adhoc

completed
2026-09-24T00:48:54.420442+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
149.7 s
total steps
179
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. I’m positioning the left gripper over the nearest bottle’s neck so I can lift its capped end while its base stays on the table.
move_to
left_x0.3950left_y-0.1750left_z0.1300left_gripper1.0000right_x0.2940right_y0.0040right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7944, 0.6094, -0.3767, -0.0196, -0.0288, 0.9989, -0.0154, 0.7898, 0.6037, -0.3866, -0.0261, -0.0345, 0.9991] state[eef_state]: left_x=0.2959 left_y=0.0011 left_z=0.183 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9989 right_x=0.2936 right_y=0.0037 right_z=0.1796 right_yaw=0.0 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [-0.6222, -1.5658, 9.7846, 1.7509, -0.0464, 0.0904, -0.1294, -0.9231, -1.2786, 10.441, 1.9023, 0.0073, 0.1978, -0.1099] 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":0.395,"left_y":-0.175,"left_z":0.13,"left_gripper":1,"right_x":0.294,"right_y":0.004,"right_z":0.20},"note":"All three bottles are lying on their sides. I’m positioning the left gripper over the nearest bottle’s neck so I can lift its capped end while its base stays on the table."})
tool
executing move_to over 16 steps (1.6s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteThe nearest bottle’s neck is left of the jaw center in the wrist view. I’m shifting left and forward, lowering toward the neck, and aligning the jaws across it.
move_to
left_x0.4350left_y-0.1250left_z0.0550left_yaw-0.4000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6239, 1.5513, 0.841, -0.0135, -0.5018, -0.3843, 0.9989, -0.0143, 0.7986, 0.6502, -0.4782, -0.028, -0.0391, 0.999] state[eef_state]: left_x=0.3832 left_y=-0.1667 left_z=0.1129 left_yaw=-0.0132 left_pitch=-0.0582 left_roll=0.0276 left_gripper=0.9989 right_x=0.287 right_y=0.0044 right_z=0.1798 right_yaw=0.0053 right_pitch=-0.0545 right_roll=-0.0018 right_gripper=0.999 state[joint_eff]: [-0.4991, -7.1316, 8.5812, 1.6435, -0.2759, 0.1197, -0.1245, -0.253, -0.9778, 10.4821, 1.956, 0.0122, 0.0024, -0.0171] camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.435,"left_y":-0.125,"left_z":0.055,"left_yaw":-0.4},"note":"The nearest bottle’s neck is left of the jaw center in the wrist view. I’m shifting left and forward, lowering toward the neck, and aligning the jaws across it."})
tool
executing move_to over 4 steps (0.4s)
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 and narrow neck are now close to the fingertips, but still slightly left of center. I’m making a small alignment correction before pinching the neck.
move_to
left_x0.4470left_y-0.0850left_z0.0270left_yaw0.3500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2615, 1.7359, 0.709, 0.4137, -0.0536, -0.0883, 0.9985, -0.0135, 0.7647, 0.5964, -0.4473, -0.0292, -0.0387, 0.999] state[eef_state]: left_x=0.4315 left_y=-0.102 left_z=0.0521 left_yaw=-0.181 left_pitch=-0.0508 left_roll=-0.0282 left_gripper=0.9985 right_x=0.2827 right_y=0.0049 right_z=0.1706 right_yaw=0.0068 right_pitch=-0.0434 right_roll=-0.001 right_gripper=0.999 state[joint_eff]: [0.0342, -6.4342, 6.0923, 1.0818, 0.0708, 0.4664, -0.0611, -0.5812, -1.5932, 6.9128, 2.0586, -0.0757, -0.0317, -0.0073] 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":0.447,"left_y":-0.085,"left_z":0.027,"left_yaw":0.35},"note":"The cap and narrow neck are now close to the fingertips, but still slightly left of center. I’m making a small alignment correction before pinching the neck."})
tool
executing move_to over 4 steps (0.4s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteThe arm did not track the last rotation and descent fully; the neck remains toward the left jaw. I’m simplifying the wrist orientation and making a short lateral correction without pressing lower.
move_to
left_x0.4250left_y-0.0900left_z0.0350left_yaw0.0000right_x0.2940right_y0.0040right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3214, 1.7786, 0.6987, 0.5201, -0.0376, -0.0986, 0.9983, -0.0135, 0.7391, 0.5537, -0.4252, -0.0296, -0.0391, 0.9991] state[eef_state]: left_x=0.4321 left_y=-0.1331 left_z=0.0517 left_yaw=-0.249 left_pitch=0.0016 left_roll=-0.0497 left_gripper=0.9983 right_x=0.2791 right_y=0.005 right_z=0.1624 right_yaw=0.0073 right_pitch=-0.0384 right_roll=-0.0012 right_gripper=0.9991 state[joint_eff]: [0.1709, -6.5573, 4.3692, 1.8486, -0.1148, -0.0562, -0.0269, -0.4308, -1.4291, 7.1453, 2.0488, -0.0513, -0.0659, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.425,"left_y":-0.09,"left_z":0.035,"left_yaw":0,"right_x":0.294,"right_y":0.004,"right_z":0.2},"note":"The arm did not track the last rotation and descent fully; the neck remains toward the left jaw. I’m simplifying the wrist orientation and making a short lateral correction without pressing lower."})
tool
executing move_to over 4 steps (0.4s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteThe bottle’s neck is now between the open jaws near the bottom of the wrist view. I’m gently pinching it rather than fully crushing the thin plastic.
move_to
left_gripper0.2600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3202, 1.7802, 0.6952, 0.5266, -0.054, -0.1139, 0.9983, -0.0135, 0.7948, 0.6319, -0.4671, -0.0296, -0.0471, 0.9991] state[eef_state]: left_x=0.4327 left_y=-0.1297 left_z=0.0512 left_yaw=-0.2259 left_pitch=0.0035 left_roll=-0.0541 left_gripper=0.9983 right_x=0.2861 right_y=0.0049 right_z=0.1747 right_yaw=0.0116 right_pitch=-0.0578 right_roll=-0.0073 right_gripper=0.9991 state[joint_eff]: [0.0752, -7.1316, 4.547, 1.746, -0.1538, -0.2076, -0.0122, -0.8274, -0.9231, 10.2222, 1.956, -0.0855, 0.1197, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.26},"note":"The bottle’s neck is now between the open jaws near the bottom of the wrist view. I’m gently pinching it rather than fully crushing the thin plastic."})
tool
executing move_to over 8 steps (0.8s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteThe jaws have closed around the neck area. I’m lifting it a few centimeters and drawing it slightly toward the bottle’s base to check that the bottle follows.
move_to
left_x0.4150left_y-0.1400left_z0.1150left_gripper0.2600
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3325, 1.7802, 0.6956, 0.5549, -0.1127, -0.0975, 0.2651, -0.0135, 0.7582, 0.5709, -0.437, -0.0299, -0.0513, 0.9991] state[eef_state]: left_x=0.4373 left_y=-0.1262 left_z=0.0578 left_yaw=-0.1971 left_pitch=0.0356 left_roll=-0.0131 left_gripper=0.2651 right_x=0.2806 right_y=0.0051 right_z=0.1628 right_yaw=0.0142 right_pitch=-0.052 right_roll=-0.0106 right_gripper=0.9991 state[joint_eff]: [-0.2256, -7.8974, 5.7778, 1.4042, 0.1978, 0.1685, 0.2125, -0.7453, -1.5111, 7.2274, 2.1123, -0.1441, 0.0024, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.415,"left_y":-0.14,"left_z":0.115,"left_gripper":0.26},"note":"The jaws have closed around the neck area. I’m lifting it a few centimeters and drawing it slightly toward the bottle’s base to check that the bottle follows."})
tool
executing move_to over 4 steps (0.4s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteThe capped end is following the gripper while the bottle’s base remains down. I’m raising the neck and moving it over the base so the bottle can pivot upright.
move_to
left_x0.3350left_y-0.1850left_z0.2150left_gripper0.2600right_x0.2940right_y0.0040right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4019, 1.5875, 0.738, 0.2939, -0.1612, -0.1242, 0.2611, -0.02, 0.7258, 0.5213, -0.4095, -0.0303, -0.0509, 0.999] state[eef_state]: left_x=0.4166 left_y=-0.1424 left_z=0.1028 left_yaw=-0.2115 left_pitch=0.014 left_roll=-0.0071 left_gripper=0.2611 right_x=0.2765 right_y=0.0034 right_z=0.1543 right_yaw=0.0079 right_pitch=-0.0417 right_roll=-0.0104 right_gripper=0.999 state[joint_eff]: [0.1299, -7.8838, 8.8274, 1.6142, -0.1538, 0.1148, 0.105, -0.4581, -1.4701, 6.8855, 2.0342, -0.1685, 0.0269, -0.0171] camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.335,"left_y":-0.185,"left_z":0.215,"left_gripper":0.26,"right_x":0.294,"right_y":0.004,"right_z":0.2},"note":"The capped end is following the gripper while the bottle’s base remains down. I’m raising the neck and moving it over the base so the bottle can pivot upright."})
tool
executing move_to over 8 steps (0.8s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteThe lifted view shows the bottle stayed on the table, so that pinch missed. I’m reopening and approaching farther forward, directly over the cap and neck, for a lower grasp.
move_to
left_x0.4700left_y-0.0950left_z0.1050left_yaw0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6846, 1.2709, 0.9085, -0.2535, -0.3645, -0.2718, 0.2611, -0.0208, 0.7975, 0.643, -0.4725, -0.0299, -0.0551, 0.999] state[eef_state]: left_x=0.3399 left_y=-0.1915 left_z=0.1978 left_yaw=-0.2461 left_pitch=-0.0085 left_roll=-0.007 left_gripper=0.2611 right_x=0.2869 right_y=0.0029 right_z=0.178 right_yaw=0.0091 right_pitch=-0.0547 right_roll=-0.0136 right_gripper=0.999 state[joint_eff]: [-0.1846, -6.2427, 9.2513, 1.7265, -0.2808, -0.0562, 0.105, -0.335, -0.8957, 9.935, 1.9609, -0.1001, 0.0757, -0.0073] camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.47,"left_y":-0.095,"left_z":0.105,"left_yaw":0,"left_gripper":1},"note":"The lifted view shows the bottle stayed on the table, so that pinch missed. I’m reopening and approaching farther forward, directly over the cap and neck, for a lower grasp."})
tool
executing move_to over 11 steps (1.1s)
step 59
top_cam
camera top_cam step 59
left_cam
camera left_cam step 59
right_cam
camera right_cam step 59
assistant
agent noteThe cap is now centered at the bottom of the wrist image, where the fingertips meet. I’m lowering to the neck’s height for a definite grasp.
move_to
left_x0.4550left_y-0.1050left_z0.0080left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3111, 1.7172, 0.8864, 0.1535, -0.2684, -0.2089, 0.9966, -0.0277, 0.7635, 0.588, -0.4438, -0.0383, -0.0544, 0.999] state[eef_state]: left_x=0.449 left_y=-0.0914 left_z=0.0822 left_yaw=0.0155 left_pitch=-0.0874 left_roll=0.0139 left_gripper=0.9966 right_x=0.2821 right_y=0.0026 right_z=0.1679 right_yaw=0.0088 right_pitch=-0.0469 right_roll=-0.0084 right_gripper=0.999 state[joint_eff]: [0.2667, -8.5128, 9.1419, 1.9414, 0.0024, 0.232, -0.0806, -0.5265, -1.7026, 6.9812, 2.0488, -0.1685, 0.0513, -0.0073] camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.455,"left_y":-0.105,"left_z":0.008,"left_yaw":0},"note":"The cap is now centered at the bottom of the wrist image, where the fingertips meet. I’m lowering to the neck’s height for a definite grasp."})
tool
executing move_to over 5 steps (0.5s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteThe fingers are down around the neck area, and the descent has stopped at contact height. I’m closing fully so the settled jaw opening can confirm whether the neck is captured.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3431, 1.9301, 0.7788, 0.6476, -0.2768, -0.2401, 0.9971, -0.0284, 0.7364, 0.543, -0.4198, -0.0391, -0.0547, 0.999] state[eef_state]: left_x=0.4674 left_y=-0.1119 left_z=0.0442 left_yaw=0.0069 left_pitch=0.0776 left_roll=-0.0657 left_gripper=0.9971 right_x=0.2784 right_y=0.0026 right_z=0.1594 right_yaw=0.0089 right_pitch=-0.0408 right_roll=-0.0084 right_gripper=0.999 state[joint_eff]: [-0.2803, -5.1761, 3.6444, 0.4078, -0.2515, 0.2955, 0.0366, -0.841, -1.5932, 6.8855, 2.0635, -0.1832, 0.0073, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The fingers are down around the neck area, and the descent has stopped at contact height. I’m closing fully so the settled jaw opening can confirm whether the neck is captured."})
tool
executing move_to over 10 steps (1.0s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteThe settled opening shows an empty grasp. The neck has slipped behind the fingertip line, so I’m backing toward the base and reopening at a shorter, easier-to-reach position.
move_to
left_x0.4100left_y-0.1150left_z0.0180left_gripper1.0000right_x0.2940right_y0.0040right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3531, 1.911, 0.8467, 0.5243, -0.308, -0.2359, 0.0123, -0.0284, 0.712, 0.5045, -0.4019, -0.0494, -0.0574, 0.999] state[eef_state]: left_x=0.474 left_y=-0.1138 left_z=0.0533 left_yaw=0.0201 left_pitch=0.0493 left_roll=-0.0345 left_gripper=0.0123 right_x=0.2748 right_y=0.0045 right_z=0.1518 right_yaw=0.019 right_pitch=-0.0367 right_roll=-0.0049 right_gripper=0.999 state[joint_eff]: [-0.1846, -9.5932, 5.4222, 1.1502, -0.105, 0.1832, 1.0672, -0.9504, -1.1556, 7.0085, 2.0098, -0.0513, 0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.41,"left_y":-0.115,"left_z":0.018,"left_gripper":1,"right_x":0.294,"right_y":0.004,"right_z":0.2},"note":"The settled opening shows an empty grasp. The neck has slipped behind the fingertip line, so I’m backing toward the base and reopening at a shorter, easier-to-reach position."})
tool
executing move_to over 10 steps (1.0s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteThe cap is visible just left of the fingertip opening. I’m shifting the jaws onto it and requesting table-level contact to get below its sides.
move_to
left_x0.4150left_y-0.0750left_z-0.0120
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4255, 1.8423, 0.6449, 0.6983, -0.3965, -0.2787, 0.9942, -0.0284, 0.7975, 0.6407, -0.4732, -0.0559, -0.0616, 0.999] state[eef_state]: left_x=0.4311 left_y=-0.1166 left_z=0.0487 left_yaw=0.0455 left_pitch=0.1037 left_roll=-0.049 left_gripper=0.9942 right_x=0.2865 right_y=0.0053 right_z=0.1769 right_yaw=0.0268 right_pitch=-0.057 right_roll=-0.0035 right_gripper=0.999 state[joint_eff]: [-0.9641, -6.7077, 2.865, 0.8376, 0.0855, 0.1783, 0.0562, -0.6632, -0.8547, 10.1675, 1.9707, -0.0513, 0.0171, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.415,"left_y":-0.075,"left_z":-0.012},"note":"The cap is visible just left of the fingertip opening. I’m shifting the jaws onto it and requesting table-level contact to get below its sides."})
tool
executing move_to over 4 steps (0.4s)
step 88
top_cam
camera top_cam step 88
left_cam
camera left_cam step 88
right_cam
camera right_cam step 88
assistant
agent noteThe cap is aligned with the jaw center and the fingers are resting at contact height. I’m closing around the cap, then I’ll verify the grasp before trying to stand the bottle.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3317, 1.9045, 0.6037, 0.8806, -0.3172, -0.2859, 0.9955, -0.0284, 0.7628, 0.5835, -0.4461, -0.0563, -0.0612, 0.999] state[eef_state]: left_x=0.4418 left_y=-0.0901 left_z=0.0444 left_yaw=0.0808 left_pitch=0.1597 left_roll=-0.1218 left_gripper=0.9955 right_x=0.2811 right_y=0.0055 right_z=0.1656 right_yaw=0.0269 right_pitch=-0.0524 right_roll=-0.0032 right_gripper=0.999 state[joint_eff]: [0.6222, -3.3983, 1.4291, -0.0024, -0.3248, 0.7204, 0.1197, -0.5675, -1.6342, 6.9675, 2.1368, -0.1001, -0.0122, -0.0073] camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The cap is aligned with the jaw center and the fingers are resting at contact height. I’m closing around the cap, then I’ll verify the grasp before trying to stand the bottle."})
tool
executing move_to over 10 steps (1.0s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteThe left gripper is still empty and its low pose is not tracking reliably. I’m clearing that arm and bringing the right arm toward the straight bottle for a fresh, unobstructed neck approach.
move_to
left_x0.2950left_y0.0000left_z0.2200left_yaw0.0000left_gripper1.0000right_x0.3800right_y0.2900right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3199, 1.9259, 0.585, 1.0176, -0.308, -0.2363, 0.0131, -0.0284, 0.73, 0.535, -0.4194, -0.0566, -0.0616, 0.9991] state[eef_state]: left_x=0.4474 left_y=-0.088 left_z=0.0591 left_yaw=0.0657 left_pitch=0.2507 left_roll=-0.1159 left_gripper=0.0131 right_x=0.277 right_y=0.0057 right_z=0.1576 right_yaw=0.0274 right_pitch=-0.0414 right_roll=-0.0039 right_gripper=0.9991 state[joint_eff]: [0.2803, -4.0547, 1.7436, 0.0366, -0.022, 0.1685, 0.8181, -0.6906, -1.5111, 6.7077, 2.083, -0.149, -0.0317, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":0,"left_z":0.22,"left_yaw":0,"left_gripper":1,"right_x":0.38,"right_y":0.29,"right_z":0.15,"right_gripper":1},"note":"The left gripper is still empty and its low pose is not tracking reliably. I’m clearing that arm and bringing the right arm toward the straight bottle for a fresh, unobstructed neck approach."})
tool
executing move_to over 24 steps (2.4s)
step 122
top_cam
camera top_cam step 122
left_cam
camera left_cam step 122
right_cam
camera right_cam step 122
assistant
agent noteThe straight bottle’s neck is farther away than its base. I’m first approaching its body, which is within reach, so I can draw the bottle nearer before standing it.
move_to
right_x0.4450right_y0.2550right_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0376, 0.828, 0.7208, -0.4625, -0.0593, -0.0669, 0.9976, 0.8726, 1.7622, 1.1805, -0.2375, 0.6331, 0.4812, 0.9991] state[eef_state]: left_x=0.2994 left_y=0.0028 left_z=0.2071 left_yaw=0.0363 left_pitch=-0.007 left_roll=-0.0106 left_gripper=0.9976 right_x=0.3685 right_y=0.2822 right_z=0.1316 right_yaw=0.071 right_pitch=-0.0582 right_roll=-0.0539 right_gripper=0.9991 state[joint_eff]: [0.212, -1.7162, 10.1402, 1.7411, 0.0952, 0.2271, -0.0952, 0.1299, -8.7179, 9.1966, 1.6532, 0.6569, 0.2613, -0.1099] camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.445,"right_y":0.255,"right_z":0.025},"note":"The straight bottle’s neck is farther away than its base. I’m first approaching its body, which is within reach, so I can draw the bottle nearer before standing it."})
tool
executing move_to over 7 steps (0.7s)
step 129
top_cam
camera top_cam step 129
left_cam
camera left_cam step 129
right_cam
camera right_cam step 129
assistant
agent noteThe straight bottle’s lower body is centered between the right jaws at table height. I’m closing around it to obtain a secure hold.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0452, 0.8261, 0.728, -0.4767, -0.0677, -0.0597, 0.9976, 0.6949, 2.0487, 1.0363, 0.2573, 0.503, 0.3397, 0.9991] state[eef_state]: left_x=0.2981 left_y=0.0021 left_z=0.2081 left_yaw=0.0319 left_pitch=-0.0116 left_roll=0.0004 left_gripper=0.9976 right_x=0.4255 right_y=0.2485 right_z=0.0165 right_yaw=0.0693 right_pitch=-0.0725 right_roll=-0.0561 right_gripper=0.9991 state[joint_eff]: [-0.2667, -1.6068, 5.8188, 1.9219, -0.0806, -0.0855, -0.0122, -0.8957, -9.5521, 7.5692, 1.7998, 0.2955, 0.1343, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 129): [image omitted: streamed camera frame] camera 'left_cam' (step 129): [image omitted: streamed camera frame] camera 'right_cam' (step 129): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The straight bottle’s lower body is centered between the right jaws at table height. I’m closing around it to obtain a secure hold."})
tool
executing move_to over 10 steps (1.0s)
step 139
top_cam
camera top_cam step 139
left_cam
camera left_cam step 139
right_cam
camera right_cam step 139
assistant
agent noteThe settled jaw opening confirms a body grasp. I’m drawing the bottle toward the front of the table so its neck will be reachable without overextending the arm.
