adhoc

completed
2026-09-23T23:14:51.138534+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (71 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
141.5 s
total steps
115
success_at_end
0
scenes
1
trials
1
errored
0

scene-0

completed

Stand all three bottles upright.

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteAll three bottles are lying on their sides, with their caps pointing away from the robot. I’m moving the left gripper above the nearest bottle’s neck so I can lift its cap end and let the base swing downward.
move_to
left_x0.3850left_y-0.1600left_z0.1500left_gripper1.0000right_x0.2930right_y0.0040right_z0.1900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7937, 0.6083, -0.3763, -0.0231, -0.028, 0.9989, -0.0154, 0.7879, 0.6025, -0.387, -0.0265, -0.0341, 0.9998] state[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1828 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9989 right_x=0.2932 right_y=0.0037 right_z=0.1795 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.2803, -1.4974, 9.7299, 1.7705, 0.0073, 0.1294, -0.1294, -0.841, -0.9094, 10.3316, 1.8291, 0.022, 0.2173, -0.0317] 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":0.385,"left_y":-0.16,"left_z":0.15,"left_gripper":1,"right_x":0.293,"right_y":0.004,"right_z":0.19},"note":"All three bottles are lying on their sides, with their caps pointing away from the robot. I’m moving the left gripper above the nearest bottle’s neck so I can lift its cap end and let the base swing downward."})
tool
executing move_to over 15 steps (1.5s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteThe nearest bottle’s cap is left of the wrist-camera jaw column and still ahead of the fingertips. I’m shifting toward its neck and lowering, with the jaws angled across the bottle rather than along it.
move_to
left_x0.4250left_y-0.1250left_z0.0550left_yaw-0.5500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6041, 1.4551, 0.8337, -0.0971, -0.4873, -0.3679, 0.9989, -0.0151, 0.7937, 0.6071, -0.4305, -0.0265, -0.0349, 0.9999] state[eef_state]: left_x=0.3733 left_y=-0.1528 left_z=0.1317 left_yaw=-0.0162 left_pitch=-0.0596 left_roll=0.0275 left_gripper=0.9989 right_x=0.2882 right_y=0.0039 right_z=0.1712 right_yaw=0.0008 right_pitch=-0.0446 right_roll=0.0001 right_gripper=0.9999 state[joint_eff]: [-0.5128, -6.3248, 8.841, 1.7705, -0.2857, -0.0269, -0.1245, -0.2393, -1.4701, 10.0855, 1.7411, -0.022, -0.0122, -0.0122] camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.425,"left_y":-0.125,"left_z":0.055,"left_yaw":-0.55},"note":"The nearest bottle’s cap is left of the wrist-camera jaw column and still ahead of the fingertips. I’m shifting toward its neck and lowering, with the jaws angled across the bottle rather than along it."})
tool
executing move_to over 5 steps (0.5s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe cap is still visible just ahead and left of the jaw opening. I’m making a small final adjustment to straddle the narrow neck, keeping the fingers above the tabletop.
move_to
left_x0.4550left_y-0.0920left_z0.0320left_yaw-0.5500right_x0.2930right_y0.0040right_z0.1900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2028, 1.7031, 0.6903, 0.4107, 0.1242, 0.036, 0.9985, -0.0143, 0.7692, 0.5629, -0.4026, -0.0284, -0.0353, 0.9999] state[eef_state]: left_x=0.4251 left_y=-0.1061 left_z=0.0588 left_yaw=-0.3415 left_pitch=-0.0354 left_roll=-0.0295 left_gripper=0.9985 right_x=0.285 right_y=0.0045 right_z=0.1632 right_yaw=0.0034 right_pitch=-0.0366 right_roll=0.0007 right_gripper=0.9999 state[joint_eff]: [0.1846, -6.0923, 5.6957, 1.2137, -0.0464, 0.4225, -0.0611, -0.3624, -1.7026, 7.1726, 1.9707, -0.0659, -0.022, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.455,"left_y":-0.092,"left_z":0.032,"left_yaw":-0.55,"right_x":0.293,"right_y":0.004,"right_z":0.19},"note":"The cap is still visible just ahead and left of the jaw opening. I’m making a small final adjustment to straddle the narrow neck, keeping the fingers above the tabletop."})
tool
executing move_to over 3 steps (0.3s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteThe last target did not track fully, and the neck remains beside the left finger. I’m correcting the jaw angle and moving slightly back toward the bottle’s shoulder for a more reachable grasp.
move_to
left_x0.4250left_y-0.1550left_z0.0250left_yaw0.4000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1684, 1.7451, 0.7017, 0.4755, 0.2813, 0.1574, 0.9984, -0.0143, 0.7876, 0.5926, -0.4309, -0.0296, -0.0406, 0.9999] state[eef_state]: left_x=0.4293 left_y=-0.1191 left_z=0.0617 left_yaw=-0.5036 left_pitch=0.0186 left_roll=-0.0036 left_gripper=0.9984 right_x=0.2858 right_y=0.0047 right_z=0.1662 right_yaw=0.0073 right_pitch=-0.0533 right_roll=-0.0026 right_gripper=0.9999 state[joint_eff]: [-0.4444, -6.7077, 5.7094, 1.5507, 0.315, 0.2955, -0.022, -0.5812, -0.9231, 10.7145, 1.7363, -0.0659, -0.022, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.425,"left_y":-0.155,"left_z":0.025,"left_yaw":0.4},"note":"The last target did not track fully, and the neck remains beside the left finger. I’m correcting the jaw angle and moving slightly back toward the bottle’s shoulder for a more reachable grasp."})
tool
executing move_to over 6 steps (0.6s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteThe left arm has stopped tracking the low, extended pose rather than moving onto the neck. I’m lifting and retracting slightly to recover a reachable configuration before trying again.
move_to
left_x0.3750left_y-0.1400left_z0.1500left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1684, 1.7451, 0.7017, 0.4755, 0.2817, 0.1574, 0.9984, -0.0143, 0.7563, 0.5385, -0.4, -0.0296, -0.0425, 0.9998] state[eef_state]: left_x=0.4293 left_y=-0.1192 left_z=0.0617 left_yaw=-0.5039 left_pitch=0.0187 left_roll=-0.0038 left_gripper=0.9984 right_x=0.2814 right_y=0.0048 right_z=0.1561 right_yaw=0.0083 right_pitch=-0.0453 right_roll=-0.0044 right_gripper=0.9998 state[joint_eff]: [-0.4718, -6.7077, 5.6957, 1.5702, 0.3199, 0.2564, -0.0171, -0.4718, -1.7162, 7.0906, 2.0586, -0.0952, -0.0171, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.375,"left_y":-0.14,"left_z":0.15,"left_yaw":0},"note":"The left arm has stopped tracking the low, extended pose rather than moving onto the neck. I’m lifting and retracting slightly to recover a reachable configuration before trying again."})
tool
executing move_to over 6 steps (0.6s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteThe arm is moving again, and the left bottle’s neck is visible to the left of the jaw centre. I’m approaching it with the original wrist orientation, avoiding the extended rotated pose that stalled.
move_to
left_x0.4000left_y-0.1250left_z0.0650left_yaw0.0000right_x0.2930right_y0.0040right_z0.1900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5476, 1.4059, 0.7685, 0.0853, -0.2581, -0.2283, 0.9982, -0.0143, 0.7288, 0.4927, -0.3763, -0.0296, -0.0425, 0.9999] state[eef_state]: left_x=0.3792 left_y=-0.1743 left_z=0.1486 left_yaw=-0.2229 left_pitch=0.0292 left_roll=-0.0505 left_gripper=0.9982 right_x=0.2774 right_y=0.0048 right_z=0.1472 right_yaw=0.0083 right_pitch=-0.0399 right_roll=-0.0045 right_gripper=0.9999 state[joint_eff]: [-0.6496, -7.0085, 8.0342, 1.4823, -0.2076, -0.1587, -0.0269, -0.6632, -1.4427, 7.5282, 1.9805, -0.1343, -0.0464, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.125,"left_z":0.065,"left_yaw":0,"right_x":0.293,"right_y":0.004,"right_z":0.19},"note":"The arm is moving again, and the left bottle’s neck is visible to the left of the jaw centre. I’m approaching it with the original wrist orientation, avoiding the extended rotated pose that stalled."})
tool
executing move_to over 6 steps (0.6s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteThe bottle is clearly visible now: its neck is ahead and left of the fingers, while the body extends back to the right. I’m advancing to the narrow shoulder just below the cap, where a lift can tip the bottle upright.
move_to
left_x0.4500left_y-0.0950left_z0.0350left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4881, 1.6325, 0.6571, 0.3016, -0.3836, -0.2733, 0.9982, -0.0147, 0.7849, 0.5972, -0.4332, -0.0299, -0.0467, 0.9998] state[eef_state]: left_x=0.3915 left_y=-0.1289 left_z=0.0605 left_yaw=-0.0349 left_pitch=-0.0559 left_roll=0.0246 left_gripper=0.9982 right_x=0.286 right_y=0.0047 right_z=0.1685 right_yaw=0.0105 right_pitch=-0.0483 right_roll=-0.0075 right_gripper=0.9998 state[joint_eff]: [0.6496, -6.5573, 5.3812, 1.7363, -0.3443, -0.1587, -0.0122, -0.8, -0.5675, 10.0581, 1.8242, -0.1783, 0.0611, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.45,"left_y":-0.095,"left_z":0.035,"left_yaw":0},"note":"The bottle is clearly visible now: its neck is ahead and left of the fingers, while the body extends back to the right. I’m advancing to the narrow shoulder just below the cap, where a lift can tip the bottle upright."})
tool
executing move_to over 5 steps (0.5s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteThe shoulder is now between the open fingers, with the cap slightly left and ahead. I’m centring the narrower neck region before closing so the bottle can hang from its top rather than its middle.
move_to
left_x0.4650left_y-0.0700left_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3382, 1.8385, 0.7208, 0.5529, -0.2974, -0.2352, 0.9982, -0.0154, 0.7567, 0.5495, -0.4038, -0.0299, -0.0509, 0.9999] state[eef_state]: left_x=0.4457 left_y=-0.0981 left_z=0.0448 left_yaw=0.0229 left_pitch=0.0243 left_roll=-0.0326 left_gripper=0.9982 right_x=0.2824 right_y=0.0045 right_z=0.1602 right_yaw=0.012 right_pitch=-0.0383 right_roll=-0.0112 right_gripper=0.9999 state[joint_eff]: [0.5128, -6.7214, 5.9145, 1.4188, -0.0513, 0.2857, -0.0122, -0.7726, -1.6479, 6.9675, 2.0391, -0.1538, 0.0513, -0.0073] camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.465,"left_y":-0.07,"left_z":0.025},"note":"The shoulder is now between the open fingers, with the cap slightly left and ahead. I’m centring the narrower neck region before closing so the bottle can hang from its top rather than its middle."})
tool
executing move_to over 3 steps (0.3s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteThe fingers are around the bottle’s upper shoulder. I’m closing to a neck-sized opening, aiming to support it without tightly crushing the rounded plastic.
move_to
left_gripper0.2500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2691, 1.8965, 0.7547, 0.5983, -0.2451, -0.2153, 0.9982, -0.0154, 0.7376, 0.5163, -0.3885, -0.0299, -0.0505, 0.9998] state[eef_state]: left_x=0.4633 left_y=-0.0796 left_z=0.0396 left_yaw=0.0379 left_pitch=0.0357 left_roll=-0.0485 left_gripper=0.9982 right_x=0.2792 right_y=0.0046 right_z=0.1532 right_yaw=0.0118 right_pitch=-0.0372 right_roll=-0.0109 right_gripper=0.9998 state[joint_eff]: [0.7179, -6.4479, 5.9282, 1.3455, -0.232, 0.4322, -0.0122, -1.0325, -1.7299, 6.694, 1.9805, -0.1538, 0.0269, -0.0171] camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.25},"note":"The fingers are around the bottle’s upper shoulder. I’m closing to a neck-sized opening, aiming to support it without tightly crushing the rounded plastic."})
tool
executing move_to over 8 steps (0.8s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteClosing brought the bottle into line between the jaws. I’m lifting its top a short distance and watching whether the bottle follows and pivots downward.
move_to
left_x0.4500left_y-0.0700left_z0.1400right_x0.2930right_y0.0040right_z0.1900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.242, 1.911, 0.7753, 0.6857, -0.247, -0.1825, 0.255, -0.0154, 0.7174, 0.4797, -0.3733, -0.0299, -0.0505, 0.9998] state[eef_state]: left_x=0.4804 left_y=-0.0704 left_z=0.0592 left_yaw=0.0513 left_pitch=0.1259 left_roll=-0.0461 left_gripper=0.255 right_x=0.2756 right_y=0.0046 right_z=0.1449 right_yaw=0.0118 right_pitch=-0.0383 right_roll=-0.0109 right_gripper=0.9998 state[joint_eff]: [0.0752, -7.0769, 4.8889, 0.8864, 0.149, 0.1832, 0.188, -0.841, -1.4701, 7.0496, 2.0195, -0.1832, -0.0024, -0.0122] camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.45,"left_y":-0.07,"left_z":0.14,"right_x":0.293,"right_y":0.004,"right_z":0.19},"note":"Closing brought the bottle into line between the jaws. I’m lifting its top a short distance and watching whether the bottle follows and pivots downward."})
tool
executing move_to over 6 steps (0.6s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteThe bottle followed the lift, and its lower end is hanging below the gripper. I’m raising it enough for the base to clear the table and settle underneath the neck.
move_to
left_x0.3900left_y-0.0900left_z0.2600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.268, 1.5986, 0.9009, 0.2558, -0.2703, -0.1875, 0.2552, -0.0216, 0.7856, 0.5976, -0.4324, -0.0383, -0.057, 0.9998] state[eef_state]: left_x=0.4677 left_y=-0.0758 left_z=0.1619 left_yaw=0.0481 left_pitch=0.1365 left_roll=-0.0434 left_gripper=0.2552 right_x=0.2862 right_y=0.0042 right_z=0.1686 right_yaw=0.0163 right_pitch=-0.0476 right_roll=-0.011 right_gripper=0.9998 state[joint_eff]: [-0.0205, -5.6, 7.1043, 1.4628, -0.1343, -0.0611, 0.0122, -0.3761, -0.7726, 9.9624, 1.7656, -0.1441, 0.0952, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.09,"left_z":0.26},"note":"The bottle followed the lift, and its lower end is hanging below the gripper. I’m raising it enough for the base to clear the table and settle underneath the neck."})
tool
executing move_to over 7 steps (0.7s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteThe bottle did not stay with the gripper; it is still on the table, now aligned more directly forward. I’m reopening and returning lower, slightly to the right, to get the neck fully between the fingers.
move_to
left_x0.4000left_y-0.1550left_z0.0550left_gripper1.0000right_x0.2930right_y0.0040right_z0.1900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3923, 1.3437, 1.1358, -0.4007, -0.3561, -0.2623, 0.2552, -0.0265, 0.7582, 0.5503, -0.4023, -0.0532, -0.0574, 0.9999] state[eef_state]: left_x=0.4002 left_y=-0.0951 left_z=0.2428 left_yaw=0.0316 left_pitch=-0.004 left_roll=-0.0088 left_gripper=0.2552 right_x=0.2828 right_y=0.0055 right_z=0.1606 right_yaw=0.024 right_pitch=-0.037 right_roll=-0.0032 right_gripper=0.9999 state[joint_eff]: [-0.1709, -7.4325, 9.5248, 1.6972, -0.2711, 0.0366, -0.0073, -0.4855, -1.7162, 6.9949, 2.0342, -0.0855, 0.0171, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.155,"left_z":0.055,"left_gripper":1,"right_x":0.293,"right_y":0.004,"right_z":0.19},"note":"The bottle did not stay with the gripper; it is still on the table, now aligned more directly forward. I’m reopening and returning lower, slightly to the right, to get the neck fully between the fingers."})
tool
executing move_to over 13 steps (1.3s)
step 83
top_cam
camera top_cam step 83
left_cam
camera left_cam step 83
right_cam
camera right_cam step 83
assistant
agent noteThe open finger nudged the bottle forward, and its upper body is now ahead and left of the gripper. I’m shifting over that upper body at table level so the next close captures the bottle rather than passing beside it.
move_to
left_x0.4650left_y-0.1200left_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.577, 1.7252, 0.7216, 0.2932, -0.4923, -0.3653, 0.9971, -0.0288, 0.7895, 0.6014, -0.4347, -0.057, -0.0647, 0.9998] state[eef_state]: left_x=0.3945 left_y=-0.1529 left_z=0.0514 left_yaw=0.0131 left_pitch=-0.0512 left_roll=0.0279 left_gripper=0.9971 right_x=0.2866 right_y=0.0054 right_z=0.169 right_yaw=0.0289 right_pitch=-0.0493 right_roll=-0.0062 right_gripper=0.9998 state[joint_eff]: [-0.3077, -7.5692, 4.8068, 1.7411, -0.315, 0.0366, -0.0855, -0.8274, -0.6632, 10.947, 1.7607, -0.1441, 0.0562, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.465,"left_y":-0.12,"left_z":0.025},"note":"The open finger nudged the bottle forward, and its upper body is now ahead and left of the gripper. I’m shifting over that upper body at table level so the next close captures the bottle rather than passing beside it."})
tool
executing move_to over 6 steps (0.6s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteThe bottle slid left during the approach, so it is no longer between the fingers. I’m lifting clear and moving over its new neck position before descending vertically.
move_to
left_x0.4750left_y-0.0350left_z0.0900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3923, 1.9545, 0.7929, 0.4881, -0.3782, -0.2787, 0.9974, -0.0341, 0.7605, 0.5522, -0.4191, -0.057, -0.0647, 0.9998] state[eef_state]: left_x=0.4463 left_y=-0.1102 left_z=0.01 left_yaw=0.0593 left_pitch=-0.057 left_roll=0.0171 left_gripper=0.9974 right_x=0.2808 right_y=0.0041 right_z=0.1575 right_yaw=0.0236 right_pitch=-0.0539 right_roll=-0.006 right_gripper=0.9998 state[joint_eff]: [0.1709, -8.6632, 7.4325, 1.956, -0.1245, 0.3297, 0.0317, -0.212, -1.5658, 7.2547, 2.1221, -0.1832, 0.0024, -0.0073] camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.475,"left_y":-0.035,"left_z":0.09},"note":"The bottle slid left during the approach, so it is no longer between the fingers. I’m lifting clear and moving over its new neck position before descending vertically."})
tool
executing move_to over 7 steps (0.7s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteThe bottle is close to the left edge, and I need to avoid pushing it farther. I’m raising the fingers and moving over its cap from above, with a smaller opening for a controlled neck grasp.
move_to
left_x0.4300left_y0.0400left_z0.1300left_gripper0.7000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1612, 1.7927, 0.8379, 0.347, -0.2234, -0.1703, 0.9975, -0.0341, 0.7261, 0.5018, -0.3935, -0.0566, -0.065, 0.9998] state[eef_state]: left_x=0.4685 left_y=-0.0329 left_z=0.066 left_yaw=0.1036 left_pitch=-0.0291 left_roll=-0.0035 left_gripper=0.9975 right_x=0.2761 right_y=0.0042 right_z=0.1487 right_yaw=0.0234 right_pitch=-0.0444 right_roll=-0.0071 right_gripper=0.9998 state[joint_eff]: [0.2256, -11.4393, 7.8154, 1.6972, 0.149, 0.2173, -0.0073, -0.8137, -1.4291, 6.7624, 2.1172, -0.1197, -0.0269, -0.0073] camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":0.04,"left_z":0.13,"left_gripper":0.7},"note":"The bottle is close to the left edge, and I need to avoid pushing it farther. I’m raising the fingers and moving over its cap from above, with a smaller opening for a controlled neck grasp."})
tool
executing move_to over 7 steps (0.7s)
step 103
top_cam
camera top_cam step 103
left_cam
camera left_cam step 103
right_cam
camera right_cam step 103
assistant
agent noteThe left bottle has slid against the outer fence, beyond where I can centre this gripper within its lateral limit. I’m withdrawing both arms to a clear parked position rather than risking another push at the edge.
