNOFhiM4Ei8u5TsTZ_b2CcR0KDFPBcUhVK56YmltkZORiuyVYocFEBzt_CT6iNil1a9TZK_jqwom0sBmBCCOHV1AZPXPocugcqX3gN4wUp2m4PZZ-mVmneB2R_up4d2URSf91MF4DqAzUSfY2uGGe4FtPZQwOaQ_BMxzXfr1Nt6lhCliDMqaZrKrtj30fYw4WuwMWO9Q6XlqGuLVpioa6onrYsaiTt1pMvtXP1UldWKeEsyVaYGStoLL5mOvkJMbRzpAng1SlbUWK2YyrMpZbq2oTr2pDxCjSRUDP-WHKkuMAp0LJ7",
  "id": "rs_01611dcd11576875016ab492f1214087d09cdb5351909f7ec6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.045,\"left_z\":0.025},\"note\":\"The shifted bottle's neck is visible at the lower-left edge of the wrist view. I will move a few centimetres left and descend so the jaws straddle the neck instead of passing beside it.\"}",
  "call_id": "call_I2YQA8WyjGFYV2xoRkQLDEQA",
  "id": "fc_01611dcd11576875016ab492f356b087d0ba1e141876adf1b4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_I2YQA8WyjGFYV2xoRkQLDEQA",
  "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]: [-0.2836, 1.5661, 0.3664, 0.6357, -0.3199, -0.2325, 0.9963, -0.0528, 0.7372, 0.5449, -0.4217, -0.0834, -0.0879, 0.9989]\nstate[eef_state]: left_x=0.3666 left_y=-0.0453 left_z=0.0425 left_yaw=0.0841 left_pitch=0.027 left_roll=-0.0071 left_gripper=0.9963 right_x=0.2784 right_y=0.0036 right_z=0.1599 right_yaw=0.0468 right_pitch=-0.0392 right_roll=0.0038 right_gripper=0.9989\nstate[joint_eff]: [0.3761, -3.7265, 2.6735, 1.0427, 0.1099, 0.1441, 0.0024, -0.4034, -1.4291, 7.0769, 1.9609, -0.0806, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6e1a024ca3b6690fa7ad278db7618303d8e2805cc8d21895209973ed4f4e0c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c82dbdce568dca2fac1f7ce558b7bc844b28b33936ea3a255a10197489310db9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbf7a3d80663349482b567e5ed442e5b158a03934b0770a09ea20efa177bcfea",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 7.112 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 30 changed as sent

message 38 changed as sent

message 42 changed as sent

message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6746, 1.3006, 1.1042, -0.5529, -0.6792, -0.5816, 0.0106, -0.041, 0.7113, 0.4923, -0.3946, -0.0574, -0.0807, 0.9989]\nstate[eef_state]: left_x=0.3477 left_y=-0.1314 left_z=0.2362 left_yaw=0.1626 left_pitch=0.0007 left_roll=-0.0212 left_gripper=0.0106 right_x=0.2741 right_y=0.0025 right_z=0.1479 right_yaw=0.0329 right_pitch=-0.0401 right_roll=-0.0052 right_gripper=0.9989\nstate[joint_eff]: [-0.5949, -6.4205, 8.7863, 1.3602, -0.4322, -0.0708, 1.0232, -0.8274, -1.4701, 6.9538, 2.0293, -0.1685, 0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.382, 1.3773, 0.5346, 0.1562, -0.3706, -0.2832, 0.9961, -0.0528, 0.7631, 0.5888, -0.4442, -0.0834, -0.0883, 0.9989]\nstate[eef_state]: left_x=0.3581 left_y=-0.0711 left_z=0.0795 left_yaw=0.0556 left_pitch=-0.0733 left_roll=0.0258 left_gripper=0.9961 right_x=0.2821 right_y=0.0034 right_z=0.1685 right_yaw=0.047 right_pitch=-0.0437 right_roll=0.0039 right_gripper=0.9989\nstate[joint_eff]: [0.2667, -5.1624, 6.2154, 1.8681, -0.0317, 0.2418, 0.0952, -0.4991, -1.388, 6.9402, 2.0879, -0.0757, -0.0513, -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 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2836, 1.5661, 0.3664, 0.6357, -0.3199, -0.2325, 0.9963, -0.0528, 0.7372, 0.5449, -0.4217, -0.0834, -0.0879, 0.9989]\nstate[eef_state]: left_x=0.3666 left_y=-0.0453 left_z=0.0425 left_yaw=0.0841 left_pitch=0.027 left_roll=-0.0071 left_gripper=0.9963 right_x=0.2784 right_y=0.0036 right_z=0.1599 right_yaw=0.0468 right_pitch=-0.0392 right_roll=0.0038 right_gripper=0.9989\nstate[joint_eff]: [0.3761, -3.7265, 2.6735, 1.0427, 0.1099, 0.1441, 0.0024, -0.4034, -1.4291, 7.0769, 1.9609, -0.0806, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6e1a024ca3b6690fa7ad278db7618303d8e2805cc8d21895209973ed4f4e0c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c82dbdce568dca2fac1f7ce558b7bc844b28b33936ea3a255a10197489310db9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbf7a3d80663349482b567e5ed442e5b158a03934b0770a09ea20efa177bcfea",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJL4X5e8ho1WUdeGSz3CnfCf26hH0dD9DNGTGV2WEYTeIunJrBGLUycTxKPs-gVlmQbkYNopiZBwQ48j-ltayDs7QgXwxo728JVRaRgGsjW3eVwO7wCMsTnGbOlXWaxnc1o71_wHgEtXTyYVbL_k1RFJBcFJuXSmt5WoX35Ac5yAxdkpQYGFWGiZGW2PPNqjQN-917-3yxZXvoZFl2vlJRPZi4LDltILZycN994XwbVAsxH8W7J4MoBrdpoIFxZEZ3I9evXs7BBaeYO7cjQn9_lRAnpprj7jutVPBMgCa63A_Mzha9x9S5S4rZW9-W1DTaRwl4a5TBGC7MkzAVeCom4Q9HkErJWyPGKH7dldR7CwScrFcQ01LBglibx4auU89tu16Vaex0YOq1CaZFY7B-cGDprYihDxnZsC9WS-Dnrz3rkBUCITi3VFUI8OWT2GlHYThqi3-0wXXimCOYgctXSOCDxSoEAUDqUidurLN1J2OELFdaFOj_sCV1l2dk3ehnkE56yqODfcSa07fKldvmMgfKqaxb1u0VKBrp1tWsHtsUqzDVE2AG6SeOkjq9cpySrTmtav-rP0Mw_atjmaZqyf8QfraTbqwuF0SrsX93QMXkbZSQcfCGjnzDHHQPB9O5La8hO3i-dnNHPocpxE9rLteTMUaXTEA6Okuhf_M7MmOdzM0kDwiwnZXSN-awtOCENwXfy710sYsWDGr6Twk6Yc5NRED0H0VkGJiC8aQTAM-qh6NpVwd12z0hU0BgNxE6XdUHLi5hVzipSaEc5in_fx6hm5sXUMrOZ-3YUYNE2Lc_YhCES0LDsqFEwGNiUBtb8p52VvtajK-k07GEHG05DRXXROZXsKxAbK_iODxxI0VizThlNEWXgS_n1Az3cBdHJHdkPjVldo7Dyp3digZCQVi4roJ3bSqKYfjB_lsrEFxW1h_YlRoBXftujMMc9lbpD5xpz4G8R9Frcei4_p_GPeFf51VGQ9QcE9URZsCruQYGmFRxA6suJyOr7vVbIaYwG7JFyWaJmlYUbUzN59EG8uCXsaz4AKi2GwkAyzR3tgWBqk-09u6nx4MLRzT360GhdTqtA-cbfmJt1yiy83V6xC_aXrvwLP5vFHG8E_-kFAPeifCeIN_LPfaCfwBMz3-G9_dEwd6VO9E8qQkVaqmZUk5qDCcCKVW-1qs0eybMxlNgIwfsFnHlJCz54IQTa2ZBocIVvpWUSfDbDVPW1Q-kh9sHIlMmn_W7tx_YRbYYe964g=",
  "id": "rs_01611dcd11576875016ab492f6ec0c87d0824dabfc1ab6df75",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The neck is now beneath the jaws, and the descent stopped slightly high, suggesting contact with the bottle. I will close fully and check the resulting jaw gap before lifting.\"}",
  "call_id": "call_ywEjKaP9YuGsQyp7oO7j7SmY",
  "id": "fc_01611dcd11576875016ab492f71d4487d0844b1ea2a43ea37c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ywEjKaP9YuGsQyp7oO7j7SmY",
  "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]: [-0.2676, 1.5997, 0.3511, 0.7822, -0.3069, -0.2268, 0.0108, -0.0528, 0.7147, 0.5076, -0.4023, -0.0834, -0.0879, 0.9989]\nstate[eef_state]: left_x=0.377 left_y=-0.0443 left_z=0.0555 left_yaw=0.0887 left_pitch=0.1161 left_roll=-0.0427 left_gripper=0.0108 right_x=0.2752 right_y=0.0038 right_z=0.1526 right_yaw=0.0468 right_pitch=-0.0346 right_roll=0.0033 right_gripper=0.9989\nstate[joint_eff]: [-0.4308, -3.9863, 3.1932, 0.9988, 0.1245, 0.1587, 0.9451, -0.212, -1.2239, 6.9128, 2.0195, -0.0806, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d61c3bd8066770d5ee0d887e5016c2a98ca5dec53d8324c200b595d176febc72",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adfc05dce95e6f09552ebf494c47ca09340c6a58c1e291391793a1d801404821",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8eec7c561ff159a2ceedd60dc006b37baec72fe7ca3106b718c4637ec78c7491",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 12 attempt 0 · /responses · status 200 · 4.171 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 34 changed as sent

message 42 changed as sent

message 46 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6754, 1.2884, 1.1286, -0.6365, -0.6899, -0.5846, 0.9951, -0.0528, 0.7982, 0.643, -0.4736, -0.0757, -0.0883, 0.9989]\nstate[eef_state]: left_x=0.3396 left_y=-0.1234 left_z=0.2384 left_yaw=0.1715 left_pitch=-0.025 left_roll=0.0162 left_gripper=0.9951 right_x=0.2868 right_y=0.0018 right_z=0.1778 right_yaw=0.0406 right_pitch=-0.0544 right_roll=0.0005 right_gripper=0.9989\nstate[joint_eff]: [-0.5128, -5.5453, 8.4718, 1.4481, -0.4469, 0.0171, -0.0122, -0.4308, -0.7316, 10.0444, 2.0147, -0.0757, 0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2836, 1.5661, 0.3664, 0.6357, -0.3199, -0.2325, 0.9963, -0.0528, 0.7372, 0.5449, -0.4217, -0.0834, -0.0879, 0.9989]\nstate[eef_state]: left_x=0.3666 left_y=-0.0453 left_z=0.0425 left_yaw=0.0841 left_pitch=0.027 left_roll=-0.0071 left_gripper=0.9963 right_x=0.2784 right_y=0.0036 right_z=0.1599 right_yaw=0.0468 right_pitch=-0.0392 right_roll=0.0038 right_gripper=0.9989\nstate[joint_eff]: [0.3761, -3.7265, 2.6735, 1.0427, 0.1099, 0.1441, 0.0024, -0.4034, -1.4291, 7.0769, 1.9609, -0.0806, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2676, 1.5997, 0.3511, 0.7822, -0.3069, -0.2268, 0.0108, -0.0528, 0.7147, 0.5076, -0.4023, -0.0834, -0.0879, 0.9989]\nstate[eef_state]: left_x=0.377 left_y=-0.0443 left_z=0.0555 left_yaw=0.0887 left_pitch=0.1161 left_roll=-0.0427 left_gripper=0.0108 right_x=0.2752 right_y=0.0038 right_z=0.1526 right_yaw=0.0468 right_pitch=-0.0346 right_roll=0.0033 right_gripper=0.9989\nstate[joint_eff]: [-0.4308, -3.9863, 3.1932, 0.9988, 0.1245, 0.1587, 0.9451, -0.212, -1.2239, 6.9128, 2.0195, -0.0806, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d61c3bd8066770d5ee0d887e5016c2a98ca5dec53d8324c200b595d176febc72",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adfc05dce95e6f09552ebf494c47ca09340c6a58c1e291391793a1d801404821",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8eec7c561ff159a2ceedd60dc006b37baec72fe7ca3106b718c4637ec78c7491",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJMAhcynUrFJFCqm2qVvVd4XUTY2jhOGkFBy0mj43Y_hntN5oQxaGaHuaRw_OeDW3e0lQnaLKx6Wit2199Hn8-zk6fIRj7gyzyX2VMzKBqjVKm2aLiR2f3zoFLoqht0ZBXXuM_wzKa-IyzFnqgEqQSPAaUpP92lxE_OxQwKeWBH7vTCvdjBtT9Zeheei_uxcJ8a8-SGOm_imN8bU811BPkUz9n5g3mNzTKR3qNSMhIcNd-hwsHYsYvEEDNzQvkD-Vo2fbrfwXlGs3ljKH8E5n4sHPvbRjrDXCEWJJtJW10qmMOyKnwdD_3dR9rZ8aOiiW1Mt2SC4qM4FL-7PKutxNyJS18YbNFBZ-RbEYVmK5nTY0SFRmFvi2kDxBryDPPz9-Joda4HnzmWcZdLePREpXEyantgHiQ9S7kNKPiP72mGPY4q8SuoUA_t8vW74fj4fOQ7QEMQ5K2556u2_7Eyq3s50iahGhhamQNSTRQndLaBTcDXNO5oGzasExedOnlpdY4JWWnSBudgKtCqg5HmZ4r-OY-IXjUfYIr51VA1mV6VTDFheIdvj1vTPDsuFj1Y304m3yWV9va9M48YQd5dUzRNVsQ4tCaHj5Y-oQ1OT-oyBLXgvk46QW2JHOYt1SfQxNSOgrr9jnygW80WfJrTfNlmUuDuPSObjqUHA_IGVGnivfTrgBNFYCVL56ykuzsb9DIeM6sHmQBsgiEEJcWl0T_Kzbp1TJPxZMC_otFy2fxOvyuk58lbqrYp1WEaTLwsgQZbgqFp5xZjHIOybQnB9x1kCYbFGLWPdTlQxYCcaIBIH3e8Vp_H8zW0g6jwPSIcwGi9qaPX6jNlL68shbPVeHKLGwGufHNM_2LL5fYmbOqdPvQCI3Xjk-av41E_yd-exp33l_9dWN8XsRZdGaVvNISWAMMGqPb1L9UCLEf1IXsBduvbkiHcrXKDfVdp9ebhGUfbcpaeJxRgwpDgrB_Z7bx2XGDXV2MqgjkhBaOKWGK5h9GfkLHNBuhNorefg0lDc9oqm_jieC6R7m8htBEEAhlAEP6R2N24gfjdodFg7u89qDYJ4O2Up5l8KeWoW2pl2Xmrz2rm8gqMak264jvDm9KxHrmjSPvxksgtmdkhDxms2NiaKy_yYxu-jlc-isQdls0axGi3cJ_ewlLzREKdEgHBfgO4iOI2s7RHRkKYYLZvO4ml-U8SPJTGvL4W4U78fhsgZLBccghzXCuPmrvGpmOOIYAbgeMRD9k-E_vfBmgQz_D8IZiTaSBjDRAxtr14W0ZumheqUhmwm43qa1NChlZ_RzgIm0zwPh_WN6dqBHE5hsKym9eM_xbnD8aYBB9soFAkN6EXJEoW8rsukb30n3ItfHsX4IEHD2RmNsXF0sAAdkcmz_-YOJ12fwygIUt09Ec478o0ANFTzwTy9Vqxx3d7QfXqg2Bippzd5kl6wv7_qMBAevEKrVs4Szsrg5CNOslx5LJWBb2dvDs0WgmQR4GAq5ZohIsxMuZC9brDwwxwXK0bcAHQYA_zF8bjegtTj4V0UEBoh0m1uukLUsASKPxB59McSX-2XChRyM4MHb1AiuFtoZAF5ncuCR8btqjavCB-E1G865RdMhmvqBbRQvNM9L4RcUKbrxNVp9nSghPdQc_JQ49zazIq5f92gyIiK2dGHKTuJi0SiaDLLi77-GcZk7fOfNSLzrOWUFn2XCO6I-YVbqKoGvPpWpMpG1wyBrRS5mFpq7S7kxIv2hPL8G1YudTqEuDDK2zbeOo7UBJmgilo5X1_H6_NQ6JsiKxFfGKMjgYq0n_G8Wm2YPGmYpzXvSTlHlWyCCkwBrwF6anvI2OkiLs24ajcBE6N8JlkKsRLt1zdOOQ94aiXpVZrP_K5vU6N1-KD5UXIVtk5vKiYrsYn9GXb8mqofYdGvswRRimYEYPxNJvpN-mh99TgPplWNy0BbrFSW1h9HYSJD40V7wgBjxivFPMbX-XptC2tJ-9yCe0or-5XIaPei3mVc67KWlCHcwfZpJ0RajFx-ZnKriAykfNJofccEecRNYvdgdz3jv_eMDuB1GSHQ8FquN4Xwmb0-dAzWfolcf-VyWYNQhH3jiRtPPiraLp3fgBZBEMVC3MYqwOa1qYbLqjjIlHf3Qx2tuHD0yMhZ0Ihp0eXAYd19AcpqQaOaJ8ARF0Z_RxQuUBbC3K3y4Lqor01Id95aROjoydPzvz8VnZd0XlNC8iv6_DihviU1bP5roal6YKUKe07T8m5XsGJVxNyQaztd8_bfMmPAfWIOgwf7Snjt_oIZoInVKawBQm_uxFvqh6iAkO8sLJ6r5WORPnf2GEAiBnCDYz0EK0xxoedvD1o38rGRelSfBLJ8S2LNhwu-TZRNt80_jh-KY8BEt75nXJOrvhTWcvYnFtS5WzHKkuIqXY0T81xI07TL1ASVEpDiszsmqgcF7pWAyv8Sh0e61bkPwzFeuiEfKaOmKNJFnnJpV-KzIk3d7acFtHZ21w4mYgAb",
  "id": "rs_01611dcd11576875016ab492fa908487d0a57d43959e6c0d7b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.08,\"left_z\":0.012,\"left_gripper\":1},\"note\":\"The second close was empty; the overhead view shows the bottle just behind and to the right of the fingertips. I will reposition from that overhead evidence, opening before moving back toward its neck.\"}",
  "call_id": "call_PY7hyPHbEY3ZHo0dYFXeFFq5",
  "id": "fc_01611dcd11576875016ab492fed57c87d0ac3de22caf79066a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PY7hyPHbEY3ZHo0dYFXeFFq5",
  "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]: [-0.485, 1.6089, 0.3134, 0.7841, -0.5037, -0.3565, 0.9951, -0.0528, 0.6933, 0.4736, -0.3874, -0.0834, -0.0879, 0.9989]\nstate[eef_state]: left_x=0.3516 left_y=-0.0849 left_z=0.0465 left_yaw=0.1026 left_pitch=0.1159 left_roll=-0.0574 left_gripper=0.9951 right_x=0.272 right_y=0.0039 right_z=0.1456 right_yaw=0.0468 right_pitch=-0.0324 right_roll=0.0031 right_gripper=0.9989\nstate[joint_eff]: [-0.6085, -2.6598, 2.0034, 0.6032, 0.1685, -0.0122, -0.1636, -0.0615, -1.1556, 7.0222, 1.9414, -0.0513, -0.0171, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fb90030cbe7caca784d6e3f7661388a6d790ceed6bff16e3414daf96fe8356e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:821819737335f14462aaa603b08eb9b1385e0a410cef038d81eefc5c4fea9890",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a81f49c791e3c4c16d653fdfabcaddaa8df5fe93805bc0dd726c7c1770e18df8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 5.448 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 38 changed as sent