move_to
right_x0.2750right_y0.2450right_z0.0450
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0452, 0.8246, 0.728, -0.477, -0.0673, -0.0593, 0.9976, 0.6937, 2.0747, 0.9638, 0.4084, 0.49, 0.3351, 0.5182] state[eef_state]: left_x=0.2979 left_y=0.002 left_z=0.2085 left_yaw=0.0314 left_pitch=-0.0105 left_roll=0.0004 left_gripper=0.9976 right_x=0.4219 right_y=0.2474 right_z=0.0045 right_yaw=0.0824 right_pitch=-0.0346 right_roll=-0.0222 right_gripper=0.5182 state[joint_eff]: [-0.253, -1.7299, 6.065, 1.9023, -0.0415, -0.0366, -0.0122, -0.0479, -11.6308, 4.9026, 1.7656, 0.2418, 0.0659, 1.033] camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.275,"right_y":0.245,"right_z":0.045},"note":"The settled jaw opening confirms a body grasp. I’m drawing the bottle toward the front of the table so its neck will be reachable without overextending the arm."})
tool
executing move_to over 12 steps (1.2s)
step 151
top_cam
camera top_cam step 151
left_cam
camera left_cam step 151
right_cam
camera right_cam step 151
assistant
agent noteThe bottle has slid closer, and its cap is now well inside the working area. I’m releasing the body so I can switch to a neck grasp.
move_to
right_gripper1.0000right_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0452, 0.8242, 0.7277, -0.4767, -0.0677, -0.0593, 0.9976, 1.0367, 1.7119, 0.5987, 0.1829, 0.6617, 0.585, 0.5218] state[eef_state]: left_x=0.2978 left_y=0.0021 left_z=0.2085 left_yaw=0.0317 left_pitch=-0.0101 left_roll=0.0006 left_gripper=0.9976 right_x=0.2657 right_y=0.243 right_z=0.0123 right_yaw=0.1519 right_pitch=-0.1136 right_roll=-0.0693 right_gripper=0.5218 state[joint_eff]: [-0.3761, -1.6889, 6.106, 1.9219, -0.0659, -0.0464, -0.0122, 0.2667, -10.1949, 5.9556, 2.21, 1.072, 0.105, 0.9011] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 151): [image omitted: streamed camera frame] camera 'left_cam' (step 151): [image omitted: streamed camera frame] camera 'right_cam' (step 151): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_z":0.035},"note":"The bottle has slid closer, and its cap is now well inside the working area. I’m releasing the body so I can switch to a neck grasp."})
tool
executing move_to over 5 steps (0.5s)
step 156
top_cam
camera top_cam step 156
left_cam
camera left_cam step 156
right_cam
camera right_cam step 156
assistant
agent noteThe bottle is resting flat in its new position. I’m lifting clear and moving above its neck, keeping the jaws aligned across the bottle.
move_to
right_x0.4350right_y0.2450right_z0.1200right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0452, 0.8242, 0.7277, -0.477, -0.0677, -0.0593, 0.9976, 1.0538, 1.673, 0.5041, 0.3126, 0.6811, 0.5705, 0.9951] state[eef_state]: left_x=0.2978 left_y=0.0021 left_z=0.2084 left_yaw=0.0317 left_pitch=-0.0105 left_roll=0.0006 left_gripper=0.9976 right_x=0.2586 right_y=0.2371 right_z=0.0162 right_yaw=0.1688 right_pitch=-0.0552 right_roll=-0.033 right_gripper=0.9951 state[joint_eff]: [-0.2667, -1.5658, 6.106, 1.917, -0.0855, -0.0317, -0.0122, -0.0205, -7.5556, 6.0786, 1.5116, 0.569, -0.0464, -0.2808] camera 'top_cam' (step 156): [image omitted: streamed camera frame] camera 'left_cam' (step 156): [image omitted: streamed camera frame] camera 'right_cam' (step 156): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.435,"right_y":0.245,"right_z":0.12,"right_yaw":0},"note":"The bottle is resting flat in its new position. I’m lifting clear and moving above its neck, keeping the jaws aligned across the bottle."})
tool
executing move_to over 14 steps (1.4s)
step 170
top_cam
camera top_cam step 170
left_cam
camera left_cam step 170
right_cam
camera right_cam step 170
assistant
agent noteThe arm lagged during the combined move and brushed the bottle. I’m lifting higher before the next descent so the open fingers clear its body.
move_to
right_x0.4400right_y0.2800right_z0.1800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0452, 0.8196, 0.7277, -0.4774, -0.0673, -0.0593, 0.9976, 0.6998, 1.8534, 1.0107, 0.0154, 0.5491, 0.411, 0.9947] state[eef_state]: left_x=0.2973 left_y=0.002 left_z=0.2096 left_yaw=0.0314 left_pitch=-0.0063 left_roll=0.0001 left_gripper=0.9976 right_x=0.402 right_y=0.2226 right_z=0.0602 right_yaw=-0.0033 right_pitch=-0.1075 right_roll=-0.0701 right_gripper=0.9947 state[joint_eff]: [-0.3487, -1.5248, 6.106, 1.8877, -0.0317, -0.0513, -0.0122, 1.5111, -9.5248, 6.8855, 1.2625, 0.3101, 0.0415, -0.0513] camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.44,"right_y":0.28,"right_z":0.18},"note":"The arm lagged during the combined move and brushed the bottle. I’m lifting higher before the next descent so the open fingers clear its body."})
tool
executing move_to over 8 steps (0.8s)
step 178
top_cam
camera top_cam step 178
left_cam
camera left_cam step 178
right_cam
camera right_cam step 178
assistant
agent noteI could not establish a reliable neck grasp. During repositioning, the right-hand bottle was displaced to the far edge of the table, beyond safe table-level reach. All three bottles remain lying down; an operator needs to bring the far bottle back into the reachable area before another attempt.
give_up
hindsightFor this setup, the bottle bodies were reachable before the necks. A right-arm body grasp settled near 0.52 opening and successfully drew a bottle closer, but moving forward immediately after releasing snagged and displaced it. After releasing a bottle, lift vertically until the actual readback confirms clearance before translating. The left arm repeatedly stayed around z=0.045–0.06 despite lower targets at x≈0.43–0.47; its full closes were empty, so do not assume those low targets reach the neck.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0452, 0.8188, 0.7277, -0.4801, -0.0677, -0.0593, 0.9976, 0.7544, 1.8622, 1.4174, -0.2691, 0.5755, 0.4118, 0.9947] state[eef_state]: left_x=0.2969 left_y=0.0021 left_z=0.2092 left_yaw=0.0317 left_pitch=-0.0082 left_roll=0.0005 left_gripper=0.9976 right_x=0.4335 right_y=0.2804 right_z=0.1708 right_yaw=0.0354 right_pitch=-0.0097 right_roll=-0.0094 right_gripper=0.9947 state[joint_eff]: [-0.3761, -1.6342, 6.4479, 1.8339, -0.0513, -0.0611, -0.0122, -0.1709, -8.6632, 8.9915, 1.6337, 0.4713, 0.2076, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not establish a reliable neck grasp. During repositioning, the right-hand bottle was displaced to the far edge of the table, beyond safe table-level reach. All three bottles remain lying down; an operator needs to bring the far bottle back into the reachable area before another attempt.","hindsight":"For this setup, the bottle bodies were reachable before the necks. A right-arm body grasp settled near 0.52 opening and successfully drew a bottle closer, but moving forward immediately after releasing snagged and displaced it. After releasing a bottle, lift vertically until the actual readback confirms clearance before translating. The left arm repeatedly stayed around z=0.045–0.06 despite lower targets at x≈0.43–0.47; its full closes were empty, so do not assume those low targets reach the neck."})
tool
give_up: I could not establish a reliable neck grasp. During repositioning, the right-hand bottle was displaced to the far edge of the table, beyond safe table-level reach. All three bottles remain lying down; an operator needs to bring the far bottle back into the reachable area before another attempt.
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 · 10.09 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, 0.7944, 0.6094, -0.3767, -0.0196, -0.0288, 0.9989, -0.0154, 0.7898, 0.6037, -0.3866, -0.0261, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.2959 left_y=0.0011 left_z=0.183 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9989 right_x=0.2936 right_y=0.0037 right_z=0.1796 right_yaw=0.0 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.6222, -1.5658, 9.7846, 1.7509, -0.0464, 0.0904, -0.1294, -0.9231, -1.2786, 10.441, 1.9023, 0.0073, 0.1978, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd56df98701ee7988e5efa3d4424e3cf7af2bb1340d4fdf968a5012a4d3c08f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bead255220bc1a4d0c69a4b5aaad9aab0b1da7981474a467c374739713e6eb00",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df0f6d482698b3470a8e47102a6babfe1e98a693b5bd79a187f042120d280f0c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
wire blob cd56df98701e
wire blob bead255220bc
wire blob df0f6d482698
call 1 attempt 0 · /responses · status 200 · 9.366 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtHONq8cwgeGg2LY5X3RuqV1KNyqRShtBgnvrHktB1utOMvk5-7s7AwZrKd9kBeKhA2QnV9giok97nOCOwmGuOqGYpdtwZPrysoDOZI0Hx0pIjly_0C4_yxsngRJ8FJ6LHNJRrpcPyGBNbbWuAmNg0DKfta3yX_Kd6jL9ilhculFv6Thf8d2ltq-jrGnuGiISBO-4ZCqSc3Uc17Zz9C61yDtowkFy7BxQwVeyjOcKBzyngaVoguICOYrSzhF6gDE1uLF4L2QonPbHuBlIZ7sxigGLIv-V0WMtQurdrhG_5h227yL3VdWEXl6IuXNz6EYSeQ-6rWOO_WuDAkSDUoYND9hdsdvcqivolUC61IOteb2DJ_4r5kG281pHZy_munW2wP72eABXwZV7xgCkUJxBUl0yklOsHfR0f5DrsAxVbcL9s9gWbUCqDq6AOgd-k9c92Oramx69GP_qdm85HYUSD78_q8GyUYp_ONB0EgTa7e-Ipblp1-gubXZtqWGWIKtV2iBYLjwa50isrgUP9zn7r55pMJ7nxjFsCyn0hsv7uD97qp2tuZ7UaAai8EvLb3PDjKuMMqHTESIofuTK6fd7yYzM7fQtkU285QHZCrEDkCGM2XoqyKiAXM8ePEBQomjYCOkH7yQ52l5TMTm6Sw1EppyuVWYNFRZIOZTmDYYi4Z7F_PmJch0dxhP6PiJMt8ntUbhFSVluVGZaAAKMpy0gVlUeoeeXS6hDLejZxWyO2Ob8bTpjkEl--DXkclUM_rKg6y6G47fXHIuljGJrVoKEfj3DxJd_VuK7uET8c854U9x8lo3rPHx6o2cBXHMxS1yihjfDXn47hK-SRZGfkspDJNhqFYhvRyaP_uX6VSct1hQs0Jvzdh17IzTBHxci1K5fi3qpRf5R8pbYNqQdi50bT_D3k_zbvWRqCGdTwOytIBnBnazF15oU9Qlo1g3aiQ7QhNicWU2jQx52qboA_JO5zoTdzEWcXp3WFh-OvpyzxnHSTwTNEu4XlcjSQPlkuj_jePA7Y-LYy6z5stpTQAClBd8YSvBoMk3-J9BHdUPKZCIF1vgPiGJ4xxdbMtJzy0gh0YGbm0GBraansPXPUrSUITYRRQyydImOI99uKe5a9A6Ik3pILpB6NTZ1blgHQ-uXfhcyBRNbv9Rf3iijTvbWZpG_YC41dWTIpH8tE-eNficxlw18u4tqItT4dkYFd_2Bbv49vO_ZUQvAcf-2F8NZRyjuRePe5AL1qUObSXR5pbBObRwqH4I5ocMVQhPkCrEoZuV1_geVWI0wb690p_mML25OHqnBfE0A2vsbPN4q2OY6LwH1bV9-A_B9ekEy0XCbNM9MstjviHdpK_ebDi8hBTO30rnjaX08ZoLHEIq80QRGvsgePaDcKNyqT1WdtzAZqFcfTizWozprKunRKSCDx5w1jDnCdcFNlrbLYh4rO-xUmBC5mqqt-Q1asqXGMcnZJ0nx-cJRt9kq-fEOJKnsJ4RzQxmqGHZ3atza7W2c_mADglsDFPdxCHHgN8AEaCcoHahUTY63bQRYEAv-KW1-Yq5m23XmCTxVDrmmS6tMqgjg1wFcuOmc5cU2gwxP0NkzifxrTWGFOUlnrVY1HZaM8624d4dzcn_y2maHwoIpGAPxGFeC4UOuAqjdc1W22nDBG6HHuAxfjLt_hlJCrRoEgdAXHuSwL2LNOpG0tv4s_oZ1lB7rAkC31-OiCvZpbADxElIcZGZiufHW5DZHrIjIOHwdgL-oGKIrXzyyqZd8hZTHYu1np0AGdKezFC-EBfCUMxLYpIAEX-zIWru9E9zJUZDrUBXGjniSLyliimrM6SguXigGlPW5m3SoFw-fPmvRXu4tda94U92gGI1C87X3Cfmfl-ZR-TFdTCRLjZvOQLDisNtmivFv5JZSLrBxvNMZ8xwUVN5rykFoFxZ39EszL-QNQeaMeP8JuvgnqBiab-TcRwohbHOuzX5FDv1zK9INZtjzp7xq2aJ0tVwBjmxPXWpXTZFNABMeVhCauwsa9buYJc7WPvDkSltNSrCfFjNkj6zP_DhiG4z-hlZq_Xg3GSJetDG9vyDAwCVeRZv6EsrL5RVtpn_gs8wA1-wShvgmNbn_za-7E4f0aQqt3iYPQCfQ8uWvA_a-_MPuC0rcwNu2Oa8IFQgJRGkZCCaor206mclXNKTE4wlYFnl9RPHZsVlV59tTPO1mqAKKnI3hjbn_TAq05Bg9Caq3gCsRhFVm1GnANH_fvWmBL-I_J91RWLPipFAJv8f3sUkSdVu3mW_NPRamFphnQJWjLDmdjlKLMNmW-n404U5ZCKhNZ13FeyQ3PDre6VuwR-W5GqsfDXHBDBcvfvTmhRtoT_M6qYn7EBBGHUEmWCSfPZyHgNXrmIKfYumvM0TmTUec-ALl1CEf9V0kYBBcRjd_df-awB6KG-QzG3QKcEoTL3Sl-4Qo5YY86JVNOY2rDhFi7eBQq5iEMuq2PsIa_4bjGHM-btdB9P7c3XKNEAEp60oOQwtBUdAvGGv-By-eiUtI-_awyRgXc4R5_udqhe7rN2SQOVpWiKdMyqxLcc5o2NHFtlYuC4_oSHrsxDShY0YuxnIinmH4v1ne8R-SkhgcQXPGaqTplVqkzhxrgLQhai61jAQ2h1whLcKfDxBw7cY2AKz5uj8vOJNKzQLjEaBxtK2sMWGlaKsEqyjN-3s3aeKvuVgYcKGvVrSz6X4SpX6Q1oT76prJ7l5qqArNzpHPUyWoWybSNTWePFdeEtStK8wHhYpKc29taeSXOY09vhs-UNh55UOK_uOe6tWiJA41Tqc6gWbftsYCDUl-zzQ20PtAddzqZs8vxB7lqniAwB_F5DlfFKV5Wh9IRXPCXIjhZYAml9glb4kcyHLJ4u1Pn_0ST6UiDJie3XeKsUHBhlws9xnSYe0XwESTj5B-fY-shedmDcuu5ZdeZiySoAPMyBx1x2Dba8IVBBZAlkH4GkXusZnkASz1cl_u_vUw9m9wWCxwuAXsYVGqd-0kdzTrWxIzBnx04EKE4PhGwf0Tuo1hqqKNWqJlpItrGDW3pcW1y4S8xnlkK8oLECu92f75mAuJjJTyL0ItfGNPSiBrUZy-0tbjfBNtUeu42E2ekxl_j55xeHpXUPjDB1Pu8qQgYHEkoUYHl7WlWSmJZN0FWWvDOzI92Q4puhmx4M-OGvHM68RP9P-5iQsEmtA1M_sFuDn5lOyha71rFzWaYpDy9-j_aMs5gB3QxWDl9y471HTRP4zQeXMesFaUd33Tr3kj_cVcxBwG3wOupjtL-QLh66xxbnbJbl4aBtEVUjLYJ78qNhPc3FwEmvekZIcMRpqJXF1nLCAErzrBf5W6hagz6-5BrA32qD2Rpr0_Il-PeSgTGf98skDqj6YF",
  "id": "rs_0d31c282637dee4a016ab47385151487d086143403f35b9ad9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.175,\"left_z\":0.13,\"left_gripper\":1,\"right_x\":0.294,\"right_y\":0.004,\"right_z\":0.20},\"note\":\"All three bottles are lying on their sides. I’m positioning the left gripper over the nearest bottle’s neck so I can lift its capped end while its base stays on the table.\"}",
  "call_id": "call_PwipETk68tlVIMo5mUuyIvPa",