move_to
left_x0.2960left_y0.0020left_z0.2000left_gripper1.0000right_x0.2930right_y0.0040right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.0555, 1.523, 0.7769, 0.1864, -0.078, -0.0731, 0.7021, -0.0341, 0.6991, 0.4599, -0.3729, -0.0574, -0.0647, 0.9999] state[eef_state]: left_x=0.4352 left_y=0.0416 left_z=0.1229 left_yaw=0.146 left_pitch=0.0037 left_roll=-0.0091 left_gripper=0.7021 right_x=0.2723 right_y=0.0044 right_z=0.1407 right_yaw=0.0238 right_pitch=-0.0387 right_roll=-0.0066 right_gripper=0.9999 state[joint_eff]: [0.212, -8.3761, 6.5436, 1.8437, 0.1734, 0.2466, 0.0122, -0.8957, -1.3197, 6.9402, 2.0635, -0.1538, -0.0122, -0.0073] camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.296,"left_y":0.002,"left_z":0.2,"left_gripper":1,"right_x":0.293,"right_y":0.004,"right_z":0.2},"note":"The left bottle has slid against the outer fence, beyond where I can centre this gripper within its lateral limit. I’m withdrawing both arms to a clear parked position rather than risking another push at the edge."})
tool
executing move_to over 11 steps (1.1s)
step 114
top_cam
camera top_cam step 114
left_cam
camera left_cam step 114
right_cam
camera right_cam step 114
assistant
agent noteI did not stand the bottles upright. The left bottle slipped during my grasp attempts and was nudged against the outer fence, where I cannot safely centre the gripper within its lateral limit. Both arms are withdrawn; the bottle needs to be moved back into the workspace before retrying.
give_up
hindsightA commanded 0.25 gripper opening was not evidence of a neck grasp: the bottle remained visible in the wrist camera and did not follow the lift. Check that immediately rather than lifting farther. Low diagonal approaches with the wide-open jaws repeatedly pushed the rounded bottle sideways; approach above the neck with clearance, then descend vertically, and stop to re-localize after any movement of the bottle.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1528, 0.8467, 0.6674, -0.3717, -0.2306, -0.1658, 0.9978, -0.0341, 0.7929, 0.6411, -0.4744, -0.0574, -0.0654, 0.9998] state[eef_state]: left_x=0.3064 left_y=-0.0027 left_z=0.1985 left_yaw=0.1156 left_pitch=0.0267 left_roll=-0.0107 left_gripper=0.9978 right_x=0.2861 right_y=0.004 right_z=0.1781 right_yaw=0.0243 right_pitch=-0.0527 right_roll=-0.0064 right_gripper=0.9998 state[joint_eff]: [-0.2393, -1.4838, 9.1419, 1.8388, -0.2955, -0.1148, -0.1538, -0.6632, -0.6222, 10.0581, 1.9609, -0.1587, -0.022, -0.0171] camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I did not stand the bottles upright. The left bottle slipped during my grasp attempts and was nudged against the outer fence, where I cannot safely centre the gripper within its lateral limit. Both arms are withdrawn; the bottle needs to be moved back into the workspace before retrying.","hindsight":"A commanded 0.25 gripper opening was not evidence of a neck grasp: the bottle remained visible in the wrist camera and did not follow the lift. Check that immediately rather than lifting farther. Low diagonal approaches with the wide-open jaws repeatedly pushed the rounded bottle sideways; approach above the neck with clearance, then descend vertically, and stop to re-localize after any movement of the bottle."})
tool
give_up: I did not stand the bottles upright. The left bottle slipped during my grasp attempts and was nudged against the outer fence, where I cannot safely centre the gripper within its lateral limit. Both arms are withdrawn; the bottle needs to be moved back into the workspace before retrying.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [0, 0], left_roll: [0, 0], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [0, 0], right_roll: [0, 0], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 11.23 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, 0.7937, 0.6083, -0.3763, -0.0231, -0.028, 0.9989, -0.0154, 0.7879, 0.6025, -0.387, -0.0265, -0.0341, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1828 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9989 right_x=0.2932 right_y=0.0037 right_z=0.1795 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -1.4974, 9.7299, 1.7705, 0.0073, 0.1294, -0.1294, -0.841, -0.9094, 10.3316, 1.8291, 0.022, 0.2173, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8305f751252ecaebc01f12bfe3c7202f0d564041261a67221df5d231fae93e5d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d66c65125fd9704a4ecb1de85bcc77ecde5538895c80495b80aee0375b80a77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0754577d140be676e52007085e0ddb76ef51170cdc4823f92f6db142791374c4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
wire blob 8305f751252e
wire blob 4d66c65125fd
wire blob 0754577d140b
call 1 attempt 0 · /responses · status 200 · 6.43 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtF2DnVE50rtrxYlavl5BXziyQzCRtejQaBY6DMBmHnBuAYepSgPXs9TIWuT0HjczzsTtUOHaxrgExg85mgC78cE-XHSOZ3qTZ0MvmHFAI56tHixqlbp0Cxl7eaF1FJLlFXcid0JbVRt9yszECl5AVY9xxkQuNtoqVNA3rIF34Q7M8Ecf6wjbZha3BuioD5AKUD4M6KGJuNwnhbH6kdqCmf_6U5ygTYHnYNCK-fgkbTtbtqCjZWOnNqpcKfmWjBT5m5G8pQHkUAoRcc9UgaCoB_q448AoZ1Fgld17MgulNGUYHapYvxQPDSTOaYMOQcGg_IeRdf3bMI8al2TkN9mjHp7qjIOI52GNaDpwW7XjSfV8ZOUZNt2kZKlv3-rTBcsYhsPA4GB0EIkqe_ePT8SSeyOTNcvvK8eDJ9VOZXMuoEIpQur54SkwRTw24mgMmRo9oiZTLlDaiSCaSIEYoG2qBZnMqzPsnQs_qGho6HLMEMCj0gqB5GTOrVD4VQM3H1CGbQRYLLxawMjpoVsopN8Eg4IDjz7fF2LzV-1sM0nrhCe6jyClt-wU6TEZXQRcWwAJnaGU2Tkvqkm2e4pfMCqF1jWLJCnBHUq17fYSzzl1vryh83YDEfuFLyIM5BRUnK9kBRaCLFJYYdPR0-9f9m9FDXMFMxE3fyYKgfcJ5YhK9tgesqNs-1IaWufghWicZPlewLpWqgB1ZJfm2zVp4fQ0KtwZ93wCPOrr-xLsWTD-E6VHG3YrX_vnrR6FzcpDXlu1xYQxwmwDIxYT53fI6R_245Vh07KocAw-GabSYBRUOchjOXLfNxjSvNE5FnilDuY-BEO-Msmar03OgwaWQ6t9NfWZ36zmuRLM4AjDYDJyX6GrSOMimuKL2aiA1wnCp0tst-8AUUt2l8yJXbWz1l8DyUGo8LFDKqYzUvIubSO50UQ6su-mbiK1Ykjnf-4AwoteF4S294GI9d9d4_FDE5dfdnqClUhzGqEZ_3l-Kv9ienjjafZzEjUfB21y9wx-4leqpckAoTbAiJcSMS9myBvY2TY3ozKfr1jOHHj_eVfVN2F8n5Ld5PViRmns3jrylV5f-MFPrs9YDYtUkDMzsyaNA68hZ3hQXB1BJy7vUTKEbWQGL5gsbiZT1nh0hVSufCJB5BxGZDflYkra1EiFFgmlYX6YmYa4P06X8mpBo8N1gn-DG8MN_giyiNvc8AxTVoCbXjgCt37e0GotkuDqubP9vNvoy7ChioUUws9RQGYWyMAs7mOWbtSahQvU816QyzSryyoiApHr1Wq40ayAyj6TZrFhLHaGk3B0mmz9vXSjwn-8AkTFC8IVNRyRJKYMZ54kQCzm47TvmGFhEaCOk-BGAYSUwXU1pi5U6-gh0KmhdHVFpsMx6-WDDf-AqA6nPn4vEH7MQQttl2Tmx7NLigcsiyNKXpNb68rpsPEgjlA1SaPCsjtvfSZQ--kgqlG2eXWDri56_gCQaUxMADb6gjNf5wYzaaVt9DYwJJYJr73Tk8IiTIS8kfffJezGkUeu2fgw85AkBnCAEI2YxEHsWHKkdFsnqlcOlb7UCnnqCH5RPi2w1YEHGN7xOwhZgMPnwVX5jowGej9m1JiODq_pOFCmYIvpWcaOqbSfiJ5sPcASxvJ52Suoga1cfEmbFw-QEOBgf_7CXGDy_1x15-nv4bHR4BW6EyOVN-fmZUvf0IZM7tdqhXKhA2cXIsUHThUzONnskN0K7-o8wEj2CgAdfrQG2nAo5zLyork82FLdP3_zxHtTVFS33OZoKMh-hkcS1aaR2jpJuX-nCv3nJnA7HdJIvKfSsvOPNHqv1KWBCQEHr30CeytIjwSRZUfyuWBA7NU7YJbFN50cNdsWFX5wwgNjnhGdRbayWWnIm9pdF2dEBgXEVkBJE6dGkzujdAIGj8PpRqs0KO2kUXGYJGKMdVgAzZFp98TdB8D9AaNYYt0Ha2bJUVjEx5AuNxdPSp8uEMqqCbZ0SsZthiTwkfg9NXRBLBrPF8i56Q9YB3CZlYSbuQLqn9c15LHz1G4-7J8xCaryf7eX5aok9TsFLRBUYO1u69pcr9VbzvZFWkD360Vd5DFvIl2tXw5p9USsR2A86wt9Hq_uRnpfJ2mCLMIjAiHHzN-aeifqhwkg6BxLK2lPpGZ6u86KHKE6_YEV6LqTIObzRGKJH3yr2csRzqSVvc8veUYXQa-8RJLZkvK-xPHqS8_ZzOszGJgLG8rey4QdZ7389QRteIYX_mUmO90VDl5JGg2qV8AQnQ1oQUE0UBx1LGbGSY60xo7Jwf3H-qJVs_m6BQdmiGPZWOo0P065TuPu6qrmCAy5DueF-gNKqZmSETBb4OgCA_Nb0FgiZnUc92H1o1fcVipOAdPyWcgTy4lLlPZEBOyUPO1CjO4yX2OuCB3K-uKH72t2A3ZQ_8vLhW6vT95aI-gXEWbp4lctBxtDe05qPvqsIBAzEzXtmRei3mGZ9bZ5xpi3kYMc7TmO1l2BlXQ9OF93HDYTnLwyxbnVkjHZJ3LwJKf-KtGSv_E6TeYGKcOx0oXden_H0SrTqla6EchoGgU5VKW-LvwgRwlQ9sCjAQ_6b3qwModz8VtKXWRCJXc2nvCeMCkblQtr_9cHHfjdpk7QoN3DA0Y4FNzPuK3gL4x75RTQnbORshWEzuuK1yd4KhUv1X1xdjESKpPjWxGux0yaeavThM1-faER7zjMiASXMhtLkQlV26IF9Pu1rdv-M6eQqR1ETgsCeDauiTGSpiXNxprf0CXQEmmFoqc2GgKpDFHZ9vMqtN7M8unCklFE12RtyXUn1yJV2OaDGGsJrjASYYAAC1Eye_9AORP4gZX8Kp6BNukW3i6c0VfmCzuQeYzW3BVfBI3HuN57ikHbLKXIwJCaCjn0R_o0xBzIlCcOKK-y0GWqPuyFKNyUgXCYJDTRK5Z0noFd-aTVQl8DL_LfbF0Ai5qkWTzGieC2kqRFA0cm_uzONdSXJGiQ3k8LpfL6f-PrMRVR4BJq6faD4Kc398biIqpbxOrC45qwvVKZ8sM-5AO8PyyQnbQXw2Uj4TNZdtUTRrZJrKFiLy-o7UN_r55CqyzOYCBqLQLWVnx99lyenzEgtyGCvRAg_Iq7u9EVeZ-GIz6y_k_b-T7-dJksqxwJGHjitjpWuYuRFEvRoqBTAiEIV3uv7_wymmWbyUn5GDSlUoThutwO0FDkpClflhXF6eWMsH6PMCQB1sO8_d0VCBDwxLRVU9iThJO6-i82HAL-Dzw2FvoYQWQ2FX4xEy72L57PrEcAcFUiiiEQ0fo_N6F9BWDDaGYiRwkTFtt1Cb9R20-SJHyv5_E7Z_qoXh0_FjbCEugx1GrUY4OeDjktrEKQtUXjXLv_Hf4020wIodnsSDvoCyPYZEtavIAItc-7t0XO68YIg209gRWfJmazinewvS25pr0gt0kUGeW95sWG-2wzyzURcjSf",
  "id": "rs_06fa3db698b58e6a016ab45d79aa3887d0846c6ca3bf102693",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.16,\"left_z\":0.15,\"left_gripper\":1,\"right_x\":0.293,\"right_y\":0.004,\"right_z\":0.19},\"note\":\"All three bottles are lying on their sides, with their caps pointing away from the robot. I’m moving the left gripper above the nearest bottle’s neck so I can lift its cap end and let the base swing downward.\"}",
  "call_id": "call_y1U4qUE2c0yAQfaJ4qnPfCNk",
  "id": "fc_06fa3db698b58e6a016ab45d81f15887d08eff3b958c804820",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_y1U4qUE2c0yAQfaJ4qnPfCNk",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6041, 1.4551, 0.8337, -0.0971, -0.4873, -0.3679, 0.9989, -0.0151, 0.7937, 0.6071, -0.4305, -0.0265, -0.0349, 0.9999]\nstate[eef_state]: left_x=0.3733 left_y=-0.1528 left_z=0.1317 left_yaw=-0.0162 left_pitch=-0.0596 left_roll=0.0275 left_gripper=0.9989 right_x=0.2882 right_y=0.0039 right_z=0.1712 right_yaw=0.0008 right_pitch=-0.0446 right_roll=0.0001 right_gripper=0.9999\nstate[joint_eff]: [-0.5128, -6.3248, 8.841, 1.7705, -0.2857, -0.0269, -0.1245, -0.2393, -1.4701, 10.0855, 1.7411, -0.022, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4a07af0ca895158219c24b1ade70dbd5c48b8189919d54183cb9998babfec65",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0634525161220349d880acad53f3da6ab83ad1b60ff0028ee993975f0a911af7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f0da2db4badae6605166ed9a5a7fbded2266975bc3c474a8829b2db1f72f1d2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
wire blob e4a07af0ca89
wire blob 063452516122
wire blob 6f0da2db4bad
call 2 attempt 0 · /responses · status 200 · 8.077 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, 0.7937, 0.6083, -0.3763, -0.0231, -0.028, 0.9989, -0.0154, 0.7879, 0.6025, -0.387, -0.0265, -0.0341, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1828 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9989 right_x=0.2932 right_y=0.0037 right_z=0.1795 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -1.4974, 9.7299, 1.7705, 0.0073, 0.1294, -0.1294, -0.841, -0.9094, 10.3316, 1.8291, 0.022, 0.2173, -0.0317]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6041, 1.4551, 0.8337, -0.0971, -0.4873, -0.3679, 0.9989, -0.0151, 0.7937, 0.6071, -0.4305, -0.0265, -0.0349, 0.9999]\nstate[eef_state]: left_x=0.3733 left_y=-0.1528 left_z=0.1317 left_yaw=-0.0162 left_pitch=-0.0596 left_roll=0.0275 left_gripper=0.9989 right_x=0.2882 right_y=0.0039 right_z=0.1712 right_yaw=0.0008 right_pitch=-0.0446 right_roll=0.0001 right_gripper=0.9999\nstate[joint_eff]: [-0.5128, -6.3248, 8.841, 1.7705, -0.2857, -0.0269, -0.1245, -0.2393, -1.4701, 10.0855, 1.7411, -0.022, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4a07af0ca895158219c24b1ade70dbd5c48b8189919d54183cb9998babfec65",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0634525161220349d880acad53f3da6ab83ad1b60ff0028ee993975f0a911af7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f0da2db4badae6605166ed9a5a7fbded2266975bc3c474a8829b2db1f72f1d2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob e4a07af0ca89]
[blob 063452516122]
[blob 6f0da2db4bad]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF2Lqxx-oQFQTmk1Ldd9TH8jNjHjmZLoKtzDohEgSeGClXmkNN7UGe9Uk-DSOrWBOuYmuADPraUGmeJHbL6PjTVW4vYR2COlX9XjWgo68ARs0oteI8xStcJ4wNCqwA2PlmdRI7caT9XNJZUra36OrfXXoymx4wMGjEGzw3vAexpXWpB8zX4kY8uIrPc3fprdKgnbUI36VoFVGBtJuE5JDIX9k0lTRCW04bXAV3pt3lLZdVqS6xWVacVwef2eZO6HdOuZtjckaMln--vixI_qvoMJ6VNtIm7YDDzEShCto_4oFngIw5dCAGPN2233uvqvnIsBYmnoVNemOfevZuIdyxc36smOeu9aB8ron3zhPNgjL9k0xKhT9Evz4C5V6H5Ehtg8v2UgVXZdGYL243Rx2CQ1SajVU2GPAM3wBUwsOFwsqpUTUwTBki9OAIQ8Bp8GSIplC__a20nWT1DjUV-dyjhWiETTXROhnDfFwVZv5iEFRA2qzJAQLdSfbZ9OmHRQ5XWf4GtgAV44F7vTRJR9kQuusfGxhXUfqL7g7NturjJLMPRZJFjdgEP8qjjQc7yoHZtusOtyu3h1oE-sSyjBGTr0An4tB4MYMAmml2LDGMM_2PQx2hHqmG1Flz7YaiY9N1usNLnFNLthEd-YNLlm-YcdJxg1rJAjZDeQ-OqZIeEhtM3tPkBu_Ab43mQ1cseeI1quQ4GvPYRJ0aaJ-SkihTaDzofIssIiaKA9_TDVI5OyqIXRsjdJ7dXSfa-koz38xl9Sv1V9L8zg2GTi7BcDFKtgBDiBfhDdbVTrJ2KpHh82mtW2b3eMyP4ohiL4-Q0mWh-_S5XqIks3ztkM3wYgqvp42RSp5BSs5TepN-nltY0lHojmUpsS8BmaalAwd6p5FHYdIlvZdSgYwFadShUTVjFAF5n9oUKqatzDIzc4D5ZJ7_AhfzUKHcIWIrNvvXVlzFdNVV0Ky0LejTJKHVNlp8Ra4CMURFhTlCgOF7rQG4J6PFmzNqF2aU0SP3YrzRHoPFW4mr80fbtZCi6xo6XMaPW-6sCLB-33Q_I29DYutpwF_FhNtFZhOmbuOI_jS9xgCgKIutq5CivI1AdJwkPIJ0VfF9draA4cqR0QvyLboDT9l3MMtsx3-qZ9OIlanDoVgvkasKvn3qlz6rNe53IhhPJm0XVlpaw1uRZMFGFd-cQVWcxnJGaAfkDY18iL07oFXYCA9t2uAwstJMnclF6rdOY6P3yy2uWCmeGnF6JEk8L1cDQdj-rsxl24wxqQVhxSf56oYphUricdV42tLOTm39ZpWC7G9PGneChytnrT96tdj8ia9JlUmBy1QrfbDzeAcahATJJEYZ6izdkKcur-ZM88H1tiOH98zMjgAKDvWgXl8qpqCCkT9ViANdv5ooDQOV6H2oamCLtna-ParrqH58eyl8y4z-UXri8han6qOPX6gHxOnj1ykV9alC_P2hoforVRn2ECt1Ll8zTRvM1W7F0NcXnqHawDBTrgO4OS4eLJ_sCInro9VHbLBusl1r4XGahQBMtOUlIR9yeDJyZIXBLw__fYzIodNpfIrPqvq4ki9NNrv8FM_l_RaACsOOHuCxNhU0PADEIi_CKx4SBmQrh9E751wRHqUuGjap8Nialb9sRSfuQqvZ5sITDBB66gFQZwQc2rBOiqY_UaZk-BOWEfDOFFmbbBzNYzZkP8_YEAzNUPxfwsVMjwVfNDHD-LMu3BiphAUBe4Z-92YHTvoa2ZOawgZKXH3lg6vuMUhP1w_M0qCwRprg5_s51mVuOJ6bFM3WvbopWKEd9et4sMl9ULddp_Vv4YZYfxNt4MBZeIHwQerBzT3gEOvdOnZDHKlKvRGmk2WlsO6UcbmGV1tW94vR4nQt8gR8jSO0gaeBind0uBYlH3ohmaSvPUgUSq6EfHiwxBP9B6JZqNLxE039OuarAhq-pmI6lk0_evz2YJho-8eGStTI8lpO0ZCEnsK1OUsiunMijzs8U-RgvCPzIpEYXgIflJzxeZfIrFr8ICQAPw-KHyRRv-f-fmuFyTpdvntz8-HAEdFVA8TyFMWejLFwkDvh_UulI8uVcd_vi5AYkBGo1VyHYvEma72g153IkWtrJwWHKRo-zne4G_-HH__9kTwMTuErCs3pcbS-p-Tb41iAOhAtGXEcCPC3UipsymGLJjXduyhf2RTkzH-igDknEiWTW1H6UqokqklZ39N-HqyNfnhYyrG4qLnn-dPZ4ykbn5njt6Nb9g1Hgh8DsjdHfuOSjYFP0aEKS2vuweJGkHFJLgdhcbCbSNYi0vzTKrz21Z7bNFKXb70dMtN5smfL4FzrbAlkmTihHGUB_-1u5sxIi9U4LDiE4EbrAw0m5hpcDnsdntY1-11rPPGBL5FQSuCpL3zndiNtKcWkougyYYVvesCELYhyCxljOsBCmruN_dTCaN9o7W7iEBaONr-Q==",