message 46 changed as sent

message 50 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.382, 1.3773, 0.5346, 0.1562, -0.3706, -0.2832, 0.9961, -0.0528, 0.7631, 0.5888, -0.4442, -0.0834, -0.0883, 0.9989]\nstate[eef_state]: left_x=0.3581 left_y=-0.0711 left_z=0.0795 left_yaw=0.0556 left_pitch=-0.0733 left_roll=0.0258 left_gripper=0.9961 right_x=0.2821 right_y=0.0034 right_z=0.1685 right_yaw=0.047 right_pitch=-0.0437 right_roll=0.0039 right_gripper=0.9989\nstate[joint_eff]: [0.2667, -5.1624, 6.2154, 1.8681, -0.0317, 0.2418, 0.0952, -0.4991, -1.388, 6.9402, 2.0879, -0.0757, -0.0513, -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 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2676, 1.5997, 0.3511, 0.7822, -0.3069, -0.2268, 0.0108, -0.0528, 0.7147, 0.5076, -0.4023, -0.0834, -0.0879, 0.9989]\nstate[eef_state]: left_x=0.377 left_y=-0.0443 left_z=0.0555 left_yaw=0.0887 left_pitch=0.1161 left_roll=-0.0427 left_gripper=0.0108 right_x=0.2752 right_y=0.0038 right_z=0.1526 right_yaw=0.0468 right_pitch=-0.0346 right_roll=0.0033 right_gripper=0.9989\nstate[joint_eff]: [-0.4308, -3.9863, 3.1932, 0.9988, 0.1245, 0.1587, 0.9451, -0.212, -1.2239, 6.9128, 2.0195, -0.0806, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.485, 1.6089, 0.3134, 0.7841, -0.5037, -0.3565, 0.9951, -0.0528, 0.6933, 0.4736, -0.3874, -0.0834, -0.0879, 0.9989]\nstate[eef_state]: left_x=0.3516 left_y=-0.0849 left_z=0.0465 left_yaw=0.1026 left_pitch=0.1159 left_roll=-0.0574 left_gripper=0.9951 right_x=0.272 right_y=0.0039 right_z=0.1456 right_yaw=0.0468 right_pitch=-0.0324 right_roll=0.0031 right_gripper=0.9989\nstate[joint_eff]: [-0.6085, -2.6598, 2.0034, 0.6032, 0.1685, -0.0122, -0.1636, -0.0615, -1.1556, 7.0222, 1.9414, -0.0513, -0.0171, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fb90030cbe7caca784d6e3f7661388a6d790ceed6bff16e3414daf96fe8356e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:821819737335f14462aaa603b08eb9b1385e0a410cef038d81eefc5c4fea9890",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a81f49c791e3c4c16d653fdfabcaddaa8df5fe93805bc0dd726c7c1770e18df8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJMF5cItDL7cbPW0EBB1SxqOEWBnc7uhHRYz-pK7oW_wazF62b5SxAvfz6GrkOW9wSXobBS51RIIu4sPyoxdOv-daqY9URggd6fYec-GYmCXkgOZkGvleZGUyl61zlPjoennDu2E1OZrVoEBN6eUdhIgGEfcboWC_TpvQ_JBE-02gFmtTEYWgK4HuVvH4Dl1Mc2K_IdqtXBehegWu76HfZ_f2hyeclB-9EOabrMTHHcdepxQRr2TBxP6ouRIwP2ahiTbYBGs0y5-ZDJb0rDbeGNnk9NJLVqBERxhi2X7wUCWgeiwQtd8wY45WYLli7O3oQdcLl_p47S0C5mk59mFcZMp8EsYDpFRp5mPMCTzP7tvSDlF_ULokNMHUINCFT_SzY4uf8COn6GBip4x-u9blhTAbLkNJ6OZrgcW27Tw4OGMimF8JHTCHD0zspa3KXmwwJM902dBsU0ucT6J9Wpl6g02IEwhMsWdCzm7IFIL4gd_ABATyLXWOHuuqaF7EpWxK7GonSCeAc9wnLanY6OH-2liwyCf6WvckYWwsgZh8YYcHAEWRZHJuAwqCccfaSlNdpJASRtlMABjY6c_H20fmgDAgLnue4cK-BLOac8Mu1aweFIzL5ec7WIght0TDyHWGA5vvcbja1Sjjoeu5e93GL332veXnJ2SAKNw7cFrlY4pzQw09fkylVeQsBKYnd7nYKByE5lIIHT75GnKi49jfPrEjN-AduW0xgl-q1zu6MsemPIu4FvIXuEHqYap8ypovTNSfuxsCb5sybuIxPs8H0XjVr2lxtBczC0leFWPtMqAbTD86ZvWu-pAZ90vKZ259SAUPfEbPk-NgAbx0MTlIvBHjKRqMn5zEV1sGkHIF1j71oDf9pIfx09I79o9yAgSXbHWVqAIcnxKy_iQD0AHTt9zE0PkjNHAKRN9pK3qiTmycDBmnFbbSQVKcC9u2m7pTeiEux1wBizdB3dKET-GZnUurai7p_MEpVdAxMHOoG0Ooy4A-3jE8yn-n9eJjm5R1dtI82yEX-MvkRUoxmg45aW43-K2FUebsGObjJgsDmEhRZ9szW5LOegksKS16mKU-alySrNU1DyjZukLOqVHXxOB2jsvKLmB6SgzkK-6PuQeUrIcD2ut73kruBx1og4W_9xNWxVWy2EP7dVvD6TnpuBtVEOHBSOx7x3wNnUno0ThLlzzE-4V2XIZeMbhhKGE3J3SFhMdTGHLejoKgRoJR_2tM8ZphmzT4MUBxT5dyuQnn9FD6koP6PJTR6zg5DkAEj5i6cdv_UGkFtY0K4X3mCiIxzu9FDXKENpB1eoAxnWyn6-lMopmMDG4GZ495QFfgGgyLCq3tZEnpFfuOq5DsHIIpVG82oWimgbt0LIov7d5m6I=",
  "id": "rs_01611dcd11576875016ab49302c09087d0a37b27e082695ec9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0,\"right_x\":0.294,\"right_y\":0.0,\"right_z\":0.2},\"note\":\"The bottle's shoulder is now directly below the jaw opening in the wrist view. I will close here while returning the idle arm to its raised parking pose.\"}",
  "call_id": "call_xLsDZCGqz1Iyk2AGRRgeLZ8q",
  "id": "fc_01611dcd11576875016ab49303a49087d0a209dee5e1a8811a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xLsDZCGqz1Iyk2AGRRgeLZ8q",
  "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]: [-0.4828, 1.5272, 0.4107, 0.5186, -0.5175, -0.3733, 0.0113, -0.0677, 0.799, 0.6434, -0.4744, -0.091, -0.1081, 0.9989]\nstate[eef_state]: left_x=0.3565 left_y=-0.0842 left_z=0.0562 left_yaw=0.121 left_pitch=0.0481 left_roll=-0.0176 left_gripper=0.0113 right_x=0.2868 right_y=0.0002 right_z=0.1777 right_yaw=0.0494 right_pitch=-0.0547 right_roll=-0.0065 right_gripper=0.9989\nstate[joint_eff]: [0.0068, -5.2308, 5.9009, 1.1551, 0.0415, 0.0122, 0.9841, -0.6906, -0.7179, 10.0171, 2.0195, -0.1245, 0.0269, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcd85aeb79247974a7072574980d2bb8a2d70b018930b8f91e12f7e8df869136",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e947be92d27ee93621a2d13c5c34d595dc2b55df0bbf87735ec8ce21b863c15e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27bf36c2251ed8a0f766ceb38b1b65790873eb4d5336c78699a281bc7da807b2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 4.856 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 42 changed as sent

message 50 changed as sent

message 54 changed as sent

message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2836, 1.5661, 0.3664, 0.6357, -0.3199, -0.2325, 0.9963, -0.0528, 0.7372, 0.5449, -0.4217, -0.0834, -0.0879, 0.9989]\nstate[eef_state]: left_x=0.3666 left_y=-0.0453 left_z=0.0425 left_yaw=0.0841 left_pitch=0.027 left_roll=-0.0071 left_gripper=0.9963 right_x=0.2784 right_y=0.0036 right_z=0.1599 right_yaw=0.0468 right_pitch=-0.0392 right_roll=0.0038 right_gripper=0.9989\nstate[joint_eff]: [0.3761, -3.7265, 2.6735, 1.0427, 0.1099, 0.1441, 0.0024, -0.4034, -1.4291, 7.0769, 1.9609, -0.0806, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.485, 1.6089, 0.3134, 0.7841, -0.5037, -0.3565, 0.9951, -0.0528, 0.6933, 0.4736, -0.3874, -0.0834, -0.0879, 0.9989]\nstate[eef_state]: left_x=0.3516 left_y=-0.0849 left_z=0.0465 left_yaw=0.1026 left_pitch=0.1159 left_roll=-0.0574 left_gripper=0.9951 right_x=0.272 right_y=0.0039 right_z=0.1456 right_yaw=0.0468 right_pitch=-0.0324 right_roll=0.0031 right_gripper=0.9989\nstate[joint_eff]: [-0.6085, -2.6598, 2.0034, 0.6032, 0.1685, -0.0122, -0.1636, -0.0615, -1.1556, 7.0222, 1.9414, -0.0513, -0.0171, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4828, 1.5272, 0.4107, 0.5186, -0.5175, -0.3733, 0.0113, -0.0677, 0.799, 0.6434, -0.4744, -0.091, -0.1081, 0.9989]\nstate[eef_state]: left_x=0.3565 left_y=-0.0842 left_z=0.0562 left_yaw=0.121 left_pitch=0.0481 left_roll=-0.0176 left_gripper=0.0113 right_x=0.2868 right_y=0.0002 right_z=0.1777 right_yaw=0.0494 right_pitch=-0.0547 right_roll=-0.0065 right_gripper=0.9989\nstate[joint_eff]: [0.0068, -5.2308, 5.9009, 1.1551, 0.0415, 0.0122, 0.9841, -0.6906, -0.7179, 10.0171, 2.0195, -0.1245, 0.0269, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcd85aeb79247974a7072574980d2bb8a2d70b018930b8f91e12f7e8df869136",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e947be92d27ee93621a2d13c5c34d595dc2b55df0bbf87735ec8ce21b863c15e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27bf36c2251ed8a0f766ceb38b1b65790873eb4d5336c78699a281bc7da807b2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJML9U3DI_spjhABDSqG4VIiEaE0lSDCH6lP9Ej9oWvxWS_5_MrMDUKNDlNaPZ7x6dqvokvLrItlKAhq0mA5WzX5qrUAQHm2W6bFdelVWMNj5r9uJqdcC3z7BLBj5SmGzuSGIE3YWxOh6pm4l8II8qIT1TdUQb0duzY2OyDane3lJfKlroh2wkkgt9Xn-lD8V8M9bPiR256dW2qzoP3cAlH_saeL5wc5q-r8NFTnK5utW6b22cLXjvuNxC5FSV46cMmje65_EIARP-G209rnLd-HAPaYfdwRJsvijDB89byiEm8tymNIql2Lp7SKg301r5IeKmRYi4fZdGXt0gQBqVpy9N7zkLyF2pqpiiAppjUPm4jQ1FAhFG1PJq8yA0FOTyPLq3NMu-wDTML28_DYYIIGNf_gOpo7usAY89UxxATWRwiFD6l-CoJi3r0wKNSATn6oiv0WxDxuDFrNRgSmog_6hPM8y70ytwt7hjQIe5fdM8nLheE5Yfcodxn_43lrEwIZmf0DCtDb4NsKC847sYlgKw0VByNS2GTl1ZJsNI8iuzA4siZ4OZ0ZP0-pOAGy2DOnBZJodH2G7hlvkNLoVuV4RJkjMM4CWXhjIU2Lmzc7BRzVnCLQQNWDW7cVv-HkVVpzmGLfuS2ae-8vrKCxTLWRGi1pT8HXAajby-1z9ReRxANXjOTYbiG0QldcqVHpQ78YGtohVzgevH7eywMSe5VaXZ8k3o8j2lWz8uJgW_hX1Ib9fuoz-lnvlBlj8dPXFCdWFQ59sRfh3eDt0-m-JaC7Fh5JtYdlCYR-HYPgxvq-9DgP--KJxTSMJmo2z2MW8npW0rSkkT69u7l-4jEykV8SEKzSwPPIKqSbNI5xX44DFYL-W44LIX6GjhnehxusdlXdCyYYblIskt0nvdyrx1Mqw3T2CAG4AISrhwaDsNmUxD5NAJGTwBYEWkDhHVxwYr_EIH69oCUtWgfkDu6B8hFfT-8mVVqgO7Y6uNLbiHQFPtwowx6EWJ9eGlzG_qgTF_6QUa6q__gSPDwFoSAGXxtfRTQZoGSx_P7MY3GsOpoJW4IDx9kMoO4Y4eqp9VtXewhy4Z3L_r4d_RETB-6rfyt_Z4rLiiHFrSVkznnTeKVRO0QtjzV5QjSTosHRNbMsq0KT28AU5jMCWfqr5YL3HZpOTvpgpaYeC9Z6b3n5EehWyg2F12dcBsyOcff-8KdFnAs_gYXPkrPN0rH2hynxanrbR7A0kdQ6R81nmI9P-atTkGcWsbVIURixZmeZZYymZjEivoatNOALT61r0AsWL74jjVZocFi3fZfOTMqCM7DktCXykSpwL7sN3OH5WETFReZreiufxDixPmd6qUvbTsuckOyRyJPwHT1zWLX4v79oOEsqFysY5jwbNJdCJJDsJDT_CLRM_QsqNxaeWx0uxXD9sPxR-J-2ckQ2Zy-ZLDp26axN4aQYAWx_wklOYK3aXXuEXROZGTmSmezhsK1kOFePBRt5-MgAV9q5dDAN7yn2GGuqCMW_54kcXmXL4DVsnJptIgZKkQ_KCHXJyOQkvy6HhWcxzQb6n6dsV9_Tq-M1tbGROKBAc9cVDg8_YjNVibPh5Pi-Cd43EUd30WVt9MzUuCNK6LDEH5A_GeaLLQBdgfu2fYyh44JMza353xefzQ9TkuEouv-mwzmvwgWJvq54in5SWeRZpu9mXfNRku5NUmWvLAUphya8h7NaVCK2XMRaoc7gJDsHCE40FTOa4WH6coeJnoVmwyAMs6k84j8jYqdPeVWTet22LPDe-NQpYU6QUC35lZYi6-X9h3nW9DpN0ItOgfSN8TLbEroiSqKS9MR8nO_TTPZ5c_5lpEFa-XEaW51ODFDacvigRqYytsV5h2OfjHW-QogB6fF4RDmwVT1AkYBzvDeYiEIg2F7cUXW1",
  "id": "rs_01611dcd11576875016ab49307cb4c87d0836849a493fb9378",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.105,\"left_z\":0.1,\"left_gripper\":1},\"note\":\"The cap is visible beside the closed jaws, confirming another miss rather than a held bottle. I will lift clear and move farther back over the neck before descending again.\"}",
  "call_id": "call_hiPiy3RUkYw6zihsWmiFSeBG",
  "id": "fc_01611dcd11576875016ab4930a774487d0aa021fe19dc1e020",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hiPiy3RUkYw6zihsWmiFSeBG",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6659, 1.2461, 0.4576, 0.0547, -0.6289, -0.5148, 0.9943, -0.0734, 0.7647, 0.5896, -0.4458, -0.107, -0.1104, 0.9989]\nstate[eef_state]: left_x=0.3096 left_y=-0.1065 left_z=0.0883 left_yaw=0.0985 left_pitch=-0.0131 left_roll=0.0002 left_gripper=0.9943 right_x=0.2821 right_y=0.0018 right_z=0.1684 right_yaw=0.0583 right_pitch=-0.0444 right_roll=-0.0002 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -4.6838, 8.7863, 1.5311, -0.4176, 0.0806, -0.1587, -0.5949, -1.4564, 7.1179, 2.0391, -0.0366, 0.0269, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c36de886b0933a002facbec5e0d411e5527a880f672b10ce097b469245f2f91",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8cfd8acfcb6e5ba7bd193c5e5366ab7872c6e1f4f146f69f61d9886fc7ab9b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:beb39cc306803b2de6d344ed9753ce898344a275e7add1f2127981ec97a6442f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 3.095 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 46 changed as sent

message 54 changed as sent

message 58 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2676, 1.5997, 0.3511, 0.7822, -0.3069, -0.2268, 0.0108, -0.0528, 0.7147, 0.5076, -0.4023, -0.0834, -0.0879, 0.9989]\nstate[eef_state]: left_x=0.377 left_y=-0.0443 left_z=0.0555 left_yaw=0.0887 left_pitch=0.1161 left_roll=-0.0427 left_gripper=0.0108 right_x=0.2752 right_y=0.0038 right_z=0.1526 right_yaw=0.0468 right_pitch=-0.0346 right_roll=0.0033 right_gripper=0.9989\nstate[joint_eff]: [-0.4308, -3.9863, 3.1932, 0.9988, 0.1245, 0.1587, 0.9451, -0.212, -1.2239, 6.9128, 2.0195, -0.0806, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4828, 1.5272, 0.4107, 0.5186, -0.5175, -0.3733, 0.0113, -0.0677, 0.799, 0.6434, -0.4744, -0.091, -0.1081, 0.9989]\nstate[eef_state]: left_x=0.3565 left_y=-0.0842 left_z=0.0562 left_yaw=0.121 left_pitch=0.0481 left_roll=-0.0176 left_gripper=0.0113 right_x=0.2868 right_y=0.0002 right_z=0.1777 right_yaw=0.0494 right_pitch=-0.0547 right_roll=-0.0065 right_gripper=0.9989\nstate[joint_eff]: [0.0068, -5.2308, 5.9009, 1.1551, 0.0415, 0.0122, 0.9841, -0.6906, -0.7179, 10.0171, 2.0195, -0.1245, 0.0269, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6659, 1.2461, 0.4576, 0.0547, -0.6289, -0.5148, 0.9943, -0.0734, 0.7647, 0.5896, -0.4458, -0.107, -0.1104, 0.9989]\nstate[eef_state]: left_x=0.3096 left_y=-0.1065 left_z=0.0883 left_yaw=0.0985 left_pitch=-0.0131 left_roll=0.0002 left_gripper=0.9943 right_x=0.2821 right_y=0.0018 right_z=0.1684 right_yaw=0.0583 right_pitch=-0.0444 right_roll=-0.0002 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -4.6838, 8.7863, 1.5311, -0.4176, 0.0806, -0.1587, -0.5949, -1.4564, 7.1179, 2.0391, -0.0366, 0.0269, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c36de886b0933a002facbec5e0d411e5527a880f672b10ce097b469245f2f91",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8cfd8acfcb6e5ba7bd193c5e5366ab7872c6e1f4f146f69f61d9886fc7ab9b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:beb39cc306803b2de6d344ed9753ce898344a275e7add1f2127981ec97a6442f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJMRFCFKVv7kAysKDcFWvzlEOLEWv7UhGvGSFD6l2eDH9Yv22aGjZhPLn7nLlMpaIilInltreWgST5Mu1_RhldJ5qFrQDZULi2qx3nT5YrZBUHYOkwVfF1ZvU-HUMh0g745Csd24aFyaStZChx3uEkCIwQByJSbSkcvoqyL0sQHfzfAwcGAuEE5hDKDasPJAu7qVqTSWFhbXN8oBBgdP8EvzT-cuck0ljFxcfcrRZcvLalxKbOK1lxW83zlr9cHFN_SMMaejI7HcjUFpw4Gy1S9pfIeYT9u3Z1dmngrIFqZ3u7c17H7CT9gfM5406aPUL2sE8pckB-tR_eT6HVhABthg8TK-VZBDnhNVemZTNZZhIGdgDN2iZ3It40emzQe0YSsUFnPpdI-U9gWRFjmai3iktFXU1bFVLDuC1FiS4Zs64nFNraeLlYm-RsT1v1jOw6hN8aggFc0rdxbFm8590Ij7LTUsSgieeyqCw6yHXit1kWBKG_muR3_RoJgByyMu0DPsm8hTE7hyhv6QLVUE49Y_7FbvBiO33IEiQIBm3f6kIEQAu_KmAkuS5chMdg543oueADUxNUaxTxAOZj7i39t9jB4iRCPfxeVQAm0Q3VQZIF9qPo7li7Dx6HMWxpHhZjHYwXGl4xAgZkfIG-VK6XVnEa4x3A4LCmZG0hNtaPTZkDU0izAy2f8BKSeSR6IGNyVClEL2xREfWscKV6yR7Ogln82NcjFdusbeNI2-zqyLOFxhwy2AWapV6eg9yyseFCKIz-iBUX83S2MLxGa2BEpcIrrqH-rrq1uWh2s4yEIPUg5ty8WfHloHcPdJQlcmoOM3T1naKrSHYjGIOvAwIRgsI4Skrw-q2N_dgNbwQCkSPZiTbtsxEioXENn23ErrQwowqRBDWVexmY7BOnkZhP5pP03O7pxzml33GFXioo1ZhmhD4AMwc2uZ7bqggyOvqSNYbFUtZJdNoSY3uwcRnn1V6w7yU7wL7O5Y__E6_0buLuHRFiaUef3FSDgdGbhwRP4qzjsR40trk2F-edoW_AXnxPI7f__mw5rznbXroarpIFZ4jDk8tMXBsVvfG9Nwjsf280C5y9n6cZMTjXtz2o2ld-k_gyY7LRChTaL67apQY8UWKw_ue1y3yrUj7BYp-VApDeifmzdxEpowaNWKN2Yw0TzZNlY40pa-6yuscRd7gqjJ1EdIBOpzNh7OxaZdyGq3NmwWlplnS_Z3NoLe1CleWwveRf_yT-4FlnZzSbeVI59TS366MMh9vWV_sXcxwGdfVUL-O3k0y22Y_VK7ffrIf0e6KdVPH3VNWUpNYe5BXfIV4K4Qc1QEmh5zfaxdpZC64u2lSNe2y3t2UJuDDMJB1Z_u-9nz4Rprx_yraYzdZg1hOIyI-miL6nAF5TxyD-FOxoA4t1P-5TnlqH3CpKMnE7LpeR2wmV1REP_L8sNnfp7Rvh0xliuvyCvon3eio5nailfSZ03_MJ_OArCATB_cCTVux6OM31oAFLUju5GEf4-cPaBx2aCP7hW2eklg62UXYeowGbkwZUdjWL3vWlU1uuAX5DqTR9nMjhbwcr1byaymk74ifX49Crf26yvLNhAh-k95Xe0rc-tLM49lAZC-JCP-MeYrimvpslpJAXnoB5PyR6tkQJa8RS2G2tYhQL5mCJh0KPrwbcXjh1H0hCj_Vc1SiawEM-eU-sNsIl9Jg-jglcVf5FUXzY92KIhwAfQAhC6EhTOZahiCweRSJsWOv2N-5cOOxU98FiywjwNaTePmaTBKGtkAuw63y6a7exahz1_Q-hN4kmI7w05LT2iddiqtQ5Fk18KNH8dpuT7ZMbwaSC-lHrR0zseeyCqv_1hxZKcZPMKGVWJTt-YxRCAtKa8ckP0TFNySraTHb5I_PcZ7kF7EJRRuXgYE9FV9fZesu_rZ-AoqvXPq7JaGq0-6G61v_9lH4RequREssm77w1Y=",
  "id": "rs_01611dcd11576875016ab4930e2d8c87d08aae96f4b6b3ff78",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.09,\"left_z\":0.035},\"note\":\"The bottle is now clearly between the open fingers, with its neck just left of center. I will make a small left correction and lower to the neck's height.\"}",
  "call_id": "call_butWwcG0lKGPA5eA6I6YM6su",
  "id": "fc_01611dcd11576875016ab493107b4c87d0ac50b0a479c7f6fb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_butWwcG0lKGPA5eA6I6YM6su",
  "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]: [-0.6098, 1.4078, 0.3164, 0.3809, -0.606, -0.4911, 0.9955, -0.0734, 0.7383, 0.5461, -0.4244, -0.1093, -0.1104, 0.9989]\nstate[eef_state]: left_x=0.3111 left_y=-0.0902 left_z=0.0425 left_yaw=0.1246 left_pitch=-0.0065 left_roll=-0.0068 left_gripper=0.9955 right_x=0.2782 right_y=0.0025 right_z=0.1599 right_yaw=0.0602 right_pitch=-0.0401 right_roll=0.0005 right_gripper=0.9989\nstate[joint_eff]: [0.3487, -3.7538, 3.5897, 1.243, -0.1245, 0.3492, 0.105, -0.5538, -1.5111, 6.9949, 2.0147, -0.1392, 0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efa25f707340b215f1ac2865c51fa42eb028f91f7721fe0c2c17762049fc0720",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62a53ddae2d2acd3bf9d158b942b8821111a764eb36dd2525ab06abaf9e1c387",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4d313a61778c8d7d394ad197016395078553072d8ea9b448aa6a92486e0c0ab",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 9.619 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 50 changed as sent