  "id": "fc_0d31c282637dee4a016ab4738c5ea887d0ab4ada1f2e07be19",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PwipETk68tlVIMo5mUuyIvPa",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6239, 1.5513, 0.841, -0.0135, -0.5018, -0.3843, 0.9989, -0.0143, 0.7986, 0.6502, -0.4782, -0.028, -0.0391, 0.999]\nstate[eef_state]: left_x=0.3832 left_y=-0.1667 left_z=0.1129 left_yaw=-0.0132 left_pitch=-0.0582 left_roll=0.0276 left_gripper=0.9989 right_x=0.287 right_y=0.0044 right_z=0.1798 right_yaw=0.0053 right_pitch=-0.0545 right_roll=-0.0018 right_gripper=0.999\nstate[joint_eff]: [-0.4991, -7.1316, 8.5812, 1.6435, -0.2759, 0.1197, -0.1245, -0.253, -0.9778, 10.4821, 1.956, 0.0122, 0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dae2e512f9a015d1e5f7561c8f5759df24f802aa341e4f876651e79854f6ea9d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ba2c0d9f73812a11484102e36d7fbe8bea0df453e03606ef1c1c7bcc08fdcc3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6e94dbb100c1540466c4f0ceb155a5997ca7248c76706ebe167053b4e677d4b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
wire blob dae2e512f9a0
wire blob 9ba2c0d9f738
wire blob d6e94dbb100c
call 2 attempt 0 · /responses · status 200 · 5.728 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, 0.7944, 0.6094, -0.3767, -0.0196, -0.0288, 0.9989, -0.0154, 0.7898, 0.6037, -0.3866, -0.0261, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.2959 left_y=0.0011 left_z=0.183 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9989 right_x=0.2936 right_y=0.0037 right_z=0.1796 right_yaw=0.0 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.6222, -1.5658, 9.7846, 1.7509, -0.0464, 0.0904, -0.1294, -0.9231, -1.2786, 10.441, 1.9023, 0.0073, 0.1978, -0.1099]",
      "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]: [-0.6239, 1.5513, 0.841, -0.0135, -0.5018, -0.3843, 0.9989, -0.0143, 0.7986, 0.6502, -0.4782, -0.028, -0.0391, 0.999]\nstate[eef_state]: left_x=0.3832 left_y=-0.1667 left_z=0.1129 left_yaw=-0.0132 left_pitch=-0.0582 left_roll=0.0276 left_gripper=0.9989 right_x=0.287 right_y=0.0044 right_z=0.1798 right_yaw=0.0053 right_pitch=-0.0545 right_roll=-0.0018 right_gripper=0.999\nstate[joint_eff]: [-0.4991, -7.1316, 8.5812, 1.6435, -0.2759, 0.1197, -0.1245, -0.253, -0.9778, 10.4821, 1.956, 0.0122, 0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dae2e512f9a015d1e5f7561c8f5759df24f802aa341e4f876651e79854f6ea9d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ba2c0d9f73812a11484102e36d7fbe8bea0df453e03606ef1c1c7bcc08fdcc3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6e94dbb100c1540466c4f0ceb155a5997ca7248c76706ebe167053b4e677d4b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob dae2e512f9a0]
[blob 9ba2c0d9f738]
[blob d6e94dbb100c]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHOYThKzaCii8ePvYYmUuO0Rn7JzgXx1Z2YyTdzcyQEFtPAgrRQxuwaKBSc2gYjfalto-M0xh5RdPz_tmUOWPOF-QJA0fKxi4CjNs-TA4O3MJC8_pQZACQQ3pgdrY_-qqT4Ou5cttlZCX6cUI9DViydXY55tA8q1Ue2WqdpOo9iRhydxz2ZsyTPK0hpr3WPZ_Aj3kaohC8pzfT9M5hv_RhOW4YX0mJRdQd_FwK00IEZWf_hrrDgkMWlnyHI0YV2lQ0GAWKpnz_ELSOuf6XqCZu11N5O2KWQKpe-N7mjnGgQwUpQnHvgw80hlT2fVrz_uDEX44y8lCtEk-qPlzU5ab6vLZycHtmsYY2y07d6PUd3rNlCzC40UFTBx13-SNZNtHHTpfZ3NT4-o-6gGK_Jh-Thir3WoyGeSAOtHpfY01VU7UG17VFReh-uzMZ5sUlNla8WIpWcUNeXkiTzNIezhGY1fOurckr5i-3vqf98OAS2_u_JB8Rskn8-1sK8ffTfbzfc8HzopqzrGkWDHy9S5b6FVYhQjTql9YUOFHs1SbwWQHMcHQjErmUWD1OibyTezp_XXIdTl6MbRMaajhHtgk8BitqYjkGum17DRiWdRuMWxXeeOEMWyrcFTWcoYTlMrKYPgswe9J4qaMuvQnQlhst55jp20Z1NeoGvSusKGGwdTr91FzkWMU8SbINmdLzaDgKlomep-nG5OnF3_rcvfeC5rz3iicl-BHqYxF8mYF7bQTpbqvhxh2hu5P9Z44O31Rgo82JBDWr081Zs5QrGg1qJIxj1z0bcts5-g-Vkt9BZ5SN2FiEKwot8dlmGX3AGCBhMbZtCi80tcWw9NGSoyUXFbcAqQN61NLBkMfa6IAgtXulll2FKJ1lFYWgx03Ba6gozWQqZ2EnRx9WUtEBgKeGk6CUBhvFerC-EC8Cup0zFYl5gcX9rTuZEYzbg7ypznFj9ye0tTZMcSbtcmDvFK2LF_LMfdoKq1DphQK9r7lE_oMWktLi_DpWRYZYsy_JevY3J7lOa4eTwThPspf2wJ77BoTqV4YNf8ms2E278jDyEbaaVLJdkyrl4A0H0OEsD9iELXsz53eSLyNmIGuCKRenoCU3lEpUh-u3cQqEDvHta3dQ4GjhcaRETay8LnDkXT5pBW1G8Cn67TjGReEdtPtVmwg8rg6zWDbeu7H3strVHyaYpmfkBW5bnIAjOBMzlmRr1zc03S4gD0tzHvFhofqjOXbwYk0tAPOHqm9YxTXJfX2rym7xZ_ejN_UrLO5l_GgagueF3DLABcSDofe1p1GDx8cckQSud4e6khLDXJiTuY7BP_OdtM1sYcbNbF4OVkYyDyB7d-AiHqjY-q2Y7D9TkAlAliUIGxv1iClGlgEqDXKP3hiiLaFW181zS1KE621M1uabuilJQbmd2pvqUgIi9KDBRHp02O_oaLooWeHhIUrsLDRXAlCByoZfvqIA8QoBvrk5Ha8BzvdVvj5zCRG2drNZ7eJd4T_4qK-EcrHhlGeASS4XoPRnDEkGAnxMg_7l3rAdts7IaetXGyQ-lgQdYwJ_gK1U0OHWJQxd5HCzEqi3-8jr7gOhDw7nDwcy2lwYg2WaqpHudSH2RYsQwDAqD2ysQVEPc5RsfPahbKo0VsQHB_9wXdYy4ih401hus1B_eoLQsBrlgV6lcM0lTOtLGsk9YZVRNyl9X6-Rqsp9ZwzpTE-73X1xWYqR8s1VR9TcH32ZQcKkeDP6puPuBgDWAS7wx6sf_Cb_LqJmQ9YS0z3nY3bQGuLjkvHsW4rADbzsjnXOA0cZtdtSvVfoY9UjYnHxweMEFVASe2FlqjbgxxoU_dWKvSv_7RZiehvE51yamUDFzH_1XVy8Tx1QL9RxddmAT9X8IyTkK3x27u7LV2ys9d64X5cTlkXuNOpD6OdypENS5JdG83dKzhL8S4J1H-Zn5I_Yr2vXy7Y74jF5s4gIQN8gQ5_JqO5IVp1OWbDDUBYzynBfVl2kVijofKezzTJni-LX8OujViqTUC2GcgQog6V0MO7-thqMuJM8fFvRD9A8U9EkZ0QI29yw737Y64V1Glqt-wAwW5pEoqEFGPBntKU3OTsZWY0xE4pioS5l3kA6sHFtysYB1oe5MfsXprvCXXtVAQR5EgPCuBlp_fhHUDgt4FWiqkhwhRcFbN-4MpLY8REfmTSnEnJpPTNIe3rgcKc1DMmOfvdC_JUByS6RPnK2zQ8yKQ6hG0DXeaXIhiwaYlX54v-ZdugtXo-_DHcdM4j3ROOcgSZBMVyOl7Rrxyb6evQChhWgir_QNUsUm2IiKVLOoI70VAQfj16sZpc58-A2fcoostw4yhQwHfIGanU52dFscLddQbG0LBmHs3_3ercVfAv4nVInxlwLsUlO2XIOfUHGz8Yb0CXWJqxwklaCydhuC-D15hiJ1dmI5tVuNuZSLH8wKqgBI_D8YWfxhbnUwO-1zuud6QrIKXwDQFSGlePkSZ20k-oTyP257rNYTJy0gp5s189ne8DIkyGIQE3G8U_B_oy0xbL1TgYKwBVO6pvaAe8qQ48dX8ojaNpXa4TKz5ZqeQ6-ClG7Fqj9MaMVq6_ZNyRHaJ5fULpghGXFYlDTkr048JTVTKnAQc79mnI3tsDi8dJVgbR7mhm5jFEuwepY3pBKeKyt-3x9WFtIgVURLMcrBf3ZsHT9pQnmdHtG_EAnJ9HiEch4SjeseJ1A-bcsPf7lQzFroGhRU4265GMzi4PnDYEu9miHOQb0RgXM8UEZQGTZrQbKof8dTaDiBa-MJRAfc0brw3KLRIOpm13TNIehBBDEWNaZTrMbcYcL9RvDBT_yjHMj0e9Zaie1_sYJrUQ0hZn9NpbetmwHzIltUa-mi4JU13IWIdlHYtLJ4YvTCcz_r_fVyD1R7wIwT9SMo80YFH8v_sH7FL24DbZHRhyqJvKQBJDUeVEnuDClUIuzziPHK4q3ho6pwChA6IpJ9b9CUpaBQch1pFsVEfntrqAxrTeUUNcUecGhzzmrE43K37JjXcIBwPTMuOLXvRs0sMuf3ZQOREFkaXCxm4_iAvInRIf7krRgIC",
  "id": "rs_0d31c282637dee4a016ab47391032c87d0974048543a09f2df",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_y\":-0.125,\"left_z\":0.055,\"left_yaw\":-0.4},\"note\":\"The nearest bottle’s neck is left of the jaw center in the wrist view. I’m shifting left and forward, lowering toward the neck, and aligning the jaws across it.\"}",
  "call_id": "call_D8RcFkiE9wAA63qNyCOJkHiL",
  "id": "fc_0d31c282637dee4a016ab4739751d087d094e065bc52062681",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_D8RcFkiE9wAA63qNyCOJkHiL",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2615, 1.7359, 0.709, 0.4137, -0.0536, -0.0883, 0.9985, -0.0135, 0.7647, 0.5964, -0.4473, -0.0292, -0.0387, 0.999]\nstate[eef_state]: left_x=0.4315 left_y=-0.102 left_z=0.0521 left_yaw=-0.181 left_pitch=-0.0508 left_roll=-0.0282 left_gripper=0.9985 right_x=0.2827 right_y=0.0049 right_z=0.1706 right_yaw=0.0068 right_pitch=-0.0434 right_roll=-0.001 right_gripper=0.999\nstate[joint_eff]: [0.0342, -6.4342, 6.0923, 1.0818, 0.0708, 0.4664, -0.0611, -0.5812, -1.5932, 6.9128, 2.0586, -0.0757, -0.0317, -0.0073]\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:1bbffff767552c22f5511449da491db6917f19da857582f0a0e56a7c457e2b57",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ec9e2832778f97c89a8bc6fa2a12bc40ae69c54d9bf456da313265ae92c01f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b50cfb428bf822fd8df0bc15b3aeba7c5fbc6ebc4c0e4cc34936cb11fff202f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
wire blob 1bbffff76755
wire blob 9ec9e2832778
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 7.27 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]: [-0.6239, 1.5513, 0.841, -0.0135, -0.5018, -0.3843, 0.9989, -0.0143, 0.7986, 0.6502, -0.4782, -0.028, -0.0391, 0.999]\nstate[eef_state]: left_x=0.3832 left_y=-0.1667 left_z=0.1129 left_yaw=-0.0132 left_pitch=-0.0582 left_roll=0.0276 left_gripper=0.9989 right_x=0.287 right_y=0.0044 right_z=0.1798 right_yaw=0.0053 right_pitch=-0.0545 right_roll=-0.0018 right_gripper=0.999\nstate[joint_eff]: [-0.4991, -7.1316, 8.5812, 1.6435, -0.2759, 0.1197, -0.1245, -0.253, -0.9778, 10.4821, 1.956, 0.0122, 0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2615, 1.7359, 0.709, 0.4137, -0.0536, -0.0883, 0.9985, -0.0135, 0.7647, 0.5964, -0.4473, -0.0292, -0.0387, 0.999]\nstate[eef_state]: left_x=0.4315 left_y=-0.102 left_z=0.0521 left_yaw=-0.181 left_pitch=-0.0508 left_roll=-0.0282 left_gripper=0.9985 right_x=0.2827 right_y=0.0049 right_z=0.1706 right_yaw=0.0068 right_pitch=-0.0434 right_roll=-0.001 right_gripper=0.999\nstate[joint_eff]: [0.0342, -6.4342, 6.0923, 1.0818, 0.0708, 0.4664, -0.0611, -0.5812, -1.5932, 6.9128, 2.0586, -0.0757, -0.0317, -0.0073]\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,$blob:1bbffff767552c22f5511449da491db6917f19da857582f0a0e56a7c457e2b57",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ec9e2832778f97c89a8bc6fa2a12bc40ae69c54d9bf456da313265ae92c01f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b50cfb428bf822fd8df0bc15b3aeba7c5fbc6ebc4c0e4cc34936cb11fff202f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob 1bbffff76755]
[blob 9ec9e2832778]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHOeYow2TrKOJ_DTHRWDaBouJhz2g9HFH5K12tMTyadkRGMPcIQDoStThhP6kdR-ojwhCAbGkaFfDPw1QmCIzoJuZ1womwBcn62O-IHBBQSXOyW3vxPaiWs7g3feqV8fPIIWwFj-oukv-GZUzdj05jN1f9YYeZJXrWURidOnoEptF6kvZAvQEtcAu7B8X-aF9IsmegNTKFEh2EaJYF4rZdIWUWZvdDTQ3zpX_h62hyWEmNVypBPPVFJGTsB3T_lQQT5qOeuGQODQRmnxymUvT-RY8SqVoQizfjeEYUG_p_S3zY2rYN_WQ115dw6HDNQnM6ndG1KQYRYE6cp8HsFGl8AmtTEY8REOSSzSVa-uadYb8Z9YZCtiD33UOzMPGeVp83sPJasS0YprGJk-Tum2x9mQspkRyPDBhnIfgfnKbeHBScKIeUjyYyAQbF_As8VUKn70yYqmid-BERv-Ny-h5slUXr3R2NsrpaKuPV9qHFtPJCfqicEFc0k8XfV45kBWjX0NWWyOlRmjDYnqzo4ucqmB2G6p-fS7BNFw7KobzjuatLH5k8s7h2lBJxbHAgDG883XfWgWazl9rWCAVcJaTEWqeALvCpO4dKvWkcU7VexPesjcB14hKmZRQwhPdz9HKXaRJd5FATUcqeXRz93Ut33ZnF_lUDmqXj3oIcnD1Np01cUZFZ6TDJ_R_R2qpKkQXgPuXNPURQEoiJpYAptkK3L2mEPzAwmKuFivwOSiiWRjC34Z327l9Rn2oDp0bJSNdNdUaLsmVVzNjkxhFoNFY5Ua433DhHlLGUUU_LYIdmBafovVWk8kz3wx74XcUo9ZzVz0KbrXGTAgMxZPnv15YkYDEKETDnutCTmB4yD7-LyJ-9YLzGz7uElgH26UgJ28LjTfSmCtAKmOru0l_y67bdSuEQCkgBXNTHmoeAPtn7XCa7QU4c92PiE5Kp7GofSK67J-IMyNMqofEGDjO26DRVBAjbaSNzWh3lC-X6Hp0tDxRN9pDBdI7cDNWgNNyZSduyo666EP6M1h2TPnuneK7W4cpXAnxt29nL0TXfb5nkCxuKSYA6IctYJhsZWXdijQqAJ7i2zYo4MdXXBx_XkXNoXqNzRAo4Qu2icpg4zJaqStVDcscBWGNW3xOezT8KpiNg9ep0MqcCWZcoFDn23J7fAQSobLfreSjyO9S7CJjatDqUqjBNT-t7iAoBnQtgarPb01ELv7xe5z8EAUY86j0-IVr1WU-RXQ0M4FJ72TV7fc_gp_vgZfeYqhc6k7BIjyMyAPpzajYEiLrUr8iOQj9VzN04w9-kfVFzg-B_vqytRSisWic8S0AgFVaMdymm0c6Xj5oE_sWV-6OtsuGL-97lIyhcZ0tCOenG2LKhp6bOWQWnIF72A5zjopBwlRgx-RcBV0AoJ9tcPRDIC63UdcBiGf5c_cJ292-4dxZIAkK40ch3Nb96GTK449e3-hEjeIlbYxAoTcfOZ4oaax3HsLFQ2FbMkwUpuBHbtCjY4hEkXbMADraKxEHjz_AYuj4BOhoaEJGNvm57dFVkcsU8X1rbgg80IRJ2CRmArZ2hOxWvc_XHlpYLeVG355Gt9iS_Em1AqM9e2lpY9BCJtRy-BP1bvHQtIvBMXkSTR55oiPkaMK8u2Fh9FQUL14K-yIY66P9HEoiIUYNRyjyZJVq9P5aL1adLPQ3_t28gY7w_lL4kcqC6Qk0JMlNgmMTrRD1Fa3bP3VZUDMlaoYNG3aneE7WxgyM3Ugfrvr0Sq7S0bATM9w5mU5n6M7tvzWg6BmteOYXT30o_hlCWlinNgeVvtA_LKvXZZ8s8CTd8YeVUdYVkrqwy34hmY5_oguSNzVojO56dvgH6M8xs7IHy6MAU84UOyJyg==",
  "id": "rs_0d31c282637dee4a016ab4739a26d087d0b9c43fb16c8890da",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.447,\"left_y\":-0.085,\"left_z\":0.027,\"left_yaw\":0.35},\"note\":\"The cap and narrow neck are now close to the fingertips, but still slightly left of center. I’m making a small alignment correction before pinching the neck.\"}",
  "call_id": "call_2EURgJqx3gfrZireoGtnaf9L",
  "id": "fc_0d31c282637dee4a016ab4739cc90487d0a857c6999b1fb296",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2EURgJqx3gfrZireoGtnaf9L",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3214, 1.7786, 0.6987, 0.5201, -0.0376, -0.0986, 0.9983, -0.0135, 0.7391, 0.5537, -0.4252, -0.0296, -0.0391, 0.9991]\nstate[eef_state]: left_x=0.4321 left_y=-0.1331 left_z=0.0517 left_yaw=-0.249 left_pitch=0.0016 left_roll=-0.0497 left_gripper=0.9983 right_x=0.2791 right_y=0.005 right_z=0.1624 right_yaw=0.0073 right_pitch=-0.0384 right_roll=-0.0012 right_gripper=0.9991\nstate[joint_eff]: [0.1709, -6.5573, 4.3692, 1.8486, -0.1148, -0.0562, -0.0269, -0.4308, -1.4291, 7.1453, 2.0488, -0.0513, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb34f8b116713dd1149084a4d582570391c8c080435fc848e6c78a34a1139c90",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f5953ec528f388cff340aa3ccf8da9869f78e55cbfcdc34722a9d18b1c92d76",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9170c50abcc9f758ba00fcfe5cea8ad78b9a5eb029ee469da1e6f35fa01250e8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 4.87 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, 0.7944, 0.6094, -0.3767, -0.0196, -0.0288, 0.9989, -0.0154, 0.7898, 0.6037, -0.3866, -0.0261, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.2959 left_y=0.0011 left_z=0.183 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9989 right_x=0.2936 right_y=0.0037 right_z=0.1796 right_yaw=0.0 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.6222, -1.5658, 9.7846, 1.7509, -0.0464, 0.0904, -0.1294, -0.9231, -1.2786, 10.441, 1.9023, 0.0073, 0.1978, -0.1099]",
