adhoc

completed
2026-09-23T22:51:08.224163+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
224.6 s
total steps
240
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 far side of the table. I’m positioning the left gripper over the nearest bottle’s neck so I can lift that end and let its base swing underneath.
move_to
left_x0.3350left_y-0.1250left_z0.1050left_gripper1.0000right_x0.2940right_y0.0020right_z0.1850
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7925, 0.6079, -0.3763, -0.0227, -0.0277, 0.9986, -0.0158, 0.7876, 0.6033, -0.3847, -0.0162, -0.0353, 0.9986] state[eef_state]: left_x=0.2956 left_y=0.0017 left_z=0.1829 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2936 right_y=0.0018 right_z=0.1804 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9986 state[joint_eff]: [-0.3761, -1.4701, 9.7573, 1.7705, -0.0415, 0.1636, -0.1538, -0.9915, -0.841, 10.2222, 1.7998, -0.0855, 0.1783, -0.1538] 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":0.335,"left_y":-0.125,"left_z":0.105,"left_gripper":1,"right_x":0.294,"right_y":0.002,"right_z":0.185},"note":"All three bottles are lying down, with their caps pointing toward the far side of the table. I’m positioning the left gripper over the nearest bottle’s neck so I can lift that end and let its base swing underneath."})
tool
executing move_to over 12 steps (1.2s)
step 12
top_cam
camera top_cam step 12
left_cam
camera left_cam step 12
right_cam
camera right_cam step 12
assistant
agent noteThe nearest bottle’s cap is to the left of the gripper in the wrist view. I’m shifting toward its narrow neck and lowering with the jaws aligned across it.
move_to
left_x0.3650left_y-0.0850left_z0.0320left_yaw0.5000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6029, 1.2854, 0.5213, 0.0429, -0.4728, -0.3492, 0.9988, -0.0193, 0.794, 0.609, -0.4046, -0.0231, -0.036, 0.9986] state[eef_state]: left_x=0.3235 left_y=-0.1207 left_z=0.0892 left_yaw=-0.0357 left_pitch=-0.0683 left_roll=0.036 left_gripper=0.9988 right_x=0.2921 right_y=0.002 right_z=0.1772 right_yaw=0.0028 right_pitch=-0.0205 right_roll=0.0035 right_gripper=0.9986 state[joint_eff]: [-0.253, -4.9026, 8.3214, 1.8339, -0.3199, -0.0952, -0.1343, 0.0205, -1.4701, 8.335, 1.7802, 0.0806, -0.0317, -0.0171] camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.365,"left_y":-0.085,"left_z":0.032,"left_yaw":0.5},"note":"The nearest bottle’s cap is to the left of the gripper in the wrist view. I’m shifting toward its narrow neck and lowering with the jaws aligned across it."})
tool
executing move_to over 4 steps (0.4s)
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 wrist view shows that the jaws are still over the bottle’s body rather than its neck. I’m moving farther toward the cap while keeping the jaws open.
move_to
left_x0.4350left_y-0.0700left_z0.0330left_yaw0.5000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6117, 1.71, 0.6521, 0.1761, -0.7769, -0.6861, 0.9984, -0.0193, 0.7841, 0.5911, -0.4034, -0.0235, -0.036, 0.9986] state[eef_state]: left_x=0.3628 left_y=-0.0989 left_z=0.0382 left_yaw=0.361 left_pitch=-0.0225 left_roll=0.027 left_gripper=0.9984 right_x=0.2894 right_y=0.0022 right_z=0.1719 right_yaw=0.0031 right_pitch=-0.0274 right_roll=0.0039 right_gripper=0.9986 state[joint_eff]: [0.4308, -5.9692, 4.8889, 0.8767, -0.6862, 0.1441, -0.0562, -0.1846, -1.4291, 6.8308, 1.9512, -0.0024, -0.0415, -0.0073] 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":0.435,"left_y":-0.07,"left_z":0.033,"left_yaw":0.5},"note":"The wrist view shows that the jaws are still over the bottle’s body rather than its neck. I’m moving farther toward the cap while keeping the jaws open."})
tool
executing move_to over 6 steps (0.6s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteThe arm stopped short of the forward target at this low height, and the cap is still ahead of the jaws. I’m lifting clear of the bottle before approaching its neck again.
move_to
left_x0.4300left_y-0.0700left_z0.1150left_yaw0.5000right_x0.2940right_y0.0020right_z0.1850
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.609, 1.7561, 0.7021, 0.152, -0.8658, -0.8391, 0.9983, -0.0193, 0.7723, 0.5636, -0.3965, -0.0235, -0.036, 0.9986] state[eef_state]: left_x=0.3713 left_y=-0.0906 left_z=0.0435 left_yaw=0.5008 left_pitch=0.027 left_roll=-0.0504 left_gripper=0.9983 right_x=0.2861 right_y=0.0022 right_z=0.164 right_yaw=0.0031 right_pitch=-0.0362 right_roll=0.0041 right_gripper=0.9986 state[joint_eff]: [0.2393, -5.9966, 4.3966, 0.9353, -0.3785, -0.0317, -0.0171, -0.1846, -1.6479, 7.0085, 1.9463, -0.0073, -0.0513, -0.0171] camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.07,"left_z":0.115,"left_yaw":0.5,"right_x":0.294,"right_y":0.002,"right_z":0.185},"note":"The arm stopped short of the forward target at this low height, and the cap is still ahead of the jaws. I’m lifting clear of the bottle before approaching its neck again."})
tool
executing move_to over 5 steps (0.5s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteThe raised target also failed to move the left arm, so this is a pose-tracking limit rather than a successful approach. I’m retracting slightly and returning the wrist to its starting yaw to recover a reachable pose.
move_to
left_x0.3350left_y-0.0900left_z0.1700left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.609, 1.7561, 0.7021, 0.152, -0.8658, -0.8383, 0.9983, -0.0193, 0.7868, 0.5804, -0.4126, -0.0238, -0.0399, 0.9986] state[eef_state]: left_x=0.3713 left_y=-0.0906 left_z=0.0435 left_yaw=0.5003 left_pitch=0.027 left_roll=-0.0498 left_gripper=0.9983 right_x=0.2868 right_y=0.0023 right_z=0.1645 right_yaw=0.0055 right_pitch=-0.0499 right_roll=0.0015 right_gripper=0.9986 state[joint_eff]: [0.2803, -5.9009, 4.3966, 0.989, -0.3443, 0.022, -0.0122, -0.2256, -0.759, 10.2496, 1.9414, -0.0073, 0.0562, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.335,"left_y":-0.09,"left_z":0.17,"left_yaw":0},"note":"The raised target also failed to move the left arm, so this is a pose-tracking limit rather than a successful approach. I’m retracting slightly and returning the wrist to its starting yaw to recover a reachable pose."})
tool
executing move_to over 9 steps (0.9s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteThe arm is moving normally again, and the nearest bottle remains flat. I’m approaching its cap from above with the wrist unrotated to avoid the previous tracking limit.
move_to
left_x0.4450left_y-0.0700left_z0.1450left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4839, 1.1324, 0.6479, -0.149, -0.4801, -0.3687, 0.9983, -0.0193, 0.7567, 0.5301, -0.3805, -0.0242, -0.0437, 0.9986] state[eef_state]: left_x=0.3367 left_y=-0.0807 left_z=0.156 left_yaw=0.098 left_pitch=0.0081 left_roll=-0.024 left_gripper=0.9983 right_x=0.2831 right_y=0.0024 right_z=0.1561 right_yaw=0.0079 right_pitch=-0.038 right_roll=-0.0017 right_gripper=0.9986 state[joint_eff]: [0.212, -3.8359, 10.6325, 1.7558, -0.0855, 0.1441, -0.0171, -0.3077, -1.2376, 7.1453, 2.0391, -0.0611, -0.0171, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.445,"left_y":-0.07,"left_z":0.145,"left_yaw":0},"note":"The arm is moving normally again, and the nearest bottle remains flat. I’m approaching its cap from above with the wrist unrotated to avoid the previous tracking limit."})
tool
executing move_to over 9 steps (0.9s)
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 cap is now close to the jaw column in the wrist view. I’m lowering onto the neck while moving a little farther forward to account for the wrist camera looking beyond the fingertips.
move_to
left_x0.4780left_y-0.0500left_z0.0330left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.255, 1.5269, 0.8585, 0.0231, -0.2531, -0.1959, 0.9983, -0.0193, 0.7364, 0.4915, -0.3607, -0.028, -0.0437, 0.9986] state[eef_state]: left_x=0.4288 left_y=-0.0624 left_z=0.1262 left_yaw=0.0493 left_pitch=-0.0607 left_roll=0.0027 left_gripper=0.9983 right_x=0.2797 right_y=0.0032 right_z=0.1479 right_yaw=0.0111 right_pitch=-0.0364 right_roll=0.0004 right_gripper=0.9986 state[joint_eff]: [0.1846, -6.7624, 8.9778, 1.9414, -0.0171, 0.232, -0.0171, -0.5128, -1.5248, 7.1043, 1.9609, -0.0464, -0.0415, -0.0073] 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":0.478,"left_y":-0.05,"left_z":0.033,"left_yaw":0},"note":"The cap is now close to the jaw column in the wrist view. I’m lowering onto the neck while moving a little farther forward to account for the wrist camera looking beyond the fingertips."})
tool
executing move_to over 7 steps (0.7s)
step 52
top_cam
camera top_cam step 52
left_cam
camera left_cam step 52
right_cam
camera right_cam step 52
assistant
agent noteThe cap has reached the bottom-center of the wrist view, between the jaws. I’m closing gently around this narrow end so the bottle can pivot as it is lifted.
move_to
left_gripper0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1749, 1.8797, 0.7898, 0.4976, -0.1646, -0.152, 0.9983, -0.0193, 0.7147, 0.458, -0.3431, -0.0299, -0.0437, 0.9986] state[eef_state]: left_x=0.4682 left_y=-0.0497 left_z=0.0378 left_yaw=0.0312 left_pitch=-0.0224 left_roll=-0.0242 left_gripper=0.9983 right_x=0.2767 right_y=0.0035 right_z=0.1418 right_yaw=0.0127 right_pitch=-0.0307 right_roll=0.0013 right_gripper=0.9986 state[joint_eff]: [0.7863, -5.7915, 6.2838, 1.2967, -0.1148, 0.4127, -0.0122, -0.2667, -1.1966, 6.8718, 1.9756, -0.0317, -0.0366, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.2},"note":"The cap has reached the bottom-center of the wrist view, between the jaws. I’m closing gently around this narrow end so the bottle can pivot as it is lifted."})
tool
executing move_to over 8 steps (0.8s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteThe jaws have closed at the bottle’s cap, but the grip is not yet confirmed. I’m securing the grasp and lifting a few centimeters to check whether the bottle follows.
move_to
left_gripper0.0000left_z0.1050left_x0.4650right_x0.2940right_y0.0020right_z0.1850
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1856, 1.8915, 0.7925, 0.5827, -0.1856, -0.1337, 0.2057, -0.0193, 0.6994, 0.4309, -0.3336, -0.0303, -0.0433, 0.9986] state[eef_state]: left_x=0.4785 left_y=-0.053 left_z=0.0514 left_yaw=0.0287 left_pitch=0.0542 left_roll=-0.0136 left_gripper=0.2057 right_x=0.2736 right_y=0.0037 right_z=0.1353 right_yaw=0.0128 right_pitch=-0.033 right_roll=0.0019 right_gripper=0.9986 state[joint_eff]: [-0.0205, -8.9504, 3.8632, 1.326, -0.1197, -0.0611, 0.0366, -0.335, -1.3744, 6.9949, 1.9512, -0.0513, -0.0269, -0.0171] camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"left_z":0.105,"left_x":0.465,"right_x":0.294,"right_y":0.002,"right_z":0.185},"note":"The jaws have closed at the bottle’s cap, but the grip is not yet confirmed. I’m securing the grasp and lifting a few centimeters to check whether the bottle follows."})
tool
executing move_to over 4 steps (0.4s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteThe gripper closed empty, and the bottle stayed on the table. The overhead view shows the grasp was beyond and above the cap, so I’m moving slightly back and sideways and descending lower for one corrected attempt.
move_to
left_x0.4480left_y-0.0820left_z0.0090left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1902, 1.7275, 0.8413, 0.3241, -0.1917, -0.1387, 0.0204, -0.0208, 0.7834, 0.5659, -0.3988, -0.0311, -0.0563, 0.9986] state[eef_state]: left_x=0.4674 left_y=-0.052 left_z=0.0913 left_yaw=0.0316 left_pitch=0.0102 left_roll=-0.0049 left_gripper=0.0204 right_x=0.2866 right_y=0.0031 right_z=0.1616 right_yaw=0.0189 right_pitch=-0.047 right_roll=-0.0078 right_gripper=0.9986 state[joint_eff]: [-0.4034, -9.4838, 8.3897, 1.7705, -0.0757, 0.0024, 0.9988, -0.8137, -1.0325, 9.6752, 1.7705, -0.1343, 0.0366, -0.0122] camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.448,"left_y":-0.082,"left_z":0.009,"left_gripper":1},"note":"The gripper closed empty, and the bottle stayed on the table. The overhead view shows the grasp was beyond and above the cap, so I’m moving slightly back and sideways and descending lower for one corrected attempt."})
tool
executing move_to over 10 steps (1.0s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteThe cap is visible near the left jaw, so the lateral alignment still needs correction. I’m centering the jaws over it and reducing the opening before the next close.
move_to
left_x0.4600left_y-0.0430left_z0.0150left_gripper0.6500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2897, 1.9148, 0.7334, 0.6998, -0.2836, -0.1894, 0.9948, -0.0212, 0.757, 0.5186, -0.374, -0.0311, -0.0582, 0.9986] state[eef_state]: left_x=0.4657 left_y=-0.0835 left_z=0.0458 left_yaw=0.0377 left_pitch=0.0999 left_roll=-0.027 left_gripper=0.9948 right_x=0.2824 right_y=0.0031 right_z=0.1521 right_yaw=0.0196 right_pitch=-0.0432 right_roll=-0.0095 right_gripper=0.9986 state[joint_eff]: [-0.6085, -5.3949, 2.6598, 0.8669, 0.0415, -0.0171, -0.1001, -0.841, -1.6205, 7.1043, 2.0, -0.1538, 0.022, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.46,"left_y":-0.043,"left_z":0.015,"left_gripper":0.65},"note":"The cap is visible near the left jaw, so the lateral alignment still needs correction. I’m centering the jaws over it and reducing the opening before the next close."})
tool
executing move_to over 4 steps (0.4s)
step 78
top_cam
camera top_cam step 78
left_cam
camera left_cam step 78
right_cam
camera right_cam step 78
assistant
agent noteThe cap is now centered laterally but lies behind the visible fingertip ends. I’m backing the grasp point toward it and lowering; this should bring the neck into the actual closing line.
move_to
left_x0.4280left_y-0.0280left_z0.0090left_gripper0.6500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1814, 1.9125, 0.7433, 0.6933, -0.2169, -0.16, 0.6549, -0.0269, 0.7326, 0.4755, -0.3504, -0.0311, -0.0586, 0.9986] state[eef_state]: left_x=0.475 left_y=-0.0448 left_z=0.0477 left_yaw=0.0741 left_pitch=0.0968 left_roll=-0.0319 left_gripper=0.6549 right_x=0.2787 right_y=0.0016 right_z=0.1437 right_yaw=0.014 right_pitch=-0.0383 right_roll=-0.01 right_gripper=0.9986 state[joint_eff]: [0.253, -5.7641, 3.1795, 1.3211, -0.0464, 0.1441, 0.1099, -0.5538, -1.5385, 7.1316, 2.0244, -0.1685, -0.022, -0.0122] camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.428,"left_y":-0.028,"left_z":0.009,"left_gripper":0.65},"note":"The cap is now centered laterally but lies behind the visible fingertip ends. I’m backing the grasp point toward it and lowering; this should bring the neck into the actual closing line."})
tool
executing move_to over 4 steps (0.4s)
step 82
top_cam
camera top_cam step 82
left_cam
camera left_cam step 82
right_cam
camera right_cam step 82
assistant
agent noteThe arm is not tracking the low target, so I’m raising and retracting before trying a shallower approach. The bottles themselves have not yet been lifted.
move_to
left_x0.4150left_y-0.0250left_z0.0900right_x0.2940right_y0.0020right_z0.1850
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1696, 1.9133, 0.7338, 0.725, -0.1982, -0.1562, 0.6505, -0.0284, 0.712, 0.44, -0.3351, -0.0315, -0.0582, 0.9986] state[eef_state]: left_x=0.476 left_y=-0.0426 left_z=0.0504 left_yaw=0.0686 left_pitch=0.1156 left_roll=-0.0418 left_gripper=0.6505 right_x=0.2751 right_y=0.0013 right_z=0.1359 right_yaw=0.0126 right_pitch=-0.0379 right_roll=-0.0095 right_gripper=0.9986 state[joint_eff]: [-0.3761, -6.065, 3.7128, 1.1209, 0.0952, 0.2173, 0.0317, -0.7043, -1.4564, 7.0906, 1.9902, -0.1538, 0.0269, -0.0122] camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.415,"left_y":-0.025,"left_z":0.09,"right_x":0.294,"right_y":0.002,"right_z":0.185},"note":"The arm is not tracking the low target, so I’m raising and retracting before trying a shallower approach. The bottles themselves have not yet been lifted."})
tool
executing move_to over 5 steps (0.5s)
step 87
top_cam
camera top_cam step 87
left_cam
camera left_cam step 87
right_cam
camera right_cam step 87
assistant
agent noteThe modest recovery move was also held by the controller. I’m returning to the higher, shorter-reach pose that previously restored motion.
move_to
left_x0.3350left_y-0.0250left_z0.1800left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1696, 1.9133, 0.7338, 0.7254, -0.1986, -0.1562, 0.6504, -0.0284, 0.7845, 0.5735, -0.3996, -0.0311, -0.0586, 0.9986] state[eef_state]: left_x=0.476 left_y=-0.0425 left_z=0.0505 left_yaw=0.0689 left_pitch=0.116 left_roll=-0.0418 left_gripper=0.6504 right_x=0.2876 right_y=0.0009 right_z=0.1646 right_yaw=0.0125 right_pitch=-0.0413 right_roll=-0.0099 right_gripper=0.9986 state[joint_eff]: [-0.253, -6.0786, 3.6855, 1.1502, 0.0513, 0.2027, -0.0171, -0.2803, -0.841, 9.6342, 1.7998, -0.0757, 0.0269, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.335,"left_y":-0.025,"left_z":0.18,"left_gripper":1},"note":"The modest recovery move was also held by the controller. I’m returning to the higher, shorter-reach pose that previously restored motion."})
tool
executing move_to over 11 steps (1.1s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteThe left arm is free again, and the bottle’s cap is aligned with the wrist-camera center. I’m making a shorter-reach descent to the neck instead of extending beyond it.
move_to
left_x0.3970left_y-0.0250left_z0.0350left_gripper0.6500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2096, 1.0439, 0.6506, -0.1455, -0.2268, -0.1638, 0.9975, -0.0284, 0.7582, 0.5308, -0.3756, -0.0315, -0.0582, 0.9986] state[eef_state]: left_x=0.3461 left_y=-0.0293 left_z=0.1776 left_yaw=0.0552 left_pitch=0.0372 left_roll=-0.0143 left_gripper=0.9975 right_x=0.284 right_y=0.0011 right_z=0.1571 right_yaw=0.0126 right_pitch=-0.0337 right_roll=-0.0097 right_gripper=0.9986 state[joint_eff]: [-0.2256, -2.9607, 9.1829, 1.7656, -0.2271, -0.0806, -0.1294, -0.6359, -1.0872, 7.1316, 2.0049, -0.1587, -0.0122, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.397,"left_y":-0.025,"left_z":0.035,"left_gripper":0.65},"note":"The left arm is free again, and the bottle’s cap is aligned with the wrist-camera center. I’m making a shorter-reach descent to the neck instead of extending beyond it."})
tool
executing move_to over 10 steps (1.0s)
step 108
top_cam
camera top_cam step 108
left_cam
camera left_cam step 108
right_cam
camera right_cam step 108
assistant
agent noteThe low approach is tracking now, but the neck is ahead and to the right of the jaws. I’m correcting both directions while staying above the table.
move_to
left_x0.4480left_y-0.0600left_z0.0520left_gripper0.7500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1497, 1.6382, 0.4847, 0.5587, -0.2062, -0.1558, 0.6521, -0.0288, 0.7376, 0.4992, -0.3588, -0.0311, -0.0582, 0.9986] state[eef_state]: left_x=0.3948 left_y=-0.0194 left_z=0.0397 left_yaw=0.0934 left_pitch=-0.0198 left_roll=-0.0041 left_gripper=0.6521 right_x=0.2811 right_y=0.001 right_z=0.1515 right_yaw=0.0119 right_pitch=-0.028 right_roll=-0.0101 right_gripper=0.9986 state[joint_eff]: [-0.2803, -6.106, 3.7402, 1.8193, 0.0952, 0.2369, 0.0806, -0.9641, -1.2376, 6.9675, 1.9267, -0.1294, -0.0024, -0.0122] camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.448,"left_y":-0.06,"left_z":0.052,"left_gripper":0.75},"note":"The low approach is tracking now, but the neck is ahead and to the right of the jaws. I’m correcting both directions while staying above the table."})
tool
executing move_to over 5 steps (0.5s)
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 bottle slid sideways when a jaw contacted its shoulder. I’m opening fully and approaching the newly positioned cap from above to avoid pushing the body again.
move_to
left_x0.4750left_y-0.1170left_z0.0950left_gripper1.0000right_x0.2940right_y0.0020right_z0.1850
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2493, 1.7775, 0.6945, 0.5014, -0.2787, -0.1967, 0.7489, -0.0288, 0.7242, 0.4721, -0.3508, -0.0311, -0.0586, 0.9986] state[eef_state]: left_x=0.4418 left_y=-0.0586 left_z=0.0505 left_yaw=0.0761 left_pitch=0.0044 left_roll=-0.0037 left_gripper=0.7489 right_x=0.2779 right_y=0.0011 right_z=0.1442 right_yaw=0.0121 right_pitch=-0.0337 right_roll=-0.0102 right_gripper=0.9986 state[joint_eff]: [-0.841, -7.2274, 6.6803, 1.7216, -0.2564, -0.1197, 0.0317, -0.9504, -1.4291, 7.0085, 1.9756, -0.1734, -0.0122, -0.0122] 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":0.475,"left_y":-0.117,"left_z":0.095,"left_gripper":1,"right_x":0.294,"right_y":0.002,"right_z":0.185},"note":"The bottle slid sideways when a jaw contacted its shoulder. I’m opening fully and approaching the newly positioned cap from above to avoid pushing the body again."})
tool
executing move_to over 6 steps (0.6s)
step 119
top_cam
camera top_cam step 119
left_cam
camera left_cam step 119
right_cam
camera right_cam step 119
assistant
agent noteThe cap is now between the open fingertips in the wrist view. I’m lowering straight onto it with a narrower opening, keeping clear of the adjacent bottle.
move_to
left_x0.4750left_y-0.1260left_z0.0410left_gripper0.6500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.382, 1.8004, 0.9478, 0.2588, -0.3756, -0.2707, 0.9978, -0.0277, 0.786, 0.5777, -0.4042, -0.0311, -0.0586, 0.9986] state[eef_state]: left_x=0.4717 left_y=-0.1158 left_z=0.0931 left_yaw=0.0629 left_pitch=0.0134 left_roll=-0.0123 left_gripper=0.9978 right_x=0.2876 right_y=0.0011 right_z=0.1652 right_yaw=0.0133 right_pitch=-0.0432 right_roll=-0.0098 right_gripper=0.9986 state[joint_eff]: [-0.4034, -7.7197, 8.1026, 1.5604, -0.1441, -0.0952, -0.1245, -0.294, -0.4718, 9.9077, 1.7411, -0.0659, 0.0562, -0.0073] camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.475,"left_y":-0.126,"left_z":0.041,"left_gripper":0.65},"note":"The cap is now between the open fingertips in the wrist view. I’m lowering straight onto it with a narrower opening, keeping clear of the adjacent bottle."})
tool
executing move_to over 4 steps (0.4s)
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 neck is centered between the jaw tips. I’m lowering the last two centimeters and closing to capture it just below the cap.
move_to
left_z0.0210left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4007, 1.9446, 0.9306, 0.3679, -0.3866, -0.2893, 0.6541, -0.0284, 0.7616, 0.5369, -0.3946, -0.0315, -0.0582, 0.9986] state[eef_state]: left_x=0.4726 left_y=-0.124 left_z=0.041 left_yaw=0.0634 left_pitch=-0.0307 left_roll=0.0007 left_gripper=0.6541 right_x=0.2823 right_y=0.0011 right_z=0.1551 right_yaw=0.0126 right_pitch=-0.0501 right_roll=-0.009 right_gripper=0.9986 state[joint_eff]: [-0.759, -9.1692, 4.9983, 1.5507, -0.1294, 0.0855, 0.1148, -0.7179, -1.6342, 7.2547, 2.1709, -0.188, 0.0171, -0.0122] 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_z":0.021,"left_gripper":0},"note":"The bottle neck is centered between the jaw tips. I’m lowering the last two centimeters and closing to capture it just below the cap."})
tool
executing move_to over 7 steps (0.7s)
step 130
top_cam
camera top_cam step 130
left_cam
camera left_cam step 130
right_cam
camera right_cam step 130
assistant
agent noteThe neck grasp was empty again; the arm rises instead of reaching the cap’s low height at this extension. I’m switching to the wider bottle body so I can draw it closer before attempting to stand it.
move_to
left_x0.3500left_y-0.1500left_z0.1450left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4053, 1.9766, 0.9119, 0.5652, -0.4129, -0.2897, 0.0181, -0.0284, 0.7319, 0.4885, -0.3656, -0.0315, -0.0586, 0.9986] state[eef_state]: left_x=0.4881 left_y=-0.1284 left_z=0.0585 left_yaw=0.0833 left_pitch=0.1061 left_roll=-0.0542 left_gripper=0.0181 right_x=0.2784 right_y=0.0012 right_z=0.1467 right_yaw=0.0128 right_pitch=-0.0398 right_roll=-0.0097 right_gripper=0.9986 state[joint_eff]: [0.0205, -6.653, 3.4667, 0.9792, 0.1099, 0.0952, 0.8132, -0.9641, -1.5521, 6.9538, 2.0586, -0.1685, -0.0269, -0.0073] camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.15,"left_z":0.145,"left_gripper":1},"note":"The neck grasp was empty again; the arm rises instead of reaching the cap’s low height at this extension. I’m switching to the wider bottle body so I can draw it closer before attempting to stand it."})
tool
executing move_to over 11 steps (1.1s)
step 141
top_cam
camera top_cam step 141
left_cam
camera left_cam step 141
right_cam
camera right_cam step 141
assistant
agent noteThe nearest bottle’s body is now centered under the left arm. I’m lowering around its wider section, away from the neighboring bottle.
move_to
left_x0.3650left_y-0.1400left_z0.0220left_gripper0.8500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6838, 1.4136, 0.7971, -0.0658, -0.6033, -0.4744, 0.9956, -0.0288, 0.7055, 0.4526, -0.3431, -0.0311, -0.0586, 0.9986] state[eef_state]: left_x=0.3607 left_y=-0.16 left_z=0.1443 left_yaw=0.0509 left_pitch=0.0148 left_roll=-0.0247 left_gripper=0.9956 right_x=0.2756 right_y=0.0011 right_z=0.1417 right_yaw=0.0121 right_pitch=-0.0268 right_roll=-0.0105 right_gripper=0.9986 state[joint_eff]: [-0.2667, -6.6803, 6.106, 1.4579, -0.3346, -0.0122, -0.1099, -0.9915, -1.1145, 6.8034, 1.9609, -0.1734, -0.0073, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.365,"left_y":-0.14,"left_z":0.022,"left_gripper":0.85},"note":"The nearest bottle’s body is now centered under the left arm. I’m lowering around its wider section, away from the neighboring bottle."})
tool
executing move_to over 8 steps (0.8s)
step 149
top_cam
camera top_cam step 149
left_cam
camera left_cam step 149
right_cam
camera right_cam step 149
assistant
agent noteThe jaws now straddle the broad lower body of the bottle at table height. I’m closing here to establish a secure grasp before moving it closer.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6266, 1.7298, 0.5457, 0.4507, -0.5613, -0.4404, 0.852, -0.0288, 0.6922, 0.4271, -0.3355, -0.0311, -0.0582, 0.9986] state[eef_state]: left_x=0.3594 left_y=-0.1397 left_z=0.0215 left_yaw=0.0583 left_pitch=-0.0419 left_roll=0.0164 left_gripper=0.852 right_x=0.2727 right_y=0.0012 right_z=0.135 right_yaw=0.0119 right_pitch=-0.0314 right_roll=-0.01 right_gripper=0.9986 state[joint_eff]: [0.841, -6.5573, 3.9179, 1.5702, -0.3004, 0.1832, 0.1099, -0.7179, -1.1966, 6.9812, 1.9072, -0.1783, 0.0122, -0.0073] camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The jaws now straddle the broad lower body of the bottle at table height. I’m closing here to establish a secure grasp before moving it closer."})
tool
executing move_to over 9 steps (0.9s)
step 158
top_cam
camera top_cam step 158
left_cam
camera left_cam step 158
right_cam
camera right_cam step 158
assistant
agent noteThe gripper has stopped at a substantial opening, confirming a body grasp. I’m lifting the bottle slightly and bringing it toward the base so its neck will be reachable at table height.
move_to
left_x0.2650left_y-0.1400left_z0.0850right_x0.2940right_y0.0020right_z0.1850
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6289, 1.7599, 0.5175, 0.5491, -0.569, -0.4267, 0.5605, -0.0288, 0.6758, 0.3992, -0.3237, -0.0311, -0.0582, 0.9986] state[eef_state]: left_x=0.3605 left_y=-0.1401 left_z=0.019 left_yaw=0.0539 left_pitch=-0.0078 left_roll=0.0064 left_gripper=0.5605 right_x=0.2699 right_y=0.0013 right_z=0.1288 right_yaw=0.0119 right_pitch=-0.031 right_roll=-0.01 right_gripper=0.9986 state[joint_eff]: [-0.4855, -7.5556, 4.0821, 1.5507, -0.2808, -0.1197, 0.9499, -1.0325, -1.2103, 6.8581, 1.9853, -0.1538, 0.0415, -0.0073] camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.265,"left_y":-0.14,"left_z":0.085,"right_x":0.294,"right_y":0.002,"right_z":0.185},"note":"The gripper has stopped at a substantial opening, confirming a body grasp. I’m lifting the bottle slightly and bringing it toward the base so its neck will be reachable at table height."})
tool
executing move_to over 8 steps (0.8s)
step 166
top_cam
camera top_cam step 166
left_cam
camera left_cam step 166
right_cam
camera right_cam step 166
assistant
agent noteThe bottle moved with the gripper and is now closer to the base. I’m setting it back down and releasing the body so I can regrasp its neck.
move_to
left_z0.0250left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9127, 1.2537, 0.4046, -0.041, -0.6838, -0.6388, 0.5614, -0.0277, 0.7864, 0.5743, -0.4049, -0.0311, -0.0582, 0.9986] state[eef_state]: left_x=0.2593 left_y=-0.147 left_z=0.0578 left_yaw=-0.0261 left_pitch=-0.0863 left_roll=0.0292 left_gripper=0.5614 right_x=0.2871 right_y=0.0011 right_z=0.1634 right_yaw=0.0131 right_pitch=-0.0478 right_roll=-0.0093 right_gripper=0.9986 state[joint_eff]: [-0.1709, -5.2444, 8.1709, 2.1612, -0.9255, -0.1685, 0.4078, -0.1983, -0.9641, 10.1812, 1.6972, -0.1099, 0.0806, -0.0171] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.025,"left_gripper":1},"note":"The bottle moved with the gripper and is now closer to the base. I’m setting it back down and releasing the body so I can regrasp its neck."})
tool
executing move_to over 5 steps (0.5s)
step 171
assistant
agent noteThe bottle is resting closer in, with its neck now within the arm’s low-height reach. I’m moving above that neck for the upright lift.
move_to
left_x0.3700left_y-0.1800left_z0.1000left_gripper0.7000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9375, 1.4208, 0.2668, 0.2844, -0.7258, -0.6315, 0.9956, -0.0284, 0.7589, 0.5259, -0.3798, -0.0311, -0.0586, 0.9986] state[eef_state]: left_x=0.2543 left_y=-0.1422 left_z=0.0189 left_yaw=-0.0277 left_pitch=-0.0483 left_roll=0.0391 left_gripper=0.9956 right_x=0.2827 right_y=0.001 right_z=0.1538 right_yaw=0.0125 right_pitch=-0.0436 right_roll=-0.0098 right_gripper=0.9986 state[joint_eff]: [-0.253, -3.7675, 3.453, 1.4335, -0.4322, 0.0024, -0.0659, -0.8274, -1.6615, 7.0769, 2.0195, -0.1636, -0.0171, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.37,"left_y":-0.18,"left_z":0.10,"left_gripper":0.7},"note":"The bottle is resting closer in, with its neck now within the arm’s low-height reach. I’m moving above that neck for the upright lift."})
tool
executing move_to over 9 steps (0.9s)
step 180
assistant
agent noteThe nearer cap is centered between the jaws. I’m lowering to its neck, with a small forward correction to keep it in the closing line.
move_to
left_x0.3820left_y-0.1730left_z0.0180left_gripper0.6500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6964, 1.5509, 0.6949, 0.1787, -0.5789, -0.4492, 0.7024, -0.0284, 0.7326, 0.4843, -0.3584, -0.0315, -0.0582, 0.9986] state[eef_state]: left_x=0.3639 left_y=-0.1737 left_z=0.0938 left_yaw=0.0061 left_pitch=0.0086 left_roll=-0.0181 left_gripper=0.7024 right_x=0.2789 right_y=0.0012 right_z=0.146 right_yaw=0.0126 right_pitch=-0.0375 right_roll=-0.0095 right_gripper=0.9986 state[joint_eff]: [0.335, -6.106, 7.4188, 1.3944, 0.0464, 0.1441, 0.1245, -0.8, -1.3607, 6.9402, 2.0, -0.1734, 0.0073, -0.0073] camera 'top_cam' (step 180): [image omitted: streamed camera frame] camera 'left_cam' (step 180): [image omitted: streamed camera frame] camera 'right_cam' (step 180): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.382,"left_y":-0.173,"left_z":0.018,"left_gripper":0.65},"note":"The nearer cap is centered between the jaws. I’m lowering to its neck, with a small forward correction to keep it in the closing line."})
tool
executing move_to over 5 steps (0.5s)
step 185
assistant
agent noteThe neck is slightly right of center, and the arm stopped above the requested height. I’m making a small lateral correction while closing around the neck.
move_to
left_x0.3860left_y-0.1850left_z0.0140left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6567, 1.8023, 0.6601, 0.485, -0.6106, -0.4141, 0.6515, -0.0288, 0.7113, 0.4515, -0.3431, -0.0311, -0.0586, 0.9986] state[eef_state]: left_x=0.3865 left_y=-0.1655 left_z=0.04 left_yaw=0.0519 left_pitch=0.0365 left_roll=0.0139 left_gripper=0.6515 right_x=0.2756 right_y=0.0011 right_z=0.1397 right_yaw=0.0121 right_pitch=-0.0337 right_roll=-0.0102 right_gripper=0.9986 state[joint_eff]: [-0.2667, -4.2188, 3.959, 0.8669, 0.5641, -0.0073, 0.0806, -1.0051, -1.3197, 6.9675, 1.9853, -0.1636, -0.0073, -0.0073] camera 'top_cam' (step 185): [image omitted: streamed camera frame] camera 'left_cam' (step 185): [image omitted: streamed camera frame] camera 'right_cam' (step 185): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.386,"left_y":-0.185,"left_z":0.014,"left_gripper":0},"note":"The neck is slightly right of center, and the arm stopped above the requested height. I’m making a small lateral correction while closing around the neck."})
tool
executing move_to over 7 steps (0.7s)
step 192
assistant
agent noteThe narrow-end grasp slipped out again. I’m clearing the bottle and switching to its shoulder, where a wider contact may allow a controlled lift without the cap ejecting.
move_to
left_x0.3100left_y-0.1900left_z0.1300left_gripper1.0000right_x0.2940right_y0.0020right_z0.1850
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6548, 1.8282, 0.6598, 0.6506, -0.6056, -0.4191, 0.017, -0.0288, 0.693, 0.4217, -0.3313, -0.0315, -0.0582, 0.9986] state[eef_state]: left_x=0.401 left_y=-0.1766 left_z=0.059 left_yaw=0.0606 left_pitch=0.1401 left_roll=-0.0839 left_gripper=0.017 right_x=0.2725 right_y=0.0013 right_z=0.1332 right_yaw=0.0122 right_pitch=-0.0333 right_roll=-0.0097 right_gripper=0.9986 state[joint_eff]: [-0.5265, -5.3538, 3.4803, 0.6618, 0.2955, 0.0122, 0.779, -1.0598, -1.306, 6.8308, 2.0244, -0.1734, 0.0024, -0.0073] 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":0.31,"left_y":-0.19,"left_z":0.13,"left_gripper":1,"right_x":0.294,"right_y":0.002,"right_z":0.185},"note":"The narrow-end grasp slipped out again. I’m clearing the bottle and switching to its shoulder, where a wider contact may allow a controlled lift without the cap ejecting."})
tool
executing move_to over 10 steps (1.0s)
step 202
assistant
agent noteThe bottle’s shoulder is visible just below its cap. I’m lowering around that broader section rather than trying to pinch the smooth cap again.
move_to
left_x0.3500left_y-0.1800left_z0.0180left_gripper0.7000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8948, 1.4487, 0.7475, -0.1127, -0.7395, -0.6407, 0.9943, -0.0277, 0.7876, 0.5766, -0.4118, -0.0311, -0.0586, 0.9986] state[eef_state]: left_x=0.3156 left_y=-0.1975 left_z=0.1162 left_yaw=0.028 left_pitch=-0.0061 left_roll=-0.0065 left_gripper=0.9943 right_x=0.2865 right_y=0.0012 right_z=0.1627 right_yaw=0.0133 right_pitch=-0.0535 right_roll=-0.0094 right_gripper=0.9986 state[joint_eff]: [-0.212, -7.7333, 8.5538, 1.5067, -0.4371, -0.0415, 0.0611, -0.0889, -0.841, 10.1402, 1.8877, -0.0708, 0.0806, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 202): [image omitted: streamed camera frame] camera 'left_cam' (step 202): [image omitted: streamed camera frame] camera 'right_cam' (step 202): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.18,"left_z":0.018,"left_gripper":0.7},"note":"The bottle’s shoulder is visible just below its cap. I’m lowering around that broader section rather than trying to pinch the smooth cap again."})
tool
executing move_to over 7 steps (0.7s)
step 209
assistant
agent noteThe jaws are around the bottle’s upper body. I’m using a partial close to hold it without crushing it, leaving some ability for the bottle to pivot under its own weight.