message 58 changed as sent

message 62 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.485, 1.6089, 0.3134, 0.7841, -0.5037, -0.3565, 0.9951, -0.0528, 0.6933, 0.4736, -0.3874, -0.0834, -0.0879, 0.9989]\nstate[eef_state]: left_x=0.3516 left_y=-0.0849 left_z=0.0465 left_yaw=0.1026 left_pitch=0.1159 left_roll=-0.0574 left_gripper=0.9951 right_x=0.272 right_y=0.0039 right_z=0.1456 right_yaw=0.0468 right_pitch=-0.0324 right_roll=0.0031 right_gripper=0.9989\nstate[joint_eff]: [-0.6085, -2.6598, 2.0034, 0.6032, 0.1685, -0.0122, -0.1636, -0.0615, -1.1556, 7.0222, 1.9414, -0.0513, -0.0171, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6659, 1.2461, 0.4576, 0.0547, -0.6289, -0.5148, 0.9943, -0.0734, 0.7647, 0.5896, -0.4458, -0.107, -0.1104, 0.9989]\nstate[eef_state]: left_x=0.3096 left_y=-0.1065 left_z=0.0883 left_yaw=0.0985 left_pitch=-0.0131 left_roll=0.0002 left_gripper=0.9943 right_x=0.2821 right_y=0.0018 right_z=0.1684 right_yaw=0.0583 right_pitch=-0.0444 right_roll=-0.0002 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -4.6838, 8.7863, 1.5311, -0.4176, 0.0806, -0.1587, -0.5949, -1.4564, 7.1179, 2.0391, -0.0366, 0.0269, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6098, 1.4078, 0.3164, 0.3809, -0.606, -0.4911, 0.9955, -0.0734, 0.7383, 0.5461, -0.4244, -0.1093, -0.1104, 0.9989]\nstate[eef_state]: left_x=0.3111 left_y=-0.0902 left_z=0.0425 left_yaw=0.1246 left_pitch=-0.0065 left_roll=-0.0068 left_gripper=0.9955 right_x=0.2782 right_y=0.0025 right_z=0.1599 right_yaw=0.0602 right_pitch=-0.0401 right_roll=0.0005 right_gripper=0.9989\nstate[joint_eff]: [0.3487, -3.7538, 3.5897, 1.243, -0.1245, 0.3492, 0.105, -0.5538, -1.5111, 6.9949, 2.0147, -0.1392, 0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efa25f707340b215f1ac2865c51fa42eb028f91f7721fe0c2c17762049fc0720",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62a53ddae2d2acd3bf9d158b942b8821111a764eb36dd2525ab06abaf9e1c387",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4d313a61778c8d7d394ad197016395078553072d8ea9b448aa6a92486e0c0ab",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJMUfDPfThCp48FbwxDKyEIPT_kHthdPPng4zhQVjxe1knyuPgZ7-ZkQSFh2Wtj0HE6zchV8jyxNmSek9sly9oH7CLKDKBZM-JrnMoA4CMdgHr4oUZatcI46LgysTdAbdPQF3IZrrkClgAHwD4v6oPFaY63JgvrVXkSqes1kASrEJoNzG4v_-Y4Quf0yqE4K_CKp8DWnmpWLqNnOs4rwsWYcPwh1AUR6s8fqWUbLaH_mDZMpIPwWWswdUQ8qPtiLpAsS1heBiMi5S-RCiITC2F4VKm-VHXRnXhEnj2VPJAINh4QcBDvyctxtq3FLf2E3a-vuxz9d7rFErV-sGjt5tGogSDVtyUqE_vhfTuMhyr0UNqUu3I-u7baqdZQg1cZKwcYNLsA2AKUuKOA4pGYPNWS_0udvjiT5Ifk8ZlBtVdOY5UE14XTTUdeLTvP-Fn6XAqyYrKvTI26XcFQ-DeMfXXoYZDo8VWMK6IZ0Kt7aYjzcWmlhxYOV_NruJozdLWTIoz6Sdh5efvPmw8XxGpsiTHlSS34kcUmJmYSWByiM5-mavQqQoOuZfECnBRCLej2CZXLyOEGzs5ctOhmEXkcqpGX_BbzJ43MpgjJ5lQXS3ysUg0hMfwvWMifYrIz63umhuqurOk-GIw5a9QYBY3P4SuYWXuJQidOpLQS7zL2UnJmxkdBGk_gZR8u7O63IugeaViZPV7wte67nweoW_0KR_Gv2tAEnJRU58icvBNw-KExG_iotUsoR-CvjJeuA2V5l5P0U1VIU8-BOsp4ezLdyrKByf-2EKilgS0sZU4mjrruT8iBE8v7t0q5hzy7ULuthCFbRxVGfzO1G68YIrSJrTdixNrkIbTGFzjabAcVzxNIWFafTC480S4pcq8Rw2k29veYY-m3HsdNuwu0lwfDhzlP1uGqBLB1gqZhX83zv6cVTknjz62OuYKN9ozwHiVQuc_7jMkP_dsUU1qkoIyb2gwaoxuntdFaSBDTPSduwBtEzKMlqLRosAwSUQR51j1kf0w3XEKCH1bre8Sh3E9iTph09O2d2ZQMQd_S_vB0z0JHf_Qi5DevFz4ZqGWorwucgTusILfzDBLsrn9yXGvDoyFwfvF7TQXc_7IRORSuEUSwmyVpmSk0YI2E2eYDZ0YksM_Yta3wF8U_aaB6jlHr_VObdm6lJmNJIIH7neb9j6Y_fpRNQprqiQ9wsEgRkloiKaPMjsOmN9e9IXsQY7FaHOu0q2KDI6FIJ34cQGTQllc-hQ9uzAS2A7XO7mXaH6XmHOYdpFsr6RFyFSxaxeyIvUmdPC2svzCyiM3HeXSpctHrw_D1A8Scz38iW4e8ba-siHHpR4HoWvF3nS7Z5LHBhcob9Hw==",
  "id": "rs_01611dcd11576875016ab4931338fc87d0af20c813ded65d1c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The fingers now surround the upper part of the bottle rather than empty space near its cap. I will close to secure it and check the jaw gap.\"}",
  "call_id": "call_ZdAks6hzE2kGZpt5NiazFGuj",
  "id": "fc_01611dcd11576875016ab49313d0e487d0971be9c82b8307b7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZdAks6hzE2kGZpt5NiazFGuj",
  "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]: [-0.609, 1.4078, 0.3153, 0.4633, -0.6491, -0.498, 0.0113, -0.0734, 0.7147, 0.5083, -0.4023, -0.1097, -0.1104, 0.9989]\nstate[eef_state]: left_x=0.3205 left_y=-0.089 left_z=0.0587 left_yaw=0.164 left_pitch=0.071 left_roll=-0.0488 left_gripper=0.0113 right_x=0.2753 right_y=0.0027 right_z=0.1532 right_yaw=0.0604 right_pitch=-0.0321 right_roll=-0.0003 right_gripper=0.9989\nstate[joint_eff]: [-0.5949, -3.8769, 5.2855, 0.8864, 0.0659, 0.0806, 0.9255, -0.4855, -1.4017, 6.8718, 1.9951, -0.1343, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3932cd34a55a1005d1a2abd4e76ff7b6eaf98f7e0862ba2423a15b8b4e595d69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cccfb09c2ff4e1124ccaf1e0e694bac731287bfdfd0b124e8eaf70165466dfd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b25586b19749f73085c56ee2acfb8c6c8e1956197634753e0cf597ee2a82b472",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 4.829 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 54 changed as sent

message 62 changed as sent

message 66 changed as sent

message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4828, 1.5272, 0.4107, 0.5186, -0.5175, -0.3733, 0.0113, -0.0677, 0.799, 0.6434, -0.4744, -0.091, -0.1081, 0.9989]\nstate[eef_state]: left_x=0.3565 left_y=-0.0842 left_z=0.0562 left_yaw=0.121 left_pitch=0.0481 left_roll=-0.0176 left_gripper=0.0113 right_x=0.2868 right_y=0.0002 right_z=0.1777 right_yaw=0.0494 right_pitch=-0.0547 right_roll=-0.0065 right_gripper=0.9989\nstate[joint_eff]: [0.0068, -5.2308, 5.9009, 1.1551, 0.0415, 0.0122, 0.9841, -0.6906, -0.7179, 10.0171, 2.0195, -0.1245, 0.0269, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6098, 1.4078, 0.3164, 0.3809, -0.606, -0.4911, 0.9955, -0.0734, 0.7383, 0.5461, -0.4244, -0.1093, -0.1104, 0.9989]\nstate[eef_state]: left_x=0.3111 left_y=-0.0902 left_z=0.0425 left_yaw=0.1246 left_pitch=-0.0065 left_roll=-0.0068 left_gripper=0.9955 right_x=0.2782 right_y=0.0025 right_z=0.1599 right_yaw=0.0602 right_pitch=-0.0401 right_roll=0.0005 right_gripper=0.9989\nstate[joint_eff]: [0.3487, -3.7538, 3.5897, 1.243, -0.1245, 0.3492, 0.105, -0.5538, -1.5111, 6.9949, 2.0147, -0.1392, 0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.609, 1.4078, 0.3153, 0.4633, -0.6491, -0.498, 0.0113, -0.0734, 0.7147, 0.5083, -0.4023, -0.1097, -0.1104, 0.9989]\nstate[eef_state]: left_x=0.3205 left_y=-0.089 left_z=0.0587 left_yaw=0.164 left_pitch=0.071 left_roll=-0.0488 left_gripper=0.0113 right_x=0.2753 right_y=0.0027 right_z=0.1532 right_yaw=0.0604 right_pitch=-0.0321 right_roll=-0.0003 right_gripper=0.9989\nstate[joint_eff]: [-0.5949, -3.8769, 5.2855, 0.8864, 0.0659, 0.0806, 0.9255, -0.4855, -1.4017, 6.8718, 1.9951, -0.1343, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3932cd34a55a1005d1a2abd4e76ff7b6eaf98f7e0862ba2423a15b8b4e595d69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cccfb09c2ff4e1124ccaf1e0e694bac731287bfdfd0b124e8eaf70165466dfd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b25586b19749f73085c56ee2acfb8c6c8e1956197634753e0cf597ee2a82b472",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJMfbpiVbAhuhYVhtltTSeMbYv3ZO_i4Jvb8sf3EWgJ5a0ncYMktKSuDAFaTEdKh-9ogFGI5hJZL1z-IMIGJff7MQ21xy0amtsfVbSnJxnWqvXQH8abF8109vjUcNXWHJiaJHlMqMHCCsLRoiYwtH_IrKWhdbBsCLJfaIgVwDDamfy9inT4dIqeGgiBwKzt0jox_FRuEullB9-hEkVrkvXEpdzY5yNo48XtT_QPAjecc39VP5g6i7xRIbw-L7LBMSKDhfv6kkMSsWhG9ZT_KXqtuyzrVyeqkLJQjwTdJuZNcAusnakZdnCQzBs-0v_NlasJlAG0w14R_A0a3Wb0mlkVyfpOTzeEak8twvJ8UipbiA4aRCtxGRJyOJTet-vW3R3majhVFqOK9c46XKCdPqVX5u2r4OUf8PeTAfNjmSaYEE3Kl1fKHEf3qmheqOSshFpDdGdWkOKern03G8RQ3St-IJ-Nz3yMcXU2lZ6q30dYQS5pcmGU6ztqbUTHDqI5YU9sfHtmLqBO4e9u44VYi-nVyRKE9-wpVk8tLSqpK3Z5aIDaHTFdzc36lokGoxVsqRyPr-jLktAEtXyFgX-9QR39CHFhth1nmK4KDOjBKPmy9G6S3BbG8pDGDiv9fR-qI25P6rnW42U7jPOBvwTO8xwmdI7cF2mEByhHVRQLqTu85XCkA-MfubgIxij1dvDokBICTDhPUpu0xoc5bPmNzXC6t1s9U62_kJ2DYQTkbFfzhVDGg6VZ45rWqu3RcxfqWCwJsyxOve7JR2CJnejLZegN0X8rBd8yTl920EkQ5mImE9HVmxYKSZVqU5aU3SQkbbfb8W_o6vuQQuWFWwR46Pu0YqGa_S8U8uWVXmKv_f5OJdWiwZW7dpv4NxD2RBXg_y2QqELvJ1miZFTmH4gyztkcQxpAFSDvDt24ihk5dYzBuarRp4UaMLmmwUp_GDs9MRuCZsJ1j_FKlpuMiW2TuDidwicacQdQgKRZf9N9VNQJQ5BitHKMFpD_rNdf6jfYhfZjfCRqW_xe43Ey6ou2v4zdCo3eeSPq3GuohohA9Y5B6X7tKXhld5BjHxAyVj3R5Zm62tcsJaKeqn6KioO-YLywho1xHqNZ1m-ZiHPsU5054XMlB5IAFXIqF6pYsIPVziwmsjG43nEwGQ5lhcPU7b4XHL9JY117zoYUKfAIgfmbCa72lNlN0N-BIM0bZTX7enX0iw_emHKV8gvneWMnI-NWL_75DT0eFaQtfcfpdnJXvNGEZyy7UGVaIMyNEPxBr_MJvbXBC-jpZmQaQeIY1qSsvGn0QQRBHvImmNRA-w-90x_UK-LTxgUEceLYOf8xlL92pTMKbvNBXg1fgVuWLlihZGL6bh8-MLxVNnm4N1tW6lOzsLInnJiNl9oRhLMg24viLPNaFIra4sAGHfjUshU4GMaDxSNB_a4qB36FciQbPClf0FuvH8WihfP-h78eYMkaTKx-fGOgzH8YV4nlAyMJajbEEuHIbib9lDTpvcaiQxyqX-xfjn2nuEI8Q9SXo6Qw16VVSBKLRFJ1m5k9MP4Vz8wWnDS1L8Aw0bEEwDH5xpnUIsaZ8M4Ag8GDHcaOnPMESsJZLG0suhDfUFf3an69k_S7t0jVdwHVPN_jsuiTwtKfmmb0KdSetxCzlCc4nWnYAgng20Elz4Xq1sOw0empftKlCgZJ3o8XQ75D-wLbOk6b21zPuZmn-HlqBoGl9igwL3BNwJUq_bmIJk1n0OER-CPE3JaDxzurKeerMB3JleuqgV_QJgpG2lRA5sp5oEZQntN_gQx_fdnLPXFm2bGkOoREtkxqB7QkBlAKo6I14pUn7Z-G_P4JZWl4jlJ5r8Mb84L8jbLzwG0H8ldrwCZMENQ_2QCpB2bxvX-Vset23VubvGUikDzj1U1Q1AO8pD1RUAAzqR0a71BekOVlouoaBhoL7siuLepEvtFgxW7PNU09TPppHoX71CyCLKn59MEa9xh2zlbz9jOQfBBXlxK9ju2fJgTC4mCuyCKfzkP-TzDaW6L0G6fcPNg4FzvIWy417BVriNGe_X3GvA4CxK0GbGO99iZ5ksxjEfKfneSbSAXj5kL2L5AQCbE_p09fvvlkSYCfpBNT8MXCKjsNJnoVuUz6nLVmBlLjq6j1JhN1erWqqAdJgcvpBXV9wZde81uuRjrIm_SmJ_GAYRGNPRTU5ORwaBqCvpfNK-5OJVSFOZs6A00EcJ3lYawb12kUX71TQSAbEy9drqzHlDJg3NYKhkRVus9dYLyvMjc7bbPnGcSdk4RpioLg1ulU_oN-f9VJqKW9_iun5abrqCj-raTPoRrYnKHQ8o6ALgX744M29WkeuEWZoogYgbQXPcwKxP8fTd4eUbm6qls8Zd75oi07dMNkFS8tqcZs1m8d-3lwCnVTI0cIeSmHEMS7-Nn_11LXK7qvyRmX4Wf2uDDqPz2YVIN8NHM8De3p03sbjoWQaZCAHu5aZxxFOddl3G7oNHIs_7Hrv3ve3tYayiaUeP-ik14JETeYyakOHzMTqSZBuuMTO9B_ePuNBTTmDd-VDCsNXHNleSJTRDbMdlxnfjZsNzaDXCgjj8Gwa6ACxKheUjjov_iOWLk2o_LOp1qHJZ4C2t1EoZXk5PEXZkY04aH6dGibIGeakB4IFncjzhLDB1QXUniSUkMh-5fL-Xp6bc36BIAZMSUf7AUN5FAo9wCGtobmLYrkjlbv1ZqB5q-38yA3Ch_eKg6BGluLJKp6uFqlCjoCHhn3Uuq1pK4BJ00d2VPnI3_ixK6N5P-IfX6ETQMKXpSUivCV6kfo_v1gZflkDRm2O8L6gkaSGAgst-yXWc--X0TrUO16aVIaUsHFhznx--qP-1HqmTFycm67ThkO3CtKuGG0Et_FTBN1kJbss8g==",
  "id": "rs_01611dcd11576875016ab493178be087d0af94711b3a6bba6a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.355,\"left_y\":-0.085,\"left_z\":0.005,\"left_gripper\":0.65,\"right_x\":0.294,\"right_y\":0.0,\"right_z\":0.2},\"note\":\"The bottle slipped below the closing fingers; the cap is now centered in the wrist view. I will move forward to that narrow neck and lower the fingertips closer to table level before closing.\"}",
  "call_id": "call_PiMWzZZXzmSUM4UV5oqv6KlH",
  "id": "fc_01611dcd11576875016ab4931cdf8887d0bb3200e33ee8d707",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PiMWzZZXzmSUM4UV5oqv6KlH",
  "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]: [-0.5175, 1.713, 0.4213, 0.7555, -0.5945, -0.4797, 0.6456, -0.0799, 0.7986, 0.6437, -0.4686, -0.1135, -0.1207, 0.9989]\nstate[eef_state]: left_x=0.3712 left_y=-0.0933 left_z=0.044 left_yaw=0.2084 left_pitch=0.1194 left_roll=-0.1181 left_gripper=0.6456 right_x=0.2876 right_y=0.0006 right_z=0.1794 right_yaw=0.0628 right_pitch=-0.0466 right_roll=-0.0045 right_gripper=0.9989\nstate[joint_eff]: [0.4444, -2.9744, 2.8376, 0.1392, 0.0708, 0.2857, -0.1392, -0.5538, -0.841, 9.8803, 1.9121, -0.1245, 0.0904, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:849bc731e906c79b781c81a9bfc8471f12808eb098d206093609ca76ad637780",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:077ae66f7c47bf389949a8d647bedf961f9de28c9594eab07432ff82771d5056",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6aa6abc14065b294b86bb8bef6a5df0f89abcc6e50c66fa70e17338963a49c33",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 8.276 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 58 changed as sent