  "id": "rs_06fa3db698b58e6a016ab45d8640a487d084c59f3cdb018a00",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.125,\"left_z\":0.055,\"left_yaw\":-0.55},\"note\":\"The nearest bottle’s cap is left of the wrist-camera jaw column and still ahead of the fingertips. I’m shifting toward its neck and lowering, with the jaws angled across the bottle rather than along it.\"}",
  "call_id": "call_tckwwwC7Lx71QDw8vs7cEVSq",
  "id": "fc_06fa3db698b58e6a016ab45d8a08dc87d0a40607b63b2f11e1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tckwwwC7Lx71QDw8vs7cEVSq",
  "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]: [-0.2028, 1.7031, 0.6903, 0.4107, 0.1242, 0.036, 0.9985, -0.0143, 0.7692, 0.5629, -0.4026, -0.0284, -0.0353, 0.9999]\nstate[eef_state]: left_x=0.4251 left_y=-0.1061 left_z=0.0588 left_yaw=-0.3415 left_pitch=-0.0354 left_roll=-0.0295 left_gripper=0.9985 right_x=0.285 right_y=0.0045 right_z=0.1632 right_yaw=0.0034 right_pitch=-0.0366 right_roll=0.0007 right_gripper=0.9999\nstate[joint_eff]: [0.1846, -6.0923, 5.6957, 1.2137, -0.0464, 0.4225, -0.0611, -0.3624, -1.7026, 7.1726, 1.9707, -0.0659, -0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdc89b5d2021cfd0bb40e28ffa83f5a88cb52c2292c6b51f40c756b4fd052cb3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65506e2e5103472691077931585a56435efb2b08fe34d82164a9ec85db04cf64",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:315e71b7d42418b16c8692c190f977b517e65293b73bf36ceed4f8953bce91d7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
wire blob bdc89b5d2021
wire blob 65506e2e5103
wire blob 315e71b7d424
call 3 attempt 0 · /responses · status 200 · 7.475 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]: [-0.6041, 1.4551, 0.8337, -0.0971, -0.4873, -0.3679, 0.9989, -0.0151, 0.7937, 0.6071, -0.4305, -0.0265, -0.0349, 0.9999]\nstate[eef_state]: left_x=0.3733 left_y=-0.1528 left_z=0.1317 left_yaw=-0.0162 left_pitch=-0.0596 left_roll=0.0275 left_gripper=0.9989 right_x=0.2882 right_y=0.0039 right_z=0.1712 right_yaw=0.0008 right_pitch=-0.0446 right_roll=0.0001 right_gripper=0.9999\nstate[joint_eff]: [-0.5128, -6.3248, 8.841, 1.7705, -0.2857, -0.0269, -0.1245, -0.2393, -1.4701, 10.0855, 1.7411, -0.022, -0.0122, -0.0122]",
      "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]: [-0.2028, 1.7031, 0.6903, 0.4107, 0.1242, 0.036, 0.9985, -0.0143, 0.7692, 0.5629, -0.4026, -0.0284, -0.0353, 0.9999]\nstate[eef_state]: left_x=0.4251 left_y=-0.1061 left_z=0.0588 left_yaw=-0.3415 left_pitch=-0.0354 left_roll=-0.0295 left_gripper=0.9985 right_x=0.285 right_y=0.0045 right_z=0.1632 right_yaw=0.0034 right_pitch=-0.0366 right_roll=0.0007 right_gripper=0.9999\nstate[joint_eff]: [0.1846, -6.0923, 5.6957, 1.2137, -0.0464, 0.4225, -0.0611, -0.3624, -1.7026, 7.1726, 1.9707, -0.0659, -0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdc89b5d2021cfd0bb40e28ffa83f5a88cb52c2292c6b51f40c756b4fd052cb3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65506e2e5103472691077931585a56435efb2b08fe34d82164a9ec85db04cf64",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:315e71b7d42418b16c8692c190f977b517e65293b73bf36ceed4f8953bce91d7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob bdc89b5d2021]
[blob 65506e2e5103]
[blob 315e71b7d424]
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  "content": [],
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  "id": "rs_06fa3db698b58e6a016ab45d8d507487d09244ac0126259c17",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.455,\"left_y\":-0.092,\"left_z\":0.032,\"left_yaw\":-0.55,\"right_x\":0.293,\"right_y\":0.004,\"right_z\":0.19},\"note\":\"The cap is still visible just ahead and left of the jaw opening. I’m making a small final adjustment to straddle the narrow neck, keeping the fingers above the tabletop.\"}",
  "call_id": "call_YgdfqXLPZ7TmCH0fuD9GuQ2N",
  "id": "fc_06fa3db698b58e6a016ab45d92350087d0bfc2cafe7ed6dbe1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YgdfqXLPZ7TmCH0fuD9GuQ2N",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1684, 1.7451, 0.7017, 0.4755, 0.2813, 0.1574, 0.9984, -0.0143, 0.7876, 0.5926, -0.4309, -0.0296, -0.0406, 0.9999]\nstate[eef_state]: left_x=0.4293 left_y=-0.1191 left_z=0.0617 left_yaw=-0.5036 left_pitch=0.0186 left_roll=-0.0036 left_gripper=0.9984 right_x=0.2858 right_y=0.0047 right_z=0.1662 right_yaw=0.0073 right_pitch=-0.0533 right_roll=-0.0026 right_gripper=0.9999\nstate[joint_eff]: [-0.4444, -6.7077, 5.7094, 1.5507, 0.315, 0.2955, -0.022, -0.5812, -0.9231, 10.7145, 1.7363, -0.0659, -0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad57ab20583907fb5cce87ae7dd3946e870c29efb09de1b26e4aff2331d0fe7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09676b7f796bb61fb9dfbf119a07a828eb257e127c3d890855d137fbc59fc738",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acbf98b15aed43a07848fcee8f34e62e940926912f78336d67fe367255c2f855",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
wire blob ad57ab205839
wire blob 09676b7f796b
wire blob acbf98b15aed
call 4 attempt 0 · /responses · status 200 · 3.516 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, 0.7937, 0.6083, -0.3763, -0.0231, -0.028, 0.9989, -0.0154, 0.7879, 0.6025, -0.387, -0.0265, -0.0341, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0017 left_z=0.1828 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9989 right_x=0.2932 right_y=0.0037 right_z=0.1795 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -1.4974, 9.7299, 1.7705, 0.0073, 0.1294, -0.1294, -0.841, -0.9094, 10.3316, 1.8291, 0.022, 0.2173, -0.0317]",
      "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]: [-0.2028, 1.7031, 0.6903, 0.4107, 0.1242, 0.036, 0.9985, -0.0143, 0.7692, 0.5629, -0.4026, -0.0284, -0.0353, 0.9999]\nstate[eef_state]: left_x=0.4251 left_y=-0.1061 left_z=0.0588 left_yaw=-0.3415 left_pitch=-0.0354 left_roll=-0.0295 left_gripper=0.9985 right_x=0.285 right_y=0.0045 right_z=0.1632 right_yaw=0.0034 right_pitch=-0.0366 right_roll=0.0007 right_gripper=0.9999\nstate[joint_eff]: [0.1846, -6.0923, 5.6957, 1.2137, -0.0464, 0.4225, -0.0611, -0.3624, -1.7026, 7.1726, 1.9707, -0.0659, -0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1684, 1.7451, 0.7017, 0.4755, 0.2813, 0.1574, 0.9984, -0.0143, 0.7876, 0.5926, -0.4309, -0.0296, -0.0406, 0.9999]\nstate[eef_state]: left_x=0.4293 left_y=-0.1191 left_z=0.0617 left_yaw=-0.5036 left_pitch=0.0186 left_roll=-0.0036 left_gripper=0.9984 right_x=0.2858 right_y=0.0047 right_z=0.1662 right_yaw=0.0073 right_pitch=-0.0533 right_roll=-0.0026 right_gripper=0.9999\nstate[joint_eff]: [-0.4444, -6.7077, 5.7094, 1.5507, 0.315, 0.2955, -0.022, -0.5812, -0.9231, 10.7145, 1.7363, -0.0659, -0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad57ab20583907fb5cce87ae7dd3946e870c29efb09de1b26e4aff2331d0fe7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09676b7f796bb61fb9dfbf119a07a828eb257e127c3d890855d137fbc59fc738",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acbf98b15aed43a07848fcee8f34e62e940926912f78336d67fe367255c2f855",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob ad57ab205839]
[blob 09676b7f796b]
[blob acbf98b15aed]
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  "content": [],
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  "id": "rs_06fa3db698b58e6a016ab45d95abb487d0b3f82c7f321e7312",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.155,\"left_z\":0.025,\"left_yaw\":0.4},\"note\":\"The last target did not track fully, and the neck remains beside the left finger. I’m correcting the jaw angle and moving slightly back toward the bottle’s shoulder for a more reachable grasp.\"}",
  "call_id": "call_x6kYXPOboPs2f67VkQENAs97",
  "id": "fc_06fa3db698b58e6a016ab45d99d48487d0843179d40ddceccc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_x6kYXPOboPs2f67VkQENAs97",
  "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]: [-0.1684, 1.7451, 0.7017, 0.4755, 0.2817, 0.1574, 0.9984, -0.0143, 0.7563, 0.5385, -0.4, -0.0296, -0.0425, 0.9998]\nstate[eef_state]: left_x=0.4293 left_y=-0.1192 left_z=0.0617 left_yaw=-0.5039 left_pitch=0.0187 left_roll=-0.0038 left_gripper=0.9984 right_x=0.2814 right_y=0.0048 right_z=0.1561 right_yaw=0.0083 right_pitch=-0.0453 right_roll=-0.0044 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -6.7077, 5.6957, 1.5702, 0.3199, 0.2564, -0.0171, -0.4718, -1.7162, 7.0906, 2.0586, -0.0952, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef6acd81968c41f7a022d1d7c897505dcc0ac74f369260c033b95818977e70de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:735d400f69858795d8f313bd0c6aa788558e03f8a2bb44d6b5a98db321da2669",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed63b7935e6eeb1bedf62c9303c117001c18744fe246484f3eb2266caed9c062",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
wire blob ef6acd81968c
wire blob 735d400f6985
wire blob ed63b7935e6e
call 5 attempt 0 · /responses · status 200 · 5.721 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6041, 1.4551, 0.8337, -0.0971, -0.4873, -0.3679, 0.9989, -0.0151, 0.7937, 0.6071, -0.4305, -0.0265, -0.0349, 0.9999]\nstate[eef_state]: left_x=0.3733 left_y=-0.1528 left_z=0.1317 left_yaw=-0.0162 left_pitch=-0.0596 left_roll=0.0275 left_gripper=0.9989 right_x=0.2882 right_y=0.0039 right_z=0.1712 right_yaw=0.0008 right_pitch=-0.0446 right_roll=0.0001 right_gripper=0.9999\nstate[joint_eff]: [-0.5128, -6.3248, 8.841, 1.7705, -0.2857, -0.0269, -0.1245, -0.2393, -1.4701, 10.0855, 1.7411, -0.022, -0.0122, -0.0122]",
      "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]: [-0.1684, 1.7451, 0.7017, 0.4755, 0.2813, 0.1574, 0.9984, -0.0143, 0.7876, 0.5926, -0.4309, -0.0296, -0.0406, 0.9999]\nstate[eef_state]: left_x=0.4293 left_y=-0.1191 left_z=0.0617 left_yaw=-0.5036 left_pitch=0.0186 left_roll=-0.0036 left_gripper=0.9984 right_x=0.2858 right_y=0.0047 right_z=0.1662 right_yaw=0.0073 right_pitch=-0.0533 right_roll=-0.0026 right_gripper=0.9999\nstate[joint_eff]: [-0.4444, -6.7077, 5.7094, 1.5507, 0.315, 0.2955, -0.022, -0.5812, -0.9231, 10.7145, 1.7363, -0.0659, -0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1684, 1.7451, 0.7017, 0.4755, 0.2817, 0.1574, 0.9984, -0.0143, 0.7563, 0.5385, -0.4, -0.0296, -0.0425, 0.9998]\nstate[eef_state]: left_x=0.4293 left_y=-0.1192 left_z=0.0617 left_yaw=-0.5039 left_pitch=0.0187 left_roll=-0.0038 left_gripper=0.9984 right_x=0.2814 right_y=0.0048 right_z=0.1561 right_yaw=0.0083 right_pitch=-0.0453 right_roll=-0.0044 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -6.7077, 5.6957, 1.5702, 0.3199, 0.2564, -0.0171, -0.4718, -1.7162, 7.0906, 2.0586, -0.0952, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef6acd81968c41f7a022d1d7c897505dcc0ac74f369260c033b95818977e70de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:735d400f69858795d8f313bd0c6aa788558e03f8a2bb44d6b5a98db321da2669",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed63b7935e6eeb1bedf62c9303c117001c18744fe246484f3eb2266caed9c062",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob ef6acd81968c]
[blob 735d400f6985]
[blob ed63b7935e6e]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF2fvOR5q0Gjo-fJYxsLK5nbhxj84jx1UDEUqEONbVudXXLYaloA0l7ll_ASaNG9Z5ewjsFXjwcnFhygsnygpYmVQ4z5CBitLQhyzII8fQ6Dvkn-JlKxKcn_Mu1XJgNZG8tEN5TOj9S37bwL4tXeCUANSB-hmfmUgAEKNrmxvMNylSN_FCWcw-VvFyThnNzFeOEHo67xQScx_7E8UOZu2rXR6NwTLXRjg6kbDFBAAIp0eZOr1j_-QhQD8djFSXgPQ7yc8VtQPzBOcPcTMFzl3ZFEv4obp6vFTovdjBy-x8eAPR5_Je34NrWhsgfjOn5eELWNfvI_i5RAemheht-fo7PPPBMse0W_u4BvfLZft1VXxJyKGawi4X3vopBPU7YhpRvJVAZUqg3ikNazaDwOyuLvjfQilHieTEchQTQYzMaIfGgeS0Sb92g5G-cZDlRLrdiEvsEYGXwHlYdTh1ijm7bMkUPpHUG4cQTgXx4EUZDX2tzVDF7DLWCBj2DCSuMV_kAsrcW578ZFiEUUgpOOIvhavuxvftKTuD3sj4Zm9AQKrcw2UsVttgWGY8v-ZBSOLVZOGk1ETwJd-nfYbS1u8FQJxki4E9isi8mfhkhEE-FK7NyANz8n1bNAYdpFwPNkW7GluOoslhB_HRQap_t39jNZYwD2e1NRR39FIlLdhxiGUXc2TwO7YRoy5BwBqnjAl_LcEqqF_-QJZ0Y4sBiUVxc31XqoY6VpLnfTjQ85lQieCqsNW8Lp4HKoBzAnkgb37XLXEDtQFmDGVyPDPzil63LttjlYIfGVdx7oS8KMbLFOS6LqZEb2pj_nM8ChE2V-DRnu3weGLo1mCuA0vHIqY6Xvi_vODpknFS_K-yLukpyjLkai0wY4dBg1foWPM6VlLlHoac9U3HgPooF7q764grisM8Xn4445lgekNcWtCbSUJIT-so0p6ZowmQeA-UC8jgQcH9Ayuh16HfsHV1sxMqFEIQ_nr0c-JXn4T8A9toIlYrHWv5Cx_RZRsIQY1TwufZEBKf8ZD9q2vm_ZVr8jyx74Kqc2i7lrCW-rusu9-83u372ufD3Pr4ZJupbX2EabFd5lMpD2cIu0OXDJCOZqms75ydIQrSXGRy5LukkzFquYJWRotIDocERkgXEDF-Y_2wCd8cnlCBYa0RypNgdiM3VUgYF77OUmxaGLNuPxVUZVNlmElVkhyoehC7p28Cfn46PCet4TI3uUnRJoz12uIu7hk-PXQCjIMQKGElSAmy2SBvhE4pOqZBJyaT3vxRMRQez1DusNaQQxciPemubCsYtE273v1NNKjRfFjkcaK7Bln-lmOsBDsgd40-D9fmHRqyts",