move_to
left_gripper0.3500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7681, 1.7473, 0.6006, 0.4065, -0.7033, -0.527, 0.7039, -0.0284, 0.7563, 0.5236, -0.3817, -0.0315, -0.0589, 0.9986] state[eef_state]: left_x=0.3503 left_y=-0.1745 left_z=0.0353 left_yaw=0.0688 left_pitch=0.0202 left_roll=0.0173 left_gripper=0.7039 right_x=0.282 right_y=0.0011 right_z=0.153 right_yaw=0.013 right_pitch=-0.0451 right_roll=-0.0098 right_gripper=0.9986 state[joint_eff]: [0.3761, -3.7538, 3.3299, 0.9353, 0.4176, -0.1636, 0.2515, -0.7863, -1.6889, 7.0769, 2.0244, -0.1587, 0.0171, -0.0073] camera 'top_cam' (step 209): [image omitted: streamed camera frame] camera 'left_cam' (step 209): [image omitted: streamed camera frame] camera 'right_cam' (step 209): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.35},"note":"The jaws are around the bottle’s upper body. I’m using a partial close to hold it without crushing it, leaving some ability for the bottle to pivot under its own weight."})
tool
executing move_to over 4 steps (0.4s)
step 213
assistant
agent noteThe partial close has contacted the bottle. I’m lifting slowly while tightening slightly, to see whether the heavier base swings underneath the grasp.
move_to
left_x0.3450left_y-0.1800left_z0.1800left_gripper0.2500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7586, 1.7309, 0.6113, 0.4633, -0.712, -0.5411, 0.3564, -0.0288, 0.7307, 0.4786, -0.3576, -0.0315, -0.0586, 0.9986] state[eef_state]: left_x=0.3609 left_y=-0.1781 left_z=0.0541 left_yaw=0.0956 left_pitch=0.0801 left_roll=-0.0542 left_gripper=0.3564 right_x=0.2781 right_y=0.0011 right_z=0.1441 right_yaw=0.0125 right_pitch=-0.0406 right_roll=-0.0097 right_gripper=0.9986 state[joint_eff]: [-0.1436, -6.5573, 5.012, 0.652, 0.0464, 0.0464, 0.2711, -1.0188, -1.5658, 7.0632, 2.0391, -0.1734, -0.0269, -0.0073] camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.345,"left_y":-0.18,"left_z":0.18,"left_gripper":0.25},"note":"The partial close has contacted the bottle. I’m lifting slowly while tightening slightly, to see whether the heavier base swings underneath the grasp."})
tool
executing move_to over 9 steps (0.9s)
step 222
assistant
agent noteThe bottle did not follow the lift, so this grasp also failed. I’m opening the gripper and parking both arms clear of the bottles rather than continuing unsuccessful contacts.
move_to
left_x0.2960left_y0.0020left_z0.1850left_yaw0.0000left_gripper1.0000right_x0.2940right_y0.0020right_z0.1850right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7918, 1.449, 0.9386, -0.2775, -0.7158, -0.6067, 0.2512, -0.0288, 0.7082, 0.4404, -0.3393, -0.0315, -0.0586, 0.9986] state[eef_state]: left_x=0.3482 left_y=-0.1825 left_z=0.1627 left_yaw=0.0963 left_pitch=-0.0036 left_roll=-0.0087 left_gripper=0.2512 right_x=0.2745 right_y=0.0012 right_z=0.1362 right_yaw=0.0124 right_pitch=-0.0379 right_roll=-0.0098 right_gripper=0.9986 state[joint_eff]: [-0.4855, -7.4188, 9.1692, 1.2381, -0.3834, -0.0024, 0.0317, -1.0188, -1.2376, 6.9538, 2.0147, -0.1538, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.296,"left_y":0.002,"left_z":0.185,"left_yaw":0,"left_gripper":1,"right_x":0.294,"right_y":0.002,"right_z":0.185,"right_gripper":1},"note":"The bottle did not follow the lift, so this grasp also failed. I’m opening the gripper and parking both arms clear of the bottles rather than continuing unsuccessful contacts."})
tool
executing move_to over 17 steps (1.7s)
step 239
assistant
agent noteI could not establish the neck grasp needed to tip the bottles upright. All three remain lying down; I repositioned the nearest bottle but repeated upright-lift grasps were empty. Both arms are now parked clear with open grippers.
give_up
hindsightA body grasp succeeded at approximately left_x=0.36, left_y=-0.14, left_z=0.02, with a settled gripper reading of 0.56, and allowed the nearest bottle to be brought closer. Narrow-end attempts frequently stopped above the requested height and then closed empty; check actual height before closing rather than trusting wrist-image alignment. In this trial a substantial retract to x≈0.335, z≈0.18 recovered stalled low poses when smaller recovery moves did not. No successful bottle-pivot technique was established with pitch and roll pinned.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0448, 0.8104, 0.627, -0.3683, -0.1055, -0.0917, 0.9975, -0.0326, 0.7879, 0.5846, -0.4145, -0.0387, -0.0586, 0.9986] state[eef_state]: left_x=0.3 left_y=0.0088 left_z=0.1889 left_yaw=0.0793 left_pitch=0.0124 left_roll=-0.0115 left_gripper=0.9975 right_x=0.2872 right_y=0.0011 right_z=0.1658 right_yaw=0.0148 right_pitch=-0.0484 right_roll=-0.0052 right_gripper=0.9986 state[joint_eff]: [0.0889, -1.9761, 6.2291, 1.79, 0.1636, 0.2271, -0.1001, 0.4444, -0.4581, 10.1265, 1.9072, -0.0415, 0.0611, -0.1587] camera 'top_cam' (step 239): [image omitted: streamed camera frame] camera 'left_cam' (step 239): [image omitted: streamed camera frame] camera 'right_cam' (step 239): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not establish the neck grasp needed to tip the bottles upright. All three remain lying down; I repositioned the nearest bottle but repeated upright-lift grasps were empty. Both arms are now parked clear with open grippers.","hindsight":"A body grasp succeeded at approximately left_x=0.36, left_y=-0.14, left_z=0.02, with a settled gripper reading of 0.56, and allowed the nearest bottle to be brought closer. Narrow-end attempts frequently stopped above the requested height and then closed empty; check actual height before closing rather than trusting wrist-image alignment. In this trial a substantial retract to x≈0.335, z≈0.18 recovered stalled low poses when smaller recovery moves did not. No successful bottle-pivot technique was established with pitch and roll pinned."})
tool
give_up: I could not establish the neck grasp needed to tip the bottles upright. All three remain lying down; I repositioned the nearest bottle but repeated upright-lift grasps were empty. Both arms are now parked clear with open grippers.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [0, 0], left_roll: [0, 0], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [0, 0], right_roll: [0, 0], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 9.82 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, 0.7925, 0.6079, -0.3763, -0.0227, -0.0277, 0.9986, -0.0158, 0.7876, 0.6033, -0.3847, -0.0162, -0.0353, 0.9986]\nstate[eef_state]: left_x=0.2956 left_y=0.0017 left_z=0.1829 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2936 right_y=0.0018 right_z=0.1804 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9986\nstate[joint_eff]: [-0.3761, -1.4701, 9.7573, 1.7705, -0.0415, 0.1636, -0.1538, -0.9915, -0.841, 10.2222, 1.7998, -0.0855, 0.1783, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca42ebbff8c03719eb6673c8627ef6db1d1d131f808681df47b83091913daf00",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6e1c83a65f80fe5a0efd756fad60b9dfdcee3a904467e018d7642a4a394cb85",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfc03fce56198ff128fedcf9aa3bd7080131a9871c9feb326644a91cf79299fd",
      "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 · 7.261 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtFfziqNceuwcaRaa1nbr9BxhWivF9omCjd_0UJ5VEhwgFHgZxr2585XKxdP53UqjeqtxY2cGRiMaVC6DruXNzYI5_1zT-0OvK7w_CyBNump_GvNS4gHDpLwDqQazRDYcfeCcv-x-1dTOsVgw1hky30ckuk4SvC7wGnh_G1FLhwm4WTW2QufHlbeV1RJIV76quiFAAlGo6Dh4oKcEhd7u-ZbnSskwEQvNkw6EpepmrNI5DUxFyDnvNw_cc0e-r8ZW7zl6TaGZWYMoCM0EN5liZ8RvNdaKyUggZEPyVz51P-3c2TFKgXhw-I41rbqn1U5jT0FQimJzx23dpzimBcK4lE7-b9RWliWl2UgK2Z4a2s6JARVvJ2_V4LuBCSvQGY_RSfaD72P2YR2dBHoh83ULdp__moA8WepWv9ZkhAta2rcoZ1R8tkHMJ8uuawpExL07KkgoyvLe3E54LH76vKZdxoNM_jMxkDx35jtrYnVyWAWaLxm_s3cd4xUMe8j92apj-dRim8bMmcBVrHN6Z6vVE3W9AK6El5hJRzGOZ2oNFavm7s6PK4Qgq7BQSrGB-Y1BkbfcFg8EmdiDJImZ3pTPkiOu0jYpGzQVDblZF-28fYkA9Gxjkgk9cKr5PtYkivNtGWvL9db1pVOEGW8nxTGVRqAb0Kkh6GzlrEMzdxhSb6_nahqJOypo40ZKH5qgiNJ21Lw_kmFSs8nk-G3HG9tDTJ6otWLaB574G7Bg3nVXfDrJCcb-n1hpxK499OP31paIBzdZxmUcXNEY5mvONC7poq_YEpqYN_V3_6PoARP-1UY3nBZ56SAd87tjHoegw8mnGYUGz16UfxmbhMKRzJ4plofHcuGnG-_euGrayk3HlcJ0EEcV51War3tF5qN6LRx-l1p80SRBC1J9cI73arN7QoC6vIerAc13XVQKW10EjXbYvsBaAxWkrhJ4tnepUJDWppiROSh18qRR3VdfSH5B5EopvDiEXi9tjfvJ15w5U5e_QvnHsKh1oTAXBpk0Tr6vQGJNNJwbfQ7rZn7d-i3Awh27tBF6LLVqEO5X4wN0YgREBrXGrE788zmIoZWuhR7jAtzgsGvMynLgQd0fjooyIj1jEncEaUz96E60cwkz4h2BhvXmddOxCz7ERebjpMrkj3O9n9VPmkBVHeNfjgL3zq5WXiwtP6OSlLPlO6Cv6t3TrACbCUM44LwHDaxLyEWU0PwPXjspgHigGZjXjj-ruKpE9pQ4u-ULL-MKVX7ok_kmn6s_O_DK9bncM6WExZzyLGfVTHE5EESagS5b31_mTon2i7qq_87ZAg3PKtNC5dXy6bSfnr8chpU1dr4bmCyhnJiOupgKIx8fwLZwkG2qZuGkonz0SOpHCIueiaA_XkeZqyQ4mR9n8yITOZxxo4KqZXLit4c7qI9i_BCAPEGiiPeaYh3LhLXdFVu3VYNK4ia-u_86hoE_yGA9PeAQ9ZS6MdBfCpDGDsfztmHkXimbtJLSxmckxH8bSnjXI_gfZKUsKLY5OBUh91MuvgJupTzOtp3jSTJX_Q8IB20u3WT5hkE16a35Z3PCtr38JrZ1pXKWzeiwreadd0TYoiTWsDoB_vlT8QvbMXJZdC0LOOgd_l0fDn6_A1VT2AM_JMPlbtz2OZfag58PAHNe89FSiajv-MObWMN-g7OW4M84rkSi9rmGr3ZKx2pri0qu8pnK2oK5CG9hIR7dhDkteQyZcd9QmBEEyUQ5yhhUsJtAg80dFtauj8LKxzDycOhaPtfJ11gq9MxwJIMpczUyvnIsIW6AW-96OoSySB1-2CkLpsfJoXCwlkLADudPS7_rLyekpcfgJ0J4upmVA7O9ZLxW0mw2y-XLdTp-wgVXnN7-QLl-mipJgcxuXCGeFa1Vjni0oBxpNVMBPPGsql-j9iV1h4dVHTkxjke7Quyp67QayBjtys3VAKd6vsiBXvkB1_PNtbiGpu0LcUEBT2X0F2qmSEoibPn0rMtFPTOl__J1VdAzwOw-vH7gP9ZqW-76wzjdh84oXixuly784NRyyvX2x5yPq2y2poD_jxwb1vKqQTxWqMJ1qO9F9vImljCsdsoOzMP-o99RSX2uGjBe9Zw0dCmZze9nYzoRvl7UbX2eKsfQ0fQN0y1ks9UhyjZvO1j1Rub8tEc5duQvXdLJpsUWeVcJTzkQCwPhUGukFbpd8heLPfKRoZ1wm5BNU0W6h8j7Iems9dx-ZadlU7tPohjvrdVmNLes_H8S0TS1ZY1InIU3CqECSP_hnDcaCvjDyQ8SQweqKdbCYn4VD3L5yJpnp7Wlxq7-vdHzJUSWJBUvdzMNaeR36g5PCwLfKgLmSeaBeIK2p0ZVkzxjeYspgfgrsLDMv0D2rucJfLh7ylzy6vJyMLLdgnY_mv3-cskVqSmkV7zj3hpuLQPr6w2JODfNvfFVRlg8zlAg1mpcO_zBkzkGpjWcQZEWibDanKiH73-88GGJXnK6D_d5iSrwZbgucpb4voQ4kUnJOQ7fB9J9VkM4l9NNERMoYlNuqAmyjzlaX8_vD9LODak2mdM1IapZRjrfu8YwRKVdNymIlO25nz4tup-G3eOi7m3PIvYj4TvLkddZN1BGFxjrGJCzp3HDdRFVT8ZF3Po2zqTDcKkBCugi_wGnDo0kFxQKLx0y0DN_1vG_YBwhJJsMg-CM4KVeR-FLwAlrPyhk8n8r2rG4xx29QvP3ALbIK_ShPK9m-XTytaLT8ezkdRgjJ0c1z8FL4eurvgKnXduutzbhndhrUp3bkjTrbjk5OQ5q5aPRhSnQlFiAi4xJ4XuQhpGrVUhyeu9hslqcfOQXikyAk8JMqEsHnzdbnAkg7BgrPmGHf0JMfxSPO5GNJblDSiX9cKkEK4R2QCZgEOcFudu41_CkaDPn0qWl2_2U7aW9kAEDlnVU4G5G3dgntMr9WnMLHz0E0fM329Pj2RUw3PXGNNCZvUfOUx2bCtsriLJnbbIwEuu7qsLu31CzofHN8GTQ-GPCD3WKOKCsmKjmR1PzA61hbG91G1nGyWCJJPmPTuTeqyPSmKeSF1fw8DpT-nQSNktpwqdXLRJJ3e4QXrFgTICH4N69xUP0FCz5Gr7vqNMu-zhufNR1wnSkFoKxkcF2g8GaTpL3janxog7TzK3ypv2Zg5a-8idrbfTIsQm6M1AAdngzEyxT-MmyqwrGuoAiQqRCVzHjknbYiwFCIB5GguHY_ghkZBCMLPxUcurObEb59NuZiVHMCix5fya3Hyea3VPBrFd52zBroKHb6hZXdSiiLC7MO2kqy7Qh0yX7BZ3TXSBv4wdkArvXY4N3tppKCAtqeONlphSj_KTChFjkk4lBY9RntGq5MBzxhMGtj-bme4rJdb_TutrfAmXq98kE_5bcn4O_idYu",
  "id": "rs_01e6d9353bd9ab63016ab457eacfcc87d08c9b98752504331c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.335,\"left_y\":-0.125,\"left_z\":0.105,\"left_gripper\":1,\"right_x\":0.294,\"right_y\":0.002,\"right_z\":0.185},\"note\":\"All three bottles are lying down, with their caps pointing toward the far side of the table. I’m positioning the left gripper over the nearest bottle’s neck so I can lift that end and let its base swing underneath.\"}",
  "call_id": "call_Uplzmpq0rOcf1wRVtl3FQ7CS",
  "id": "fc_01e6d9353bd9ab63016ab457f1974087d0b7f0349d03e21a5e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Uplzmpq0rOcf1wRVtl3FQ7CS",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6029, 1.2854, 0.5213, 0.0429, -0.4728, -0.3492, 0.9988, -0.0193, 0.794, 0.609, -0.4046, -0.0231, -0.036, 0.9986]\nstate[eef_state]: left_x=0.3235 left_y=-0.1207 left_z=0.0892 left_yaw=-0.0357 left_pitch=-0.0683 left_roll=0.036 left_gripper=0.9988 right_x=0.2921 right_y=0.002 right_z=0.1772 right_yaw=0.0028 right_pitch=-0.0205 right_roll=0.0035 right_gripper=0.9986\nstate[joint_eff]: [-0.253, -4.9026, 8.3214, 1.8339, -0.3199, -0.0952, -0.1343, 0.0205, -1.4701, 8.335, 1.7802, 0.0806, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97f54af4f57aada9c488bc2b732e377d728784da59b7e517e34c9e9ea6f3e085",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c7eae151d2d00bd8582549de2b6e35d0ce1530cc5ac49924681d2552181df58",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6af894ea8a5dd196fd45c9d1a5ea75dd9876a53a71d6a3bca6dccceb2e28a4ad",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 2 attempt 0 · /responses · status 200 · 8.129 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, 0.7925, 0.6079, -0.3763, -0.0227, -0.0277, 0.9986, -0.0158, 0.7876, 0.6033, -0.3847, -0.0162, -0.0353, 0.9986]\nstate[eef_state]: left_x=0.2956 left_y=0.0017 left_z=0.1829 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2936 right_y=0.0018 right_z=0.1804 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9986\nstate[joint_eff]: [-0.3761, -1.4701, 9.7573, 1.7705, -0.0415, 0.1636, -0.1538, -0.9915, -0.841, 10.2222, 1.7998, -0.0855, 0.1783, -0.1538]",
      "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]: [-0.6029, 1.2854, 0.5213, 0.0429, -0.4728, -0.3492, 0.9988, -0.0193, 0.794, 0.609, -0.4046, -0.0231, -0.036, 0.9986]\nstate[eef_state]: left_x=0.3235 left_y=-0.1207 left_z=0.0892 left_yaw=-0.0357 left_pitch=-0.0683 left_roll=0.036 left_gripper=0.9988 right_x=0.2921 right_y=0.002 right_z=0.1772 right_yaw=0.0028 right_pitch=-0.0205 right_roll=0.0035 right_gripper=0.9986\nstate[joint_eff]: [-0.253, -4.9026, 8.3214, 1.8339, -0.3199, -0.0952, -0.1343, 0.0205, -1.4701, 8.335, 1.7802, 0.0806, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97f54af4f57aada9c488bc2b732e377d728784da59b7e517e34c9e9ea6f3e085",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c7eae151d2d00bd8582549de2b6e35d0ce1530cc5ac49924681d2552181df58",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6af894ea8a5dd196fd45c9d1a5ea75dd9876a53a71d6a3bca6dccceb2e28a4ad",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFf7If-2g49GsVhL5PUyWBrDtIEPdfwo-vdOCs8rOS_4ACz64cuvrOh4ouMoO6zbLRBdKc_hnZmsUCFLH-ro4nFfmnz5PcaxNxqZtiVBAcwXK07Upm618VTXiY0QcA7G7ZY2p058HMTq9w-bWET6wIqE5mcjB96w9eYqabUY3T-e1s16tQ-xhL9zPJq94LOW_oQl8e2Kx2xPR94DW6PR1UNEID3CPCLywyQz47lzdoicg0pfYRWO5Yjy6OJOVBEzGVYhPiXpN5q27KeRZnz2aikM6McLHUzctEJhTH_mKfbZOyWbJh7PTMABdqe_QCfgmZ7rLHllFZMAqnMCkYOy62txeQrN1yitQIXG6ehVFxQ7fMJODITYoi1Pe8DKEsip5wXzaXiQxPaia49owdeOVPNMOiTXCVPy_e2NdnJUYiSZXdP5ACwo2goFEHNcdKlHVAyhlm4pXgLuWbxbC9HtSAVbnJUx-DJ3WJUQiC4jKnVSHEAfZ_J-LkRDeLfMxAmlaG30W2vFLDx-SJ5qSTvMTgZk1XHzGDMq2eYK8DnYYdpmKYDlo0P_hcFDMGp4WBXwMNgiG1ZKdno94GcpfLVb6ss14lfMre_wNmA5juKfRe_pcvAGoGVYXTOFHoTSIg4ln6BDq56OB56uUEmN03z8Rc7h4iXOx-CQbSLGN1Qt150QsQCGAGAleEYx8wyJBNQpoUDi63gcuVO5z-sw6_2Ld700mRZaSeZYF88oC8HJ3jH6mfBVrEUMetv9EGRy05dSBVdB6GEnkqSlaQHccS3ZUzeT682LG868lV2sotrpFj4erlA9NRrf1CQEUp7HWy9H-yICWyOuai8bgzmVeiEdcMYkYzn59mlJiXo_lhAdIu6VS3T80Pr1qc-4oDg2S3rSBW2Gd2-LIclBNZuo4wUlGaANcauFGOc0chrZhqhmrTHQwPfFUhy_fjdNi9IEG6Ey7ZZpjrSV27NumcmViI1O-NPyqsi-F_vSGlORMIDmQIBSDBViQ6b7D4YFGVBq9boDx84gK0ZnofNFVTtkQW1uoa3uXRPHn1Hql3a8KgsLAANIAfsKxUVNcrIs7qPVmtTh65TDXXiBou1su02oKSNdU1jhc6mqsSmT_5AyFFkAMyTPVp5xwQjsuWMkmiUYO6-vCGKVwzvpjIjjSCjOnx2d4_YCIDAzhwudej-fRjlb-ZYjPOW2B5ElZMo-tqXkS2EFHTEMLH1P7IT2lGRDiymjPVX7VNucISVpq0756elorxyfvh-M7b6IxKdQMHgf_C3M1w4g0qkNXjpUgn_uB_igAeT8UWd9smyVj7h2d_FPFfQeBdbXxoIkN7Ja2LUjS89ec_qlgoCIeDP4iuH5PCXww9kIdcE_NvCpIpJ7_KV44mnGzNQFGlt721fp7vBZJhuIxQ4ENioOVP0x6IuBySc367Z3A9PItm0e41d2ep4QyL83VQ0d4kT1smV5oPhlkEklBa_nYXbSZdQphE_doFajwIIB8pW2VCnGYz0f1y-Bk3960zcGrKbs28NzwoJwMixH9B2ibgy5j9TkV6ReZ0fmj6G5XC-oqFaldqYIZCG_P2iRl0TT0UWUXuRim8sOTphM9F3RJ6fuQpoWy-Pl-lVc23w7XsHzTCglx4sOPkaNY6yl54Pl3Go-4f50NZuHBJoJsU9ZjVWda-QadxTUf89Ebkg7ojKGDMKOczxKzDcjEBT3_BrUKakxfn-GkZkRCOtK7FRI76RlA_ZRLwGpdqTAR80HNRE702fqcRiN_chC1GNbA_99ZzoJHd9Ysm0EiIvJeoH0SF5eEKAmj9B1c3jXnC8pDbampn1cpDw3IkZm-asrGcn7xEY7d0w7bCEeGToSexCGf30WMGW2u0Av6U_SrXAoOQe5f-N4sQZIFhJEOJbq8QwZp_rylyJ3mY5nUwUko3kz6Usvyn974b1637_FDYCTC_QLenEfSvoosRv78nLhLswIpryRqffibYCKRdb6VQTOKdda9NjRQFg8Q60ZEsXuS22PSk-LIo1sYgP8TT25-KV02FVcw466La_8gspQGO94MhU2nozXXykR3cyqGvg4Z-Ci1A70IFxh1Mqg4DnGUmWeju0nISwHTY5ZYPEWwhTlAZ-QC8Pn5blnbJDL_2eI899c5kxbkLK09W8GimhoowBs9oaQy-ldaLkru81p2IaCFWnyynDeyAo_KFY-QTIVUMuOZOfxPjJgkPDKkJx6lYkgQzv-kJdocwAPcqgCEmLxpeExGPjURTLD8oqm2GC0AfqZc3aGIMeAnhLdsAiR2sUt06MIs8oBQgsrHWkv53aFyQtw9zHSCkXJRBcIuefWQ38KqIrjqP0HaVrmgkKlgF_HtKIKDB2iCsMnYgRQBSCRfI25OXyydZfMfItNRDZm6InCTCuJzcBKYZC9brJ_35UOunjQPDtN8JfiYcPJ4IAhmBuZWpyTsppruVoClYHJROSHAaoaxSS0m5bdHz5CcCOGboEE0DzHg4O6wQMM1J5s9A5wgKSchZvvyWw8xu6857DeYiKymSCK0pbVwFqwhJF26k6D_i2PDXOB4XfTWrB3KcIbX5B1vlx2-GUY5tZhNuK8nDJqvTZ0uuEaqWokUjI=",
  "id": "rs_01e6d9353bd9ab63016ab457f562cc87d0a0697fb43bc25607",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.085,\"left_z\":0.032,\"left_yaw\":0.5},\"note\":\"The nearest bottle’s cap is to the left of the gripper in the wrist view. I’m shifting toward its narrow neck and lowering with the jaws aligned across it.\"}",
  "call_id": "call_JZPdb7EOs3b3hcyx6K8ERAam",
  "id": "fc_01e6d9353bd9ab63016ab457fa0b0c87d096cd91e36a43c879",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JZPdb7EOs3b3hcyx6K8ERAam",
  "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]: [-0.6117, 1.71, 0.6521, 0.1761, -0.7769, -0.6861, 0.9984, -0.0193, 0.7841, 0.5911, -0.4034, -0.0235, -0.036, 0.9986]\nstate[eef_state]: left_x=0.3628 left_y=-0.0989 left_z=0.0382 left_yaw=0.361 left_pitch=-0.0225 left_roll=0.027 left_gripper=0.9984 right_x=0.2894 right_y=0.0022 right_z=0.1719 right_yaw=0.0031 right_pitch=-0.0274 right_roll=0.0039 right_gripper=0.9986\nstate[joint_eff]: [0.4308, -5.9692, 4.8889, 0.8767, -0.6862, 0.1441, -0.0562, -0.1846, -1.4291, 6.8308, 1.9512, -0.0024, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6154b01c0e3677692c3d7a2b7082cfa57431fac1b864171cef4a51cc3a251584",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bb9d14ef6f2ef8d7b846454cca5f941d96de171a2e611e0a73341668a40c232",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eea6344fe83dfe8004b547b44214675957bb1910b667435f51cd368f13506848",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 5.475 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]: [-0.6029, 1.2854, 0.5213, 0.0429, -0.4728, -0.3492, 0.9988, -0.0193, 0.794, 0.609, -0.4046, -0.0231, -0.036, 0.9986]\nstate[eef_state]: left_x=0.3235 left_y=-0.1207 left_z=0.0892 left_yaw=-0.0357 left_pitch=-0.0683 left_roll=0.036 left_gripper=0.9988 right_x=0.2921 right_y=0.002 right_z=0.1772 right_yaw=0.0028 right_pitch=-0.0205 right_roll=0.0035 right_gripper=0.9986\nstate[joint_eff]: [-0.253, -4.9026, 8.3214, 1.8339, -0.3199, -0.0952, -0.1343, 0.0205, -1.4701, 8.335, 1.7802, 0.0806, -0.0317, -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]: [-0.6117, 1.71, 0.6521, 0.1761, -0.7769, -0.6861, 0.9984, -0.0193, 0.7841, 0.5911, -0.4034, -0.0235, -0.036, 0.9986]\nstate[eef_state]: left_x=0.3628 left_y=-0.0989 left_z=0.0382 left_yaw=0.361 left_pitch=-0.0225 left_roll=0.027 left_gripper=0.9984 right_x=0.2894 right_y=0.0022 right_z=0.1719 right_yaw=0.0031 right_pitch=-0.0274 right_roll=0.0039 right_gripper=0.9986\nstate[joint_eff]: [0.4308, -5.9692, 4.8889, 0.8767, -0.6862, 0.1441, -0.0562, -0.1846, -1.4291, 6.8308, 1.9512, -0.0024, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6154b01c0e3677692c3d7a2b7082cfa57431fac1b864171cef4a51cc3a251584",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bb9d14ef6f2ef8d7b846454cca5f941d96de171a2e611e0a73341668a40c232",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eea6344fe83dfe8004b547b44214675957bb1910b667435f51cd368f13506848",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFgDQzIlqbOeTgYlmg630IWMsgJAjiiPCV0ffjjGITZsMPyYIOm7ZaPhuMOgc9LpAP8BhtiE_yJUAzQ1ctJybkz97YxnejC3VzDyArAw1K5obg6i_XICC7g5lSic5CXJaTRYc-4knzH8UsGfMC4xt2Hrx64Lt3sQADfEFxpLqmFb7vnVcPYCbiQJrS0GRgtH8ryQTsfHeHQf9iQlBcI-Ov45Pn8zDtMPO2H3k__0flLhBUPJOV0peexpmaFJEeBooAssrskMOOQkS-cywXpkucbPN0pavEDRx-B9OGxVrtMN6TpNGG8gdG-Z6KYLD4F6JuCcVG6MhHAR__iWKJkM9sgpyfEYTaiaVHNhMG8pe5KBTe_QSaTwPM-wUOiggz7n7Zxh7F5qhzkJGttPwiVcNMILOJhXwSE5_JZojOmEBiKPuSBY5vjpoCJJOscXWYuBPILNA6BkB6ImWnymZIUvg4MlUgvs2RAzVTqKWv_dhiUnDPzjcssLyOKMl0qjgD4xKiyUXuFMefk48GvSqdFGTBuj9v_d3DTtFNsKWaHI6SaiVEuWMd34NvHJ1kEl2VvdZj8VGcU2Y1ULt3VRDwxS5REPLTxt1TOdtLtdxNJgnyI6SVW7L5c_MBEzI2XG6esvpHbRf8ze-moM-KSeixCwvaGahbUrKSe5Isszzc81Q57VRjshpA6wKsB7ywKbI3W4P9GCFLti6WvvvyOm_fLjsiux_R0CO1do-mlh0zahljlyz2eKCOy2-5A-qqBMY3h5KLAVpZHMtxp4nAkRE3OrepTJigERc7_naYKL5v9umNc4X1DMd2gcacl2BzZ39qslPMW-yWXcSpeMVxk5hEdvBkgSIrbNNmw9lKOpF7FtS_xqQeaokI_DS0fGEFl7rbfqdOZwNCa-qd90KaymTyt9nqHAbc6z7TBQyhMvDnNM4H7ce5mMqj0MF3iJq8MS2IlxLnEVNAel85uRHdBc1SesWmlUvbWwHnGpEG3yFYbhqLffF1PXuu0z7TfHGQzDP39Ps_4ZMFjzUOSuuZDhOW9LHJvnm7zWFkEJ4xQe_HQd9VB0gSavsxWSrhJwyvOYC-TOIbMj0F4rCNCuOlCuNaSPjD60E2dAiZENcAuY15Fl6vrtyH5sFhpgLzIlmmBEBVV1xUgYqmqK2JdNkrN5GFSWk3yY7yaNbdFWX5NRZAcgLTsoCaHl98dIiN-6n7_bEcyzyGg0hYcqw0sGnGb6icyzXwXz4_XpNOpMbtjAahdrPvnwpUsKYjRQkiTsv8KyWWzUC_ZyAZ5OlRGgsMDK02wn3EUv6vDufW5GbkEtDDXoA3IfLPkjNWwHGCodKG7AAjdT3ZzhbLpIG75-Ub_onPgkDPbLoje_lAYkMy5D56xxtOv1JitN2NmYUlnAxk1c_VsNSfcBqO7cl8S5ef0wlKz4xUM0qP5nCczpIAoDrKo5tNS09F-Gfve642W7xIZRUZJKo2YnTVy1eAAfUbuyyXgLCkUxGpjy4eAbW_RFrSVacahztGRdqRQLA5HcTc2-3tgSHvlj3pJ6aZhzb8fYNAq3XBIQnAvPZWz_UL8y-l5EfnLHzepxydaGRwT-YDIw2RkUfsgh_egG1Mv4VxmNF2EJV3AWZWQprzSyq5dQyt4b2bfxNiVX8P_6ay3XbmGg74nlioIwMwIoc04y_cfPjvsgOQ12vxAFfIyn3XBix6Eu4z6EzmY-9qM4-6ZyGwMId4wROBPMlwO4ygYUfkTZ_3v96kwKyvjVMdtDU9VAGM2j64nrJyK6_qpAt9kluHzOH2-yS_M5y8MwYWG1EOhitlY4TMeDQmMNLWS933yBckUMfpurWUIM5ILyhcs6bi3hxBpaZRl2ahaP1ObZtdoj5qLWdJOMdKOv6S5S-OTVvSMV7Vn3NhRBuDehJvkK5YmT_TGGuPJcpX18pn3lDQsimPfb6TorjOkYsSteFTH66LQeAl3wWnS7bcPEXJ78OnQ7O99Ii_iGyKeuNcrSwPO0uZ0L1Ac0WXOAj6n_zOYjEN5Qv9z_LknC9adm4hgkCePvsNsCgmzOBLs8eRum4sxIXa-84YfIukjFjDwUVkP73QjutUAmoLahvAc5nA5IG0M86TUvHWjfGWyHzxA5dn42OnL6Zf_DoGiMLZU8HvWubCTWGm41rmn0TOvfe_yfWKJHwXp3gl5-ucHdB2ZmkvIXsmiuui0AlkMP5A_QA9xY801HvFAuap05puCkVfNaOWexvg4Gesq3T5VXdDNRqvHKOmP87a7ofym64LKJf_tkki9N-2Jk4nMe7_ywk25maLALMcinQvyv0dIfhnnBjEv1s_E8Pjz3FgvtGZ2JyTNhiFRCTWEEcGaGqRJvOki0VjmsbEvaWO7OirPXChIdo_kNR1pFl2zi0_YQ9aVXIWwAtbP98GMcSldxTqjIhQYGKJ0fpdt5kjAGGHsUxJOOG-h4c0P0SVDHSctIF4-O0R8bYEVnM23mcAG9wV43b2JGvKzCrT0IQJvUjl-85HUIablzjEt4R3cYXiu0bLQ-rFBCzcJ3Z616BRD91FS45Vx-4jbl1uFF8_Kn-KW-jWQoTId98C7ln7bwrP9cBojDwulwCuKhIf514lI8P6aEhOOXK-4bva_P12IFuLrzZzZtF_KxQjl8WWakM1AaW1Uyr8Rbn-bTlhI-bB1AoEp2a6POtRfhfhQeXjeGvsm_JQKbp50qc7xWNSKuXD4lMQrlPJIEt0Ef3SmnlKqXp5iE4Q3n7065zi2JKL2wkk2fpaR9QfDNA_tzdJvNtOZKlUdhzQxmAKa-kkpgMsOhZTpIY-3ozonqC6BWtXF7",
  "id": "rs_01e6d9353bd9ab63016ab457fd3d0887d0b41a3db1f48c22b2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_y\":-0.07,\"left_z\":0.033,\"left_yaw\":0.5},\"note\":\"The wrist view shows that the jaws are still over the bottle’s body rather than its neck. I’m moving farther toward the cap while keeping the jaws open.\"}",
  "call_id": "call_9YzLqQ6L58N8LMUJlk8mQ4Yv",
  "id": "fc_01e6d9353bd9ab63016ab45802e7fc87d0a1cc065c19ca2a14",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9YzLqQ6L58N8LMUJlk8mQ4Yv",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.609, 1.7561, 0.7021, 0.152, -0.8658, -0.8391, 0.9983, -0.0193, 0.7723, 0.5636, -0.3965, -0.0235, -0.036, 0.9986]\nstate[eef_state]: left_x=0.3713 left_y=-0.0906 left_z=0.0435 left_yaw=0.5008 left_pitch=0.027 left_roll=-0.0504 left_gripper=0.9983 right_x=0.2861 right_y=0.0022 right_z=0.164 right_yaw=0.0031 right_pitch=-0.0362 right_roll=0.0041 right_gripper=0.9986\nstate[joint_eff]: [0.2393, -5.9966, 4.3966, 0.9353, -0.3785, -0.0317, -0.0171, -0.1846, -1.6479, 7.0085, 1.9463, -0.0073, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e552bcbda0144fa2bd59787fb0613d1f2bd74e8a4e6c170a7413eb7ab2dcd6e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fe4559326593e93158c4c15b6533333b81bb0d1bab27fa842383d9f22cd5559",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86c0846c848a08d6bbebe1ddfaaf9133364f0199ed3d5ea10f7cb6b82be568f2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 3.428 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, 0.7925, 0.6079, -0.3763, -0.0227, -0.0277, 0.9986, -0.0158, 0.7876, 0.6033, -0.3847, -0.0162, -0.0353, 0.9986]\nstate[eef_state]: left_x=0.2956 left_y=0.0017 left_z=0.1829 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9986 right_x=0.2936 right_y=0.0018 right_z=0.1804 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9986\nstate[joint_eff]: [-0.3761, -1.4701, 9.7573, 1.7705, -0.0415, 0.1636, -0.1538, -0.9915, -0.841, 10.2222, 1.7998, -0.0855, 0.1783, -0.1538]",