message 66 changed as sent

message 70 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6659, 1.2461, 0.4576, 0.0547, -0.6289, -0.5148, 0.9943, -0.0734, 0.7647, 0.5896, -0.4458, -0.107, -0.1104, 0.9989]\nstate[eef_state]: left_x=0.3096 left_y=-0.1065 left_z=0.0883 left_yaw=0.0985 left_pitch=-0.0131 left_roll=0.0002 left_gripper=0.9943 right_x=0.2821 right_y=0.0018 right_z=0.1684 right_yaw=0.0583 right_pitch=-0.0444 right_roll=-0.0002 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -4.6838, 8.7863, 1.5311, -0.4176, 0.0806, -0.1587, -0.5949, -1.4564, 7.1179, 2.0391, -0.0366, 0.0269, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.609, 1.4078, 0.3153, 0.4633, -0.6491, -0.498, 0.0113, -0.0734, 0.7147, 0.5083, -0.4023, -0.1097, -0.1104, 0.9989]\nstate[eef_state]: left_x=0.3205 left_y=-0.089 left_z=0.0587 left_yaw=0.164 left_pitch=0.071 left_roll=-0.0488 left_gripper=0.0113 right_x=0.2753 right_y=0.0027 right_z=0.1532 right_yaw=0.0604 right_pitch=-0.0321 right_roll=-0.0003 right_gripper=0.9989\nstate[joint_eff]: [-0.5949, -3.8769, 5.2855, 0.8864, 0.0659, 0.0806, 0.9255, -0.4855, -1.4017, 6.8718, 1.9951, -0.1343, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5175, 1.713, 0.4213, 0.7555, -0.5945, -0.4797, 0.6456, -0.0799, 0.7986, 0.6437, -0.4686, -0.1135, -0.1207, 0.9989]\nstate[eef_state]: left_x=0.3712 left_y=-0.0933 left_z=0.044 left_yaw=0.2084 left_pitch=0.1194 left_roll=-0.1181 left_gripper=0.6456 right_x=0.2876 right_y=0.0006 right_z=0.1794 right_yaw=0.0628 right_pitch=-0.0466 right_roll=-0.0045 right_gripper=0.9989\nstate[joint_eff]: [0.4444, -2.9744, 2.8376, 0.1392, 0.0708, 0.2857, -0.1392, -0.5538, -0.841, 9.8803, 1.9121, -0.1245, 0.0904, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:849bc731e906c79b781c81a9bfc8471f12808eb098d206093609ca76ad637780",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:077ae66f7c47bf389949a8d647bedf961f9de28c9594eab07432ff82771d5056",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6aa6abc14065b294b86bb8bef6a5df0f89abcc6e50c66fa70e17338963a49c33",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJMkQ70ILBsUSJrl5CjOLDvJiE0ljN5qqplUB14Ymp0m5DXgOXp3-brKNLZz7RP4OMjfcRdmbyB4O4wM1c8TBw4vANGQL9V3AYRDUoEQqmRv1yqxywsY8EDOhv8O1rwzMVUk-ZB_CCwzwpwr5MTfr3cHxoOhIrJSoY5yOgHR6a23xyZqK8HfSMbwioghNj81Oazgg_IcJ87jKuYxgUTjTGEbHS8Snx_dYEF5jrEDI7EuMckNtCyl1ic-4MBPdiHkSVkclUWcMsgRwG5AAf6DMtNJF7oNr96uh9G6cxUFNBnKykqrK-6cI952CNafdv1rKFGbpm6ZBFnrBLHiChWyFCus4lsbjCkvCXURXKoh-I5Z8RgjcERzwVHyIoBr8I1jhvuDZCFOLdGGnql9i8gCHdUGXWhA1cqasmVUCwLF0n4O1hNUyJOh5QQWCJjJCS5k4LutTblTSbCrIuU2GoXwgAI7uMLNZDoVCuJik_CyQjUw3dQmA5tHUE29isCFIlW-8FB_MpTZgziXdAeOPeCaFE2XOdkBwTQJ7OjJ63zK7FWT8CfxfUhUkzmH3dzwpkmetbM8SJUu_fn-bVZAYY0idZS2ab6x4FoB2OYOY0CC8Cc1UuT9g9nLOL82uuQacjEGo9SqOqqafOFRKC0EXAjjL9gGXyQUZkUpMI8-eohuOQovR0ylWFdUHg3acylEGVK4ujycXPkU8qOc5sPOFsa6chMxKUTptBgk0kiygwpOU2PMUmIrYi2-FTsNg8EUdxRvXYshauD6iIXm07lahBZZfiIuUN6Ny8aMuqzg4qQFUgxRwiafpi6Y7DOrAjOFWlKivQtAkG01Kidtxisr2vWKUumqssXjm6W4KmpO6iXoYMVIC-rThh-egGFewkxrb7rfZmoUulAw0-5fiaC52YFk0o0sssGpaa9gfn983v2kXGo82WOcGS_8nlbBcUuN7zkMH8sMjEOMmzrx3CUXW6VIl4H4ZzabhfhEY0Kjsy99fT_CHyS6dyxb-fZtbGBVaHx0WW_Yb_aMpJ_dyega7PG9aHXH7gYfkaooFbPviz4eqCINlFZRGV6-VZO_cxwve4HAcaFGNn1m7wo3I4q-1NHJ65lTv7w3Dz75fCUItyqLxAlp0_qzHe_SkEb9YltxSAU-knHSNGfRX304BkI_CMJNKdszyzId_3sKcU8h1dQfC-yQqLroeVCAK4FHNAXnxUK_lFXn29WghH1BBd-Xc0yWpkCc-lUARFJhvkekb1-8L3hBxi0orRWqtxLaKsGoPTny9yKIIKDkS0saP04foCHOA3TIxUgUIVKs8V2RuVoIZIW1WmOsSBKWffQg9UsN_sxYC-wcZykzxJTWF9hMDtMT6BWoJSoNGrWNowwy59w7o00QsqGWfD0-9_UdXiorYGEuCAQO7FkrGrASeh99IpC6DYRNvdP-4lzpI6tEOaBxELPqa3SnzBlr8fExGd5H9NMssfxsSMTlezUq8PUh2TlJPBBCmO3qHuQ1GBA1LnP9ctP5zaS9l13GDlWJgXy6aI1TEpvetR5suyOV9SH4OVuoBFHKWFIhqaqcIt1jdJee1yv8E1YDR2oO-5wrnrSfnjg52-Q9DK17dcRzKXyiSCueZ60DAnA6dCRjT-38P4kxDMqm4GNdRygLntLPso06qT5iVwcEChYDGLis0A_kYqi_rcwYgg==",
  "id": "rs_01611dcd11576875016ab49321879087d0abe58963f013c1fb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.075,\"left_z\":0.0,\"left_gripper\":0.65},\"note\":\"The cap remains just in front of the jaw opening, and the fingers are contacting the wider shoulder. I will advance a small amount onto the neck while keeping the jaws open.\"}",
  "call_id": "call_s8eUqDuKfj6cj6oTGOTziAIj",
  "id": "fc_01611dcd11576875016ab4932433e487d099ff23a058516b85",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_s8eUqDuKfj6cj6oTGOTziAIj",
  "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]: [-0.461, 1.7962, 0.5068, 0.7788, -0.5793, -0.4656, 0.6496, -0.0807, 0.7731, 0.5999, -0.4488, -0.1169, -0.1219, 0.9989]\nstate[eef_state]: left_x=0.3983 left_y=-0.0859 left_z=0.0443 left_yaw=0.247 left_pitch=0.1344 left_roll=-0.1279 left_gripper=0.6496 right_x=0.2834 right_y=0.0014 right_z=0.1703 right_yaw=0.0655 right_pitch=-0.0448 right_roll=-0.0037 right_gripper=0.9989\nstate[joint_eff]: [0.3077, -3.9863, 2.906, 0.1929, 0.0708, 0.4029, -0.0415, -0.5812, -1.812, 7.0359, 2.044, -0.2027, -0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6aa4ba16c3b98f71bb21d4eb52e24b3a375264c56d8aa9f19a1516703f324b56",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a307486965575c9e7a477e332e5a776ff54919acd2d332d477c39a9ab9c93d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8de7750ec7924f335964045c8e239a67c838ee49747e9427ca46e9421350e55",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 4.722 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 62 changed as sent

message 70 changed as sent

message 74 changed as sent

message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6098, 1.4078, 0.3164, 0.3809, -0.606, -0.4911, 0.9955, -0.0734, 0.7383, 0.5461, -0.4244, -0.1093, -0.1104, 0.9989]\nstate[eef_state]: left_x=0.3111 left_y=-0.0902 left_z=0.0425 left_yaw=0.1246 left_pitch=-0.0065 left_roll=-0.0068 left_gripper=0.9955 right_x=0.2782 right_y=0.0025 right_z=0.1599 right_yaw=0.0602 right_pitch=-0.0401 right_roll=0.0005 right_gripper=0.9989\nstate[joint_eff]: [0.3487, -3.7538, 3.5897, 1.243, -0.1245, 0.3492, 0.105, -0.5538, -1.5111, 6.9949, 2.0147, -0.1392, 0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5175, 1.713, 0.4213, 0.7555, -0.5945, -0.4797, 0.6456, -0.0799, 0.7986, 0.6437, -0.4686, -0.1135, -0.1207, 0.9989]\nstate[eef_state]: left_x=0.3712 left_y=-0.0933 left_z=0.044 left_yaw=0.2084 left_pitch=0.1194 left_roll=-0.1181 left_gripper=0.6456 right_x=0.2876 right_y=0.0006 right_z=0.1794 right_yaw=0.0628 right_pitch=-0.0466 right_roll=-0.0045 right_gripper=0.9989\nstate[joint_eff]: [0.4444, -2.9744, 2.8376, 0.1392, 0.0708, 0.2857, -0.1392, -0.5538, -0.841, 9.8803, 1.9121, -0.1245, 0.0904, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.461, 1.7962, 0.5068, 0.7788, -0.5793, -0.4656, 0.6496, -0.0807, 0.7731, 0.5999, -0.4488, -0.1169, -0.1219, 0.9989]\nstate[eef_state]: left_x=0.3983 left_y=-0.0859 left_z=0.0443 left_yaw=0.247 left_pitch=0.1344 left_roll=-0.1279 left_gripper=0.6496 right_x=0.2834 right_y=0.0014 right_z=0.1703 right_yaw=0.0655 right_pitch=-0.0448 right_roll=-0.0037 right_gripper=0.9989\nstate[joint_eff]: [0.3077, -3.9863, 2.906, 0.1929, 0.0708, 0.4029, -0.0415, -0.5812, -1.812, 7.0359, 2.044, -0.2027, -0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6aa4ba16c3b98f71bb21d4eb52e24b3a375264c56d8aa9f19a1516703f324b56",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a307486965575c9e7a477e332e5a776ff54919acd2d332d477c39a9ab9c93d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8de7750ec7924f335964045c8e239a67c838ee49747e9427ca46e9421350e55",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJMtTdfgUbf8EO1Zz1FW8_L7AOuXuOAF1xLxh7HipDsLJx1I041Z1_9qFrhz-zZvKJ2d1Ngp8K5CB4pasaeke9kpJ-u2vFnQRRD-P65SOVzkc3HeeYvhWfdf3-H79nnngCQEm6uNUHSlIxTR0wuLcWr3KhwbIgT8ywg01ciSv_cIypjJgc3uqBxtlWevFNYl0hOl7yPAA2uuqnAsIdBssjPe3nMNo9lxP5RMNGQT8U1l560iogYXZxwSgKppzEkfjjEfnTbpy9cemnD0h1RhlT-8csK7Ykx3q9v7FCTWGb5wzuJLj9PgY6jIjWBEUDT1Wao8OBTeZWAt45q2mAAsSnweIz4N307czCp6C99sjv4sblKUuL5FOAfRlVLdBxp2PmH-Sivk3-5tMCGZEhpeyoxUIJZhadjKJtyN4KAQ5farCMeXxGTJtcXYlCWe4dFMI_F5wePmw2aDANUHvAfPhnvcwIzF2BP9ZQjaasipGWxp2B4bodlDvckjyMg3tIwpDff7rRNAjyWF7i5CdhQ2m_NZ_wTozREnNRI6gSO2bB2qhIgm-7lNlqBzHOtNfLU7yx0cGtxXpVb6cHIKvroQp7h_ddsghuHPZDODwKc54E9KaLIJ3hXrFAgyYLsq-XIG_CCN_A73N9ARlXbDpK7VrcWzoWHb8tCR-uLnXPrAPmBu0LMPWuLjT18aT4w5CtlIY7Pp9cNID-WfeVIQFZgfpZlO9EEGbnCRpqs8a1KDQGlHhi1E4VnDSH9txkEnxI-3Y47-uQUuzrU4Crb_cctNNhN8xtvDkRNeLiwPghGq6ilyGidP885VFd_Wi7Du0oeGd2L57yS1aZNu8sKr1-FAbz_1SlHdFks2ohxHUJQ17x3c_Rn4NuOFe5Yu-H2SWDBF2r00uFS9iSs8d3SdtMO72u8r3DrkZRemgyD5un7P1rDAD-pr85ZsgxszbZr2oZZV-6RNmz1e2yczDxYh8R17iD6-IJSMUigC2xYyJ9HBoyzOIKFyaIzJtqtZ9L7-lcsb14sOX9wURg96vDo3bpoZ6JugfbAe4fTohNNn6qVrWZHA7xdg0j53pkdk8A-3f0W6LRFhycjC0mbwt9iDyU85W6HV21K7R_T8TvwMc4nr8TJ0HBnkZt4BDqTP5D54px6JFLZn09SDkldNBHR0wMlcNDtdU4yzCwP1evZE9s456g3ScZ7nPiJv_AF5560eKiaDbYCbbwsdHbDM_9Q9vMQCD838lBVpYVbDEQwGqDbmZSi9hJ3-SFxwA_IZoIaPs3M5l5F0xOp9aZEMS4wpp7xWJZBtV8EVxLgYU3EPLPIisQxkXsCGkorirIGD8b_ks_Dazy9DDFfVXqGl_NserONviGR4buxiBg_EbS4driHPzxd0yg2nt-tEYDfNXWQVrgksoREPilaFZ7jBfaVCBU_bo8whXwCAcajqA9krFjoQqbD_dUXAYDa7BbojGo-STw8q5nhjAupvQqxWtUE5kTB55lc38OSLaQGKvaeJPRUWU_LHVsxdpeQWzg-o2bW75c-PXZDb4NrAhQ6RV7F2-fjwAesQsm1StdJ0fjxutvghOoxm5EeLl0b6JFsst_0mIUI-LmoAp2UqVoVR-kgBSO4RxBuJ3vbsbh1L4u8MK4u2h8nc9eEp8ZCMhiR-jDuGFxgwo59KNj138A59rpRhaHm709RPflQO48LfJ2qdfZhgFEebA8gAZHkc8rJ2JQpYtIKzeMqBtYoQOJf52d59l1YOf4WZmoaO5hdHuA44BBQbjmRGDgvxepP43MtPyD7FSB9pocgXfejyvqsdrAsSYCEMIwOxdYOS_Pg6fKF8jMZWS6ZYELe5XpNLxzEFSlhXBAEKn9t14bBzgzH3kcOCNydhK9M5LOYoLlsqITra7tmZRAMlqoq1JRj4TkLry05eHs_exaWk5dDIbemLxmcMfOXLekb3joS_vEYoRTMqyvkrYopTk136TqMQ3_3V8-lM6jvfA_8-6NleAfDt9IYgO3CYiysq8YpE1RHqbYMu9rwkRFteyodSk_FBX3Ix3Ox87fKlwmE9kAtnz1-nyXy1o4eKUS8NKCPZ-nZUv3Jvi5SKlE0RPONLx7-F-Uk_si77XtE7uzL4XOlr0p9TP-DS2PUylJDD64q5iu128nG73nkCuCPp00j6D4zniZK0Zq6atAN_jv9dIxj4Azv5e39F8N4he4EXfPFwNFZJgc-uKAeWf2DWeRhTbIS0m33tcX0Gm25HPa8B4P2djBFd7sqTtuFBA3UJdaszCBzR3XtxATXI6pwOEFXz9c_JTpq4oX-a3KU-aqUu5CTYAfIlh4YrrETPqtpzrdSvrKb1KkQpY3og4AvHzTn2QRa-jGddPm8rd-xgJZHvvJVX_Coi9hYqtw1Fpc48f6pc6f9Qvqwu2yqLz8ThvWidB7-SjwBH59YQnZl1jy2RQbsUvP0OtIfG4sxezALvF96X75qA3jPP-OA4Epi6NzAqdOd2R1SLtL8u3ZWgnciyfOHSC-fm7N3gEau9utFqexzfIg5_l_BfV-GS5YToHQ_DJcdqBvhOYdBUyfDT_0Tf1KH48loh0Br4GS4JGjEEt8fxq6taVkBU4UZlcyGjMgcwvwM71yAfIfAeCQf60t1LDnsja6aNtcLV1uqA3LMZ8e-rsboe-AUEaOP8czEAyfVQgTBWDnCFdWsdZqsaK8T39QEmciqplMzUElSDFpivhmWFOsAG_OZkLtDo9ZB5TX3x7Q3zmEV6x9Of7csjIRyM",
  "id": "rs_01611dcd11576875016ab493268bf887d081bcd716435149f1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.085,\"left_z\":0.09,\"left_gripper\":1,\"left_yaw\":0.0},\"note\":\"The bottle is being pushed along rather than captured, so I will stop the low sliding motion. I will lift the fully open fingers and approach farther toward the cap to avoid the wide body.\"}",
  "call_id": "call_ycPPjAbP1hrfTGeFBVeo2DiE",
  "id": "fc_01611dcd11576875016ab4932bae5087d0a6e6e21a708e003c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ycPPjAbP1hrfTGeFBVeo2DiE",
  "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]: [-0.4435, 1.8149, 0.5114, 0.8204, -0.5835, -0.4484, 0.9961, -0.0807, 0.7479, 0.556, -0.4252, -0.1173, -0.1223, 0.9989]\nstate[eef_state]: left_x=0.4038 left_y=-0.0801 left_z=0.0469 left_yaw=0.2615 left_pitch=0.1576 left_roll=-0.1285 left_gripper=0.9961 right_x=0.2798 right_y=0.0017 right_z=0.1618 right_yaw=0.066 right_pitch=-0.0398 right_roll=-0.0045 right_gripper=0.9989\nstate[joint_eff]: [-0.4034, -3.8085, 2.359, 0.5348, 0.1392, 0.2271, -0.0757, -0.7043, -1.5385, 7.2684, 1.9951, -0.2027, -0.0122, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be33b07aab3b17ca71bcedced6f05afd6d5d4505d283cdd19437f92906fdb6cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6a9bd7b1280d9e32d59d3c8f34600074f20ceccb08bc1ec21d530197c9535fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30720455ab3284dd5e3d2df8724f35ba279d86bd1a08fdb6bff536e1ef72114e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 4.672 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 66 changed as sent

message 74 changed as sent

message 78 changed as sent

message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.609, 1.4078, 0.3153, 0.4633, -0.6491, -0.498, 0.0113, -0.0734, 0.7147, 0.5083, -0.4023, -0.1097, -0.1104, 0.9989]\nstate[eef_state]: left_x=0.3205 left_y=-0.089 left_z=0.0587 left_yaw=0.164 left_pitch=0.071 left_roll=-0.0488 left_gripper=0.0113 right_x=0.2753 right_y=0.0027 right_z=0.1532 right_yaw=0.0604 right_pitch=-0.0321 right_roll=-0.0003 right_gripper=0.9989\nstate[joint_eff]: [-0.5949, -3.8769, 5.2855, 0.8864, 0.0659, 0.0806, 0.9255, -0.4855, -1.4017, 6.8718, 1.9951, -0.1343, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.461, 1.7962, 0.5068, 0.7788, -0.5793, -0.4656, 0.6496, -0.0807, 0.7731, 0.5999, -0.4488, -0.1169, -0.1219, 0.9989]\nstate[eef_state]: left_x=0.3983 left_y=-0.0859 left_z=0.0443 left_yaw=0.247 left_pitch=0.1344 left_roll=-0.1279 left_gripper=0.6496 right_x=0.2834 right_y=0.0014 right_z=0.1703 right_yaw=0.0655 right_pitch=-0.0448 right_roll=-0.0037 right_gripper=0.9989\nstate[joint_eff]: [0.3077, -3.9863, 2.906, 0.1929, 0.0708, 0.4029, -0.0415, -0.5812, -1.812, 7.0359, 2.044, -0.2027, -0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4435, 1.8149, 0.5114, 0.8204, -0.5835, -0.4484, 0.9961, -0.0807, 0.7479, 0.556, -0.4252, -0.1173, -0.1223, 0.9989]\nstate[eef_state]: left_x=0.4038 left_y=-0.0801 left_z=0.0469 left_yaw=0.2615 left_pitch=0.1576 left_roll=-0.1285 left_gripper=0.9961 right_x=0.2798 right_y=0.0017 right_z=0.1618 right_yaw=0.066 right_pitch=-0.0398 right_roll=-0.0045 right_gripper=0.9989\nstate[joint_eff]: [-0.4034, -3.8085, 2.359, 0.5348, 0.1392, 0.2271, -0.0757, -0.7043, -1.5385, 7.2684, 1.9951, -0.2027, -0.0122, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be33b07aab3b17ca71bcedced6f05afd6d5d4505d283cdd19437f92906fdb6cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6a9bd7b1280d9e32d59d3c8f34600074f20ceccb08bc1ec21d530197c9535fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30720455ab3284dd5e3d2df8724f35ba279d86bd1a08fdb6bff536e1ef72114e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJMyqT9I9hCmQkYWXtD3y9R6IhzPLGONMlG3bZ-oda_aod_j2-QygwClwLDl1_02j-Qjowq7P9sqUjkeax_8k_Pn0nmG4J7dypFrBlJS5I2JdmdEc-ILzilZiBDkK5ws4Uo9Bud-uR5Mw2pxmJQV5Qn_I_QPnAC390hRCwq9uYHn3GhgFWc9POdLRZbHoVQAh1mpojrwIycbMOr_aw6r5_nUBiREuHn5e4Znb4PMPSP25LK-16snNZemR34FNJjtx1upc3kHeurky-jQu4WIHOHR1pl89HtS3vhpypDkiuGfa2w1HIVPLw0QhoFCBpUFsaK7ZvfwVrMXBX5M4EiT92OLocXqR8OdkoQJxnswrBL6rRyJj5GQc9Lb2QY8gw5SI_Ee2zRGDPCyeJY_mk8VmxJ_k6PlvAZXeBvqWWHjv7WAA9vVHf0hJEzHuvSQegwBoZnjKREPjnzqOxum6qP0LLtIqzAZTxwXCfNteQsgAtHLDOEJ_YfJeQYI6VQvFLjgAqMEFoLxg10hFJQ4wjjDfZhjAwtTBUHg9GbQaDNGeovbrEiO798V85GKWJEwPs7MwggCASK6WdJWxOUIupaFUE8jpyKRi7f5NuW9iRoro_H2c7E0jhUkoBsPsWEnvtrX_qj3tKtGXngcLr1Nv1xo7NPmfwhBC66VcgI_HfTIbDaKy2X9NmhPzVxkq74tVTu8m0EFZF7iE6FUtVCuP2xKlWcnYk5IH1r7z0J1Zc75VrE0dupuOVhjqkm_54pHbbOaKQU5vDLfxoqbm9m7071SpzD3-2xDgDuiY6_NrpIFOGK0p7u3YJ0pRpFr_xeatO-WSN-EmCYi7s2Xgt9vBKIOcZQ0b_c-OdO7Avj0WRHhp6vXv89EtSJnLU_ufVdbLS2-yfSF4rpXVWnTPjlAn_CBp2F0Dz_r_LKH0G6Zf1xp4Mh5u06SG_99c4rX6ZR3HL-ptFPvZR-JWFMPiWVLXusBW_k0cYniX3rQftjZCJ_seN-lF4YEtXnD_g-TQAgnoDvCamE-df71qnsopOagUHmjl_34poz6swgf7OFLJQzW6C_GKMDB7ThnKUhJxcdWfo8sTGU2wLP5HHlX9xxK2uA1jWABTxvIAqJZA4yeOADfuLqz0_JI4EkzDcKHZZZEyhRVXmMjURRO-cTHaC-HK6L-tdp5d9C1ncFioMgmsFebj9Ksn523JqISIOfy96KxChJd-VVUB1Q877PU_nk1mXkLNFZx6M_IWbGqj6-2UetX7qFYDydl3bgT9CC1hpyQJuqMwDDf3HjKj5a7Gm5Dv-emTUJ8jKq6yCISRaACwGy3v0Vf_HOpYZEWmHWMxBbDJkXXcxgHEGub_-LfBl-8HQhpXzN0ZKuIbA-S6FA_Bh_KY81jxfN_t6eagIrkn5y1tNQ0uPEV6chm7ZkzKXihumBn0mZs1Q==",
  "id": "rs_01611dcd11576875016ab49330134887d0b34896c29341a805",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.085,\"left_z\":0.16,\"left_gripper\":1},\"note\":\"The forward lift did not track, and the wrist is deflected from its requested orientation. I will first withdraw upward and inward to clear contact before choosing the next approach.\"}",
  "call_id": "call_vxsPx47rlB4GPf2THCUtz52G",
  "id": "fc_01611dcd11576875016ab49331074087d0aaf4b4450cb50e01",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vxsPx47rlB4GPf2THCUtz52G",
  "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]: [-0.4892, 1.7512, 0.5976, 0.6514, -0.63, -0.4965, 0.9979, -0.0807, 0.7261, 0.5205, -0.4026, -0.1173, -0.1219, 0.9989]\nstate[eef_state]: left_x=0.4109 left_y=-0.0968 left_z=0.0698 left_yaw=0.2778 left_pitch=0.1552 left_roll=-0.1438 left_gripper=0.9979 right_x=0.2774 right_y=0.0019 right_z=0.1559 right_yaw=0.0658 right_pitch=-0.0311 right_roll=-0.0055 right_gripper=0.9989\nstate[joint_eff]: [-1.1419, -10.7829, 7.4598, 2.1074, -0.2271, 0.2369, -0.2271, -0.7043, -1.2103, 6.735, 1.9707, -0.1685, -0.0073, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2f333c83b4643f1b8dd2d9ac1196ddc95ae5dc6fcf6fc4b40cb99c477a9ea9e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:991ab80e02318aa69585fdf2fa6f7123077e8403c541974b8501350b07987bdb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94dc5323500d4b36cf2a2eded772ad46bde5bc84100786cc2d91850149539774",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 9.967 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 70 changed as sent