      "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]: [-0.2615, 1.7359, 0.709, 0.4137, -0.0536, -0.0883, 0.9985, -0.0135, 0.7647, 0.5964, -0.4473, -0.0292, -0.0387, 0.999]\nstate[eef_state]: left_x=0.4315 left_y=-0.102 left_z=0.0521 left_yaw=-0.181 left_pitch=-0.0508 left_roll=-0.0282 left_gripper=0.9985 right_x=0.2827 right_y=0.0049 right_z=0.1706 right_yaw=0.0068 right_pitch=-0.0434 right_roll=-0.001 right_gripper=0.999\nstate[joint_eff]: [0.0342, -6.4342, 6.0923, 1.0818, 0.0708, 0.4664, -0.0611, -0.5812, -1.5932, 6.9128, 2.0586, -0.0757, -0.0317, -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 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3214, 1.7786, 0.6987, 0.5201, -0.0376, -0.0986, 0.9983, -0.0135, 0.7391, 0.5537, -0.4252, -0.0296, -0.0391, 0.9991]\nstate[eef_state]: left_x=0.4321 left_y=-0.1331 left_z=0.0517 left_yaw=-0.249 left_pitch=0.0016 left_roll=-0.0497 left_gripper=0.9983 right_x=0.2791 right_y=0.005 right_z=0.1624 right_yaw=0.0073 right_pitch=-0.0384 right_roll=-0.0012 right_gripper=0.9991\nstate[joint_eff]: [0.1709, -6.5573, 4.3692, 1.8486, -0.1148, -0.0562, -0.0269, -0.4308, -1.4291, 7.1453, 2.0488, -0.0513, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb34f8b116713dd1149084a4d582570391c8c080435fc848e6c78a34a1139c90",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f5953ec528f388cff340aa3ccf8da9869f78e55cbfcdc34722a9d18b1c92d76",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9170c50abcc9f758ba00fcfe5cea8ad78b9a5eb029ee469da1e6f35fa01250e8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHOmcsN9e8RVpaV6ikP46eeVvWZE1TvdOON8yhAM373tofbZqweGPUr7g2JpVvJ0q0iUZztqJccK3M48iRadI3JVLWdMtXkZvGxrIEkuMem7SupQtMsPCLfXg6X0kiYDJoAlpIO0oclDSOw8LsDdbVb5KnmPwSJONWktyN1LV-or_5DxfG2jMgZAwy1-boqwYMmKTuwZWTwqux_-Gu4BvgLMd_5GkRxa5GoFWMLGcP41ht2iCv8Y2tpVn6cRCLUMArkL8BoYRMHN16cel2QvpCRuZkZuXUmju1BdPZdKD2xKprEmBes44IbJxAr32z7Nq2wkaWrogjs9GDvIz-vQk9sDgcJXU3aNap_NMk2sVDbdQUmcm2oRXMWEMd6AJK6_RDeMt9rOixSuUfiZU6Px7LgSTDGu8wEl1zC4OR2-V1ZGtK39MpYUCbMGCPCUD_jYMTVNMy90MZtx9iadQ00AItrq7YKX2iA_I_1ODHDUZ-XcBOgGG8haL9Wjr6NHMonoUlDzxt8FjWzzBmyM90b_4ogmhb2rA-hxEQCKAK4oa6e25Kz3zodpei8a6O1eCu7cnQiZEN11Tb1Bm3k6UVPt_l2JqRwWK92XtGfl4ucyk6flIAbwHRPDZSOFM9nqbkdcqZaAP4Pb610-hjjyrjNxeaolVsnjdTe9V_P8o-HRBWD_7nsyaTph16F7cGj5E8NaI3Otb3GWtSpNj2HWcfRxby03d_8l6f5-7AW9Zc9HpdQp5otfhyzkjbiVmlNPLu8NBIUQGCAsOlrojzzrDW29BBqo3KOrq8XE8WrjqCR4n3QViKMV9V3FB4AVVQOyH0mYOnqwEWIunrVxON4I83lS2puv250gfeN12VvGXjErB1xm3o3he8VaCfdSiRCThivZSfhv55NTgX4cXa3zC5Chw2avUuryWF05QEGBrmKF8n46_G2N7uZtbq0bfza7uFRmDh0NgjZT6vIjzS1dOfe76GdKLWcMZMktPwAvrTPVQt7tyJpxWJ_8pFDA-KY5f0OFxUT1niUsDSrVb5c3I3VigUcaCpa_cRdPWh9CwIpMg9hzaCN_0kD-KWs-dki7BlPIyNTFZVN163GXMmm21y757iHVnk0-mIIwpWszbX0keTDkzKbPUc5UO9KxZaUDbfQGFFRgSEGr3VVG4UCB7LFvkKxpYoVcC7nglXUtUvlfR_DBx_1c3uplxhB5ZV48YqceIbUv7VzLq9DSAXY6fsmzbI32YlF3Aq0aGXcRjauhzN4Z34rtrOjyx8PGWsP_j1tpGVcxiT1oMOnG6iba6xQEiDCVwtWAWeVBC-I-K_1PRdUpKJCbPHxzhY7kIqtoxWy9z47K8aGe8rhKGMLg1tx7p1sSRu5qa30avvlD6Arq1XAcEAvk-tKdCBdjziaOh7tPa7943v0KSjKPoYdNJRLqCqYSg68jZHeYbTIB4ABCGk5qOWEYnqSjvqgxbn5ypxY5BK8DPS8VqlKMgOBwP2n49L-S1c04b1EosaWwWZfDliXHhiXwpMGbMvPBoYiPAd1yJ8a0uJLAcTzeqkQKSlFfGXn1dmUWEg5c7A1SKyoN6JVlZ7DPHBJORPgyWzIAmi6ai1KgI6iRg4PLUBSXB2HoWe3JLllLQXYCrMvMqbVajv40reto_tm5CBfPn-BhyYvOl1OPnFcikJXM7ewaS5jHCdDY__bepHKh8-iynjGmFAnFlNEIKjVqja4tSp8TOloilbpzY3yrlbnfP2bvzfisSB6KuxdP-YHGM2JumLM8TMmbsiKx_fTTMhGKopo-8orGLrl95jb6P6pZzM6ACq7rbNPwQHJ4dlEQgE3OkMbC1sCudGMfj-GR0nx02_NgB6X09hLyDbTmtDeYRg-Smf1MiEH31JprbMp9PepZdoB5D2YFcHVN7YY2ETH81C-VgD94hJI1xvEoCIp-tEvSwbfPPtcTBgGesG6sRJs4x8-wIu5YYI_sf1irY13u_DEZwruaa30ACtNj4TsEYZ1IN8PbCF5ckKfqn73dShR3eEi0cDf8mwJjmZ-RrXXpSD4PhvWRRJXi14PtD2LlUDS3qVH96_ZvALI7HfNfF4TulhVUay6Y6Me5pHO7I6pS9TDTBd43dJhiwdLJN9QMmv6aEoRhcZsODmC5NimGCeFngXuXWnFS2YkxMod-yjUaa7srXP4Jdf6N0gIwBhMVz2w3976nM7qhp4PTkHJk6mvOtjiTJKIPAAbwmPxB_dOeOKG6U02SqfPdtZK8k34SqaI_xJlbXE9j5NpOOaHG6CK_HrQ_LYY2VHMlNBBtYkFYcpE9NTzfeZX3xoVLrYJ4v6iBvzf037ZIqQ==",
  "id": "rs_0d31c282637dee4a016ab473a0762887d086bc0c8d5a1fc3bc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.09,\"left_z\":0.035,\"left_yaw\":0,\"right_x\":0.294,\"right_y\":0.004,\"right_z\":0.2},\"note\":\"The arm did not track the last rotation and descent fully; the neck remains toward the left jaw. I’m simplifying the wrist orientation and making a short lateral correction without pressing lower.\"}",
  "call_id": "call_QZNEu8V1PurNT6mrIQqkPMld",
  "id": "fc_0d31c282637dee4a016ab473a4c77087d0ac47e64e82220379",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QZNEu8V1PurNT6mrIQqkPMld",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3202, 1.7802, 0.6952, 0.5266, -0.054, -0.1139, 0.9983, -0.0135, 0.7948, 0.6319, -0.4671, -0.0296, -0.0471, 0.9991]\nstate[eef_state]: left_x=0.4327 left_y=-0.1297 left_z=0.0512 left_yaw=-0.2259 left_pitch=0.0035 left_roll=-0.0541 left_gripper=0.9983 right_x=0.2861 right_y=0.0049 right_z=0.1747 right_yaw=0.0116 right_pitch=-0.0578 right_roll=-0.0073 right_gripper=0.9991\nstate[joint_eff]: [0.0752, -7.1316, 4.547, 1.746, -0.1538, -0.2076, -0.0122, -0.8274, -0.9231, 10.2222, 1.956, -0.0855, 0.1197, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f0925d253025b6ea0f5e86aded12917a1e9a8c43f7a1d1cdbf815154e6a71eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c79731fa5a7092f131693c6c928268596d3c2c7ea4c3f4e9cbd50cce34034ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da090202ad33e0696977a6b61c6e32b2f98262bb65330b7379bec1f101bb9603",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 5 attempt 0 · /responses · status 200 · 3.41 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]: [-0.6239, 1.5513, 0.841, -0.0135, -0.5018, -0.3843, 0.9989, -0.0143, 0.7986, 0.6502, -0.4782, -0.028, -0.0391, 0.999]\nstate[eef_state]: left_x=0.3832 left_y=-0.1667 left_z=0.1129 left_yaw=-0.0132 left_pitch=-0.0582 left_roll=0.0276 left_gripper=0.9989 right_x=0.287 right_y=0.0044 right_z=0.1798 right_yaw=0.0053 right_pitch=-0.0545 right_roll=-0.0018 right_gripper=0.999\nstate[joint_eff]: [-0.4991, -7.1316, 8.5812, 1.6435, -0.2759, 0.1197, -0.1245, -0.253, -0.9778, 10.4821, 1.956, 0.0122, 0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3214, 1.7786, 0.6987, 0.5201, -0.0376, -0.0986, 0.9983, -0.0135, 0.7391, 0.5537, -0.4252, -0.0296, -0.0391, 0.9991]\nstate[eef_state]: left_x=0.4321 left_y=-0.1331 left_z=0.0517 left_yaw=-0.249 left_pitch=0.0016 left_roll=-0.0497 left_gripper=0.9983 right_x=0.2791 right_y=0.005 right_z=0.1624 right_yaw=0.0073 right_pitch=-0.0384 right_roll=-0.0012 right_gripper=0.9991\nstate[joint_eff]: [0.1709, -6.5573, 4.3692, 1.8486, -0.1148, -0.0562, -0.0269, -0.4308, -1.4291, 7.1453, 2.0488, -0.0513, -0.0659, -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 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3202, 1.7802, 0.6952, 0.5266, -0.054, -0.1139, 0.9983, -0.0135, 0.7948, 0.6319, -0.4671, -0.0296, -0.0471, 0.9991]\nstate[eef_state]: left_x=0.4327 left_y=-0.1297 left_z=0.0512 left_yaw=-0.2259 left_pitch=0.0035 left_roll=-0.0541 left_gripper=0.9983 right_x=0.2861 right_y=0.0049 right_z=0.1747 right_yaw=0.0116 right_pitch=-0.0578 right_roll=-0.0073 right_gripper=0.9991\nstate[joint_eff]: [0.0752, -7.1316, 4.547, 1.746, -0.1538, -0.2076, -0.0122, -0.8274, -0.9231, 10.2222, 1.956, -0.0855, 0.1197, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f0925d253025b6ea0f5e86aded12917a1e9a8c43f7a1d1cdbf815154e6a71eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c79731fa5a7092f131693c6c928268596d3c2c7ea4c3f4e9cbd50cce34034ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da090202ad33e0696977a6b61c6e32b2f98262bb65330b7379bec1f101bb9603",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHOr9zMNyPdTM8-7LgWcalSHdVpIQHA9QKmaovUXQYN7Zk60qHte8xgcd49jXYoCAfM_w5Ffbmq80c_9OwgspbfHhnhjZE9Jk8Fahs4xe0Lkn2XsNMARAZTvdMKSPepc308JjW4fR73p5zBw6oWnZiCqZYLU91BtZlddXczS8bgfh4rY4_A4kkGG3xrZLHxTk0AgeW7n4Zl-jVxryqZPDtjXqDn_pogo91A23nbS7J4bGne6fbYhnxwh98rgUCJ1Krl9u8DjP4QC4-hbcfLkzYokRPnT6UbShzmbg1J1tcAU-X7hN52yMtVzmXBqy9l4VeZnKUF9bYkkQN4Avrp6_-FD_9IErvBb2f-VUXtL-AvMYGmvxeoc8PKFE7HnVMyHkKdygAtSFeEJz_o921Spx3tBosmBvbx3mgWM3c7gWKK86AiO_au9L24NCNS-66f9ZxirtJuIQpX3fV-y_ZA7xDt9gJkK5eeSy_mt-AMLpsGbIphmE9tQ1Sf_Lu7gok7wCHMrYIKEeDydMVnqXzPgxcmYWpgfOMlo8QEEyYeXwaGSdJdCqDvOJsI9rcAVbhCcJDajRontkp0ahK7ylyBaxJAyMreqGBHDL8Xb1_J-PN-FJsN6QKPIhu_bbBMnRL7Yl7nPh6w1gqjkmi57PVYqrQn5zxFklcxMiH39cUOFC7Ydatgcjy0vFumqJSZY1VRP3Bw2gXcrvrutUYtJr8rYSweqsfgX9WnQEDaItes2hMDAPsmCsDrvNszQayEQL75hN-fqD87zz15vJh1rvBNxkytE1T2gdrNgJcLPJIn9igNLaVsBvnk8k05agOUk3s8hAovyNzypx4VtXuMpQwOP1qoZkTt7MRwztqdnxYIWqfT6ZqXmC-7WpgXUqDQ8ducZiBglHZGhyd65wXAm3wKZZAVht-5TR61HB0LqujI634Ed2wATeK3dW04fiJuOu6rWK7Mcfea5PerXIQTzOS0xoJV-JN68Zv8msF6qwTCFDAOK94ykrt9sR-XOw86nQj8oyM7wawOl898AdiLsijzlTUwbSNBAGcBvfVvG9Nl8BxvesjobBT-1BS8Hb36N_Gr7kjtii0aR-Mse2y7eo58IlwSG1wAlJLJf7YNVEZQMVyU1zoAg2ezG6xXm7h8G8T7PsI2P5PD-u1bhGWj9hqGp2LZHuGl3w7CfLoC0TWiYbHccFhnpjW07MlBVT-uhOHQ1b3nIyplFpSuhzFZSdmyjKAygS3XmZQQkkHKrPKmk1KDi0xUwMFYsdEGqrdXx_Uo9WCW_zkTlAD7yLf0bcEnSUfofBD_kA11zSGUv35VjnIAqFApF1AkS8GSjEgZdtA7at--cZxPU7GhMcX0gsReRHt5bJTWOMsPe5jyrL_XReb2gptGQUmLw6bqVfmlJ34guD4kdIZoCxzcmCc1ZXIl7ugldRDRmW8piFeEe0LgfqBhZMk5kXPt-s7uA4Jtf5XQCIAcCL0UfTuqQIsesfUmj2sapEXXAUFuW11lIMJNbCkMRjl_Vy64ovkqZVWYOCY7xtUfbpycNOP3ux3Yppml7Ttz4XkJK0POSL3TxPEtW0vVDLIVG-Nq8sY_eF1enHgB3iRhZeITEdukuZZwklY-hEqRrjSG6zN3d7OdTuTwDlYpz66aNs9WkeJp-Uv9F4Mi9QtF-7DBj0PWJURgmWU6og815tbWPR0Y_0B8QoM-OwUWBPa-UtYhqrzSuznDdnXNkgpc0yMkFK63F4CFozNXA5SFvoxGQDhPlP5X9LimoBR4hXrpLysJTMDwYXSZjSvLumZjzF1_NUJjhTb2otht0FR8HUPzfvT4Y5BM9VSD5w0W_T4E=",
  "id": "rs_0d31c282637dee4a016ab473a8187487d0accbe66db4cfc172",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.26},\"note\":\"The bottle’s neck is now between the open jaws near the bottom of the wrist view. I’m gently pinching it rather than fully crushing the thin plastic.\"}",
  "call_id": "call_jbQBbSkMxIwVNxeRn8DCYsoH",
  "id": "fc_0d31c282637dee4a016ab473aa3ed887d0ba2540ea71b1e44a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jbQBbSkMxIwVNxeRn8DCYsoH",
  "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]: [-0.3325, 1.7802, 0.6956, 0.5549, -0.1127, -0.0975, 0.2651, -0.0135, 0.7582, 0.5709, -0.437, -0.0299, -0.0513, 0.9991]\nstate[eef_state]: left_x=0.4373 left_y=-0.1262 left_z=0.0578 left_yaw=-0.1971 left_pitch=0.0356 left_roll=-0.0131 left_gripper=0.2651 right_x=0.2806 right_y=0.0051 right_z=0.1628 right_yaw=0.0142 right_pitch=-0.052 right_roll=-0.0106 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -7.8974, 5.7778, 1.4042, 0.1978, 0.1685, 0.2125, -0.7453, -1.5111, 7.2274, 2.1123, -0.1441, 0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1672d037d8ff403b263adba8e2e5fed22021b9c399db5b3e7bf57c05841f3436",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c62144e7cf4829f5760c7d40973a05061fd158c91895186b8a31281a1bf34fe6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d626dff6b57e4a4d025b1febfcb35e277626a04080bc2a3299d317ea8a6efa0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 5.262 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]: [-0.2615, 1.7359, 0.709, 0.4137, -0.0536, -0.0883, 0.9985, -0.0135, 0.7647, 0.5964, -0.4473, -0.0292, -0.0387, 0.999]\nstate[eef_state]: left_x=0.4315 left_y=-0.102 left_z=0.0521 left_yaw=-0.181 left_pitch=-0.0508 left_roll=-0.0282 left_gripper=0.9985 right_x=0.2827 right_y=0.0049 right_z=0.1706 right_yaw=0.0068 right_pitch=-0.0434 right_roll=-0.001 right_gripper=0.999\nstate[joint_eff]: [0.0342, -6.4342, 6.0923, 1.0818, 0.0708, 0.4664, -0.0611, -0.5812, -1.5932, 6.9128, 2.0586, -0.0757, -0.0317, -0.0073]\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]: [-0.3202, 1.7802, 0.6952, 0.5266, -0.054, -0.1139, 0.9983, -0.0135, 0.7948, 0.6319, -0.4671, -0.0296, -0.0471, 0.9991]\nstate[eef_state]: left_x=0.4327 left_y=-0.1297 left_z=0.0512 left_yaw=-0.2259 left_pitch=0.0035 left_roll=-0.0541 left_gripper=0.9983 right_x=0.2861 right_y=0.0049 right_z=0.1747 right_yaw=0.0116 right_pitch=-0.0578 right_roll=-0.0073 right_gripper=0.9991\nstate[joint_eff]: [0.0752, -7.1316, 4.547, 1.746, -0.1538, -0.2076, -0.0122, -0.8274, -0.9231, 10.2222, 1.956, -0.0855, 0.1197, -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]: [-0.3325, 1.7802, 0.6956, 0.5549, -0.1127, -0.0975, 0.2651, -0.0135, 0.7582, 0.5709, -0.437, -0.0299, -0.0513, 0.9991]\nstate[eef_state]: left_x=0.4373 left_y=-0.1262 left_z=0.0578 left_yaw=-0.1971 left_pitch=0.0356 left_roll=-0.0131 left_gripper=0.2651 right_x=0.2806 right_y=0.0051 right_z=0.1628 right_yaw=0.0142 right_pitch=-0.052 right_roll=-0.0106 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -7.8974, 5.7778, 1.4042, 0.1978, 0.1685, 0.2125, -0.7453, -1.5111, 7.2274, 2.1123, -0.1441, 0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1672d037d8ff403b263adba8e2e5fed22021b9c399db5b3e7bf57c05841f3436",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c62144e7cf4829f5760c7d40973a05061fd158c91895186b8a31281a1bf34fe6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d626dff6b57e4a4d025b1febfcb35e277626a04080bc2a3299d317ea8a6efa0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHOvyoE4exyu7ZrGa5dfU4H3xeBymHwomWngSlLxjyMGygDHV2Ts0Y5HzXemwbFRtFg_UBfB58EcWW2h-WsAKMlk91CupfxMWHMktekS7nuxyGuxsg6oqMihtZ3bN48rpTgtO7H6v4SLuGQ2lDq40FSbmm-qdqYKU6dm7qfUCBaOhaq7ARpMp02SvAWFXa4Q0wHhii8LVCtlgfvtIZu2QZZ2FYQEffiQjGoSq90QkTBAeca4O6lYToleEolZu8cqKhuQIHbRqtOKjUTrE3i2BWs1VJ8MoFzESMBIsqF2sSMUOLT6k1hB9dwVLH62UEwCR6b-z3hdsJvrXvRmoYrwhiE-wWN3YM8hFEia9oP8GiXa7KPDBA1sobTgXLU9TL4zehxSSr9zgTvDtlbqmquwB0KP66byke302mdZMlMjdHyl-gs82WuPC9RunvFKwT0_WnHICL-ocxJ1K0Ty18yej_MEzLhuZ3UZ0J32jfoeyfHKWQ-JoFPhOResZZpxWsBxuTtfHbuOPxDkj1Po2gKnQSCwcYzajwtAAjMJ-66Cgqe5VnMUnke93yiQHS5N0lxu819q-U6wY4NAYUfx7DaatqfLY_A7BdEHzN7XVEuH2JLHAt26DMV-0xNqncidAXDfqSoUn8RXdAmrzyE0G4pxUSBcJCY20mv-tBwKi--8OP6R7OtDU7u-bJQHCrOXfoZuJXPGtFduI4WbxEaElNVng1occOQ35JyrebQakkmKjtzCWE9itdfbr54V308zBzaaP0uU4Zb3msdymlyRjDCqom1xWd0xEZQk0R6f300psuwl5SUzuMkk4ZBQ-ysOIplUGbv8DhpO4VaMm1yUMZ3vp-D9hHsilhVs2C5O2IAPnkeTWhvvw8QKSv44N21hkZgpe1b1ZMGkhRGte1V5gSAlozSVz1r3yGCBJw4044CQWqSOOQPdgkXQt71O8dk6X5dXb3OI1KprQMO6CS1ah5oiOty867-tvhwr-fH2Loy81J5rtGa8myTXqT5n5p3lNrXSSF4XvjM_Zp2rcK7444f-ULK8xbfd7Q8rsij4gbatoj_Te0b1PMl9WKmIXtxKbfG7_s0yFzAprYxXAUtEwyV4NTF1r_98rjG7zq4dA_rNRw-nZ4jYM8rolN8hPfOFA-N_eAIYvVDcikAJbIkTmTws0dQf96IrIGWlpM8YY2oFBF2NflB0zpuetLP-X6fwrsUYMbHp94Q9iFGkKWzmp2INN7Zo-3ejQSKZdL-80wceo8miEhxH1gGqWlq6gFsvsJvMIsQ_QKnRRO2T7xCYpZF0iXXhaXZ6EjZbeKL6hAydLllvLAErTklbgnRPSVu1PjcYPjDQrn0vqpVoC5nf37zcp-4RrvctlVTCb9Eq3RQUS-Y_fTJbNPUZ_N6g8GawTytUmaWE",