      "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]: [-0.6117, 1.71, 0.6521, 0.1761, -0.7769, -0.6861, 0.9984, -0.0193, 0.7841, 0.5911, -0.4034, -0.0235, -0.036, 0.9986]\nstate[eef_state]: left_x=0.3628 left_y=-0.0989 left_z=0.0382 left_yaw=0.361 left_pitch=-0.0225 left_roll=0.027 left_gripper=0.9984 right_x=0.2894 right_y=0.0022 right_z=0.1719 right_yaw=0.0031 right_pitch=-0.0274 right_roll=0.0039 right_gripper=0.9986\nstate[joint_eff]: [0.4308, -5.9692, 4.8889, 0.8767, -0.6862, 0.1441, -0.0562, -0.1846, -1.4291, 6.8308, 1.9512, -0.0024, -0.0415, -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]: [-0.609, 1.7561, 0.7021, 0.152, -0.8658, -0.8391, 0.9983, -0.0193, 0.7723, 0.5636, -0.3965, -0.0235, -0.036, 0.9986]\nstate[eef_state]: left_x=0.3713 left_y=-0.0906 left_z=0.0435 left_yaw=0.5008 left_pitch=0.027 left_roll=-0.0504 left_gripper=0.9983 right_x=0.2861 right_y=0.0022 right_z=0.164 right_yaw=0.0031 right_pitch=-0.0362 right_roll=0.0041 right_gripper=0.9986\nstate[joint_eff]: [0.2393, -5.9966, 4.3966, 0.9353, -0.3785, -0.0317, -0.0171, -0.1846, -1.6479, 7.0085, 1.9463, -0.0073, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e552bcbda0144fa2bd59787fb0613d1f2bd74e8a4e6c170a7413eb7ab2dcd6e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fe4559326593e93158c4c15b6533333b81bb0d1bab27fa842383d9f22cd5559",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86c0846c848a08d6bbebe1ddfaaf9133364f0199ed3d5ea10f7cb6b82be568f2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFgJ8m67MqGe9Sdy-pMxlGxUEFfCuEZShkvg_ZSMEO1IfL-HBPN9kpJ3Y6bLNW3iTZ0UdGXTjVaNsAOTAaAYAj10hexIYhOvd0Cl9dvDIOCf95LS4JLibT8Gwi8e9fK66ejDwY0zo0sGac54ni8C-LnTJrgAlbyet5Uhm_9ARSXqcM_VrXh_zHL2UBxFSriHsMM7KTUHBMcODRZDPvxRyOxz0YGl4Ikr3a5AA_bYHPhNjN0PTZYvJ7NrLB-OGCkS0eRIwP6K31wMf63AwQyO2fO0CR2hf1m07H9wjPTUKdTBIPrH-_yLkNKK_kTdZMbTfEvfzuZGRz8lNNZPEUhwl_EfyKeqtzExg5e7kjrdqTOB5GEP2IGJzGS0EW-mWYaQQIcN2RGgwjKrDVpCIRQaRbNCZWx2O94bbNKky0-sIVoVOBv_foxctPANJgM1oibueNZNeJg3gFOGitLzfODHBlemnY6FGTTDeoJD9WFKCmwRK9duxxgKev7guq9AMZEMautzgWwP7jk9unyRYcamrGZzA8KcYXkG18jLJuqBbvMenjz_78TnVQq-nW-oXl8S1t5wevHKaQ6qqD9DSsD8T24HhxRWxFuRvWJBzPypeSSyAUNvvxn7ZpPG64KJ1B5pNsPPwh-5mPthliSDyg0kcDoCFi8WBIcu37Za45TRCTJgc12mr2qxW2Sxo_uJR2XWjXUBWv_t4QUcWuW_lb6u3piCoUcCQ0m34htLbEoyfeP58wRM7o5CiWCfuIBcHPJYQFOrS9OVZlLK8xXYInfK7ILramPsaXHOvDb6RmE-sE4umB5Oyd1CBEhrqSNLWhIkyH9Blct6Z5jdB0DCEZCTVKbKUUgdUxCVfj431spByiW7-5r3gRXvNbs0orfstYQcf1p41SfMZ4rFk4Gt-Qiuo40rrAOYHONwoUSvdDCbjRzH1BQIfCPy70w6RpwdP0c7JE7dfG09096NnYjtVLSooj-WsebIihkXRlbp_avzVn9rYSNaFKN6ZjMHvDM3bpxPrXCCmG1dy8anhXOCawrivLORl7LQfu58L8HfBqAwDx9_pZfXPTOTwyCBwpRbPQol10U1x8dgPNfgpKp2wQyJ2pDhX4HkaNzNGmCfmzTwxIkAKly0Mzj5WJFvEirYdVa_b-fCASy4MFL8x6Fn3Os7L_yjo18AeBZ11u175XwLNoUd7aUmKARXFUT6V27bXS4_FycDMZe_0lsDF_HN0UA-eUx5djJM8kt2FhJSjvvfGKJxcd5iYmDCtfWt4pcsfl153oYir8g5dgbMZLyK1VWVpcCR1Ksoch4pJ9aMnIFJGEnfyQH66cXd3Ghzj1RuoAqDwAQwqSyz3_lxuDgSItAkt2CCbyvvalxZVG78BOiuXy6Z_vxn-OmcH1eByzrdAhuI8iLtY3O0liUqQ4NrZwfnKljyaR0uQPKcdEXtJBQPTFg4AEP-nKpPTKNlU3vYU5302LqlCvzVshJlGTSkzDJjnq0wo_xwr2KMRQA7iGLnMNg9BnY=",
  "id": "rs_01e6d9353bd9ab63016ab458072a1487d082365f4e79717050",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.07,\"left_z\":0.115,\"left_yaw\":0.5,\"right_x\":0.294,\"right_y\":0.002,\"right_z\":0.185},\"note\":\"The arm stopped short of the forward target at this low height, and the cap is still ahead of the jaws. I’m lifting clear of the bottle before approaching its neck again.\"}",
  "call_id": "call_9Jo5HvzLqlEjeSLJynZXQBqr",
  "id": "fc_01e6d9353bd9ab63016ab45808972487d08b3016d04bb76db8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9Jo5HvzLqlEjeSLJynZXQBqr",
  "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]: [-0.609, 1.7561, 0.7021, 0.152, -0.8658, -0.8383, 0.9983, -0.0193, 0.7868, 0.5804, -0.4126, -0.0238, -0.0399, 0.9986]\nstate[eef_state]: left_x=0.3713 left_y=-0.0906 left_z=0.0435 left_yaw=0.5003 left_pitch=0.027 left_roll=-0.0498 left_gripper=0.9983 right_x=0.2868 right_y=0.0023 right_z=0.1645 right_yaw=0.0055 right_pitch=-0.0499 right_roll=0.0015 right_gripper=0.9986\nstate[joint_eff]: [0.2803, -5.9009, 4.3966, 0.989, -0.3443, 0.022, -0.0122, -0.2256, -0.759, 10.2496, 1.9414, -0.0073, 0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a8598bb3b68967fd72aab50e41d380eea7fa24d88f2b8dbdbafb415e667df7e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d16b57aa346cbb42069a107a77fd4ef88dc0adedfc149701d4ef084c097ab16",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c75440b4a3b72bb6a52d1dd0e71ae29b48eebcc2c00ef9abe4c4faa772b4acba",
      "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 · 6.446 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]: [-0.6029, 1.2854, 0.5213, 0.0429, -0.4728, -0.3492, 0.9988, -0.0193, 0.794, 0.609, -0.4046, -0.0231, -0.036, 0.9986]\nstate[eef_state]: left_x=0.3235 left_y=-0.1207 left_z=0.0892 left_yaw=-0.0357 left_pitch=-0.0683 left_roll=0.036 left_gripper=0.9988 right_x=0.2921 right_y=0.002 right_z=0.1772 right_yaw=0.0028 right_pitch=-0.0205 right_roll=0.0035 right_gripper=0.9986\nstate[joint_eff]: [-0.253, -4.9026, 8.3214, 1.8339, -0.3199, -0.0952, -0.1343, 0.0205, -1.4701, 8.335, 1.7802, 0.0806, -0.0317, -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]: [-0.609, 1.7561, 0.7021, 0.152, -0.8658, -0.8391, 0.9983, -0.0193, 0.7723, 0.5636, -0.3965, -0.0235, -0.036, 0.9986]\nstate[eef_state]: left_x=0.3713 left_y=-0.0906 left_z=0.0435 left_yaw=0.5008 left_pitch=0.027 left_roll=-0.0504 left_gripper=0.9983 right_x=0.2861 right_y=0.0022 right_z=0.164 right_yaw=0.0031 right_pitch=-0.0362 right_roll=0.0041 right_gripper=0.9986\nstate[joint_eff]: [0.2393, -5.9966, 4.3966, 0.9353, -0.3785, -0.0317, -0.0171, -0.1846, -1.6479, 7.0085, 1.9463, -0.0073, -0.0513, -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]: [-0.609, 1.7561, 0.7021, 0.152, -0.8658, -0.8383, 0.9983, -0.0193, 0.7868, 0.5804, -0.4126, -0.0238, -0.0399, 0.9986]\nstate[eef_state]: left_x=0.3713 left_y=-0.0906 left_z=0.0435 left_yaw=0.5003 left_pitch=0.027 left_roll=-0.0498 left_gripper=0.9983 right_x=0.2868 right_y=0.0023 right_z=0.1645 right_yaw=0.0055 right_pitch=-0.0499 right_roll=0.0015 right_gripper=0.9986\nstate[joint_eff]: [0.2803, -5.9009, 4.3966, 0.989, -0.3443, 0.022, -0.0122, -0.2256, -0.759, 10.2496, 1.9414, -0.0073, 0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a8598bb3b68967fd72aab50e41d380eea7fa24d88f2b8dbdbafb415e667df7e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d16b57aa346cbb42069a107a77fd4ef88dc0adedfc149701d4ef084c097ab16",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c75440b4a3b72bb6a52d1dd0e71ae29b48eebcc2c00ef9abe4c4faa772b4acba",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFgNZsstmF0jTLUmhGHYC4c_BwQRqlv0LjHFNBlNI6X07-o_nWTgHUBp6Ib-n3Rped-DmIz9UIu4cBTMlmBhmihvWGFxsLbYLYGI75vrCaDEaqYNgilhFTq_odqWCbwFdYoQm8Lr26Lqj14pR_aYZmkNJj5B3hZ4t8NFunC0lTkJQOExCeeOkw26_QIjPuMSvgi8wHiLTgTkpMDihTswTk2Bv7hoSwovWaoN-qc328Hf4tlOaGLURQ8Lk1Qz0cRE20wYWdNkszs8MT-pvVT-qWwl7s19YkeJML1hz23JfXh4yiTe2_8XBph2phcDNTGSoromvlGUrXWSZ5pEWEz1rB1Dnv3v82i3RY55tftRSzKooSn7BmL_CgDjxBGxNbEsi79yXoFsDNf2z4GmWzR3XogMWJFNOgUgqzhUk7E4gCG1XyqxbOOe4bcWS_I_FBWEGJqoakT2Qf74_2RDP4wBhXi4l7F88gyH2rZ-E5X57BUXxREYvrHcpRuo3_cLMV7IjTZF9hXN6_bthdyIisv2cqtFLsKUyOJRpcQ-Zf0RjGz4NW8GLWZVAYVHXApLWhNfHJDNLQ6vF0c0cSZXiz4OXCiZdFONPJu1Z2UE6bNsGgku4uTgFpBr1ON0rmQ49HGTObDmJqpZqpAvTIhzoCj10pX-CXrxF6gJSZxBakGU3DnhWGGrUal5YbjoXvYVOEftlrGz1j5TCHkM7YLtBZjDsXo1JOOiD7f-h-TT_SKjJ7rtX2SVtaPBgNftvICD7WllWPKjqqATYEtCykdN1ekmMQ_foV_f8Yr3dtka8dPoXnZEfRmjMNSoALV_3GHspquChyj6UZjwiBZKT3d_GZs0v8TAuY33AidadxzH7qlzjJkTuaYUKY2Z91PAi_ITlMkr7CG5UZWtd96VIAIIbbpfQoIQ9Ucocz_VQ-h7IyD5Sb6AzI8u6nXDWM8ku_imwS4Tlopo81uyIa1zU0it3DkOzhNo6SbvRZsNEjZWkuNriAtd3jEZe0l0Pq35gly3CnCuW_Iu47dTOsAJ1OyYm_jYumZmnwJG_Yx2Ma7N9J00JOwytpU5GKZUJraEjL0D8_Q6m5tqnk46oQdvIbQXJxDzCnbFuZX_VHJcWKDoEfvxn3XV2R22UG9Hn77BJhO4-ypD27QZ_Q4E-EOahCKVVwXeVfulzQ4ZVLzfy8B9QQqz9-rqyDLfgKEzSRWPNfo-OoJ5BAaG43E3MiadpK13qcILcFjupaCY8qEC-p3-LzquOLxSv3BCpTjX30O2ARDmJKOsPyO4aVC-rs6LYGVQR3tTXRYzCQ==",
  "id": "rs_01e6d9353bd9ab63016ab4580c13b887d0a60509ffd048451a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.335,\"left_y\":-0.09,\"left_z\":0.17,\"left_yaw\":0},\"note\":\"The raised target also failed to move the left arm, so this is a pose-tracking limit rather than a successful approach. I’m retracting slightly and returning the wrist to its starting yaw to recover a reachable pose.\"}",
  "call_id": "call_5fpOdC8YN2cXSOSUjdmeUCS0",
  "id": "fc_01e6d9353bd9ab63016ab4580c4fcc87d0bd26be389a04acac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5fpOdC8YN2cXSOSUjdmeUCS0",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4839, 1.1324, 0.6479, -0.149, -0.4801, -0.3687, 0.9983, -0.0193, 0.7567, 0.5301, -0.3805, -0.0242, -0.0437, 0.9986]\nstate[eef_state]: left_x=0.3367 left_y=-0.0807 left_z=0.156 left_yaw=0.098 left_pitch=0.0081 left_roll=-0.024 left_gripper=0.9983 right_x=0.2831 right_y=0.0024 right_z=0.1561 right_yaw=0.0079 right_pitch=-0.038 right_roll=-0.0017 right_gripper=0.9986\nstate[joint_eff]: [0.212, -3.8359, 10.6325, 1.7558, -0.0855, 0.1441, -0.0171, -0.3077, -1.2376, 7.1453, 2.0391, -0.0611, -0.0171, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:288e955a0c9522b85cea15b710b855295cf1d4520e3b36f83086f86e575f4399",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec2ee59c19f8f424c62e1e7833ebb1cd4f4a9f41d90c0e85f17039647ad8f6e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b095d1945e3e48d7088601f62ac6d057c73176e551e0cdc7c7f00033ca93045",
      "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 6 attempt 0 · /responses · status 200 · 4.979 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]: [-0.6117, 1.71, 0.6521, 0.1761, -0.7769, -0.6861, 0.9984, -0.0193, 0.7841, 0.5911, -0.4034, -0.0235, -0.036, 0.9986]\nstate[eef_state]: left_x=0.3628 left_y=-0.0989 left_z=0.0382 left_yaw=0.361 left_pitch=-0.0225 left_roll=0.027 left_gripper=0.9984 right_x=0.2894 right_y=0.0022 right_z=0.1719 right_yaw=0.0031 right_pitch=-0.0274 right_roll=0.0039 right_gripper=0.9986\nstate[joint_eff]: [0.4308, -5.9692, 4.8889, 0.8767, -0.6862, 0.1441, -0.0562, -0.1846, -1.4291, 6.8308, 1.9512, -0.0024, -0.0415, -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]: [-0.609, 1.7561, 0.7021, 0.152, -0.8658, -0.8383, 0.9983, -0.0193, 0.7868, 0.5804, -0.4126, -0.0238, -0.0399, 0.9986]\nstate[eef_state]: left_x=0.3713 left_y=-0.0906 left_z=0.0435 left_yaw=0.5003 left_pitch=0.027 left_roll=-0.0498 left_gripper=0.9983 right_x=0.2868 right_y=0.0023 right_z=0.1645 right_yaw=0.0055 right_pitch=-0.0499 right_roll=0.0015 right_gripper=0.9986\nstate[joint_eff]: [0.2803, -5.9009, 4.3966, 0.989, -0.3443, 0.022, -0.0122, -0.2256, -0.759, 10.2496, 1.9414, -0.0073, 0.0562, -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 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4839, 1.1324, 0.6479, -0.149, -0.4801, -0.3687, 0.9983, -0.0193, 0.7567, 0.5301, -0.3805, -0.0242, -0.0437, 0.9986]\nstate[eef_state]: left_x=0.3367 left_y=-0.0807 left_z=0.156 left_yaw=0.098 left_pitch=0.0081 left_roll=-0.024 left_gripper=0.9983 right_x=0.2831 right_y=0.0024 right_z=0.1561 right_yaw=0.0079 right_pitch=-0.038 right_roll=-0.0017 right_gripper=0.9986\nstate[joint_eff]: [0.212, -3.8359, 10.6325, 1.7558, -0.0855, 0.1441, -0.0171, -0.3077, -1.2376, 7.1453, 2.0391, -0.0611, -0.0171, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:288e955a0c9522b85cea15b710b855295cf1d4520e3b36f83086f86e575f4399",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec2ee59c19f8f424c62e1e7833ebb1cd4f4a9f41d90c0e85f17039647ad8f6e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b095d1945e3e48d7088601f62ac6d057c73176e551e0cdc7c7f00033ca93045",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFgUvRwW7m2JnxXAD2JAwbJCUvW-sehghR_NSjwPBszS9kgUPfGrX7RJwTbOv-TVG2GAMTZPqLcV7oLxuU3SCQA_mEMedoy-9XD3QWWo2rFX4TQhuYWqS35tKSM0K9EOa4riJhvXEP5JXNZfhru5kYPq_pvFWmr4ClNKHSiCIJlDDLqj1ZxgrQaCKDpz1xzEIh-n0Fo2WxWR_5Sz0nb4ovYbBz_FAM9ckHxSXXHCdLBAKIbfBcxslpiuynuVrLD8m8GXgOYDEpy5wP75eU260VmtpuD6R6csgD0u5GlF3sph1SF6lVrDVW71o5ld_zsFvhGEV_eywFpmVFw36d8mXg2VU0O14dG4aV29TM4o6GApsp0qrF84NSq1IcR6_6jUNB_S8aeZ52tqKRs1gUj-IRDhSPUFF00t3szKoQQ-ZFCe5nBvsAC8aONSHeJwqsQYp16X98uTjD_7Ze0BeDDvkHN72r0aAFtx7UHB-L5h100_JwIn2nIy7zlP_Cd9iuM4BO5HBmjaD3YQ-YzuvpxTacwW3DXTqz9t51MJtJh86DmAAPeh6wdiHKYm0rsDCfJvOGkL-ztwPfCZqrLMvXUIolN_DNFzfnGwYA-vwf1fJ9czIHb1MZUSw73xmLTMWaTdvoPwKBe7mgKjeUKIgmzt3Qb0olBK235TOVUvc5HQKPcygQkmMbNhpNknu2zpYz4-JCwgumr8R3IjSwqawMgDl7xvyM5PSJVpuKgFtIMrBJZq4mYKFBBAx_x5FRwwbAvJBof-aR1D0aC90R2yuIUo6nPD0IDJo2xtugVT0v2JAgKA2EuBI_mDMeA_kTiP6vY6LRUYeSKUSwJylZW-wmdMfGaRZb8pH1Rkxpwef_9s3xCdt20_tLX0QVkhdQGAc6yslsJB9PTXeZVNDBPlYAAw6BX52DaT643RLLRgi7VFlH_dElpTPvb6qEvHNWnwAR-TeAjSgcG4gkl9EEn0qx3tdKaUqBX3WhX-y9bJh1NCt120Zdz1K4ope6IBFypCrlNDLSEBWRxzcQhO6ukklXJJg2A7hZsBQYpwOo2n8RFYGhJAjorSj_qFXyXn3feFxjJEFgRgj-4lcySGuE-EhCCYgZ6-n1R8gxgNNGlf_m62Q1jnC7gtrPCT85qDoBiAF7CyVf_rovvbcghu_D4X6_1rRFUOlN30twIHmroMBTCWg_-5nzv6w2HLqM7hP97waRAARKnxUVw2vceNMuNBvUrK5XhYDpzMOXoESJpxsme14XTP0UINka9i8y9cHYh1KC_PsAVNfF7ucyWWNlHaASOxT9JFAfeM0rgiSKSFUXCJ1hSU8Or-ISS3dz5NHfVIXR_YaCvo2Cb8beYX4tjc1YaYzU9MjM3yyL9gSeCZo2BHqtA3E9uQw0wbjDN4IocgXb9xAu725432vfcGs0-0Yh4rDxyNN9i58f4E0j7kKX3VyP91crg8lrRYzHlzTWwnth1wefuXpT_Ozh_-s6nNDVv1M5wfTOk3Ar0LPjY4V1CakAEJhp753yoJRJcZ1hfukJsMVdqsPdGd69_TsM6WuN574rr-zrkpkRfOP3vfz1JwBd-r3Akk9J7bW7QEHA51Aj_OYDOTHHgboP2gQmArZS78hYgg_LGEAMLNR4cZcZ9Gw5smGID9_AdRek8ma4qHNsHBgiZ8",
  "id": "rs_01e6d9353bd9ab63016ab45811de9887d0a71eebb270730370",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":-0.07,\"left_z\":0.145,\"left_yaw\":0},\"note\":\"The arm is moving normally again, and the nearest bottle remains flat. I’m approaching its cap from above with the wrist unrotated to avoid the previous tracking limit.\"}",
  "call_id": "call_XaENTg5SGghv0Ofy7OQo2J3v",
  "id": "fc_01e6d9353bd9ab63016ab45813bf5887d0a5145e69178ffbeb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XaENTg5SGghv0Ofy7OQo2J3v",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.255, 1.5269, 0.8585, 0.0231, -0.2531, -0.1959, 0.9983, -0.0193, 0.7364, 0.4915, -0.3607, -0.028, -0.0437, 0.9986]\nstate[eef_state]: left_x=0.4288 left_y=-0.0624 left_z=0.1262 left_yaw=0.0493 left_pitch=-0.0607 left_roll=0.0027 left_gripper=0.9983 right_x=0.2797 right_y=0.0032 right_z=0.1479 right_yaw=0.0111 right_pitch=-0.0364 right_roll=0.0004 right_gripper=0.9986\nstate[joint_eff]: [0.1846, -6.7624, 8.9778, 1.9414, -0.0171, 0.232, -0.0171, -0.5128, -1.5248, 7.1043, 1.9609, -0.0464, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ead54864b91fc5ba5d0770fbd687de7613a86979a49432790f1bdd3cb019075a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9ecec7fdd3da568f7cc463da7308ef174d268a8e5355517e15cf3890db848aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49543a2bedadd25f9f434fb1aa509e61ca7471f9ef9d40f828bb896022af130a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 4.994 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]: [-0.609, 1.7561, 0.7021, 0.152, -0.8658, -0.8391, 0.9983, -0.0193, 0.7723, 0.5636, -0.3965, -0.0235, -0.036, 0.9986]\nstate[eef_state]: left_x=0.3713 left_y=-0.0906 left_z=0.0435 left_yaw=0.5008 left_pitch=0.027 left_roll=-0.0504 left_gripper=0.9983 right_x=0.2861 right_y=0.0022 right_z=0.164 right_yaw=0.0031 right_pitch=-0.0362 right_roll=0.0041 right_gripper=0.9986\nstate[joint_eff]: [0.2393, -5.9966, 4.3966, 0.9353, -0.3785, -0.0317, -0.0171, -0.1846, -1.6479, 7.0085, 1.9463, -0.0073, -0.0513, -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]: [-0.4839, 1.1324, 0.6479, -0.149, -0.4801, -0.3687, 0.9983, -0.0193, 0.7567, 0.5301, -0.3805, -0.0242, -0.0437, 0.9986]\nstate[eef_state]: left_x=0.3367 left_y=-0.0807 left_z=0.156 left_yaw=0.098 left_pitch=0.0081 left_roll=-0.024 left_gripper=0.9983 right_x=0.2831 right_y=0.0024 right_z=0.1561 right_yaw=0.0079 right_pitch=-0.038 right_roll=-0.0017 right_gripper=0.9986\nstate[joint_eff]: [0.212, -3.8359, 10.6325, 1.7558, -0.0855, 0.1441, -0.0171, -0.3077, -1.2376, 7.1453, 2.0391, -0.0611, -0.0171, -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 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.255, 1.5269, 0.8585, 0.0231, -0.2531, -0.1959, 0.9983, -0.0193, 0.7364, 0.4915, -0.3607, -0.028, -0.0437, 0.9986]\nstate[eef_state]: left_x=0.4288 left_y=-0.0624 left_z=0.1262 left_yaw=0.0493 left_pitch=-0.0607 left_roll=0.0027 left_gripper=0.9983 right_x=0.2797 right_y=0.0032 right_z=0.1479 right_yaw=0.0111 right_pitch=-0.0364 right_roll=0.0004 right_gripper=0.9986\nstate[joint_eff]: [0.1846, -6.7624, 8.9778, 1.9414, -0.0171, 0.232, -0.0171, -0.5128, -1.5248, 7.1043, 1.9609, -0.0464, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ead54864b91fc5ba5d0770fbd687de7613a86979a49432790f1bdd3cb019075a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9ecec7fdd3da568f7cc463da7308ef174d268a8e5355517e15cf3890db848aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49543a2bedadd25f9f434fb1aa509e61ca7471f9ef9d40f828bb896022af130a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFgahKeMLQ7ppN6rJ-SBsYrB9zgYTgyuf74seXXhwb3EvV7spRPlyZParC8icZQElfjCj3dMkHMuqPcE5Umm5fA3XZm62papO2X9YlRt-pnsqLy2QtkVxnBh2lsY6kerO6zazg5C7jILyRYXgKyJyijH8nlpqWSJwrlXkBIaePBiVJW23t5Ss325r7PNX-vxt4MEWzu-6-SCIPNMPEC20LnDaC84yTAUXMaBfiDBG-kmUF3SLb1-adm7tFSm6D3c39j3jIhM5sUni2y1jMUrp9MCwzXCRItr2uoHFeti0UkFEtFSFGE1yeBTb58cTowFzmkX6dS_4h4f2dpG299s1uimfC1ua7LO8LraKadZUii-_9JmpuVVRpWccF_9LLqtXDukanQJRdSWLQ_fd0-W75v-Anmpf3XpVv_1mzJN36E3IH77YYRLulB-dUWnhwk9jn1SxjFzTsf4F1znbZWeiOANKR08dECHzE5dWOhc--SQET6blpulaTx26ivD9CvLd5VqRu-USa9bIoONQz-p7vfvFW9Z2yTxae1qRoBTQMo_PCoMhg0Uan-xpa-t5NTDyvSlXoMUPVddl0aLSK9QgM-2OOt7PQZG50peRG-wWCydIEo1zGLQGZEyuP8AuTsrwoYhIJOA_hgEk0PMqSIOqKn_rJcgZr48jUZTyyY0x1M5cfoDD-SC5O2A7yoGQ0iakEYz5Fqh4X35NJEDgMIqK5S2T9Rkzp_WiFNOPKiA8o99UlQHl4dP2EY8Dvf8UJmdSnDug2HexVzVsAeGvzJ2CEh5w-IzWe0ku-LOPyWFUpuj24KGUOX9AsrWumszfCLYiT3T6lx_158ll_bH6z6p-Af_VvsF3bQzuBZi3m5_hZVK7zux7MDSCZsxg4Rfqq6yFeFnwmxySBclovVqhsP2c3X4eSwMDaYxWEqxCVUl-kV3bLAdp98p2M-YtHVfdz0SfcxamaaEVOMlqIq2p4VNVP1S9i0EAPy-xEkpLx-SlCRcxgeRIEdeC3EfAym1QyNjoJSfnvmNYU-IefKw0f6BAQkWp8XaBYOZfc7OVN9czPyOR-adFVwi6z8Xfu-bvPCTmniTtB9wIWpHXojkIBKEdS71JDK_SJVKprwlwKVyUhvDbKAJv0lZHhVcoZnkE5yM_iQwz1KLLO-sM6Ldl2qPOQ_rjIGxejneTzrewwi195VpwzYr9nmXffyXn63M5ORE8nolQgBiCPps48xxKSIwOjh8HXaoqTA6aHr8eMYYa-nY4CRABU0AcinNWgfFBaKVsT7cw8TuM3QBka0QOcc6yfHkKGlZM7puNEnj0oyuHfTsVh738i6RnLNrNYF1G-4ortQdZJDJS3BUcfE6pDZpdpvlDhjF0J3Q-Cm7BtZKM4aOPEosefaYPnO9TUueTLSoD1azX9up9TLDq2CbYQpeDCtNa41WJTGV9IPda8ng70ufew9lxohAsstJ0E6vWgLzA472fL7TK2sG8lTk7fh2s57K-cXGjRRZtDwhPCRi9kPTpCsoc5SvtpNLwxHrlx_WoxYWLJen8tssX3mbAOGFPe_dvTv-kgkxsVkNHlFyIvR64DGnx7ygqZNYmSTHq_dCEGQyC0vKg_rtUbWH7HrqKzzyWEkOWPo3bpY7PbSSeuVUaJED3B16vn1bMi8JXL0qTQwVoL1RsANOYFq5WaLxjMdaeRgFFDpk2WoKx4ZqrDQKT9ZA7nXL6sLNn_-O6L5x2ihwI3-IM_0wTgVYkx4YSAohBEAw38bVScsTd-xJbmXIrPuYQR975HmiaA40zk-5XIRxRBCsaXM7N7Pe-FtBW767dBtocrQFFR_cxIr9nMeQP65mPelHNZgfZnsWRJfe5jD4pLWFP4gLasCZ_iIRi-r2nnchA97VDoTUy7JPm1hXGmVA77EqdL-LQaQQwBMvmH_b",
  "id": "rs_01e6d9353bd9ab63016ab45817683887d0adccb311beb305e5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.478,\"left_y\":-0.05,\"left_z\":0.033,\"left_yaw\":0},\"note\":\"The cap is now close to the jaw column in the wrist view. I’m lowering onto the neck while moving a little farther forward to account for the wrist camera looking beyond the fingertips.\"}",
  "call_id": "call_u80QxVbqUIb4ILShnu6LfSVa",
  "id": "fc_01e6d9353bd9ab63016ab45819bfc487d0a97de6e9ba2faa75",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_u80QxVbqUIb4ILShnu6LfSVa",
  "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]: [-0.1749, 1.8797, 0.7898, 0.4976, -0.1646, -0.152, 0.9983, -0.0193, 0.7147, 0.458, -0.3431, -0.0299, -0.0437, 0.9986]\nstate[eef_state]: left_x=0.4682 left_y=-0.0497 left_z=0.0378 left_yaw=0.0312 left_pitch=-0.0224 left_roll=-0.0242 left_gripper=0.9983 right_x=0.2767 right_y=0.0035 right_z=0.1418 right_yaw=0.0127 right_pitch=-0.0307 right_roll=0.0013 right_gripper=0.9986\nstate[joint_eff]: [0.7863, -5.7915, 6.2838, 1.2967, -0.1148, 0.4127, -0.0122, -0.2667, -1.1966, 6.8718, 1.9756, -0.0317, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afff5b06ce7572ccd14e1d00670c6041a84442c3c23f3f44d6554cf30735647c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e90a44ff0fb1c3e3dfc2aa3e4379456a223782c3e455e00f0a78b87bf93c4eff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6889b013fa4de62d25e94ce4ad490eb9e7b7fbc0095cf34591fa430c02dc1a5b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 3.774 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]: [-0.609, 1.7561, 0.7021, 0.152, -0.8658, -0.8383, 0.9983, -0.0193, 0.7868, 0.5804, -0.4126, -0.0238, -0.0399, 0.9986]\nstate[eef_state]: left_x=0.3713 left_y=-0.0906 left_z=0.0435 left_yaw=0.5003 left_pitch=0.027 left_roll=-0.0498 left_gripper=0.9983 right_x=0.2868 right_y=0.0023 right_z=0.1645 right_yaw=0.0055 right_pitch=-0.0499 right_roll=0.0015 right_gripper=0.9986\nstate[joint_eff]: [0.2803, -5.9009, 4.3966, 0.989, -0.3443, 0.022, -0.0122, -0.2256, -0.759, 10.2496, 1.9414, -0.0073, 0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.255, 1.5269, 0.8585, 0.0231, -0.2531, -0.1959, 0.9983, -0.0193, 0.7364, 0.4915, -0.3607, -0.028, -0.0437, 0.9986]\nstate[eef_state]: left_x=0.4288 left_y=-0.0624 left_z=0.1262 left_yaw=0.0493 left_pitch=-0.0607 left_roll=0.0027 left_gripper=0.9983 right_x=0.2797 right_y=0.0032 right_z=0.1479 right_yaw=0.0111 right_pitch=-0.0364 right_roll=0.0004 right_gripper=0.9986\nstate[joint_eff]: [0.1846, -6.7624, 8.9778, 1.9414, -0.0171, 0.232, -0.0171, -0.5128, -1.5248, 7.1043, 1.9609, -0.0464, -0.0415, -0.0073]",
      "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]: [-0.1749, 1.8797, 0.7898, 0.4976, -0.1646, -0.152, 0.9983, -0.0193, 0.7147, 0.458, -0.3431, -0.0299, -0.0437, 0.9986]\nstate[eef_state]: left_x=0.4682 left_y=-0.0497 left_z=0.0378 left_yaw=0.0312 left_pitch=-0.0224 left_roll=-0.0242 left_gripper=0.9983 right_x=0.2767 right_y=0.0035 right_z=0.1418 right_yaw=0.0127 right_pitch=-0.0307 right_roll=0.0013 right_gripper=0.9986\nstate[joint_eff]: [0.7863, -5.7915, 6.2838, 1.2967, -0.1148, 0.4127, -0.0122, -0.2667, -1.1966, 6.8718, 1.9756, -0.0317, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afff5b06ce7572ccd14e1d00670c6041a84442c3c23f3f44d6554cf30735647c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e90a44ff0fb1c3e3dfc2aa3e4379456a223782c3e455e00f0a78b87bf93c4eff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6889b013fa4de62d25e94ce4ad490eb9e7b7fbc0095cf34591fa430c02dc1a5b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFggtgNwi2mjZwoUjoQESiLRHQW5xo2vw_NFY6L3_JMQxW9QT8n3hSHtx_Dl6st9Qkzbsr3rE9LfHVy5Sbnz7glxal9WgPy1rPKNkr46PCEjDx3aK1jNO5flTDTIQ_OfGFzBwgvn9fcctN5cpOnHvRO9EG63qLdW_D29So5EWY0qUJ92_8ERQ0-m5bZnPN-IwY0-ik--mk27RXZ0gyoItHIVPKQehcImiNoITQR4kKEtKJsrJNvUE0oneAPwCVVUukUb-UP8kbB0C19BD2LXFS29n47fMzc1Vb5xlM58wSO3_6vmO6vwpO1MU7Lfyx_O2VU0J4RPqDG6n_WJVH8MKS9teIKgg7uTggrDh-NzwSht_P4grAzAe1CJy3OaXQbelmjav78CapobbuYuGGA1yRHPdwsWTmDn5MWGKCzQussEa60Y3C_dfHuqqlG5Fb7-2N8WEqJH-2ppmP6IvaXOwfJmYNhHFEFuXy_BMhRdRz0G_hzLORPQtSMBkdY2mMzD-43YuVOHo5ouAhWgOBAhOLMqRS_uOThoAhSRnKdjsbQ-yB0TzBl1zV7NEO2pRmZZgZ4IipSPz7CYoC11FtFzQRdUHpvbk61Cmu2gTdhBSWdgZpBN8nZI1R1u0XLVwNIvFyMJ6J24PxWDoUdwHyDS7wxucGa1_3U7dwlfYt40uyV6xDl02VuigfusZQzItotxcUrpQd1-hbdX8AI1DrvUtvI4tM6Vb3--8No16whN7anQ0tbKSD67xvmrZTpmkrrAkThPwDhdkFSOlKsJNi1_myUzWVWqRhUAz-PAo5JLpHj6AALQdlqVUQoHDfMsqULRcjf93hfc3b9FLkCBWTlHq_F7XTCQUp_xpEnXJjbZjsutbfAdw8siZoDTrDg_KXxzTEzDkSb5bKOLLUS2zRgpGvVcOD1e2Ko0KF59wQZD4QisXu4GJ0NrJF90WFGH72_NwUO1ChfTRzzGl8FTReyBwuEYbMCJRliyHcNDty_jrehf8YvQNt_xnbSSZp0Az3uiRd_ut9ZJa7lQSWFNIpuiV9_r5-edqAALRwxTgZAC3xpq6ZTV4h1DKF7nJHualUpCM3EO3T0OGHzBoNoCfUzUmFbbW3SUjlrUfOzD1Y9Z6fikVjBRQsruadOMyYkFWFkmh9GnbThSCpejTlyXylnLcmIKoFe1qkbxKH-hLASmt01zoLNpLN5i8DZ6X8NFU9e4Bj_rTsSc5AhIjBfOKNzxSkldYlXGYR-1SmBK1ZL31bd3AEqtzJThj9TucXJBP_JzCFeoVvcjTtmQievpKFF7T2lRaiQ366IGz0_VcS9HUYyvQMnSWNfztjb_EeFqhUWV58jp0Z7XhI3vCmS4PeHm0znCjsDLQJLbGeDVTftt8FkpTmtHLpKjbq9tM8Garfz3711A3sZoabTGQvtbAKEn5uk69iEkc-NrUAiwOpTfnfYBF0OJEhJ-hPV_Dbm-H04u_ZfHjQIzfDt0cNB7cdMAzmKwfe8uKGmXf669ozbIhkeUyUOyT32PXzUrWFXv1umQCkVHck5-77_22VoEi8iDPlE-Tk7fDjikO2IwjCo6SuDPzLgYV6xnJ4AZHv2-X7NSsPGE6_qsy-r88-5Uy3OJvpNy2HIDYZC7TQFuHnpLiL3tvVWrbNxNUsDXEKzJzrC1viSQISFglYSOo-RuN4miJUTfKNuXh2uECIk88yA_pFm29ouJP6vjTonyk0zN__0spWFhUqIskpq_ZzGcjURfOhZgSvZ7J-r_eJiNeaABq9Dcu8O4RLhdx6cAS-e8uqrgswnrYKZydA9crD3YOAg_rsTg0Q==",
  "id": "rs_01e6d9353bd9ab63016ab4581ce79087d0a119feffad51f01f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.2},\"note\":\"The cap has reached the bottom-center of the wrist view, between the jaws. I’m closing gently around this narrow end so the bottle can pivot as it is lifted.\"}",
  "call_id": "call_n0xMGgmw3TsoJWy3blgOGMHy",
  "id": "fc_01e6d9353bd9ab63016ab4581f725c87d0b82c7a52723265d0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_n0xMGgmw3TsoJWy3blgOGMHy",
  "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]: [-0.1856, 1.8915, 0.7925, 0.5827, -0.1856, -0.1337, 0.2057, -0.0193, 0.6994, 0.4309, -0.3336, -0.0303, -0.0433, 0.9986]\nstate[eef_state]: left_x=0.4785 left_y=-0.053 left_z=0.0514 left_yaw=0.0287 left_pitch=0.0542 left_roll=-0.0136 left_gripper=0.2057 right_x=0.2736 right_y=0.0037 right_z=0.1353 right_yaw=0.0128 right_pitch=-0.033 right_roll=0.0019 right_gripper=0.9986\nstate[joint_eff]: [-0.0205, -8.9504, 3.8632, 1.326, -0.1197, -0.0611, 0.0366, -0.335, -1.3744, 6.9949, 1.9512, -0.0513, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:258cbf49a14e09e50d4477ce477c2dad5af9cb3f5a51034743fc0329a6c4e36b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2d279a7f7ca7f47275116b1c5161a5b0a3a0c88c9bab364c2228cb4e4a1deb1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b33d83da10be8b34ca9f7d6613e83ad7a08d4e5a8b90f9b52757dda0ea244f9d",