message 78 changed as sent

message 82 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5175, 1.713, 0.4213, 0.7555, -0.5945, -0.4797, 0.6456, -0.0799, 0.7986, 0.6437, -0.4686, -0.1135, -0.1207, 0.9989]\nstate[eef_state]: left_x=0.3712 left_y=-0.0933 left_z=0.044 left_yaw=0.2084 left_pitch=0.1194 left_roll=-0.1181 left_gripper=0.6456 right_x=0.2876 right_y=0.0006 right_z=0.1794 right_yaw=0.0628 right_pitch=-0.0466 right_roll=-0.0045 right_gripper=0.9989\nstate[joint_eff]: [0.4444, -2.9744, 2.8376, 0.1392, 0.0708, 0.2857, -0.1392, -0.5538, -0.841, 9.8803, 1.9121, -0.1245, 0.0904, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4435, 1.8149, 0.5114, 0.8204, -0.5835, -0.4484, 0.9961, -0.0807, 0.7479, 0.556, -0.4252, -0.1173, -0.1223, 0.9989]\nstate[eef_state]: left_x=0.4038 left_y=-0.0801 left_z=0.0469 left_yaw=0.2615 left_pitch=0.1576 left_roll=-0.1285 left_gripper=0.9961 right_x=0.2798 right_y=0.0017 right_z=0.1618 right_yaw=0.066 right_pitch=-0.0398 right_roll=-0.0045 right_gripper=0.9989\nstate[joint_eff]: [-0.4034, -3.8085, 2.359, 0.5348, 0.1392, 0.2271, -0.0757, -0.7043, -1.5385, 7.2684, 1.9951, -0.2027, -0.0122, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4892, 1.7512, 0.5976, 0.6514, -0.63, -0.4965, 0.9979, -0.0807, 0.7261, 0.5205, -0.4026, -0.1173, -0.1219, 0.9989]\nstate[eef_state]: left_x=0.4109 left_y=-0.0968 left_z=0.0698 left_yaw=0.2778 left_pitch=0.1552 left_roll=-0.1438 left_gripper=0.9979 right_x=0.2774 right_y=0.0019 right_z=0.1559 right_yaw=0.0658 right_pitch=-0.0311 right_roll=-0.0055 right_gripper=0.9989\nstate[joint_eff]: [-1.1419, -10.7829, 7.4598, 2.1074, -0.2271, 0.2369, -0.2271, -0.7043, -1.2103, 6.735, 1.9707, -0.1685, -0.0073, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2f333c83b4643f1b8dd2d9ac1196ddc95ae5dc6fcf6fc4b40cb99c477a9ea9e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:991ab80e02318aa69585fdf2fa6f7123077e8403c541974b8501350b07987bdb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94dc5323500d4b36cf2a2eded772ad46bde5bc84100786cc2d91850149539774",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJM3JsX4Fq_-q3fa_rWAT6F5qBOdd777fs5IVuhQt4QSSZFpyEJCyZsrFfYLGCQLu-I0sER5Z_TyCJ2V6oG3Z4mJBOvr1pyvES1gSDVgvokeZR7q_eQu-FVI0StTDw8TAAUVOXQdCuGgwwW-HHCm1PNCj0Rj_OOKKrH7SSaQcgYF-zVMMtcrFa86ckXNhbZ8dNLSz15-_pK-A4SvHv8ba_Eoc_pEa9qu4dNSqDr978PiIo3FeQVybG9Ge4M7sVrnEboNRXo46jE_jL1XbAUpGzSCAGe3Pl-TANRCH5K9qOtgrKC2mgclzn20-r7xT0nxchNRnyFB34xVD7eRY4hwV7WofcJExPN-22s2WYuJAAKuPWstGwQfOJ7b3o5B1o1s5aOIh77vhLBnT6t1NqWZ7vLqsEpqg2v8GAqgXRknB8o0B-T7iTvzqoE6f20r8Alh20JeOYeSKqp-hyKPxNKHIEt2bJSVMwaBVPpsq-30EMjkr_wJk8xbgJACET6GGHU6eUXuP7flb3LWvcibmiw54-A398GREo3JZDvrD1FjoV1wFPtdVmF1H6iTPwN-ZGBAn72yDrj7V8wWp8ee5oKwFQgCRgvZYtOPgIXOMDtvdBz_xc7ARTbNeSdb6OQHcFKrve4PWtT8xsGLY3ANkQp-66VHjvnojjuRf0A0h5j7G3VMZ4q0zrxrhjSmQCKg2FUwetETXXTaA2z0TllRot5PsA2_dqksucaaAl9OQ0Rh_EjUtLDPcl2wtqL4qIDrb1EcuexYhtgLamx3RMIhuBt-k4KpqCjlGqHIGtNeunDEyEMmcSvAA7AoRGzUzJVLQw9ou6iH6VrfwSeMpawfvHfhLvqB-Xes-JIAsv62NVtOWXsLAWvCT_ZWbJQ8qWKI8iw-VfMyvxsb6tJh2J-c7r2i--f4ZZgkD-XVeNx6JaxI1vVVClRDwKoJ-Qi9xha2E8FK9VAsQ8EwRshcOvXtRt8g0wP-gXiMe8rJEYxTk1cOxOV8N8hAvNZ8CrCrxd09xC6Ilna4-LYztrgdpBXRa-VB7eF42bHbt1aHzeh-CTOKOFQ3XXPv8R4cCJl-zzKoAzVJw8j3eMKrQomDXa16zsI24XNA5m0ROoPft7zG1QtSh1PSmisf9nRQLBydc9m1mev-jkzOM4pb3gtwHs4tRZ99aw3zLRGZxnRrt6E24SUEFDoJh-PgotpPhGxC3PZTPGln2wGQ31uQB5Wj5iMzhfgATAXa3fmm-B9Ba3mO26BHB9INqJhP4AmulwKsEkybenxcX-Oinj4Sg2tozuc7iDD8K9FDT6ZBLmWn8Xecq_xkgo-_ho8bFSogsQ6BqssisLcpdYShOCL2cSk6d3muYqg0wBMUwdoQTPQbbsDQg3t35zdPDoFxQ4gB9y3vzSAgeL8DZ--AiNpGb0c-HBp830aEE_n9y4pPhB4K2rIgpPqA4F7t7U5m_meiHeDP2EQmk8eLmeptXMGNbOAgHtef01snq83gT7DRmCT7cnSz8dgWsvFzFDewJwqSJeMrPU_i6za_9-DpuqZbsSOOXLccDSDljLl3PWOYJS2v0_Pz8NHlHjKFe4Z6T_13Gr3bGq1AdlxGfkvtw6EqBZI-Sh8qDnFbnffnuA==",
  "id": "rs_01611dcd11576875016ab49334a59887d0a1baa7c1ffc634b3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0.0,\"left_z\":0.23,\"left_yaw\":0.0,\"right_x\":0.294,\"right_y\":0.0,\"right_z\":0.2},\"note\":\"The left arm is still well short of its target, so I will return it to a more folded, raised parking pose. This will clear the bottle and let me reassess without further pushing it.\"}",
  "call_id": "call_GqQcqHKErRTZiDT0rLPieJuZ",
  "id": "fc_01611dcd11576875016ab493362d6887d0941959f2cf59362b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GqQcqHKErRTZiDT0rLPieJuZ",
  "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]: [-0.0616, 0.841, 0.7547, -0.4564, -0.1356, -0.1291, 0.9976, -0.0807, 0.8017, 0.6472, -0.4793, -0.1345, -0.1299, 0.9989]\nstate[eef_state]: left_x=0.3044 left_y=0.0087 left_z=0.221 left_yaw=0.0968 left_pitch=0.0222 left_roll=-0.0171 left_gripper=0.9976 right_x=0.2866 right_y=0.0042 right_z=0.1783 right_yaw=0.0847 right_pitch=-0.0549 right_roll=0.0018 right_gripper=0.9989\nstate[joint_eff]: [0.1846, -1.5111, 9.4291, 1.746, 0.0806, 0.1783, -0.0464, -0.9231, -0.7863, 10.1128, 1.8437, 0.0024, 0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a140ebb392fe436a0f848e96c0b3eb0204cb34937bf02eb7d428437edc3a55e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d3e24d0d5355ff878f448e30e366540928fdf624786d18f1e4451090b37ce22",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dd794743cdc697f0d00500da3001c3b8fe3381d67f7ef1e2e1c5446e96c0dd6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 4.819 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 74 changed as sent

message 82 changed as sent

message 86 changed as sent

message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.461, 1.7962, 0.5068, 0.7788, -0.5793, -0.4656, 0.6496, -0.0807, 0.7731, 0.5999, -0.4488, -0.1169, -0.1219, 0.9989]\nstate[eef_state]: left_x=0.3983 left_y=-0.0859 left_z=0.0443 left_yaw=0.247 left_pitch=0.1344 left_roll=-0.1279 left_gripper=0.6496 right_x=0.2834 right_y=0.0014 right_z=0.1703 right_yaw=0.0655 right_pitch=-0.0448 right_roll=-0.0037 right_gripper=0.9989\nstate[joint_eff]: [0.3077, -3.9863, 2.906, 0.1929, 0.0708, 0.4029, -0.0415, -0.5812, -1.812, 7.0359, 2.044, -0.2027, -0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4892, 1.7512, 0.5976, 0.6514, -0.63, -0.4965, 0.9979, -0.0807, 0.7261, 0.5205, -0.4026, -0.1173, -0.1219, 0.9989]\nstate[eef_state]: left_x=0.4109 left_y=-0.0968 left_z=0.0698 left_yaw=0.2778 left_pitch=0.1552 left_roll=-0.1438 left_gripper=0.9979 right_x=0.2774 right_y=0.0019 right_z=0.1559 right_yaw=0.0658 right_pitch=-0.0311 right_roll=-0.0055 right_gripper=0.9989\nstate[joint_eff]: [-1.1419, -10.7829, 7.4598, 2.1074, -0.2271, 0.2369, -0.2271, -0.7043, -1.2103, 6.735, 1.9707, -0.1685, -0.0073, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.0616, 0.841, 0.7547, -0.4564, -0.1356, -0.1291, 0.9976, -0.0807, 0.8017, 0.6472, -0.4793, -0.1345, -0.1299, 0.9989]\nstate[eef_state]: left_x=0.3044 left_y=0.0087 left_z=0.221 left_yaw=0.0968 left_pitch=0.0222 left_roll=-0.0171 left_gripper=0.9976 right_x=0.2866 right_y=0.0042 right_z=0.1783 right_yaw=0.0847 right_pitch=-0.0549 right_roll=0.0018 right_gripper=0.9989\nstate[joint_eff]: [0.1846, -1.5111, 9.4291, 1.746, 0.0806, 0.1783, -0.0464, -0.9231, -0.7863, 10.1128, 1.8437, 0.0024, 0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a140ebb392fe436a0f848e96c0b3eb0204cb34937bf02eb7d428437edc3a55e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d3e24d0d5355ff878f448e30e366540928fdf624786d18f1e4451090b37ce22",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dd794743cdc697f0d00500da3001c3b8fe3381d67f7ef1e2e1c5446e96c0dd6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJNC6jx344s-QsGKfmUa5TLqH3zB6HAsP5ly4BMvODjynizjqcrUT6dtp4R5po5_aEZVU50hGxn8mlr4H3uARDTnQAcUES1bBflIYYkjDzPRsdC505fkwSd4jzCjuQACVnZwbrsb9-_68XnbbIH3Rd_hM9oyutB1sXRWcgWfeHdeXRkWC7d7m-zxuUeIf1Pn_T3TYiFHn6tUu_u-pQWH5buOAHSkv0goRsJpxxdP-nDVNKDlQKDjNy149U5mYA5O7p8hfJjRPn9SAXVPG_WgR4W88P3O8_tqzmKjY-3FqlCc6n4DdPZ3KWB7j3bDRE9h1NDrHZOqO8rwtvrO4ROr6Za1RpB92RkI9p2D5_Q-fW7EoPcRLtSoq1u32I8lBVV7ynpR0oWWXPpKLK8Jy08Q7AVoN_jNx6wtOqV67JVE1OIe6Tj71EhKdMYqYqqxUM_EzuLwmWdvSsST8gSc2PEDNY7Mu83Q6KmtwwOLadDfEmeON-yG8ymd-EaUXzapJ2KCkwGTkcrjzR22-zKzfUnTQOG7g93Gk7hAt0FijWbZ2_R5fdsQqBL_MdqG2V4WPMJuMeubNo8F2tN3rceoFMx1juMkxa5494seH4PF_QDMC-cw2uYEEscgM_KuPt89DAPFjLj9skgC1AydP9Rx-XR9nwMV2GntMFqb_ucPjWg7z0zbNPsafzWybBML4b-DTB7DhkeH3Qq4zj--0FjfMzwUmdigzoOxxLtvsYAKYRUG_LKBmYfEmvWtzGZzBog1CdC_q7XdcxSMd8NVRYyOOFhZ6zCaTjLIo_1QjB6y_KGmINuntqaNHDEDGNYUku5RtgbTY9Mm9TuLyQuR4tILrRyPZHNSkgZdsgOvenxprtmRr81S6PG_IuHUFm9oLt3FcxEsGCAAjaysSaOMyPx-KmiAT77WY5vl7R7seYiM6YMk7d0D-Kj9v3UnIumemtLRpO2WFrLZMRtx40qzMacusffHB6E-C153zMl7dHU7uszvTflg6cOmEBXOtN7YDd9Us3ONkeFrg1NbHLBKbztMxPrZ8Rhjn6WMlVHSFYdAWRCmJWZLzA5_K3v7cQgU66Lo3nWajI3_75_dnlcQFr1FkiEHHxvgW3TJyJoquDfcgfjUaZfbcBXyzwQ1u2T7I8PVVzB_8uA6Z2hA4WcdVi-VfsnvGCABE3HMXqoHnoG9jaMsqLKoVQKHrjkHiMiNixqc4GVSLiy9_VMilBetxFu-yPE8Bq99g5FBepvggwfzwL6umRydvCGOk97Rg_TOgE4b8G80dv_yyqOJ1b-vyk6R0bNvJ9mRNOX7u-BpW4R8tZqsMnQizfS_YUVSjV3G8ejj1w1AFfIt2S_pOQeD3Lm7_2XGYoa9ElG-OsBVzqOZ1YSIsokVv6ytQnUUmNNyu0HIHJhSzEbhWKZRltu8cM8zoBDv7Hae1qA7rCDVSZ-QJV9a02ac9H9YiYw9GwxQGMZFjzZpZIDN0MHx2_qcshGbq5UR7-9bov9tT_YUjulQ203XXiger_uQzIBlo_cPoVGhkNZwKHSQtIlld4cYzc_pRQtHXZd7qLPv95XVoSKxgyz5GLdLASusyMclzxrI1Aa5ygRxMHpEdRBPNi056SE9rgvspeZTJZFhJyS1pWqayEX5R32SVfTnwoTeQu66DLuYal75SKZOHRBkoUELoVMEr2IkSSxHUTPK5ZBjhuOac2wG9w7mPJzCCMhBJlNwU9EWgXWW1H2964Bf-NOYrDoDXoAlPWf1d1Rze0WRsBq8W7ephu_6aFEzKFfgS_FLAtGBLmUkuiZxhSkCUS9QWO57D9l1VK-gohp-OnhZ3ybFQdtDkLtsI8Xm5DN12O9kwcuWnIiCo0LNhTthkbRnKquZ6tVqpr7DD8ouuFVGorNpNRNlJ2gh3-iclHzQPL4lGP2mOgLbWH8AHKt7fL2U-hUWuLthlGRp82j2tuMcghDt2MoFLuoZJf3o77C57CM3fPKC3lRNedhn-voW0UvQCASngdEQ2xABdUkR6oLrCm-cbbHep8y7nGdaIiKYffy4moT7unqXyMZFFoZCTBPtQXtPShUaBGCaW3MQcniu8SXeWzei8ZRNAuaDL6ePVFXPqF80Udv9bhn3AVluVC-QlzJbZqxiIAa10bcmmFITwQJmyCovaHT2ThUOKG_RNyvxzwsfivVyEd8DYDDeYrFV8UldRAJLVJ5wFYCaTANvzFqVCCGCqdsHoRgGypMjrodKjZ3jtAwPNd6W6FCX9gTJC_vyrbACAYfHRC6C8RvcGAgBUeGObEIG8koayusorDnTtUPrEAFN0l1Uk8KqfZdE6QeTp1MVIjNfcJhdl6tlqDXC1Gql4ekViNEBUdRNTnzHd_NG3SMaIr4KdnpPrUkl_gt1YXex6Hpn-i22eIDqkKHBKQvIU836_jW5vS0kpTJoeaiuvqOBUWylB0A2X7svkW28mA7cg3vHUJKp0fdQ1oMrTKMf0qy6ijhr_vgG-iZFneXmKhFKO7V5XqVNwFmzMS3QlCbIjecF178Y7rETtSGXJ88ukdRu_xMKt6X_MG5h_bEDYtPXg7uYd5FQWxMyqv2LynWftx-GsziLWit8wWbfF8l6DtM0_i1bWNjlkALbGwZH2ByeWvVHHG7hsOPqnM9aZzhRmulLVrLuk6m-t86dk7uVymIo24HDIhW7x5to04quG0ZTzi5O9Vcfy1MrOlkoODtuxcYTIIfcd8nTFTb87bNLI3Fxd4qWyE520WausMcq7ORzWEC-mJOQkraylzVY7X32hs-5EYUHNcpnKsGaSH788AExDWf-cvsDtzpUGXvOtzua4Sblg2sLDd4NvU6CWyIWMyPvU0MI94FWir5sakHReA8g85wpn6EB73ZhEmiAqEC1bXw8J09Cg-bA_806K7GIImr7gr8rsggHPCOYPnlWDyoObEtl0tYbwG3NepcHB3ejmABIAWoI1fZw_ZNxDKe05R0hJij-_bezr2nFsuICX2_gdyBN9kJKgk-ffO7IMObMOnM5hKCce9Bx04I93WM8FdZBD6-TU7sIHmblI6EDMXCdiEDCvt8S9bhr-wSzuYAglPmPFU6ldpJsxSfci0mkgwixHOglAyKF1EjhtoL-GmCrLY3P-qXoHSwErAtODZwd_WzEu3MyG6jSMY8_59AC-ofE3ULAKxGJrdfPEKO4ycA7_qg=",
  "id": "rs_01611dcd11576875016ab4933b039487d08dc14074736ad431",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.19,\"left_z\":0.09,\"left_gripper\":1,\"left_yaw\":0.0},\"note\":\"With the arm clear, the leftmost bottle's cap is visible farther toward the table center than my earlier alignment. I will approach that cap from above, correcting substantially to the right.\"}",
  "call_id": "call_0bzDeXXZ2Ut1SocgdXcMOR1c",
  "id": "fc_01611dcd11576875016ab493413d9487d0a9f997cc04078a1b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0bzDeXXZ2Ut1SocgdXcMOR1c",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6029, 1.7676, 0.9073, 0.1455, -0.5041, -0.3912, 0.9979, -0.0856, 0.7654, 0.5915, -0.445, -0.1356, -0.1329, 0.9989]\nstate[eef_state]: left_x=0.4184 left_y=-0.1801 left_z=0.0772 left_yaw=-0.0001 left_pitch=-0.0525 left_roll=0.0267 left_gripper=0.9979 right_x=0.2824 right_y=0.0033 right_z=0.1696 right_yaw=0.0822 right_pitch=-0.0401 right_roll=-0.0025 right_gripper=0.9989\nstate[joint_eff]: [-0.6085, -8.6906, 7.788, 1.6484, -0.2662, 0.1197, -0.2271, -0.1436, -1.4701, 7.0222, 2.0049, -0.1538, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f01f3c8d3add9dc2e763f29008698ae2c2c9d52d3f9591823ca8835b19a961de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54c0bff4b57a7c9b7e0c9a3504a4569ef9e47495624f352604ee2a5be3707289",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dc838b304b34e7d6641e37885d33604f5fe5d60d33d17ef8e2c7ff6c48979b7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 6.82 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 78 changed as sent