  "id": "rs_0d31c282637dee4a016ab473ad6c0087d0820d0240d99c2a12",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.14,\"left_z\":0.115,\"left_gripper\":0.26},\"note\":\"The jaws have closed around the neck area. I’m lifting it a few centimeters and drawing it slightly toward the bottle’s base to check that the bottle follows.\"}",
  "call_id": "call_PfaFuc86Nu3ToNpRLENu7CQA",
  "id": "fc_0d31c282637dee4a016ab473ae426487d097ae068c8fd8e328",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PfaFuc86Nu3ToNpRLENu7CQA",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4019, 1.5875, 0.738, 0.2939, -0.1612, -0.1242, 0.2611, -0.02, 0.7258, 0.5213, -0.4095, -0.0303, -0.0509, 0.999]\nstate[eef_state]: left_x=0.4166 left_y=-0.1424 left_z=0.1028 left_yaw=-0.2115 left_pitch=0.014 left_roll=-0.0071 left_gripper=0.2611 right_x=0.2765 right_y=0.0034 right_z=0.1543 right_yaw=0.0079 right_pitch=-0.0417 right_roll=-0.0104 right_gripper=0.999\nstate[joint_eff]: [0.1299, -7.8838, 8.8274, 1.6142, -0.1538, 0.1148, 0.105, -0.4581, -1.4701, 6.8855, 2.0342, -0.1685, 0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2070574b5f404a036587867344695f15e13f061a8828ee8c0c226493dee38b2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5c88993181d2f05a7fea503f96dd97df63da425367601f4df3aa447e4de3e10",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94e6cbd1931a27416df90989d6c532771ee2943cc1675b14aaf626b9bf0c3057",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 6.349 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]: [-0.3214, 1.7786, 0.6987, 0.5201, -0.0376, -0.0986, 0.9983, -0.0135, 0.7391, 0.5537, -0.4252, -0.0296, -0.0391, 0.9991]\nstate[eef_state]: left_x=0.4321 left_y=-0.1331 left_z=0.0517 left_yaw=-0.249 left_pitch=0.0016 left_roll=-0.0497 left_gripper=0.9983 right_x=0.2791 right_y=0.005 right_z=0.1624 right_yaw=0.0073 right_pitch=-0.0384 right_roll=-0.0012 right_gripper=0.9991\nstate[joint_eff]: [0.1709, -6.5573, 4.3692, 1.8486, -0.1148, -0.0562, -0.0269, -0.4308, -1.4291, 7.1453, 2.0488, -0.0513, -0.0659, -0.0073]\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]: [-0.3325, 1.7802, 0.6956, 0.5549, -0.1127, -0.0975, 0.2651, -0.0135, 0.7582, 0.5709, -0.437, -0.0299, -0.0513, 0.9991]\nstate[eef_state]: left_x=0.4373 left_y=-0.1262 left_z=0.0578 left_yaw=-0.1971 left_pitch=0.0356 left_roll=-0.0131 left_gripper=0.2651 right_x=0.2806 right_y=0.0051 right_z=0.1628 right_yaw=0.0142 right_pitch=-0.052 right_roll=-0.0106 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -7.8974, 5.7778, 1.4042, 0.1978, 0.1685, 0.2125, -0.7453, -1.5111, 7.2274, 2.1123, -0.1441, 0.0024, -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 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4019, 1.5875, 0.738, 0.2939, -0.1612, -0.1242, 0.2611, -0.02, 0.7258, 0.5213, -0.4095, -0.0303, -0.0509, 0.999]\nstate[eef_state]: left_x=0.4166 left_y=-0.1424 left_z=0.1028 left_yaw=-0.2115 left_pitch=0.014 left_roll=-0.0071 left_gripper=0.2611 right_x=0.2765 right_y=0.0034 right_z=0.1543 right_yaw=0.0079 right_pitch=-0.0417 right_roll=-0.0104 right_gripper=0.999\nstate[joint_eff]: [0.1299, -7.8838, 8.8274, 1.6142, -0.1538, 0.1148, 0.105, -0.4581, -1.4701, 6.8855, 2.0342, -0.1685, 0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2070574b5f404a036587867344695f15e13f061a8828ee8c0c226493dee38b2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5c88993181d2f05a7fea503f96dd97df63da425367601f4df3aa447e4de3e10",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94e6cbd1931a27416df90989d6c532771ee2943cc1675b14aaf626b9bf0c3057",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHO0OSMKvKq6MhgAUK_xOCVJxgv5aguUA1pBF3D2c6LodxL4_uxlqRJlQl0EqLVamG9MnDCF5G05DRmJd5bPx645qlh8gv9jFqEH3Flgg-AmjKfbKahVbKRzeuZ6pcjOMxJPzJT6DbokiRA7H3mfE1aCY1JEKjx8Lie_8zuEjXfapiR-eiaMKSxG-nf6R99MispSiPvCU0mfWsq2eSlshLAhSjaJHX8637arATz9tpVAwibD1RySxlgOpwYdDVXiYxTOOgzekabovsHW1XjZSuT02acWRYJt6J3MQXIbmQbKiybD62NeZACBj8E3M6yARDFyxPq7-w9lLmR2YgaXA6jPsu7ALP0s75sja0bBP6EqSZ46eyru8dm_LrBGwWt3Ij8s8ZFrDM324M9u1hZDVVCSvkxhqhApSYiOP8MoberUzExHWnmEmsa3V4KM5wAwZL2LBfGUBdp7JPxvnPrAB0qBJX5PXxjHyuWjJCUhgmampSONTUI9oglkxZ-IrCP5ngHJBiiHk-uyLp0YJSpUgtUsjogdntPTiJ7DHUMi368r5TuL-kYE0y7_HpYtqrd2Tj3dbA3PriZfJpwwHx0JlO1hulIcHE7XkD8_44vwFQv66d8Ig1igV5z0qj4aN8yio70ica5cS3IF-O32hor0eZLlRFVvJVya3hieiZXH8a-bKwnSBAj0Y1UxWFY8eOC6nBQM1fGFFeFTq39-dXgR198Vc51eviqVkDAkP5hNLBpM4sjVLyxOdbpqbVhbPODytkdMZJ7bSQhInNQ2JO7dxWDEsPekT4YcL5onN149aZ3PUlVzh6M66VwleuOj1Pf7mLhIm2bBoFGlovvEVfpQyjYNPwHj9wbLz5KU2d1DvxUsLHLXLfXjPvFvrH19mb2lyhHEnIkGs4__KFCa2m1BVSGsdbh6vPr-gI3pNbQtxY8mTpU-RXdMnKqcxjI8qisO-5FJKVO3qKHGm6IEaofDQ3C6vhKu6SNa9R1Sus1phEV2isVtcOaVwmhNyuTdUuEklwbRBqZnrUUMfsAvT91cw6a-MyG5h48-3ZOsMx6csefS5Snu2qV1DTTKfsMzv_DEFwT58u1tEBgCNUyE820NJbdFj1fcGq3eDQT9HbzlT4YTu4uOV-v1dcArC8qFuRp7uBvRiCHCEF31jmA1AhZRc8FWF8J2YPXUHQoZ0PVypuzJHRj6TorUnzdL1gsqHshevpgxJhfnJcsZNEVeG-6YulBVIGjX5rdaeecYHLDKBlWdV_M7Z6EaLFusLUBjju852lo73OZwqFrbjLRoFF9bhVHhrjf_1big4LPfudyBhWqNWtIS1tRODWD1hR2R8FhKOXZKHI0CuE-RuXnxyhz1qDkwLCLreuN9LK7XdO11HThwxvcIS-zQ_7QzGOwMO-nbotqPpMAgzyBW4FVsh_rPQF1cy5S8g4oqEoQBV3affYpLoIyWdPHAxgZW-JIHR8kyEhV8TXA1HuhZg9Yz8WzLqIMkkNd4gO9hIJTMQojTLwKs9e3LVyh-8sAdKprd0rxzvUV2N_Skqsr07W1UvRIWTEN2LUI1UAjvZ0T-k1d-alxEOQaXNS5hWDl3orVBAUYYizttLah00QMvrvwu-qcOtW1G8w-kTnrrweRJn0JECuCB7gTsc1Sn3V6MmajQMj3qLeZglnLuvv5QF5gvqR2VqXbLTH8kLN0wjdC_E8XeaK9S7oE=",
  "id": "rs_0d31c282637dee4a016ab473b147b087d089f5e50067ae8d12",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.335,\"left_y\":-0.185,\"left_z\":0.215,\"left_gripper\":0.26,\"right_x\":0.294,\"right_y\":0.004,\"right_z\":0.2},\"note\":\"The capped end is following the gripper while the bottle’s base remains down. I’m raising the neck and moving it over the base so the bottle can pivot upright.\"}",
  "call_id": "call_BAr2ciVJLMNAdiqSdhxSHJW8",
  "id": "fc_0d31c282637dee4a016ab473b340ac87d0905e3b0c8b720609",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BAr2ciVJLMNAdiqSdhxSHJW8",
  "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]: [-0.6846, 1.2709, 0.9085, -0.2535, -0.3645, -0.2718, 0.2611, -0.0208, 0.7975, 0.643, -0.4725, -0.0299, -0.0551, 0.999]\nstate[eef_state]: left_x=0.3399 left_y=-0.1915 left_z=0.1978 left_yaw=-0.2461 left_pitch=-0.0085 left_roll=-0.007 left_gripper=0.2611 right_x=0.2869 right_y=0.0029 right_z=0.178 right_yaw=0.0091 right_pitch=-0.0547 right_roll=-0.0136 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -6.2427, 9.2513, 1.7265, -0.2808, -0.0562, 0.105, -0.335, -0.8957, 9.935, 1.9609, -0.1001, 0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2e53e5ad6a26ca0d576535820142ce006a82e5b89fcc301aa5a054a4c5207cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bb63a43369ebdbf89d3462ee1cf09d4aab30ef483cae4b88982db5929588b15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:678e224f1738b18452f3d8aeae456c52537155364f3508bd7186b65ba17950df",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 4.272 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]: [-0.3202, 1.7802, 0.6952, 0.5266, -0.054, -0.1139, 0.9983, -0.0135, 0.7948, 0.6319, -0.4671, -0.0296, -0.0471, 0.9991]\nstate[eef_state]: left_x=0.4327 left_y=-0.1297 left_z=0.0512 left_yaw=-0.2259 left_pitch=0.0035 left_roll=-0.0541 left_gripper=0.9983 right_x=0.2861 right_y=0.0049 right_z=0.1747 right_yaw=0.0116 right_pitch=-0.0578 right_roll=-0.0073 right_gripper=0.9991\nstate[joint_eff]: [0.0752, -7.1316, 4.547, 1.746, -0.1538, -0.2076, -0.0122, -0.8274, -0.9231, 10.2222, 1.956, -0.0855, 0.1197, -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]: [-0.4019, 1.5875, 0.738, 0.2939, -0.1612, -0.1242, 0.2611, -0.02, 0.7258, 0.5213, -0.4095, -0.0303, -0.0509, 0.999]\nstate[eef_state]: left_x=0.4166 left_y=-0.1424 left_z=0.1028 left_yaw=-0.2115 left_pitch=0.014 left_roll=-0.0071 left_gripper=0.2611 right_x=0.2765 right_y=0.0034 right_z=0.1543 right_yaw=0.0079 right_pitch=-0.0417 right_roll=-0.0104 right_gripper=0.999\nstate[joint_eff]: [0.1299, -7.8838, 8.8274, 1.6142, -0.1538, 0.1148, 0.105, -0.4581, -1.4701, 6.8855, 2.0342, -0.1685, 0.0269, -0.0171]",
      "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]: [-0.6846, 1.2709, 0.9085, -0.2535, -0.3645, -0.2718, 0.2611, -0.0208, 0.7975, 0.643, -0.4725, -0.0299, -0.0551, 0.999]\nstate[eef_state]: left_x=0.3399 left_y=-0.1915 left_z=0.1978 left_yaw=-0.2461 left_pitch=-0.0085 left_roll=-0.007 left_gripper=0.2611 right_x=0.2869 right_y=0.0029 right_z=0.178 right_yaw=0.0091 right_pitch=-0.0547 right_roll=-0.0136 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -6.2427, 9.2513, 1.7265, -0.2808, -0.0562, 0.105, -0.335, -0.8957, 9.935, 1.9609, -0.1001, 0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2e53e5ad6a26ca0d576535820142ce006a82e5b89fcc301aa5a054a4c5207cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0bb63a43369ebdbf89d3462ee1cf09d4aab30ef483cae4b88982db5929588b15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:678e224f1738b18452f3d8aeae456c52537155364f3508bd7186b65ba17950df",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHO8Sc-0hunRPSNl4abwN1mUagtkxkIyD9OIwu5ZZUAIaVEF7ePtD-cfG2BKCnZIBgu47y7pOac8AGQ8gaCuYjB2QKmpiageBJuPqkdWxNJpo8to7E3HiJMvHvUfVh9SawoYGFZqTOSoPq8AnZXI5mycLBdVwi6ZIIcJE-fP0otlLF6BdK--Nlk7SP2o8zeZXfPKnnQISjnAuq7LbgqZYkLUNjPsslylKWN2sdbAlxEcv4d9Z0MpnwMEbkrIofSHNHzXNrLyswqt2Ra_wS17LGvxiAQ5NsbfiulUv4GbKMT6WQ06GdK0u53jiL9diVdKA6Q2qdVQtgQMKJ4P9j3C5gnqHsBA1zd9LpYRbqYIIlXASPMkdPQhTMTVBoGobiWWVdIM_zpXXztYYS6B1azQBqkTagQThQPo-9GUFs2tAOAmkYKHQCHdhh2e22uu5piukPtIzqBmk56aXXuHB6hZAKJSdRGBL4kVvhGRwqLWEEk3vd9Nnml2DryGgVOMY71TmQIQNgPcCHC0bObQogOOHajxZTQXFzLGStqjuhWnpEnV5TJxlcnS1eS9etO0PARXzyK5NpPCaG14VFOyzB8AjLbFHMQ5Bv-kf9RkDBSuQiO_6PYjLcHfeFIdPeRXuNFRadxFAL0A4_uF964fVNGRrCk4lw3mJBeQrnSlBw96AVLKAHzAjv2d6I1ZmHGQh7qChVqq9w_6pkYni4ImD3RwLciH0kaiO-ag49p3KteBGQi521Cdp7HNLTvLZFqfvqjVADjPgI-7Rt3V0aePmnc3uJ6oJDZFZEj49ZTHogQjSJc5axhNKf4-ewh-c9q0_goNjfeSA9Sytxl_uFAjtNwCyZo9VnGE-xWGqVvSRc_r0x2B8eXRVKc-6WLqn7vNmV4M1wTYheaprywjiR2LECebsdTdmKKaSXMJk9l5yrO5EHQ2BvFHn592zsEtmtuuDQZD7Fjq_b3NAPIqGcbRwyvcMA3kefLPTB9_TvmS6MQcm3knkreLdl-QrY9EfbR5pM2DZvpueoZ0ekRS5oI8wL9KyjiWJ0RA1BsQOpzyP6CU4ivhnCXoVlF_pfyM3Yjliog7G9M9yJbpwozUtYruns6SRFy95Xx-KdG5t1pcumuhiSQDJYPtp1vpSSeXPcqwofp68_Z0DJOiOHKYU1mPrmstdBGi5vaitZF0QOWhMmhAHjCs2SmCwzg_UfD78e2JsGd0NBgJ43whfoNVtXDFWplbbNQNhmMCur3ylZBPU9SCOothUnVwZ4-J6GF2tZRoQLjz2esMy1IIyFSNttZfwhOyA1YXV-pNbglAYV96k8hlcOu6nMiygLC6vPt6pnScI4V3nlhe1lsjBQ0EnZltvCIffkXTkhmiSucPyYi4K7yEVIAkPjlsKLEHAFj1tZmQ00tn3rvuuV1jg7KKeYjZau5fO9Ci16VGQ8UpcFrAUXDJiulp2QFUC1y3AFmzWpZbM-tuisksQzZKhi-ge5m-ppb_INWFLlblboak-RvAnMCLKYF-FXOoU1z8TJqzGOOA5YxGwbVcNMBTx4OKwytNizZRFEFyyf89-l9ekAiQ2lpE_VwTty7A-5Id5xBmey_t6C27A_8oAknBHyJm4i2_G1EO31kIN6YNod504q9b_QQLUFslZiVLz86l2KQTjkILvD09UJ6cJA_fCeluKD_19CKLAbrgdLFaVy671hlOyH1MseXNflpl5gN2rpjt80VJ_GKRzLWzQz4SQziHhp-z6XdzmUIsC1CPHPD46ZnwBtLPINZpIdMSSJ0aZEYy-zAqzcjdvWHrkBCv2as22AmLbncqBRhKFdtSP0vR5y0x3KyTMrK3szHYKDMPx_HboS9KYVPDrRmmZzwtfUUbnXaDTqcBXHlM4xLUmDvi9ZibJC7v2K3fJxhLzXG_MexIdrI2IfhF4U8T5IA0sFC4Wk_FVg_0WwC31Gq_B5D1ZiZQ6MKRWaExIUptv-7OuiGfvcYX30bh3kY6jQkag4AyqSBbn3CdS1aFDawpe6-rIWW6lczqCJKqA1fPkrg3DY0EKWnikyWxyM244RVf3cD7mcSY-AgefEs8Glp2ZzoDy-RpgwgonI145T_vgA6oMtoia1fccRDtR-SQWmkH1jFh3QY5UNwdfvx3U015ELsI6va0w8uSmQlxzFVe41kVD_1jRMsapumllz_OTj9Kd_Mcg0dpevNb93D86mcmIoUXnVVfnSyh15-51nA=",