      "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 · 5.916 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]: [-0.4839, 1.1324, 0.6479, -0.149, -0.4801, -0.3687, 0.9983, -0.0193, 0.7567, 0.5301, -0.3805, -0.0242, -0.0437, 0.9986]\nstate[eef_state]: left_x=0.3367 left_y=-0.0807 left_z=0.156 left_yaw=0.098 left_pitch=0.0081 left_roll=-0.024 left_gripper=0.9983 right_x=0.2831 right_y=0.0024 right_z=0.1561 right_yaw=0.0079 right_pitch=-0.038 right_roll=-0.0017 right_gripper=0.9986\nstate[joint_eff]: [0.212, -3.8359, 10.6325, 1.7558, -0.0855, 0.1441, -0.0171, -0.3077, -1.2376, 7.1453, 2.0391, -0.0611, -0.0171, -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 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1749, 1.8797, 0.7898, 0.4976, -0.1646, -0.152, 0.9983, -0.0193, 0.7147, 0.458, -0.3431, -0.0299, -0.0437, 0.9986]\nstate[eef_state]: left_x=0.4682 left_y=-0.0497 left_z=0.0378 left_yaw=0.0312 left_pitch=-0.0224 left_roll=-0.0242 left_gripper=0.9983 right_x=0.2767 right_y=0.0035 right_z=0.1418 right_yaw=0.0127 right_pitch=-0.0307 right_roll=0.0013 right_gripper=0.9986\nstate[joint_eff]: [0.7863, -5.7915, 6.2838, 1.2967, -0.1148, 0.4127, -0.0122, -0.2667, -1.1966, 6.8718, 1.9756, -0.0317, -0.0366, -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 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1856, 1.8915, 0.7925, 0.5827, -0.1856, -0.1337, 0.2057, -0.0193, 0.6994, 0.4309, -0.3336, -0.0303, -0.0433, 0.9986]\nstate[eef_state]: left_x=0.4785 left_y=-0.053 left_z=0.0514 left_yaw=0.0287 left_pitch=0.0542 left_roll=-0.0136 left_gripper=0.2057 right_x=0.2736 right_y=0.0037 right_z=0.1353 right_yaw=0.0128 right_pitch=-0.033 right_roll=0.0019 right_gripper=0.9986\nstate[joint_eff]: [-0.0205, -8.9504, 3.8632, 1.326, -0.1197, -0.0611, 0.0366, -0.335, -1.3744, 6.9949, 1.9512, -0.0513, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:258cbf49a14e09e50d4477ce477c2dad5af9cb3f5a51034743fc0329a6c4e36b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2d279a7f7ca7f47275116b1c5161a5b0a3a0c88c9bab364c2228cb4e4a1deb1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b33d83da10be8b34ca9f7d6613e83ad7a08d4e5a8b90f9b52757dda0ea244f9d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFgk4xQMHml9YZ3xHoBAez9rd5x56lLGtempLAqn4BV_fpPW7IPe62BKoaXtMAWlHcrJuVZ21IEJFZF2rlzNSla1AUJK1mB8p8oaZJTSwR-2W6a7wwjGpLzUrz9Sg3Nwg-7UhYUq5C_LGfLTQ3qEQ7KLyR3nrjTVmwiIne_8vKrI1n-mS_Kj6zuO4wx59GoJaW9HrT7Q5OaOWQRd8QWu33XT1R5LOytyBV_76DrjyqvS5OVPbX3NDZzNkOxdJ8ZFb1ak78joIwjexXdxgvm9H4Z0PWG4nA7pFEsFpR3F5O_6F3RX_8U0BuV2NVPdmjP04iwAtoW1OZCuC4u0rCqYPg91jD3AuUg6SRD-EPN1JQKcn_dPuJK4fp0jeEVuqqCjfFmcteBAjR57DuW8uG3tf0XSqwy_ubjMvWF_1HEaZOyorXG3ft9o1wqkfr-OEwfVrjMz3v9mia1rmUqxScX0xfIBe04ATIPTgZyWkz3KUO1vXTxNVf0G3cGzz7jWw99ubPUf5BKDiqyD7wiK9GKLW81Yvvy-yjKG3vlz5FQTwnJyqo7rmPz7_dERw2_fIRZyuzfPBYCRPnHUJ58-R1381Si6X_1i3Ru2Oh_3zW7nGMuduxR7uO5HLUWXy1fiAgGNXeDiwgyqITK0aIHSJqueB0sLcZWsto8H6ISJ4M0KVmrwUEZpvnAyBC6D0UtAuNygjSBeEZMW68siSIWihiw1bYhify7vtHU2WP8HR8EKJdgE_jAxEE_XQC7Wj9ogHie7akDEK0mtIXXHsiqn-MLwbZL04VE7MPJJYbd9M7Dx0gawZDnxtumz02iH6CWM0DEEughE0yXmQ-UI326vKwUvoNR5AfaJnoIZ5GDBQCSSv4HPGG18eG5a6oEJ6i00z00ZJzYFovQ1AaHZdVJ0cqZOT-FG3RkVQ2d9Le7U_24y-DcNNUNS_erigk5EWp3uhesTgdkFAeicuXbCzUgGu8BjvzpOODjrlVpZm7jOO9-kJDWP6E0p_dE7LNqt-ITTYzXgPy2EVP1aNZemwc4ZnMIrrT5kQWstUwik2CRUtzI64S5haOFunuK1StHKW6K_pzkVt-5dXELnhehxjlOfTRw_BgRfYYI-bEhoSJ-6AT86PRKycdKh89e0X7PhIrvEJ2MgsRlAx7NnU6tAJozKk4r0T7II2Ao7cZApuNx0--qFkQn4sxd_gOqoIKuYZOg_MHf_Aw4QRiTK771yu_3LQGhofEJsXgt6_XHFz7SJVpIbQU3NrqBfhI4l0TrvUZcGXPLxcqKbpRRZuF68pipM0s76DKY9TsZXtVapf6kiRvZZdbrJ40vWhATjv3TjmckJ8q106uODaMnEOCFqRg54JdeM47rEWg==",
  "id": "rs_01e6d9353bd9ab63016ab45822c8bc87d0adee929d2c9c319d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"left_z\":0.105,\"left_x\":0.465,\"right_x\":0.294,\"right_y\":0.002,\"right_z\":0.185},\"note\":\"The jaws have closed at the bottle’s cap, but the grip is not yet confirmed. I’m securing the grasp and lifting a few centimeters to check whether the bottle follows.\"}",
  "call_id": "call_3y1k4lEmkDaGvmOu6g1PMze0",
  "id": "fc_01e6d9353bd9ab63016ab458237b0c87d087ddc34e72b3b825",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3y1k4lEmkDaGvmOu6g1PMze0",
  "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]: [-0.1902, 1.7275, 0.8413, 0.3241, -0.1917, -0.1387, 0.0204, -0.0208, 0.7834, 0.5659, -0.3988, -0.0311, -0.0563, 0.9986]\nstate[eef_state]: left_x=0.4674 left_y=-0.052 left_z=0.0913 left_yaw=0.0316 left_pitch=0.0102 left_roll=-0.0049 left_gripper=0.0204 right_x=0.2866 right_y=0.0031 right_z=0.1616 right_yaw=0.0189 right_pitch=-0.047 right_roll=-0.0078 right_gripper=0.9986\nstate[joint_eff]: [-0.4034, -9.4838, 8.3897, 1.7705, -0.0757, 0.0024, 0.9988, -0.8137, -1.0325, 9.6752, 1.7705, -0.1343, 0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49857f3cbb4398f2790db57b90eee762abfc57d51443dd8d84931932d61fc8cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b178de227ae3222d2b66374cd3b76eea72cf9ed1dbc8e74e2fdec20b982f124",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd9e91e939cfe560b3342ad3bb8e34b78c3a447249621931f7ab348d233545b2",
      "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 10 attempt 0 · /responses · status 200 · 9.475 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]: [-0.255, 1.5269, 0.8585, 0.0231, -0.2531, -0.1959, 0.9983, -0.0193, 0.7364, 0.4915, -0.3607, -0.028, -0.0437, 0.9986]\nstate[eef_state]: left_x=0.4288 left_y=-0.0624 left_z=0.1262 left_yaw=0.0493 left_pitch=-0.0607 left_roll=0.0027 left_gripper=0.9983 right_x=0.2797 right_y=0.0032 right_z=0.1479 right_yaw=0.0111 right_pitch=-0.0364 right_roll=0.0004 right_gripper=0.9986\nstate[joint_eff]: [0.1846, -6.7624, 8.9778, 1.9414, -0.0171, 0.232, -0.0171, -0.5128, -1.5248, 7.1043, 1.9609, -0.0464, -0.0415, -0.0073]",
      "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]: [-0.1856, 1.8915, 0.7925, 0.5827, -0.1856, -0.1337, 0.2057, -0.0193, 0.6994, 0.4309, -0.3336, -0.0303, -0.0433, 0.9986]\nstate[eef_state]: left_x=0.4785 left_y=-0.053 left_z=0.0514 left_yaw=0.0287 left_pitch=0.0542 left_roll=-0.0136 left_gripper=0.2057 right_x=0.2736 right_y=0.0037 right_z=0.1353 right_yaw=0.0128 right_pitch=-0.033 right_roll=0.0019 right_gripper=0.9986\nstate[joint_eff]: [-0.0205, -8.9504, 3.8632, 1.326, -0.1197, -0.0611, 0.0366, -0.335, -1.3744, 6.9949, 1.9512, -0.0513, -0.0269, -0.0171]",
      "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]: [-0.1902, 1.7275, 0.8413, 0.3241, -0.1917, -0.1387, 0.0204, -0.0208, 0.7834, 0.5659, -0.3988, -0.0311, -0.0563, 0.9986]\nstate[eef_state]: left_x=0.4674 left_y=-0.052 left_z=0.0913 left_yaw=0.0316 left_pitch=0.0102 left_roll=-0.0049 left_gripper=0.0204 right_x=0.2866 right_y=0.0031 right_z=0.1616 right_yaw=0.0189 right_pitch=-0.047 right_roll=-0.0078 right_gripper=0.9986\nstate[joint_eff]: [-0.4034, -9.4838, 8.3897, 1.7705, -0.0757, 0.0024, 0.9988, -0.8137, -1.0325, 9.6752, 1.7705, -0.1343, 0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49857f3cbb4398f2790db57b90eee762abfc57d51443dd8d84931932d61fc8cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b178de227ae3222d2b66374cd3b76eea72cf9ed1dbc8e74e2fdec20b982f124",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd9e91e939cfe560b3342ad3bb8e34b78c3a447249621931f7ab348d233545b2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFgr3TU_BRN9eP_6xBJdYJ7NzfCyLSONRLS8hpHeiEJKxEZLk76xJcQYA1J2aGzxFGMYDPtv1vl3-slA3eZUbLVdGV9vHyyKNqwPtntQ37W_4LAqDfxj7Vrs4HgfSdfjnCG3dSzcDbiRH-jWBtjlg0qwb_fd9G4p87660NhGaq1HjOwA2P2nz8nJmumlLNjXQGXHd9mrAhQ0NLNwG3xQU0UVQlbtlDxckIDPtyYwuaXvAaUv2LqPl9r--4xhlDWWT2AgcDMGYmEgRhyHfy790-VS_Z6ui2YnYZHo1_y-6Ws4dMFIJu8WZYg3kJ46w16LBLTP_oS8uctZOPoeZN3x-yqXCTvlCPhrPMdakHfjadfcCMMMREFUdDT-_1UCDzBbC0pjjxkes6r4facsKHgeKBgdLAfSM_6KMLIdOQBQ3u7sbiQJE0D82MqfBH4i5f11_UDH3em7FT96JA0yPQqnS8a0lXSc4KaYy3TK79-riBd6J8omjUXBWP1-aPwIb-OmbUjKbMRXUDo6jUbp1URnXvDpZ2PR-eCIylP1SnyngLfWcaVdruS2AyddBO2b2Dje0hHlLJASMjjiPjgswZG8wnEGEgrwRIdnPDWLf74DHygcjqpfgV-0MLy7iQX7VL8BlA8OECMkLJXg17ZgxAUgo7VvHkIhl8EQy6Iojxz4q4RJ4ETwTdCo5ucMuqzkwjZ9heI9qaJUpSHOMAjUQbUPQ-OF51PoDVCWJOpdNUsPcK6j-485ss30CwlIS7sotv4q5X0HgzwqLSrdKSl_N2BtqR12kalYfjWQOjbAkcoeAk8rA2oiJubeiS4Q02H4RColiAdioZ-iOnqS2CanNnmuWHRMRw3psC1XSGmVkwCLakO95Cj0BOqXjG33mz2FFNqIeeDH-yc7o7Pyi_GrY7LNCzP2VDePU0ArE7wZA13ppcJLMfluYEdP5YxiuYB84ZWe5wYLwpR76nkCTtEmo4FJvm8sH-lIgnsOJw6etLZ2R01cqC15oSWOrsxQC62n4Rlwqk11p9R9KzjZ-194sRuo2GGvyw0zkpBzOMtJVdyXS3Bqz151ljPDJYKaXhVk3QxqjHCAUGwUnBMMI91FPry73saXbBLqk4uZJ7aOytNWyJe7K13HFTbxx-dWF8MM4tO3UIpf8tdD5zbjIwZT08jpe7pj8hPYcRkyQUf87K1SMHigSUUVJTDDe47lqOu6SMP-I3e82X4olsMZaf0ExOybDeAcUQu0RCYVqzjo7ysUxVyJSPsdf1rQS2S8RrgDjr3JIKA-yGstd1yc0mjXqR34qGBpU18Vbh3DL6XRBrEMUx5jDgldF06-Xk20R3R5m_YttumbKKmxaqDHLBXfu0W7EEXw5poyVRJwurRhaYlpNX0xP3I3TnVi4C0hggQmHYOCZXzmWsN1jRK7ywobENUW3vCy2cCwNXfhC7N9QaQEMXT6OLLgpBqZi8AC-OEh19RPUC8oyz664VZOgwFQfaxa1kE-14Pg2HWPcqWGTcZg_pcXWi_O5pgGgrDr0OUI29uj8X5TbDQ6DiVj5A8s01t_u06xGLmYw-8V8Lbtr5oXAgKVdg1M3uESvWdnQlMrKV9E3lLAQNUR4fDSctM0ynwgCtBoj_bgO7EkRCJMRd_v66kviaWMX_qd3A8D-Ikw05ucmY4L_Muh5kKCrRsdqcLxite3JJNTPbF0Os7U_cNUpCuur6B93s5QZYB1xHdi0-3NMX1FpRiB2Qt8-pkmsFSyWDBpi57hUlpOYo84AO92Okv9NuX_JKdgEWqvHRSoeI3YbX4wgCCS4S3IbyAnyjOBKq_oPCJNpxkOKcBjKhSgVJLQGzTiKHY8D9jV_TI_Swp8zZ-jiovbBoE1ncj62KdJWFGrgjD5tOskVYCuxHHgeraABvoPxa_fD_o-dgDUV0FifL0NiLnLGSNupmuleNCM5fFT5tBQa43RYJJzZjvI4r0aXnA=",
  "id": "rs_01e6d9353bd9ab63016ab45826dd2c87d09975272361205ed1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.448,\"left_y\":-0.082,\"left_z\":0.009,\"left_gripper\":1},\"note\":\"The gripper closed empty, and the bottle stayed on the table. The overhead view shows the grasp was beyond and above the cap, so I’m moving slightly back and sideways and descending lower for one corrected attempt.\"}",
  "call_id": "call_nAdOhOnLTpvQ6AJ22d3Y6Ggf",
  "id": "fc_01e6d9353bd9ab63016ab45829c33c87d099d86e55e2eec711",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nAdOhOnLTpvQ6AJ22d3Y6Ggf",
  "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]: [-0.2897, 1.9148, 0.7334, 0.6998, -0.2836, -0.1894, 0.9948, -0.0212, 0.757, 0.5186, -0.374, -0.0311, -0.0582, 0.9986]\nstate[eef_state]: left_x=0.4657 left_y=-0.0835 left_z=0.0458 left_yaw=0.0377 left_pitch=0.0999 left_roll=-0.027 left_gripper=0.9948 right_x=0.2824 right_y=0.0031 right_z=0.1521 right_yaw=0.0196 right_pitch=-0.0432 right_roll=-0.0095 right_gripper=0.9986\nstate[joint_eff]: [-0.6085, -5.3949, 2.6598, 0.8669, 0.0415, -0.0171, -0.1001, -0.841, -1.6205, 7.1043, 2.0, -0.1538, 0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2de1202db8eaab1accc2069ab28285820d0873fc528c71f38e47456d77e4cc17",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f90aa24fa39e5f9d86d705518dee1a3cf7d4217a366a00dd414bc63f29b7f19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:543d1ebade171f0b1a7e97fb716c612f80b0dd055fbf02fcdbe74bf0ec7d3c22",
      "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 · 7.778 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]: [-0.1749, 1.8797, 0.7898, 0.4976, -0.1646, -0.152, 0.9983, -0.0193, 0.7147, 0.458, -0.3431, -0.0299, -0.0437, 0.9986]\nstate[eef_state]: left_x=0.4682 left_y=-0.0497 left_z=0.0378 left_yaw=0.0312 left_pitch=-0.0224 left_roll=-0.0242 left_gripper=0.9983 right_x=0.2767 right_y=0.0035 right_z=0.1418 right_yaw=0.0127 right_pitch=-0.0307 right_roll=0.0013 right_gripper=0.9986\nstate[joint_eff]: [0.7863, -5.7915, 6.2838, 1.2967, -0.1148, 0.4127, -0.0122, -0.2667, -1.1966, 6.8718, 1.9756, -0.0317, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1902, 1.7275, 0.8413, 0.3241, -0.1917, -0.1387, 0.0204, -0.0208, 0.7834, 0.5659, -0.3988, -0.0311, -0.0563, 0.9986]\nstate[eef_state]: left_x=0.4674 left_y=-0.052 left_z=0.0913 left_yaw=0.0316 left_pitch=0.0102 left_roll=-0.0049 left_gripper=0.0204 right_x=0.2866 right_y=0.0031 right_z=0.1616 right_yaw=0.0189 right_pitch=-0.047 right_roll=-0.0078 right_gripper=0.9986\nstate[joint_eff]: [-0.4034, -9.4838, 8.3897, 1.7705, -0.0757, 0.0024, 0.9988, -0.8137, -1.0325, 9.6752, 1.7705, -0.1343, 0.0366, -0.0122]",
      "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]: [-0.2897, 1.9148, 0.7334, 0.6998, -0.2836, -0.1894, 0.9948, -0.0212, 0.757, 0.5186, -0.374, -0.0311, -0.0582, 0.9986]\nstate[eef_state]: left_x=0.4657 left_y=-0.0835 left_z=0.0458 left_yaw=0.0377 left_pitch=0.0999 left_roll=-0.027 left_gripper=0.9948 right_x=0.2824 right_y=0.0031 right_z=0.1521 right_yaw=0.0196 right_pitch=-0.0432 right_roll=-0.0095 right_gripper=0.9986\nstate[joint_eff]: [-0.6085, -5.3949, 2.6598, 0.8669, 0.0415, -0.0171, -0.1001, -0.841, -1.6205, 7.1043, 2.0, -0.1538, 0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2de1202db8eaab1accc2069ab28285820d0873fc528c71f38e47456d77e4cc17",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f90aa24fa39e5f9d86d705518dee1a3cf7d4217a366a00dd414bc63f29b7f19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:543d1ebade171f0b1a7e97fb716c612f80b0dd055fbf02fcdbe74bf0ec7d3c22",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
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  "id": "rs_01e6d9353bd9ab63016ab4582dd47887d0af946363afb04676",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.043,\"left_z\":0.015,\"left_gripper\":0.65},\"note\":\"The cap is visible near the left jaw, so the lateral alignment still needs correction. I’m centering the jaws over it and reducing the opening before the next close.\"}",
  "call_id": "call_a8jewQOQKMluA8xxPjfxVeU4",
  "id": "fc_01e6d9353bd9ab63016ab458344b3087d0adc0ab1a9db4ac9c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_a8jewQOQKMluA8xxPjfxVeU4",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1814, 1.9125, 0.7433, 0.6933, -0.2169, -0.16, 0.6549, -0.0269, 0.7326, 0.4755, -0.3504, -0.0311, -0.0586, 0.9986]\nstate[eef_state]: left_x=0.475 left_y=-0.0448 left_z=0.0477 left_yaw=0.0741 left_pitch=0.0968 left_roll=-0.0319 left_gripper=0.6549 right_x=0.2787 right_y=0.0016 right_z=0.1437 right_yaw=0.014 right_pitch=-0.0383 right_roll=-0.01 right_gripper=0.9986\nstate[joint_eff]: [0.253, -5.7641, 3.1795, 1.3211, -0.0464, 0.1441, 0.1099, -0.5538, -1.5385, 7.1316, 2.0244, -0.1685, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7889d93a88f5f812fea37ecec0fb2d6eab29fda5b44bcafe18a5c1629879d68",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56389b996cd77bffc0c6b085d23de2b6251aaa61bceb35a96e54ea563f5d8086",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61c27f7841f59dec0b9ed6377646dcc56bfe5ea814d4ebbf3a3acf55db68b108",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 7.526 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]: [-0.1856, 1.8915, 0.7925, 0.5827, -0.1856, -0.1337, 0.2057, -0.0193, 0.6994, 0.4309, -0.3336, -0.0303, -0.0433, 0.9986]\nstate[eef_state]: left_x=0.4785 left_y=-0.053 left_z=0.0514 left_yaw=0.0287 left_pitch=0.0542 left_roll=-0.0136 left_gripper=0.2057 right_x=0.2736 right_y=0.0037 right_z=0.1353 right_yaw=0.0128 right_pitch=-0.033 right_roll=0.0019 right_gripper=0.9986\nstate[joint_eff]: [-0.0205, -8.9504, 3.8632, 1.326, -0.1197, -0.0611, 0.0366, -0.335, -1.3744, 6.9949, 1.9512, -0.0513, -0.0269, -0.0171]",
      "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]: [-0.2897, 1.9148, 0.7334, 0.6998, -0.2836, -0.1894, 0.9948, -0.0212, 0.757, 0.5186, -0.374, -0.0311, -0.0582, 0.9986]\nstate[eef_state]: left_x=0.4657 left_y=-0.0835 left_z=0.0458 left_yaw=0.0377 left_pitch=0.0999 left_roll=-0.027 left_gripper=0.9948 right_x=0.2824 right_y=0.0031 right_z=0.1521 right_yaw=0.0196 right_pitch=-0.0432 right_roll=-0.0095 right_gripper=0.9986\nstate[joint_eff]: [-0.6085, -5.3949, 2.6598, 0.8669, 0.0415, -0.0171, -0.1001, -0.841, -1.6205, 7.1043, 2.0, -0.1538, 0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1814, 1.9125, 0.7433, 0.6933, -0.2169, -0.16, 0.6549, -0.0269, 0.7326, 0.4755, -0.3504, -0.0311, -0.0586, 0.9986]\nstate[eef_state]: left_x=0.475 left_y=-0.0448 left_z=0.0477 left_yaw=0.0741 left_pitch=0.0968 left_roll=-0.0319 left_gripper=0.6549 right_x=0.2787 right_y=0.0016 right_z=0.1437 right_yaw=0.014 right_pitch=-0.0383 right_roll=-0.01 right_gripper=0.9986\nstate[joint_eff]: [0.253, -5.7641, 3.1795, 1.3211, -0.0464, 0.1441, 0.1099, -0.5538, -1.5385, 7.1316, 2.0244, -0.1685, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7889d93a88f5f812fea37ecec0fb2d6eab29fda5b44bcafe18a5c1629879d68",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56389b996cd77bffc0c6b085d23de2b6251aaa61bceb35a96e54ea563f5d8086",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61c27f7841f59dec0b9ed6377646dcc56bfe5ea814d4ebbf3a3acf55db68b108",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFg9AOw9jYgTPO8eVbKDbNGGUo9D4wgik2PJJTCJnYrBuEcpA-3tNLPPepuIycW_8e9pJdsHmrm9sFJzRliQULrlrun3jc5mmEBBNxloujHNr7iWfSN-52byKXTjpkiul_2a2kMRwfemjSdAy64USTr9RVQtRo3VkatGhD5z5pw32My-m77OV7L831H06ntxIS8Q19xesDETz6w7Y6psNqde1_v4eXWkrfrk1aXRsOgyp-8K3NHqH8JL393GpuFCbroi4HW8Brci2zMenuzsgZTWLtoJ6Hd4EZXol0gFJIY94AJzPBkaIBy9MvxCbZOh_ILByFF4CDYowXDICfzQ5NvBQcZQmvGz7UbbeaadeLBHi3UTZA0pGuz5g7v6DS8onrlVRGC22haWeRgYdTJSUHAsma8XmYZdo2e0oZfRPAYSURwhSu-of0mVXyzA-KBC80P1sG-HJS3oE6UVO5FRW_d_iFqtldtopv-H9gcEAyR2-tlvFxmhzx9-gHA1nWURLFWICCXfsnsBgTWBadCPCs1NwHxd8y7NcQN9dVu8l9ARw2vPu1KxBtfioYseLy25GL3yiZNp9RgbETxv4hAYpFbZXqNtjKdaqUTDhrAFqU4EwYp_OGusGexVOQQ0euK8jM2rOpF7lb42iSxR0709qWE2TJOsUSx0M2MZH4Qk1dCvR7f1dOh32sTzp8m1BF6ArzsaYiimyYrw2g0D0OophzmrbeMU29IzjH0i-Pw89fLlntT2fbdQs3yuAvj89ol0axxtiSS6FAl6sZmTjsIZpeV9SSAQAGYTo67WnYDDAIHfyM5HyHoWLperk_vaitccW7f81B-CmGUXR91cvjak9690jV-qTiXbVHadG8b8T-rAZTdot3xztgTxf_XpX7V734jMERzA7uIL1OKfDP1NOJjhHXsXH7O18ClK4WfVCFMbuB1mkNtDO1kzFwJLZvUuvy-REmglfB59sZB-T4wUBbmaVITbx-wDS-0aLtVctMSakP27CYFlEmVwFKz-UNqhCO0QoR2vQ-G0jJxxNcKLSud8CcbjPFWKUK1-uG7SnMq8EmBj1koC1FvwZGEppgCNFSPhAgWlddmCIXJwfTmNpuNVvwH0tAMWINDsshzVOlkTn0aaiyXQGdSN9V1vc3KYuF2HN8oen-IbhBt5IuEziryBqF3sGkDXKbU8WxqyHm2p5A-vt1cl64kFp7mnjH1z0QBauQ4kzEhuRq9s_aWKVsGEmkZWhMk2XuATiPlC0fvq39QIZGbB11APbcJMv1T5DVcN7xq3dQXOCjaAdLXYyo3o_DeWDE4HrhgdE2WAzMZtHk1vDg22eFPpISZzPlHWEdH-IxhPZWEPbilFRRIrJEvHKjK-u3EzO7x_tbXQRyN9aR1N43gYi1UfMTlZnkX8wGsxVLi13Xc0CfiJP_XKF-Ja8zufFIdEotYTHJJ-1zN2vKYYp9-1k90gXLAJeBOEn4U33H9LpddGkJbMkSm237GfjbwwxeDSpLeze9FuQdEVX-8tsAUwr4bMTJo7gDDp6tTIsHtEtrhS_qBkPhylgqig9KTb3vit3u_6JR5Pdx-hOzd-vRCiC9HwuxYl_fCItswpidm37YRqhQLsmPVzqtmKqv9N8ALpFAx149MMzV9LbB6LUoEfcYxpOikj64hIHWf4swgxV3EV4vMy1OL6wYooXWl8uOb5C_HREnf_0tb1WA0lRi-iaVlYuUTPjfjA2At0At9SifJ_FXvo3mXqNM2nt4dsPSCVelJTtMorzgJE_h9_w8Yzy-xu_u7NzUMw6T-MeKdBNLrrtgUP6NUmKfXEEm51WY5K-S3kaPX8cyuy-3vln8KmNafQTH0Ed-0FMItiH_GWyjZ8k7lY59gP7wb34NwYskHX9tkmeEGRZk47zYPGf2rvLtn42kzxIHumfXwE8xOcOmP6sxQw8nr0L70JbbJDPBgT9o2kEslaZN3AwnPxaQQXfv5B_1yCfGpjrxp5rvzK8RgX2WSBeV9zk2Wxon_yBYVSIozZF12SuYxEhdt2kRo6fCfeHFHs-zeKQDJl5Hbrr31uphMgVwxaLk_G_-e-FAVl_eT1qyES623O53kBPwzMFHGAVznJpSofF_jx5fxGH5AqdW8HsJ7EjSaOCawfN-ZnLjJ_dZn2xYGbn6DbHAGk1Jfe1Q044_Y33EFd0oeQLS82aWNxKxFujsTkMSUr4Ieyc2gCF7EBDvjUIbvRgc8OVTWwRiW84Q5r9lI0dlGcXEmFrPnaNxiPAUuyNjEBsPajtqZmDNjMyj_FFDhWc3wABvQyMTDPdeKn0rPWGVnYx0Eh7l2y5z09kSkhbiqTKvg1vR4CmlkX_FzPDA-zBMfkUfp1Mwabfu5doPfvVR3eP_-jkLq708S-v73q0UGA_0W1n14F0xNsA3aEbU3B1HPXKz_usRqSJpdo7X16X3828lmjsZHdbB_YmWD79A==",
  "id": "rs_01e6d9353bd9ab63016ab45837af6487d08c792516b5098f84",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.428,\"left_y\":-0.028,\"left_z\":0.009,\"left_gripper\":0.65},\"note\":\"The cap is now centered laterally but lies behind the visible fingertip ends. I’m backing the grasp point toward it and lowering; this should bring the neck into the actual closing line.\"}",
  "call_id": "call_tKisI0Oue5VJhF3EV77jG7ZP",
  "id": "fc_01e6d9353bd9ab63016ab4583c493887d0afb1d6b30b159333",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tKisI0Oue5VJhF3EV77jG7ZP",
  "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]: [-0.1696, 1.9133, 0.7338, 0.725, -0.1982, -0.1562, 0.6505, -0.0284, 0.712, 0.44, -0.3351, -0.0315, -0.0582, 0.9986]\nstate[eef_state]: left_x=0.476 left_y=-0.0426 left_z=0.0504 left_yaw=0.0686 left_pitch=0.1156 left_roll=-0.0418 left_gripper=0.6505 right_x=0.2751 right_y=0.0013 right_z=0.1359 right_yaw=0.0126 right_pitch=-0.0379 right_roll=-0.0095 right_gripper=0.9986\nstate[joint_eff]: [-0.3761, -6.065, 3.7128, 1.1209, 0.0952, 0.2173, 0.0317, -0.7043, -1.4564, 7.0906, 1.9902, -0.1538, 0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d6e28e0acd8b581ac6c57471edff518dd96fcf420c074fee4858b5e13a6bd7c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1948189f1d902c80907679d2f548faee8120ddfac89dbe3c7fe36b1840c7299a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a89cfbe537d71fb92a5330cb3249ce7b8c7274bfbc7bd512c6a13b4513789aae",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 3.87 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]: [-0.1902, 1.7275, 0.8413, 0.3241, -0.1917, -0.1387, 0.0204, -0.0208, 0.7834, 0.5659, -0.3988, -0.0311, -0.0563, 0.9986]\nstate[eef_state]: left_x=0.4674 left_y=-0.052 left_z=0.0913 left_yaw=0.0316 left_pitch=0.0102 left_roll=-0.0049 left_gripper=0.0204 right_x=0.2866 right_y=0.0031 right_z=0.1616 right_yaw=0.0189 right_pitch=-0.047 right_roll=-0.0078 right_gripper=0.9986\nstate[joint_eff]: [-0.4034, -9.4838, 8.3897, 1.7705, -0.0757, 0.0024, 0.9988, -0.8137, -1.0325, 9.6752, 1.7705, -0.1343, 0.0366, -0.0122]",
      "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]: [-0.1814, 1.9125, 0.7433, 0.6933, -0.2169, -0.16, 0.6549, -0.0269, 0.7326, 0.4755, -0.3504, -0.0311, -0.0586, 0.9986]\nstate[eef_state]: left_x=0.475 left_y=-0.0448 left_z=0.0477 left_yaw=0.0741 left_pitch=0.0968 left_roll=-0.0319 left_gripper=0.6549 right_x=0.2787 right_y=0.0016 right_z=0.1437 right_yaw=0.014 right_pitch=-0.0383 right_roll=-0.01 right_gripper=0.9986\nstate[joint_eff]: [0.253, -5.7641, 3.1795, 1.3211, -0.0464, 0.1441, 0.1099, -0.5538, -1.5385, 7.1316, 2.0244, -0.1685, -0.022, -0.0122]",
      "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]: [-0.1696, 1.9133, 0.7338, 0.725, -0.1982, -0.1562, 0.6505, -0.0284, 0.712, 0.44, -0.3351, -0.0315, -0.0582, 0.9986]\nstate[eef_state]: left_x=0.476 left_y=-0.0426 left_z=0.0504 left_yaw=0.0686 left_pitch=0.1156 left_roll=-0.0418 left_gripper=0.6505 right_x=0.2751 right_y=0.0013 right_z=0.1359 right_yaw=0.0126 right_pitch=-0.0379 right_roll=-0.0095 right_gripper=0.9986\nstate[joint_eff]: [-0.3761, -6.065, 3.7128, 1.1209, 0.0952, 0.2173, 0.0317, -0.7043, -1.4564, 7.0906, 1.9902, -0.1538, 0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d6e28e0acd8b581ac6c57471edff518dd96fcf420c074fee4858b5e13a6bd7c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1948189f1d902c80907679d2f548faee8120ddfac89dbe3c7fe36b1840c7299a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a89cfbe537d71fb92a5330cb3249ce7b8c7274bfbc7bd512c6a13b4513789aae",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFhFvSj3suPYO-lUwGbY4mIiZocFkKJcmAti4t4oR6P__BnewmTs1gy-4P3AWMPMwzB3ZfRHihukl0o4z7Ttv3QyALFWgJmsfKP14dH55fjfLCB7GqIjOCXS7n2IksdhZRxGG-xG4wOf3_znKrzsqJgItVCWXTMjmuaVul3iL6zj5bkk2oj2lqj4401sYF2ujwK_EkTc5llkn7RixTzeSyoSxF7zNVUvoT8g34msjzLQDXpLmAgcamD4ecyBZPCkYO-boUq0pPKkqCKzyP40UIO3jxG7APH9Zej6nWi2CASK_VLS_nq48takeng4G3-v3t45jf2iJRy7lRmq0emIE9w8Dw6jW7dwJL2yn_1z9XAqh2ejxgB86qA_GIKkDWxtbG4t_EfdCcAXe7Y3eZuoHeQy9eFmkYHeaNXTYwzWeAz8hdXvvkTfgW_2pbdEAdqSx9av4KMPt7Z875Q3ZPxOx4VmAYKirPvjVKB_jy8p5yDzmLOPb02Fem7blbiGUl4s-Jq5Uk46H_PI8w5knpGxwej99rHrLQceBmfAuTTh2Rsqm0GGvEM1lA8oIjy5KQM2JL3-VmbG6QbVyvI2L9oB3t2LPriCHvcid2M1jvYd_kSqlmzW3X4sy-IfDVJMGhAcF9TjQpFlJFCdFkQPmCwk_wQ7t7gLuimUZKsWxGR3QsCLrPy4pN_xhsGL3eMfXi7sjbXPDhnwe3LZVwZnBUPuubSsdKMLVHW5VUh2LqUrocYlYpx7O-Df75XcQqRgsnN2jIs6ff5Oqw1V-wjhEheD55V0n476awlP5Tx5aJHMP689FNcD-vzmKVRvxpiM6HFbBZXKoUUlhInr6HG-DSyydlMggJ6Rqic5nTRq8I0Grch45fy9wfNRAXT5zWARo2uYagp99z984hWKZxtKXuH2ROJhdAIZ9fpHqQ_dmWw91LqEIcnOCM4u0VGbVdp9qauPD30F65hJZOAEAysc7N5JWfcYqOXnOHvqlx0dE5xM4BnDInuxjHolWAogoS4zk56-JUW-uvStSrasjcLnzBj_v4qwi1QQwvFuF4OrjxlUnUQuNDiuwK8jszhnF1bkilNPaVy5PbJAC-njvgpVnvtKGxYsLcjyCMG5y4qGfEBWafHe3Tqh6QhWf2ohn3NLgvGhmDiANs5Js3SWOrttdjj6sFNhmpKUCiZ4UFh1pV7u-NQZQ-I2Zw1Vts6f8Y_lBAF_aWFh8XC4pkoZ3g8KzYSmUfVy1-BBrWzyregU_fi6tDR-RlyfeiCjNbysrdPLn0KeHpHlG8hGBMLwDD_fm63SmU91xzpYDsGVjJRvEuYK4CV8LnDkFdlS-XUrTuc7w1W2N2W92P9UHkwGwv-7RV1qMbzJ3lTQcok_5mMrbSkC9tFc4nH7QRWCwy0_dIfiu7If6Rq2g_4XJaROKkbkMv-OoMrUN8CtC5vt4S3FPhG4mehXIizKpb1qzmAvpFdkvx5t37o0vukBXTDgN7LpP1gG5aKhZFkkzr9RV2iH1q9TvGISh3P4GYRoXzY26PPWtRnzy3gF6Wc_C10hm5bQkajCFNN7Dobay6QRtylocjym4JVoNji4PCDMzSJF0tJ9ABX18IJzqRvSIWZfFSzUJDHTiwiD71Wd5cddutkCmKYraO5UoqKgE2-qH-OLrW6qFH0Hp-g8Oh7N0KbRKcEpSgJOJ2kVJkYBYJ9iPfJG_SMDan6f5tz-NSNL65THN2Q7aj3OfmPn4eOAr60ZIUGVmGGhxo4ZaHRoiiMu_swPQ6cqFABm_JPesLdCWdSJoWnznntZHLed61MhQPE6ArZQOJZb-txByjnhonnnzxptYrTNF9Dj5Dbazqvdj-tbQqgLysysuCTeVATdstACsyGZ5hs_MvfnqOs0IJoBmsViVFzRVqwXZX8rsH6tohTM-BK5scG5SSmqe9ZOWQdPX5F-G-YsGRAnAHlgqbb56b6w4z9M1zgFRS1UVPl5aRN41zd90mcl2X0NO3o7hhMJv0_BbYLylWVFSw739bc5VE8nqEVGiTbluFaJmqrISwXVGx76T1prEEK21Q6HhSCLeFzefepLYIlc9AgnkBhd0dzF7ISz9kRf3HQP-LLPhLOlfSBSTMWE29lUG_WXI0gV22jTUZ59Hqdrgbm3QnTDcUqVQs6uAQMaYTs7D6fr_6lHYrKTDXkKLp4JgKT4DciOOyQL4gG1I_wOP0i4xTL5LN4Vv5agyL_YVCmbhOdA7kzRX841UoW4MLU3kd8-ylqAC7235fUNyxHjzxFcfGUFhaLMUJBpIFvwEx8Xju7JXGGIUiMieIa_3Jrhhb4zYd6CMemt1umB7GBF26XUYndHawBtcgYrnjFcIXNnUU_aJEKfg15vu0ux3EDAIrey36a73FxVTgCR6IbdE-JHjew70oicSbNGeaX1P8oQS_OGcV8I9Tw_85GsZJhoC9ROwNxQmN6QxmqLEQAGTGDxwCTqeZSZ-ZXPIJarP-rhKy3fVIGdCVs4WhlpYb0XdpBqaQfjSGOxIFeb0oobW9kqDXlhRRYXfhjJJ5z7p-f_oUGGaV_jMOOThGmABK5pOVrY8ikI8d5z5mZh3Nno6Q==",
  "id": "rs_01e6d9353bd9ab63016ab4583fc36087d0bfee17ce66bc65c1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.025,\"left_z\":0.09,\"right_x\":0.294,\"right_y\":0.002,\"right_z\":0.185},\"note\":\"The arm is not tracking the low target, so I’m raising and retracting before trying a shallower approach. The bottles themselves have not yet been lifted.\"}",
  "call_id": "call_HPu97iEcgOGV2ZphGs4QouGL",
  "id": "fc_01e6d9353bd9ab63016ab45844323487d0bf7c535097871eec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HPu97iEcgOGV2ZphGs4QouGL",