message 86 changed as sent

message 90 changed as sent

message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4435, 1.8149, 0.5114, 0.8204, -0.5835, -0.4484, 0.9961, -0.0807, 0.7479, 0.556, -0.4252, -0.1173, -0.1223, 0.9989]\nstate[eef_state]: left_x=0.4038 left_y=-0.0801 left_z=0.0469 left_yaw=0.2615 left_pitch=0.1576 left_roll=-0.1285 left_gripper=0.9961 right_x=0.2798 right_y=0.0017 right_z=0.1618 right_yaw=0.066 right_pitch=-0.0398 right_roll=-0.0045 right_gripper=0.9989\nstate[joint_eff]: [-0.4034, -3.8085, 2.359, 0.5348, 0.1392, 0.2271, -0.0757, -0.7043, -1.5385, 7.2684, 1.9951, -0.2027, -0.0122, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.0616, 0.841, 0.7547, -0.4564, -0.1356, -0.1291, 0.9976, -0.0807, 0.8017, 0.6472, -0.4793, -0.1345, -0.1299, 0.9989]\nstate[eef_state]: left_x=0.3044 left_y=0.0087 left_z=0.221 left_yaw=0.0968 left_pitch=0.0222 left_roll=-0.0171 left_gripper=0.9976 right_x=0.2866 right_y=0.0042 right_z=0.1783 right_yaw=0.0847 right_pitch=-0.0549 right_roll=0.0018 right_gripper=0.9989\nstate[joint_eff]: [0.1846, -1.5111, 9.4291, 1.746, 0.0806, 0.1783, -0.0464, -0.9231, -0.7863, 10.1128, 1.8437, 0.0024, 0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6029, 1.7676, 0.9073, 0.1455, -0.5041, -0.3912, 0.9979, -0.0856, 0.7654, 0.5915, -0.445, -0.1356, -0.1329, 0.9989]\nstate[eef_state]: left_x=0.4184 left_y=-0.1801 left_z=0.0772 left_yaw=-0.0001 left_pitch=-0.0525 left_roll=0.0267 left_gripper=0.9979 right_x=0.2824 right_y=0.0033 right_z=0.1696 right_yaw=0.0822 right_pitch=-0.0401 right_roll=-0.0025 right_gripper=0.9989\nstate[joint_eff]: [-0.6085, -8.6906, 7.788, 1.6484, -0.2662, 0.1197, -0.2271, -0.1436, -1.4701, 7.0222, 2.0049, -0.1538, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f01f3c8d3add9dc2e763f29008698ae2c2c9d52d3f9591823ca8835b19a961de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54c0bff4b57a7c9b7e0c9a3504a4569ef9e47495624f352604ee2a5be3707289",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dc838b304b34e7d6641e37885d33604f5fe5d60d33d17ef8e2c7ff6c48979b7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJNJifiMGjMb5pH90fCrJ1RLBnee8oWoTZA-Iu9tzxea5S-MMOCnIa48iqFHJHwxUFyJZXlXpLCnvwrv5aqAV1bJkK2T16kqaQD-LM37gcWDhT1rZLfXy_05FQ2Z0Cron9SfXY3kM6nH7h9EzNb-AGtgWmEuojG7PjKfxhKEQ8EOgFZ-Is7BtHcri4ExPTFu5fiIFD9HHT5PrArJ_UtXtO1N-njqUrEcWBiYBJzRv-hEbAyNS_8CLoZ9MaA7DLNsn1LLKKu5kbf0C6RduUmoekwWEsUz87b-DB901n1SKfXio4WiZUnHWJrGCPZtQMbNIvXmznbzaI7C7ij8Gt2PG9PlCdPU1KUvAMU0Qkc4lnNwdL1n-iLN7NQEsfBiuCvRDJOqzb9ZvRKASCC9ih7yviHVM49hJsabdrhXdMUm-GEostfGKkEWnexdZtbf9sZalMWZU86CYmQsSBZfMcekmP4q8rcsF0WUlh1GvpgNNdnhgAzPZmcjRl76jxEzIUSkxifu-9-5lHt1UsHmbq62YkX8TNYepoErfoCB0QAuxwMMs1kz0nFvvRnM1IG9g6LF9kuIRy4uTprog8Kd4WOlwBAGPSfLYiEAsSyU7osUGvWnuuvHk1pNPuCFUBfOCft4n1wgmQJtUwkqKCTOhYjft3xJ1CCYyzEw_ADxwT11iDSpoyAtw6hmUHZnduemHL84XfVKutcc5jcED-j0GJOWDVIM_kndbNNMVlyFlXtumnBofol7UJAaEk4YtrOuB5Nh6-wrsdvEuM3zJyx1WzkoFGmwu0p5ymiMe2nWBwoJco17G8DBH4dKrbISGIl-ZeOa4D0xs17dGoETFP7DHARLbOf-JkZhWbj5GdlaNr2H38O7sbRTs25zbmqxvuXY_cbYZdMuaFtSUbDmis_MCrZINqp4Tvj06tJi96n28YFyfKv2Rar28naS2OfDc2QBdDjBUYej7JKAV6fDwUas8hXnoizxwFoCn6WfKt8VAeSWMAJZ1XG2DlJ5koNx3p2Q6ZYTzQ42G2yIMMGrSuU_wBeym0m1TMw00Ah-OlCA0v5UnT0JNoHRSZtFb-nPUXApSQ5L-lpsEoBgJgM4s45aZ4A3bGUPwqrmj43p_cGI6AjjQRSc5W0jtJsZG5N1eX2Oy55VQqHzLSYWVGp5-fcsoeo7zwUQuV1nd5BviMPuOQ6rz5rlfHQlr1YlXiSsi0KgrMz2IDfA2paCPhHwJAn0m8EGou822HVkmbCSSDBpPTM5pempDc-A7LTDdCz-Q4EVq6fQnyumq5WsiyQRGgqV-zxnvhM6T8AB5_L545lDsNxjnPJ25Zvng8oEr1sNAlzFO0N6vhKQq7ys45f9eGhp9Acq9VBEmPBZG8tTwBhAdKeszog2U-kR4n5-eOeVvpvUbzx-kPabuA0Ya9EUm7rFtd9ijyOrhcmbVwpBJK_V9vTRJIP8ZYS6ST4V1Jl5wvkfnSV6ShWB08bjbV6ciNMJguJ-S8WI125wNiLG2UgCqunmX1vebTEPq_bwKSwvEz4SZLDTp9k_QcZ0ssfv60Y6nNLZ4BSe5DWg-tLiW6lKq71St7m8fOA9s6qoRpG8JxFxW1QcI0TMzOcK1KZ3ZGTdOhuXJvutTacSSu-Wb5nza-IGIAFhjDi_Kfs_Ga-VR6PlJRp0c7R-W-gXmQDBinmw3U-F2e8YPQ==",
  "id": "rs_01611dcd11576875016ab49346589c87d0a983b9a2a317bf5c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.18,\"left_z\":0.025},\"note\":\"The leftmost neck is now close to the jaw center, with its cap still ahead of the fingertips. I will advance four centimetres and descend around the neck.\"}",
  "call_id": "call_icyVtlctBQx7rJo7UXYSzQ5k",
  "id": "fc_01611dcd11576875016ab4934807a887d09448b3b6d0aabe8b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_icyVtlctBQx7rJo7UXYSzQ5k",
  "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]: [-0.5537, 1.9675, 0.9375, 0.4648, -0.4763, -0.3931, 0.9976, -0.0864, 0.7448, 0.5526, -0.4248, -0.136, -0.1329, 0.9989]\nstate[eef_state]: left_x=0.4625 left_y=-0.1865 left_z=0.0549 left_yaw=0.0282 left_pitch=0.0623 left_roll=-0.0721 left_gripper=0.9976 right_x=0.2792 right_y=0.0035 right_z=0.1614 right_yaw=0.0818 right_pitch=-0.0382 right_roll=-0.0026 right_gripper=0.9989\nstate[joint_eff]: [0.9368, -7.0906, 5.2718, 0.6081, -0.0659, 0.5055, -0.0415, -0.5265, -1.6615, 6.9402, 1.9805, -0.1783, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc2f201d6299c44d45ad8c8b2c412b85eb69f8c1adc8b4b498be736ad0288e8b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95ee867a1789aedb3b66b097d0c092c87d13f786f1bd446e5f9c6f6fd724c735",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b88b5bcff27b0a73a8ac45b505b6e9aa0104f06ea418a9f7dd89208506e6b599",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 6.985 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 82 changed as sent

message 90 changed as sent

message 94 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4892, 1.7512, 0.5976, 0.6514, -0.63, -0.4965, 0.9979, -0.0807, 0.7261, 0.5205, -0.4026, -0.1173, -0.1219, 0.9989]\nstate[eef_state]: left_x=0.4109 left_y=-0.0968 left_z=0.0698 left_yaw=0.2778 left_pitch=0.1552 left_roll=-0.1438 left_gripper=0.9979 right_x=0.2774 right_y=0.0019 right_z=0.1559 right_yaw=0.0658 right_pitch=-0.0311 right_roll=-0.0055 right_gripper=0.9989\nstate[joint_eff]: [-1.1419, -10.7829, 7.4598, 2.1074, -0.2271, 0.2369, -0.2271, -0.7043, -1.2103, 6.735, 1.9707, -0.1685, -0.0073, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.6029, 1.7676, 0.9073, 0.1455, -0.5041, -0.3912, 0.9979, -0.0856, 0.7654, 0.5915, -0.445, -0.1356, -0.1329, 0.9989]\nstate[eef_state]: left_x=0.4184 left_y=-0.1801 left_z=0.0772 left_yaw=-0.0001 left_pitch=-0.0525 left_roll=0.0267 left_gripper=0.9979 right_x=0.2824 right_y=0.0033 right_z=0.1696 right_yaw=0.0822 right_pitch=-0.0401 right_roll=-0.0025 right_gripper=0.9989\nstate[joint_eff]: [-0.6085, -8.6906, 7.788, 1.6484, -0.2662, 0.1197, -0.2271, -0.1436, -1.4701, 7.0222, 2.0049, -0.1538, -0.0073, -0.0073]",
      "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]: [-0.5537, 1.9675, 0.9375, 0.4648, -0.4763, -0.3931, 0.9976, -0.0864, 0.7448, 0.5526, -0.4248, -0.136, -0.1329, 0.9989]\nstate[eef_state]: left_x=0.4625 left_y=-0.1865 left_z=0.0549 left_yaw=0.0282 left_pitch=0.0623 left_roll=-0.0721 left_gripper=0.9976 right_x=0.2792 right_y=0.0035 right_z=0.1614 right_yaw=0.0818 right_pitch=-0.0382 right_roll=-0.0026 right_gripper=0.9989\nstate[joint_eff]: [0.9368, -7.0906, 5.2718, 0.6081, -0.0659, 0.5055, -0.0415, -0.5265, -1.6615, 6.9402, 1.9805, -0.1783, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc2f201d6299c44d45ad8c8b2c412b85eb69f8c1adc8b4b498be736ad0288e8b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95ee867a1789aedb3b66b097d0c092c87d13f786f1bd446e5f9c6f6fd724c735",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b88b5bcff27b0a73a8ac45b505b6e9aa0104f06ea418a9f7dd89208506e6b599",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJNQ38tGhi4QISOrIPc1neFjA_yIRYFLcfVccldMDeZKSntYSyX6vSF90nFNHFglN9y2Ud2p7ELvwYYPtoOHTWYUNCBR63Y8AiS61URTUWAZSos07q-feGA21GTkwt578F1Ylm-WRrgz3Py7eI9us-Ft81QMXcaaFgixy1_1wW5AoiEhZSynAhdF7XfdVdmCNBFt57nYnV43OVhexL1rjlMwsJfMs2AMCh6oP7gxSaExE70m2Rfo_194ndGvuV7VcIHW07FZdIvv6j3YXFUkzF0zK42_Cnfj6aeR7JeGCj4S6gjTN8u0GHHKJ5D_oMf8bIqdNFg02gInpEIhFWn3xHKuDw9xVEf7vatV3Uq4XjTM0RzNt31NmrVSdiWNUshqzcnDTMSvqDNycyK6gApajlvMB-LnU3N3zY8hFPozsgJTmfEPCL9pPAbRZUqLKMSmUPBOBa6_sTYPcxzuNTHKek8rnNWNNkiJJTOxdxcTcHXn5GA0KXordKSt6m4ZjWb568lQhjEio6v6GzvBdWmMO1Ce4K--eXHs51Bd5PqL29gEJOp9xtv5xhfr615HpLjdzKeQboznaPruBuRI3EO5k7B6Ze0zA-GctcJXnOsXiItfC344vsIfNo0mV9UUSP1fm26RMhg9o9hxlGesMtajExVTVumCeocnEXuprHb7SRynhh_tsuwWFhosAHCb9hcc7DMyZgLhlTgPVZGAvl2Dbdl1PPSQ-dS2YkBbwTFW56OBQ24T2i4LENllbvobYO5OdWgbGWNrlskhaz7mVjZff7dVpadxKDPcxEMuKhdzDX9FAWmq0OstpeE4vPsf9IxZjyiLbet4SCphJ63LQkNVhxgzisditj-RDnYo24Mvu_hs0cJtmcGKrK0zNUYxe-YdhXJOeLRFLXagT4WCxyONaoT9ZBakoI2k0cMS8KeXHkRA-EYT3nxj29vrpolBmmAHvUCFfzAmL1RT1zcVXJfCbfVoIN6aJ8-_VJJ7zCdW884yUr_bQd-s6L8UkbbMaYFxdLU2Wf1Gvig8KqxxT4elLVPthWS_GJJs9ML2eEj3KnAEHKjEYLanJSvYoyXbXI8WIo9q3yxdzizxjZLjHJ44cxiFYBKKBC4gkDart_ZmL7UZ_xI5dzPWbMMtr9ppGr89SFH0wNiJ2XfqnimnTBsiZT1TQbm6DS2Dh4MofoV5uSpQM7HiPVdB-XYc29eDSLPeDIo5RFUQBjOe3ciXgH1tZYBVUMBh5xQ1kOIkGy6fV9aiV5F4uFlu9lg7WtKcq0C2txOMjfnjnX845KVIAwszUNmB1xavkH3pLyxCCi6o2_NjOdncMHKepq2HulQm5Mg_C_lKbEfD2Y4LUrFN7fm7TppgaWP1ijXvK-Lzb7fLzCtjShM_dQRvlvozVLU-pWTGiQigvpD_WgBz3LzbZWok3yvt86qDHfwIajobmkQkdYyOeWNCgk2x-M6dWKGUWcBLuPJn1nZSiE6ypsgv8FGsHL6JGxdEazm3Um2tyxcY7k46kf6l-P8aoXnseaaU_PROU9TmBJ-t2nYbix2UescONf5XSsDlFUFf8ImSsHBObpcpN7dmBzvbswfisNPfH5g9orCwQM03SwkkysLoAxBUcadl4yPNuVizbuc7uALjJnxBEdUwuwoEJutSy0N10d2u5O9HN4MF5ywjJC5axwc7EI9xAphZfDbj_lHbgQvLMDJqrGSoYtfreDEnQLhB4cLP5y3mIf1X7tJXMGKGysUHZaixkT79CNCQWRDS0w9BBIN7ESzAXpIa0roRQt9BEjUAG7F4J76Z1iYpcT4lKISJGJuXew==",
  "id": "rs_01611dcd11576875016ab4934cc64087d0b417b51aa30ef825",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":-0.145,\"left_z\":0.01},\"note\":\"At the lower height, the leftmost cap appears at the lower-left edge; the bottle in the center of the wrist image is actually the middle bottle. I will shift left and slightly back to isolate the leftmost neck.\"}",
  "call_id": "call_gIV2ftCtmrzGhIoXhb86GrAo",
  "id": "fc_01611dcd11576875016ab4934f311c87d0b89c1cf2c5cdf4f6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gIV2ftCtmrzGhIoXhb86GrAo",
  "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]: [-0.5434, 1.9724, 0.9466, 0.4561, -0.4797, -0.3935, 0.9975, -0.0864, 0.725, 0.519, -0.4023, -0.1364, -0.1329, 0.9989]\nstate[eef_state]: left_x=0.4657 left_y=-0.1819 left_z=0.0544 left_yaw=0.0413 left_pitch=0.0595 left_roll=-0.0684 left_gripper=0.9975 right_x=0.2771 right_y=0.0037 right_z=0.1558 right_yaw=0.082 right_pitch=-0.0295 right_roll=-0.0038 right_gripper=0.9989\nstate[joint_eff]: [-0.0205, -10.3316, 6.2427, 0.8816, -0.2564, 0.2466, -0.0171, -0.5812, -1.5795, 6.7624, 1.9463, -0.2222, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d680c1275509832691e78363c49cc6f1d220a994f1511e0f745cec70c21c226f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c9e533500b8ab7090d8a5c0be820bdad4f61b8bc54666f4ea36d842f414bfdb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6ae6495120831622d1157f79001a167646dd486a1b0b8482ccac0532a1764ed",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 6.091 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]: [-0.0616, 0.841, 0.7547, -0.4564, -0.1356, -0.1291, 0.9976, -0.0807, 0.8017, 0.6472, -0.4793, -0.1345, -0.1299, 0.9989]\nstate[eef_state]: left_x=0.3044 left_y=0.0087 left_z=0.221 left_yaw=0.0968 left_pitch=0.0222 left_roll=-0.0171 left_gripper=0.9976 right_x=0.2866 right_y=0.0042 right_z=0.1783 right_yaw=0.0847 right_pitch=-0.0549 right_roll=0.0018 right_gripper=0.9989\nstate[joint_eff]: [0.1846, -1.5111, 9.4291, 1.746, 0.0806, 0.1783, -0.0464, -0.9231, -0.7863, 10.1128, 1.8437, 0.0024, 0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5537, 1.9675, 0.9375, 0.4648, -0.4763, -0.3931, 0.9976, -0.0864, 0.7448, 0.5526, -0.4248, -0.136, -0.1329, 0.9989]\nstate[eef_state]: left_x=0.4625 left_y=-0.1865 left_z=0.0549 left_yaw=0.0282 left_pitch=0.0623 left_roll=-0.0721 left_gripper=0.9976 right_x=0.2792 right_y=0.0035 right_z=0.1614 right_yaw=0.0818 right_pitch=-0.0382 right_roll=-0.0026 right_gripper=0.9989\nstate[joint_eff]: [0.9368, -7.0906, 5.2718, 0.6081, -0.0659, 0.5055, -0.0415, -0.5265, -1.6615, 6.9402, 1.9805, -0.1783, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5434, 1.9724, 0.9466, 0.4561, -0.4797, -0.3935, 0.9975, -0.0864, 0.725, 0.519, -0.4023, -0.1364, -0.1329, 0.9989]\nstate[eef_state]: left_x=0.4657 left_y=-0.1819 left_z=0.0544 left_yaw=0.0413 left_pitch=0.0595 left_roll=-0.0684 left_gripper=0.9975 right_x=0.2771 right_y=0.0037 right_z=0.1558 right_yaw=0.082 right_pitch=-0.0295 right_roll=-0.0038 right_gripper=0.9989\nstate[joint_eff]: [-0.0205, -10.3316, 6.2427, 0.8816, -0.2564, 0.2466, -0.0171, -0.5812, -1.5795, 6.7624, 1.9463, -0.2222, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d680c1275509832691e78363c49cc6f1d220a994f1511e0f745cec70c21c226f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c9e533500b8ab7090d8a5c0be820bdad4f61b8bc54666f4ea36d842f414bfdb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6ae6495120831622d1157f79001a167646dd486a1b0b8482ccac0532a1764ed",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJNXMSUIjQRqHuavyKm_ILoZMYB-raXcINUSRfA2vuMbb0DV5uhnBGOhqGA0nVFY0-rJ2GOyiyLzHruYA2VffgfcfaHLA4irkgkpZBpGmENynquUreiaAoinU3pWspQSaxaNpzmzxARizoHpLiRpNBsVMnBg_pC-zVZS0lmmzDCYXCoM-rzZFs4y6O6bvwL0hhmc7VZj6-ocvbi38Oa0ZtpLrLq3AsIoSHYuxLWrK9IQ57cJ9GZ0R1HvQMTQIpjv_pVOQb8RYvM6E5oPGGitLiDva7RGPiIpkRJhhemQXiZpBowJ78fTZvBZCYNclxdqSgkBI4yovDvYO1Ty-QsIzt3x9mci7lVj2mQPau4-_nt92zTWr0U93ZeEVfyNzw7BzPHBv70G3CAEd2onA1uc3kLxUmAhxKzSUK1D3Eb65bTeq0YQ55cRWpkD3PvSiwkpdROvAPt9Yg2KTBKRiTQ0xq9pz6IGdcChlkDLLpuntxpUtQeHgsXjFCjb55A_brJ7OofkL3WColWhkue8JjSePl8NRk2zf436KvVr3-aQOpVVTJAWTYMFuXjQ-iz7dHsrN4W4Esg8baLdHn2Y0EGsup3CxXwqRd5AF_5Xm9CYmeP_xHO4_Go2WBaET4-0dwDVrCqPEYRpNZrgs7b3YPJ3OwzDSVLKMhOANPeib24q-P7cV_LnBKD2bilchy2xSNWssGCEbM_xzfJlBlVu38OBicYyfUbQVx2cUF604Si89S8BrLRUAN8nbP7hvkXaYAUvHq58I3OoP3pRla7hGs-Abu0ZXdhoPzmWzSY_5YgaR23Pc_hDO2LkIo2L0vRfLzOQAqenX-N8BAl_ceJha8axnlti1SbIhSgBzHJeAL0T8_l0n4SabXOQtmJAaD9_U1q9UxYAAud_oxHuW1yeY4BPrDCterGuOpTMb4cboy9OHQXOgNL4Pre9_GMBw6yXzbCP4a5OE5-uVt9aZk41N8KPxBerQNOZbawQlhzm6XDnuYcWcCQBJJavAwTE8-7INXxV0NjzSFLQhHIMB-d5wLmbvcz7Zjl1_6RZn7FKShf4BEhN7wyDPqbIZD-bubrYH8RVLTtxTLFBSuZ9P_jYu3jmDNeouVwFWQf3HsqC-nMiU-yF6jjBP-pZII9nwklFkwaIivUssYg0p2sxdmxPGAfJ1g2mZFFn0E1fJy8207_Wi393kCwsqsjcEMJ_oI7FXdbxLi9LOYOdI07rBZ0FN1cWlPKrd4oaDYR8Tk2pF7K4vcl2kfRjNIrvlvOhxhm1bHFWbFu7s0j7K6QbNk1GbCexvlCxp1pWfwbfeMo4oHLnmUYiZOB8rUc5U6UaWLFCnizk1U_X163miklRES7TaUq71eYXIKwYHFlOQTvIvQFwhz96xTokNHaZGkDWO-xY4fd_yiHnFP-1JCBmxlpVvYEh7ApdMsyGWsWQAqBd4OLMaUVCapwaj4tmIgtLjKg9O2MpGmr_aHkQ1nTI0nzuTkb67MtyAUOYpdB6pOIo-GJwDlXpwh5rXzyq4JJiEyp-7pY9kwcKE3YSVuOTRog7rKj6PGoC2klXdX-wbuWgFni6Sjd7TgZcoqL20KLZiOk_5zzdFihFrd5wEZsDyaXAKtsa16rhYUM6_r0EWcE3KfHljFw5RlQgSsecMmnSr9og94KSRGbimSWR-9I35Rmr4Y0jpea8mM9uOpTXFQj6GOULpysstW7cE4zRFw41ylkgh6_tr5yULA-BEvHBMDFyMCBb662AkMcTjLJTN_lMNJEzdnX31zNVK3IOP4fmdsieMSugSuUyEWm8wzkTBGSy1Wp4Sit_5rSWM851puRScMzXxObpHUUxO14ymGOUbBkFYSDrwwWUSeJr_iyIuQXYFd7WjxdLfOHiigWfJphQMGkWnyAGGnXAkmVPNy4fZsWMA2vP4mz4zkpwaGZ-I1UofbzgNHxNZLKC48Mp8YSik6bNBYHJ_HqHE1bBSNC3ppIH-0DB4H1nHM3hHwjR_wRvw1tdhI16uBQLFkmyjC9dH6YPXF6hZvc=",
  "id": "rs_01611dcd11576875016ab493538cfc87d0a358a2dc5c26b12c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.145,\"left_z\":0.11,\"left_gripper\":1,\"right_x\":0.294,\"right_y\":0.0,\"right_z\":0.2},\"note\":\"The arm is not tracking the low sideways correction at this extended reach. I will withdraw inward and upward, then approach the left bottle from a reachable position rather than continuing to press.\"}",
  "call_id": "call_ut5TrniqrjihnxYZLe40zZht",
  "id": "fc_01611dcd11576875016ab493565e2c87d0ad8c7d46c6df12a3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ut5TrniqrjihnxYZLe40zZht",
  "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]: [-0.5434, 1.9682, 0.9485, 0.4408, -0.4793, -0.3931, 0.9978, -0.1005, 0.8028, 0.6476, -0.4713, -0.144, -0.1413, 0.9989]\nstate[eef_state]: left_x=0.4648 left_y=-0.1814 left_z=0.0542 left_yaw=0.0405 left_pitch=0.0518 left_roll=-0.0632 left_gripper=0.9978 right_x=0.2879 right_y=0.0 right_z=0.1798 right_yaw=0.079 right_pitch=-0.0468 right_roll=-0.0032 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -9.935, 5.7368, 0.989, -0.2564, 0.2955, -0.2369, -0.5812, -1.0462, 9.7573, 1.956, -0.2613, -0.0122, -0.0171]\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:20b833ab0542947601e2abc659de556350f57718b0115879a73170ef1ad69a95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30e1a3fbedeb33a296051c1c68c99ec94e0133c30dc2d1344eaf87b8fac25811",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6327f836daeaa9b7d06dad29592c47d5c4ed8368991afc8cf5e8fb525d393188",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 7.772 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 90 changed as sent