  "id": "rs_0d31c282637dee4a016ab473b7405887d08b7f153386f284c3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.095,\"left_z\":0.105,\"left_yaw\":0,\"left_gripper\":1},\"note\":\"The lifted view shows the bottle stayed on the table, so that pinch missed. I’m reopening and approaching farther forward, directly over the cap and neck, for a lower grasp.\"}",
  "call_id": "call_xNKPT87jI4zdPAf1Vcye9YEm",
  "id": "fc_0d31c282637dee4a016ab473bafc7c87d088d7149408d854d8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xNKPT87jI4zdPAf1Vcye9YEm",
  "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]: [-0.3111, 1.7172, 0.8864, 0.1535, -0.2684, -0.2089, 0.9966, -0.0277, 0.7635, 0.588, -0.4438, -0.0383, -0.0544, 0.999]\nstate[eef_state]: left_x=0.449 left_y=-0.0914 left_z=0.0822 left_yaw=0.0155 left_pitch=-0.0874 left_roll=0.0139 left_gripper=0.9966 right_x=0.2821 right_y=0.0026 right_z=0.1679 right_yaw=0.0088 right_pitch=-0.0469 right_roll=-0.0084 right_gripper=0.999\nstate[joint_eff]: [0.2667, -8.5128, 9.1419, 1.9414, 0.0024, 0.232, -0.0806, -0.5265, -1.7026, 6.9812, 2.0488, -0.1685, 0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d72c7512b918dab5c2afdb0dd4f78477eba30189882d158b1adbf71a7603fafa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:982e045e41f1fad3d58108653d961510c5bfe22be60e56932d0a78fcea1fa140",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a80cb0e67dfc9a3aee9213976654f6fafc527ec95129ae5b2eff15754051c4f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 3.125 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]: [-0.3325, 1.7802, 0.6956, 0.5549, -0.1127, -0.0975, 0.2651, -0.0135, 0.7582, 0.5709, -0.437, -0.0299, -0.0513, 0.9991]\nstate[eef_state]: left_x=0.4373 left_y=-0.1262 left_z=0.0578 left_yaw=-0.1971 left_pitch=0.0356 left_roll=-0.0131 left_gripper=0.2651 right_x=0.2806 right_y=0.0051 right_z=0.1628 right_yaw=0.0142 right_pitch=-0.052 right_roll=-0.0106 right_gripper=0.9991\nstate[joint_eff]: [-0.2256, -7.8974, 5.7778, 1.4042, 0.1978, 0.1685, 0.2125, -0.7453, -1.5111, 7.2274, 2.1123, -0.1441, 0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.6846, 1.2709, 0.9085, -0.2535, -0.3645, -0.2718, 0.2611, -0.0208, 0.7975, 0.643, -0.4725, -0.0299, -0.0551, 0.999]\nstate[eef_state]: left_x=0.3399 left_y=-0.1915 left_z=0.1978 left_yaw=-0.2461 left_pitch=-0.0085 left_roll=-0.007 left_gripper=0.2611 right_x=0.2869 right_y=0.0029 right_z=0.178 right_yaw=0.0091 right_pitch=-0.0547 right_roll=-0.0136 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -6.2427, 9.2513, 1.7265, -0.2808, -0.0562, 0.105, -0.335, -0.8957, 9.935, 1.9609, -0.1001, 0.0757, -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]: [-0.3111, 1.7172, 0.8864, 0.1535, -0.2684, -0.2089, 0.9966, -0.0277, 0.7635, 0.588, -0.4438, -0.0383, -0.0544, 0.999]\nstate[eef_state]: left_x=0.449 left_y=-0.0914 left_z=0.0822 left_yaw=0.0155 left_pitch=-0.0874 left_roll=0.0139 left_gripper=0.9966 right_x=0.2821 right_y=0.0026 right_z=0.1679 right_yaw=0.0088 right_pitch=-0.0469 right_roll=-0.0084 right_gripper=0.999\nstate[joint_eff]: [0.2667, -8.5128, 9.1419, 1.9414, 0.0024, 0.232, -0.0806, -0.5265, -1.7026, 6.9812, 2.0488, -0.1685, 0.0513, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d72c7512b918dab5c2afdb0dd4f78477eba30189882d158b1adbf71a7603fafa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:982e045e41f1fad3d58108653d961510c5bfe22be60e56932d0a78fcea1fa140",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a80cb0e67dfc9a3aee9213976654f6fafc527ec95129ae5b2eff15754051c4f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHPB_X3AZ28GPHWwowZW7KKhFjL8wT0UVCW-VEQ2Ic1wVvki1-Ll9z2bRj6euEdD5gVaVvtanKvnLu8YlkZ96IV-KeVPH1OSDZJxTpQtiMBFQDIrqr41s6IV9d2UnsbjftLgiSqrQR4O73Ad5cvopteOr8aRCrWkkR3CueQKmZWeEAO5eR_0m-Dxd5_2J-xlv97hMHNnUd_DRmPGyGsJP8LkwN5FPptjSygl04Q89BtH8VeGbG5C3Q2zAt5KyE8Ii3PHPO-RzMzAHvV26owOyw_uQySgJUFCGdjGh_EHmEqlwk-5iVV0Z9zWM34_R7LrmpkUFHVdusbCLK_kJThj2pjyXMWLSpVwoI4JyP1FFObOND5knhnKWJjkIlIby6Kw9PfIZ9HUGFx4jSKDZWXJ0_7BJ1n72MxsIkBKqdt5zIuhAWK4JXynkTx4Fbibw6-qZ2vI02WuPwJR1X0dp6kbM5HSSYmMaXUEWd20O979Tb8v41tha88Po_2FdGpCw6aPrYP8j1Y2s2imAhachX6UaVHGwoitkhVaUp8_MyTVEQhFIaE4S7ZpUdrPXVpkipVBrsguotfL2fHYqSTpHs5oUPenfZLSt_wmeBvHsgdwmSnRLOmqtGaHBz1d9d5lMHSI32dWvZpVdd5kOikANr2ww0x1IjUdrboFjVsQj-SB4Q9IeuZCdiP4D4ui8G2Z6el8J5GltIKrGVLqAazWze-vfEil9zhv1Fnzi1fVKsp881HMCpv5uBVrYv7RxyaYGeI6L6FknswKK6e4WLkkXenCPq_LOVadzJksgy2Zj9Or50FjecTLSeNhyf4sAlyMMHZ4qwbkwlh7cHPc7Em6mR3Vd2MRIY8fpnozu-4Y6Gx3Wtw4YTU5NNphLqVovI7oLChR7v8WwZgzm0MUVgh8R1ScEPB7sGAdqalb_lP2HlQp2xi8WaZgFteQKw4GEBan-uINX3TLFwBwvnSn0ioBdhfeatO2OiOo1xYix3ZI7ay_8b3DMI09E4bTRlyDrNm2xVQU7_VuSm4ITaMPa6pwTikG5yuuVHiwhDnXJEsV_mAY5vt5rTbMYSjMaIxfSKjPbuDmT_LCb7rsbB1Ote9V0TipfdBBqHxoaP6GiJ6OeD5p7WbNuu5loGVTFpjl98mBil_ZvUxULb2EBIlfWVuAW-8cj-xL6GEC_AdeIYT1QQdJfd0qx7ljRQeWNW5tIiYt0EiG-7QpWSeiLPAkQcw89p2KmA3u66aWFHIg1Yi7DVQ151TRoJ1ShqkFlbwVI1CANSyuXyUehURoUmXhdKUM_pUzYGaMR8zpEPOxfAg3W8WATqZf3LVNsd24V0ELGnEuNEozwv_lYlBYFFwCSIRvE_xxjTClbjr1JC6gZGTHcNYCqJzUHiXraLP_B0NFLYwht7RKBCnoyz1b3vor9iJ0ba2UOiArSOfF9T4SPrl3sB6CMYV_3U9m4DSAHdk1oY9TyfQCVVoWJIbLeUjpHuFD7cIxkUp6zQ==",
  "id": "rs_0d31c282637dee4a016ab473bea8b887d0b7cab6ca17f667aa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.455,\"left_y\":-0.105,\"left_z\":0.008,\"left_yaw\":0},\"note\":\"The cap is now centered at the bottom of the wrist image, where the fingertips meet. I’m lowering to the neck’s height for a definite grasp.\"}",
  "call_id": "call_FndgEsjNF78pMlX30gjGGa6a",
  "id": "fc_0d31c282637dee4a016ab473c028d087d0a724d23fd3c6cc27",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FndgEsjNF78pMlX30gjGGa6a",
  "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]: [-0.3431, 1.9301, 0.7788, 0.6476, -0.2768, -0.2401, 0.9971, -0.0284, 0.7364, 0.543, -0.4198, -0.0391, -0.0547, 0.999]\nstate[eef_state]: left_x=0.4674 left_y=-0.1119 left_z=0.0442 left_yaw=0.0069 left_pitch=0.0776 left_roll=-0.0657 left_gripper=0.9971 right_x=0.2784 right_y=0.0026 right_z=0.1594 right_yaw=0.0089 right_pitch=-0.0408 right_roll=-0.0084 right_gripper=0.999\nstate[joint_eff]: [-0.2803, -5.1761, 3.6444, 0.4078, -0.2515, 0.2955, 0.0366, -0.841, -1.5932, 6.8855, 2.0635, -0.1832, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f4f7c996ae27fa7ab5a9b992e4c4ce21a7f35d7450e8d02fcbcfebede94d744",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d0ac162c022ec764d445a8b290e88809f809087d2a09ec852aa854d42e36680",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:439771607acce557481570d2196fdad336150d5680a1125137fc8590db3097ca",
      "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 · 8.879 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]: [-0.4019, 1.5875, 0.738, 0.2939, -0.1612, -0.1242, 0.2611, -0.02, 0.7258, 0.5213, -0.4095, -0.0303, -0.0509, 0.999]\nstate[eef_state]: left_x=0.4166 left_y=-0.1424 left_z=0.1028 left_yaw=-0.2115 left_pitch=0.014 left_roll=-0.0071 left_gripper=0.2611 right_x=0.2765 right_y=0.0034 right_z=0.1543 right_yaw=0.0079 right_pitch=-0.0417 right_roll=-0.0104 right_gripper=0.999\nstate[joint_eff]: [0.1299, -7.8838, 8.8274, 1.6142, -0.1538, 0.1148, 0.105, -0.4581, -1.4701, 6.8855, 2.0342, -0.1685, 0.0269, -0.0171]",
      "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]: [-0.3111, 1.7172, 0.8864, 0.1535, -0.2684, -0.2089, 0.9966, -0.0277, 0.7635, 0.588, -0.4438, -0.0383, -0.0544, 0.999]\nstate[eef_state]: left_x=0.449 left_y=-0.0914 left_z=0.0822 left_yaw=0.0155 left_pitch=-0.0874 left_roll=0.0139 left_gripper=0.9966 right_x=0.2821 right_y=0.0026 right_z=0.1679 right_yaw=0.0088 right_pitch=-0.0469 right_roll=-0.0084 right_gripper=0.999\nstate[joint_eff]: [0.2667, -8.5128, 9.1419, 1.9414, 0.0024, 0.232, -0.0806, -0.5265, -1.7026, 6.9812, 2.0488, -0.1685, 0.0513, -0.0073]",
      "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]: [-0.3431, 1.9301, 0.7788, 0.6476, -0.2768, -0.2401, 0.9971, -0.0284, 0.7364, 0.543, -0.4198, -0.0391, -0.0547, 0.999]\nstate[eef_state]: left_x=0.4674 left_y=-0.1119 left_z=0.0442 left_yaw=0.0069 left_pitch=0.0776 left_roll=-0.0657 left_gripper=0.9971 right_x=0.2784 right_y=0.0026 right_z=0.1594 right_yaw=0.0089 right_pitch=-0.0408 right_roll=-0.0084 right_gripper=0.999\nstate[joint_eff]: [-0.2803, -5.1761, 3.6444, 0.4078, -0.2515, 0.2955, 0.0366, -0.841, -1.5932, 6.8855, 2.0635, -0.1832, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f4f7c996ae27fa7ab5a9b992e4c4ce21a7f35d7450e8d02fcbcfebede94d744",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d0ac162c022ec764d445a8b290e88809f809087d2a09ec852aa854d42e36680",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:439771607acce557481570d2196fdad336150d5680a1125137fc8590db3097ca",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHPEB_C8aIENQqFuY8c0tbOBo6feR8cN3TABi5A0dG--aCNQf0CkB6YOnDtICV7zJI97Pk0fG2wCQzs-i2DN1EBBinkUrEDOa0b6MeVa49s-dlupyVGxEbKQMjrp1VfCW4IEDXcKhsqMKKgcgQp842AhdhyaXtwttEqabJFqkflJwg9RHuAET0fWxEO5w8pNA71ewCT11PI_5BHYeqIe1E3wtI6Dep047GaSBHpeT1PKYMvb1Q-qieVUYKtMfLuk-1vIgnId5BsXfGoWA5r1Tw4yiQ2Unp9cqD95xbydC9W-mLlZy_4cwA8rHZCnAK_buUCB6vlPz4Iv0sNpitc6aHJWd-ESlwlWHY8nuqgQXNkA_0SofnG3rduurnf7g7BLxURjO36iE8asusNJxSFl0y9DoLVWb6-IXn94ecE5re2extNvFM1s_c267nzu9nBVKfoM4V23_Hl2xIzE6NyxiIwnqaMNuP6TIZ744DUBgOsaiRlUp5sNrkN6tvzXxTeOJy-X_vvJybw1WyAUZaP1-eOr2PZT6pjW0WzHFtNvu6U8cADZDeRWbUCBt5wH5aitndPn4amVq1hi-RKvuBwr6cPx9-l0bma_tLPiFfEzHP7jEd_vcOsw8UUFiW6xEULjuA6hlcWE-K92WwboOfQQ2QWGHg_IrKUXQT06PpC6s0QxuQdBKK5lBgrytvRRCjEKpPyu3P7yreKK7N5sPBjBZYRYmNOXabpWBj-jp2nrpAUST3jkxt93Jbr0mcXTDGpiD9VJvbyxz9wZGg3OrEMOa2hEGBYbrz7QOs42aC-ts00KKELh5JWr0T0vSlejBRdWQ3R01XLp7gOxS5D-n30AfKVzcYyeRkUVtjLacFeU4Ea5hG0ognkgqJZD5xSwm9bIVInCoxIVwNmMxR-e-dbSCXAL7BMj2XDjuDFG666Hve0Sd8rmcbqgrCajK3GfBzGBc5DdwsiOtfIzBBE4RWZnW7XWn_4a_2sclhNaSZ8nVZn-R5fp4YJHwNgTzzfYjoRD327pIVq5ewuUqQ9mcYSJV-zl4-MoxDzidGWXspv_mUQmjvq2sMUMjVbJLvfZpa8C2ooW1tjDjP0GPxk4PiEGmsXS_jRXWPu5ey5OseTvQvxDluVVrlRck5Xy5_5mCnqA0Kgji3BCECullK-nicYvJIumTGaX4Y8JgOIqWVkXIpuM5yQ4-ETnD_k9JKMJQEvvMRKgVWDZH1VkeoxPfbEdHVjE3VgeFCCxO-DNF0xot-L5PyS5nT9_JQp9WKaTVgurRn6Y38unSNJgA7YDOQujst_m_Bz6Vd5aUdjTAgPW5J6zOw0=",
  "id": "rs_0d31c282637dee4a016ab473c355dc87d0a2ee0783d16bed27",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fingers are down around the neck area, and the descent has stopped at contact height. I’m closing fully so the settled jaw opening can confirm whether the neck is captured.\"}",
  "call_id": "call_OT68isOu8wKcTQ5bZbY112n6",
  "id": "fc_0d31c282637dee4a016ab473c3fee087d092aeda48da061561",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OT68isOu8wKcTQ5bZbY112n6",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3531, 1.911, 0.8467, 0.5243, -0.308, -0.2359, 0.0123, -0.0284, 0.712, 0.5045, -0.4019, -0.0494, -0.0574, 0.999]\nstate[eef_state]: left_x=0.474 left_y=-0.1138 left_z=0.0533 left_yaw=0.0201 left_pitch=0.0493 left_roll=-0.0345 left_gripper=0.0123 right_x=0.2748 right_y=0.0045 right_z=0.1518 right_yaw=0.019 right_pitch=-0.0367 right_roll=-0.0049 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -9.5932, 5.4222, 1.1502, -0.105, 0.1832, 1.0672, -0.9504, -1.1556, 7.0085, 2.0098, -0.0513, 0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf5de66cac978262c79396e88478dccc719a1c26e25055cb93753367383b723e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f659bebbb10b3afae950738f3082a9fedee91b7bd3d174eb2fd98f6ed21aaf99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5446f9ab8ae8b3d0f44daf41117b0b2523bec76e04950020460effc67b1fbc17",