  "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]: [-0.1696, 1.9133, 0.7338, 0.7254, -0.1986, -0.1562, 0.6504, -0.0284, 0.7845, 0.5735, -0.3996, -0.0311, -0.0586, 0.9986]\nstate[eef_state]: left_x=0.476 left_y=-0.0425 left_z=0.0505 left_yaw=0.0689 left_pitch=0.116 left_roll=-0.0418 left_gripper=0.6504 right_x=0.2876 right_y=0.0009 right_z=0.1646 right_yaw=0.0125 right_pitch=-0.0413 right_roll=-0.0099 right_gripper=0.9986\nstate[joint_eff]: [-0.253, -6.0786, 3.6855, 1.1502, 0.0513, 0.2027, -0.0171, -0.2803, -0.841, 9.6342, 1.7998, -0.0757, 0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b8cac305ea7e411186671ab05c5814da99c4b05b9bf686108219db672cea1a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58906d6e08ceaf371fad3b22ccdf19544b937ed1df089fc630c5322f66321b04",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8a079f9b7008d9681c5d68cc32ab6800c43866bc97e50345fd696eb0927daac",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 5.878 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]: [-0.2897, 1.9148, 0.7334, 0.6998, -0.2836, -0.1894, 0.9948, -0.0212, 0.757, 0.5186, -0.374, -0.0311, -0.0582, 0.9986]\nstate[eef_state]: left_x=0.4657 left_y=-0.0835 left_z=0.0458 left_yaw=0.0377 left_pitch=0.0999 left_roll=-0.027 left_gripper=0.9948 right_x=0.2824 right_y=0.0031 right_z=0.1521 right_yaw=0.0196 right_pitch=-0.0432 right_roll=-0.0095 right_gripper=0.9986\nstate[joint_eff]: [-0.6085, -5.3949, 2.6598, 0.8669, 0.0415, -0.0171, -0.1001, -0.841, -1.6205, 7.1043, 2.0, -0.1538, 0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1696, 1.9133, 0.7338, 0.725, -0.1982, -0.1562, 0.6505, -0.0284, 0.712, 0.44, -0.3351, -0.0315, -0.0582, 0.9986]\nstate[eef_state]: left_x=0.476 left_y=-0.0426 left_z=0.0504 left_yaw=0.0686 left_pitch=0.1156 left_roll=-0.0418 left_gripper=0.6505 right_x=0.2751 right_y=0.0013 right_z=0.1359 right_yaw=0.0126 right_pitch=-0.0379 right_roll=-0.0095 right_gripper=0.9986\nstate[joint_eff]: [-0.3761, -6.065, 3.7128, 1.1209, 0.0952, 0.2173, 0.0317, -0.7043, -1.4564, 7.0906, 1.9902, -0.1538, 0.0269, -0.0122]",
      "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]: [-0.1696, 1.9133, 0.7338, 0.7254, -0.1986, -0.1562, 0.6504, -0.0284, 0.7845, 0.5735, -0.3996, -0.0311, -0.0586, 0.9986]\nstate[eef_state]: left_x=0.476 left_y=-0.0425 left_z=0.0505 left_yaw=0.0689 left_pitch=0.116 left_roll=-0.0418 left_gripper=0.6504 right_x=0.2876 right_y=0.0009 right_z=0.1646 right_yaw=0.0125 right_pitch=-0.0413 right_roll=-0.0099 right_gripper=0.9986\nstate[joint_eff]: [-0.253, -6.0786, 3.6855, 1.1502, 0.0513, 0.2027, -0.0171, -0.2803, -0.841, 9.6342, 1.7998, -0.0757, 0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b8cac305ea7e411186671ab05c5814da99c4b05b9bf686108219db672cea1a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58906d6e08ceaf371fad3b22ccdf19544b937ed1df089fc630c5322f66321b04",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8a079f9b7008d9681c5d68cc32ab6800c43866bc97e50345fd696eb0927daac",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFhJIrPjTM1l6xIR1uH5M1NRmPm8jL2PrAQqTQCPrlsjmCNvavDAULzEg3vufyFUuIgQUKiRnTgVlY5U8MR80hK1BIjjRYx_X4u3ToouInuHyetenKKve--xSOxay_5sSKj4khzEItnPiYw17mU_PMCk_SSVwU0MlAVLdWd2vriVFSlZI9Rp9jXOiTzr79bKuXKe2Rw01Al7KnrTNV74EmgowUEuq8O-Zl9z-zGBAQSikMZRawXOp2KRWNySmBk8-hiaQ4GliSXBXrzpzfrdwE5n2uHwBFoFhjJVIhwGGVzLvzT-tKz-n9712-HHpqNlgE01PCVXyGg1FO--PBvUafIOrQOF4duo5Rm7_rvClvG-7g5qq_F2_3unXzbd06KzZo1blHQlJdYysnaFdW6u4pB0RhIhXlBLfDMj6-GNkkqoyDxiX2Bkf_Cjtaio2j43rSFRhUXlpMIYhI4O0Tx3gTigW19MMvofdbcGQMRKFYSsZ7EbNC6I0sJBarhUkwI97BpJSS95vBIU1xUVBs8QvW9UhmFq4xJXCH-yMsj8g1q5oAdpyZRRqBc-hQUdxX1qzZ6yJNclrQrzENd5q1s6VP-tH71AAZ0ndrkKduZOh46C475GB0U7o_4CQclNNWYu3EqgRELL2JBj4sIt7_DJogF4XgP6epWUBM0R6TxS0iinAPCM1qfymzFBrNUtU5Ie-8erxMC-vOyP3JhbIlAPeyWJawLyNFOpxZtwL8EGNpNUy3sMS4l7pkmL6OhNQxz5iyPXPHH54Js0dHwYYts0wueuB-EsglBWADoMgVOTjVMVgPSuvzZcVEnf0sCRTR9776Uq5V9-bbNrJE_qa0S_TLLCtkp26dYzTvTdSc29x2MYOsqd950YMULzd9XBH5T5R55DF84aCG8W1Qoi3VK5oZmkUv8pasqzeUcYo8eSXQGWF32FI9J-acUW6z-ZIoHbn55QOgrGmTgDPmr1hcwuSFreNPK6KbFl7_lXjvIHGVyncQNiuXyWWv81wCNl2pywjQuUVdN2lQvpKQ6lse-jSNPTo3Q55Uo3bRa1v859yquKXsL3UgsM5O2ZxRJWgt-2588vtJ8sRNP0Fqdd-iL_ILqIyvIUBbHOnk8YPwIF2KN6pTkeHSW2eqje01nfHuwwLLK44m2b05PPRY6ZFQ2a-xolhqbHH99AxolFV21AJUUp_i9Xip0kvvfL6pSUuTgxFK5HJe7WP1Y9XAGzX7kAPf36q--yxrszHzLcwl-0zTqrhZ2iItxDMh5IAMwfw_sUJ-Lfwa0MYsrWviAGgIr9G63gMKoTaAf4nfSHDAeamN12aKM=",
  "id": "rs_01e6d9353bd9ab63016ab45847e99c87d0bc72db3327e2f329",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.335,\"left_y\":-0.025,\"left_z\":0.18,\"left_gripper\":1},\"note\":\"The modest recovery move was also held by the controller. I’m returning to the higher, shorter-reach pose that previously restored motion.\"}",
  "call_id": "call_jq6GhRdwpQZbBtOWwPq1JFzz",
  "id": "fc_01e6d9353bd9ab63016ab4584895cc87d0b43bb6343b3a43cf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jq6GhRdwpQZbBtOWwPq1JFzz",
  "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]: [-0.2096, 1.0439, 0.6506, -0.1455, -0.2268, -0.1638, 0.9975, -0.0284, 0.7582, 0.5308, -0.3756, -0.0315, -0.0582, 0.9986]\nstate[eef_state]: left_x=0.3461 left_y=-0.0293 left_z=0.1776 left_yaw=0.0552 left_pitch=0.0372 left_roll=-0.0143 left_gripper=0.9975 right_x=0.284 right_y=0.0011 right_z=0.1571 right_yaw=0.0126 right_pitch=-0.0337 right_roll=-0.0097 right_gripper=0.9986\nstate[joint_eff]: [-0.2256, -2.9607, 9.1829, 1.7656, -0.2271, -0.0806, -0.1294, -0.6359, -1.0872, 7.1316, 2.0049, -0.1587, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf4b9969da1bb73baf9fd7179ce3dc8337740d9ed17ac7db6e923b3512f6413a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:137529c312fb7e0ef30f55eff57faec49113c335f3e7ab15d4522a0caefa9cb4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56acfe28c71aec0f2aa374b0168be75e0a50da3513fe85a19b23f6bafbbb0fcd",
      "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 · 5.517 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]: [-0.1814, 1.9125, 0.7433, 0.6933, -0.2169, -0.16, 0.6549, -0.0269, 0.7326, 0.4755, -0.3504, -0.0311, -0.0586, 0.9986]\nstate[eef_state]: left_x=0.475 left_y=-0.0448 left_z=0.0477 left_yaw=0.0741 left_pitch=0.0968 left_roll=-0.0319 left_gripper=0.6549 right_x=0.2787 right_y=0.0016 right_z=0.1437 right_yaw=0.014 right_pitch=-0.0383 right_roll=-0.01 right_gripper=0.9986\nstate[joint_eff]: [0.253, -5.7641, 3.1795, 1.3211, -0.0464, 0.1441, 0.1099, -0.5538, -1.5385, 7.1316, 2.0244, -0.1685, -0.022, -0.0122]",
      "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]: [-0.1696, 1.9133, 0.7338, 0.7254, -0.1986, -0.1562, 0.6504, -0.0284, 0.7845, 0.5735, -0.3996, -0.0311, -0.0586, 0.9986]\nstate[eef_state]: left_x=0.476 left_y=-0.0425 left_z=0.0505 left_yaw=0.0689 left_pitch=0.116 left_roll=-0.0418 left_gripper=0.6504 right_x=0.2876 right_y=0.0009 right_z=0.1646 right_yaw=0.0125 right_pitch=-0.0413 right_roll=-0.0099 right_gripper=0.9986\nstate[joint_eff]: [-0.253, -6.0786, 3.6855, 1.1502, 0.0513, 0.2027, -0.0171, -0.2803, -0.841, 9.6342, 1.7998, -0.0757, 0.0269, -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 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2096, 1.0439, 0.6506, -0.1455, -0.2268, -0.1638, 0.9975, -0.0284, 0.7582, 0.5308, -0.3756, -0.0315, -0.0582, 0.9986]\nstate[eef_state]: left_x=0.3461 left_y=-0.0293 left_z=0.1776 left_yaw=0.0552 left_pitch=0.0372 left_roll=-0.0143 left_gripper=0.9975 right_x=0.284 right_y=0.0011 right_z=0.1571 right_yaw=0.0126 right_pitch=-0.0337 right_roll=-0.0097 right_gripper=0.9986\nstate[joint_eff]: [-0.2256, -2.9607, 9.1829, 1.7656, -0.2271, -0.0806, -0.1294, -0.6359, -1.0872, 7.1316, 2.0049, -0.1587, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf4b9969da1bb73baf9fd7179ce3dc8337740d9ed17ac7db6e923b3512f6413a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:137529c312fb7e0ef30f55eff57faec49113c335f3e7ab15d4522a0caefa9cb4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56acfe28c71aec0f2aa374b0168be75e0a50da3513fe85a19b23f6bafbbb0fcd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFhQEau1AGw-XGn3BMEtAUA8IKyI6i9tEJ3YvqEWpRVIxXKlSJDCwFentNV50TE70ghHH-UojZX9RR0XKURAULhwTZNsxzjQjumwgQphTFnBXpMdg0vWZrJT4EzBgZDsJkaHRVXOQX8c5DRDcD7iUEHGCQ_YfQM-jc0qP3oCeuk7Y2FU-6C5dROBX2yNz5cRJ41HTHiy9Iz8wmHk7MYkbpYgsHJHmfevQIrx_loZ9ddL8wdvqBmtA3OvvArjSEZPKQmxldWsQhl1J1OJf82IQQxnSs02eHT11jj0vajMXF6fWQ2Dk6GagqdkYSAGDjrVG63j_1PNZ2ZZL2-ThWY-oMOGwGTaGYpwAQ3deMjzvt2IL4aoJHKIot-qJFuINfOB998-rJfiTEFIlZ6ZWLTUHvQcU8g9bEIZ7KM4j0nJYhaLWE1dJ16Ink1otVqnb6YsWt3yW9NNhJINAsAog_0oYv62FwXGkbomZ4swxXvUsnrfbf-p43LlqacFhDFcO6z3KcbkdUYNyb6E5RkhOKJhdjTngcooD64WFq_w7CnBrlUO22yGc3Wz6OjvpKX274nsiUIQ7Abxqnez_aFuCv3r2NfcK2jR42Qa2w-kDBTMTRPubf-lOjPY_HS6wbQVCk81gfA5rJ0qG_GoqgAfirAlRnmjZvdNakmbQ8s6n7oQ78OIjrWziMt2Jr2gOomzD576bTZw9gfaShYbt8KDYoXJxCy7xv6Np3PPSEhOllgeIP77xWXowlTshOzCqg7GVvGWnqivkPN05WLYTofrmjAAhKrlfvmokU5y7ldL-x9RTJ6Kskk-6irNyIR0xbjl6SZ2OvDo_z_Ov_fMlfXrIR-3I8oNC7m_PryQXihvDdyjdUs7L3-h1GB_-fITijDcTBTNF0sLOXxFGKe27BByps0mFgx0QIQIKNNZlEVWa-DR8LxBuKfgpeGbPdOe6Sw7gEjQf2088mPv_D6lXUgOlAY6fzzjkXZCbd8kg-Od3IOHw_dnyeG25-C_IzcHIKbzC8fejLnOft67sW1DG2_j-0ln4P0DGNVVer6hIpqUmB0Edu0uLfmKqK91OJzOo8ljduftT2XF2sFDBOPY8UeitN15wcsdbOqYmpjVPAdhNi5l6OSQh8WmyfoGXnMBMUhZI47vvmrarNJCY5TOssP8N1N0FFpAi1QfqS4zFWd6-9f9AbmEwWvuw0DM95SLiQJlEIhg8zV1KMUn_TX6mhmJTy26AeXaP-MV-EoZ14DjF4pXneL-JjN3M3_PI_OEJUELpAvFCH2H1Rk63VHp-AMz_7kxZl4xWzyCM0qQbsVKBy5FyuLf6_9dfiir1fcribEugnbkWTT3P9O-b1kaQKd5agxyta4whwkIoYs1BkYUNnhbtcYFYYHlzBs6DmixldNY1MmT5wv3JFymtLd_TdilKAP92ojMeqhglPW0XNnZzzJeNUFX2A89loPsmuFxnpKaJzaAfyHRZ40Sc7C1v92e7ljo4MeyxU7XUe056gkg4H0zMXup6XKzzCGNAePu47_4NSXQoGlfy1UBXwtIRQgPXW5fmVazlRc3Azfhrkm8WeytiaEDBPQkiFKZ7-GkUsfGn3O2ZO3QAxzoTDuS2zalG1CWF25ASWth9QaRrL0Dch1rVPBmocCaCm2rBDSYWGS62IA50rDExNlZv8XT23FZ6_4rbL2nuIo8DJ9O-yon66SJEyyeGUVJ6b54-qCgWg8sOUjkk0FrUGPEHqwyDT-n6fgxqk35UrIV8QqbYWUWvYuA-mLZztXgTfynOgbHCMSyIBi2YwiOOeM2TRZCEuuvBK2ESX9i4k0CXQp2_p_0AbGIMz_OTXzFHTPj1c6ocZovGzRILZrA-kTkpKBbHVjhE1l_y1RLdc9ZmYRbKMOXNCR2IcHw7oY=",
  "id": "rs_01e6d9353bd9ab63016ab4584cb2b087d09e8653ad9beb63e3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.397,\"left_y\":-0.025,\"left_z\":0.035,\"left_gripper\":0.65},\"note\":\"The left arm is free again, and the bottle’s cap is aligned with the wrist-camera center. I’m making a shorter-reach descent to the neck instead of extending beyond it.\"}",
  "call_id": "call_YNEH9dXeBJS6NRMUv0z7NNvW",
  "id": "fc_01e6d9353bd9ab63016ab4584f9c7887d09828d239e8d5520f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YNEH9dXeBJS6NRMUv0z7NNvW",
  "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]: [-0.1497, 1.6382, 0.4847, 0.5587, -0.2062, -0.1558, 0.6521, -0.0288, 0.7376, 0.4992, -0.3588, -0.0311, -0.0582, 0.9986]\nstate[eef_state]: left_x=0.3948 left_y=-0.0194 left_z=0.0397 left_yaw=0.0934 left_pitch=-0.0198 left_roll=-0.0041 left_gripper=0.6521 right_x=0.2811 right_y=0.001 right_z=0.1515 right_yaw=0.0119 right_pitch=-0.028 right_roll=-0.0101 right_gripper=0.9986\nstate[joint_eff]: [-0.2803, -6.106, 3.7402, 1.8193, 0.0952, 0.2369, 0.0806, -0.9641, -1.2376, 6.9675, 1.9267, -0.1294, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7b862b6da58b11543fa20f08627805d82fa221f32097a67c4d5fc5da4bc6e02",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:815dc3c686ce8561be9b831f974cab451271e0aacf00aa54d32d684c8d6eb02a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:def62ca4e58c34a6cc76ea70593bbf94d0257dedb3516a19f3ae63953e6962b5",
      "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 · 8.693 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]: [-0.1696, 1.9133, 0.7338, 0.725, -0.1982, -0.1562, 0.6505, -0.0284, 0.712, 0.44, -0.3351, -0.0315, -0.0582, 0.9986]\nstate[eef_state]: left_x=0.476 left_y=-0.0426 left_z=0.0504 left_yaw=0.0686 left_pitch=0.1156 left_roll=-0.0418 left_gripper=0.6505 right_x=0.2751 right_y=0.0013 right_z=0.1359 right_yaw=0.0126 right_pitch=-0.0379 right_roll=-0.0095 right_gripper=0.9986\nstate[joint_eff]: [-0.3761, -6.065, 3.7128, 1.1209, 0.0952, 0.2173, 0.0317, -0.7043, -1.4564, 7.0906, 1.9902, -0.1538, 0.0269, -0.0122]",
      "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]: [-0.2096, 1.0439, 0.6506, -0.1455, -0.2268, -0.1638, 0.9975, -0.0284, 0.7582, 0.5308, -0.3756, -0.0315, -0.0582, 0.9986]\nstate[eef_state]: left_x=0.3461 left_y=-0.0293 left_z=0.1776 left_yaw=0.0552 left_pitch=0.0372 left_roll=-0.0143 left_gripper=0.9975 right_x=0.284 right_y=0.0011 right_z=0.1571 right_yaw=0.0126 right_pitch=-0.0337 right_roll=-0.0097 right_gripper=0.9986\nstate[joint_eff]: [-0.2256, -2.9607, 9.1829, 1.7656, -0.2271, -0.0806, -0.1294, -0.6359, -1.0872, 7.1316, 2.0049, -0.1587, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1497, 1.6382, 0.4847, 0.5587, -0.2062, -0.1558, 0.6521, -0.0288, 0.7376, 0.4992, -0.3588, -0.0311, -0.0582, 0.9986]\nstate[eef_state]: left_x=0.3948 left_y=-0.0194 left_z=0.0397 left_yaw=0.0934 left_pitch=-0.0198 left_roll=-0.0041 left_gripper=0.6521 right_x=0.2811 right_y=0.001 right_z=0.1515 right_yaw=0.0119 right_pitch=-0.028 right_roll=-0.0101 right_gripper=0.9986\nstate[joint_eff]: [-0.2803, -6.106, 3.7402, 1.8193, 0.0952, 0.2369, 0.0806, -0.9641, -1.2376, 6.9675, 1.9267, -0.1294, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7b862b6da58b11543fa20f08627805d82fa221f32097a67c4d5fc5da4bc6e02",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:815dc3c686ce8561be9b831f974cab451271e0aacf00aa54d32d684c8d6eb02a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:def62ca4e58c34a6cc76ea70593bbf94d0257dedb3516a19f3ae63953e6962b5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFhX4nj2Fkqu40o6VGcjLQW6fVecdj77jIqPVx9qD5RybUzTNBsQqkdN41w6XgPHFzaBM2DQapDtSMReLgG3xLmy0fM7kThcyPYuGwJCPUGtevb5bvdqywZ2YUktvOMjH3aNxNAoP75dgM7wjE1fjaVgUxF8A_HlmaxmAXjcvWLenFoz-1BnqJj-UBJutDEBZSxDM5DTHZl-TDgnRAaiCXFBY27bH--eQnJUWk062GOIEil5bcvlGWefp550nDdU28mCHSiV1_Tpbmo331T-S7JTpSZDu2LWIe1AlrcNgTb0dEMNWUdibJtHvoTxnTpfipyH0mSom1iypnuRm8LeWfQnpULZ6ZkFUPHmTrcqBkr_Gjf59sEB4HtrHqGTRYuYQKVbCieKsazgd-jLAs6coXIA5EOqL29Vp4MH4dMMfXY_BHE23u03DMC5amaYgq70P2xgy3p4tDp8f8Lxw2zgTQ3AXwckwUL5KMgBjE7y-qxWuthqmHRRWsC7kD6qBV2CRn53lT946CQT-9bLVkict6g1IGOOQewmWO1ZgkcOWhQ4ypfcp0edVekcx-iUlq5FxcU_M27OfiAvsm0M9InAYXSiPI_CCE28fV_kmJJt-ZqodXhXp-jUq1zbZH35NEUN2L7HGgTfqQH-jpMYeJAswMpl-ZACEMkYav17BaBV6OMJZbAJwU9NJKadfHk7SGmeoK_qSQbSPsWohc_cCeqDGWU7NQQwVKpOtWsxSwYmSU_QplKDW6XEvqhPkkz8Fv-qnBf2yBNHlA7DLCf0oIE1aLyYa6OHEF7zVPfNwHC2-DshuPl8EZVMcMxpLsXz5wmD7oBydwLbVNT5KDUevxQhVGUeUMFprs9HEVoenxTqvIydlGkdrzmCjkI2gab1TeY1c7c8htq5OhzFlVQAhdf9f0Px6aP4szyyNXC4vaX082sbE2R6Wt85swxOXIgUB8OCcUrVu6udjQXuKdyjA8zPeKbA84_4LlcQBpTietDbnpSsXo5ujoKFpQyXmpsl-JHbLe6YEgzqcKq7WjFJnIIRYH8aKJ7E1rP3FXIfph82cO3yzPkGFTD8cY5Ay_XWU8tn-JMPXRxXy9UgALQ5eKlqm4AjyDMPWkg8Rfcm6RQjH6JienaGUCCAOnDgDVe5uTnla8TkcEqmKLX7pZUA_NG3MIzsFBDzhhnuR-dIRqI0aaQgt-iq5zIFBNr0WI95P1MLv6EpQw8KodLwrVrRGmv8C0gTwqygneRFUsJ70UsAzFCtwpegFUGDuzHZmjb_BfcY2tI9e7kYXFQs4kneetPz70RkeIbiJDXZW3_wz9BmPJGEhZEdmlRRuNzq5wdnLBHxvN5HpPNN3Mn7yvanMFNQE0uXtGExJnXzoa0i0jUysRhT_kId0uR23pp21YCrhxmg-J-0yewWSrtgrnp3gehkCue2V-G_2xkfraq6uITPnWvTLQmmHRNFJOUyhhuXNFaHcQq7UdF3rJw9zQ5arMJf-v2AoQWT2s8uzNL2QqksmQb24Msl4ONAelycfWj8Ke62OUD6xMTB-6uHk-EyKmfrm3gzWhXQjjy3PMKMEghNJHWsM6EH2HJOy2m0IzVFS0yIgZb8DWz9I-HFPjnmemIN5gtfDTYdR7kN3aEiHiX40-nr1GqIafZPba30qNYKnld8hLbjkKEGwAsYrkv8HT6N9jL2DcbX4uJFOfeUj2djoQ4pyah3uUgfZL8lbM4z4RxMvneUNJitSQ5droAn8AKM1Xgo7lNz4IyAS30xgdXJd0m6DQ2Wy7KBqrfJsyKAdVu6b0d0GU_7NQrrqaA4UsXKAotw0aKZiP8G8ez4lkSdVOCyBtt69e8UI8MhAhngTde2SSnR",
  "id": "rs_01e6d9353bd9ab63016ab458534a2487d0a8018ae68b0bfe08",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.448,\"left_y\":-0.06,\"left_z\":0.052,\"left_gripper\":0.75},\"note\":\"The low approach is tracking now, but the neck is ahead and to the right of the jaws. I’m correcting both directions while staying above the table.\"}",
  "call_id": "call_FwqzxIuMAj01huJAVINfp6PD",
  "id": "fc_01e6d9353bd9ab63016ab45855bafc87d0bd0e1240910d4520",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FwqzxIuMAj01huJAVINfp6PD",
  "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]: [-0.2493, 1.7775, 0.6945, 0.5014, -0.2787, -0.1967, 0.7489, -0.0288, 0.7242, 0.4721, -0.3508, -0.0311, -0.0586, 0.9986]\nstate[eef_state]: left_x=0.4418 left_y=-0.0586 left_z=0.0505 left_yaw=0.0761 left_pitch=0.0044 left_roll=-0.0037 left_gripper=0.7489 right_x=0.2779 right_y=0.0011 right_z=0.1442 right_yaw=0.0121 right_pitch=-0.0337 right_roll=-0.0102 right_gripper=0.9986\nstate[joint_eff]: [-0.841, -7.2274, 6.6803, 1.7216, -0.2564, -0.1197, 0.0317, -0.9504, -1.4291, 7.0085, 1.9756, -0.1734, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:846e9ca17f2adbf7c96ce3ebb72dd591091d3cba4ca383f61e01c39351ace82a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:046db4be581b37532e63ec3961316753b51cdd4785386700e89536c1ac8e5b1e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be0d9a75a1720dc8865980cc8bbb93b1ede5b1a7b28dff87f345684792880a54",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 17 attempt 0 · /responses · status 200 · 4.937 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]: [-0.1696, 1.9133, 0.7338, 0.7254, -0.1986, -0.1562, 0.6504, -0.0284, 0.7845, 0.5735, -0.3996, -0.0311, -0.0586, 0.9986]\nstate[eef_state]: left_x=0.476 left_y=-0.0425 left_z=0.0505 left_yaw=0.0689 left_pitch=0.116 left_roll=-0.0418 left_gripper=0.6504 right_x=0.2876 right_y=0.0009 right_z=0.1646 right_yaw=0.0125 right_pitch=-0.0413 right_roll=-0.0099 right_gripper=0.9986\nstate[joint_eff]: [-0.253, -6.0786, 3.6855, 1.1502, 0.0513, 0.2027, -0.0171, -0.2803, -0.841, 9.6342, 1.7998, -0.0757, 0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1497, 1.6382, 0.4847, 0.5587, -0.2062, -0.1558, 0.6521, -0.0288, 0.7376, 0.4992, -0.3588, -0.0311, -0.0582, 0.9986]\nstate[eef_state]: left_x=0.3948 left_y=-0.0194 left_z=0.0397 left_yaw=0.0934 left_pitch=-0.0198 left_roll=-0.0041 left_gripper=0.6521 right_x=0.2811 right_y=0.001 right_z=0.1515 right_yaw=0.0119 right_pitch=-0.028 right_roll=-0.0101 right_gripper=0.9986\nstate[joint_eff]: [-0.2803, -6.106, 3.7402, 1.8193, 0.0952, 0.2369, 0.0806, -0.9641, -1.2376, 6.9675, 1.9267, -0.1294, -0.0024, -0.0122]",
      "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]: [-0.2493, 1.7775, 0.6945, 0.5014, -0.2787, -0.1967, 0.7489, -0.0288, 0.7242, 0.4721, -0.3508, -0.0311, -0.0586, 0.9986]\nstate[eef_state]: left_x=0.4418 left_y=-0.0586 left_z=0.0505 left_yaw=0.0761 left_pitch=0.0044 left_roll=-0.0037 left_gripper=0.7489 right_x=0.2779 right_y=0.0011 right_z=0.1442 right_yaw=0.0121 right_pitch=-0.0337 right_roll=-0.0102 right_gripper=0.9986\nstate[joint_eff]: [-0.841, -7.2274, 6.6803, 1.7216, -0.2564, -0.1197, 0.0317, -0.9504, -1.4291, 7.0085, 1.9756, -0.1734, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:846e9ca17f2adbf7c96ce3ebb72dd591091d3cba4ca383f61e01c39351ace82a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:046db4be581b37532e63ec3961316753b51cdd4785386700e89536c1ac8e5b1e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be0d9a75a1720dc8865980cc8bbb93b1ede5b1a7b28dff87f345684792880a54",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFhgYx9B90pZPjpLbOy2UlwO2-gzHzD4YbcLgVTGijT7criw0iJpLcE0ynPHiD_vy4KRkQa6JuUE8pgiZpwtxVfeUz5ixqnn16k_3RL2WPO5PG2divn9cVoXN8yPsM3k9kFN8oWopeiXOK34yyxNTL1U4KjACOS9Ha8EgkW9FySTk6qFyAMdtBRzy2wcvFD-Tmd-Vo5fi0LMCS8b3E-imbcNWHHIZmQrII9COknUWAq1ExVq2ddTT9ezlRaBG44-Bzo5JiIBGY8Hf-UEdnux5cYon2uDvqnDMSgPienFvvZ-Cai8LCMkCSM1XjMSbNP4feRfg8rmZViuytJeiWqUPCPWt4Fgh4T5O7VlHr3fH92IaSfKDAGBsjvE5JKxx-kJGsPDKrldgQqnkdUDIhsEsuTltFip-1axgtfyKsBUfflY2WunFO9aIxMKJQAAYG0NvV4M_pJzdMc2I-iVru9effpKDm5xfDDYNqtQf7e1zfG5Xd0M2bokN62BUAT0JLFET4GbAfKK-DkwMmwBlx5z-M4QeFg8Q87FqGMsSYKdLwJiNzSE5KkmIOynpWmM0FF9mD8IDwY1JfN7Y-JAonTEYFjGgyV1ALVPBXPbtWoCp53yh3fLRG-TUWVZzncNj6zUJ66hMXp-q8jfaGyNQ6lG7SZB-gb0Qsx9KnoAKONQ-GoUqlUQPUL-M03Jyqq8ldXDyQs49qT5FUjeb27ndIkZNnQlcq8t92ZP4mdMXmvGATSpRkKD8STfnblz_dbWNthRdm4BTX_fUBbMbiBENBAzqwaQTXKcGOSoOlgu5i8bwtPVoMl66tXTbCGe47086S9psiCk0le6suNCIUG1PSQWt7n_t89LLSUkCnc7HVx0kqyI4_8_EnuwEpEaS0nPV4bc5nGbzwYHmQarQqDCqHDQhBLByMjMhs3toN6wectrJAsvvhY-pWiLBlPNuAqcqtXcbiY_i6k6IrZ4IO6sd1nOEtZmEnw8_G0BkY1I7xm8fRGvCK1fksFAWHlWNeIp41UxP-uZo8-GJwpIXw-KDE2NoRmzEHez9Yz71qDtm8jPfOjgLz49alAqc6f7jTQG9bhnGEk16SLbemAdjm9F_Hlf2LoHyjEWTA9NPquSCNI6KCpg98e3_tyX8i9P__pMA-PuSTv2o9EIShyVI7gkmtM168dBInY5zy-3XTcZZbDFvWLO7Sx-qL2_h5QBVQz2jGtHtoxiSOY5hkDS58TgH6RLysLuOfi4-hgPtrKQJT5uCauACn5uSxZQMGXtCUD3aY0sWgOubf7PnYM1Xtpew82m7LCGlm1sMTVc6Qq4Y__F1S8bEC9kQSxLnkPG9ANKW0Ho9ZZGNIarpGuiZkXYxh_T8U-AAXRZv77wrFfcxFtLwMzRzKYeSkcrTK0KfvZF8KtGurD09ZKXIyo_nUgVQfNGK-Cnn7q5t3EC0YQVD6znmcVEyLEece4rtUCbKolLy13PuhsWSFRJqfAW79KG9NJE0TXoyorr-Movaqa5SDbmh8isjnPZsMJSvvshVzRFmpBHtynhSXBPkMWWIHW-E6QLkfZubMvGL9h2gSiIHj65DzWGNQUraAvuCI2s8LkzqH6Cr5PLCLAnKTVnwaPeZE-tEyGxzgpjyfZ0KlH3V2y_7wEfHqQ_LR-Zn26-TId4QcN6Sz9txhXaTw_H91COSiuttqhOIE_yc4KLPWKD_SnURrQZXZcubf11tqSX0YMB7MmHSNAX5lXapOxzqDURx8rDU35xswwsGxpIRlYGoiCYlZrxpXlygBF_oox0ejngiZmLeIKR-KjnjyMjGb7QVdHosO-royh9EOG0-ngwQn8q9R0TVy6g3OXKLJJcUP5iR8llWd3sjbuogr-wZFT-D8R6DBlxNWyERObcf29cN1mk2MK-60ArEj5yfwIt52hs7XO0w8PJO8Cfu594qanAXWY0vd83VgJvSFEgx22q2K9K6i2R05OGOA9H0ClUpw-9ujv1EdzuutjBY_ZvrpYsNfEjvEMHKYAZ-3Mz5jSLqLI02iYyJnhMZejsgOFTAkfO6hAQEuL9MJY4XCLGfXXi3-Q0BYe9iC1CjW7NJidZ7h3quQvVdewtTsbQje4evegAUIAAMJc6coTzeQAxw_W--zRDVXSUU8nrR_PdThRnPg4vhzpOw9X_YdYCp9O8Wo_YEMOu1Gty1yp-P3kZu1AIk5f8v6mJR6rJBv1br6Wls1JM1rIiaWNYd2wVuh7wxIUvXo545ULn_9p5kbeuFhOb4nNv3QsAHBJ6iS7k713zlf4SP0roz9fqFn6675LFO0ZgaSZpcSJNO4l_j6cFttUzOvbIcSBAPGTq8ACNm0FoVxLLnIFKuEyYtLK6N--9bl8JesvRvTQHNWn8zEHDeTSu5RTapNpPm9d1SiX6zlfwVwywvJbZ1v_VB0N4WexaONs3rZrS15JIlbT86mMytZc01ml8TxkyGhuFMCkcawB4aJSbeUtfZeLz0E1P_Z4I8V4-r4xPUu__opihVwmMIpgsww4vOeIaXdk45wXlbW_qFvnzVZChuYP4ovCYKlF9GS_Q5SPv_gjaUuTXjIWVo8VtJzVwxCtAzeIryvCqSwjxfJ2jtLwizSa-N8IjPdnlMenLpBRqEtus3TWF1yBv1jSB4xAgol6Z0e_-Jt5wu1TGiEYOf4fY-grIKtAYZt6f2O2qJbKCYMavsMjqViz9kGDfZ0zStJZGnF7bQbJCVtvQ9xVXXfus2XaAlnW2KnmPYg7OyaazBN1JNIobsP2jJXXxH8z98kIJb0-BDPVMlAxL7XcgDLoP_nWlX4AcVsCtfcgtE3hJU4t7fl_VRU5bV2sLTW1TMKj0Vg==",
  "id": "rs_01e6d9353bd9ab63016ab45859735887d082c7daca9030d2ea",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.475,\"left_y\":-0.117,\"left_z\":0.095,\"left_gripper\":1,\"right_x\":0.294,\"right_y\":0.002,\"right_z\":0.185},\"note\":\"The bottle slid sideways when a jaw contacted its shoulder. I’m opening fully and approaching the newly positioned cap from above to avoid pushing the body again.\"}",
  "call_id": "call_MkU4fU0o6E74MEsyceHB7Gqr",
  "id": "fc_01e6d9353bd9ab63016ab4585ed6b887d08256c8914090b88d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MkU4fU0o6E74MEsyceHB7Gqr",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.382, 1.8004, 0.9478, 0.2588, -0.3756, -0.2707, 0.9978, -0.0277, 0.786, 0.5777, -0.4042, -0.0311, -0.0586, 0.9986]\nstate[eef_state]: left_x=0.4717 left_y=-0.1158 left_z=0.0931 left_yaw=0.0629 left_pitch=0.0134 left_roll=-0.0123 left_gripper=0.9978 right_x=0.2876 right_y=0.0011 right_z=0.1652 right_yaw=0.0133 right_pitch=-0.0432 right_roll=-0.0098 right_gripper=0.9986\nstate[joint_eff]: [-0.4034, -7.7197, 8.1026, 1.5604, -0.1441, -0.0952, -0.1245, -0.294, -0.4718, 9.9077, 1.7411, -0.0659, 0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b35b8af9150c612a48d8e1cf3e0746e332bdc5fe854808ac5dcd660156e8f36",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdc591fb8d71870004167891f0a846a042afc3dc93f9a1f3c63f40e183defe52",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:991936f10b6cc41c6e848a5bed51bff33792c99046b31e38c2cf7802249b69e5",
      "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 18 attempt 0 · /responses · status 200 · 3.739 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]: [-0.2096, 1.0439, 0.6506, -0.1455, -0.2268, -0.1638, 0.9975, -0.0284, 0.7582, 0.5308, -0.3756, -0.0315, -0.0582, 0.9986]\nstate[eef_state]: left_x=0.3461 left_y=-0.0293 left_z=0.1776 left_yaw=0.0552 left_pitch=0.0372 left_roll=-0.0143 left_gripper=0.9975 right_x=0.284 right_y=0.0011 right_z=0.1571 right_yaw=0.0126 right_pitch=-0.0337 right_roll=-0.0097 right_gripper=0.9986\nstate[joint_eff]: [-0.2256, -2.9607, 9.1829, 1.7656, -0.2271, -0.0806, -0.1294, -0.6359, -1.0872, 7.1316, 2.0049, -0.1587, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.2493, 1.7775, 0.6945, 0.5014, -0.2787, -0.1967, 0.7489, -0.0288, 0.7242, 0.4721, -0.3508, -0.0311, -0.0586, 0.9986]\nstate[eef_state]: left_x=0.4418 left_y=-0.0586 left_z=0.0505 left_yaw=0.0761 left_pitch=0.0044 left_roll=-0.0037 left_gripper=0.7489 right_x=0.2779 right_y=0.0011 right_z=0.1442 right_yaw=0.0121 right_pitch=-0.0337 right_roll=-0.0102 right_gripper=0.9986\nstate[joint_eff]: [-0.841, -7.2274, 6.6803, 1.7216, -0.2564, -0.1197, 0.0317, -0.9504, -1.4291, 7.0085, 1.9756, -0.1734, -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]: [-0.382, 1.8004, 0.9478, 0.2588, -0.3756, -0.2707, 0.9978, -0.0277, 0.786, 0.5777, -0.4042, -0.0311, -0.0586, 0.9986]\nstate[eef_state]: left_x=0.4717 left_y=-0.1158 left_z=0.0931 left_yaw=0.0629 left_pitch=0.0134 left_roll=-0.0123 left_gripper=0.9978 right_x=0.2876 right_y=0.0011 right_z=0.1652 right_yaw=0.0133 right_pitch=-0.0432 right_roll=-0.0098 right_gripper=0.9986\nstate[joint_eff]: [-0.4034, -7.7197, 8.1026, 1.5604, -0.1441, -0.0952, -0.1245, -0.294, -0.4718, 9.9077, 1.7411, -0.0659, 0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b35b8af9150c612a48d8e1cf3e0746e332bdc5fe854808ac5dcd660156e8f36",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdc591fb8d71870004167891f0a846a042afc3dc93f9a1f3c63f40e183defe52",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:991936f10b6cc41c6e848a5bed51bff33792c99046b31e38c2cf7802249b69e5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFhl3N1kRqg3E-iLlTvwYtm1V3H2QrWxhC0GFEg-3PMQi_BZP_MkRnOhVxrG2EFlPUBRDILngSTfC4mOXEdAnSBweUTaKrd4JUi_FABS6kEqRhw2c9DJ9wvIxIU3NM9LG3CQHZ97qC1jeZ3ebdUwW5net5g092VvDUK96mJAIMCJ6djOuhe4PxkwtiEcaEQo1BNbc4djcxubz90TLHEmVmZ2ZRXZYWmAjMKTf65MGp6NonUZba5khQOg2bfB0cte1YqJF4zYXrDwusMa1FsXAG-DGbVG_xfc4XZxLSbm2ZCAPZMegc7xLFgzfcfOw2UWwDmq4uOltyMtdS10t-NgpNkfRWcp7C3Jvva2iI9aeilUi9ABgzLX_Mut40KOsJ6cTZ137Mr7QV1Az_4WB2P0mcGl5wZTtf_aPEcb5qA0enG4g09S_ZqtjSEdUjUKTlkmH23CdmSfcloJlNC3M1YdjhNsQIYoOx6Bpe1_6MiUVFWuGtlZXnulrla0rLeC-A9nIVL5UthpxHI2CAjA0NyttxE3xYuQRwxMdThptq5JvxkjI30nsT0KauvwkO2Ca0iV66zTNZ20iighiFa8uO4bLF8F9Rj6bsF0nfJ5onz-rpQ87fzuzTTA-ciV2HblQ0vpwv5IQln92sBsszgoxjjZTgGQHYpjJXM6nVLa4mjjgozgtuSAIEqIkfZFVLy28OYxafbm_wFM6KrU3LLEZfAvSwV9G0YD2RHbdepJbBnmPVFrgiRGUD3U3HRkKztQFgXZdrvkGBhygHOnQuHrnUyQRHQcSZaWAHJQdK5Jsubx-cxQLW-U7kY7H42T6Cd60icNwCMyazjrRoLXHctS6FryG7nCsXcwfLnFBSe9IZf1uOjN2x-He85abD80U6s0sqKbbcwixKgBTb4oppCUZ_9bAiZKmoKJfJjBCbDI6JWqfD4JtVSqPuBBa2HCfJDuftIT9voeTXa0bzhhQZUvo3O_-eRlqLkwPedz_ihQK1i2RfDdj_81i96yoj8yb7gUtWlsfMeCkJHYdgzyQchlz_ng7jr8Yg_OICJ1iQjFMa_NA0HtTyNBfY8zf9pzcZjgLUbvTpYCYhCgf_YxUx2_k-IzJKXN6zIBXvqR8xqt2xmTkO99yGqPHD_RvclOo6WjstCZ0S3J5nk7mF8FR30HsYHrI8iRk9wHiIh6ukGw5ai6mNuhIp-SAJ3hnoAgcf_9j2kd1iMBXL5f_8RIL7wV3JKxqji5ZQsbPEKh6pl5KYHxmOPgeYuZab8xN-lwkEpOP0OpWSc1kkFkfcLd_cHS0G7SN7E0VBGeGibYZifKM6kRyh-ISSSfpExR2Yk1q0FPC9Rc-VI6GpEzrdewG2WoGCDCjJmdtHXXGttvKJ8bPIr9Trtc7v9vaEvKMTMjPSeykwNduf-gA3Pi6EeGQmeo6ERUSdrCZlMs9QtmUVPQgjGyofJI1Re6rxkgFx88FznyBFGbjA6s0Ea9elsq9SkvW4u3eEOAIieD8ZhmewBCMlFUHVNpVIAuJhXmbyWMpp4Z8qbFAwGxAe2rULAo3IQYSm3EQ4F9ab9iCKTBQmuSrLZIkj0tOLDEq9MV4H20WGwBVAGwJsTsoxqmEqZhXHxDburihZAlmdjl6rqE6h2-fioRbv5ee4xH37zSzNNzeafxtoqQ9dKRhOAftMfUWuaLgEicWnemYiBoSGZR2KyYnbpQZnxhFjqcPiEU-Si63-KxuqBvOPhWycGtLCI0NsYHb4CgO0_ssaW77u6K9Pm3vmpW1vReKxoSaR-GnE9FEBa_nYnbRUYzVQpR8tsDZyDP-mR3Oypt_dCespXVUyKBJcFPBpF2FIAOh-6d5Om6YOp13-14usM2",