message 98 changed as sent

message 102 changed as sent

message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6029, 1.7676, 0.9073, 0.1455, -0.5041, -0.3912, 0.9979, -0.0856, 0.7654, 0.5915, -0.445, -0.1356, -0.1329, 0.9989]\nstate[eef_state]: left_x=0.4184 left_y=-0.1801 left_z=0.0772 left_yaw=-0.0001 left_pitch=-0.0525 left_roll=0.0267 left_gripper=0.9979 right_x=0.2824 right_y=0.0033 right_z=0.1696 right_yaw=0.0822 right_pitch=-0.0401 right_roll=-0.0025 right_gripper=0.9989\nstate[joint_eff]: [-0.6085, -8.6906, 7.788, 1.6484, -0.2662, 0.1197, -0.2271, -0.1436, -1.4701, 7.0222, 2.0049, -0.1538, -0.0073, -0.0073]",
      "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]: [-0.5434, 1.9724, 0.9466, 0.4561, -0.4797, -0.3935, 0.9975, -0.0864, 0.725, 0.519, -0.4023, -0.1364, -0.1329, 0.9989]\nstate[eef_state]: left_x=0.4657 left_y=-0.1819 left_z=0.0544 left_yaw=0.0413 left_pitch=0.0595 left_roll=-0.0684 left_gripper=0.9975 right_x=0.2771 right_y=0.0037 right_z=0.1558 right_yaw=0.082 right_pitch=-0.0295 right_roll=-0.0038 right_gripper=0.9989\nstate[joint_eff]: [-0.0205, -10.3316, 6.2427, 0.8816, -0.2564, 0.2466, -0.0171, -0.5812, -1.5795, 6.7624, 1.9463, -0.2222, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5434, 1.9682, 0.9485, 0.4408, -0.4793, -0.3931, 0.9978, -0.1005, 0.8028, 0.6476, -0.4713, -0.144, -0.1413, 0.9989]\nstate[eef_state]: left_x=0.4648 left_y=-0.1814 left_z=0.0542 left_yaw=0.0405 left_pitch=0.0518 left_roll=-0.0632 left_gripper=0.9978 right_x=0.2879 right_y=0.0 right_z=0.1798 right_yaw=0.079 right_pitch=-0.0468 right_roll=-0.0032 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -9.935, 5.7368, 0.989, -0.2564, 0.2955, -0.2369, -0.5812, -1.0462, 9.7573, 1.956, -0.2613, -0.0122, -0.0171]\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,$blob:20b833ab0542947601e2abc659de556350f57718b0115879a73170ef1ad69a95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30e1a3fbedeb33a296051c1c68c99ec94e0133c30dc2d1344eaf87b8fac25811",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6327f836daeaa9b7d06dad29592c47d5c4ed8368991afc8cf5e8fb525d393188",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJNeJHR2SYy2zld3NPN3pQiiuRAH8UpO3TvZoqgdZG0Nwbv2UqcB1tJPPRanUN62WW9IHnhG652pfZ3lXcy-VMkYtMHKof9iKdwoYtT1UjfatQLJJfwO44Ra8SGjryuiiHv1sme1Ds4ZMmXG8-ivxfeOG74vXECXGyDHFPmwGdQXrRB0Y3GuNrsR914t9aak3KPd9jFih4T-HO_2d2KaRVaQSHAu63Wx0NPmoPlTjyL7WGmpNDw3W6wpxlwLhis2QFYHSO2mQ0pecs8pcnqARqxvBFrGNikzT6gzR9D7gJrJwTd0nseh5FGsAH_GDGVGEqwR1OV4fcSEiUFb5HMDzXjkXu2FsOWhrP5YeSWOUZCgtEDdwg61RddNTdle-pJlDaQKWpGWJHHWm7vmwfQLgMU__dIE_KLIWNSB92LbJptfqf9xOv4t9jbjFpccCYKzJBfdRjdQR9l30pJoDWAUkTz1B2koADZq5-0Og-txlsksvYMzqnnjEsK-vfuh-SxMT3yfmLpLgG-_s9bWEQp3pYxhFGHt6ya2UyNm0PLrcUqE_-IYBeP022hH76otF7nVu0InXyejv-7YS8j34BmSZ1W5aBQSk9s0r96VA5Zph4ZY4WrdIF8I1ov7E9qofEkmseV5YgxMi242Cd-DuC1YylLpsff4HDJoSsdnHq3ktrpv-XtSjMcBorYLoJ9HJFcm7fbkpiWS85LLHCD0W2v8xGhFNycL1HeCJMN4lD18um7z_eGLy2XRj2XJspxzCbalTdJaJH7KActzRb1yER9ZCMHdE6Fh55eSI2k7EU3eTucyCUqbSTcoQ5Ud1j0heC-lzdERx68A17au3JBeXJL3yLobBWSQ4ZLr_2plR4oeDbPVfWBDxaj6dELEpMmz6aIlXUSrcWmXbHzBO-H_PeBAtoDUdp7KMZJFNP2WOZVDRtLiNkA2fniqCev9zJ8ADvFTrtWYlPTKbfAzbephuOkdZPfQshl0UmYAJsB6TgqZALt0z_oZ0Yiqq755rjfywvJAYAbNzALq2Y6gwOmx6vJZgVA64CRDkAXcmPSJ8kaFwsDpms4Fa4rQRfAtOQZCaW4LDRixPbgR6qKicXKJp2hqimsGXuZcynez0G8CtCXCaiRhNmyd1Mm95lnq4p8t9ewf-pm0Fs4AQ5jmwg_PNuxLlEo7T2SNyk4MyPV2rsw4uaa5MuCTTOvra7fvHPSYVgyUKtrqtmJKYrFY85FqIfhhr7t-qfzIQkNfh5b5rTVIRcNcozhjVjVqREq9-n71-11VHfOyUL_2N8BvWrICLpHTMkaUiQefAi3RX0PQcEmwwfjBHs6aMHCnoRQlmDEinOJkRNSdz-vZzyLDXHWejPddRmEORkJLdxHuPgNJ0U5MDNUriAqvSeKYECxl8fAN7lHP83ICGDJUQZX6-9Co15ofF5pOj3Hr_CiXx8JEoVgrd-tuUKO2rKmXkHQ6GTJewSBL1xOtYkPv1MAH4jQaJkMJuugvNrbG9XUpZUUl0kc24UQBYMZDiHOy-7NSVH5rMZ965YSC8JOz9S-A896B2sTsnBki1CK7LN9cjMRblT1RlUp0O4GG8AO17XSXkuWpCQnWa5loSuLQ5RicoEY7zGipLpcnLDMrE9zwatxg63qyBwTRd_dwFzh1AIoEvHV-NMtsY2vqqmR-9DnUV86ecRtcIQuBNABeqeTGLn1hfuoVevTGgsMUlKb9ImzNPqwYUov2HCJSNDKeyl2SKKV6GdgciHKms_B9rVPerSnDYu4erPlfxIarZH2A1GMNk9fFAJtCyRikIThTn-vkrwKdEEMWqLW8g7aOMuFH5XEXDHDQ-IPxyJAIrLByUERo2s0V36RMaZcsau-9VhpUr8cxjhQaXXLwqcXjW_dqB08e39N6egTA-7dKPvGUlKEOaWBFHZjqJn0wwFwvo-X_vPmHX18YuwKS3De9vvSVK1VnwhJ6-NkwujG_MSMyOUZ8gjOWnK7ssDpfomjzQOs3S4VUB9LqZPg_Bu9aaL8jtCdto6cCPNRWmZ24BWC6X8LOFvcwmk4PqSQjbn26rvHHyu52PaBy8R0X2Q==",
  "id": "rs_01611dcd11576875016ab4935a095887d0b4bf0834c68ae5e1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0.0,\"left_z\":0.23,\"left_yaw\":0.0},\"note\":\"The withdrawal is also stalled, with almost no change in the arm readback. I will return to the raised home pose that previously restored motion before making any further contact.\"}",
  "call_id": "call_ybJIgnzzSYqGrWyM91kRl7u0",
  "id": "fc_01611dcd11576875016ab4935dc2d487d0b059796cf1423d55",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ybJIgnzzSYqGrWyM91kRl7u0",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0593, 0.8452, 0.7532, -0.4725, -0.1066, -0.1036, 0.9976, -0.1059, 0.7723, 0.6025, -0.4477, -0.1604, -0.1444, 0.9989]\nstate[eef_state]: left_x=0.3028 left_y=0.0044 left_z=0.2155 left_yaw=0.061 left_pitch=-0.0015 left_roll=-0.0074 left_gripper=0.9976 right_x=0.2838 right_y=0.0018 right_z=0.1726 right_yaw=0.0889 right_pitch=-0.036 right_roll=0.002 right_gripper=0.9989\nstate[joint_eff]: [0.1573, -1.9897, 9.9761, 1.7802, 0.1441, 0.2027, -0.0366, -0.2667, -1.4017, 6.9538, 2.0049, -0.0415, 0.0024, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:806d803a231c0372e0677d749093c9dcd512983f1b5a0882fb94eebb4c56b7fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c06f715f5dcc63adacdd07cfa4e8ccc5f7d074a73ecc467b39ec991b4630164",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef3c51183a0bd2d10250c9e034052a0ef404df2551d89da51035dcf3df7bce83",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 6.228 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 94 changed as sent

message 102 changed as sent

message 106 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5537, 1.9675, 0.9375, 0.4648, -0.4763, -0.3931, 0.9976, -0.0864, 0.7448, 0.5526, -0.4248, -0.136, -0.1329, 0.9989]\nstate[eef_state]: left_x=0.4625 left_y=-0.1865 left_z=0.0549 left_yaw=0.0282 left_pitch=0.0623 left_roll=-0.0721 left_gripper=0.9976 right_x=0.2792 right_y=0.0035 right_z=0.1614 right_yaw=0.0818 right_pitch=-0.0382 right_roll=-0.0026 right_gripper=0.9989\nstate[joint_eff]: [0.9368, -7.0906, 5.2718, 0.6081, -0.0659, 0.5055, -0.0415, -0.5265, -1.6615, 6.9402, 1.9805, -0.1783, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5434, 1.9682, 0.9485, 0.4408, -0.4793, -0.3931, 0.9978, -0.1005, 0.8028, 0.6476, -0.4713, -0.144, -0.1413, 0.9989]\nstate[eef_state]: left_x=0.4648 left_y=-0.1814 left_z=0.0542 left_yaw=0.0405 left_pitch=0.0518 left_roll=-0.0632 left_gripper=0.9978 right_x=0.2879 right_y=0.0 right_z=0.1798 right_yaw=0.079 right_pitch=-0.0468 right_roll=-0.0032 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -9.935, 5.7368, 0.989, -0.2564, 0.2955, -0.2369, -0.5812, -1.0462, 9.7573, 1.956, -0.2613, -0.0122, -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 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0593, 0.8452, 0.7532, -0.4725, -0.1066, -0.1036, 0.9976, -0.1059, 0.7723, 0.6025, -0.4477, -0.1604, -0.1444, 0.9989]\nstate[eef_state]: left_x=0.3028 left_y=0.0044 left_z=0.2155 left_yaw=0.061 left_pitch=-0.0015 left_roll=-0.0074 left_gripper=0.9976 right_x=0.2838 right_y=0.0018 right_z=0.1726 right_yaw=0.0889 right_pitch=-0.036 right_roll=0.002 right_gripper=0.9989\nstate[joint_eff]: [0.1573, -1.9897, 9.9761, 1.7802, 0.1441, 0.2027, -0.0366, -0.2667, -1.4017, 6.9538, 2.0049, -0.0415, 0.0024, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:806d803a231c0372e0677d749093c9dcd512983f1b5a0882fb94eebb4c56b7fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c06f715f5dcc63adacdd07cfa4e8ccc5f7d074a73ecc467b39ec991b4630164",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef3c51183a0bd2d10250c9e034052a0ef404df2551d89da51035dcf3df7bce83",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJNnnp1aAe-2DkVqmaSVtD31m_l-MC8x9Y5DEwOHL-PDqPSDaBctjE7xTiC-_-QvgfN0OktNfEDreEvqStxqXtCCKogK8FtBK1qhJyi3SuQVZ5NJDchxxV1w6s_Yp2cfbkQRRUcMGz2BxKZmJJIo_Zr8mJ1v8f1337Utlx6e5cDnWLTFSpIudxI8Sk_6MOB_MJDok3xdVOsLW_76RsRJEZ4WBOT2P-_-hIJ9IfSAyX5mszE_HWL5kzmeYIPXrTvITmOsSPYop_rcldT84qvlFS9OOESZBmpwD-nZ4hXmHt7PkanCp3KpzKphrigTnGr1eK16bxxdfTndfGoyftEKlOoTGE123s_Mh0IDAwi-Vwk4wFWEaBqSVmAF8ty7drR_AbvXOMWhZADN0lLROy7QBTVxHiOoOQJL_ERyhoFianJD2rXiO4wv4bcMLmY7Bcq9j-088fLBR2aQMJH0Re3LB79Tt3630Aj46nF5WBjdD2FIfxqIuNmu5HmO0Xpja7GHyD2UYPKvi0KLoyABOYPJ2sep78SB9zgP-W7HUiLPW_AGY3nJt8Ry5kPqHbQqL16YwEZbbEiM9Jhb-LXhFmeBSnUSGSw9dmUGw1p7OTey9Bq4fdMQ0CfNHjKTgzKWmbp-O5TXCeUjhWVf_2QJsEXUt0nd7G-YXNybIfXhfM48vDgwbU7gvlNVJe_cIV7Fd7T4EE7UclmQVWfP7dFm1ANtoAqxmiNNxAy1dLxOWxxg3OL8JTI-3sPlNA4tWM_34CHHhRED3btrutZXdHIuTnmcHjCJORAZWtyD7X3ZzQdmuGTOG8X82i5M0i3nqOWo9ty5Mxkae1Vjggkhb_Wy-nA-qjyWvMpNowRsA-RvQerMgRwwQK2mLE355p_2ci-cKTrpi9ADW-mPs2XXn947P5wz-61sQRc8JCtej0AWn41nzNEPKNqUiUU1GKwSX5OUe1g00hWiI7CCB8kFbhN8MyizR2S66W_Oi806gZYKWENi1qIxUBwrHpzogahci8T_NAkqQlCD4T94bTt5-1ns9CF2CqvapLXmUYgxRn9NTNbMjvEk5xOW5TP9IDz0lAh5hvJYQldi4ji9CX8ginuR1jGsywKyfBhsUxu5tG7bs9SuhDdamvZn2DpEB-rOszF_awQRPRxW62hPgQEGXKEMmFR13_O5uV4P6nr7uDpm7jz_wsvlTNl430Bb60AMG3u65-_st2vO7FEkFV2eWciHUtxjF_GRB3adj_xvFiHKX1cVvuocQ6-bfD3nCNQuxAFD6JYrjQzj7hQwGxQPWKtxyT0B-9H8t_bBdi41pTy_lCQ9wrlbrkJtw_-JYdqJNjEdP7TbjE78fRAkIJ3RK6B9rvjJLx-nWHNGH75Zm5YdSivfUUvez36U9Xp0uQlHRAQaB1ErJYJ56_TdQQJi0klJQRt2_ajGmcyC-G2Dm9e5-TVsmrJJGYbI8zM6pdAa1EMSHrPjC30pw7aLzMk5q5tRLBoDOUup-c6vJqhgmPlbn16PufPtQSM9trfCTA-zOjhTKEa9LAKo2LqCAb5AfegwLTlJzwJPXqastXsRN52LuyeD_oHFflejQazzIU2K3HmG7yGAgO5CS2NR0fIc9RBY8oUIT7BjuvUQeLWJI9VBYNQ9LVEZ0p-yIVBo5Ez3IG8P7KF-JUS_VtixJV3j6S8WloZ1R-5nFjpje26nP2n7175TojHLnyM7208fdKq_9eT9y7bTfyhHSbMcrUo0stx8nxx-aIj6snzisq50z6rjYg_QBubfMUiECCRkXPx6DqOPLph-3Hn9iXvCc9TbUUHWjDpG8bj4EO3rPv-lkmwDj-xyM7NKdtuqVSvDGEurNEcjr10NtuPNeScw6JXajsJQBrucHIItR1uU_LqfsZxe0dW29qRutdIXKdsmEURaBkYS3MdOiELJWybnTR1K0zw99dIjTERn5DjQh-cKk_BTH9JlM6eewFPHu36_Tx6BoOKBtTucVsrrN6h-PGRCo1ayQxY4jPHmH44VtjhrKZKwDlDqCgmL6RAFv2COsXnJOaVYU0uTC3_2cDZ3Gyipin1GGF4VWzT-U168Cqg4L6UeglJHuU1owifF6ECmrMI3y-uBoKncUwAx9r4FW-h3usALVsIRfEyOs_sePySVJdBDVHv0Sa7Sope85KpZ3RHC1LJh2dWofddZV0txx37lPcFEenfxBeW9o17hmlGM9EZIyf061AQPwjKUFtYzEM3XowwkOQyxtVviINcnzRueY0HWPDNNRFjfZnT5OOUvCO0UJ6b0zsHETPx8On5gFGwfiEso5XmYXSr5vgD0HrU606ZU95cHQdsDsBL9EQDc1MJI9C2M4yKkWvvOnTae-p0vpxm8KZ9nTd-9vZgY67F9oG0odwYD0q-nD9cnzdUyGXiMXdckrQPC8DPKni0SgcxoGf97ujMEPeegJJaUYasFj1oVLH5NHout3yEdUN5oL5uCToGxacUfiRJljQaDB6hV10y6Kw7X_LZN-xPNBZ0pHg8misqrMmvySXM9wgWNwK2DKeap5rJuFrE=",
  "id": "rs_01611dcd11576875016ab49361da3c87d092e40a40b33efc84",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.3,\"right_z\":0.1,\"right_gripper\":1,\"left_x\":0.295,\"left_y\":0.0,\"left_z\":0.23},\"note\":\"The two left bottles have shifted during the failed grasps, while the rightmost bottle remains undisturbed. I will leave the left arm parked and try the right arm on the rightmost bottle's upper body.\"}",
  "call_id": "call_krmvHIVzZeLsW6GcyDxKaGjj",
  "id": "fc_01611dcd11576875016ab49366726087d0ad982cc8e1df5a74",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_krmvHIVzZeLsW6GcyDxKaGjj",
  "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]: [-0.0921, 0.8322, 0.7723, -0.5518, -0.1394, -0.112, 0.9976, 0.7681, 1.9736, 1.2407, -0.0147, 0.5213, 0.3424, 0.9989]\nstate[eef_state]: left_x=0.2925 left_y=0.0012 left_z=0.2119 left_yaw=0.0605 left_pitch=-0.0458 left_roll=0.01 left_gripper=0.9976 right_x=0.4251 right_y=0.2933 right_z=0.0839 right_yaw=0.1345 right_pitch=-0.0588 right_roll=-0.0454 right_gripper=0.9989\nstate[joint_eff]: [-0.7179, -1.7983, 9.9897, 1.7314, -0.1441, -0.105, -0.0122, -0.2803, -10.1265, 9.0872, 1.746, 0.4762, 0.3053, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b067d65946eb808202bb22c9cfd3158a3fa95416e5f2e82794abb2794b4c9ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5a6ad85dfbec629fea8babc476fabf636760411ee2aedf81fdbce6acdc53a84",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:717cae34718bc8525f7c1e2a4b9686cd8858f07eb75daf50f12655aa44649ab8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 28 attempt 0 · /responses · status 200 · 4.276 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 98 changed as sent