  "id": "rs_06fa3db698b58e6a016ab45d9dc75487d0921128d6a392d24e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.14,\"left_z\":0.15,\"left_yaw\":0},\"note\":\"The left arm has stopped tracking the low, extended pose rather than moving onto the neck. I’m lifting and retracting slightly to recover a reachable configuration before trying again.\"}",
  "call_id": "call_zqpNgPjO2YTKzjtng3DUcPaS",
  "id": "fc_06fa3db698b58e6a016ab45d9e3de087d08efe0af7e9f201de",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zqpNgPjO2YTKzjtng3DUcPaS",
  "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]: [-0.5476, 1.4059, 0.7685, 0.0853, -0.2581, -0.2283, 0.9982, -0.0143, 0.7288, 0.4927, -0.3763, -0.0296, -0.0425, 0.9999]\nstate[eef_state]: left_x=0.3792 left_y=-0.1743 left_z=0.1486 left_yaw=-0.2229 left_pitch=0.0292 left_roll=-0.0505 left_gripper=0.9982 right_x=0.2774 right_y=0.0048 right_z=0.1472 right_yaw=0.0083 right_pitch=-0.0399 right_roll=-0.0045 right_gripper=0.9999\nstate[joint_eff]: [-0.6496, -7.0085, 8.0342, 1.4823, -0.2076, -0.1587, -0.0269, -0.6632, -1.4427, 7.5282, 1.9805, -0.1343, -0.0464, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86a43a7ea022f2839b7566697acb6c0f35ee96e7f99f470c8534a1a7b3b9ca5d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2e9adb5c5eed1b3504782e9edd86b2f08fdd021b123fe0d9de25ff9145a556d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb11aa6f43a9ef4a6d4997b179a08dfc9ae25ca3bed02d49e004c0f54d7bd99c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
wire blob 86a43a7ea022
wire blob d2e9adb5c5ee
wire blob cb11aa6f43a9
call 6 attempt 0 · /responses · status 200 · 5.852 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]: [-0.2028, 1.7031, 0.6903, 0.4107, 0.1242, 0.036, 0.9985, -0.0143, 0.7692, 0.5629, -0.4026, -0.0284, -0.0353, 0.9999]\nstate[eef_state]: left_x=0.4251 left_y=-0.1061 left_z=0.0588 left_yaw=-0.3415 left_pitch=-0.0354 left_roll=-0.0295 left_gripper=0.9985 right_x=0.285 right_y=0.0045 right_z=0.1632 right_yaw=0.0034 right_pitch=-0.0366 right_roll=0.0007 right_gripper=0.9999\nstate[joint_eff]: [0.1846, -6.0923, 5.6957, 1.2137, -0.0464, 0.4225, -0.0611, -0.3624, -1.7026, 7.1726, 1.9707, -0.0659, -0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1684, 1.7451, 0.7017, 0.4755, 0.2817, 0.1574, 0.9984, -0.0143, 0.7563, 0.5385, -0.4, -0.0296, -0.0425, 0.9998]\nstate[eef_state]: left_x=0.4293 left_y=-0.1192 left_z=0.0617 left_yaw=-0.5039 left_pitch=0.0187 left_roll=-0.0038 left_gripper=0.9984 right_x=0.2814 right_y=0.0048 right_z=0.1561 right_yaw=0.0083 right_pitch=-0.0453 right_roll=-0.0044 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -6.7077, 5.6957, 1.5702, 0.3199, 0.2564, -0.0171, -0.4718, -1.7162, 7.0906, 2.0586, -0.0952, -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 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5476, 1.4059, 0.7685, 0.0853, -0.2581, -0.2283, 0.9982, -0.0143, 0.7288, 0.4927, -0.3763, -0.0296, -0.0425, 0.9999]\nstate[eef_state]: left_x=0.3792 left_y=-0.1743 left_z=0.1486 left_yaw=-0.2229 left_pitch=0.0292 left_roll=-0.0505 left_gripper=0.9982 right_x=0.2774 right_y=0.0048 right_z=0.1472 right_yaw=0.0083 right_pitch=-0.0399 right_roll=-0.0045 right_gripper=0.9999\nstate[joint_eff]: [-0.6496, -7.0085, 8.0342, 1.4823, -0.2076, -0.1587, -0.0269, -0.6632, -1.4427, 7.5282, 1.9805, -0.1343, -0.0464, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86a43a7ea022f2839b7566697acb6c0f35ee96e7f99f470c8534a1a7b3b9ca5d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2e9adb5c5eed1b3504782e9edd86b2f08fdd021b123fe0d9de25ff9145a556d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb11aa6f43a9ef4a6d4997b179a08dfc9ae25ca3bed02d49e004c0f54d7bd99c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF2lEetNa8xfHMCWNK2jrgOXpCLzmu0JCgMt_ypa_sLJdezQtsu8uLDygSPOwtzkW345UwRYlNmsul8jK6FPCgChfHvJUTO2pnwyJpXHoQy5btDwkt6YeE7-JZQG2Y_eBJKyj-M-GFowvII_Z92vmwD3LAplb5Mxg16x9aYqdWjrc4MNiE-ksogAcRq-tisqsw87TmYwXwezmF22APd4QxYWAtjz_DkO0GtwsQUovgKYw4Iq-I7byX_Xw0tnvgsmm5gmiRUHDMf_qSFpDHS1bO6g6ut1yKNe8FNHEUjY0EPOwZozlxKVCSiUSlN1BT8taKxQybq-rvCtN0PjrkV71kBtys0n84H32-a4iEiqpLJCZ6NB-V0jx-BdiVxQunELyGmiY5WR1Vr3MQzdh2AwQYHB0eN7FLzfPzuZKur9yZhnjTBmSUSafFFJYqIDIQ-FOUuM9Us3MtHApx8aRTUm_gzIYkR331usAZEIHe1CMU9VXne5aSjM95zLFtobDrcoDYg_x93Whq_YquagD-R3JCGzQlkYyqd4Wa23uyTGKKXr5t45noG7WRo3cxz9MAiZG8IM3LLvOi1JD0eGCIUsdsDLSeB-88rQNaP4DyawdlZIMvXIlCfxDxMMLtli7mlFi8P-Ly459HgJnkmAERxYD6MtHDCojtxs8XWoTd3mlWjJTxrui86UIqDBu76FDJD_xAoIL-YQYzAXv5f5cPnhzCBB-wbYhhv9YzfITvJgZR4CC-v1LxyKze-BhZYyWUX8gV0Qyz6iNMYE1Bf0NvEZ-SQ52XSaFzqypo4sUkcGshJdlp5BjpTrRbXM8BvWXvpv1RmEQrTlKhOIL4pfItAZ3S4iNos4CZ-aaTLE-uD2sgFaQKP4L7oZ1vl85MVaSY3iLRdpsRuq6CscdP2gXg7R2zJxOlgW_FgLZS2P-epJ0aeIM7bv2gHgqzfwRbNaKOjbSjWC1IZ7Gxkf64DuaJSEVXX0QQNL6Qc1UbsPfjAYds1O9XEEtC8VqtS2HEi5bpWJD1xJfljk2PHJ4StXaqr-N_jE6-26bJpXT3Y7LxhcKmO6ZNwfxNenyOY0V6XSDMU2sDxNQ_LNBzz-Oxu_ECQtxDmO0HXhFvfnh2AkVup3Pu4F2FTjW6EJXyHOdBD7rVU5PmsjwG8IofFvqD3HBWAp76e7m7mzL_yN6DWXZJavmiJCxed3GNrHKjYQcpvoTbDviUCenY1LgqIOhxemQhWrPSFpd3YmRe5yVupX7Qhgii2zz55luEtyms0NucOH2JwALMcEu1b0CfmirW0K7j_ORppLKRKdVoiOOsvpJKSFKZOw1n448yzQh6_TweZroo2EN1F8gfgrCqG4xweG-KweZjqfejE0oFyL_ma86I0dkMUzLyk_qzzQcVZgrYBhHvKY9BBlu2cdCVoGPHnk8xOPi2WWCKGNmwURg3rCBid-6ckN1FFyQzvKDBFUUuaVTSM3LKTtCBUdyelpOlQucf9721yHEDYDUR-ojqndUoE3JzRVD0HCtSyuVRjKsBSfKE0h4bWbw_kZ48GJtfrtKAxHZ9Lp80Wj1JNKowyyl-tyO2L3FpYnNnem8QugZ65vXExOwya5I0DuZ8CkU8oVPbC_tKuJ7mxtcP0NTYswnkl1Pmes1ALrtXgmyVF5W98a-xUzsN3xLbJbJn8n12IBQiDJMJP4bvTLLu286xWoeWKNM5xDGKoAlIg6g_li26dR9pe0HScWtAfJTtLDGcggGmh1DPVx1W-4uwsHBVNiH2UpadyQTJs4w0lYyiDNaxsdugEaZsqN2n175jAD8oMloWIy4OX3ERauMQQEjYXnYgKcpxgZQbA9RQS0qFAxIDEivIhcS1RzySOVp9uPoVYYjdYIyRRAg4ICmjCVlhZuj7LWSiqCr5t4ezO-TOROekoE9Y93xlw7ZJyA2_4vn4demZk6US4_7Q==",
  "id": "rs_06fa3db698b58e6a016ab45da1bbd087d0aa601086427e9b6b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.125,\"left_z\":0.065,\"left_yaw\":0,\"right_x\":0.293,\"right_y\":0.004,\"right_z\":0.19},\"note\":\"The arm is moving again, and the left bottle’s neck is visible to the left of the jaw centre. I’m approaching it with the original wrist orientation, avoiding the extended rotated pose that stalled.\"}",
  "call_id": "call_OfVxgp7lI3ioHvhGOP2Z2kaX",
  "id": "fc_06fa3db698b58e6a016ab45da41c4087d0ac31de731cc206ad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OfVxgp7lI3ioHvhGOP2Z2kaX",
  "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]: [-0.4881, 1.6325, 0.6571, 0.3016, -0.3836, -0.2733, 0.9982, -0.0147, 0.7849, 0.5972, -0.4332, -0.0299, -0.0467, 0.9998]\nstate[eef_state]: left_x=0.3915 left_y=-0.1289 left_z=0.0605 left_yaw=-0.0349 left_pitch=-0.0559 left_roll=0.0246 left_gripper=0.9982 right_x=0.286 right_y=0.0047 right_z=0.1685 right_yaw=0.0105 right_pitch=-0.0483 right_roll=-0.0075 right_gripper=0.9998\nstate[joint_eff]: [0.6496, -6.5573, 5.3812, 1.7363, -0.3443, -0.1587, -0.0122, -0.8, -0.5675, 10.0581, 1.8242, -0.1783, 0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:004f1ea44609a69cc6fb4f882ec53b9458d2f41f495f683ba8b66e5e70649694",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2358adc765b2941f1b37cddaef2671cbce2ceee19c1e9b90d82574189cb3a5c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6aebb55482d2d6575fb73a5fe04a9d7d33bd2e284645e36e88c818f48982dee",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
wire blob 004f1ea44609
wire blob c2358adc765b
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 3.934 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]: [-0.1684, 1.7451, 0.7017, 0.4755, 0.2813, 0.1574, 0.9984, -0.0143, 0.7876, 0.5926, -0.4309, -0.0296, -0.0406, 0.9999]\nstate[eef_state]: left_x=0.4293 left_y=-0.1191 left_z=0.0617 left_yaw=-0.5036 left_pitch=0.0186 left_roll=-0.0036 left_gripper=0.9984 right_x=0.2858 right_y=0.0047 right_z=0.1662 right_yaw=0.0073 right_pitch=-0.0533 right_roll=-0.0026 right_gripper=0.9999\nstate[joint_eff]: [-0.4444, -6.7077, 5.7094, 1.5507, 0.315, 0.2955, -0.022, -0.5812, -0.9231, 10.7145, 1.7363, -0.0659, -0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.5476, 1.4059, 0.7685, 0.0853, -0.2581, -0.2283, 0.9982, -0.0143, 0.7288, 0.4927, -0.3763, -0.0296, -0.0425, 0.9999]\nstate[eef_state]: left_x=0.3792 left_y=-0.1743 left_z=0.1486 left_yaw=-0.2229 left_pitch=0.0292 left_roll=-0.0505 left_gripper=0.9982 right_x=0.2774 right_y=0.0048 right_z=0.1472 right_yaw=0.0083 right_pitch=-0.0399 right_roll=-0.0045 right_gripper=0.9999\nstate[joint_eff]: [-0.6496, -7.0085, 8.0342, 1.4823, -0.2076, -0.1587, -0.0269, -0.6632, -1.4427, 7.5282, 1.9805, -0.1343, -0.0464, -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]: [-0.4881, 1.6325, 0.6571, 0.3016, -0.3836, -0.2733, 0.9982, -0.0147, 0.7849, 0.5972, -0.4332, -0.0299, -0.0467, 0.9998]\nstate[eef_state]: left_x=0.3915 left_y=-0.1289 left_z=0.0605 left_yaw=-0.0349 left_pitch=-0.0559 left_roll=0.0246 left_gripper=0.9982 right_x=0.286 right_y=0.0047 right_z=0.1685 right_yaw=0.0105 right_pitch=-0.0483 right_roll=-0.0075 right_gripper=0.9998\nstate[joint_eff]: [0.6496, -6.5573, 5.3812, 1.7363, -0.3443, -0.1587, -0.0122, -0.8, -0.5675, 10.0581, 1.8242, -0.1783, 0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:004f1ea44609a69cc6fb4f882ec53b9458d2f41f495f683ba8b66e5e70649694",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2358adc765b2941f1b37cddaef2671cbce2ceee19c1e9b90d82574189cb3a5c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6aebb55482d2d6575fb73a5fe04a9d7d33bd2e284645e36e88c818f48982dee",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob 004f1ea44609]
[blob c2358adc765b]
[blob elided: media budget]
{
  "content": [],
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  "id": "rs_06fa3db698b58e6a016ab45da7eb1c87d0bc191e73fadfa827",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.095,\"left_z\":0.035,\"left_yaw\":0},\"note\":\"The bottle is clearly visible now: its neck is ahead and left of the fingers, while the body extends back to the right. I’m advancing to the narrow shoulder just below the cap, where a lift can tip the bottle upright.\"}",
  "call_id": "call_TkmxTiN8FHrDspNZU4yPTy9d",
  "id": "fc_06fa3db698b58e6a016ab45daa976c87d087e97b67058f0bd7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TkmxTiN8FHrDspNZU4yPTy9d",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3382, 1.8385, 0.7208, 0.5529, -0.2974, -0.2352, 0.9982, -0.0154, 0.7567, 0.5495, -0.4038, -0.0299, -0.0509, 0.9999]\nstate[eef_state]: left_x=0.4457 left_y=-0.0981 left_z=0.0448 left_yaw=0.0229 left_pitch=0.0243 left_roll=-0.0326 left_gripper=0.9982 right_x=0.2824 right_y=0.0045 right_z=0.1602 right_yaw=0.012 right_pitch=-0.0383 right_roll=-0.0112 right_gripper=0.9999\nstate[joint_eff]: [0.5128, -6.7214, 5.9145, 1.4188, -0.0513, 0.2857, -0.0122, -0.7726, -1.6479, 6.9675, 2.0391, -0.1538, 0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5670f4dc489437a1a3a92c55f575ac99ade8204f69968acf6dc0bae6c5bfa825",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c6ad76eb8acaa931105e96ee9e93d8ebc039f14374d605fc28f3a395b77162f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b9b5fd6bef8300f812416d51d81120ecdaf2232ecdfaee383ccd44c7032d42b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 3.615 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]: [-0.1684, 1.7451, 0.7017, 0.4755, 0.2817, 0.1574, 0.9984, -0.0143, 0.7563, 0.5385, -0.4, -0.0296, -0.0425, 0.9998]\nstate[eef_state]: left_x=0.4293 left_y=-0.1192 left_z=0.0617 left_yaw=-0.5039 left_pitch=0.0187 left_roll=-0.0038 left_gripper=0.9984 right_x=0.2814 right_y=0.0048 right_z=0.1561 right_yaw=0.0083 right_pitch=-0.0453 right_roll=-0.0044 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -6.7077, 5.6957, 1.5702, 0.3199, 0.2564, -0.0171, -0.4718, -1.7162, 7.0906, 2.0586, -0.0952, -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 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4881, 1.6325, 0.6571, 0.3016, -0.3836, -0.2733, 0.9982, -0.0147, 0.7849, 0.5972, -0.4332, -0.0299, -0.0467, 0.9998]\nstate[eef_state]: left_x=0.3915 left_y=-0.1289 left_z=0.0605 left_yaw=-0.0349 left_pitch=-0.0559 left_roll=0.0246 left_gripper=0.9982 right_x=0.286 right_y=0.0047 right_z=0.1685 right_yaw=0.0105 right_pitch=-0.0483 right_roll=-0.0075 right_gripper=0.9998\nstate[joint_eff]: [0.6496, -6.5573, 5.3812, 1.7363, -0.3443, -0.1587, -0.0122, -0.8, -0.5675, 10.0581, 1.8242, -0.1783, 0.0611, -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 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3382, 1.8385, 0.7208, 0.5529, -0.2974, -0.2352, 