      "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 · 5.163 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]: [-0.6846, 1.2709, 0.9085, -0.2535, -0.3645, -0.2718, 0.2611, -0.0208, 0.7975, 0.643, -0.4725, -0.0299, -0.0551, 0.999]\nstate[eef_state]: left_x=0.3399 left_y=-0.1915 left_z=0.1978 left_yaw=-0.2461 left_pitch=-0.0085 left_roll=-0.007 left_gripper=0.2611 right_x=0.2869 right_y=0.0029 right_z=0.178 right_yaw=0.0091 right_pitch=-0.0547 right_roll=-0.0136 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -6.2427, 9.2513, 1.7265, -0.2808, -0.0562, 0.105, -0.335, -0.8957, 9.935, 1.9609, -0.1001, 0.0757, -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]: [-0.3431, 1.9301, 0.7788, 0.6476, -0.2768, -0.2401, 0.9971, -0.0284, 0.7364, 0.543, -0.4198, -0.0391, -0.0547, 0.999]\nstate[eef_state]: left_x=0.4674 left_y=-0.1119 left_z=0.0442 left_yaw=0.0069 left_pitch=0.0776 left_roll=-0.0657 left_gripper=0.9971 right_x=0.2784 right_y=0.0026 right_z=0.1594 right_yaw=0.0089 right_pitch=-0.0408 right_roll=-0.0084 right_gripper=0.999\nstate[joint_eff]: [-0.2803, -5.1761, 3.6444, 0.4078, -0.2515, 0.2955, 0.0366, -0.841, -1.5932, 6.8855, 2.0635, -0.1832, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3531, 1.911, 0.8467, 0.5243, -0.308, -0.2359, 0.0123, -0.0284, 0.712, 0.5045, -0.4019, -0.0494, -0.0574, 0.999]\nstate[eef_state]: left_x=0.474 left_y=-0.1138 left_z=0.0533 left_yaw=0.0201 left_pitch=0.0493 left_roll=-0.0345 left_gripper=0.0123 right_x=0.2748 right_y=0.0045 right_z=0.1518 right_yaw=0.019 right_pitch=-0.0367 right_roll=-0.0049 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -9.5932, 5.4222, 1.1502, -0.105, 0.1832, 1.0672, -0.9504, -1.1556, 7.0085, 2.0098, -0.0513, 0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf5de66cac978262c79396e88478dccc719a1c26e25055cb93753367383b723e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f659bebbb10b3afae950738f3082a9fedee91b7bd3d174eb2fd98f6ed21aaf99",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5446f9ab8ae8b3d0f44daf41117b0b2523bec76e04950020460effc67b1fbc17",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHPOzgwr4HMkqcK8tZuc8bu98olJ9c35xjJ4_O5mCRA7hM83Pljmv36ntZOhalCmdCZR7CqvcLnkApo2BTw8d4QqBBkbGUcXWkXeM9EgFJF9BGHFMCr_ZH8u15eVdZEGc1nDi0_8rgC2l8BnRyqXBKaMAPnnUwytdVDvnluv8EdODrSAG1g1_OhDhXOPTjy9JBPA87cslDxVjZJnuQpRbQB8LsP__TUUQl0d6Uo2_AU6EL6gM_SYKS0RimCqqPYqKEWmLWgbUiCeadFv_bN1-rh43ROioqGgZjfdWtxpGVpm7kkqIfRxxyLpdvULeaXCZpwaKLLXmhmwb3NvU8YQWMKcfp1kYowXhOAuSq4jT93B774WCvjfcrKVF_kwDS3coYEQldsWuPeRoHKy0UJhlij0XqDtX5xcRZBFSD0RuuQUmrup6uE8zZ7D2GZV_Oc8ugUFxt9IMN-sR-q71Pq1u0tn32wy9n_xzAvESM7c3kFBpLMzct_kb5-T1v0VhEYGoAJeb-xpc7m4XKs7cUxMeD8BcPlkArL24weJXzYXO0Q06JXoqbaKnwRvtuYD41h_UZoe23IYtx4ei83qZksC_OH9VtS2Hiht3EwRAElKisPBF7O3eycUgSy83Y7DSCYMCFnGRrm1KOD75In70Ux62p7ZOkte9QNFlFYgap5iPQ2oypvHUjMUg7MfuKFzBrjBTB9e_ViYAQ1QaJzhs4QrlHT-vEpOT1850q_aQB1oanYZd3EWIPXwUgWOygyf3abu_74s8zrZAyk99qe5d1_bxwww5ARkEolhwpd5nZ7pEuKknZQXPKgW8oWQwP6fIff3nF2_diU7o563KVPOLrzpEMqnjGfbcb7qATVnvY7pwpHkTdPmv_AGKwK5yrlaItnTc_GfqkvyHdz-Ui6H8SIfk4_-R_AYXlpIsgz9Qi1O6BcjMqrzcd7YXAq18sCVZMojUki_4ylETFxgmQzI3MWnBIZ8y3KNdCc_kl86rTf4S0fRpgtLJv-qDKYEn1HCjCLmEPHVpeVyldVBOtsCOPD3wv-VeazTByHjjQsbYjH7_njgPOcgmkQ_y5YTg61SX8WRBLdHUgWX48kDaYCXk9pf-pc6EJIkvm4-9IYxAqeISjtp0bYWIbRwO2ovhPvCZ7bNe2a1CRefRxPDCi9xBMyA-UWUHPWnRmmWFHA54wpngm-XU7tRKHKtjpQ9duG6Ft1GivPjbpq8tubifW8SLZe0iJ-hzHOKHPJhMih1D1ZIJQkH9GtxPsRmyTdraD4L5HOW1tH_XLNOe41W1UogtTHusrjne_xCP1p1E3lC8iu4mOqQ0a94IYyJhA7PDTcpXk-iRFN0zaxmf0AvkFH53LTyf66jFpA2xC1tOInWfJ6alk1SHOxKMfdgzcim3RLA7kihPlLoS9l28iguUspmtZL6bdOG1cVCedYrIFKl9m0VUgocwZsfyc1MgepA-Zapx59Z1-V-JOt9B83umxMQKMtUcmxmPbP5bMr7J18t38kXdPiGClDS4zj4gGYuheF7GoegVcwkSaBjcMK9KWJ9sNE44gKHTtGNey_7E9ElGugaCIy6s56SRlwkuk6myW915SBvcokbtmH9LegfBG3NhsLvf1rq-pUkhVzXZKB4WqZM8morE77tpAlseOUIlGd6furLkTkDUd8RNZjnBVySHajibqf1xGsClbU15TKiyxgzT4eDhDh4htJZh6DZn9iCBGKmrdgHfnTZNDJW0Td9eUIJeL-bX2ZrVLmBSiVjzGXBkjwuIDSE3Ws83esglyP9StqmaJs1ByVnquwAhWGTx8KJPZcYHEXIMmQRKjSdiccxL6XDraR4PP5O9rmSZfLJ7WnNNvtvHQYTRf59ER7aOIMqIHEJHXTAkbcng9-diEJvIo3f5wF2UZ4uemNuQq4vYonxVzryflCWIpy4fqsuq58N1-uDVkVV2Z88UX0hQ896uoNdxBNkOkUzW7nYhX92c4UcwmR11eWicHjCozgzJs7q6I2VkAW00ekRGcb_uM6dbsI5k-he0xAHlsDqN4RrXHeWQthVe_0N7Gy2AkLGdHMKsy2ThooLoF13YBtLEz-xsi5vWhjCQw7c-nISuVaXIjRQNWuKcBUSldRmvMq2aKLI-cLmqbWcX247p4msmgfrrudSfgygoJjPGXIpAkMcnhj0Z8H9et7ru6Rg28G3YdnbcUvjnRxTzPkU55FbTZyNXHYU8ZLU39oepvk2C4wOjnrgcS-HjyP_9J_SfmRtc4Xaq4cOSOYE5yy7Fe4-cBpPnYflfddW7TSK4aWLyllByHUmPy7Qb4rhbzIeYCzPtKcofSxkW56x8XYLjK8g1DjrWypOckrTF0KDWOYOKjj-NB0FqO2n5UT8BGt-Z_SxFHQ_jwSIMj0aq0WuRiimSSqr4yiWhdriIeVS9kV8bSs5E5HTC3rixuGYXwvUVnV7EcI0PxXwQ1e7xZNMy8BgsiLA-ns3aSwPFGOGZUx_cSA3ACnI4O6rq7F2cSS0N9Qz8t43b-g1opdWvHkIkp8gO7zBWCSQy0XhmLp7hm0JFBuB-DrGsHSU6ohSPTM4M9AmOXNYHivxWfNuMPAWVWVl1dr8TmmUiuplvt_a4zayMUCScRUuJTJHb0PvrpXnp1lmJAWAr6LC_nRSNHf7hMWIBTE9q-JRkhQBG-HbIoYrpBYNqQLIZQN0smyzvF5BP0hj2LHF37Fl2kILkfWepfVGGFW1u4b2NuaCNfPojZeCKrrgIOgkU_XfGJrSsqSHtazN2nfubG5fvYIZfyrzgBamNRT51r4gvFBJwnaIlNu2ncwRhf7So07S8oDzS3e8PzBL8Tj4iQcJ9Qa4AtnA5j9zub6a4nf0mxBOaHFyY5ovuOvm-HIu8Oa4kQe6auZxmsOleL7qC4hovUgogOwzcAfrKYidzjxmhljF30x0e8ysGnQnyonwvTiMe6xpGAj26ZACW9R6HDx20BvpSGtkIshBU2seg4ouHts=",
  "id": "rs_0d31c282637dee4a016ab473c7bad087d0bee1c799c70f02ac",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.115,\"left_z\":0.018,\"left_gripper\":1,\"right_x\":0.294,\"right_y\":0.004,\"right_z\":0.2},\"note\":\"The settled opening shows an empty grasp. The neck has slipped behind the fingertip line, so I’m backing toward the base and reopening at a shorter, easier-to-reach position.\"}",
  "call_id": "call_IeBwdzVafudkTdyXSCOsi0zR",
  "id": "fc_0d31c282637dee4a016ab473cd6cc087d0bcbc633ac9481a66",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IeBwdzVafudkTdyXSCOsi0zR",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4255, 1.8423, 0.6449, 0.6983, -0.3965, -0.2787, 0.9942, -0.0284, 0.7975, 0.6407, -0.4732, -0.0559, -0.0616, 0.999]\nstate[eef_state]: left_x=0.4311 left_y=-0.1166 left_z=0.0487 left_yaw=0.0455 left_pitch=0.1037 left_roll=-0.049 left_gripper=0.9942 right_x=0.2865 right_y=0.0053 right_z=0.1769 right_yaw=0.0268 right_pitch=-0.057 right_roll=-0.0035 right_gripper=0.999\nstate[joint_eff]: [-0.9641, -6.7077, 2.865, 0.8376, 0.0855, 0.1783, 0.0562, -0.6632, -0.8547, 10.1675, 1.9707, -0.0513, 0.0171, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d451a8d8679c00fa94707d9af22182d38a6e9b14d96b602ba16ff31306c11be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e628145e099f03a241e1b22147522297bd0c48fb777a5e74cd281cca8f135406",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b98bdd206daec2000b461cbd7386637667b718c46b0e9bec7482709a64a99baa",
      "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 12 attempt 0 · /responses · status 200 · 3.691 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]: [-0.3111, 1.7172, 0.8864, 0.1535, -0.2684, -0.2089, 0.9966, -0.0277, 0.7635, 0.588, -0.4438, -0.0383, -0.0544, 0.999]\nstate[eef_state]: left_x=0.449 left_y=-0.0914 left_z=0.0822 left_yaw=0.0155 left_pitch=-0.0874 left_roll=0.0139 left_gripper=0.9966 right_x=0.2821 right_y=0.0026 right_z=0.1679 right_yaw=0.0088 right_pitch=-0.0469 right_roll=-0.0084 right_gripper=0.999\nstate[joint_eff]: [0.2667, -8.5128, 9.1419, 1.9414, 0.0024, 0.232, -0.0806, -0.5265, -1.7026, 6.9812, 2.0488, -0.1685, 0.0513, -0.0073]",
      "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]: [-0.3531, 1.911, 0.8467, 0.5243, -0.308, -0.2359, 0.0123, -0.0284, 0.712, 0.5045, -0.4019, -0.0494, -0.0574, 0.999]\nstate[eef_state]: left_x=0.474 left_y=-0.1138 left_z=0.0533 left_yaw=0.0201 left_pitch=0.0493 left_roll=-0.0345 left_gripper=0.0123 right_x=0.2748 right_y=0.0045 right_z=0.1518 right_yaw=0.019 right_pitch=-0.0367 right_roll=-0.0049 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -9.5932, 5.4222, 1.1502, -0.105, 0.1832, 1.0672, -0.9504, -1.1556, 7.0085, 2.0098, -0.0513, 0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4255, 1.8423, 0.6449, 0.6983, -0.3965, -0.2787, 0.9942, -0.0284, 0.7975, 0.6407, -0.4732, -0.0559, -0.0616, 0.999]\nstate[eef_state]: left_x=0.4311 left_y=-0.1166 left_z=0.0487 left_yaw=0.0455 left_pitch=0.1037 left_roll=-0.049 left_gripper=0.9942 right_x=0.2865 right_y=0.0053 right_z=0.1769 right_yaw=0.0268 right_pitch=-0.057 right_roll=-0.0035 right_gripper=0.999\nstate[joint_eff]: [-0.9641, -6.7077, 2.865, 0.8376, 0.0855, 0.1783, 0.0562, -0.6632, -0.8547, 10.1675, 1.9707, -0.0513, 0.0171, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d451a8d8679c00fa94707d9af22182d38a6e9b14d96b602ba16ff31306c11be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e628145e099f03a241e1b22147522297bd0c48fb777a5e74cd281cca8f135406",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b98bdd206daec2000b461cbd7386637667b718c46b0e9bec7482709a64a99baa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHPUXS-RT7UoNcVJmTWKUlwbUknKWeBE4Tm5cuvLSQSqTBBvpkHer_bCW4ZMGvdfaFPPisVVdTn8bVTGBinfkGVmcTIQeaRgeuQLH5KL7t_pMmX812HoGfSa3C5rTzUGKBQY_TiIAKmhBgqgpHFl80Q2cYCBU41PSwHnND5J8kVLOnSbj6Bhl4IyAGt0sj61Vm9TC7_aW2ELB7WXoH1TZi7GSFKejcCZHlZnYvlDzrKYyEvrcxssRQJmvmtxtL68665eMnGtNCD6Z5EWesFrenYY3upfxpx3USgld8AWTsCotgler5zxTHL-7CFzWL2pQMxnrKyoIAbl--r6tDaGCRXy5FiyEGEZpbmGGw8sc3b-OC6HKRdxpw0yyetARn63mRBzt-8vK60L_Z4e4Wo_kNoMkl7ZpzcN19qrdckJ2P-yAkYxsVokPUf2U2nfpqozQ810NZABnCPYSUAhDq6nmMNF6LuLdJQhrCfRPfJReQ_ZNlOoRYb20Q0oIsNbpr73LuhL5iTG2TqbDFpXS3I77uvPlXSaTQlh9zTOH0LACia011UHtZRsQPZdDtX8nxm3YCJI0zApVYAOaAFxSqJDLzoLOKAQ41oBoZYyB5XJSFmRJk_lCegBZDCk90NR-1qLT0E8AuSryU996LiINahC5BN9FPmWSpYPFsxPwlujA_plWhgYyuHa0YuTTYrQkD9mjQUR5Ung7ITD9A0wxXtNu_RD5Wqr_trRkWTJuSu_g3R4UY4sACWCDbjk3kCrE42HcF4UUwlJE7cavZkHxHQGqyv2opFXgJhojmXBdPDCc8NlYnhF0z6lQKKY0kxHbNfr1mZA_pL6NTGAJBWUbpFUhURLKbGMt_TF_Y-OZ_JV3GkWImNlMfj-_jImVoVJnV_jRj7e-7iBYovKXIoJenQgDFkNORDC8KwOF-fI2LSWAYGurW3vuAcHDv9cgIRb9eoz4M_E4wQLbVjy2wHEXlXOAsdjeZEb-F8Wf-Ff16ueFrVKU6D7MH9kqt17m3RpSTsG7e37Ov-EDEnGJky2u7DBG3xtKcFifG_t64H9uoaFXoEILuOAAnPfr1AMlR7ZKt004P_IspBEdamZJDXkGrVIBeSuGo22CEL95RI35T5H8Vz_1uA0JynEyUJy2iny9VG1i8sgK_MslY4ZF1fH3qXkEjtVzQ1Nj4o7jeHbb18RUkT_xBrFbjX6ypB6nKkHGnro3ToYmJGsQZXRYpVXC1F1zz33o9iz-b1fy9Ko7IgJ4Y5omNPxSMyxmc9CDBZPQu6RiZC9ejMz4GZLRc3dSuZnQ3bq_VxIVNNZU29qAz7DSGLVzrOLIxmMkjUmIXQ4L7cQDublh_Pf87kMbBvVnwyPcVDe5Ac-HS6VMmv7zRrPXz9FuZYr5-D6QA-G8MLAlASm95cgEkvDhcBfqCzrCSIw7bchafXfFk-7HESFTgTWPERG35pzRW9zOF1grOxTlFu9O0z7JilXTtaDRFDLo6HeAss4JSn3cqs-3uJl-eYfXYS6aP4BjYIxkLw_lOWQoNNuqfW-d9985uK6LvK1vmQWx-M8ggfS65OrDW_SqlnjA6q9nMmjOf4Z2lRx88fxSNHkSU0RdEXnWlfxJdKECjrpEzbScLIEuTAyG993wO7CCcHF-qGWNw4rMbjz7YSbKiXKS5xau5v5QcD_Bz7fOKeMplA8A7KgyQbCUHSpVWjzZBFA-M75uZTEP5cCOQmXadBGGeXRBxqYJyIma5C_O_3zglN7AtJcwSAcc4bT5Z69TfafgvI=",
  "id": "rs_0d31c282637dee4a016ab473d12aa487d093e73f6db1f08916",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.075,\"left_z\":-0.012},\"note\":\"The cap is visible just left of the fingertip opening. I’m shifting the jaws onto it and requesting table-level contact to get below its sides.\"}",
  "call_id": "call_08a01m0OfD1w7OLgIOuwVBWK",
  "id": "fc_0d31c282637dee4a016ab473d3abdc87d08cf504a2db4728a4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_08a01m0OfD1w7OLgIOuwVBWK",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3317, 1.9045, 0.6037, 0.8806, -0.3172, -0.2859, 0.9955, -0.0284, 0.7628, 0.5835, -0.4461, -0.0563, -0.0612, 0.999]\nstate[eef_state]: left_x=0.4418 left_y=-0.0901 left_z=0.0444 left_yaw=0.0808 left_pitch=0.1597 left_roll=-0.1218 left_gripper=0.9955 right_x=0.2811 right_y=0.0055 right_z=0.1656 right_yaw=0.0269 right_pitch=-0.0524 right_roll=-0.0032 right_gripper=0.999\nstate[joint_eff]: [0.6222, -3.3983, 1.4291, -0.0024, -0.3248, 0.7204, 0.1197, -0.5675, -1.6342, 6.9675, 2.1368, -0.1001, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a2533135f99494e166ed9d20507111430f8b8ef2c0af55ee4014fb8cbcb35db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0307e18bca6d5263d8f86de7238a0f304fbc41b2ac9b29809f74fe6d4beb16dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:021e4a1b5c07970d6469788e9897212f4d8e7eef95894b74e2a04e2a2063afdf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 6.884 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 38 changed as sent

message 46 changed as sent