message 106 changed as sent

message 110 changed as sent

message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5434, 1.9724, 0.9466, 0.4561, -0.4797, -0.3935, 0.9975, -0.0864, 0.725, 0.519, -0.4023, -0.1364, -0.1329, 0.9989]\nstate[eef_state]: left_x=0.4657 left_y=-0.1819 left_z=0.0544 left_yaw=0.0413 left_pitch=0.0595 left_roll=-0.0684 left_gripper=0.9975 right_x=0.2771 right_y=0.0037 right_z=0.1558 right_yaw=0.082 right_pitch=-0.0295 right_roll=-0.0038 right_gripper=0.9989\nstate[joint_eff]: [-0.0205, -10.3316, 6.2427, 0.8816, -0.2564, 0.2466, -0.0171, -0.5812, -1.5795, 6.7624, 1.9463, -0.2222, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0593, 0.8452, 0.7532, -0.4725, -0.1066, -0.1036, 0.9976, -0.1059, 0.7723, 0.6025, -0.4477, -0.1604, -0.1444, 0.9989]\nstate[eef_state]: left_x=0.3028 left_y=0.0044 left_z=0.2155 left_yaw=0.061 left_pitch=-0.0015 left_roll=-0.0074 left_gripper=0.9976 right_x=0.2838 right_y=0.0018 right_z=0.1726 right_yaw=0.0889 right_pitch=-0.036 right_roll=0.002 right_gripper=0.9989\nstate[joint_eff]: [0.1573, -1.9897, 9.9761, 1.7802, 0.1441, 0.2027, -0.0366, -0.2667, -1.4017, 6.9538, 2.0049, -0.0415, 0.0024, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0921, 0.8322, 0.7723, -0.5518, -0.1394, -0.112, 0.9976, 0.7681, 1.9736, 1.2407, -0.0147, 0.5213, 0.3424, 0.9989]\nstate[eef_state]: left_x=0.2925 left_y=0.0012 left_z=0.2119 left_yaw=0.0605 left_pitch=-0.0458 left_roll=0.01 left_gripper=0.9976 right_x=0.4251 right_y=0.2933 right_z=0.0839 right_yaw=0.1345 right_pitch=-0.0588 right_roll=-0.0454 right_gripper=0.9989\nstate[joint_eff]: [-0.7179, -1.7983, 9.9897, 1.7314, -0.1441, -0.105, -0.0122, -0.2803, -10.1265, 9.0872, 1.746, 0.4762, 0.3053, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b067d65946eb808202bb22c9cfd3158a3fa95416e5f2e82794abb2794b4c9ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5a6ad85dfbec629fea8babc476fabf636760411ee2aedf81fdbce6acdc53a84",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:717cae34718bc8525f7c1e2a4b9686cd8858f07eb75daf50f12655aa44649ab8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJNwqpxU-iRPaYFOPVz6o2j5bdLtO4kd2C_U9DxHvdTZPh8njMIQYhMD_pLO8PrmwArdkCelxZVjPe5px-ss9wV1kgF_pGpPmxS-kIDrJXZ5xd-KtuSp2XC4CuUiAw724M-8HF241dytqz5ixO328VKYJRJG7Rs3SLvbZ4sWzbNAJFg98LPxQ_RrHoATl4OTtZjD_O0yUU39iazlbQSkcAdOG1dp9xMp8wk-JoxydYoRqbWbNuV8vvs2i-ASfjcPr7FIMgNfxTN6cN2ybgTDnFiWK5qMQV5CDUVanszdfSuRPiL_-7ffvVBZvGvyGmb0qsKXSACauAeM6za7CKWA8ogaLpkwYSn3HId_G5YzjQ8jVdTvBIlK-_T9Xb7aueFzPcmZ8JCDnK1kzEEawpSSoXG39BEHuoMksuPbQgDchuqRSXHnpKQRx5Q7gTzPT57NDTwXY5dA3G-xZMTlTmWOFLSdD5IZewe6ShZJiRSGYT3xCbuuHzrXGi7j_TD01N1rHN4x-1fj0ityaMcVKfzH_iaK5Wh5qiQl8WrotDLit5LAGVbgWfrdMoTP4SkaI6ib4Y07ChHkCYr60Fc1G000zJWZCfXRT2WLmIctYdJ0TSabMMnYjPp6Q2IFCBiHw_Y9GQRXmD_yq21lYtjFDvkH4W8qEVqpdWSPrhRB76yDyGBOXA1Nlc_1weiCy29xqjSG4Ww1eiUCDUJUpx8HIDq4oEx1jeYDUUKDv8FP_982HJ77nUiJEabgjRcaa6CFIXVe6RqMU3S6kIIwd3zcBIrFVfttBiKe9SsBp14sQNfGkavLbDXhqjgm5Rjn739dNE5qi_U2Gzw3UBw7zNFvu_XKtM1Ua4IYD3UPL04ndZKCbKp79o3dBdhqjybiBG-zDOwllumU5Y64VuynTocGLZT_Nf0GKREr-erYkGiSA680S-HO3IF7sZu-fRVRA2MRwDy_xidjufqr7BKuNGSUfRQ4k-pkT6Lfuadot6-tiUUVyEi9eytMGC5E3HdfsbYjLOZV82U2PH5BCj6HdqnRzddh7w0kWK1ap9REBNt0X1diwsTShp0Rkr7Q-iFo2m2oSikzsNtQNflm0qH3Hwln02tGlGIu2lT_SBo2C9M5qiGQrhE1Iqm6eOKItNXzvUvLQvpISJznFa2GXknh6OiwW9WJiJWMlRRY8cTpZuL5AXTfusDZ-NLRL5Ti_rrN0ygMOnFmsyDGvEQ7plnctFK836i-_aOLpifE0zKuXncZrd9cin6NAEobAkXpNVZkHqnaVyAAQLXdK-PoRKF4b1bGfx1EJBpzH7AvwZEo1hKlLqkEwUn1V6uaAIpITS4Eilm21vl0UbDXV3Dj4CNE__Y-hWW54NMADKr-FehgTNBhJk09QFIcxB5SfRx25AFYFYm7BQAqJr1B5h47j1qSvrti_wptQSfKGDfm17B8ofNFhQTkbJ0kWhYJQer4nSknV40OJMLOOlLj57QXfRdWkUNvZxFigE09P08i_0tOEepjOR1Gg1K8cg_X7ALmi-JLKlHEac62yHpHuGsBxViVDP71hbhBR5hoLjknb_qo3-o6nkL84obqvO8fdUnpUQzepkNm47U3iFYZvcRk6pEifjZb_GXcvMiy9MyKScj36thHRPQVGS6dXGAnbxCVH0EfciqDAxQEQNBBHCJLEw9rsOeNUsTRvgp4FeEDvymoyLwxAgJbA7ADcLK_pwNc01eO79SMZCmSDSXOlyZpSn0YFAq2HTP2seqk0_kXjsjsjtTUvr2XFfsHvwCZWHyy-FCplNfhulyL46guO_rPoOIAHcM7HB9ahN0SYEPaRcxcoFze1_ViBoVkuXT8gbN8saU73q8yt0I3Fm5rOsq3Rw2top-xnpmsYcwPHRaIJ5I1ODU9ezyp3QX33yvkMrnCB8ThFAfVwQkiK0JTUsoNKwu-YhxRDv9PtvWaph19qZZAvO0ZgVRzo6_DU-c70VbeD51tPBlQHAnWixFzYrIESoANtCuJgHOv-_OHbNhjK8mfodP4aamLz2YLmVxEbOBwDMB4XzvxrQ63LJHE",
  "id": "rs_01611dcd11576875016ab4936be82887d083dc05b100d1e64a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.275,\"right_z\":0.015},\"note\":\"The rightmost bottle is clearly visible, slightly right of the jaw center. I will center over its body and lower the fully open fingers to grasp it from the sides.\"}",
  "call_id": "call_Yh7BZoE2PG8kCS4I7OwqzHRE",
  "id": "fc_01611dcd11576875016ab4936f590087d0aea3d0578da2d711",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Yh7BZoE2PG8kCS4I7OwqzHRE",
  "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]: [-0.0921, 0.8055, 0.7292, -0.5201, -0.139, -0.112, 0.9976, 0.7292, 2.0521, 1.0615, 0.3347, 0.5152, 0.3092, 0.9989]\nstate[eef_state]: left_x=0.2902 left_y=0.0014 left_z=0.2061 left_yaw=0.0601 left_pitch=-0.0308 left_roll=0.0075 left_gripper=0.9976 right_x=0.4316 right_y=0.2737 right_z=0.0376 right_yaw=0.1195 right_pitch=0.0128 right_roll=-0.0164 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -1.8667, 6.5573, 1.9707, -0.0513, -0.0708, -0.0171, -0.2803, -6.4068, 4.1231, 1.3553, -0.105, 0.1636, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56dbd1ba4d444a711b0cef61164831691daf781b2f881bdb600bc8f3e59298cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7220c8491f38f03ffbf7cc79ea899561058f359159f122cc243555cbc3459963",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f56cacbbf7acf05775049aaab5a629784327092c255f69651bada0fec4ad557a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /responses · status 200 · 11.59 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 102 changed as sent

message 110 changed as sent

message 114 changed as sent

message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5434, 1.9682, 0.9485, 0.4408, -0.4793, -0.3931, 0.9978, -0.1005, 0.8028, 0.6476, -0.4713, -0.144, -0.1413, 0.9989]\nstate[eef_state]: left_x=0.4648 left_y=-0.1814 left_z=0.0542 left_yaw=0.0405 left_pitch=0.0518 left_roll=-0.0632 left_gripper=0.9978 right_x=0.2879 right_y=0.0 right_z=0.1798 right_yaw=0.079 right_pitch=-0.0468 right_roll=-0.0032 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -9.935, 5.7368, 0.989, -0.2564, 0.2955, -0.2369, -0.5812, -1.0462, 9.7573, 1.956, -0.2613, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0921, 0.8322, 0.7723, -0.5518, -0.1394, -0.112, 0.9976, 0.7681, 1.9736, 1.2407, -0.0147, 0.5213, 0.3424, 0.9989]\nstate[eef_state]: left_x=0.2925 left_y=0.0012 left_z=0.2119 left_yaw=0.0605 left_pitch=-0.0458 left_roll=0.01 left_gripper=0.9976 right_x=0.4251 right_y=0.2933 right_z=0.0839 right_yaw=0.1345 right_pitch=-0.0588 right_roll=-0.0454 right_gripper=0.9989\nstate[joint_eff]: [-0.7179, -1.7983, 9.9897, 1.7314, -0.1441, -0.105, -0.0122, -0.2803, -10.1265, 9.0872, 1.746, 0.4762, 0.3053, -0.1245]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0921, 0.8055, 0.7292, -0.5201, -0.139, -0.112, 0.9976, 0.7292, 2.0521, 1.0615, 0.3347, 0.5152, 0.3092, 0.9989]\nstate[eef_state]: left_x=0.2902 left_y=0.0014 left_z=0.2061 left_yaw=0.0601 left_pitch=-0.0308 left_roll=0.0075 left_gripper=0.9976 right_x=0.4316 right_y=0.2737 right_z=0.0376 right_yaw=0.1195 right_pitch=0.0128 right_roll=-0.0164 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -1.8667, 6.5573, 1.9707, -0.0513, -0.0708, -0.0171, -0.2803, -6.4068, 4.1231, 1.3553, -0.105, 0.1636, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56dbd1ba4d444a711b0cef61164831691daf781b2f881bdb600bc8f3e59298cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7220c8491f38f03ffbf7cc79ea899561058f359159f122cc243555cbc3459963",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f56cacbbf7acf05775049aaab5a629784327092c255f69651bada0fec4ad557a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJN18ovCN8JYcvzrzaEVpxmVR0CdYMqv_aSuGBD6X-8sY11I1jYPiEWhE6iNO820F4hX_a8dKwC_XbF5LRaPxDmhswiqJqxUwJn5fk3afMNVvfpiuH_yTk9sSRvIpguCcesjXdB_MOa8dXFn4XDIntKtwtO5HMKOo3EX9RhSRihiKtiYcjPEZR9No6z9U6m9efGNULFjKKY1kZ0uvPPdahIQdcbTx4j3jnbPjLrTtVjaXFawmS3mSBDkgbuJNKGvOmLb1yjgvfc1MTov9Vs66rwt_a_ORok2F614RX3YkCieSKyDbkUI79Uhjr5fe4GWoKeYfcoNDfKCdfFliF1_KDo6o-uWygEY5LWIkByxp3lALq8MSJOrADimoA6w4Kz1Ejw9RjOPrtNfAx8Fm82Ydeds2jZNqLI_kgJfKs-HQb4nKmU5noURhhyWAQTXwZ5qruS2HrjeExP9y7XGoioVmkw8glA16TtCDH4nzZ-AHoeQCpGsZQBKHUl2DvQ4C6m8F58IqdkDCuwQBTQ7xE7xvJUPlRYaMxfxSWqvhobaaNQ5KkURoT4DaPnNUsQcqJdytBJJb8VGV0ICnTIYqUf9AULLP-13OfEG9dkXpxVTj-j4gTwN2DtmqEzjHipUYfQdt1KG5L3yVt8xTqifFDqhKusGb37eYwBCk5oA8T_c5tpYzjRE14YqrKCZJcwqip70aIwrO3-mDO4fYmOL8jPkq9pi7TYennIKdRTE7vIbEg5s2PVEceuRqDmKmpPM2exTivT9GP8nmbMxojanzHmk5NgsqEy_0Z-QA3NYImb0aevON5krvIN36PQ5LtRWkbNwzXUADKOhCuScHxddtWgUXweU5mZ-Aur4oRKPsYj97N1tzkgAuXWo_KoYZ-Ewk2DcRIqDSEuqzGzUzzMkYJmKSE8luvRpHMeXI38sCjPMXXJuwXE7EkhY_5Al46E5YEqlJrGMgW_VKrgtQX39p3xRz-GaBgkcs1vP2-xG21k9IO9exCgXgq6ypXlqjw5QhNjGtlLVawMgZYn_R8RFBFqw_p1qVQQbcGZ4v6ccitR3rISv9KYb_QU-Zl95zMM_OHjEmu0SULjsCmyaJugkVYHYbwE5xbaAV6HkhYhpTT4-U7KaLZEsjd4sBBQiVHOe5PHy7Z2SvsPQFs36IksPiRbLaglj9O8XxleooOGwkXw2c1vFNOVQPpoVkolVjP9-Lv-sOcsDYe3MzZ7c4adUzqRKzNbhp4hsdYmXQgbf48fAL6xuGtsbwLLZf5Y3fapSJUooldEsQgnMghul0tbbu4cYnDu7_0PuGImRCc7CIeDkmPmEew-TWKp_gQNcwksHBslu_NO2HszecKPEunM4uUU6uSQBPB3XC_H1WiIvvV-VF8HwlHDmOmptpPhDItbeJ-Ff4qI1AxSYbPwgtB4mxz0mX0qvrQ==",
  "id": "rs_01611dcd11576875016ab4937304f487d081575d68921fa4be",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.265,\"right_gripper\":0.0},\"note\":\"The open fingers now flank the bottle's body, with only a small lateral offset remaining. I will make that correction and close fully to test for a secure body grasp.\"}",
  "call_id": "call_n1UFGKOZ2amPPfVsfyjkmHyX",
  "id": "fc_01611dcd11576875016ab49373d17c87d08030040d9be62128",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_n1UFGKOZ2amPPfVsfyjkmHyX",
  "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]: [-0.0921, 0.7887, 0.7036, -0.5034, -0.1394, -0.1116, 0.9975, 0.7269, 2.0621, 1.0481, 0.4938, 0.4961, 0.3035, 0.019]\nstate[eef_state]: left_x=0.2885 left_y=0.0016 left_z=0.2024 left_yaw=0.0602 left_pitch=-0.0228 left_roll=0.0068 left_gripper=0.9975 right_x=0.4426 right_y=0.2859 right_z=0.0566 right_yaw=0.1306 right_pitch=0.1188 right_roll=0.0645 right_gripper=0.019\nstate[joint_eff]: [-0.0889, -1.7026, 6.4479, 1.9316, -0.0904, -0.0317, -0.0122, -0.294, -6.8444, 4.7795, 0.8767, 0.0317, 0.0708, 0.8962]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8fc218ca3fe4dd2bf275d32c22e94c3976a58ecff094399ce206aec9cb267ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afd6b8267462cc0b52db7eb59508d5168f332162c56af7b5f4c90ad1d891e707",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dc03136ddb3e4a010445a0e44c4cfca76386838f34c16e5b447c5ccb31428c4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 5.981 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 106 changed as sent

message 114 changed as sent

message 118 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0593, 0.8452, 0.7532, -0.4725, -0.1066, -0.1036, 0.9976, -0.1059, 0.7723, 0.6025, -0.4477, -0.1604, -0.1444, 0.9989]\nstate[eef_state]: left_x=0.3028 left_y=0.0044 left_z=0.2155 left_yaw=0.061 left_pitch=-0.0015 left_roll=-0.0074 left_gripper=0.9976 right_x=0.2838 right_y=0.0018 right_z=0.1726 right_yaw=0.0889 right_pitch=-0.036 right_roll=0.002 right_gripper=0.9989\nstate[joint_eff]: [0.1573, -1.9897, 9.9761, 1.7802, 0.1441, 0.2027, -0.0366, -0.2667, -1.4017, 6.9538, 2.0049, -0.0415, 0.0024, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0921, 0.8055, 0.7292, -0.5201, -0.139, -0.112, 0.9976, 0.7292, 2.0521, 1.0615, 0.3347, 0.5152, 0.3092, 0.9989]\nstate[eef_state]: left_x=0.2902 left_y=0.0014 left_z=0.2061 left_yaw=0.0601 left_pitch=-0.0308 left_roll=0.0075 left_gripper=0.9976 right_x=0.4316 right_y=0.2737 right_z=0.0376 right_yaw=0.1195 right_pitch=0.0128 right_roll=-0.0164 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -1.8667, 6.5573, 1.9707, -0.0513, -0.0708, -0.0171, -0.2803, -6.4068, 4.1231, 1.3553, -0.105, 0.1636, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0921, 0.7887, 0.7036, -0.5034, -0.1394, -0.1116, 0.9975, 0.7269, 2.0621, 1.0481, 0.4938, 0.4961, 0.3035, 0.019]\nstate[eef_state]: left_x=0.2885 left_y=0.0016 left_z=0.2024 left_yaw=0.0602 left_pitch=-0.0228 left_roll=0.0068 left_gripper=0.9975 right_x=0.4426 right_y=0.2859 right_z=0.0566 right_yaw=0.1306 right_pitch=0.1188 right_roll=0.0645 right_gripper=0.019\nstate[joint_eff]: [-0.0889, -1.7026, 6.4479, 1.9316, -0.0904, -0.0317, -0.0122, -0.294, -6.8444, 4.7795, 0.8767, 0.0317, 0.0708, 0.8962]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8fc218ca3fe4dd2bf275d32c22e94c3976a58ecff094399ce206aec9cb267ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afd6b8267462cc0b52db7eb59508d5168f332162c56af7b5f4c90ad1d891e707",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dc03136ddb3e4a010445a0e44c4cfca76386838f34c16e5b447c5ccb31428c4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_01611dcd11576875016ab49377c28c87d0a7eab4487a3fdd87",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.294,\"right_y\":0.0,\"right_z\":0.22,\"right_gripper\":1,\"left_x\":0.295,\"left_y\":0.0,\"left_z\":0.23},\"note\":\"The right gripper also closed empty, and the low pose stopped well above its requested height. I will park both arms clear of the bottles rather than continue pushing them without a reliable grasp.\"}",
  "call_id": "call_SWMUDgJYGQKSRkmeD6hnSsT9",
  "id": "fc_01611dcd11576875016ab493805a7887d09bcfbebe2a2b74fb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SWMUDgJYGQKSRkmeD6hnSsT9",
  "output": [
    {
      "text": "executing move_to over 24 steps (2.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0921, 0.8215, 0.77, -0.5549, -0.1394, -0.1123, 0.9976, -0.1246, 0.8486, 0.7368, -0.5022, -0.1612, -0.1497, 0.9985]\nstate[eef_state]: left_x=0.2908 left_y=0.0014 left_z=0.2131 left_yaw=0.0607 left_pitch=-0.0405 left_roll=0.0089 left_gripper=0.9976 right_x=0.2973 right_y=-0.005 right_z=0.2017 right_yaw=0.0738 right_pitch=-0.0325 right_roll=-0.0026 right_gripper=0.9985\nstate[joint_eff]: [-0.7179, -0.6632, 10.1402, 1.7851, -0.1148, -0.1099, -0.0073, 0.0752, -2.1402, 9.9761, 1.6484, -0.1978, -0.0171, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df98743e74aaeed4a3b0b1f0189da54aa3f30666cc098861fcb2198df44749c6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6aa4bcc21c94f9f02f4a7255d623b9db11252e8ce91621ba32ad3fa8ece7c005",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51636d5a3e85f9abe29954ffa825de4e8ba60419172969ca792bb1a5e29ffbcb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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