  "id": "rs_01e6d9353bd9ab63016ab45862617c87d0819a3c023b20c24c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.475,\"left_y\":-0.126,\"left_z\":0.041,\"left_gripper\":0.65},\"note\":\"The cap is now between the open fingertips in the wrist view. I’m lowering straight onto it with a narrower opening, keeping clear of the adjacent bottle.\"}",
  "call_id": "call_UhZxq6Gk8IDSXQpyu9jtJBPe",
  "id": "fc_01e6d9353bd9ab63016ab4586473f887d098a9f3fe7f724464",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UhZxq6Gk8IDSXQpyu9jtJBPe",
  "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]: [-0.4007, 1.9446, 0.9306, 0.3679, -0.3866, -0.2893, 0.6541, -0.0284, 0.7616, 0.5369, -0.3946, -0.0315, -0.0582, 0.9986]\nstate[eef_state]: left_x=0.4726 left_y=-0.124 left_z=0.041 left_yaw=0.0634 left_pitch=-0.0307 left_roll=0.0007 left_gripper=0.6541 right_x=0.2823 right_y=0.0011 right_z=0.1551 right_yaw=0.0126 right_pitch=-0.0501 right_roll=-0.009 right_gripper=0.9986\nstate[joint_eff]: [-0.759, -9.1692, 4.9983, 1.5507, -0.1294, 0.0855, 0.1148, -0.7179, -1.6342, 7.2547, 2.1709, -0.188, 0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5943e543770b54de387d78c514dd88bafaa838df76ed6bc8fefbb93c30687e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a9638aefdb9c74a75ef365e3e0eb3e8cfa313c228ac13f152795f37ecb2db9f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07c5d6abb4011623c8a63ace6c0ac5995697ae55c1828eeffd560d8c4fede213",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 8.16 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]: [-0.1497, 1.6382, 0.4847, 0.5587, -0.2062, -0.1558, 0.6521, -0.0288, 0.7376, 0.4992, -0.3588, -0.0311, -0.0582, 0.9986]\nstate[eef_state]: left_x=0.3948 left_y=-0.0194 left_z=0.0397 left_yaw=0.0934 left_pitch=-0.0198 left_roll=-0.0041 left_gripper=0.6521 right_x=0.2811 right_y=0.001 right_z=0.1515 right_yaw=0.0119 right_pitch=-0.028 right_roll=-0.0101 right_gripper=0.9986\nstate[joint_eff]: [-0.2803, -6.106, 3.7402, 1.8193, 0.0952, 0.2369, 0.0806, -0.9641, -1.2376, 6.9675, 1.9267, -0.1294, -0.0024, -0.0122]",
      "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]: [-0.382, 1.8004, 0.9478, 0.2588, -0.3756, -0.2707, 0.9978, -0.0277, 0.786, 0.5777, -0.4042, -0.0311, -0.0586, 0.9986]\nstate[eef_state]: left_x=0.4717 left_y=-0.1158 left_z=0.0931 left_yaw=0.0629 left_pitch=0.0134 left_roll=-0.0123 left_gripper=0.9978 right_x=0.2876 right_y=0.0011 right_z=0.1652 right_yaw=0.0133 right_pitch=-0.0432 right_roll=-0.0098 right_gripper=0.9986\nstate[joint_eff]: [-0.4034, -7.7197, 8.1026, 1.5604, -0.1441, -0.0952, -0.1245, -0.294, -0.4718, 9.9077, 1.7411, -0.0659, 0.0562, -0.0073]",
      "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]: [-0.4007, 1.9446, 0.9306, 0.3679, -0.3866, -0.2893, 0.6541, -0.0284, 0.7616, 0.5369, -0.3946, -0.0315, -0.0582, 0.9986]\nstate[eef_state]: left_x=0.4726 left_y=-0.124 left_z=0.041 left_yaw=0.0634 left_pitch=-0.0307 left_roll=0.0007 left_gripper=0.6541 right_x=0.2823 right_y=0.0011 right_z=0.1551 right_yaw=0.0126 right_pitch=-0.0501 right_roll=-0.009 right_gripper=0.9986\nstate[joint_eff]: [-0.759, -9.1692, 4.9983, 1.5507, -0.1294, 0.0855, 0.1148, -0.7179, -1.6342, 7.2547, 2.1709, -0.188, 0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5943e543770b54de387d78c514dd88bafaa838df76ed6bc8fefbb93c30687e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a9638aefdb9c74a75ef365e3e0eb3e8cfa313c228ac13f152795f37ecb2db9f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07c5d6abb4011623c8a63ace6c0ac5995697ae55c1828eeffd560d8c4fede213",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
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  "id": "rs_01e6d9353bd9ab63016ab45867b5bc87d09f83cef31635def4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.021,\"left_gripper\":0},\"note\":\"The bottle neck is centered between the jaw tips. I’m lowering the last two centimeters and closing to capture it just below the cap.\"}",
  "call_id": "call_K0Ogu0F1s1tQ7VWUAV5Q80Pg",
  "id": "fc_01e6d9353bd9ab63016ab45868c46487d0a49eed4df8637331",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_K0Ogu0F1s1tQ7VWUAV5Q80Pg",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4053, 1.9766, 0.9119, 0.5652, -0.4129, -0.2897, 0.0181, -0.0284, 0.7319, 0.4885, -0.3656, -0.0315, -0.0586, 0.9986]\nstate[eef_state]: left_x=0.4881 left_y=-0.1284 left_z=0.0585 left_yaw=0.0833 left_pitch=0.1061 left_roll=-0.0542 left_gripper=0.0181 right_x=0.2784 right_y=0.0012 right_z=0.1467 right_yaw=0.0128 right_pitch=-0.0398 right_roll=-0.0097 right_gripper=0.9986\nstate[joint_eff]: [0.0205, -6.653, 3.4667, 0.9792, 0.1099, 0.0952, 0.8132, -0.9641, -1.5521, 6.9538, 2.0586, -0.1685, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a94499c0603633b9be0001c0fa3a3854e5fd3f18ad1f1115999a0c53e6b8d95b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bd896c242081ed0a0624949dd16539daf104b7da0e6731d825582d0fd92688f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:306e58753c9f83fcf638e98bef40fb02718135222691de64204c35f7783124a5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 4.682 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]: [-0.2493, 1.7775, 0.6945, 0.5014, -0.2787, -0.1967, 0.7489, -0.0288, 0.7242, 0.4721, -0.3508, -0.0311, -0.0586, 0.9986]\nstate[eef_state]: left_x=0.4418 left_y=-0.0586 left_z=0.0505 left_yaw=0.0761 left_pitch=0.0044 left_roll=-0.0037 left_gripper=0.7489 right_x=0.2779 right_y=0.0011 right_z=0.1442 right_yaw=0.0121 right_pitch=-0.0337 right_roll=-0.0102 right_gripper=0.9986\nstate[joint_eff]: [-0.841, -7.2274, 6.6803, 1.7216, -0.2564, -0.1197, 0.0317, -0.9504, -1.4291, 7.0085, 1.9756, -0.1734, -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]: [-0.4007, 1.9446, 0.9306, 0.3679, -0.3866, -0.2893, 0.6541, -0.0284, 0.7616, 0.5369, -0.3946, -0.0315, -0.0582, 0.9986]\nstate[eef_state]: left_x=0.4726 left_y=-0.124 left_z=0.041 left_yaw=0.0634 left_pitch=-0.0307 left_roll=0.0007 left_gripper=0.6541 right_x=0.2823 right_y=0.0011 right_z=0.1551 right_yaw=0.0126 right_pitch=-0.0501 right_roll=-0.009 right_gripper=0.9986\nstate[joint_eff]: [-0.759, -9.1692, 4.9983, 1.5507, -0.1294, 0.0855, 0.1148, -0.7179, -1.6342, 7.2547, 2.1709, -0.188, 0.0171, -0.0122]",
      "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]: [-0.4053, 1.9766, 0.9119, 0.5652, -0.4129, -0.2897, 0.0181, -0.0284, 0.7319, 0.4885, -0.3656, -0.0315, -0.0586, 0.9986]\nstate[eef_state]: left_x=0.4881 left_y=-0.1284 left_z=0.0585 left_yaw=0.0833 left_pitch=0.1061 left_roll=-0.0542 left_gripper=0.0181 right_x=0.2784 right_y=0.0012 right_z=0.1467 right_yaw=0.0128 right_pitch=-0.0398 right_roll=-0.0097 right_gripper=0.9986\nstate[joint_eff]: [0.0205, -6.653, 3.4667, 0.9792, 0.1099, 0.0952, 0.8132, -0.9641, -1.5521, 6.9538, 2.0586, -0.1685, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a94499c0603633b9be0001c0fa3a3854e5fd3f18ad1f1115999a0c53e6b8d95b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bd896c242081ed0a0624949dd16539daf104b7da0e6731d825582d0fd92688f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:306e58753c9f83fcf638e98bef40fb02718135222691de64204c35f7783124a5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFhycKvZSI_eEYwx6457AaLzAA_tRKts3ATyay0CSBgXQSfa2H7ScjtqYT4JuYyvUUFLEbGujlxKT9Kj9kfuZyB0Bjbp-dW67p-3rxJTW2JehGZRfQz0qqovOMe5I3tZH_cn5HHLdFMPPL4oKo4YObJkSACg5vZ1xfDu3IoCjXTwnNrUs5S3wOhUcSFv_mogKC2PXrIY_iUrE9FClSyCQ_YLDJJUxjGSxVM-k0MZHmrLrfu8STo0HEP6oynCfDewhLS8UZwTaCea8FvEIL6Nc45SCO5E3kDEJRfp8CB51P3oHxpKLUiwE_0Wb90tr1HuViIMH5BKwCBeiVa0d6j4o-Q1h35X95rLU98g9mAQkQvY9fjLlZcjdMMfGBtDXhbcUdaZBTQlkDQ5kDfWvGbvgcvVUCh3B5MghAKhj3Xl9t6YHc8aA7vijPBOWbc_0bdH9PBTm2pi8kzxbx7bkfqmKupztpGCcjEp_ebCRX-_te6anj6u05DGrqnodryo86Fc7HueRzjgXgIMVbtwWWJP5NwGnABCkpWCEPSC6h0Xb3VExzGjhRks6zQ-tVj52uEXgVzc8FX-tWxg9gu5tYjImv4qq1yScXNcndrIQdP-_0T2glwPl7GB2oyr7hpWSo5N9DUWZtGTd4NQfPVjWCFbeS4rhnx1V9hP-2MtNw3r9SJ-GcR82Tz6KI6fSd-xx-PzVzm879X_4_Sasr8syA74f7s6VYDVpnLBf9CIvp0pfds6IfeopTsvYBxWW3PqXknIRV0bwYhsBtPF2PwydQEttXJVfz00oAqI9AsDyXfxGKPWksy6vajoGApXGQsDgDkG4Bt3IsWnQzflqlKJvouTUWK0oEuArvl8e7g5e6aIcgiEBvpTs1i42Ew6kAeSsiD7SscsMItYRM2XMnarfOoSxIN7cL_DDI6RW0_y_HeMc6CGaL36f7qPHLx3T86Hj0GrdgpQqNfC4NUnqVb5cfmCq_SNTd0vWrrDp8ZQVKm3WfwVH-UdZ9fZPnsAO8yvi4ufe7iJEZOUmWQvd0R9IilaNQrH1HdInlVGcOeiCRMLYRHMdWFwbn9_h1go8Y0WDGK-Gs35cFD6KK3m7GFJSABmRBqxrwOk6BECE39-0zbIHn06rJ2O7w9oFJ-WItXChWsF2WS8cq_dDzilCLyuUCxLKF1LH6OYyevVfyFzrdsHd3ev18Y0F6aFxh1-Zr5Ijkq83Jn-148ok4Y1YMayXtxT5ip9tQ1EXr5MjEVKoNYMtxV03AZhv3XJapG_r7E4TGZE69p_PFQGLk-ae136mVFKnE-x38Y6npG1t1-vD17IOzWmIzI7FmKOc7L11l3Qno0KZ_Qv1vOXoLIl9ip4eVg7hcNZxC7psfK1dsaQQXcz4TRLJlk59rpJ25rP_HXM4YnQ1FW6IYkFzGbO-J2vfQZKXcbdZUC7JpnoeORYfK0zhwmRbLEKwsH8EylzaQyHGKMKqyJ8zJ9AAkoQrlfDgRIHuAJooDEPf-GChM5g0aDLhwGBTJnTlJh6veJtHGt2vWqHAEmT7okWHEPmk-2klFDiXTF832OY8AE6USNzRbhsUm5LEIPK7-5FD-FRxWVh9HUCr-TFnwsNcDCuJMQ4OnLYXiP3wbHXoE9jQFPWdeANTE2G0L__MTUmGQIju0s1eRm-T-ivyXgaZu9yk5Tfgcu8JzSTJIB1EU0QGM55mxNgl5zxeJCaAAENyg0VX7xcYM3iSmva1lP1oD0_74WAeqPGpYZj04vwihDhZ4L1NKsxL4joA95lpMtMqfQjVdJxWCOrsR5SGnplu5aMsHwfxcbA6KzSNclbJj_NIJEqLIuJ1okjBf6madOrD2lIXjK9G6D-DNVQ6RzRPo4edoV3d3vMHNe20zmY5IYVFXXhwGBZaHPuFB4UybchV1YRQB3xnCCsdCEl3GNsbiclgImGhvvmmjbW2Yr26SHUG2EfGIfj2taILs_zL2gRIpbT9n6DAPiUUUzVgyVDrguK0MaNGGT3l_j7KGlcFG0fNl9JHqdr5a0ftKedxB0kuyyaAfoSIeG9axdi4uT27qIwEbLUxe_t0mAbfpcZYEXKZCpD0IJZ85pWl47Iak0GzcDbc8SeO9xOZ36PiraFWSow8qXK5CZV80d4lxHd-h_bGmJ_se3Gldv5qPh561dMZZGPUd4HwOyIZkHSdAUTSM4Q9uSXUBRl4RAJXzsp21CpwA685N_x79T8_UXf9ibzja9LPmVq3jhEZGfi-pHyCBH3tPh0iNt85IlDngxPWV6rqFk475luS0EjvUZDCjuYjHbpoTwvFzqttDXXodyrz0KLxoBYa3XJEUkQYp9NTUbsfGCY8AGUi1kbbgKYQgjTkBKnIUaqRbkgSmK9lfis9nvw-RSkkbX6t6eeU-HnMkOfzWlQbwh2HM_ld7ReuNOZOMAe0Lf8Apkl-JsA74urYMYaBTgAVTKUgzCCVooQR5gHx-n6PD4KvHx2Q8qVXoTNDVhMfhfXoBzczEg0PycPHj_6tLit7kjUwveJE9LBDI_15wvnRK8HEChgheMyf4Rq3d64dba5ebzmWW-a85HYDdyh4cVcWdwtLSJc52wT2qHT7BtN5yhNrAbb4ZqlzMz2s0X6uPYJIG05hR2KKcsvDQm3fY6FzORnNsIJW0-yo0qM1laux_yNOo9rZqPVxJDzfcOSfTMRNPGOSzR-KZKSakpDZ6lBAcYV4aN3phhEXcGMG_pLX2RKPwlxa34HGYV1Bq2rn_hC5v5I9VhPqQcDyaGHLhwxOcOW9EUeNpqwT6NUQdwrP5IFRxxlsPF-5Ca4UNxbB515A4ADa-iOkiC7_nFETO2Xc4DxpBnYeAgRf3rNhEd6e9bOklfGiBalxRLmywbXheIHkulGk-rPU9glNK42iqrbVD0_Uvqh2-fw7QfGfeFsR0aa88Djj7g=",
  "id": "rs_01e6d9353bd9ab63016ab4586c13c887d0bc10be69e05f6b96",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.15,\"left_z\":0.145,\"left_gripper\":1},\"note\":\"The neck grasp was empty again; the arm rises instead of reaching the cap’s low height at this extension. I’m switching to the wider bottle body so I can draw it closer before attempting to stand it.\"}",
  "call_id": "call_oTuiXRYwPJjq8TbOt156LdhS",
  "id": "fc_01e6d9353bd9ab63016ab4587183ac87d09c86b92fc517349d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oTuiXRYwPJjq8TbOt156LdhS",
  "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]: [-0.6838, 1.4136, 0.7971, -0.0658, -0.6033, -0.4744, 0.9956, -0.0288, 0.7055, 0.4526, -0.3431, -0.0311, -0.0586, 0.9986]\nstate[eef_state]: left_x=0.3607 left_y=-0.16 left_z=0.1443 left_yaw=0.0509 left_pitch=0.0148 left_roll=-0.0247 left_gripper=0.9956 right_x=0.2756 right_y=0.0011 right_z=0.1417 right_yaw=0.0121 right_pitch=-0.0268 right_roll=-0.0105 right_gripper=0.9986\nstate[joint_eff]: [-0.2667, -6.6803, 6.106, 1.4579, -0.3346, -0.0122, -0.1099, -0.9915, -1.1145, 6.8034, 1.9609, -0.1734, -0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:458b99a7bc9a4978ebd3e3b3f14e2d10e41c57255f2367733a525531d3749e6a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39072bb99ad808347c224d3d100e9e90e92c416c5c7932fdbc809ec8b413973a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9442786b958f9f408ff85fde08cf3bea48c7ad0b136cdee499a127e2d66203c0",
      "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 · 3.088 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]: [-0.382, 1.8004, 0.9478, 0.2588, -0.3756, -0.2707, 0.9978, -0.0277, 0.786, 0.5777, -0.4042, -0.0311, -0.0586, 0.9986]\nstate[eef_state]: left_x=0.4717 left_y=-0.1158 left_z=0.0931 left_yaw=0.0629 left_pitch=0.0134 left_roll=-0.0123 left_gripper=0.9978 right_x=0.2876 right_y=0.0011 right_z=0.1652 right_yaw=0.0133 right_pitch=-0.0432 right_roll=-0.0098 right_gripper=0.9986\nstate[joint_eff]: [-0.4034, -7.7197, 8.1026, 1.5604, -0.1441, -0.0952, -0.1245, -0.294, -0.4718, 9.9077, 1.7411, -0.0659, 0.0562, -0.0073]",
      "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]: [-0.4053, 1.9766, 0.9119, 0.5652, -0.4129, -0.2897, 0.0181, -0.0284, 0.7319, 0.4885, -0.3656, -0.0315, -0.0586, 0.9986]\nstate[eef_state]: left_x=0.4881 left_y=-0.1284 left_z=0.0585 left_yaw=0.0833 left_pitch=0.1061 left_roll=-0.0542 left_gripper=0.0181 right_x=0.2784 right_y=0.0012 right_z=0.1467 right_yaw=0.0128 right_pitch=-0.0398 right_roll=-0.0097 right_gripper=0.9986\nstate[joint_eff]: [0.0205, -6.653, 3.4667, 0.9792, 0.1099, 0.0952, 0.8132, -0.9641, -1.5521, 6.9538, 2.0586, -0.1685, -0.0269, -0.0073]",
      "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]: [-0.6838, 1.4136, 0.7971, -0.0658, -0.6033, -0.4744, 0.9956, -0.0288, 0.7055, 0.4526, -0.3431, -0.0311, -0.0586, 0.9986]\nstate[eef_state]: left_x=0.3607 left_y=-0.16 left_z=0.1443 left_yaw=0.0509 left_pitch=0.0148 left_roll=-0.0247 left_gripper=0.9956 right_x=0.2756 right_y=0.0011 right_z=0.1417 right_yaw=0.0121 right_pitch=-0.0268 right_roll=-0.0105 right_gripper=0.9986\nstate[joint_eff]: [-0.2667, -6.6803, 6.106, 1.4579, -0.3346, -0.0122, -0.1099, -0.9915, -1.1145, 6.8034, 1.9609, -0.1734, -0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:458b99a7bc9a4978ebd3e3b3f14e2d10e41c57255f2367733a525531d3749e6a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39072bb99ad808347c224d3d100e9e90e92c416c5c7932fdbc809ec8b413973a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9442786b958f9f408ff85fde08cf3bea48c7ad0b136cdee499a127e2d66203c0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFh4y6_Jao5p78UfWrGTjTlFgd9F7uw0lrX5RJVsu4joAH8lfrCas74Fv-t09swCf5yBYxHZDfoe07DG8MT6bGPI0SNHj2EQb-_IFErCYTj4My2sbpIZEYGFfpEa4avyjyjk-Oa1qAtrBYdFGNFxnkShnVyh4Tw-3xBnrNBEuChlmp5AS3HvkMS91HKZ9PhPYSWd4U5MJ1UEZ89a72jP_BruEU0aV63GHTcrccIySRbI50n-8czAPKiNLU_ffmY3CLqO_G5b_pfjOQuBfNAe3YhBYbgAnjbUty9Ru3WnfFvO15dNLllHD92-XvhUXD085D4tCAsgcCZ2dMPYn6Lf5B-DuDBM8sFB2qAQeF1bmvwn9ynw5rV-kq0wprRr1seSTCnRSYi4qMMmZeB0h1YS8eWkCS3JsALsDiOw3lqyji045dnWun2xqQa-wiaXPUwhD4tkQnVZ4QzOb_XEIQBCcxLk-rGeyP2JZE874tpxyCU5KRwVgdJrQCV6bz36mN2ydppjYAAUqWJpW11XVzQU_bAENfu7ptBQL_Ryl_ZHGgB433Q1l9m5HWVkbme2kz5kbe8x2QAPJoKe0M0dm8XZP0wXqNDuT5PCBn700QGHAqIapWDACib8I8OKLkFRvWuD4RPXMLsk9-ivN416Rg-D2xHPclllGhsu5DRz_thBDEoI0HlVZjelGOQcrq3AiNQvv7OpGPPkPBqQd1rAlDsE6rSL0ZM32Mhqc4kdV5QKVERxsHyaJWRmWoAgTolwJTSMiJs5SX-vLcHKgN4I0J2G0t4ZlKLxbwW6TcX3kTCyQXQHYoD2OVKWcJ6xMOj7ZO5FnT1H9X2LQ-Ze3gJtFXD4A3exv7itzGQwcvQCClwMdX_SwR9d4wYTXT3O7iYtm7eziBSct89XFww90L7yLyDd0W2z0XR4wdbtyh_C0JdBToac3yPGsJ7P8X91zka6JOIynWSb_dA2dlF8ot8zhPL9ioMu6w1rnkO1kBmfK8joPDjt1776L8wBv-eru1TnIFyL9ux4_Np8F4oHlqS0sf65AtRnwNCyoAxlow2zoiHUVA-2qYRkY3WSOA96rBKiYpAvsuryAaUDvU_yPQJn_IJPFBiNdcYjMpLYuAt8e7QDvK7IuNedSpY8xVFR13pj0msDsvkAAmWfVGq670fOK8_yXEzcraDfHEVP8pdNpXliLJgcTD097aaH9vbRTX5tH6_5fGoARa1j_cJoihbvu6rLOO_8rvt2oBj5gjYFWdd9aH8hcQwtuS3wcishKBnru0C8w752uDjlR-aZ9LiIeeUtytBQN4BL1R1k5ua9SR1gy-Zkp03ce7pv4Ukk692OA1suPPgExpWapnNHmqau9ufTjmCXS4yEhl42MSXLUQRWZWF-219TN5dpADXqxAqLhhjtdmNQO5zaPxUQt8mekMh08ExWo-C0wSq6m9K4W_s5zFrRrxPGyOkq2PO-UPgOgEUMzs27O9eLncuPcfk-cTEcztEepw7AZsY3Yr5p84FJN26WkwA=",
  "id": "rs_01e6d9353bd9ab63016ab45875a05c87d082290dea6fba6c3a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.14,\"left_z\":0.022,\"left_gripper\":0.85},\"note\":\"The nearest bottle’s body is now centered under the left arm. I’m lowering around its wider section, away from the neighboring bottle.\"}",
  "call_id": "call_OgpbGc2VNhYsbkcX9qafdKV6",
  "id": "fc_01e6d9353bd9ab63016ab4587712f887d0acb19a7607dd7ca6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OgpbGc2VNhYsbkcX9qafdKV6",
  "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]: [-0.6266, 1.7298, 0.5457, 0.4507, -0.5613, -0.4404, 0.852, -0.0288, 0.6922, 0.4271, -0.3355, -0.0311, -0.0582, 0.9986]\nstate[eef_state]: left_x=0.3594 left_y=-0.1397 left_z=0.0215 left_yaw=0.0583 left_pitch=-0.0419 left_roll=0.0164 left_gripper=0.852 right_x=0.2727 right_y=0.0012 right_z=0.135 right_yaw=0.0119 right_pitch=-0.0314 right_roll=-0.01 right_gripper=0.9986\nstate[joint_eff]: [0.841, -6.5573, 3.9179, 1.5702, -0.3004, 0.1832, 0.1099, -0.7179, -1.1966, 6.9812, 1.9072, -0.1783, 0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f053db5563c76e6c601513cc39c8f411ef6663d6845c173df4429fd2c44fc26",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1af13d64a52ee6adf6579ba2af7d37da585a380c384fa0616c18a911dfbdb27e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:664c2b71a83fd0fcd500d30e2fbbd03ae600578d418ad3407cef4d01586a1d75",
      "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 · 4.132 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]: [-0.4007, 1.9446, 0.9306, 0.3679, -0.3866, -0.2893, 0.6541, -0.0284, 0.7616, 0.5369, -0.3946, -0.0315, -0.0582, 0.9986]\nstate[eef_state]: left_x=0.4726 left_y=-0.124 left_z=0.041 left_yaw=0.0634 left_pitch=-0.0307 left_roll=0.0007 left_gripper=0.6541 right_x=0.2823 right_y=0.0011 right_z=0.1551 right_yaw=0.0126 right_pitch=-0.0501 right_roll=-0.009 right_gripper=0.9986\nstate[joint_eff]: [-0.759, -9.1692, 4.9983, 1.5507, -0.1294, 0.0855, 0.1148, -0.7179, -1.6342, 7.2547, 2.1709, -0.188, 0.0171, -0.0122]",
      "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]: [-0.6838, 1.4136, 0.7971, -0.0658, -0.6033, -0.4744, 0.9956, -0.0288, 0.7055, 0.4526, -0.3431, -0.0311, -0.0586, 0.9986]\nstate[eef_state]: left_x=0.3607 left_y=-0.16 left_z=0.1443 left_yaw=0.0509 left_pitch=0.0148 left_roll=-0.0247 left_gripper=0.9956 right_x=0.2756 right_y=0.0011 right_z=0.1417 right_yaw=0.0121 right_pitch=-0.0268 right_roll=-0.0105 right_gripper=0.9986\nstate[joint_eff]: [-0.2667, -6.6803, 6.106, 1.4579, -0.3346, -0.0122, -0.1099, -0.9915, -1.1145, 6.8034, 1.9609, -0.1734, -0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6266, 1.7298, 0.5457, 0.4507, -0.5613, -0.4404, 0.852, -0.0288, 0.6922, 0.4271, -0.3355, -0.0311, -0.0582, 0.9986]\nstate[eef_state]: left_x=0.3594 left_y=-0.1397 left_z=0.0215 left_yaw=0.0583 left_pitch=-0.0419 left_roll=0.0164 left_gripper=0.852 right_x=0.2727 right_y=0.0012 right_z=0.135 right_yaw=0.0119 right_pitch=-0.0314 right_roll=-0.01 right_gripper=0.9986\nstate[joint_eff]: [0.841, -6.5573, 3.9179, 1.5702, -0.3004, 0.1832, 0.1099, -0.7179, -1.1966, 6.9812, 1.9072, -0.1783, 0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f053db5563c76e6c601513cc39c8f411ef6663d6845c173df4429fd2c44fc26",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1af13d64a52ee6adf6579ba2af7d37da585a380c384fa0616c18a911dfbdb27e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:664c2b71a83fd0fcd500d30e2fbbd03ae600578d418ad3407cef4d01586a1d75",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFh8mN_gizTVUCbDZxIGf9OjMcpYh8ZXVsE2bwBpN0f6Ysc_i0beSBzQB2NCjRISalfWR8fszKOVjAM9Xld9LFLeHz98jCY4ot42v4pPNNLLrlBHrbRd-oPU2MsrWFlXOLYsfRpReFCSsubrsgi6umL9G812fiS60ML-0tjq5AInxNIbp_GwhOD3su-X_qBwN2jM_id_MaTk_OkOcZW8Vv2PT-TEO_ISb6Xjae6FHdqJ13SvCWwpDABgUwX6XlxPv-JGb18M00M1EO7gEoN-tfzLkjVLi7aR_57qC0ycNo6LDYoNAQRCH1dwBwd9Xv43u_mQNG4YrBGI_9eCXavXuO5xDFwlzIydHpHyuWhWDCRkDxwngDXsbhbEbcEbyzyUtotnxjDm0bcxXqYvnHnuNm3U2OtGqfQuluYXZpMs8xwVaez-LVGSUWETohreWqwwKlXxxIuuaU1siDz3z9RqFPyNXKwNE82P2idw-0DqFWv9AFTpzOysXZFPc1-UFVoJfFPWAi4A61Gk2ux3whLwIvvm8JqGnuKB5nqAil19Jt9wrfh2YYoxdqCaKR3AAARWJIx1in7u1J3LUne620labmiCOHwaWfGZkv6oNCqalqQCGcfoGlBg00aBlyP1ZQo3w97PrrW9aVTF7hGZ7wDpfdkDFxS9MczrslMNxPWlkdQIi_o_Hhi36wSUrgvHhXX_gHn1BnRUFaH-knhXKY2t3l38La5_8OZ7Adpzk0-R-j4K4K3t3x9fGxf3Lju8TbV-MolHIplXaQSGvfGMpLW8VWCBri_XxrEZtDz_9dAjWiUsSV_QQbdj4s5FBGjbP95h0wh2J5338wixTfXOZ4b7hGHPrbTG-Raf4YD3XeqRBoGCciu5rwDT3eyyU_2S5hejWZi2Y-8KtjRREwkT7Aq-_HTCTXS6bsRGUG7xR6I_ibv-JD52q5-7Th48rHbVHykvc8tmg0KfzocOs4HwyruqSPP9wvS60ZErPD8vIl8p5fSiqGJet3uNMTPx_AJRNhuSXe3Qf_FmBhCut0oUDjgNUzUNNOxv2bTj2YF8xoqofm7VE40jd0dGxtEuQ5kjk7I-Rs4F3HghFGegZriicI1wyU9lDTtZ2PI4Ej3TvTYxT9BpJ9VgO-s2Lub_8Up6brzo0IJoWL24AcZqiZqCFPcU7Y6AOC3fDktykdHVmUDSO1E3rlilgRRDUhdcDGWKjUUizjt7bMecqDjDXxXodBQGmosZHCpy7V_-dQchc2Ug5ZZut1GNZp7wEh7rY2ibpj28vWdS",
  "id": "rs_01e6d9353bd9ab63016ab4587ad2e887d0898e905324e51d97",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws now straddle the broad lower body of the bottle at table height. I’m closing here to establish a secure grasp before moving it closer.\"}",
  "call_id": "call_aLCv9YaVrU2lms2dJzdgljSd",
  "id": "fc_01e6d9353bd9ab63016ab4587b344087d0a54bad54194e19c0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aLCv9YaVrU2lms2dJzdgljSd",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6289, 1.7599, 0.5175, 0.5491, -0.569, -0.4267, 0.5605, -0.0288, 0.6758, 0.3992, -0.3237, -0.0311, -0.0582, 0.9986]\nstate[eef_state]: left_x=0.3605 left_y=-0.1401 left_z=0.019 left_yaw=0.0539 left_pitch=-0.0078 left_roll=0.0064 left_gripper=0.5605 right_x=0.2699 right_y=0.0013 right_z=0.1288 right_yaw=0.0119 right_pitch=-0.031 right_roll=-0.01 right_gripper=0.9986\nstate[joint_eff]: [-0.4855, -7.5556, 4.0821, 1.5507, -0.2808, -0.1197, 0.9499, -1.0325, -1.2103, 6.8581, 1.9853, -0.1538, 0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04ae92441d57ba080f7c75441794163bf8be5702174a18280358489a2debe982",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:246e72b9780accad4e27ce2ec9bd98f2b7b82648b7bba40e96ecbbd6af425689",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ad5e622896e3458ee1a903a9759a32aad317d23351fb67d2848e02dda05a78d",
      "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 23 attempt 0 · /responses · status 200 · 6.045 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]: [-0.4053, 1.9766, 0.9119, 0.5652, -0.4129, -0.2897, 0.0181, -0.0284, 0.7319, 0.4885, -0.3656, -0.0315, -0.0586, 0.9986]\nstate[eef_state]: left_x=0.4881 left_y=-0.1284 left_z=0.0585 left_yaw=0.0833 left_pitch=0.1061 left_roll=-0.0542 left_gripper=0.0181 right_x=0.2784 right_y=0.0012 right_z=0.1467 right_yaw=0.0128 right_pitch=-0.0398 right_roll=-0.0097 right_gripper=0.9986\nstate[joint_eff]: [0.0205, -6.653, 3.4667, 0.9792, 0.1099, 0.0952, 0.8132, -0.9641, -1.5521, 6.9538, 2.0586, -0.1685, -0.0269, -0.0073]",
      "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]: [-0.6266, 1.7298, 0.5457, 0.4507, -0.5613, -0.4404, 0.852, -0.0288, 0.6922, 0.4271, -0.3355, -0.0311, -0.0582, 0.9986]\nstate[eef_state]: left_x=0.3594 left_y=-0.1397 left_z=0.0215 left_yaw=0.0583 left_pitch=-0.0419 left_roll=0.0164 left_gripper=0.852 right_x=0.2727 right_y=0.0012 right_z=0.135 right_yaw=0.0119 right_pitch=-0.0314 right_roll=-0.01 right_gripper=0.9986\nstate[joint_eff]: [0.841, -6.5573, 3.9179, 1.5702, -0.3004, 0.1832, 0.1099, -0.7179, -1.1966, 6.9812, 1.9072, -0.1783, 0.0122, -0.0073]",
      "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]: [-0.6289, 1.7599, 0.5175, 0.5491, -0.569, -0.4267, 0.5605, -0.0288, 0.6758, 0.3992, -0.3237, -0.0311, -0.0582, 0.9986]\nstate[eef_state]: left_x=0.3605 left_y=-0.1401 left_z=0.019 left_yaw=0.0539 left_pitch=-0.0078 left_roll=0.0064 left_gripper=0.5605 right_x=0.2699 right_y=0.0013 right_z=0.1288 right_yaw=0.0119 right_pitch=-0.031 right_roll=-0.01 right_gripper=0.9986\nstate[joint_eff]: [-0.4855, -7.5556, 4.0821, 1.5507, -0.2808, -0.1197, 0.9499, -1.0325, -1.2103, 6.8581, 1.9853, -0.1538, 0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04ae92441d57ba080f7c75441794163bf8be5702174a18280358489a2debe982",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:246e72b9780accad4e27ce2ec9bd98f2b7b82648b7bba40e96ecbbd6af425689",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ad5e622896e3458ee1a903a9759a32aad317d23351fb67d2848e02dda05a78d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFiBw7FGHtEdaeaeb-Jribb4cbZSurbt_HRVfLxZaKvmGNgO8tWL0WQPQypCWaH0gqRP8_4ZLRBz2WKUGHDNGjn7Oj_5hGR_84fCdT27OTICABHxwPN6p5RynSKMDqmqckc_FSPbkzUaCd8BWFf7kzxtuO45mRFub9fG7vaKq4BFqNoDkfEew6HLz9Lq39UhHA1NZcUhSP69FBYQ4pVXLGNGrJoVhslfx_OJIwh3g_qoEDNUbsLU2WbeVdkoAJpOezOhqaGnLXk7HJyPQrH6qrjpVq3n1gFPzQKBttghPPBmJOvX3bVqx0QEIDOI2bkkD5Ugvag2RaR3joDiHw5-tRWwTPNVtJoWPaBVdiD8-M8zMS-Zxurg--XJ5ZulUI004Cnyw5oCucmTmkElpWNDU8n3LD_ROVAXrc5ImD33Pf1yFxH5gb8SrM6u9MsWyspFxnID_9nYEVtmtsQ6ZUsfke4ELdPFUBN728i8fPwjpO5ADtYWAh_8fGW4jWx0oNmz-2B8zz9T-k4oXhXeBnDYeqE2v-ikW4ubH2lNXQhaheivcvThphBhcZCvZ_N_5vZ0xU6RX_8wdINxKWGFiiXza4E_V-1RPTa7SXzqiqkTw8Nu67ggFYbS12kktOtKaROiSiRJxY9AHReSUQxVkWxKlK7RWOCdd7pZc9K403DNB7eOWFz5aHk0Qt4vTWw_ljcq88oiOj6gKM0PxNTUlRn_liFqejzfT11B8BZMuPJVZyXhjVK5J7ir6vKvSjPezujA2GyCcaxRMxN4k23k5UG1ghaxMuzIlnnLazy0phvG-5W5NnLm6_EDq3sN_AO74AGvuyfwppoB4cPb8GsYrKjPYwYdGz8T3_6l7OdCLN6X8gTtnrnojLY6Y_mWuP6IKo0ohagR_BDNykDcMOBjfhqKsLjuLCAGEPE48mcW0F9QVdHTjwrtiuaNUhf_PZ2Wv2tXLlS5dvKq0PVLHfFNrKOSjmsHgN-_taOSw6lFK5_-r2nGmqxuDiJSx7b0-zRF93dm92HoxnrucxzPj1LF6H7-mVrpYudlxOfgz37e1y-ezu-wg-d9ja2MtKDQsP6YN1-QVfCkOmpMHMjCpyy9yOZSs_Dy8USH6aoO3wPf9T3E90z7b-_egDLAhMBqxNcRcT6Tu_eUzHYWYjClAPV7Ta82FJIa9Snojxr3ILSiDWwfYONOTEpOJerj9KOufSjBdqOfcAJW1qMFWvcO3UXfZG6sRx3wT-BW9KiZ5UpCOCsjxmecL8g1P9dtK51b5aDxhwFe52f4YAVkVKLpx9jiqJvuKo6URQlYELUNi6gGpXyvpaE2xXkE1Ar5GCThwUjkS41_f3lHVhGXkV5KrhzD3S5-7AfXoOEaueE9mM7UJjFHsDx88uU=",