0.9982, -0.0154, 0.7567, 0.5495, -0.4038, -0.0299, -0.0509, 0.9999]\nstate[eef_state]: left_x=0.4457 left_y=-0.0981 left_z=0.0448 left_yaw=0.0229 left_pitch=0.0243 left_roll=-0.0326 left_gripper=0.9982 right_x=0.2824 right_y=0.0045 right_z=0.1602 right_yaw=0.012 right_pitch=-0.0383 right_roll=-0.0112 right_gripper=0.9999\nstate[joint_eff]: [0.5128, -6.7214, 5.9145, 1.4188, -0.0513, 0.2857, -0.0122, -0.7726, -1.6479, 6.9675, 2.0391, -0.1538, 0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5670f4dc489437a1a3a92c55f575ac99ade8204f69968acf6dc0bae6c5bfa825",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c6ad76eb8acaa931105e96ee9e93d8ebc039f14374d605fc28f3a395b77162f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b9b5fd6bef8300f812416d51d81120ecdaf2232ecdfaee383ccd44c7032d42b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF2wnf6NQ38qtISEOesViYBhAywWBBQLhw-QbrJsv3f2_NKqcIi9jZL4QuYq3gX9c7pUs4gbcctkejIoziQIMzD1aJKYCFanQv6VjqJu6urR6qosMyV33GEAPkANuyd8NF790OSMIi-O_-lCkB1qOXVmIU1jCTRNWPEBLl0-YACfDkbQN_BiTQ_YlmQq7771gTZTIZsOV_hISvxd2ksyH88aV43unkf7OwoOrmuJl2Cl2WXwrm9tBlJwt0TM-X1QP3B_EjVOuMkB6ZBMqBuwTLCLXtmtOchibWJDkb31GmTJvIRbudhL5ipaz23OUM35n2ci6_nlsD7nsCD8znF7DmXExnvobCxDPJGbH8EPKgepYoe-y6d6nXmd1xDzZNP_mFaWg_ybvUK6H-hwLR6SKTz2AOwDMgbkzkTIGsiMzALxr3jOw7vmtc33Ce19YbmX53WnjVBwSxPYaHyVcY9fvE8Va9i3pI5Jn9IAB1xAc30rs7kDF1BpoI6sm4jDjXNjt6uPatHakRnZHDBMrxM1HpQ-Je2wJw7zYEO8q23pAvt1_87iyONHo2smaFwRIqj52fYW4_tRp6-Q2l3z4F3-K0ieML3LPfdL4-uonXwoUs2XdeWaKlQnk7hW1EsUQSHPG1S75-AJ63TH_--uo2DSGAyVVp1zyYu0vLl5BqeF2Gnd5s9cax55wMd9WM-y6YFNKTnhDMaUV6VuKvjtGNQBc8-fiyLDBYvOi1qgtvuQ40cA8A-1ONi60j80tzpt6XCJiI3p4LaP3HoCynbI4j2bhhZWgCuYBDXFwfWe_2iCOTLn3OGtfYYlgjRc3bohWYsfoqfnJfshNZyw9yjADwJp4EG-yNqgQv12CRB3HZXflFSnOHguQBNTq1DaEoIF9AAE0Mam7qgqogioOuhwuJ2dpBTUbWBI8E_3u1prZ4qeJAtj4wNCCqoHe06NELowo6aJ0EgCCCMceSVCbuowlH4e1yhSXRwfNdPPCVAbZWdkWqHwj-3KxSzLXiIcPzbYEVzWaI8gsHgetXYiWN7AfLcxy4I2ZoBHXo3R5MI1n0A3E4Anyy-1LnxEpcBWFXLUpkDHaEmCuJC7Fz4hqBAIc8NkHW6kXOaofjcH5sVT3O9z-FEqBkEW7pKcNd77Cj8jDQAs6RKSE_g-HQDUc0aWJef6-QwJJW5fhqYZLtAEqjNwK80gkfrEEEfCtem5qla7fJ0pT1YVachipomzEhOtZIoT7XNScwMf24fAuhB_E3cPFbqa811ODfT_3xPbG7ronKJ4jgZ6PDegf24ZuqzKKKp6DAN8jaozixU3d5zxdv-moCsPvN9uaeUnsvLujYwAs8mhCKzibwftEpJQr1BfvFENqZ612XmkX0fBfsfuNBYPOrcgv3Z7lpCBOabRYYXvPZsu2-XpINn__HQ-DIvyPXkdw7rQcaK3SWSBOE1rihABcBo4_LbSqqvHvdbS1bjpPF8wZlJx",
  "id": "rs_06fa3db698b58e6a016ab45dadd7e887d08abcc7896a45c1df",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.465,\"left_y\":-0.07,\"left_z\":0.025},\"note\":\"The shoulder is now between the open fingers, with the cap slightly left and ahead. I’m centring the narrower neck region before closing so the bottle can hang from its top rather than its middle.\"}",
  "call_id": "call_TdUVlAxsoKgETJ6MFF1FhxRH",
  "id": "fc_06fa3db698b58e6a016ab45daf148487d09645db1b38052c71",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TdUVlAxsoKgETJ6MFF1FhxRH",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2691, 1.8965, 0.7547, 0.5983, -0.2451, -0.2153, 0.9982, -0.0154, 0.7376, 0.5163, -0.3885, -0.0299, -0.0505, 0.9998]\nstate[eef_state]: left_x=0.4633 left_y=-0.0796 left_z=0.0396 left_yaw=0.0379 left_pitch=0.0357 left_roll=-0.0485 left_gripper=0.9982 right_x=0.2792 right_y=0.0046 right_z=0.1532 right_yaw=0.0118 right_pitch=-0.0372 right_roll=-0.0109 right_gripper=0.9998\nstate[joint_eff]: [0.7179, -6.4479, 5.9282, 1.3455, -0.232, 0.4322, -0.0122, -1.0325, -1.7299, 6.694, 1.9805, -0.1538, 0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d99241a5b0bce4ac7ddf49e92a7bfde9a55e6bb74021c19ec93a0e9aae0425a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de8e80a09bc64c039eec16db3416c7c3eafdad5c74294c9cc068915c49151a0b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a1e854c3213c694b8f71a474e0cfd5e3f7cf55e9e87786b6a464214bf58bed4",
      "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 9 attempt 0 · /responses · status 200 · 4.743 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]: [-0.5476, 1.4059, 0.7685, 0.0853, -0.2581, -0.2283, 0.9982, -0.0143, 0.7288, 0.4927, -0.3763, -0.0296, -0.0425, 0.9999]\nstate[eef_state]: left_x=0.3792 left_y=-0.1743 left_z=0.1486 left_yaw=-0.2229 left_pitch=0.0292 left_roll=-0.0505 left_gripper=0.9982 right_x=0.2774 right_y=0.0048 right_z=0.1472 right_yaw=0.0083 right_pitch=-0.0399 right_roll=-0.0045 right_gripper=0.9999\nstate[joint_eff]: [-0.6496, -7.0085, 8.0342, 1.4823, -0.2076, -0.1587, -0.0269, -0.6632, -1.4427, 7.5282, 1.9805, -0.1343, -0.0464, -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]: [-0.3382, 1.8385, 0.7208, 0.5529, -0.2974, -0.2352, 0.9982, -0.0154, 0.7567, 0.5495, -0.4038, -0.0299, -0.0509, 0.9999]\nstate[eef_state]: left_x=0.4457 left_y=-0.0981 left_z=0.0448 left_yaw=0.0229 left_pitch=0.0243 left_roll=-0.0326 left_gripper=0.9982 right_x=0.2824 right_y=0.0045 right_z=0.1602 right_yaw=0.012 right_pitch=-0.0383 right_roll=-0.0112 right_gripper=0.9999\nstate[joint_eff]: [0.5128, -6.7214, 5.9145, 1.4188, -0.0513, 0.2857, -0.0122, -0.7726, -1.6479, 6.9675, 2.0391, -0.1538, 0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2691, 1.8965, 0.7547, 0.5983, -0.2451, -0.2153, 0.9982, -0.0154, 0.7376, 0.5163, -0.3885, -0.0299, -0.0505, 0.9998]\nstate[eef_state]: left_x=0.4633 left_y=-0.0796 left_z=0.0396 left_yaw=0.0379 left_pitch=0.0357 left_roll=-0.0485 left_gripper=0.9982 right_x=0.2792 right_y=0.0046 right_z=0.1532 right_yaw=0.0118 right_pitch=-0.0372 right_roll=-0.0109 right_gripper=0.9998\nstate[joint_eff]: [0.7179, -6.4479, 5.9282, 1.3455, -0.232, 0.4322, -0.0122, -1.0325, -1.7299, 6.694, 1.9805, -0.1538, 0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d99241a5b0bce4ac7ddf49e92a7bfde9a55e6bb74021c19ec93a0e9aae0425a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de8e80a09bc64c039eec16db3416c7c3eafdad5c74294c9cc068915c49151a0b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a1e854c3213c694b8f71a474e0cfd5e3f7cf55e9e87786b6a464214bf58bed4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF20uUswb063265rYlylHpHlQMy-Vqd7dwawtCfMlWIIsSirT0qAYiXFlanjhb1nZOq8MZzf0fBP7CTB-hXDxlr9DEtfpgp7acOEDJkV1Zh8E9dIlHKZbOJXmr1Fe-vWuznuEjFV_gO4kPrI1T3XhbA2gM377sU8PDj-rsOqzrDqrGNHji5mZEIHSx74V_zq9Fb1qww83HtbYJ5ypD86I_XKeBPbpEaE2uxSavtqHplncsm6N5ZFp4dsP417EAadYmZHaMO-f8Tk1jgg9nIRQt3oYlaZoH0HST1ckbkyieFa95zmIcQ2HqrmfOZI2DITo-oFM6PAcFvl2g9ZG0QkkysCFFsObMGNJW9sXxP181YT0N2EsIoL0ydUjaRjmIX_gINNGLWFPGVNCgTHuhsVwmpNZGJ7_b5cPhXg4srKMVuBy8iPOwxxU3Q447iSLR3MD7maO8wAGifKxkc7O1MTP_TlxX8_GjA-yG7EmyRDyFmA-QA4HOcUjbzPF56I5d8J6KwENf80Jxa__a5SHje3jG8humWZCOlXWls7-yiwz36r2__bNLXa0J1TuToBNXAYPMgvwotlHxHm2fhd4psehjLnO-ai6WjW1JRFD-NLi-swUhgkzoJ2jCQIW4zv6HeQTmeaawhv4HfL1nAMUfjq0t1v07DTIqdKgAN5xKkAQLmcYaxUmkhlXOKmKsPA0b2aJM-l5U2Jz_gT5Hv2k507EOAjjNGhlErytIJ7glwp_lGQAp3awVwPcUtbk5ofep-VVEWLN-ZR5R6pDp4pm7yf00OKvkjv4xL1U68Id2rS63twYvVDUPs8J00CVNJ-RNgE3MtuszKBe1z4lEHOoZsxQUI3nYnwcY2-MlbegmeDutFlrUYkSc3p3S6yhljJKxNjgZLlW7AGempXFPBAcgZZ6-Kzo0mw73ukte10RaluCCfqBDNHu0mLN22Pegi1MrGXLp4pUY0bvsx9X_zxW4czhIqVakClVwyeYC9l33DbsAhIAgyrB9NBreEgQNexg8AD4t3IzFse3F_h-SAKH9mPHyiGiFhPQlGw5n-kfcOBgexjRgkd8w10gYOa4PInW59aykT8XTl9Zx7_4xeediK6fBkgjpcMYAjrL1iVLNGbyutOgoUVrMJUVZMXbI_Gnf2PBTGselEby4CrOf9Z7qznF-89KRfNZMz-0PGgVNxIEZMdXWQ1OJttJnEbyKtnKA0W4JnldDScUtJxkwrxb4nWFiHWHvSAxMqsXbRU9B1fIT2osKRlZVu3fS19qY3WTercAKkcsQy8Hkc8ZrER-fPSrhmIYi4a01d6y6mUbzXwWeeZObm121i_2d6HrdnZZoNtWHRLqyCvkxhjzMiCw3V805xBVSddrfiWQMlvkLQa3VVUuiyR9ooIwDbco_RDNnh2NvMcIWIMYvYc1Wrwrn-AYP6vz00UExh3HWj2cw3ubd6H91nh2ZsFVscu-_4hnFbX2XwMe5bRE3xDZFaXwJh1ZYVm_w==",
  "id": "rs_06fa3db698b58e6a016ab45db2286887d0aaace4b38b7c71c1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.25},\"note\":\"The fingers are around the bottle’s upper shoulder. I’m closing to a neck-sized opening, aiming to support it without tightly crushing the rounded plastic.\"}",
  "call_id": "call_d2cs0x3yNLiJwniRBj16h9dw",
  "id": "fc_06fa3db698b58e6a016ab45db3453487d091aa14e07fc6c333",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_d2cs0x3yNLiJwniRBj16h9dw",
  "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]: [-0.242, 1.911, 0.7753, 0.6857, -0.247, -0.1825, 0.255, -0.0154, 0.7174, 0.4797, -0.3733, -0.0299, -0.0505, 0.9998]\nstate[eef_state]: left_x=0.4804 left_y=-0.0704 left_z=0.0592 left_yaw=0.0513 left_pitch=0.1259 left_roll=-0.0461 left_gripper=0.255 right_x=0.2756 right_y=0.0046 right_z=0.1449 right_yaw=0.0118 right_pitch=-0.0383 right_roll=-0.0109 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -7.0769, 4.8889, 0.8864, 0.149, 0.1832, 0.188, -0.841, -1.4701, 7.0496, 2.0195, -0.1832, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f418fa17c4de9fb0f4f769e2228a975b511ebb607a9525a3680e45f04935508e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:819134d6d566b7f5049683f06dd3e2389d93c990a00aa60debe400b92273be51",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4b9c6608cd6b810020afb5fff1dd21222033c17fa49eaa46065dbb0234e257a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 3.767 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]: [-0.4881, 1.6325, 0.6571, 0.3016, -0.3836, -0.2733, 0.9982, -0.0147, 0.7849, 0.5972, -0.4332, -0.0299, -0.0467, 0.9998]\nstate[eef_state]: left_x=0.3915 left_y=-0.1289 left_z=0.0605 left_yaw=-0.0349 left_pitch=-0.0559 left_roll=0.0246 left_gripper=0.9982 right_x=0.286 right_y=0.0047 right_z=0.1685 right_yaw=0.0105 right_pitch=-0.0483 right_roll=-0.0075 right_gripper=0.9998\nstate[joint_eff]: [0.6496, -6.5573, 5.3812, 1.7363, -0.3443, -0.1587, -0.0122, -0.8, -0.5675, 10.0581, 1.8242, -0.1783, 0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.2691, 1.8965, 0.7547, 0.5983, -0.2451, -0.2153, 0.9982, -0.0154, 0.7376, 0.5163, -0.3885, -0.0299, -0.0505, 0.9998]\nstate[eef_state]: left_x=0.4633 left_y=-0.0796 left_z=0.0396 left_yaw=0.0379 left_pitch=0.0357 left_roll=-0.0485 left_gripper=0.9982 right_x=0.2792 right_y=0.0046 right_z=0.1532 right_yaw=0.0118 right_pitch=-0.0372 right_roll=-0.0109 right_gripper=0.9998\nstate[joint_eff]: [0.7179, -6.4479, 5.9282, 1.3455, -0.232, 0.4322, -0.0122, -1.0325, -1.7299, 6.694, 1.9805, -0.1538, 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]: [-0.242, 1.911, 0.7753, 0.6857, -0.247, -0.1825, 0.255, -0.0154, 0.7174, 0.4797, -0.3733, -0.0299, -0.0505, 0.9998]\nstate[eef_state]: left_x=0.4804 left_y=-0.0704 left_z=0.0592 left_yaw=0.0513 left_pitch=0.1259 left_roll=-0.0461 left_gripper=0.255 right_x=0.2756 right_y=0.0046 right_z=0.1449 right_yaw=0.0118 right_pitch=-0.0383 right_roll=-0.0109 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -7.0769, 4.8889, 0.8864, 0.149, 0.1832, 0.188, -0.841, -1.4701, 7.0496, 2.0195, -0.1832, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f418fa17c4de9fb0f4f769e2228a975b511ebb607a9525a3680e45f04935508e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:819134d6d566b7f5049683f06dd3e2389d93c990a00aa60debe400b92273be51",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4b9c6608cd6b810020afb5fff1dd21222033c17fa49eaa46065dbb0234e257a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF25Rp-NdH31mKMg9v1vIwdohSkmLXIExSsr7f0U0sY0FqsJA8p3XLC_oS0bafY5v_cqna7ND6iJeIKUUwcBOSS2aoQlPVrz_T0YP3ulVyRpvHYFaKx2vb6iQ4e9fzyVQbOtVt1JiKCcLMV6Klz-bSM78EeO47RIbH2s-3QxZ5ZYnxTRjCpXaRmF8D5JS-oSOzQTdZooFziIdY3wtr8BDldB2DER4wpUnV6ssaF1Qnu4rw7dRbN71V5eY3WE9nYDl9hXOpAkYpQ8aRZ-tLpEycEwDUz6apxmR1QRPQnlr4hYFL8TC3FwmSo7XnwWf8VM-UJe2XBUep1JebkNx8b3GWvMzLsmoSZ47rE78Xbr5MOIHYMc8_mW41DtgYYZQevIWiO3xtNIzWBcez-T6hPD-dw_XWLc60bir-WBFhFgRivMWB33SAxXHK2oZd0-F7vQSB8wpOqEg_3qJirU8f-Ozhq5Jh_sOYKbgQLHftRvpj42_GebH8h8jqG6c3dPclnKRTKfE_bUyk_ZHqKRJOBwhTqQuV_atVXuXfkd7PDy6x4uLYeNoLezE6hg6I36BuElTrHcJLF8nB_SlCmSe4oTyrgdQ0KzeI3JbZ5lwzbvkDlvHA3zf9f0_EGq_nUw8l5rn56Pb7GLoDsuZsGX7d-nFMT4M8EPv6m3WXyJF0piJWBGj0TJK06vmXUIUZ_a8hefU6e3bBJ8-sb5SYxkmuMZ0XfUdEf03WnlMDZYVLS5KzxgjkuhPvBlayNGFrWBVwQyNzVYNVAc088Zr-AakKDUpOvK9zMIhqPPEixeddU2S0j72wxWxvR26spLzylICvf737hlmi863gTndZ3GIga9-FPNqMXwGm8hsFFqEfgt6u3PRgwq3FUnRfE0Ic02wBDOTX1vVH1S_xJH1Cud8rvVfnBEjxuNb5p-W1id0Seab2TlEO4Q2UCsU1xJN7_SjWiK-LFeU3FJEvJrodZ6O4s9VvoqxQViULaDE5hhkPnBb7PAPKIivtTCF9ZUD8fnuNFnp4yDHOgjpQ8_Q8aly4_F279-18OEctvYspxKc2NScBEK7b0Svhv54865GwpHEP43H-Hv8-5efFdrUIMi_AU5bunUqdH_GbMMcrc2Il07vL3TYoADfVk8QguhvMvy4i54r6810EVSDU6Uqgi2uodpN_K1e1-S_tlsMG-VfY_8v9npCVggfoswAiFQZBN1Do_tQ0wUMGOZGyE0IUuh_1KRv29pnTAJQ-LgqdpM3kVHzmujTWeKbj2i8jP-z1YXGlji-eb8WwioHinC6ll4_O1OomQ-VzNs30tKJ9s5_dqVa2tsPNfT1mxuwNqvDr1pqbnzh8Z1GPScO8LugYF4OT7PmH9GMdSIB1TBiDuKpPYLhpfh9zYojSmn_fbqwIgHqHrfUQg9Zq17auikFNE8CEfIJ7E8Lg3vJOkFaOp5sO4s9PFjj-PrMALVMkd5NYSzequLN2pp8tdVMVSM4aFGYDOk87WhHcNb7mMKBcVdMGmsH3OPewmxlPmGPVsC6KoeBuiG8qu4ybnx7qOrsqf8wS6M31m9jg==",
  "id": "rs_06fa3db698b58e6a016ab45db6a51c87d0b35637575cea1ffc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.07,\"left_z\":0.14,\"right_x\":0.293,\"right_y\":0.004,\"right_z\":0.19},\"note\":\"Closing brought the bottle into line between the jaws. I’m lifting its top a short distance and watching whether the bottle follows and pivots downward.\"}",
  "call_id": "call_IZy7Ybwmnpkbz1FywgGBRqXS",