  "id": "rs_01e6d9353bd9ab63016ab4587e91dc87d0944508dcdeaab0c3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.265,\"left_y\":-0.14,\"left_z\":0.085,\"right_x\":0.294,\"right_y\":0.002,\"right_z\":0.185},\"note\":\"The gripper has stopped at a substantial opening, confirming a body grasp. I’m lifting the bottle slightly and bringing it toward the base so its neck will be reachable at table height.\"}",
  "call_id": "call_RL8wE7ukEVkx4PzsqVeceURF",
  "id": "fc_01e6d9353bd9ab63016ab4587f82a487d0913dd92dff724577",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RL8wE7ukEVkx4PzsqVeceURF",
  "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]: [-0.9127, 1.2537, 0.4046, -0.041, -0.6838, -0.6388, 0.5614, -0.0277, 0.7864, 0.5743, -0.4049, -0.0311, -0.0582, 0.9986]\nstate[eef_state]: left_x=0.2593 left_y=-0.147 left_z=0.0578 left_yaw=-0.0261 left_pitch=-0.0863 left_roll=0.0292 left_gripper=0.5614 right_x=0.2871 right_y=0.0011 right_z=0.1634 right_yaw=0.0131 right_pitch=-0.0478 right_roll=-0.0093 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -5.2444, 8.1709, 2.1612, -0.9255, -0.1685, 0.4078, -0.1983, -0.9641, 10.1812, 1.6972, -0.1099, 0.0806, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b480c3c7c28211caa977c2205e9d7d90fbc94d0ff0442adc05fb65efdcd22cb6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d95f25abc6163808ee337bd8ccb6562436807af2e34496bcb683c9f0e002a43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a15a03fd31e2f6e63656193367be993c10710ddaf30bd8854f8f6cc2e0c0332",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 5.243 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]: [-0.6838, 1.4136, 0.7971, -0.0658, -0.6033, -0.4744, 0.9956, -0.0288, 0.7055, 0.4526, -0.3431, -0.0311, -0.0586, 0.9986]\nstate[eef_state]: left_x=0.3607 left_y=-0.16 left_z=0.1443 left_yaw=0.0509 left_pitch=0.0148 left_roll=-0.0247 left_gripper=0.9956 right_x=0.2756 right_y=0.0011 right_z=0.1417 right_yaw=0.0121 right_pitch=-0.0268 right_roll=-0.0105 right_gripper=0.9986\nstate[joint_eff]: [-0.2667, -6.6803, 6.106, 1.4579, -0.3346, -0.0122, -0.1099, -0.9915, -1.1145, 6.8034, 1.9609, -0.1734, -0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6289, 1.7599, 0.5175, 0.5491, -0.569, -0.4267, 0.5605, -0.0288, 0.6758, 0.3992, -0.3237, -0.0311, -0.0582, 0.9986]\nstate[eef_state]: left_x=0.3605 left_y=-0.1401 left_z=0.019 left_yaw=0.0539 left_pitch=-0.0078 left_roll=0.0064 left_gripper=0.5605 right_x=0.2699 right_y=0.0013 right_z=0.1288 right_yaw=0.0119 right_pitch=-0.031 right_roll=-0.01 right_gripper=0.9986\nstate[joint_eff]: [-0.4855, -7.5556, 4.0821, 1.5507, -0.2808, -0.1197, 0.9499, -1.0325, -1.2103, 6.8581, 1.9853, -0.1538, 0.0415, -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]: [-0.9127, 1.2537, 0.4046, -0.041, -0.6838, -0.6388, 0.5614, -0.0277, 0.7864, 0.5743, -0.4049, -0.0311, -0.0582, 0.9986]\nstate[eef_state]: left_x=0.2593 left_y=-0.147 left_z=0.0578 left_yaw=-0.0261 left_pitch=-0.0863 left_roll=0.0292 left_gripper=0.5614 right_x=0.2871 right_y=0.0011 right_z=0.1634 right_yaw=0.0131 right_pitch=-0.0478 right_roll=-0.0093 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -5.2444, 8.1709, 2.1612, -0.9255, -0.1685, 0.4078, -0.1983, -0.9641, 10.1812, 1.6972, -0.1099, 0.0806, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b480c3c7c28211caa977c2205e9d7d90fbc94d0ff0442adc05fb65efdcd22cb6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d95f25abc6163808ee337bd8ccb6562436807af2e34496bcb683c9f0e002a43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a15a03fd31e2f6e63656193367be993c10710ddaf30bd8854f8f6cc2e0c0332",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFiHgOEvvZInzMAiIbLAswCrQyynDzNITctmdOSL1xwJY5yhezDG3f0ih5Ef_NU6n3oP8ThuJenP5kfQvk8vJ1QKuuCMoWDss1swiVXO3aozb-kZeIbc8YvRhD9IhbL7dkcVMo3MeV0J2FtDAkEHF1jjJ6IRH-P2zKmsVuzCGr3fdC7TROSHeRzGRFBIHCmdwL2VgxaUmDOK66GZ-wr5FbXiEV_Rtctm1aI_1zH143_mkAc6VkpQWN-_5AhmkCD-XH9h3SnCXFS5YNVGdtq1xYMTdtkCJv-mniUUPuUGcaYbFdsRhzVZuMTnRyxWirFk2VwGZxfrdUGB6UDUnNWXXudsAnGxZIloPLs2zzjvvhi_awilVytxe3-XUBubWwHk06oj4WU_FKowvQcXM6UKvoFJK_eXGv6sAmYLWDo5o2XkzKoM6Ke5ATzX1BgnTlN3FW828BxEEqDQ-RdPZhCZ2fy3-1EyjkuA_z1X7Ug2qrY_OnjdO5_aOJ7zr_dn7UWCp0kP5N-SdSP3ZnFSfJAywnEQ7nHEAZInwrlcm6zVG2XaID6DOaO7EW86k61ScHFO37BzUkFwI91Iciea2I6kYH5Mqx_63svwaIBOe06G4_nwqJTb47iTJ31KkEKwEFwUDzyHtmlK7BYGfUKD1S16nYuGnfRvETtbbKkrzJ7GmRHF9rR_Wy4_2UOUSU8XGpeEYiyzkXK6vk3ow6bm0TL1jUFxE1OB2Wmnwk83Vh0zqEcgxXFJ1fQgWWA4zLPZm5V02ysU-Edttb9CdgzXayZDyxM2I1OrBB3-xtPBMPfULgU_6pmKJGvqhoK2HcdcJUwpK-Gh_WDODjwsdsGPr-SJZOVu7uepac1LfRsmf_Lka6VSvLjjFyC3No6uwcglU1InsUdWOTgj058pMxAhr758-ZRJ-QMvT170AVxNgN94xORdjE7xgkerE2TGpf8TZ5_UGyeN6HC0dnqN-b5OPXzJ2D5a9TtWwHXJ9ckwzye_S97EVcH9t-Dg0SkKa60K1fvSHmlfCaYTkOsm5D4LJxWJwrbnBkbDa12BDnUsIYmSd4l9p8VL0PGcF9mHjNZp7zwu5Mg48dr58UWzyRyrpdvDjKJfygkHeWwAFQ7i6KcupXUv0WR4I0DGszwqhDPLd6GvwTLsDZ3lAH38mPR5487A3WGJfZWS_iPZRtcz424_ctmlPnuJnhzDCLi7zsF4aYQi3EHHtsGBKkDPivQhMHaejQd95fphB8YU3hsbaWmKpg-t0D_NN8dNwcVeA7YyhunZbhHrOnxrWcMQUxEyhdwmqTAsofqhxc2KacFEGOzXIvWodwy7PZn6J6RB6hPmYA1k9_V3xIFCmFyJI-n7J5JUfiY0oJPWaTFiaJbEoxafHYWIEVDA7oeekmKAt8CSRLT-cWTGGXc6YWE9lagptjBGC2nlkg==",
  "id": "rs_01e6d9353bd9ab63016ab45884178487d08186dec6c42091e0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.025,\"left_gripper\":1},\"note\":\"The bottle moved with the gripper and is now closer to the base. I’m setting it back down and releasing the body so I can regrasp its neck.\"}",
  "call_id": "call_y7BWFzVUsWpj5yvmsLq8Cn3e",
  "id": "fc_01e6d9353bd9ab63016ab458853fb087d090921d3cebeab0e1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_y7BWFzVUsWpj5yvmsLq8Cn3e",
  "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]: [-0.9375, 1.4208, 0.2668, 0.2844, -0.7258, -0.6315, 0.9956, -0.0284, 0.7589, 0.5259, -0.3798, -0.0311, -0.0586, 0.9986]\nstate[eef_state]: left_x=0.2543 left_y=-0.1422 left_z=0.0189 left_yaw=-0.0277 left_pitch=-0.0483 left_roll=0.0391 left_gripper=0.9956 right_x=0.2827 right_y=0.001 right_z=0.1538 right_yaw=0.0125 right_pitch=-0.0436 right_roll=-0.0098 right_gripper=0.9986\nstate[joint_eff]: [-0.253, -3.7675, 3.453, 1.4335, -0.4322, 0.0024, -0.0659, -0.8274, -1.6615, 7.0769, 2.0195, -0.1636, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d2b21fb37d41191e065b5d77e1915efee7fe0e8842f62cedf722771f07a7007",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe424845b246df1097f5fcf4a12f1db3eacdd8d479faa42c252bc64acde81b26",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b10ae54c7af9c4b2132d9041662de13598f7143b416e452e96050075bcd632c",
      "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 · 6.291 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]: [-0.6266, 1.7298, 0.5457, 0.4507, -0.5613, -0.4404, 0.852, -0.0288, 0.6922, 0.4271, -0.3355, -0.0311, -0.0582, 0.9986]\nstate[eef_state]: left_x=0.3594 left_y=-0.1397 left_z=0.0215 left_yaw=0.0583 left_pitch=-0.0419 left_roll=0.0164 left_gripper=0.852 right_x=0.2727 right_y=0.0012 right_z=0.135 right_yaw=0.0119 right_pitch=-0.0314 right_roll=-0.01 right_gripper=0.9986\nstate[joint_eff]: [0.841, -6.5573, 3.9179, 1.5702, -0.3004, 0.1832, 0.1099, -0.7179, -1.1966, 6.9812, 1.9072, -0.1783, 0.0122, -0.0073]",
      "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]: [-0.9127, 1.2537, 0.4046, -0.041, -0.6838, -0.6388, 0.5614, -0.0277, 0.7864, 0.5743, -0.4049, -0.0311, -0.0582, 0.9986]\nstate[eef_state]: left_x=0.2593 left_y=-0.147 left_z=0.0578 left_yaw=-0.0261 left_pitch=-0.0863 left_roll=0.0292 left_gripper=0.5614 right_x=0.2871 right_y=0.0011 right_z=0.1634 right_yaw=0.0131 right_pitch=-0.0478 right_roll=-0.0093 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -5.2444, 8.1709, 2.1612, -0.9255, -0.1685, 0.4078, -0.1983, -0.9641, 10.1812, 1.6972, -0.1099, 0.0806, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9375, 1.4208, 0.2668, 0.2844, -0.7258, -0.6315, 0.9956, -0.0284, 0.7589, 0.5259, -0.3798, -0.0311, -0.0586, 0.9986]\nstate[eef_state]: left_x=0.2543 left_y=-0.1422 left_z=0.0189 left_yaw=-0.0277 left_pitch=-0.0483 left_roll=0.0391 left_gripper=0.9956 right_x=0.2827 right_y=0.001 right_z=0.1538 right_yaw=0.0125 right_pitch=-0.0436 right_roll=-0.0098 right_gripper=0.9986\nstate[joint_eff]: [-0.253, -3.7675, 3.453, 1.4335, -0.4322, 0.0024, -0.0659, -0.8274, -1.6615, 7.0769, 2.0195, -0.1636, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d2b21fb37d41191e065b5d77e1915efee7fe0e8842f62cedf722771f07a7007",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe424845b246df1097f5fcf4a12f1db3eacdd8d479faa42c252bc64acde81b26",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b10ae54c7af9c4b2132d9041662de13598f7143b416e452e96050075bcd632c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFiNkGqdX9asb5CxGKU0kYRjLLTEsj6v3o3_9Yastggxo8pHzDnl97V6ps1NtalqqbMS3Cxnvdg7P4I0b22hkNrfU0R3IymBoJ3ny2ZMZjMNyWKFU3x0Hu5B8eYvmEB1sNaqrfGtY9tI8pNjqg5M9d6tcIl072EzRP0LJ0nTn6GdWSyNKDMUhObSLt9izPeqPpOdLb3TRRyedffeIFLeaV97I71uTkxAb_7uOvpNw2jzk3k-AnAA7sMvpnNOiD6BhF1-9CFqXlVOdKtP3pSc6VYiDeukiT-Ebu8WLvHjyCjk_NaZl0Ncs8sf5bsFLU9vqNdomqc7O3qgXWc1AGMqhcC5I4qmqzDhEOPPdZYB59F287kNlaJMn8FO-d_Dp32RAzn8V8ghlpwf8xTFzqaZx0VQlu2Q_8q0nBTEoBzmv4Fm6t_6FyATbE2xs5XNUcJ4ZC6wkZOHvlzQnKUZ3MJKTx-45vmR6orohzAK2ePOvrfhQOEst53EVYZKiUkuCe3uv3qvKaR1nLyaK0cbh58Y_5-7-jJfavVMXWMdQL2SZyxOMQ2aYTf7Ey7tlDgiV0M9SS6N2vqB5t3Gtxi9uhkcDOV1zACyKe61DYWu4TBuMP8cllsSooFj_E1GfcMf6jtSbxS1RzV-044nH8Uy2GlY9fHyoxUriJSRjE8y5A6K7f-BzvIdQQ3o4zG1pRmLUBrs3xfR49gZrG7d-xHd7XGDMe9cI_J27vEZlyJVayCkZLvXMhTF0TLZlgb0KomSdmgV7L9ngJBSBXKQv1gNIyvXpQQXShjRVlR1c7kTJw88jkSSbLYslgYRDlnfFJTQajKsvbSESBBJzCtZvOcHbiGSYGEI6NbfyfS2ksXL2MFQUe0whkesa7-SkKa5tU3gBKPltp0NRZvXGvTOYumvtt0sDEpLy5AIDvuXL98JQl23UQ5A-G36G_4Jkd8eWw_o5icncRAAk5S1KogXDhPtAP8_Z94s-SrflmaqloI9TM4BCLYWYj54QfS5cGVVL1tE3iXlZQ-yxZQ3NMoogxEsA-_wGg2fKEZaaAEMLgdWQ4DjjJ4fvuPBpFA48YX3z47W5L8OiEc49GUZi0qu8sqolr0Sp8PJ3avADJia3Zms6x4cVjkXJQXRcT7-dEUx7i9m2LFLrHpolgC13OO8zXBBWrh4vquoj-ORVbz8MKvhKIH0z5o53WSSvXj2qL3BMfWEvIw8TdwJq9qNKV6IdrgQ5AJmEgA2dUEIR7ncv2g03812JOtgkwpoQLlgFNKBsDRoSRNgqios0pGxuB16CTWEuFHsU7SatkkcxklqxTx72pKYc8Hd1YcwYkDGHkQ2dOG82noledjz5PFU1HZ0uBDUFh1RlduoMvyFaDIyc81dR5v6plJHUTnRd2y89SXBTQJcmIDxn39KINPBkrKyYmA5arG31qLdUkyLZDFVSo55gb6odvE4Kuj_fqovcOutg_X1c0h3tHXB_0CHSIv1zFgnom0GPP8hFc_2aYkIEgeLPckhJYeTqWC8C36wWEpn6qB_MULnbWd-0R45rjTtFgvbSoWcnLhFGg==",
  "id": "rs_01e6d9353bd9ab63016ab4588af7e087d0b4f352565a13037a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.18,\"left_z\":0.10,\"left_gripper\":0.7},\"note\":\"The bottle is resting closer in, with its neck now within the arm’s low-height reach. I’m moving above that neck for the upright lift.\"}",
  "call_id": "call_PxVwsmcoZ914cn7OWqAVIan6",
  "id": "fc_01e6d9353bd9ab63016ab4588c62dc87d09f74ff5ae7e07be2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PxVwsmcoZ914cn7OWqAVIan6",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6964, 1.5509, 0.6949, 0.1787, -0.5789, -0.4492, 0.7024, -0.0284, 0.7326, 0.4843, -0.3584, -0.0315, -0.0582, 0.9986]\nstate[eef_state]: left_x=0.3639 left_y=-0.1737 left_z=0.0938 left_yaw=0.0061 left_pitch=0.0086 left_roll=-0.0181 left_gripper=0.7024 right_x=0.2789 right_y=0.0012 right_z=0.146 right_yaw=0.0126 right_pitch=-0.0375 right_roll=-0.0095 right_gripper=0.9986\nstate[joint_eff]: [0.335, -6.106, 7.4188, 1.3944, 0.0464, 0.1441, 0.1245, -0.8, -1.3607, 6.9402, 2.0, -0.1734, 0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27c13adc7bb16b22491264e569a05e42c4ee863c20e7a318ce17169777ef6b4a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af9c1e6a7e2cddc63ea60597253c357e7537568144be071aedc57cda370275c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f741254492005e6313cec0bc56a6b4873d19405e3adf1e8c56ea6b02b415f473",
      "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 · 5.297 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]: [-0.6289, 1.7599, 0.5175, 0.5491, -0.569, -0.4267, 0.5605, -0.0288, 0.6758, 0.3992, -0.3237, -0.0311, -0.0582, 0.9986]\nstate[eef_state]: left_x=0.3605 left_y=-0.1401 left_z=0.019 left_yaw=0.0539 left_pitch=-0.0078 left_roll=0.0064 left_gripper=0.5605 right_x=0.2699 right_y=0.0013 right_z=0.1288 right_yaw=0.0119 right_pitch=-0.031 right_roll=-0.01 right_gripper=0.9986\nstate[joint_eff]: [-0.4855, -7.5556, 4.0821, 1.5507, -0.2808, -0.1197, 0.9499, -1.0325, -1.2103, 6.8581, 1.9853, -0.1538, 0.0415, -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]: [-0.9375, 1.4208, 0.2668, 0.2844, -0.7258, -0.6315, 0.9956, -0.0284, 0.7589, 0.5259, -0.3798, -0.0311, -0.0586, 0.9986]\nstate[eef_state]: left_x=0.2543 left_y=-0.1422 left_z=0.0189 left_yaw=-0.0277 left_pitch=-0.0483 left_roll=0.0391 left_gripper=0.9956 right_x=0.2827 right_y=0.001 right_z=0.1538 right_yaw=0.0125 right_pitch=-0.0436 right_roll=-0.0098 right_gripper=0.9986\nstate[joint_eff]: [-0.253, -3.7675, 3.453, 1.4335, -0.4322, 0.0024, -0.0659, -0.8274, -1.6615, 7.0769, 2.0195, -0.1636, -0.0171, -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 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6964, 1.5509, 0.6949, 0.1787, -0.5789, -0.4492, 0.7024, -0.0284, 0.7326, 0.4843, -0.3584, -0.0315, -0.0582, 0.9986]\nstate[eef_state]: left_x=0.3639 left_y=-0.1737 left_z=0.0938 left_yaw=0.0061 left_pitch=0.0086 left_roll=-0.0181 left_gripper=0.7024 right_x=0.2789 right_y=0.0012 right_z=0.146 right_yaw=0.0126 right_pitch=-0.0375 right_roll=-0.0095 right_gripper=0.9986\nstate[joint_eff]: [0.335, -6.106, 7.4188, 1.3944, 0.0464, 0.1441, 0.1245, -0.8, -1.3607, 6.9402, 2.0, -0.1734, 0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27c13adc7bb16b22491264e569a05e42c4ee863c20e7a318ce17169777ef6b4a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af9c1e6a7e2cddc63ea60597253c357e7537568144be071aedc57cda370275c2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f741254492005e6313cec0bc56a6b4873d19405e3adf1e8c56ea6b02b415f473",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFiUNKL_Czh8a7eucJfXd2rRlPCNuuOOzXPB8esDk9t-aYFOJ-hZccsNyADmjV5J7o_Ck3HElthT1UWwYFKQeT6GJGZD5ST5w7atTc53P9Fth8S5wraQ_Js62YmG82ON4jLqgYKGvFO6JFl_BP9wxgzXHee0K_UooewUlusq10BDT_a7-ANMagTZLqoPJm3s_J24KBAMFljN1QFXYSz2wP6K3O-ocJQbPSUDAnhBnD1y1LD-rGlgLpU8g57pIfaZndUUPdFp3il5ukQCkODSJJduTEy7VR1-CgXN6EiHe9PFj1PWo6pfRFXXT-CLUvC9zgbRaL0-Y1_TglB07WnixeSlcHrlJzW1p7kOIKPu-NLzC_LBvtej3X-RC2y1WAJFm_kU2oUUQPVH-NTFfpPBrgEUI8qhzsCMUaiiyofVj6vzneR9-4YdnhOw_LIeHttGR0k1q7x4wGfpE0uKzL1k1nunllFWIOWuP5TJsI86lMxNMyXNrHGIGze6DTspKuxALPsNLTkkiWXf9cGFunFQNhX-bWPhi8B1ZFVfr4RdXwRHjUYsuRB4yjbuNmep9Zwv7g0WhxxXqSUfXrX_60YS7tIYuzIdc6iURR5syaNNdKldiz-0GMi_ffowdnDAzoDnfB_jPgeSY3AMG2bQzKJcPHaP8ZeXQLvXdIBp4oynYZpobl5jJzi-7WyU8V9fXCZ9KTKg7Bab3baeZktz71WTFVTX2d83vh8IMvfp7Y5Xv6zZrJOfLGeYx-J9h6lqCveg7NSXP9eAGnsTuvHKGXwTNM3nWymhN7xaje27wGhFJZL2C-c1WyYDydmXGmdBEcQKP9WGAcCmuxK2DYrye3Atyja2X3tnz3-xw15TVebLktJOFcXsp7FHQJihwH2yVcBRw3fcA8u4GIuP2XrfCHkUbqxLlQAJLe3Bvd3ubVZr1YvncNHv1pHvAZ9cP1kWlspkNuNdaBrVIvGGx2jKnduTxSPrlxSuoKs8n5gu2YZ_G44FzGS2ff19u57KK2Rf_sf6qXnNm1BCfybeeLkALUFoNLUAGm3lkIFiXnefe3IATYOfNCXEUfhiWJdGDkiShwJ_IOkcKSoufxVz4WBVkeo1x7TfK-FkhXcOekNNJmNc-qTHd8VNv28thWJckADYvVnvz95j5LZ8uCp6wvzkWqQpkEJkS9mpBCeCYXN6AnF8bTHl64gqiSSeMcpP1uASG0zfSOO1z30Jg2bnBg3xmgGPU27zu6WRcpBsxPWx8PST0Nlfs7hDrrXU7LgeZ5UTqiRuEr24M5l9qt4ahRDs6RoIevGu8fOvVg5CcGqY84mHAQ855u8tLdvSqyrhzT2wJk1DtHZuUOR8pLq1VYNm1KnlgOBEfA==",
  "id": "rs_01e6d9353bd9ab63016ab45892e2c087d09a4d8c4f020950b4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.382,\"left_y\":-0.173,\"left_z\":0.018,\"left_gripper\":0.65},\"note\":\"The nearer cap is centered between the jaws. I’m lowering to its neck, with a small forward correction to keep it in the closing line.\"}",
  "call_id": "call_gi3O3AoPP1IYrZmiVU0Hj2Hf",
  "id": "fc_01e6d9353bd9ab63016ab45893a0b487d0b8254b2cdbd291d9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gi3O3AoPP1IYrZmiVU0Hj2Hf",
  "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]: [-0.6567, 1.8023, 0.6601, 0.485, -0.6106, -0.4141, 0.6515, -0.0288, 0.7113, 0.4515, -0.3431, -0.0311, -0.0586, 0.9986]\nstate[eef_state]: left_x=0.3865 left_y=-0.1655 left_z=0.04 left_yaw=0.0519 left_pitch=0.0365 left_roll=0.0139 left_gripper=0.6515 right_x=0.2756 right_y=0.0011 right_z=0.1397 right_yaw=0.0121 right_pitch=-0.0337 right_roll=-0.0102 right_gripper=0.9986\nstate[joint_eff]: [-0.2667, -4.2188, 3.959, 0.8669, 0.5641, -0.0073, 0.0806, -1.0051, -1.3197, 6.9675, 1.9853, -0.1636, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59ace3a40574be034d23cb496a2519daf8920664fa1114943f8535b7cc4e823b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f79078e034651b73741d7e3f5f5aa5c7427185065f8c3fc8c6085cdfc3af3213",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73cf9100125ee5edbbbc458bdd1b4165486cf58684dad0309886deea55c7721d",
      "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 · 8.986 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]: [-0.9127, 1.2537, 0.4046, -0.041, -0.6838, -0.6388, 0.5614, -0.0277, 0.7864, 0.5743, -0.4049, -0.0311, -0.0582, 0.9986]\nstate[eef_state]: left_x=0.2593 left_y=-0.147 left_z=0.0578 left_yaw=-0.0261 left_pitch=-0.0863 left_roll=0.0292 left_gripper=0.5614 right_x=0.2871 right_y=0.0011 right_z=0.1634 right_yaw=0.0131 right_pitch=-0.0478 right_roll=-0.0093 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -5.2444, 8.1709, 2.1612, -0.9255, -0.1685, 0.4078, -0.1983, -0.9641, 10.1812, 1.6972, -0.1099, 0.0806, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.6964, 1.5509, 0.6949, 0.1787, -0.5789, -0.4492, 0.7024, -0.0284, 0.7326, 0.4843, -0.3584, -0.0315, -0.0582, 0.9986]\nstate[eef_state]: left_x=0.3639 left_y=-0.1737 left_z=0.0938 left_yaw=0.0061 left_pitch=0.0086 left_roll=-0.0181 left_gripper=0.7024 right_x=0.2789 right_y=0.0012 right_z=0.146 right_yaw=0.0126 right_pitch=-0.0375 right_roll=-0.0095 right_gripper=0.9986\nstate[joint_eff]: [0.335, -6.106, 7.4188, 1.3944, 0.0464, 0.1441, 0.1245, -0.8, -1.3607, 6.9402, 2.0, -0.1734, 0.0073, -0.0073]",
      "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]: [-0.6567, 1.8023, 0.6601, 0.485, -0.6106, -0.4141, 0.6515, -0.0288, 0.7113, 0.4515, -0.3431, -0.0311, -0.0586, 0.9986]\nstate[eef_state]: left_x=0.3865 left_y=-0.1655 left_z=0.04 left_yaw=0.0519 left_pitch=0.0365 left_roll=0.0139 left_gripper=0.6515 right_x=0.2756 right_y=0.0011 right_z=0.1397 right_yaw=0.0121 right_pitch=-0.0337 right_roll=-0.0102 right_gripper=0.9986\nstate[joint_eff]: [-0.2667, -4.2188, 3.959, 0.8669, 0.5641, -0.0073, 0.0806, -1.0051, -1.3197, 6.9675, 1.9853, -0.1636, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59ace3a40574be034d23cb496a2519daf8920664fa1114943f8535b7cc4e823b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f79078e034651b73741d7e3f5f5aa5c7427185065f8c3fc8c6085cdfc3af3213",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73cf9100125ee5edbbbc458bdd1b4165486cf58684dad0309886deea55c7721d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFia44htU49r8lXtkzaPSbbPY8KNdKIyZ1oc1kWP9_Lk4aV8y5GsaQAgOsDyE6ow7SpdSAmYBnPCGOzJU6zxCTOILlkcV6tqg_-bSqDGL9BTL64zy4V9WklTSDQbdM9RZ9jbRI0Eqvod6YixRs-gnNxhjoIhvImJ5grZUahfcIQIsVO0qozVkccwgqLnorkRZWFa5lnEvrki_JL-RJLmpPzL1dfefLrKWPLkghNzxUdRjeo8354nXbU46O8tcg2RwW6-Foi5reH6aNi18bO-6IuDmFNgvyya6vKdpuEOBE0dDicDmIyamXtHs687UU5LjxHW-VjtuetmXdaHlzUcBx3LTHjL09_QCxVnnxrcOb7jjeB9tJQfAspOy7zxJHqYu5vCrqh_XxkOnWPqt8fT61HnDj_4MatS_zRuiWVwdULXk28k3t0ys1kJlc9TyRx9EwT693gT0mSNkVNbVl6FQosm_-wibMyQdK56wPIyjkHxHKU4fA-PrbXNSQlp0vYk2LNzL-K47xElcxIwmw_EjOI408oxZ67HtLGkw0Fm1rcPV7WTRXSNgQP4pqTybxEvcFo5yuLQUPJztOOApmEvekS3EBD4nsRgQ6VSkGz4fq7R7l5g6vPUyjZCk4FAgLKSQi_XOMDMTZ6gDQCNhNkWi8VOCzE0nRr-c0EBZFc4pvvMANBTdw3jXHbqPTtskiIg6oEPwkHdDpbMDj3SPZo81qPVqDzHisCPNTTwR4QQDav7RUNfsX3wJUkbOyhF04RqlrRtd4g8-0TiLACjJzl_imSFa20fQYwpGOQKtCoFhhJ0Ongrt79hi3fYiZcKiW_RA2qU384mJ7xQapkI5jBNNNYyqy8uKmzFnMlgLCRWsaNYv7IHskSA23ANHC4-0jEzj9L9ZEdqVnXhdEJ5ImLEwBqDchXF_NAtawoX8HrfHKD07BPWBn-cdNI7GHouVz7bsHMkUlBZ0setkVXgRlRM6YHggots9PNGbqGmOg5-_dBQ9gqHu5pWkWn7yTFFXsMf7QCovrvSe18dnxvC40Ctoi_cJf-fl4YZA_alo0YWSbJDfRhWFC8A2SLKNgv0Pptm4JoR9uz2M8nYW4spHMK2jP2pjtItp80QjoWP8-H5LdMfKRACpzdO3Nsh4V42XmJykVeiLKX0tyv-5bXSyyDdsqXEHCUAFG7EkZIS2w7LuHy3g0u4gCaaybWEpVvonBmmbDTlT74IBjwW0Iq9ZmwWVnMb01nImKO6WgZaWDJXyBPN3GoVesMz4jh9fXgSrSzKHvyl8l3K8kcAreVx7wbeVcAPHvsLyPQaVyNIJ6N-8cdlXrn22B_F0iRqMS4RwoPB5fmcO36ZKWlXP3X5nYOpyo6f2BIpk_TacrB7-NcsVJSCVFvF42_NnCCp9dCrWUqAdcmu4fW3ZB-Eh1zFR8rNMKNLqZF99nUyLc663HUiXipzepk8nq7vhVyKfDQpccPv77kyj-IKxKNsDQq9RvmAaVjSL0YEifumQhXn2GpfkwEyjOqHPcAK99vU8p2MbOD2kxWIVmKYe9gll2-1jeaFNBeutRrKBPU55e0E-viw54bcvKfOgZle-CPer8sjIYbkdtalb-UYUi2o_4H_NRDPzpPri0T6gc2q8wO6rxWDC1N7QQo3po4XYZr2ZdqCH_3-ghU-TSuWQEaCQSzG5PKdSZKfaw==",
  "id": "rs_01e6d9353bd9ab63016ab4589796d887d0b98c20d6d6b10d38",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.386,\"left_y\":-0.185,\"left_z\":0.014,\"left_gripper\":0},\"note\":\"The neck is slightly right of center, and the arm stopped above the requested height. I’m making a small lateral correction while closing around the neck.\"}",
  "call_id": "call_sF4a7RwmwgXOPrfl3uUJptEZ",
  "id": "fc_01e6d9353bd9ab63016ab458996f2087d0b2ab945e63d2f562",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sF4a7RwmwgXOPrfl3uUJptEZ",
  "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]: [-0.6548, 1.8282, 0.6598, 0.6506, -0.6056, -0.4191, 0.017, -0.0288, 0.693, 0.4217, -0.3313, -0.0315, -0.0582, 0.9986]\nstate[eef_state]: left_x=0.401 left_y=-0.1766 left_z=0.059 left_yaw=0.0606 left_pitch=0.1401 left_roll=-0.0839 left_gripper=0.017 right_x=0.2725 right_y=0.0013 right_z=0.1332 right_yaw=0.0122 right_pitch=-0.0333 right_roll=-0.0097 right_gripper=0.9986\nstate[joint_eff]: [-0.5265, -5.3538, 3.4803, 0.6618, 0.2955, 0.0122, 0.779, -1.0598, -1.306, 6.8308, 2.0244, -0.1734, 0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10645c14bbdea7ec15ca254166c45e8611dc77a06bd2f6864055a72d87989df2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:271c935ba49b32ffd69f6a7fbe173a2bf6d1a942ed0172951d5c8589d68ea873",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1cd9f608a240a2a87e5fcb307da1d84ef60fcdee8a1bfe16a8b1d6a70a06b74",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 28 attempt 0 · /responses · status 200 · 4.473 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]: [-0.9375, 1.4208, 0.2668, 0.2844, -0.7258, -0.6315, 0.9956, -0.0284, 0.7589, 0.5259, -0.3798, -0.0311, -0.0586, 0.9986]\nstate[eef_state]: left_x=0.2543 left_y=-0.1422 left_z=0.0189 left_yaw=-0.0277 left_pitch=-0.0483 left_roll=0.0391 left_gripper=0.9956 right_x=0.2827 right_y=0.001 right_z=0.1538 right_yaw=0.0125 right_pitch=-0.0436 right_roll=-0.0098 right_gripper=0.9986\nstate[joint_eff]: [-0.253, -3.7675, 3.453, 1.4335, -0.4322, 0.0024, -0.0659, -0.8274, -1.6615, 7.0769, 2.0195, -0.1636, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.6567, 1.8023, 0.6601, 0.485, -0.6106, -0.4141, 0.6515, -0.0288, 0.7113, 0.4515, -0.3431, -0.0311, -0.0586, 0.9986]\nstate[eef_state]: left_x=0.3865 left_y=-0.1655 left_z=0.04 left_yaw=0.0519 left_pitch=0.0365 left_roll=0.0139 left_gripper=0.6515 right_x=0.2756 right_y=0.0011 right_z=0.1397 right_yaw=0.0121 right_pitch=-0.0337 right_roll=-0.0102 right_gripper=0.9986\nstate[joint_eff]: [-0.2667, -4.2188, 3.959, 0.8669, 0.5641, -0.0073, 0.0806, -1.0051, -1.3197, 6.9675, 1.9853, -0.1636, -0.0073, -0.0073]",
      "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]: [-0.6548, 1.8282, 0.6598, 0.6506, -0.6056, -0.4191, 0.017, -0.0288, 0.693, 0.4217, -0.3313, -0.0315, -0.0582, 0.9986]\nstate[eef_state]: left_x=0.401 left_y=-0.1766 left_z=0.059 left_yaw=0.0606 left_pitch=0.1401 left_roll=-0.0839 left_gripper=0.017 right_x=0.2725 right_y=0.0013 right_z=0.1332 right_yaw=0.0122 right_pitch=-0.0333 right_roll=-0.0097 right_gripper=0.9986\nstate[joint_eff]: [-0.5265, -5.3538, 3.4803, 0.6618, 0.2955, 0.0122, 0.779, -1.0598, -1.306, 6.8308, 2.0244, -0.1734, 0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10645c14bbdea7ec15ca254166c45e8611dc77a06bd2f6864055a72d87989df2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:271c935ba49b32ffd69f6a7fbe173a2bf6d1a942ed0172951d5c8589d68ea873",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1cd9f608a240a2a87e5fcb307da1d84ef60fcdee8a1bfe16a8b1d6a70a06b74",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFijkHClGSoAxqJ-dXnH4WSoIGBAUkbrK6XYLcM6ExG1BhMssZa55xWx_Wd4J2uc5idAYAsh5ybNa-99QHknZD2erOSgjlu0eZWPq3UfbE_l7mw09dJY2vRScof37gU5l1oXCG9g3_PrOhtCnOcMk2rNnCRNqNCSedkHvBSepmV6MQiUPJUGuEFx0WKsuZRfKklSHlETo5QklB1NXewUxjP7a60hviTNkYgXv_qjc1us1z7sgjR72-_SA7UYX8LHPDWL7QhW-k8wYFta5xxXBijWHUl0NXrnk_yohuNqfpI-QshF8KhWcSCdOHo_mREE-o6qbMXJ8qhnPbIRbM8iFrsePs_rJvFEeJlqIkvA1r06GbAP_H-kdhTCC0_3-Rg4TBpX1pIwnyFeVg7RRmTSs_yXOmJcmiTo4crYY_WJJXDaeYUiiPv8jQlvUHbLO4pgo6oGh99-RaO3Ynj8rtyd4I9PrHIzOffBACshM4V1lJrq046yD9XOaS-9CMQ51EMJXQBUpNgX7ZPZlJyoVtO7a8-8Q_7u0cnPDG4opaNoy7-xVSGMdNUZ-S7PgubkBybnBq2I3Vg7C35dvHugYP7ql17n-VZjovaCDlSUKqsEpjiazxTVZhBu25j6JdFEzNKs4Fg7RslUHCWilZk9GbKD0HReu7s-qvfbSgsf_3bMDgS_aAfi7LbXjzjplmZWixlwpm0I1YslgpuutIaE21HVNDeDtBLpQY1kCj3g1LuFNrWMHLSY0LwPCgUDmMxegMBU7OmKut-peXA0NFVY95qC9KrRobqVTr-UCDKkE4xTqK-hzZNa2278ev_F6AdU29qZgegiKEL5zdyAJvn5g43K28vFpoV0ey0vtOcdk9RHzoZGbI2QCgOyAzfKg2C8C8dNTfesQPghXZvSuPoMR9zq6xCdK4PXimsA8enOJZzQ8n9_ocAVq0UVG_UWaGLYInxY4qOn0Ju89id50RLYhz2o1J8SlzGyN2Lq_PPhBYldyHm_jGyN5VB-7OH2JnGJZb-4Rq1u2Rb0VZfH52lkfk_t_l-6pgxtiS7_ltfAogbI4xslEARrcyxDGdZ8hl666QVHZQOxv4-9AO-6NjvrVG_AZBSyb0-Lp26b4NOSnpKcZtZ0ko8k9l6IhBzS_5IiazDUQJwf-12EtX14fD90IDee8WYtRGQzYsa-4trnwxX2srsEKnSedxfVGihm-wIkbUJj_tWVAo0vYiYS6doVZdTC8EgvA-yyeefiBTygcNUDtQJxzVwvbsVurdSImGelzR4ixRdRC5dklSOmIHM-1KSnGQwdcN3roXuAeWZsuvXP_R5MPqSeAXHnf5ek6qnJLOUtEpm6LZishm43VNrPiWqc_7c3NUnrIYxdnCRQnXFIOicXA37uARQcLHaC___rK97VvIUmwOZpw5EbumgnUGGLEuS1eAEcTG3peTxh6CKcaxofN9Zh1y3yesm0Nu8jGk30pOtMRB3nQ84b5NCDdv_N6INnzsSAG4o23zVtVad-zLZ2d1NapYdnrVHQggRzAha9XBL7okxXSx-uizbtVlaoJF3-5s_6YdSihyc66rcXJJeGELsGz0HAzP4ZCeCBUhphj4px8qSWiAUAO5VRlQ-4KMnFPOODtrHm7QCpyvil8Vm5HxIJLgi1fmXLhPGZQP1agtcFJysAVBzp9A2ou7ZahyvxxgvZ360zlI3UedY--1euiO9VhOx850oCDcI4KYgPoZb0BveFewrxnFzExbXEZlsrmFAAh_tMs7WcpRjSkfVBQCE16pRmNf3lFNDqi07tNX_B2SRXFqX_7qOaQeOxf_E4KbtFa4FNnAzOLbeNrllfCehuAZWMO5kj2VDIzIX6Hbxo5Nb4U1Q7sL16El9G3pj3UDDJROZr1-MZmh39u1RHb-_mk7FbhqUck2PhnwZAI6qTui_Cx44ZYnMr8iHGuaIFcpxugU0NW8NHM_s-XL4ours7QihbBhMcuG7cnN0LugmhL-GNRdZ4DU3U5HzEzyQpWdPqVrvGxkUrcm5k9vSybB7jKovQfgyZfbZMAU2z_C1v2pUkBMThQhyR1MmszQIgXSzvDay56jvEUUWnmMe8525hnICd5zaBGihdGCtRAdgvF2etKcytsJHsdMhBDk2mLYqUl_t6jURcVHndpOYKQoe9G7a17cf1aPZ0Eo63xMS3uYCNmLKDVxqH45J79NI15HzC4Vg3H2AWuqLIOaYys-4Agg-HQ8QoUkOiAwO7Il5lDmWCVEVl4UBs7GxV0e1h2Pf3xtOkkT0ktJY6-G6l47H9FINXdonrLNJH0ajXSNorEwxDIgzLYFyG8G6_HO3iSRUqJrbJFgC8Hh1MMDIq1of_duOoTC5qJzfFgJ--kawaoIqis33BKPKsf1j0pdRuXWOhv7arOcxewWr3GW334st-P5Gwr8sUw79IBn0uS2vxs2eUOO1MUgbzPIqai0DQLQP4jxzkfDeLzk7Zml5v5ZUiSQZS6ffILFZtHbGPAc9lOlUDU3H5vMOU2ygRHJ-WeEBQW2Tpt-YB85TPADbyfigUHNanQy16VXSpe4s7YzlUrOeqOHmZ2XJgUM15y4lLd6xGEhrEobT9K3zXg0e4hjy8NalLRRFOe7a9u2lP7DKLtEu_FxOp4oyocbmQsZbysjtVejCkUdbXdlF8mBzgsSy_ti_oaVIYxJDDQfUu2XXWQP7BcfioKKSWvbXKBHrBDJ6qrAvzg46IO4NyvvBdRv-VgAmpfUXkjqcyAdFIjMRh7ozogNAWPBjNtuTIewi3lQe-D_5nhiO5fKiKilCdWcy4MCRd_c4YAoPQu_ou3MKXhi0TRcHoe-1DUwpXWhLVF6LJTv4-BV84YKFbWjvdoWk-Q8yFJCtN1Th6fXORNpFizRfyeoC_JGnIMNZywCi64cgk2Mx9XqDqs6tm5_DlobP_ax3aRJ0ta8TuFRKVme9ia9wIDeAU11-ErsOC5LGQ0wpnzj1uBtKN355tfUh5A1tYono4KOz4wQag9bbHMWoOlDVjEHl-9akjOcrvW_o-ipoU-K6FmXGn-GeUxR3aKkEYNzWWKP3ywdqRRcSY1RIJ",
  "id": "rs_01e6d9353bd9ab63016ab4589d2d3887d090a74ecaccbedde5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.19,\"left_z\":0.13,\"left_gripper\":1,\"right_x\":0.294,\"right_y\":0.002,\"right_z\":0.185},\"note\":\"The narrow-end grasp slipped out again. I’m clearing the bottle and switching to its shoulder, where a wider contact may allow a controlled lift without the cap ejecting.\"}",
  "call_id": "call_nrg8A8E7eozEYwAoHhRtgklX",
  "id": "fc_01e6d9353bd9ab63016ab458a28fb887d09fb64719ccc5bc6f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nrg8A8E7eozEYwAoHhRtgklX",
  "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]: [-0.8948, 1.4487, 0.7475, -0.1127, -0.7395, -0.6407, 0.9943, -0.0277, 0.7876, 0.5766, -0.4118, -0.0311, -0.0586, 0.9986]\nstate[eef_state]: left_x=0.3156 left_y=-0.1975 left_z=0.1162 left_yaw=0.028 left_pitch=-0.0061 left_roll=-0.0065 left_gripper=0.9943 right_x=0.2865 right_y=0.0012 right_z=0.1627 right_yaw=0.0133 right_pitch=-0.0535 right_roll=-0.0094 right_gripper=0.9986\nstate[joint_eff]: [-0.212, -7.7333, 8.5538, 1.5067, -0.4371, -0.0415, 0.0611, -0.0889, -0.841, 10.1402, 1.8877, -0.0708, 0.0806, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58ef7b0eacdae8ea4fcc7f8fc65a950ef00a7b4fa65fe42f44bf5019a1d4ab1f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fae87c2710fe1d1af951c1b235fe92546e5c373a43716c04a841decb084c50ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e4f5e229d5d285488c5fb0b001bf9920898e3db23ca4ac75fd4e18bb487ef2a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 29 attempt 0 · /responses · status 200 · 4.811 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]: [-0.6964, 1.5509, 0.6949, 0.1787, -0.5789, -0.4492, 0.7024, -0.0284, 0.7326, 0.4843, -0.3584, -0.0315, -0.0582, 0.9986]\nstate[eef_state]: left_x=0.3639 left_y=-0.1737 left_z=0.0938 left_yaw=0.0061 left_pitch=0.0086 left_roll=-0.0181 left_gripper=0.7024 right_x=0.2789 right_y=0.0012 right_z=0.146 right_yaw=0.0126 right_pitch=-0.0375 right_roll=-0.0095 right_gripper=0.9986\nstate[joint_eff]: [0.335, -6.106, 7.4188, 1.3944, 0.0464, 0.1441, 0.1245, -0.8, -1.3607, 6.9402, 2.0, -0.1734, 0.0073, -0.0073]",
      "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]: [-0.6548, 1.8282, 0.6598, 0.6506, -0.6056, -0.4191, 0.017, -0.0288, 0.693, 0.4217, -0.3313, -0.0315, -0.0582, 0.9986]\nstate[eef_state]: left_x=0.401 left_y=-0.1766 left_z=0.059 left_yaw=0.0606 left_pitch=0.1401 left_roll=-0.0839 left_gripper=0.017 right_x=0.2725 right_y=0.0013 right_z=0.1332 right_yaw=0.0122 right_pitch=-0.0333 right_roll=-0.0097 right_gripper=0.9986\nstate[joint_eff]: [-0.5265, -5.3538, 3.4803, 0.6618, 0.2955, 0.0122, 0.779, -1.0598, -1.306, 6.8308, 2.0244, -0.1734, 0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8948, 1.4487, 0.7475, -0.1127, -0.7395, -0.6407, 0.9943, -0.0277, 0.7876, 0.5766, -0.4118, -0.0311, -0.0586, 0.9986]\nstate[eef_state]: left_x=0.3156 left_y=-0.1975 left_z=0.1162 left_yaw=0.028 left_pitch=-0.0061 left_roll=-0.0065 left_gripper=0.9943 right_x=0.2865 right_y=0.0012 right_z=0.1627 right_yaw=0.0133 right_pitch=-0.0535 right_roll=-0.0094 right_gripper=0.9986\nstate[joint_eff]: [-0.212, -7.7333, 8.5538, 1.5067, -0.4371, -0.0415, 0.0611, -0.0889, -0.841, 10.1402, 1.8877, -0.0708, 0.0806, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58ef7b0eacdae8ea4fcc7f8fc65a950ef00a7b4fa65fe42f44bf5019a1d4ab1f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fae87c2710fe1d1af951c1b235fe92546e5c373a43716c04a841decb084c50ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e4f5e229d5d285488c5fb0b001bf9920898e3db23ca4ac75fd4e18bb487ef2a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFipBWZ_vs07B7CBTpHaxZ1mIvOU_0Pk4GA3weRrWpKYkZEi6YAwZ16aMXxf_EJfyd7s8llVNtZg9jefDNNGL48VX-SRNokVAN_H3HJs55EKLNZfUc24-Q9UFBrqGa3wBZ5p4cMUh0dYOCPDZmtfSK8c8T2ib0vuobyZOU_INUedIQ9boHOqQ9FP-uGCFnIT5w45EeKMkwwZ90exZIiD08piHNKYvhup-31M8gzDCCzdMYErcthlamQDLCci8DIg4gu1VvBnBjTdfvUEwbEFlvuGn_he3F0uHemCxuGGPMisuSTsP7TXUFQezFCwrw9PkM-yzU0WpvIjLwHcJlu64SngCOwpMa9t-sttxFVhzHdf0EKK6FA7B2KgDeHq_r5pY5I9eZhA7T1hOW94hZalAOP8w0MidyCQdQyjFQDDpECaWT6j9gdshn4lp6U2HAQkQJVnKicxYxK4k23iO0MbCrXnK6htDaDCqIF5RgdKQGv5cqvj2UhzdVJAtdO__uw5h2uTxWqWgC2rkOQncABCMmtTistVQqUmOrrkYAPyF7pyUgND_FejjZ1jK5bzav6c5JN35bF8s7GpCE3F82jKM0uv8CdHmofHezw_BAijXU377dA6cIlRNJBkjBSWz9s1kLwxytq9CXV364PAQK0z3geL3CTS1FwuwoYW0DQdo3H5D0C5cMgVP8sRGo4EAgQwKy04dAlLtL0b8WFCD8gplEVFWLL6pRMcs1-xbsu5KaaH-dtQiTJwNoZw3XpglEX64nsCqplYlGCQh7PMKunGDlBxqBXvetRhBXVfqIYtkEFfKyzdSLjo6zUdFBxA5yYx14VfIYy7Uss3qn49JxJVqXTL1m0u9Z_L58Bisi3IHsyx5ZhNJ2YmhsDgkKeW1jbYjpM-U5DDdf74kKGFquxYK5SF6numUthBlVDrpvuOlDsTnErRFZ55TirGIVdt3q5B0nonqT7wJ0jNheaPoclX8uMBqgb_z9uxLqpLo2QMFo2uv8WwWak7TVxu0tKYhT8JHJRnhoGp8jwAi2hiG_3ay-e13-jSIDgpiENir2w_nLS0OsVXw9R6MCmljinVBE-5KcGVMYtGc2I-M7wNZuy3o52RHcyZir1pIKsgaAdZyfLln22IHKWRW0kYFrgwnyPXRu7eZkAAb4dm_SxwD_KeCcEjeDCfHRfqPwQ2DnbECX5B4qslkm2ocdmKyv4nnksRt-qhrkvtC0-BHj-n_hTA3A5aOwDputkq5AlQ0MnaSkLFLOz4cW04dVKR_CG4HSSCCo91zH-lwzHeFUY3qATA8Gh3gm-X4xwvWu-Ghih7IMNxINPJ8aQEAu18wBrqzbXS_2Y4dyU6nuqfNbTggN7JAZ25N-FUymwi1Z3I8TQxlOxN1EBxzNPW1HQUGW1Du3sUJbNgRN86uCiG05iQ3GrvFdBak_GRF4Zm8CzRlBNV-gY8K1JTPtgKR6qI6g0b76IZ9aNScvLCQVgzNVOquwKR_Gqm2acy1sKdb8k41PpLPuVu0gtT3YZgTsYh_QAw6a_TngZDuWtndAJcln5LucYcaN04kc3Zx5l5wmoeDqQoL0-K_wa07BAXrRvqKoFzh9UsySig25E8f69wxdNj-oT35Q2lnHgUbX103pCixfTYN78vZUSQdsqU7gkBqeo1tu85l1RT",
  "id": "rs_01e6d9353bd9ab63016ab458a6a53087d0b8151d1174084f86",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.18,\"left_z\":0.018,\"left_gripper\":0.7},\"note\":\"The bottle’s shoulder is visible just below its cap. I’m lowering around that broader section rather than trying to pinch the smooth cap again.\"}",
  "call_id": "call_4ONQMyItaLgVBfT7sLvl1CZ1",
  "id": "fc_01e6d9353bd9ab63016ab458a86c6c87d09ff10c67da402a8f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4ONQMyItaLgVBfT7sLvl1CZ1",
  "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]: [-0.7681, 1.7473, 0.6006, 0.4065, -0.7033, -0.527, 0.7039, -0.0284, 0.7563, 0.5236, -0.3817, -0.0315, -0.0589, 0.9986]\nstate[eef_state]: left_x=0.3503 left_y=-0.1745 left_z=0.0353 left_yaw=0.0688 left_pitch=0.0202 left_roll=0.0173 left_gripper=0.7039 right_x=0.282 right_y=0.0011 right_z=0.153 right_yaw=0.013 right_pitch=-0.0451 right_roll=-0.0098 right_gripper=0.9986\nstate[joint_eff]: [0.3761, -3.7538, 3.3299, 0.9353, 0.4176, -0.1636, 0.2515, -0.7863, -1.6889, 7.0769, 2.0244, -0.1587, 0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73969f0de154dc885769eabd5fbc8dc1ae60f0ca99037859d7e0331a8ec7ae84",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1a1bf1bf61a977c1dfc0e2c79d4de03f2d69df3a3a1772114d4fe649ea824d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77f05c03e36f4cc305e3859c30ef8bf4b8f746ede5344ee3cb81d3537d66e272",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 30 attempt 0 · /responses · status 200 · 4.329 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]: [-0.6567, 1.8023, 0.6601, 0.485, -0.6106, -0.4141, 0.6515, -0.0288, 0.7113, 0.4515, -0.3431, -0.0311, -0.0586, 0.9986]\nstate[eef_state]: left_x=0.3865 left_y=-0.1655 left_z=0.04 left_yaw=0.0519 left_pitch=0.0365 left_roll=0.0139 left_gripper=0.6515 right_x=0.2756 right_y=0.0011 right_z=0.1397 right_yaw=0.0121 right_pitch=-0.0337 right_roll=-0.0102 right_gripper=0.9986\nstate[joint_eff]: [-0.2667, -4.2188, 3.959, 0.8669, 0.5641, -0.0073, 0.0806, -1.0051, -1.3197, 6.9675, 1.9853, -0.1636, -0.0073, -0.0073]",
      "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]: [-0.8948, 1.4487, 0.7475, -0.1127, -0.7395, -0.6407, 0.9943, -0.0277, 0.7876, 0.5766, -0.4118, -0.0311, -0.0586, 0.9986]\nstate[eef_state]: left_x=0.3156 left_y=-0.1975 left_z=0.1162 left_yaw=0.028 left_pitch=-0.0061 left_roll=-0.0065 left_gripper=0.9943 right_x=0.2865 right_y=0.0012 right_z=0.1627 right_yaw=0.0133 right_pitch=-0.0535 right_roll=-0.0094 right_gripper=0.9986\nstate[joint_eff]: [-0.212, -7.7333, 8.5538, 1.5067, -0.4371, -0.0415, 0.0611, -0.0889, -0.841, 10.1402, 1.8877, -0.0708, 0.0806, -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 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7681, 1.7473, 0.6006, 0.4065, -0.7033, -0.527, 0.7039, -0.0284, 0.7563, 0.5236, -0.3817, -0.0315, -0.0589, 0.9986]\nstate[eef_state]: left_x=0.3503 left_y=-0.1745 left_z=0.0353 left_yaw=0.0688 left_pitch=0.0202 left_roll=0.0173 left_gripper=0.7039 right_x=0.282 right_y=0.0011 right_z=0.153 right_yaw=0.013 right_pitch=-0.0451 right_roll=-0.0098 right_gripper=0.9986\nstate[joint_eff]: [0.3761, -3.7538, 3.3299, 0.9353, 0.4176, -0.1636, 0.2515, -0.7863, -1.6889, 7.0769, 2.0244, -0.1587, 0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73969f0de154dc885769eabd5fbc8dc1ae60f0ca99037859d7e0331a8ec7ae84",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1a1bf1bf61a977c1dfc0e2c79d4de03f2d69df3a3a1772114d4fe649ea824d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77f05c03e36f4cc305e3859c30ef8bf4b8f746ede5344ee3cb81d3537d66e272",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFiuuQRx2bQ7OipUzLk8045TSeZ68iS8gNg-RWRxBQmtHjXAI5NbX41jK9j7kKkrxxzw3FgweJgpUrZbVqzCe4JR7IOVNSA4Slh8Kx2O8nTZRTuTrPfEvHiq3ttNYmCnyfqb0qhmMiaeitbruqjH_lVul-XF1NCs5D54v0k3TxAKxglCxMd8OyHHusWgyoMtQDxgMVO8jxwy-OHxmuJM_26kO6imWh4LaQN6SP2cEL1dXs577EDgMMyESFpkiNs9F7RZ9BnZ2HWg74rsjVeOZHbWqtjMFGDLWz02NSnQuOggv7Z6pAI7y_0FBJTM89VVn7ysDkNfKHzn2U5zHvJngxV9TfXCbBV4RkZ_8d8Zs1UIH7bFKdFOkTPpjarOTkZlDaG1BwW_cBXGqDOrDDblUAYAzsQPSECrwNr54a6iyW7tI4u0MitI1TBURoNH73FC9Ic4WWSV0t3vf3dZ22jkMTFbRurD1cL5ZkGM5vl9CA76bQfngqt9cWLgTRn4qq6o9zgJ7ZFlLSiuomqA-3kPJayDjm6squirOdxGuIBkeMePtHFc815DabFrhLInxROm0N54ug-r97ZOrBmT5HkLShwtgv3MFuyTZevK96VivN589JjVFWoj0K25ezPIed7QxNwqHVnTPyhitFYPisltWnjKmfqK6W97th2Ec5FVCCpPpvCnL7WAlOdCHZjj51eEsAYGHzHDzFrWa8304MV3IPVcwdtVzolq1SMY45OHTlESs3i3XPF4pTvabuO3a4cHpw_55SRpq2uSdUC9F0TTvvOdi9cXYC4j2yltbJ_4L7cRW-LMvzPV_Q9Tvq8I89H-70waj9J53nHgTezgCZNIh1IcKA7TX2dHhUBEuSjA8iJwCjS864hI8U9HBfkmPGByReoCvF8wWX-Sl7yB0ZHLWCEH3YYK9lXAmuoRDRl-vXW_npojLXyeTjd3BKSAw7LYV1ncnXwnFFiu3IwZAzubbyWcwo0RZIjMP0Fw3mEvGyUDcN4Y6rk-nhfQ2nhyBwl3lskuMDtGeBjzjhPFV0oycQeqALrdVUrzAg4K6EhI7B2_yZtlSs6-2knr3xBfriHL5SDxUpgmrGH91Wj__7Rce4eranjfzcQWTVyej-mh89mcworw_HvPBXnFIQk9FFJ_s09G2-Q0dLeY1q7cCStymNrRvWW2z7hHtIwauXUFR4q_pB-EClo2WX4hVTAoHnq5IXF7MAuhsQ6hzY_bT4hhA3kAZk1CvPl0ORGeA3jrK-6NEMk4t6vzX77MNqHCjQBCERVXIsy5CJOSTIwzeZ0xgRPC-MnON3PuAqb0OTIac8Y-Sf5mRJ_5_tuATsLEZc25O1dKw04dMjGt0RvN8dTTw_zFx1X-c77RuNQoFCINGCukZm3PoaUm5ZUEudZ6C4MOllKZLh1R-sRK1CHS9yEQvUWs_rY_ycJbHaiQ66IBP4d2b2uE7OUHkqEmErnxef1THl_F4gmbXj90zIW-twQ7p2ZSsWeUx3KBRaFmkR7MGoGgTFQIUWnhSjkv9M2XpnOi63AbH1ORcS_bi3h5FbTr67vmikKS2l1o-vG36OFqoq8beh7PvCcB3Z-246mEAKNQ3NhzcvXP72whePHcBELbLpuqnN9R42Zxjn9mkGxObCCrnZRN9bLH-wqDl_fW2dZysVurNvjFMJuJSPiNj4GISXbgmU4B2mZx_JV9s9zisqkYt6E=",
  "id": "rs_01e6d9353bd9ab63016ab458abc96487d0b08e064fb18253e5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.35},\"note\":\"The jaws are around the bottle’s upper body. I’m using a partial close to hold it without crushing it, leaving some ability for the bottle to pivot under its own weight.\"}",
  "call_id": "call_YVlMzkBDFWx4DdunHqssJwcz",
  "id": "fc_01e6d9353bd9ab63016ab458adc82c87d097cbd9f19f58dd34",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YVlMzkBDFWx4DdunHqssJwcz",
  "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]: [-0.7586, 1.7309, 0.6113, 0.4633, -0.712, -0.5411, 0.3564, -0.0288, 0.7307, 0.4786, -0.3576, -0.0315, -0.0586, 0.9986]\nstate[eef_state]: left_x=0.3609 left_y=-0.1781 left_z=0.0541 left_yaw=0.0956 left_pitch=0.0801 left_roll=-0.0542 left_gripper=0.3564 right_x=0.2781 right_y=0.0011 right_z=0.1441 right_yaw=0.0125 right_pitch=-0.0406 right_roll=-0.0097 right_gripper=0.9986\nstate[joint_eff]: [-0.1436, -6.5573, 5.012, 0.652, 0.0464, 0.0464, 0.2711, -1.0188, -1.5658, 7.0632, 2.0391, -0.1734, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e26a1722c61748511b353111f518d7473e020d4202a3040f169d7def4ffc3226",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8010554ad707916158924309d9dc64658dff1d7017597a03891f7fe951222ba6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:477700a2cf216c3fc584ddc4f5c481b587444e0836ff36d34d0c9cfad130347b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 31 attempt 0 · /responses · status 200 · 6.771 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 110 changed as sent

message 118 changed as sent

message 122 changed as sent

message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6548, 1.8282, 0.6598, 0.6506, -0.6056, -0.4191, 0.017, -0.0288, 0.693, 0.4217, -0.3313, -0.0315, -0.0582, 0.9986]\nstate[eef_state]: left_x=0.401 left_y=-0.1766 left_z=0.059 left_yaw=0.0606 left_pitch=0.1401 left_roll=-0.0839 left_gripper=0.017 right_x=0.2725 right_y=0.0013 right_z=0.1332 right_yaw=0.0122 right_pitch=-0.0333 right_roll=-0.0097 right_gripper=0.9986\nstate[joint_eff]: [-0.5265, -5.3538, 3.4803, 0.6618, 0.2955, 0.0122, 0.779, -1.0598, -1.306, 6.8308, 2.0244, -0.1734, 0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "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]: [-0.7681, 1.7473, 0.6006, 0.4065, -0.7033, -0.527, 0.7039, -0.0284, 0.7563, 0.5236, -0.3817, -0.0315, -0.0589, 0.9986]\nstate[eef_state]: left_x=0.3503 left_y=-0.1745 left_z=0.0353 left_yaw=0.0688 left_pitch=0.0202 left_roll=0.0173 left_gripper=0.7039 right_x=0.282 right_y=0.0011 right_z=0.153 right_yaw=0.013 right_pitch=-0.0451 right_roll=-0.0098 right_gripper=0.9986\nstate[joint_eff]: [0.3761, -3.7538, 3.3299, 0.9353, 0.4176, -0.1636, 0.2515, -0.7863, -1.6889, 7.0769, 2.0244, -0.1587, 0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7586, 1.7309, 0.6113, 0.4633, -0.712, -0.5411, 0.3564, -0.0288, 0.7307, 0.4786, -0.3576, -0.0315, -0.0586, 0.9986]\nstate[eef_state]: left_x=0.3609 left_y=-0.1781 left_z=0.0541 left_yaw=0.0956 left_pitch=0.0801 left_roll=-0.0542 left_gripper=0.3564 right_x=0.2781 right_y=0.0011 right_z=0.1441 right_yaw=0.0125 right_pitch=-0.0406 right_roll=-0.0097 right_gripper=0.9986\nstate[joint_eff]: [-0.1436, -6.5573, 5.012, 0.652, 0.0464, 0.0464, 0.2711, -1.0188, -1.5658, 7.0632, 2.0391, -0.1734, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e26a1722c61748511b353111f518d7473e020d4202a3040f169d7def4ffc3226",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8010554ad707916158924309d9dc64658dff1d7017597a03891f7fe951222ba6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:477700a2cf216c3fc584ddc4f5c481b587444e0836ff36d34d0c9cfad130347b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFizMZ9nPBn62k6JhpNX79KTP0yqhnhsWW2m6uw1X9dr_gh2P46NvquczQY-MtWYc4YhVJGsl3aH_iK_ur9yFW6z9YuRpYJinQ0QCk1xDoioxi6URRpib3L6zylgg0I9FarmsLN-0fY7xcWgdYVbMqBAgM5qy_xyaQvavxepBdhpALm0mouUwz69WiZ8Bgp6qfT6DuxFn2DPP4_kZxlZnD81deFAfNbzdpxF3P0P_IOqH3OGHX61fRBuJI97HYGR9hpu7ye7GwYbafPdsiWcfDupzM-wnQocg0y-gTdj3-AnE2SZOcfsByDb-ncub_Wx5Whq2odJYKb9asFpqPqk7mTvdNaMIBeJlcUg_X4-gHGye7QWil7tAIpmisxXN7ft8t-obMu4MwNVCSoBUYVuc2-CivFu59eoAh5PgXsXiVK9qgZGuWmqFNxk-UUhH1qB8qaJf0mjS2s-zHOgPti9TRXvx7hdMkqZ-ZFQWU98X9IEYq_vhQO9NYejQuBRkkv12ThSJiAGmrwuE74zlM9hOkkigW1rTTGKDIzWM5lCRH_sRCZUYiLGMWcdGYCR9QZyJ2Cl7bGiDengxnAuoNW6ViQEyhhq4_yGmRt1XYhvHuAPXpL7icS9jKtQbz7n8nVvjTLHmi0hvKVdazJ3u-xjnG4JhM5hWuH2TjbeGdFodTGI6w4cyJnxKRP7PmbNyHzZ92Y7KAJAMcJYUfCYNWHYBuJAIQn4Htd_fsLVe2FwS02sr8skkGf0EVt91ycqK620USQW2koWZpth_-B25nL9HxSREpvvNXUHqTGXLwZ3fjUvpSf22qb5yDKKPwrABKftcQ_7HinfMrZ4Uo1YR40FocIk1RSKwRWjffgR29KLB33gbEIU-rgTyyPkIVGGAiS_0TL05vmSnLvfPLpQsS21o1_MtjFuxOf8EuiV7r6SBCObfuU7sxYumITEABqNb7QsNY1v390jnOyl0qP9JnvIH92CKdxCo33PfNlq4OLTkpPVAMBCBB18Qin8f3gvhfSOErGAd3bjtKw4A-hKT8ewsgkEzbxrpv6vE8w_d7z7VIkWlvkEFFLEk6rsN4WGeU-9JZVbmApENJJ91hR-Jl6LSX1shKqIdAxUk1wkHlPbp-UB_yZZD5ZOnF55qgKpEuAoDpPsqpcRpUkryUSqmZCec9P6fB3QChhZkvxIb7_IKzvrW3ICEA75q0KNWsOdiHm1PPw-zyn5_FqZESXmZrxZ_mqRgcajuft-IPlP9zkV0poE45MnrAy-bQ2WdVD-phW3CbpWWPHsAMFrHjKnvAbm81Hi1wWYcE8zzqyfTWIIIqF6ggHDZYOafKJROe26oP_FEZBz3stp2t7Pi-UX5NqjrgGaxA==",
  "id": "rs_01e6d9353bd9ab63016ab458b1c6a087d0bb221fa9f25ffd5a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.345,\"left_y\":-0.18,\"left_z\":0.18,\"left_gripper\":0.25},\"note\":\"The partial close has contacted the bottle. I’m lifting slowly while tightening slightly, to see whether the heavier base swings underneath the grasp.\"}",
  "call_id": "call_2UPOJfeNwRvGlDYiCsNgj24Y",
  "id": "fc_01e6d9353bd9ab63016ab458b27c9487d0918ae62c4f69c710",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2UPOJfeNwRvGlDYiCsNgj24Y",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7918, 1.449, 0.9386, -0.2775, -0.7158, -0.6067, 0.2512, -0.0288, 0.7082, 0.4404, -0.3393, -0.0315, -0.0586, 0.9986]\nstate[eef_state]: left_x=0.3482 left_y=-0.1825 left_z=0.1627 left_yaw=0.0963 left_pitch=-0.0036 left_roll=-0.0087 left_gripper=0.2512 right_x=0.2745 right_y=0.0012 right_z=0.1362 right_yaw=0.0124 right_pitch=-0.0379 right_roll=-0.0098 right_gripper=0.9986\nstate[joint_eff]: [-0.4855, -7.4188, 9.1692, 1.2381, -0.3834, -0.0024, 0.0317, -1.0188, -1.2376, 6.9538, 2.0147, -0.1538, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9521d9866603e754eb1c9f42e76e24cf0e76616fcec1f2ecd3ffde419f245d90",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1be8e72f80ab04a2d80618ac1cdddd443ee79ed0d9d32a799feb38ef28372f17",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4db38bf6b534e05c99fa2ffa6f52d8b17c4ab12b6dab9b2b340f01d070e60ab6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 5.117 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 114 changed as sent

message 122 changed as sent

message 126 changed as sent

message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8948, 1.4487, 0.7475, -0.1127, -0.7395, -0.6407, 0.9943, -0.0277, 0.7876, 0.5766, -0.4118, -0.0311, -0.0586, 0.9986]\nstate[eef_state]: left_x=0.3156 left_y=-0.1975 left_z=0.1162 left_yaw=0.028 left_pitch=-0.0061 left_roll=-0.0065 left_gripper=0.9943 right_x=0.2865 right_y=0.0012 right_z=0.1627 right_yaw=0.0133 right_pitch=-0.0535 right_roll=-0.0094 right_gripper=0.9986\nstate[joint_eff]: [-0.212, -7.7333, 8.5538, 1.5067, -0.4371, -0.0415, 0.0611, -0.0889, -0.841, 10.1402, 1.8877, -0.0708, 0.0806, -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 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7586, 1.7309, 0.6113, 0.4633, -0.712, -0.5411, 0.3564, -0.0288, 0.7307, 0.4786, -0.3576, -0.0315, -0.0586, 0.9986]\nstate[eef_state]: left_x=0.3609 left_y=-0.1781 left_z=0.0541 left_yaw=0.0956 left_pitch=0.0801 left_roll=-0.0542 left_gripper=0.3564 right_x=0.2781 right_y=0.0011 right_z=0.1441 right_yaw=0.0125 right_pitch=-0.0406 right_roll=-0.0097 right_gripper=0.9986\nstate[joint_eff]: [-0.1436, -6.5573, 5.012, 0.652, 0.0464, 0.0464, 0.2711, -1.0188, -1.5658, 7.0632, 2.0391, -0.1734, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7918, 1.449, 0.9386, -0.2775, -0.7158, -0.6067, 0.2512, -0.0288, 0.7082, 0.4404, -0.3393, -0.0315, -0.0586, 0.9986]\nstate[eef_state]: left_x=0.3482 left_y=-0.1825 left_z=0.1627 left_yaw=0.0963 left_pitch=-0.0036 left_roll=-0.0087 left_gripper=0.2512 right_x=0.2745 right_y=0.0012 right_z=0.1362 right_yaw=0.0124 right_pitch=-0.0379 right_roll=-0.0098 right_gripper=0.9986\nstate[joint_eff]: [-0.4855, -7.4188, 9.1692, 1.2381, -0.3834, -0.0024, 0.0317, -1.0188, -1.2376, 6.9538, 2.0147, -0.1538, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9521d9866603e754eb1c9f42e76e24cf0e76616fcec1f2ecd3ffde419f245d90",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1be8e72f80ab04a2d80618ac1cdddd443ee79ed0d9d32a799feb38ef28372f17",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4db38bf6b534e05c99fa2ffa6f52d8b17c4ab12b6dab9b2b340f01d070e60ab6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFi7UeEuQSuteY3ggclt5KT7a0Ka_8JK0jMi7w3Ri70yMSJ3MfDmD8rtofYFiffHQJKvv4zoedSneIGqFdTG-JsTvIBMkoJgNgorMcI8rMwsSk8PLnrqBmhg7ZYnQ7vUHVjavnT_cPfT6M8f3W0SR2jo44eHzFsHD-nodqpdacZJgrowJe1aQKYZP4nKFBArVC1suvt2dZ6nWA_4xqBFlmIaYGcytVj7sDnoBPAVNyXdisGrqaAtEpnRijHXX8DgcgH6Pfn9fLDG2pCrcMq0cG0h0vAoFXnwssURcH5vTa_TG4YaqN12899ACsu_F5oBY3X3U9TN3MLXkbUgn2VwjW-hX2f7zMURND1Z3FHD4xhUGkt8mx9rojMLpgYe4tSntowImE4VEGuNU8mW1n4c_84d2YJrEwj8ie6ZtabFbSJxPzX57p-V8CjhYD9IIEGArCErlKbB7RMCKAJCz49Y0wOHIBrIdr2y7s8T08zYtxiEzf9tbW_Cn7yWIIf3Evc6i2m5hNatWxNeJNHuYguS3qxQkGPOzKI_Em7mvtXvcpWO6AAWZxlfnwKecQ3bmkVh-aMAyEAdgEauw9mb6QMwTGDmLgYvyPnx2F2jcFCoOfoX97OobEN2rsmCoESVeCl54TlAySZQXFnT6ITglB7TgZHymUoV4pCwAI8HjGeDvcxujmyQIkYyU8OZr9juWOJ7z4XG64RCTG5CkTC5Sb98ZixBmFzZSiSKtUAsaisHBpch48fbqKctGbWne51RXo4l5QPgLHSC6isWSggKNkmRKeLfSKBTL1Vxo19uLnP4B5-xo_m80ovL8t_ge440gLUnADUxrWuVSmoF_ExifRKWhd0ipQeqqhiM_mceW3kBtqNsp3ADFiYLruFxzcfso4D5yLtNbPXzWLuV9L5Va1s58fNJ2bTBvRaD-zE_UJKQOPkUva1Q0YADD7PHeN4_-45iEQMAMwxKcJDlJDefudtPE8kXQD9qRRYV2Xdr9BL0rC5-xBSn8t0RqNZAGqs6757JRsssBDLr_zR0NZQg395g0codUYnM3fOvk8Xv7E9KcKVbIJNXzymmbF7I3KLtLj9yE9WU4AR_Rx1MDdOUxHcfMe25zE3O_lKzfhf3whIzysr0uMIJ65Ex6Qo5VzEzOaFLJ1x72JiGEZ1fiBWecDzB0cx6iFmgoVYihSskKJZiYaFIV8tW_qh_C6tsfuw2aMTLMAZ5HR4f26fMsrIy-qKB7IUogvR1P6c9GIiSBCNYmyO6MdRyfuKlIca7eC6zBW530PJ-am3gTZbY9juVHjlz3IQs8PwL7ipxrtyES7ufzZYOvOp8id4GrkoO9u-HDsfxqofU_uoFN6hRPnO4bbk508FK8ojItskmVK_uvrbdTlGJ35xJevaSUSJVf8m4gx7lqZavAqE7wGv5qXXewY7GazZOqGf-K4qWVoIlK06twl59JpEvHdjDirf02xU1vVY2DkII_DiSJLpnx-Hig__HqhjUf6Il-NJ2zLm1YN8LiGgV05KHIDkBNwOgIiltIyxBZNTnnS3yOzsbd3ttpsfhRhyjPzIwu8NrwX-YAg0Z3Ujy-1fLtweqkTWIp8GOxzxyosLBSzJKWe-3eBy4vMZoWcqbdQ1YoJr7Ub__lrUt3qXghz-2fL0c3nZC_CfeYYmsCiPV0l0CzgALwPvFJToTb5n9BWi6ejSg0rXu8cEJKQ8DqiqaImnmQNRT2SZFnEJMf_hS7spH75oBrAtlog02pP9Ll5oXQZHnjum7V7y3Z5abOClzY7ehVP-pkzeWKMWpt91MueO_9B1bpmLNxqN1sZtz2hBjg7gIjahdsp2mv8sTv0yCD8Yt-QF7M_L63yfjBQ3exoZ2Rv3PFM6TSGAToDJqzSx6k4_PhQWmgF-s30OhFAkV86YynkC7MylVD84XHTNWnw5Sc3Z0DkygY8dWkS_Y2oOYuXgCGl1rtHkg0T5k36m6W_vS55zmeoVIBM-0bOghor3OCieU8q5PaJpDJYmbE0FAcxLWbv5EGIactmL6F1vGsEUY4cMy4rqBCaf9kh_sS8EqoNKKLaywM3cSUxfOwikxw4UZR2x2IxV17XS7EZyh1FXLj2EOZm-EGhfrE42D-w-OoDjRo7D8_jIWjeSlKxsYO2wq7Bn-q7OyUDeiWDa9n4H3F49M6WwgjRnrinn2bT-yfuOejORDgI3siadJfGu8PTF9ElECyZ5VHwZOOReZfpcmgyuyWQfe7Z8zqATFXDeAQtPeZfXov5GU-7puIHxCaUelOet3wb1WBfVpmQZXQWsurhfYTVpghEWh7voLjk2yGpll8yzEgNDlenJ3haC4kmQgp4y2yfo4jEt6ijhmMt-im1-4DphtyXAGfIMDWfGp-4ZBmua_PKBCYMW3tYLmn536FPje4i-A4HfzLFoy0Lga2dwcWJ7Y4S6jcpOBOkCtLHoLscTFr2GiQU77cyr-uqEl9Cqrbp-M1befv6DQWica9HhB1dlHngrIF0fk",
  "id": "rs_01e6d9353bd9ab63016ab458b6256487d0ad8fdb24a77fbfc8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.296,\"left_y\":0.002,\"left_z\":0.185,\"left_yaw\":0,\"left_gripper\":1,\"right_x\":0.294,\"right_y\":0.002,\"right_z\":0.185,\"right_gripper\":1},\"note\":\"The bottle did not follow the lift, so this grasp also failed. I’m opening the gripper and parking both arms clear of the bottles rather than continuing unsuccessful contacts.\"}",
  "call_id": "call_gEfgxuGmc1sLYj3DkozzV8c4",
  "id": "fc_01e6d9353bd9ab63016ab458b9a49087d0ab2fea72a90d8733",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gEfgxuGmc1sLYj3DkozzV8c4",
  "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]: [-0.0448, 0.8104, 0.627, -0.3683, -0.1055, -0.0917, 0.9975, -0.0326, 0.7879, 0.5846, -0.4145, -0.0387, -0.0586, 0.9986]\nstate[eef_state]: left_x=0.3 left_y=0.0088 left_z=0.1889 left_yaw=0.0793 left_pitch=0.0124 left_roll=-0.0115 left_gripper=0.9975 right_x=0.2872 right_y=0.0011 right_z=0.1658 right_yaw=0.0148 right_pitch=-0.0484 right_roll=-0.0052 right_gripper=0.9986\nstate[joint_eff]: [0.0889, -1.9761, 6.2291, 1.79, 0.1636, 0.2271, -0.1001, 0.4444, -0.4581, 10.1265, 1.9072, -0.0415, 0.0611, -0.1587]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa643f10b82c918aedb0aa0892df1bfaf9983d093a2709063281bf53db8520c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae8b8d71ec6491a98195c5dadac62aee3bb9024f5d8683d67532359788bc2d97",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25235a28e55b5ff8008af83c76f833e8383be8a5ebdd456591b0a79be3758c2e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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