  "id": "fc_06fa3db698b58e6a016ab45db881ec87d0aa7e98f7039d2076",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IZy7Ybwmnpkbz1FywgGBRqXS",
  "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]: [-0.268, 1.5986, 0.9009, 0.2558, -0.2703, -0.1875, 0.2552, -0.0216, 0.7856, 0.5976, -0.4324, -0.0383, -0.057, 0.9998]\nstate[eef_state]: left_x=0.4677 left_y=-0.0758 left_z=0.1619 left_yaw=0.0481 left_pitch=0.1365 left_roll=-0.0434 left_gripper=0.2552 right_x=0.2862 right_y=0.0042 right_z=0.1686 right_yaw=0.0163 right_pitch=-0.0476 right_roll=-0.011 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -5.6, 7.1043, 1.4628, -0.1343, -0.0611, 0.0122, -0.3761, -0.7726, 9.9624, 1.7656, -0.1441, 0.0952, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bf3f542010a3581b5ea6320e0771e69a001f5334117ad08d9f09ce8d64ce1ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b93811aee5d39fb2d8ac9bd8f6d4a8cdaca4be470432ec39a259ebc3603ee5fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4771a0b379095e05511487533f5720cf244f02e795bf1ab2ba2bc9c5dd861e4e",
      "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 · 15.12 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]: [-0.3382, 1.8385, 0.7208, 0.5529, -0.2974, -0.2352, 0.9982, -0.0154, 0.7567, 0.5495, -0.4038, -0.0299, -0.0509, 0.9999]\nstate[eef_state]: left_x=0.4457 left_y=-0.0981 left_z=0.0448 left_yaw=0.0229 left_pitch=0.0243 left_roll=-0.0326 left_gripper=0.9982 right_x=0.2824 right_y=0.0045 right_z=0.1602 right_yaw=0.012 right_pitch=-0.0383 right_roll=-0.0112 right_gripper=0.9999\nstate[joint_eff]: [0.5128, -6.7214, 5.9145, 1.4188, -0.0513, 0.2857, -0.0122, -0.7726, -1.6479, 6.9675, 2.0391, -0.1538, 0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.242, 1.911, 0.7753, 0.6857, -0.247, -0.1825, 0.255, -0.0154, 0.7174, 0.4797, -0.3733, -0.0299, -0.0505, 0.9998]\nstate[eef_state]: left_x=0.4804 left_y=-0.0704 left_z=0.0592 left_yaw=0.0513 left_pitch=0.1259 left_roll=-0.0461 left_gripper=0.255 right_x=0.2756 right_y=0.0046 right_z=0.1449 right_yaw=0.0118 right_pitch=-0.0383 right_roll=-0.0109 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -7.0769, 4.8889, 0.8864, 0.149, 0.1832, 0.188, -0.841, -1.4701, 7.0496, 2.0195, -0.1832, -0.0024, -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]: [-0.268, 1.5986, 0.9009, 0.2558, -0.2703, -0.1875, 0.2552, -0.0216, 0.7856, 0.5976, -0.4324, -0.0383, -0.057, 0.9998]\nstate[eef_state]: left_x=0.4677 left_y=-0.0758 left_z=0.1619 left_yaw=0.0481 left_pitch=0.1365 left_roll=-0.0434 left_gripper=0.2552 right_x=0.2862 right_y=0.0042 right_z=0.1686 right_yaw=0.0163 right_pitch=-0.0476 right_roll=-0.011 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -5.6, 7.1043, 1.4628, -0.1343, -0.0611, 0.0122, -0.3761, -0.7726, 9.9624, 1.7656, -0.1441, 0.0952, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bf3f542010a3581b5ea6320e0771e69a001f5334117ad08d9f09ce8d64ce1ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b93811aee5d39fb2d8ac9bd8f6d4a8cdaca4be470432ec39a259ebc3603ee5fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4771a0b379095e05511487533f5720cf244f02e795bf1ab2ba2bc9c5dd861e4e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF2-aNgF6INP7jV7qt_G4DgPiioCl8cKt-D0oFOb3s5OAMYvWmbNgqMWsuwQL29K6GWEnRbz1oV8fTlk4KH5SxwCaEVmft8DSdtH4I1b0_UAiVFdBPtwfktAE6WjqbRovEcNn5BJYLq9WD7U6t2VhBagExVuFdzz5IK3ixFeAD78MWmZk2XM2c-jHpJ5bfcxe9qAmoHtu60qK-A8PE_rXWZRWFz75xznaIrcKpsV1rhxLNKzLJXrYE76QMTCn2SpCmkP7OO2X_nTvAAVordrZw14RTSXqEftpGQJFYZNe8HXcjxz8-BH8O_Fi_RIQ6bi1cVWaZpLZPEw33lT3KfFKHgzEuhloz2lWpmR4CxswfAH-xpwD4Ag5rAifl5poc-6MdUiJ2wYqeDdpqHL5krZtJmWwGWcp-hRqB5GzJ509s3uALH1oHgfotdtYUQTlEwJ7_4AClJdJNWRhEnKZXA-uA2qd1PyFtMQVp0APrVn_Wd4iNVE4N7ydCQ7cCOMylONKOX3gCXBTZALjEhGA5oHJJNxxN_sbqcks06Uox0FxQXc7NUrrZYP0rWraC8Xpdq4ciNa4W388L4CQY6vM3VwdFd7EvQcGV9k3gQfc0wuGDxEkaSts6MNOrkZu__Pd5d2MhF2bgr603KX4Jzz7FTYoYhIDsZq8WDunlng7EKzu_tmU-n9LAE6X_IiKN4V7fbn0202apeci-RsPG-eRbJyKN1oLpmVB4KVvZwiTKzOP7baucM69r0mVz9yE23tnR9Tvxpr4qSbJxUf_MU9umqfqKd7s6uwUZshePxqOD1TqX99ql_tY-_xcWx1Ahmbs8t1eKUlSJI2AOVPd8TzPKMYt7FtxXHjRwoCA-4eL2mRGGIEREB4cnH_jC9fwqTKPlr55Ne8sT-dUNstrom4564WCthgQJtTPKyA3aKV6VfDeDjlLF26HIkDsx0pD1OqpibwNVC39tRc8q1B0Tja_X2WCWj1QRxegkIINBFd57-NcrKP9FbaCGi1RWcwQ1-OatCoEVt0N3oaE-Dy-qT8TrcABsEEeHkUugpvQ2MCzgCG2pP4HnPXjuDA3MXuDYfzHLTDyDxshnEPPyvK-Y80zopCrTxCPujM87965yW0Zj22ANTAEHkWVQuHwxE5XVd2l6-SWDJ9QmuIX9nBcrIFSX3PjNDXBNxS6X704-e8ikE26FBWcktnkduJvzsgO53vXyZx6lCrPZ-Yno1K5z_h42BYEV15QVagVYNxilF_zDH-FnaWwW8EBd_6JXxDgzoWdoebWSqmc8JTnY4HO3M2LAnFZpjzNDFXPpFVukOZRq_UMAKOQKVNq4lGJkZVqKGlviBItg0art5dzS3LgOAbxH8E9mGd6ygOrpGFNKitLkM8rpnsPyP8IXPEjzClRzwB8_tGEhAgWlP2G8_YACkH1nOndlFL4mlClg5k64dz9Zd73lhFuUbo2CfEgxKKzWpzIDiFboavLDqnVs-yymNNymoL2149cg==",
  "id": "rs_06fa3db698b58e6a016ab45dbbd14087d08f58c6464967c8f3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.09,\"left_z\":0.26},\"note\":\"The bottle followed the lift, and its lower end is hanging below the gripper. I’m raising it enough for the base to clear the table and settle underneath the neck.\"}",
  "call_id": "call_EaUsLTIakHWct9VStz6btJf7",
  "id": "fc_06fa3db698b58e6a016ab45dbd020c87d0aa71197586fc679e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EaUsLTIakHWct9VStz6btJf7",
  "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]: [-0.3923, 1.3437, 1.1358, -0.4007, -0.3561, -0.2623, 0.2552, -0.0265, 0.7582, 0.5503, -0.4023, -0.0532, -0.0574, 0.9999]\nstate[eef_state]: left_x=0.4002 left_y=-0.0951 left_z=0.2428 left_yaw=0.0316 left_pitch=-0.004 left_roll=-0.0088 left_gripper=0.2552 right_x=0.2828 right_y=0.0055 right_z=0.1606 right_yaw=0.024 right_pitch=-0.037 right_roll=-0.0032 right_gripper=0.9999\nstate[joint_eff]: [-0.1709, -7.4325, 9.5248, 1.6972, -0.2711, 0.0366, -0.0073, -0.4855, -1.7162, 6.9949, 2.0342, -0.0855, 0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aecd2484c29de48e7415ac6d8f9f854a9e9413a70e4700a59bc90c1164476fd2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cbf43db5578f3a824e482aefb4e4d97f2dee61a60392aed48042a29ef9d36fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0739ebd24952763925933383ced376ad97b911b5e2a4c6915e1548c83d4d889",
      "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 · 6.29 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]: [-0.2691, 1.8965, 0.7547, 0.5983, -0.2451, -0.2153, 0.9982, -0.0154, 0.7376, 0.5163, -0.3885, -0.0299, -0.0505, 0.9998]\nstate[eef_state]: left_x=0.4633 left_y=-0.0796 left_z=0.0396 left_yaw=0.0379 left_pitch=0.0357 left_roll=-0.0485 left_gripper=0.9982 right_x=0.2792 right_y=0.0046 right_z=0.1532 right_yaw=0.0118 right_pitch=-0.0372 right_roll=-0.0109 right_gripper=0.9998\nstate[joint_eff]: [0.7179, -6.4479, 5.9282, 1.3455, -0.232, 0.4322, -0.0122, -1.0325, -1.7299, 6.694, 1.9805, -0.1538, 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]: [-0.268, 1.5986, 0.9009, 0.2558, -0.2703, -0.1875, 0.2552, -0.0216, 0.7856, 0.5976, -0.4324, -0.0383, -0.057, 0.9998]\nstate[eef_state]: left_x=0.4677 left_y=-0.0758 left_z=0.1619 left_yaw=0.0481 left_pitch=0.1365 left_roll=-0.0434 left_gripper=0.2552 right_x=0.2862 right_y=0.0042 right_z=0.1686 right_yaw=0.0163 right_pitch=-0.0476 right_roll=-0.011 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -5.6, 7.1043, 1.4628, -0.1343, -0.0611, 0.0122, -0.3761, -0.7726, 9.9624, 1.7656, -0.1441, 0.0952, -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 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3923, 1.3437, 1.1358, -0.4007, -0.3561, -0.2623, 0.2552, -0.0265, 0.7582, 0.5503, -0.4023, -0.0532, -0.0574, 0.9999]\nstate[eef_state]: left_x=0.4002 left_y=-0.0951 left_z=0.2428 left_yaw=0.0316 left_pitch=-0.004 left_roll=-0.0088 left_gripper=0.2552 right_x=0.2828 right_y=0.0055 right_z=0.1606 right_yaw=0.024 right_pitch=-0.037 right_roll=-0.0032 right_gripper=0.9999\nstate[joint_eff]: [-0.1709, -7.4325, 9.5248, 1.6972, -0.2711, 0.0366, -0.0073, -0.4855, -1.7162, 6.9949, 2.0342, -0.0855, 0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aecd2484c29de48e7415ac6d8f9f854a9e9413a70e4700a59bc90c1164476fd2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cbf43db5578f3a824e482aefb4e4d97f2dee61a60392aed48042a29ef9d36fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0739ebd24952763925933383ced376ad97b911b5e2a4c6915e1548c83d4d889",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF3Nd-dtyPqaVw0DLl_1ESBptoS4PC4ehE_HFEQtj6BSx5ZJlJKSnccId8K9VCPe53e8L39BqN6N_CM-5GPnTprzZd-um9-3kD0njCFndhK1hyZinw5gwx6t3rHqxTe17J0JcrC-YQSJb3NZGOlqcV_a61GRCds5KJTP5PmqL7wAwjeqt6uIIH_wF-CfRYO3RcdSuOy5KgVfs1lpfmIzF8XF_DhxtCxJoojN5h8-4njE5GOXfYKPI1SDxqOQsI46xix4LZtjbuiKGImjRAOUcEsRMtqLsqS67D0tToscuyyuFCYnV0Eg-SLgklsZqbon9LaYbgx6iGHol7DBNk9_ZTjcVCLe_lrvU6zfMmXTsi-XGmER9BlKmb0YBmSo1d4PZW028LUSsYTYw0_XrMgzPfDRoC0hFGxo2x3dUrHlw0lL7DR3LWREiyH3ubhUKUl27l2sYq4DlVvUS1Wm2x52FAma0Z4V_HsV9n_IjNKBJtB3CDI33hU1QuKqdFa6gbH-oRyOZ27UIGkVJxLrCyacB6-5gBVVqB1is-RlmEBpBOFrgWEevgV1Yw4sMERakTfAjYsDD9pVh0PT5KLyrmAqRmDbclDEcdZJuki7cLYrHeuEIoKHuA9BRM6HIawvPEtyKjRtlB-cWsG9PobDO8HYuot-tQKu3EOcqJIHgB24bxksJnNEYgTXhzizQ-iwu6tipivlq7E1xbqHb83lqg2brPpT-ZBSGtmdOR-vP1jCrwXHZVPwz3gqfzCzw-7lx60gpxtxGR0EcLWafTnwv-o10v9Fyl7N4bOH_Mm-isBw6fvDcsLVMyYZqMf59F8nn2zEVYMzujoP0m5qciUdDMxnnXUh7Lq87lCzH5gipuSRFfL--7LiS5SGO5v52S4UiPhy_qemIaDux5m-5E6EeHmIOAdwqU61MLOPhLWsGN4nvVx40_9WA8YlS2afCGdmJRB_ZJ7ZRaw2YtnEgEM8W_j9nGwsx9vfP-9UWNIRb08Kz1K5cPBWA-k3SFiYGjn-7SuW8nD6NxWneX1IzxMf5TWX2bMqGYc7cog0d2FuIIXDIlm3lHP7oz7tzrBk-LKvBjjgP3hnJmIm96Y1yIugcMyYaVgIdJyZhrRaYGwDUPLh2sA9n3vGkovvOdcQdYdL59Z4nwzuY8m2Q8EJwWH9g8UKrJfGAnMdMG1udz7Jvqr2l3P1O2vTRVxZA7YFEp30baXTYvBCW0g2FOaYEtUsD1qAqmU-ydpXjdet5amjkfJtUNCw1nTt94rhNu8jsXpzh1SRxTJ7yi_ZRKL_CRheNQVWQVjHSfZkhvn-A4WWtQG478x4OpWVSjo219PNNUqEBsqYW2_zbBINNwjmgz7Bfl38JeObFbNz-5sus9ZeID8PH6mHB8uYS2Xku1xXTXl38ybHmTiRvmpvWOrF9HuI4QwEmqlz0FFXoY81kVwJdts_xwsuKDF5sLUKc_GApOZAI6eobxSdMJRWwUWkaI_ZRRUQkAzOIwbH7y2lgrsODyK1gepXULdylSWTI6Sx69nryOlSKxIyEmFkg_V2DNIGwgEBKwB_hwLTpFtTEOwQPNTbWCow5vZcH_fzKtQ-9ZMBmP1mRcbOGX-nXxxn72cb6CvPlGq8YCwNV_8sZBZRNoOFIGpcrNeVYuCXtRqUpM6kqYJaaxAKk7qsx6r_-GvWPsnpaz1vpi8VFFYHbmDKY99Mv-6PUaFX_X20ERFRWANV-NAzSEaYZlfVUr5wnKjQA9Ipzb22VdZVVq4biNshQtfWiL3ZeC5BYhP42G-I3xo5SzSwmgXWLsaZw5RaAuSXqE6LgGUCnQHMxhc67ueQv8MXI1KN4Nhw30OwuG-G7sZDviKYJcsxatqCefzTKltAZcUlgrYg7fo0CKzhYNwFDB8-NKOr0H5lA8g58ErIijqUL8wRoYd-bHDOoGOMlZLEgXhs3TX9tOu0Shtn3bXL9VVWsm_NflQF6W23YHjLa0ZX1AUJ5iUp1nfYuFFFxX1suKCDTkc8pVUlR5MZbTWoEGFfVHGLrNQUnYEQJ85Vdf1MJBleDSLS5ljA-2WcyzLSakXKuTRmneYHEG-uxM57uPKOwmK8VvUawa8SbyZo0OQ6DyxjEvqqo72MLX31ACHd_PKYzKsDXnTVNKvEYGGkBdpirMg9PYTWPZ_ZQRlcjpYGzcHxayMSToKO9lHY2V95nbpjCc1j-3aYBvjUHO9UwM8RS6kLP4nytcAGOuuRzRhp-5yKUpDXsfHzGysiAHJEuUng84SxdvoadyZn6OU1_8ZOAqg21NbUxCF5kMwHk--3KoIuhnvpCLpopTnZXgJR_y66JFwTyFgvM1lmUavIFBiwffitzE_lgVRttap1Zf2SrL033SDBmbkbVhlZsIgvyJ3mJmsBQXDdK089rHh3cuwrDBwj3mZh3n72hq7XYcZP-Yf6dEiazVM6cAbnksLBLAyb4fqOGQeDhRPrKs46-DV8MBwPFewaYTx_nmRioUnp9jT7wxP6yovlnDaAJt8TSXFZhBnpDG7W42tNXg2Mje2je6ccSINuOao6sjbZQ9emnMr1rr7Fz4jdhvcg-x2zGgp_xxV0y3F6pVR1Z5FI7ZLDFTh4afpLQ02VTprm0oed-PmJoK0fStgrtvi1eD86tqTJ8eUQ3e6KdPI1tZjkAEpudYSW4FYdwpC04wkBlngI5TrhtCWv02LnyPqQMdmH8hn9sE4PrC3sSwr35dS7-sTWxGYqeiQxSV0TAJdT28actjrcGlCCBdzNMUTxHZzn8GUTlHvxPnheJsp1g9omt4A6eH2vKLalmfOTKNsoLojKbHRd7giom_6DcWWzpWA5YPJtTmrjMH7t_xRv0TrKO0PnYPDvXDtGcccqtKZ0qlg_Lkd-l4UPeM5N4WN8ek09WlTKEpq83qFjP4-MaXrXnfPrAdipWIj4PmteRVpjQNmgfP5MY8P2M6AesM5cjy73--na0Z86Nd4hYlx-6NbewNZVndC8ArrD0QxiDt80BIWrhJGjgRoJS8IQuMBiM39fK75mOHDkLpNAbE_NtI4J_HR7xVmhVo-IIMSRrpz5iSNDr1am1Lkdbd2RC1YnDQ7bjWqwEnmsd1fKcqdDYrdAT_RB-1RcnYEEC6goSgYzEqZ7Ruz9nRL4UjqSEfMbnth-bTyjx7PaZX4aIl4pvh-WJZerD7HPi_AoMn5dHY7R1yPT-qM6j1W2ghyBy5_8XnNVIvLZrPofw3FPNBE12GTehrO0Rx8dtyYdR81S_-Qw8N5VhnYE_bz0E7qfduZfA3TtPHUSafFdnK3YJQ3O5tTmeoQC2mYIev3uyzoq3WZal_PN6ZcOUvXvAL4NFZ4zqzmIwJ21Wk7knu1WfOD6AHFffyml1Z5xMoHbXpubTeBDRLjfJOuNGPp_dmom-hQxpPl93-mXrXw8OclOmH0qmqs9cwAVsz40fP78g65jRlIKpn-GdCVhDhBnkDizlsRUBb3tBpd-GeZSbXM5qyCUoiN-lJCOUj7H_o42guoQHUPXMV5Yxk3cokEezYG-thDYlefgjm3Z4QkwRk-Oim5r3T2CyimAlsVN3p41WSlxOr4TvNtOnDaft_kb2IUnwh74GP6FJARazAq_gmhy_DhLXWhnWAE-e7WaxcOllwyLi4nWSM0pU-1kfYAGFyK0CFGO8nUXChQhzo-D-2xTL5B3cxzCgKKwrpvgr4EPF5nwpVcogR5t0otTZwlokXxPWI4s7WL_kpOV0fepWv3bO1ka4Z_ygbb8ooC9OUeEq3Ryr597dRFd5a2s1Dso-RrI_KDaA51WGZaJtaRHdqnEPxfM0SDSGJMWOMyEgZwrbpYIbNi311yRdWn_DYXBVksS6BS9YB_nR-Q20eFX06x9YpqfhEwjP7MTLe2bmczWV9RkdQN_kA4f1iXkq7UUZJ6wipTQUSuf5yAO43c3MVuH1vSNwQauAS62DVWrvr-QxJkCXBYn4i3vvLSukVz8cRW3-rMEsUYwI6Qir544W9abW8TsxMQHCjc460sGQpQ9Vup5GInWzn7rJFuJhNVjK_KRBAQDSwOzyNHqy1qGtHGVgHnI5T_rLC2yorgciitv63ett1iZS5MSp5FI9lS_",
  "id": "rs_06fa3db698b58e6a016ab45dc0264887d08acd979055083cee",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtF3NmRoX2gLIkbtEHYQEHEdKUh8NFpIR8FbJwUcA2dqdJITnDRQvsiQyet5i-2JzoiYjnwHKlvqsuJ2R9j_KlPF8C4cNRpeBVaKoRjGU_a2197axuoZv8sVcbTxIc51O2AQfze3BlfWg0hw6wBS-I6auQvlgOZ9cFDI3GDSVlZDoVvVZqbhQ0MoTPoMv8wwwrTy7pYxklCXjMTja1V87hehRs75lanrpC-YUqXnRezcpCgXLOeOjVBukkdR6uuSUu8Jh-Hm91EWwMFJN_ODd2bqIzaef_Y-2zx0LFLI0RmKNHHS-oEgtRzmVEdfvzLkWBYjVaVK6yYVa2knu024e_-sSoik1XixwAxjAgKfr1_yALHirNi__YOmFSpYgnAaOWnIYw-PNkeOf1wlNrRDRLTO5K-MkwzEhvN3B2G-j-x0d7eLiip8Yc8j_TEbwPLACujFZnjjr4hZGtPQi7zGsQrCIKzjznQkxZ2P6RoOf0X-VFO7M6-VmintShKphFbb1zZRdjt4apVfk1AtOdPo6ssKfen6_1vuSEXluDm51vOJ2dyXYYZ4NlzOW33nZTiCW7wPdu54rITO_f1FEik0eDwRdJvqfSC6Syt1loZFWe8MBXRQJ11GsJ2i5weE_cLc3uPnjCnGMyuJ1HBaavZ_2D3pz4zB_Z5gjCm2y-x6QbWwlGXJ1_k2KM6UHkcHIvDvvuUvwAvItq-mKCscnuaUXDqrRk2vyE7EfRlAlO56CpEitMFF63hQRG-MG8Semm_qETLxxWjdiebp1uiaA5zcIirQ_eU3WhEDLioMx9gVr4ZLWu0s8rhPE30Fyikuarz0abp4iiFD1JwcWUZQ74PtcLWpNudBwycNnSsfAAwBmSfxRmyJOzuGHQXrPFUX9TADuGt3JW8e3-X5od8cWZivm5uHvA39dweKablL9BSxkGSDRgOLQUpCz4z1TmxWA8dKwadsg2PvrgvAmB9ReNqRfJ-E-uiio2K1myq7r4uQ9dxvKJLp88M1hSolVaoucmTZ4OTzb9ny3CQU6p1-0ZNZEvREtLw1JJfrVlRQlqdBWg5eVrNOmaNMNOXoVBfecBpa5YwUyEa9vT-tBbT4tChdUFntoYSKV4lsv5RfGZq2JVO-ppBY0xKiUYfCi1lhAm-0dmXKJQEcU0LbB15wV77JyEQjQyRHEXVmna3nWrApeaxHBUZabsNekXM16twrDa2kioFCYOB7Az8_ezJ3Lddx1TXUyx_nt2mp6tOxtVMyMbNTKICYF863qKu157RnHmwtquHJw_t7fD--LgZbFkMYG3HSHIxD81g7gZl8mICNP6bQo36bktx4e2Gf4GutE60EmXIhaYZlNu39GEepiungkHBtmIL2JoM-82yMD0_QkswTtgnEWiaNiAUlyoVmSDYkK1dGfWdddHknFw7228-xcNOaRYo8xxAoQiBqdAKt4siVuVhKbrQe5q5vAWwxTzzsRerCHdth30mUPyQNAmftSe0RDJsX9Uh1gAZorFxkhYB67PB-p_l3HRNjjJEEW9iRX_WnqSFASnqefousOjry_7USzWTm3KJtwub1PLFhxIVHAM9zMiAeBzuiB7V1ipz9fM2GxQ8bTGRj1lCpoS-9E4NrG6fARPGCl5_bZLsncsgSF7DOutv-ks4X456-U98xInvi5ubybiROCh620K2xKRKYHRDDvnxh5ZnCjX3ZiXbF-n7djg9lrDhJMa4IkEoJcZR3LefWKtNCIygJuJRTHY-9mkwnCN-ffqwH4w3TrPCSRVxfkS1vzD4wl-i3RNxCeqt2GJY_S7b5iIG8Gn0ky6hteId8g0nr1iV2QQnNcuXbMLChOelLWTiBIKV0uFonhhYetAArONo83RAb8moiwrRNjx_A6tnG5TL6aCIAao86PNVMZc3iIlZU-ZGFZZ1lXCzHWOIVmXL09Zz2NP4j8Q14HzWmhka4kRLdQC1arFheN5wEKYxuFhJyCu0HB0JvL7b2r0g5QhkAZAsBagTuDIWicBgg9ilT_D0OA_5ELocIUsVV69qWInrC-4PZbo3rqlm3mH7KnpjLhXSp0pkvSqRrjhA==",
  "id": "rs_06fa3db698b58e6a016ab45dc9166c87d0a835f96688fca71c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.155,\"left_z\":0.055,\"left_gripper\":1,\"right_x\":0.293,\"right_y\":0.004,\"right_z\":0.19},\"note\":\"The bottle did not stay with the gripper; it is still on the table, now aligned more directly forward. I’m reopening and returning lower, slightly to the right, to get the neck fully between the fingers.\"}",
  "call_id": "call_UXph56rChyKlHAs9NWgI3q2g",
  "id": "fc_06fa3db698b58e6a016ab45dcc56c487d0b65056a962396aa6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UXph56rChyKlHAs9NWgI3q2g",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.577, 1.7252, 0.7216, 0.2932, -0.4923, -0.3653, 0.9971, -0.0288, 0.7895, 0.6014, -0.4347, -0.057, -0.0647, 0.9998]\nstate[eef_state]: left_x=0.3945 left_y=-0.1529 left_z=0.0514 left_yaw=0.0131 left_pitch=-0.0512 left_roll=0.0279 left_gripper=0.9971 right_x=0.2866 right_y=0.0054 right_z=0.169 right_yaw=0.0289 right_pitch=-0.0493 right_roll=-0.0062 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -7.5692, 4.8068, 1.7411, -0.315, 0.0366, -0.0855, -0.8274, -0.6632, 10.947, 1.7607, -0.1441, 0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b41db6f948688525cfaf0ce7746b182f0cfce046afb95101ad37b15b40438ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9567420f1cc1bb58bfbe3de31250d17e94718a7133c4ba261f1e1158804959f2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89fb46ec3ce818ea40b78c8cd7c0736631bf5b375182d2f830d99383833d29f0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 13.04 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 38 changed as sent

message 46 changed as sent

message 51 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.242, 1.911, 0.7753, 0.6857, -0.247, -0.1825, 0.255, -0.0154, 0.7174, 0.4797, -0.3733, -0.0299, -0.0505, 0.9998]\nstate[eef_state]: left_x=0.4804 left_y=-0.0704 left_z=0.0592 left_yaw=0.0513 left_pitch=0.1259 left_roll=-0.0461 left_gripper=0.255 right_x=0.2756 right_y=0.0046 right_z=0.1449 right_yaw=0.0118 right_pitch=-0.0383 right_roll=-0.0109 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -7.0769, 4.8889, 0.8864, 0.149, 0.1832, 0.188, -0.841, -1.4701, 7.0496, 2.0195, -0.1832, -0.0024, -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]: [-0.3923, 1.3437, 1.1358, -0.4007, -0.3561, -0.2623, 0.2552, -0.0265, 0.7582, 0.5503, -0.4023, -0.0532, -0.0574, 0.9999]\nstate[eef_state]: left_x=0.4002 left_y=-0.0951 left_z=0.2428 left_yaw=0.0316 left_pitch=-0.004 left_roll=-0.0088 left_gripper=0.2552 right_x=0.2828 right_y=0.0055 right_z=0.1606 right_yaw=0.024 right_pitch=-0.037 right_roll=-0.0032 right_gripper=0.9999\nstate[joint_eff]: [-0.1709, -7.4325, 9.5248, 1.6972, -0.2711, 0.0366, -0.0073, -0.4855, -1.7162, 6.9949, 2.0342, -0.0855, 0.0171, -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 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.577, 1.7252, 0.7216, 0.2932, -0.4923, -0.3653, 0.9971, -0.0288, 0.7895, 0.6014, -0.4347, -0.057, -0.0647, 0.9998]\nstate[eef_state]: left_x=0.3945 left_y=-0.1529 left_z=0.0514 left_yaw=0.0131 left_pitch=-0.0512 left_roll=0.0279 left_gripper=0.9971 right_x=0.2866 right_y=0.0054 right_z=0.169 right_yaw=0.0289 right_pitch=-0.0493 right_roll=-0.0062 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -7.5692, 4.8068, 1.7411, -0.315, 0.0366, -0.0855, -0.8274, -0.6632, 10.947, 1.7607, -0.1441, 0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b41db6f948688525cfaf0ce7746b182f0cfce046afb95101ad37b15b40438ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9567420f1cc1bb58bfbe3de31250d17e94718a7133c4ba261f1e1158804959f2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89fb46ec3ce818ea40b78c8cd7c0736631bf5b375182d2f830d99383833d29f0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF3V_yI-n_IejRJR4LlEhlgWZq6jmTaENSQlWXYINQOzptad6sYiTgDEG9ptleR2_UCHl24JYXK06ZnvgqgTYBfpe7-3XCVmn-H7RLMbUGIV5ZSpNr8Ay8WU11ZHbNp-iAZ8neAAEPABVUKe4dOPYX6TAdrpd7Lz8g3qpkgSQ9xs7MqLXbauO0qJlmZdfU4bU0T-qqbW_4BPx2YdIjtka3-0Hp5UYhBuQlM8AbNyRp1KUAyIoWwKMbzW7CghAtsGJMtTxzB4LznfZ9CPX7X5eIzWjE1uHGb9cAiia1k4nw5bkOtc0zkedOMa6mfeukmVtaYTwDWdplIyi9LCyJ9djH7qSJnzjn2StqaJx8c5RBGikv5j6MhiMFqjGONeZXJvI5Gt655zoVMuryprdBfPoullk8Rl3id6gzb8_YiYK2lvz828D3Goefi-rTZOzu5yfVBuRMRjqc0g7rc5aVjvhwq0MUqNRdYvfxbIWxCtFZoWXIE5mFkNC5rwW2d6jxTgSoA-OtdQHSVWGHgcfGLTBuIO96YuIlie-IkE4QPITxIjvPCsM5A1jiQv7pEO7jFibAUDo4nBgrCBW7Xn3UnDfyRmYpf5g8N-jHqYkGo-FIJZ7ZiwsV1LHZJZOrHe4rfjR1-hIZg9p15bRl25H9npbsHVtpsFGTurxG-IPzPpKeSymwl3d1ArvjUPfSrFITDshuUCBSj5BudlO1jbErmymZmBbCVngVcFN4RcHdLI9Hw2VqJEhLK-sg_Y8nkVi6rzHn84vvjtdYfLDEQRJRrltO-zyIcyliVQ19XZP4ct_ldDaVo2T1WDYvE6zaTv-5n6dUb-zBpa3uwJBoleqnsAGrKo83aRMf1Wj6UQYXyWg3UJAEXZokejZyzr4PXNlkqNsbwNLlaJqK692x0H5H-parlycCbMBs3aQJo3BZlvlWwXvQEsoQX6unBZHBXrpqwQ5Axs55iNTSkK9VBWMP4P4817lDzHXcMgqqjSHLv9vuCWCnxGsRKy_DkNehNdD6J0AwgakX16YDjK62de2yGeCJETujYbboXEyJ-J8NHDnMMCBGx-tQN4DJfW773bvjzV0NlxTlAqTM2uI2dJ2nu7vSrUa1E7lEuCDVKiUqlcXUqi2_SkzLQBsBs8GDYU83DbtMsYMQe0cG2XtS1UglbQ3V7HZhfWlIdiQT0DOETltq3n2ws4vXhMpwZw0wkNub6hc-m3DVVm8par7qYWW27W1cfMDC1CVL9YWPc2jmJqyyE4wqAvJ8KIiNoYHRoUtQv3kcRVmJ741rfMcWHXMZOWL7ZDc37zz6gpoURZZ8sb3bBFSRkQ5rxR4JPc8K53Z1YMTV6P3gGia_b9-hJEUyuKHpv4RuuVrLo5dqoiqz5EUZsHL66lt1WQrBtvaE5us-3SKPRWq2eOwo6M1zvnSzXOiVQ0uru2b4OSbwO2ebJkRkJRT6u78qJmOeQu6FQa25E7uNMhqW3yuhhGK8HZrHkRsl55nGrSadSuv-QNt_2n3ZZBsRbCx8-63-CZhxjcpZRNK7hp6nBZeKpEFWn4xUij0sgFeJlJcXHsnRqSQsWhjUQZlcBfYHnb8Uqsu-Q_j5n8TH-D4IN_I23PNyMwFRF5XuRrLJNYx0bzgcFfnNxEfEdS5FcwNgfMn2gZHWpqQWc_xFTvWwuAQolKtxGOLUGgG6_ySWBZFpaCICh-aCeFoS1Irb4cGNiEfMn35aTHX-WbsqtCN9IjHX2btQEnjY-fz8mdIxUlFTpRHN8_m-JOWFwrgEAv8F8GMW4YiqeOrvamLa2gckbpbWKQ_nyDzUjUaQjJogl3fRFSfttGBnJv9gviALxSxd41hgezxwMF5YIUr53XjIKrdQJxRz-6EeL_9g0KhIaFtv-MrmsEn1FtH_6YUZvt_rs0SPV0oVuOkMpuOGoz",
  "id": "rs_06fa3db698b58e6a016ab45dd0a27c87d0a4c677d8524e6c57",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.465,\"left_y\":-0.12,\"left_z\":0.025},\"note\":\"The open finger nudged the bottle forward, and its upper body is now ahead and left of the gripper. I’m shifting over that upper body at table level so the next close captures the bottle rather than passing beside it.\"}",
  "call_id": "call_Btw6Ap2yE5EDp1i9nq5wzsH6",
  "id": "fc_06fa3db698b58e6a016ab45dd362d487d0b611e3d6fb47231b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Btw6Ap2yE5EDp1i9nq5wzsH6",
  "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]: [-0.3923, 1.9545, 0.7929, 0.4881, -0.3782, -0.2787, 0.9974, -0.0341, 0.7605, 0.5522, -0.4191, -0.057, -0.0647, 0.9998]\nstate[eef_state]: left_x=0.4463 left_y=-0.1102 left_z=0.01 left_yaw=0.0593 left_pitch=-0.057 left_roll=0.0171 left_gripper=0.9974 right_x=0.2808 right_y=0.0041 right_z=0.1575 right_yaw=0.0236 right_pitch=-0.0539 right_roll=-0.006 right_gripper=0.9998\nstate[joint_eff]: [0.1709, -8.6632, 7.4325, 1.956, -0.1245, 0.3297, 0.0317, -0.212, -1.5658, 7.2547, 2.1221, -0.1832, 0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b74a3c9e49593f4a2a467d620e9069afb0ada8013288c87806c9cc68914900c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8ff96ad47b072adeab3ad738a2f08600dc803ad7ea947d2853f8954d4eff4a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96676b371ad29c301d164185aedc6cd1c3608225508eef4dea4ffd40f346a6ae",
      "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 14 attempt 0 · /responses · status 200 · 12.94 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 42 changed as sent

message 51 changed as sent

message 55 changed as sent

message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.268, 1.5986, 0.9009, 0.2558, -0.2703, -0.1875, 0.2552, -0.0216, 0.7856, 0.5976, -0.4324, -0.0383, -0.057, 0.9998]\nstate[eef_state]: left_x=0.4677 left_y=-0.0758 left_z=0.1619 left_yaw=0.0481 left_pitch=0.1365 left_roll=-0.0434 left_gripper=0.2552 right_x=0.2862 right_y=0.0042 right_z=0.1686 right_yaw=0.0163 right_pitch=-0.0476 right_roll=-0.011 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -5.6, 7.1043, 1.4628, -0.1343, -0.0611, 0.0122, -0.3761, -0.7726, 9.9624, 1.7656, -0.1441, 0.0952, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.577, 1.7252, 0.7216, 0.2932, -0.4923, -0.3653, 0.9971, -0.0288, 0.7895, 0.6014, -0.4347, -0.057, -0.0647, 0.9998]\nstate[eef_state]: left_x=0.3945 left_y=-0.1529 left_z=0.0514 left_yaw=0.0131 left_pitch=-0.0512 left_roll=0.0279 left_gripper=0.9971 right_x=0.2866 right_y=0.0054 right_z=0.169 right_yaw=0.0289 right_pitch=-0.0493 right_roll=-0.0062 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -7.5692, 4.8068, 1.7411, -0.315, 0.0366, -0.0855, -0.8274, -0.6632, 10.947, 1.7607, -0.1441, 0.0562, -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 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3923, 1.9545, 0.7929, 0.4881, -0.3782, -0.2787, 0.9974, -0.0341, 0.7605, 0.5522, -0.4191, -0.057, -0.0647, 0.9998]\nstate[eef_state]: left_x=0.4463 left_y=-0.1102 left_z=0.01 left_yaw=0.0593 left_pitch=-0.057 left_roll=0.0171 left_gripper=0.9974 right_x=0.2808 right_y=0.0041 right_z=0.1575 right_yaw=0.0236 right_pitch=-0.0539 right_roll=-0.006 right_gripper=0.9998\nstate[joint_eff]: [0.1709, -8.6632, 7.4325, 1.956, -0.1245, 0.3297, 0.0317, -0.212, -1.5658, 7.2547, 2.1221, -0.1832, 0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b74a3c9e49593f4a2a467d620e9069afb0ada8013288c87806c9cc68914900c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8ff96ad47b072adeab3ad738a2f08600dc803ad7ea947d2853f8954d4eff4a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96676b371ad29c301d164185aedc6cd1c3608225508eef4dea4ffd40f346a6ae",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtF3iF_g5796JK3o4adViz0lg8vy9qppgxcqkSG7B9V4xMF4nUnYnRp-S6g76BBDOEvlKdlNdgKA2YST1LHz2kJxBx2bEUnc5YO4c7XTMHCEsqnzOmWMUnENYDsTh6KFFipvAwabfKn_ehmLf_YsvzXV-RvHChyp5DG1RcP-f0Yx_PpxoB-8Kv5btI5be-V019yY_0fOo2TAhV3eI6x7qgemMj0IlrRFAHaQHBB-g-qxrB8cSb7QItzgyNdIJLbhv_JwAPI0SG7EC4Wju82o0n-IP2UawFXYU9jmOfqqokysyt8TB6UnsuxMtRrx90wcJ_y3MJP2hXLiPbcjaDHwjNSW-BDi2TJPIM-6mllEBQMKu9289SND7gA0E0B-XZuG5EsQOhjG0Y6xbRxbmkBed_pdWsuXlUqc2r4lQ3JaL9SlOV3dDqGMtvltEm_hzDMYu6t2B8zXDujJNp39SDtNoF2zw9RftM3ooADM7r0h2Zueheh4EHyJ1tUUd-ULjKbOh_GpxffBHx5ME_70C3-97_Fic-yD5K6tVCfnG1UMFjU-t-JNw-BUcEPjL04xr7ijlcz95g-jXKhDHzCKMqm5Awu0laMLm_3Ew9yd5C5xcKlmrclFYzOP2XVUrQsFHwm9Bm0AQzikKOdq6cNSCw7n2urBV0lv8qXQK7_sUxc_rRLnd2yHY4hQQfVbBZt-CT4EEmtdUlh-UPSAnb04XNbUPPzbSQY7F8WfEIWzi4uc4hcEjA-HO-fqMnHmFIqO1kWs8kUMxMsujmT2HITldB1jf4Q3M-3Hit4c7D_4d2vfdapc0Yli4aTNgKHf3D5KtwcdDN5ubpwpXqmVzziAESmNkYW49W9_5ePzS97H8mBTk9EDEk10c3xGniIs2hFFIBLmjW2Vj84nOxzd796X6-4BEI1U8GXcjaenbaf3YNYGBatFW29zdDJzc-j3cz5JSXl996zM6dJouqxGdc9z7lTcZaqsMAlVZCbTwy_0pmB6m21ylZwd0AtFjhjETgxOTY1rLaHRqPuzu_7gI1pmTZ-BZ60fDuyjwtRXtra8XPzmTl2RR90kkvdc8GU4sX1HKr_1JNbNh3qWUYJletiNJTm0VRMaJebzOVRJUoRAWI1lr94hCGvq9j_ZturbQqcFleUZJ0mm1RO7yGX1kc4BymNcslLD2reFUl_k0bAzzR0JnI6l87vl1Jo79ouLysJU-fDqx-xc9zyc5mCa3h912YYnTw6l-NI6luZpzHtHvET61MsZx276l3weK323QXJppEg1eBe67esY_x9hrW-W0uPKsYAipQqZxYXZvNQNtpHdMSH-ho9jhZ00YPoBGkghKMwpsBz9JNkP_PE-CwD4oPqjKm783TZT43QtWUkrpUKSsEkw88L7YdeGj_Q4ISFFW07sbCQvuVXpSy-k3Ogprx_TL55PlpCLO_9nQmlAFRwnKTbHBuXOad1nx-vGWVTabyqEbVsfDRwfvZX_yEHNv8zzZMlhhd7eipeTZbYEr84WKIACpqoeis9yBUMM-Os_0LuZDaVlGo52ccDsR7RBIfjHhu1cd_l2Sf5jfsB-bCTNgHyZueNuB3Y4flWwWrHnnloMQb6do-UwxoPCJovhASOxlZwnudElU0ngy0PoRnuJI5fY-YmYObB8bY1aS5B8eimh4EWrei58T5DNpaeqRQ4_VFmmGU6fJKpJ6kbWpRgqBMu1kpygSwrPa_v4sl7eNxL2hZNttFVpZS4gSAFqcIhvLDVUR0IG1WrHh60a-3M4YxaEi9pC2a4LSa9-JX9laUhzogLAFxGgzvQa1-rdJ1kvYW-d6Xo3x3QVY3AiqR5ntoSKSDLjo4O8-2U_Bb4VHp30XiUT_ULEP83qct9NONXz5EAmWrnktwI2Mq4UWpfpDQpePXdxV1KhMSEBQjt9S6fDvcxPRAwBjVmXP0no26JVeUGvnidK3ih--vwpM6Y44HfRXH0z1Rfvz5fx3SMsP7ew0wma58AkcUFuiH_yy0XRRrrQqsNqar1hbrzfSyWmYZuW6SLWs2uvWoqkqSF3rL_0BtKf8tUMf4cw3euggRnF11OetPt9v_dM6DyKDC9IaRo_BT0IwTDMOwFvotMSEtj6z1cYKM79ZaEUYHHVrsDSbcLPc7KlcNhSZzqm2cem40UgD-gAVdxyGsXKuwRsHQlh15nNH4GtPgTbhTUBiI45GnrRpAx7OH2eB6-kadWTq6tYL0GOPrSPi2pXlYtqbo0QPrkmNvE__lPvg4ByFWrOixijwQrpX-JBFK5diTuDcsH-QRDQMRaJofPswQrWsAIg_ooesKAyZ41a9fKXhWvDQMa5Xg3Zr0-_oIusxPku4Z8CWnqUq8brRslWdxm_Ir-BLZdMp1S9TC_jaEdXk3xFH5ZjGQn6RZoiNZVuLMxb1W2jkqKJw2SrIbVdxlQUZA4Zj6z40QX__xiIbUEqehASmRjQiRa7ItigKOgxqXXJiU32H9s8lM_vQ5TJI7PzomDOw7kHip6-mKUS8k6o68svGb6-YM6W7qRPk4WQtjNXuHzSoper5NN2OXSk6dx1coflFMQebzau7fhuG4Gp-bNhOMnNEVwHYQtMquAK4EQPN5M3YlmILH3m1dCX5Xp1AZ3VOqGKmBshdscYy-NSxyH_2B9PGSkScO-F9zKxZQT9TqwypNjADwhd_T7RVKRI61eQ2-yusXWGOHGSH2plqUU49PQCzrul-kXTzh3Rc5O9VFEvCGnWmmNZhIxielEwnkn_NoxRh6ef37pzAQlcKRINW3GJZ6hzR1oCEIhOYIxpUKm23Ye6MWHtM3t3VP61WFXH-4hF4l3Cm-A-MeLTMQvq_zLU3ZTAvxscDGCaC3aiSQTw7CKxpEbrHeIY98shE4aeUCMgB6hwPHM0IRkgcyvbNpmzJMFkgEG2KXNOEBhDzlxpOuZEgOf4MdXDl6HChdBd6kReUwhH1oibb2h2stzeKSZ6Pc8ayn5TAH3ASb206HRBupwZZaEYUpjTGZCCVS0jyFoTOnePuRtqjrCsi-7kQfw3xYiWXr1_M5ZzOFNpfZkSz_dskSKgiLMIkkVDpGbYNSr9LEtka_RovBnGMHV__ykoFbq5X4XyeBHitJLP6UVmPksug-PzWXIe9RZXsaYUQaWByPiyB-hw2h4MtwsIUrG6vGkRXeZiRPuIlQUochp8nb4wuNZdJyXhHqkQQMsAcaoWJz1z2FrlIwstd3MZ1U92JTtJH0HhQjuOqs0DZeDO-u6PwAX9GPFBM0i2GGDU-CrjuFrfXanhrfvQ1iCjfdwrNXryxkDTyk5ley7aS0wEQHhBWepsoWjHFytBhmR5QBRU7vCKV-9CQYBrLnK69NI4x0XW9EszUpUBGgtl1YD0KhFqe7bHPzXuFvUqzO0db2Y_V06kXEmQeIW4By0IHmzq62Q==",
  "id": "rs_06fa3db698b58e6a016ab45dd7bc7887d0aa85bea94a05ff95",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.475,\"left_y\":-0.035,\"left_z\":0.09},\"note\":\"The bottle slid left during the approach, so it is no longer between the fingers. I’m lifting clear and moving over its new neck position before descending vertically.\"}",
  "call_id": "call_JNBKB63B8FIgtmqqPCsff7dQ",
  "id": "fc_06fa3db698b58e6a016ab45de00c2887d0aa20a45faca54c84",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JNBKB63B8FIgtmqqPCsff7dQ",
  "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]: [-0.1612, 1.7927, 0.8379, 0.347, -0.2234, -0.1703, 0.9975, -0.0341, 0.7261, 0.5018, -0.3935, -0.0566, -0.065, 0.9998]\nstate[eef_state]: left_x=0.4685 left_y=-0.0329 left_z=0.066 left_yaw=0.1036 left_pitch=-0.0291 left_roll=-0.0035 left_gripper=0.9975 right_x=0.2761 right_y=0.0042 right_z=0.1487 right_yaw=0.0234 right_pitch=-0.0444 right_roll=-0.0071 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -11.4393, 7.8154, 1.6972, 0.149, 0.2173, -0.0073, -0.8137, -1.4291, 6.7624, 2.1172, -0.1197, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abb7b57c79c8a754a6b8c2e82d28f3e54ae92195abf4cdefe7797b714eb2ff70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21a415cc8bedf52b83a7442348061f5e251df05515821e8fdb853ab416855a3c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e02fa1f2b29ba1c0db2ef8e637a1b384fffd568b86ae2f59fae16ecf2de54715",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 15 attempt 0 · /responses · status 200 · 7.049 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 46 changed as sent

message 55 changed as sent

message 59 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3923, 1.3437, 1.1358, -0.4007, -0.3561, -0.2623, 0.2552, -0.0265, 0.7582, 0.5503, -0.4023, -0.0532, -0.0574, 0.9999]\nstate[eef_state]: left_x=0.4002 left_y=-0.0951 left_z=0.2428 left_yaw=0.0316 left_pitch=-0.004 left_roll=-0.0088 left_gripper=0.2552 right_x=0.2828 right_y=0.0055 right_z=0.1606 right_yaw=0.024 right_pitch=-0.037 right_roll=-0.0032 right_gripper=0.9999\nstate[joint_eff]: [-0.1709, -7.4325, 9.5248, 1.6972, -0.2711, 0.0366, -0.0073, -0.4855, -1.7162, 6.9949, 2.0342, -0.0855, 0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3923, 1.9545, 0.7929, 0.4881, -0.3782, -0.2787, 0.9974, -0.0341, 0.7605, 0.5522, -0.4191, -0.057, -0.0647, 0.9998]\nstate[eef_state]: left_x=0.4463 left_y=-0.1102 left_z=0.01 left_yaw=0.0593 left_pitch=-0.057 left_roll=0.0171 left_gripper=0.9974 right_x=0.2808 right_y=0.0041 right_z=0.1575 right_yaw=0.0236 right_pitch=-0.0539 right_roll=-0.006 right_gripper=0.9998\nstate[joint_eff]: [0.1709, -8.6632, 7.4325, 1.956, -0.1245, 0.3297, 0.0317, -0.212, -1.5658, 7.2547, 2.1221, -0.1832, 0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1612, 1.7927, 0.8379, 0.347, -0.2234, -0.1703, 0.9975, -0.0341, 0.7261, 0.5018, -0.3935, -0.0566, -0.065, 0.9998]\nstate[eef_state]: left_x=0.4685 left_y=-0.0329 left_z=0.066 left_yaw=0.1036 left_pitch=-0.0291 left_roll=-0.0035 left_gripper=0.9975 right_x=0.2761 right_y=0.0042 right_z=0.1487 right_yaw=0.0234 right_pitch=-0.0444 right_roll=-0.0071 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -11.4393, 7.8154, 1.6972, 0.149, 0.2173, -0.0073, -0.8137, -1.4291, 6.7624, 2.1172, -0.1197, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abb7b57c79c8a754a6b8c2e82d28f3e54ae92195abf4cdefe7797b714eb2ff70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21a415cc8bedf52b83a7442348061f5e251df05515821e8fdb853ab416855a3c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e02fa1f2b29ba1c0db2ef8e637a1b384fffd568b86ae2f59fae16ecf2de54715",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
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  "id": "rs_06fa3db698b58e6a016ab45de5036c87d085a282724d92dccf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":0.04,\"left_z\":0.13,\"left_gripper\":0.7},\"note\":\"The bottle is close to the left edge, and I need to avoid pushing it farther. I’m raising the fingers and moving over its cap from above, with a smaller opening for a controlled neck grasp.\"}",
  "call_id": "call_r9IgLRstq2cofvkVbEW7eXis",
  "id": "fc_06fa3db698b58e6a016ab45dedad8487d0ad3a1ec7952bd940",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_r9IgLRstq2cofvkVbEW7eXis",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0555, 1.523, 0.7769, 0.1864, -0.078, -0.0731, 0.7021, -0.0341, 0.6991, 0.4599, -0.3729, -0.0574, -0.0647, 0.9999]\nstate[eef_state]: left_x=0.4352 left_y=0.0416 left_z=0.1229 left_yaw=0.146 left_pitch=0.0037 left_roll=-0.0091 left_gripper=0.7021 right_x=0.2723 right_y=0.0044 right_z=0.1407 right_yaw=0.0238 right_pitch=-0.0387 right_roll=-0.0066 right_gripper=0.9999\nstate[joint_eff]: [0.212, -8.3761, 6.5436, 1.8437, 0.1734, 0.2466, 0.0122, -0.8957, -1.3197, 6.9402, 2.0635, -0.1538, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcd285d361cae6421f0f46d96ae2c7edead0ad302b1a89c712ae3a9bac97dcac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d81bfd69ded6880cd81ea0b0eb0e81655c31736184d4bda294312d7cf50f4120",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c38d6b6319cf7d7369bc5070c8b4c9d43e8e02b22b4b57c3467c6827ffb9557",
      "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 · 4.512 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.577, 1.7252, 0.7216, 0.2932, -0.4923, -0.3653, 0.9971, -0.0288, 0.7895, 0.6014, -0.4347, -0.057, -0.0647, 0.9998]\nstate[eef_state]: left_x=0.3945 left_y=-0.1529 left_z=0.0514 left_yaw=0.0131 left_pitch=-0.0512 left_roll=0.0279 left_gripper=0.9971 right_x=0.2866 right_y=0.0054 right_z=0.169 right_yaw=0.0289 right_pitch=-0.0493 right_roll=-0.0062 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -7.5692, 4.8068, 1.7411, -0.315, 0.0366, -0.0855, -0.8274, -0.6632, 10.947, 1.7607, -0.1441, 0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1612, 1.7927, 0.8379, 0.347, -0.2234, -0.1703, 0.9975, -0.0341, 0.7261, 0.5018, -0.3935, -0.0566, -0.065, 0.9998]\nstate[eef_state]: left_x=0.4685 left_y=-0.0329 left_z=0.066 left_yaw=0.1036 left_pitch=-0.0291 left_roll=-0.0035 left_gripper=0.9975 right_x=0.2761 right_y=0.0042 right_z=0.1487 right_yaw=0.0234 right_pitch=-0.0444 right_roll=-0.0071 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -11.4393, 7.8154, 1.6972, 0.149, 0.2173, -0.0073, -0.8137, -1.4291, 6.7624, 2.1172, -0.1197, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0555, 1.523, 0.7769, 0.1864, -0.078, -0.0731, 0.7021, -0.0341, 0.6991, 0.4599, -0.3729, -0.0574, -0.0647, 0.9999]\nstate[eef_state]: left_x=0.4352 left_y=0.0416 left_z=0.1229 left_yaw=0.146 left_pitch=0.0037 left_roll=-0.0091 left_gripper=0.7021 right_x=0.2723 right_y=0.0044 right_z=0.1407 right_yaw=0.0238 right_pitch=-0.0387 right_roll=-0.0066 right_gripper=0.9999\nstate[joint_eff]: [0.212, -8.3761, 6.5436, 1.8437, 0.1734, 0.2466, 0.0122, -0.8957, -1.3197, 6.9402, 2.0635, -0.1538, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcd285d361cae6421f0f46d96ae2c7edead0ad302b1a89c712ae3a9bac97dcac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d81bfd69ded6880cd81ea0b0eb0e81655c31736184d4bda294312d7cf50f4120",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c38d6b6319cf7d7369bc5070c8b4c9d43e8e02b22b4b57c3467c6827ffb9557",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtF34jM1QaEBAS8hH-tGrnCmPwzzj7GDJy4HW_LgI2FKB2ITXWgOCBolKniRLdgnAs6nlj7BY9DK_50AvhQstqyRvrThzhPx3W8iBD4clOX6MdEYWy7JuE5X4F_lPyyEbxtggiN5BLvmPSLxXJFA3oOpcOxPFY6srUwrXR0Bhi7Z9P_I-xGCw28WsiCQisArFDrTdvJRKBmQQsP95QWL3h7mBB2hp2dUEM5-B9fycwhXhmk1PpYZzamfG6Lia8t1spPt_5ZJSfSVetDl4XfILtyZKEoK4Ye-27vA6AfEmQoG-q8nSoGEqDrCjOnmznypJhTg5sBQtq6YKDWxJgVo2Xy_SqVf0VLG0C--mVmo65n8dkbAz-iIzbX568wjq45K4A0jrOjCA5RrlUEbtyi5wG6AnCtNgnzknxN6TeiyjUNSC6F_sURA8X2lOoEVx9l1B3_Vit6SAxL3hJKzpEKJyamHZbVX1XvIedQVxCCoPxarzCYzOEszccuoSEETDBQg6S3MeoQWBZbSNAR4DomdyCPTSqL76xRTovKdjicdEU4OhmPWrBTN-7Z_hs1Ev0jSQg4p2r1Kdz8vtvRQkqyq-wqX3b2J3xJtQuKJ-IzRnSicpXgzxlSWCiMUXeEcT-E3avZkaptDGWJhbZSSOTSWWwzKW2WWhsDVrfXCTGI227PgwF7pBoLn5J08pOI7RSssogfavL0wPjhMyVEy5Hy2eDoIzWQhMoP5InvbzKX21MZv5dPH38FOcXX5b_0Q792UgDBEjtupBulENydQT_TKfV_fHwQuxkrBT63dvfa8mJ5sV__GaHmcrO64E9zC9mFF67cPI8F3xhoGBoHu66_IO4tOyWTdO1rbAi2p68ZJ1No8MK6sdiqxA3IvzT2pqW5ApqenQlZRs1OE3Z8RnUlZig3I7l_ZJxCf2K2yAwsZDvKMp6OAF63kqVPr0L6G6gAHFx76SjCKMeNYb15EHIPv8aM0OF4yovWAP-IZrzlBmBgVTUEPclhJf45c7h2UBTr0jqFIfMEdbxJ3odWHhW416PYvl0Ox7M0vfLptSWaZdu6xdgr4wfXhTNgb8JQRiBguzHVtCAM9pUjVF5qcN4NFEpSkc2Fcui84py5RCuQgG4_9QilYUg0BKpjsCXAIPmIPboHrZxYJCeeU8E5kDd4SBJf71W-7z4pN0WGYRVc8BR-_FPuIwG96ou0Pgb3RXE-yjjZFjvzMj1NXFxfK5jwQjqNzC4hip074N_8PelLcvJl3aW6uidQGU4zcWpwZU3NkEMj9re4OTC8cjpeKFQfwHhMKyebC8STfGGqC-Fd6lm7t6u9gXr7qc5wmO6SkLc-sR-pXSKBSmZsNnIPXrfskZzIk5MRXKcBHfHDQTbLREGlGO6KgFYqbSGssTpG1yrJ_8UyAMeCWbh4nvYTqhHJnhxKaxrTNO8J0fA6ASo-qdWi1ltdaEgNxQSq95-zvbFzjKCj1BPPhtgGP_l-GhvFWxC5ZqCoPNo3flXvuloxcicpWYTPTm0MbZK8CNHfC3wfHb7NOag0f8mYW703rPX6wU4GwreVYr82VsL5lRCxYfD3fMwoWkinas_BaSedbf8CyihMwgy8tR6aNkiCimodquOXQm8Wmmqy0xTw9ljc6vLLPiak1Mcc6WK6qYGSkH2wDDZJBSYu-LSODpUPXETKNH7FWCGGPC3MnhHPK_wDB6EjkCAw3nOx7_AqJPvjiCoAnqnCVYABVBoTZyqvvBW9GdGnYuUM32Nckf5uGgyNrl9QDPJglQXXWj-5a8ZulKOArxdCjH-7wvGDBdYpGkAVO3tQod1TkD3oIvBBiUFwxtRdPCtiSRgM8sMgEo0eTmUvl6WzvtqUyTu0Dx22PG0AovhetZCtETLJwqm5NrDUWdB9EQ9K_dQcj2xpjvwATVWIeD34T4uFSQV4APs3NV0mEOIoCG7rqi1uFeZ3Mex6U6gIBsxHAjN7sl_5q9pvKgB-XXfGrfjlRcvg1uye9Iah4OyhnX4-tfMwh6r6yhdENOeKe6DjQg9OaebwiaUE8t3_vXDjX3_OWz-dSopUaSsJkX-TxY0Fed9Kn-6LhW5DXZzc8kbIeaD2N9E139ZrQYb3TF4QiECho7REf1rAjKuKVC8LwIS2mMgpCh3AYyKaMmq8w9ZofJQhwKJxyq5S-fmS5pE1i3ixu_96sQEdr9PIFnprdtxjZNHB8iEXoX4taVsJNrlyutkeD6Li1dfEN8IXbUu4rxPJXEuL6nFLCJMc5BxRBRTV6UVp0XrR4DkIiuZtMyBbQ=",
  "id": "rs_06fa3db698b58e6a016ab45df2caa887d0bea85eeb6cfc8827",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.296,\"left_y\":0.002,\"left_z\":0.2,\"left_gripper\":1,\"right_x\":0.293,\"right_y\":0.004,\"right_z\":0.2},\"note\":\"The left bottle has slid against the outer fence, beyond where I can centre this gripper within its lateral limit. I’m withdrawing both arms to a clear parked position rather than risking another push at the edge.\"}",
  "call_id": "call_bycO3btxWtUVuSjx5ZLO5JBX",
  "id": "fc_06fa3db698b58e6a016ab45df6942487d0b63656fe57952fd7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bycO3btxWtUVuSjx5ZLO5JBX",
  "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]: [-0.1528, 0.8467, 0.6674, -0.3717, -0.2306, -0.1658, 0.9978, -0.0341, 0.7929, 0.6411, -0.4744, -0.0574, -0.0654, 0.9998]\nstate[eef_state]: left_x=0.3064 left_y=-0.0027 left_z=0.1985 left_yaw=0.1156 left_pitch=0.0267 left_roll=-0.0107 left_gripper=0.9978 right_x=0.2861 right_y=0.004 right_z=0.1781 right_yaw=0.0243 right_pitch=-0.0527 right_roll=-0.0064 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -1.4838, 9.1419, 1.8388, -0.2955, -0.1148, -0.1538, -0.6632, -0.6222, 10.0581, 1.9609, -0.1587, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f32c682b083290df79711edf3825573b56ca699196af329cbc6992d20929c59",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a230affc732ae7dea8daada39db0a6a37b96283f76a3c928046651d3b40194d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1fd5e23d8e5be8d1bd7cc6973e9921efadce0e352321faac4ff35a10bd415db",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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