message 50 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3431, 1.9301, 0.7788, 0.6476, -0.2768, -0.2401, 0.9971, -0.0284, 0.7364, 0.543, -0.4198, -0.0391, -0.0547, 0.999]\nstate[eef_state]: left_x=0.4674 left_y=-0.1119 left_z=0.0442 left_yaw=0.0069 left_pitch=0.0776 left_roll=-0.0657 left_gripper=0.9971 right_x=0.2784 right_y=0.0026 right_z=0.1594 right_yaw=0.0089 right_pitch=-0.0408 right_roll=-0.0084 right_gripper=0.999\nstate[joint_eff]: [-0.2803, -5.1761, 3.6444, 0.4078, -0.2515, 0.2955, 0.0366, -0.841, -1.5932, 6.8855, 2.0635, -0.1832, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4255, 1.8423, 0.6449, 0.6983, -0.3965, -0.2787, 0.9942, -0.0284, 0.7975, 0.6407, -0.4732, -0.0559, -0.0616, 0.999]\nstate[eef_state]: left_x=0.4311 left_y=-0.1166 left_z=0.0487 left_yaw=0.0455 left_pitch=0.1037 left_roll=-0.049 left_gripper=0.9942 right_x=0.2865 right_y=0.0053 right_z=0.1769 right_yaw=0.0268 right_pitch=-0.057 right_roll=-0.0035 right_gripper=0.999\nstate[joint_eff]: [-0.9641, -6.7077, 2.865, 0.8376, 0.0855, 0.1783, 0.0562, -0.6632, -0.8547, 10.1675, 1.9707, -0.0513, 0.0171, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3317, 1.9045, 0.6037, 0.8806, -0.3172, -0.2859, 0.9955, -0.0284, 0.7628, 0.5835, -0.4461, -0.0563, -0.0612, 0.999]\nstate[eef_state]: left_x=0.4418 left_y=-0.0901 left_z=0.0444 left_yaw=0.0808 left_pitch=0.1597 left_roll=-0.1218 left_gripper=0.9955 right_x=0.2811 right_y=0.0055 right_z=0.1656 right_yaw=0.0269 right_pitch=-0.0524 right_roll=-0.0032 right_gripper=0.999\nstate[joint_eff]: [0.6222, -3.3983, 1.4291, -0.0024, -0.3248, 0.7204, 0.1197, -0.5675, -1.6342, 6.9675, 2.1368, -0.1001, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a2533135f99494e166ed9d20507111430f8b8ef2c0af55ee4014fb8cbcb35db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0307e18bca6d5263d8f86de7238a0f304fbc41b2ac9b29809f74fe6d4beb16dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:021e4a1b5c07970d6469788e9897212f4d8e7eef95894b74e2a04e2a2063afdf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHPYVE_TUefM7uPa7bH4BpNXI3LjUHTvdPHXY3cywQgSbRsYDI8BHJ1Zo-ErVJ-cIQXVW8CWUYYuJVHIo9VWglqlLCuFVhHI7DXNNO9qym36m3ZXVJIloDuZEK-MBbxPFTZGXFwr39GXsRi2A33_u6or2v8DOoTB-COrgzMXoLN3TgntWWYtTOJQz9esbrsdKLqNb0Yi6pWe9oLbEwAxcgTglFWCQWzRw3LoUQluzZiDjGu0tbYyiptwqGDcSfBjvueYxL5VWp_PFYUKGP1YXQXj9UBqZDqFlcCMtukH5NQidRxEiI2Y38rpNV-BkTDkF5wOrZ6k2ko-KL92_YUYJh18NXf8qzsRoV0yLzSinf0Kzt1ldeq3X1GsCbYI-j_QrjLqPCqff79IRa_fa-Pluee_5b3LZyILVl4n1fFxv2jJQ7P-KL3tP6KytNS2fTaaB6chbmaDvudaB1pIh0y47miqTq5kAU1diYYk6yN6gUxXy5J9z6ty_IpD3unGlEHYOrKqUhQxjTsjiFZPOfcwCfQXCUAhpBdznV_8pIiWZqyulmEbuyJnnQrYxT89WP7pnEOqEpfbDVriB3ju9YzbNjrt-WtK26Urn07qhNtD_BB_gCWBxfpyOG4lvI1mSBoQjPEsceUtN_2qftQ95nKZ9bYSJVKwA-Pp5Si2y6Y8huZbNiev2mJoBOLMzq4M96HM228xSNgWv4YWiLfYpsw_Qxtlj2KYq1fC5CE0_EBV1k4mcDPlUQe8UKTkYoWZiPeHhyFu3w8b_dW7NtUXXaXXHb6BarxBd1L4Pagp1nAMf0CEtu21uaFWZQ42u1137Fg1YIPtwvMTXVcvG8wPRA2O2eHOg1pWGrt8-_qMoL0TEKUVLZUtJCq1WbG2KIiR5kpOCsqMI0BVcxZ9VQ4AP8Z8rzhvENQsXijiJhwAbm71klx11A247vOZGnJL-EVr2mQb_pTxmd-hp4jcYMqffFH1ZwgsYpX10duWxOCLC2oUdFLSaHsDeq71y22sT5NF8GeT6EMxRtZiu8hSWn7C-jMplNmxStPV0gGH0PxZ4_mStv_8tih6nm-I1dE6IZBpyRfbzLn8OgqBOHRPl6o6dfacuT-j4iSSeKDCaVSk7oRbR8V8AO7SndMVNSm02jBHnkm8llEYtpLwNImBKCSR2W3cjyyYFvsNxUTgNVTRpN-EjmpNun2IyPpcXvPNUksXeFLWO8Lvn3v-HMJ030lntwRC3xIGJDdUjQwTG5vvqc4_2h-prCcqtr38_XJ6X5cyCVRHW3JynyjiXsEGBTUExX5ompaj4tD7n5Mal_vDqdaSfpQSSQ_GECKpvdlyWwX5t-jTYxe50g__0y1deAGrxE7I3yvrbOFX8WCrSJxHRxtU7Np820TIPscValY08cqbTsa4HNP7W_R5ONTYLbPJORWU-XBz8aPpq_YdpdG7HEwA_Dg3CS3B0JiULtsK18TYXIOmcWKi",
  "id": "rs_0d31c282637dee4a016ab473d6cc1087d0ba510da70aad23f6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap is aligned with the jaw center and the fingers are resting at contact height. I’m closing around the cap, then I’ll verify the grasp before trying to stand the bottle.\"}",
  "call_id": "call_uc9Ap0dszCQGaB6i20HI6tzD",
  "id": "fc_0d31c282637dee4a016ab473d7e69887d0a490e821a8aa1888",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uc9Ap0dszCQGaB6i20HI6tzD",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3199, 1.9259, 0.585, 1.0176, -0.308, -0.2363, 0.0131, -0.0284, 0.73, 0.535, -0.4194, -0.0566, -0.0616, 0.9991]\nstate[eef_state]: left_x=0.4474 left_y=-0.088 left_z=0.0591 left_yaw=0.0657 left_pitch=0.2507 left_roll=-0.1159 left_gripper=0.0131 right_x=0.277 right_y=0.0057 right_z=0.1576 right_yaw=0.0274 right_pitch=-0.0414 right_roll=-0.0039 right_gripper=0.9991\nstate[joint_eff]: [0.2803, -4.0547, 1.7436, 0.0366, -0.022, 0.1685, 0.8181, -0.6906, -1.5111, 6.7077, 2.083, -0.149, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74551326f479d8e855b8ae908a1783bf0de580df130855958a43075e53fff4a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c50aa87cac3b6567c38194f23e5ece3a3d71e5690d6b7471bd10dcb8d46ba503",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9252aef72d150ab05355a91b23ddbc6887e3b9c5f943494766a6676d70a8f6c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 9.289 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 42 changed as sent

message 50 changed as sent

message 54 changed as sent

message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3531, 1.911, 0.8467, 0.5243, -0.308, -0.2359, 0.0123, -0.0284, 0.712, 0.5045, -0.4019, -0.0494, -0.0574, 0.999]\nstate[eef_state]: left_x=0.474 left_y=-0.1138 left_z=0.0533 left_yaw=0.0201 left_pitch=0.0493 left_roll=-0.0345 left_gripper=0.0123 right_x=0.2748 right_y=0.0045 right_z=0.1518 right_yaw=0.019 right_pitch=-0.0367 right_roll=-0.0049 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -9.5932, 5.4222, 1.1502, -0.105, 0.1832, 1.0672, -0.9504, -1.1556, 7.0085, 2.0098, -0.0513, 0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3317, 1.9045, 0.6037, 0.8806, -0.3172, -0.2859, 0.9955, -0.0284, 0.7628, 0.5835, -0.4461, -0.0563, -0.0612, 0.999]\nstate[eef_state]: left_x=0.4418 left_y=-0.0901 left_z=0.0444 left_yaw=0.0808 left_pitch=0.1597 left_roll=-0.1218 left_gripper=0.9955 right_x=0.2811 right_y=0.0055 right_z=0.1656 right_yaw=0.0269 right_pitch=-0.0524 right_roll=-0.0032 right_gripper=0.999\nstate[joint_eff]: [0.6222, -3.3983, 1.4291, -0.0024, -0.3248, 0.7204, 0.1197, -0.5675, -1.6342, 6.9675, 2.1368, -0.1001, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3199, 1.9259, 0.585, 1.0176, -0.308, -0.2363, 0.0131, -0.0284, 0.73, 0.535, -0.4194, -0.0566, -0.0616, 0.9991]\nstate[eef_state]: left_x=0.4474 left_y=-0.088 left_z=0.0591 left_yaw=0.0657 left_pitch=0.2507 left_roll=-0.1159 left_gripper=0.0131 right_x=0.277 right_y=0.0057 right_z=0.1576 right_yaw=0.0274 right_pitch=-0.0414 right_roll=-0.0039 right_gripper=0.9991\nstate[joint_eff]: [0.2803, -4.0547, 1.7436, 0.0366, -0.022, 0.1685, 0.8181, -0.6906, -1.5111, 6.7077, 2.083, -0.149, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74551326f479d8e855b8ae908a1783bf0de580df130855958a43075e53fff4a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c50aa87cac3b6567c38194f23e5ece3a3d71e5690d6b7471bd10dcb8d46ba503",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9252aef72d150ab05355a91b23ddbc6887e3b9c5f943494766a6676d70a8f6c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHPgCmITEgnUjbjUY06CJ2jfyki7SkUzbTV1Ofj3oijPyYc3usVeNh4d65yMI8AU8plZuPWqlnaSLt1LlO-3M3GrydeyvjVsUzN5VeyfrTI5B0SuQVh59DApi7Nz9nHZTqdgIV0eqGQhvEiia2_6PwNb1SOJylXFOvuwD2bZffThAsUzEUge-xJCNVjofEJ4JAHdU0dQND9L5lGIOI0mecq9pw9ESCwcdY_IgNvb7cMQZkcl1JPZUvIDRlqeMQNJr1a3lcKHxdbGbvgzHNj952AqDwlCqeHKOvgPucEZft9mVvhBhPui_t7ybtbKf80CLkZtnSQSd-2hRa1dCzyczBEvvt7-B8FSTPOWUJE11_oyj5YmmDJlMx1iNRnzYKQIzTL7XDegjozGok5ZTZAxV5sgM9Q1RV-b6TRoShN_z-TY7g2Y86wGP0lPDHhXyjPy-qjr1DuNS2XKcE-b98dNyOFgwOZ8dIxJm-1fQpILhv0ItmN8H4bhyfb-yXay0xQijSfmSf1bAB15qtBDqJaOSkQo_P8gDn44RIHe_DJXEn_eZl81AUMEEx2qhO-eMv5JohMHeuKA4A_mfWrZd9kZQULiwRZmdim3yk55zHwcG3-qoTIBmHvoTOVgWcz82tnmEKwe7Rtv6pm82i5Dq5VMSNpJGkiDDrb_sqf9BGZNo4TZ14Y_Nxq5S_JZXB3r7Ipm5yQ4meIcOvW9ie-WiMYZntgvrYNu6JDKSgwNqdmNesao3FWX1DkFtIfDizF_UwTtjEIGvppaNH8yySU7qBI9iIZ0qq60OZ6vga5hlwNvItdXjpefUHV_r_3WxdauM6YGfwTchKR2_f3m1rBlTC58zWvavjT8FrciKcgB1HUX8sPEYruykkeBY8gd3agsaY4gwI5F_jxLuEbieDx4PiXFz9rk5B2uJpraWuTTElBANmWW4bsClWTtl3LDwnmJC7uDy1SxvFxvCaNRjgwtskwoH-nwWXDjO7NTX_fb0135aCRvYYwVH3_rqVkYrQQCXEjgWq1jqjGBx3FFXGpAm29Y2WRoR0ULrYp3wpqTmnr0I_bSkqrvtaq4REGsuxdPIADV3SnbMAorPtgrjZUzk7USAhbK0PJPSx6XOViv4ab0aC6nZ3lSGvWP1dPX04WrQs41OE52zVBjDpmJ86henmNGxTDAS6NQSixq06pa_rTR3iykPYBuSgb10rb1zMMlWqSBuqNpNSTwtbC_z3udwsvom19KZRE1BiwSb-q_YQ2IqFYoMZzGBHA7oC19v-VSWG8W0v979soOQjX9LnHdrQZrpjdP3P84zZMuVOjpa1YcRLofilprpcxNJrqYx5ITuLT5thfDHy2-nvyUWXCj4E46DKDtu7NwpbRn6Sk1Y7vMB8EEI9XZDixbDgVKm2M3I_7qmfk-E7Yfyh4-5kj8Hi6hsEYTkWjkCpPYKy0nCinbN_hvMjtAL0zpzS5TI1EeyAjncCW-rhR4xwmuyM4gLLd2gjgpxx_FsfF57pWJs-rJilsfdeFdrxt6r7BIrGPUQV4fk3YNMZOX72nDq3Vq_knD8kcTJDWqsiSAr9OfwaARXr9UR-ZM8GSdkpoxFJgbjv3-LvslLlpSo2vJkRjE39ZgoK3KOhK4mmroIrI3OpWYuRI1zDeQps3fjyr2KYQvvHABm2t3Zy2r6VdKbnwtZSiJgHntxh-pdFXSH6k0HLZN9hRWcj7-wvcMIDGwp48sFnrawzmhH9BNkO7FUpj3QY7cHX7J-jzUdw9DLzWez7YavHJPNk80Kcq2tzNzSuAoIZrxhTe9mD1db_247RQbtmAJmF0pbA==",
  "id": "rs_0d31c282637dee4a016ab473db623c87d0a5996c73355d0c2b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.22,\"left_yaw\":0,\"left_gripper\":1,\"right_x\":0.38,\"right_y\":0.29,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"The left gripper is still empty and its low pose is not tracking reliably. I’m clearing that arm and bringing the right arm toward the straight bottle for a fresh, unobstructed neck approach.\"}",
  "call_id": "call_EDD7xfLcUmIhfuO4I9Xbk8Nw",
  "id": "fc_0d31c282637dee4a016ab473de25ac87d0bfd7ff30ad71e7a5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EDD7xfLcUmIhfuO4I9Xbk8Nw",
  "output": [
    {
      "text": "executing move_to over 24 steps (2.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0376, 0.828, 0.7208, -0.4625, -0.0593, -0.0669, 0.9976, 0.8726, 1.7622, 1.1805, -0.2375, 0.6331, 0.4812, 0.9991]\nstate[eef_state]: left_x=0.2994 left_y=0.0028 left_z=0.2071 left_yaw=0.0363 left_pitch=-0.007 left_roll=-0.0106 left_gripper=0.9976 right_x=0.3685 right_y=0.2822 right_z=0.1316 right_yaw=0.071 right_pitch=-0.0582 right_roll=-0.0539 right_gripper=0.9991\nstate[joint_eff]: [0.212, -1.7162, 10.1402, 1.7411, 0.0952, 0.2271, -0.0952, 0.1299, -8.7179, 9.1966, 1.6532, 0.6569, 0.2613, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:032f1e4f1200d08ef3d19705c1defcd6a3f8ba7159ec68c2da95c611e662bd7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d4746919897137979484c7a3224d165c901b1526055d678f4a7f4ac15bf58d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dfa3c53f84cf1287fb4263baaac58a52b9764819a64ddf7be5bc2c1de375a62",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 3.655 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 46 changed as sent

message 54 changed as sent

message 58 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4255, 1.8423, 0.6449, 0.6983, -0.3965, -0.2787, 0.9942, -0.0284, 0.7975, 0.6407, -0.4732, -0.0559, -0.0616, 0.999]\nstate[eef_state]: left_x=0.4311 left_y=-0.1166 left_z=0.0487 left_yaw=0.0455 left_pitch=0.1037 left_roll=-0.049 left_gripper=0.9942 right_x=0.2865 right_y=0.0053 right_z=0.1769 right_yaw=0.0268 right_pitch=-0.057 right_roll=-0.0035 right_gripper=0.999\nstate[joint_eff]: [-0.9641, -6.7077, 2.865, 0.8376, 0.0855, 0.1783, 0.0562, -0.6632, -0.8547, 10.1675, 1.9707, -0.0513, 0.0171, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3199, 1.9259, 0.585, 1.0176, -0.308, -0.2363, 0.0131, -0.0284, 0.73, 0.535, -0.4194, -0.0566, -0.0616, 0.9991]\nstate[eef_state]: left_x=0.4474 left_y=-0.088 left_z=0.0591 left_yaw=0.0657 left_pitch=0.2507 left_roll=-0.1159 left_gripper=0.0131 right_x=0.277 right_y=0.0057 right_z=0.1576 right_yaw=0.0274 right_pitch=-0.0414 right_roll=-0.0039 right_gripper=0.9991\nstate[joint_eff]: [0.2803, -4.0547, 1.7436, 0.0366, -0.022, 0.1685, 0.8181, -0.6906, -1.5111, 6.7077, 2.083, -0.149, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0376, 0.828, 0.7208, -0.4625, -0.0593, -0.0669, 0.9976, 0.8726, 1.7622, 1.1805, -0.2375, 0.6331, 0.4812, 0.9991]\nstate[eef_state]: left_x=0.2994 left_y=0.0028 left_z=0.2071 left_yaw=0.0363 left_pitch=-0.007 left_roll=-0.0106 left_gripper=0.9976 right_x=0.3685 right_y=0.2822 right_z=0.1316 right_yaw=0.071 right_pitch=-0.0582 right_roll=-0.0539 right_gripper=0.9991\nstate[joint_eff]: [0.212, -1.7162, 10.1402, 1.7411, 0.0952, 0.2271, -0.0952, 0.1299, -8.7179, 9.1966, 1.6532, 0.6569, 0.2613, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:032f1e4f1200d08ef3d19705c1defcd6a3f8ba7159ec68c2da95c611e662bd7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d4746919897137979484c7a3224d165c901b1526055d678f4a7f4ac15bf58d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dfa3c53f84cf1287fb4263baaac58a52b9764819a64ddf7be5bc2c1de375a62",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHPslHPtU8xhCov7QuZEVbIPxasMV_0VO6nLhHt4bQNM56FNMPk-P9lA0Dxrn5MRyQ14UecT5hG06hDy7ISbYC5wTRuaK611fRF-nNEWBMDRdhNM0a_6D7Zzlo20CjDDWw5SzsCFQ7kc2pd7G7LNFQmXip9goMOr0bYATqr5llAGlLr-bEpe0LOYTxrDIT44_4VN2bVC4xXS1QheGVu6YlIxngtkWmPrQwGUICp9HJKb7Blo2KglhE3oeGkKdM3_wg_gyIhinVy2fwOCkB3EVcIlY7IuXkV_t3O9E3iqfq5AN5t-u2n79K3ft-g0v0U8HbGGRcBrnnGf8eX7ZiDG7Y5B_wt0FlWRdkxi4bCJ2_FWEmFAyRKRWYpWmZjL5yrC5D0PiVrxMAfHFviAY_2WOZINrWWNwf_ZSmuzREs-hIuqJ3Lf-OHEDb8dXVr13LdINvLxUIyukhvyNZr8GNBbPyjhnUoaO-FqM_S2WyeCxz2mG3cnMciNxVI_n1J1Ef7Nsz9BQH7IvKnUaVfn6Yp63z0J29LPKQS-I5n9ZCCzU8IL6xFZOPYklg8A-vCdBzy4fqrrBmiSQk7ir-25PGCjwS8XiV40xGL1kV1enLmW0wELpVuPHMneo-KNNnBOV1LBRdMhSN3_H_QMFMl4j6-ZpS1bXzwiRfTXdVq6NAITGv5Jx2gnohQAmZYPTohZpI1uavXebZjvhDO1klD4_HYjnBhlFPFdC-BXWCJBTF6fdFZIxHSXLgWOpGOWOxpN6-WOIzBxTINMXiEUyvuk3ED0U6wsbCAuN6auQe1s1chhi5dffs8jfcqsivKRNQgVpTZ48uieE-1RsdcmucbdEmLsi6SGtVFFF6JBW7kf-kk2rT5zvMnPiWTPxkJb2yOSv7WuuYD4i1KGDdlJ3icNnov98-nIFZvlgfV-5J2tcLYJmh3KSYCEnbynr7XeduKrn0rYO6pPmkopO6Vwo6mdIhvce9iFo2yXZghPaPAmMI5REVIO6LlLIQOzmuOCySHkBIzwJEbTjK8IgsAyBhl1bgJmbc8lLMjP_4FK9ApjGB_1z9doCjIxK81bik7M4h7qU_Zuwmh_EHSjkWXUPqT_fl8hSBPcibYTzAP_vcbKqwZ97Xueu1x84JM2AY0TIkojjz3Vo-TylHRgaegM8bpqKAogArAlUnJ31n-jzwtSw9fE4iFE4WfO8oQeXQIRwZiKErP_mrCk0eaihgTbcNt3F6BIFiVK6oLZlHiJ49e5RntlXdkwry6Nbzi2-hIL2rjbpBvmGfqDqXBJ30rvqFtN2N3znOk2iZ66_JmvSOOiTk9OuYYwYQRbnKHUlpa6E_dtY1ExtsvXc1rxEi5l9LVWoJ99NbINSiDJtlqFNqGDm20eV58PkrQ3wjuaUfSTP9mrmxnwXnKaIEqFslvM7I0KS1WYag3l0AhZr7Ewm_DTVdm8wVWCWQDfXfFRuuP1UHm-CcGk-h_PTfOwz67AmaJmjEVuPo-uOpwjl0aE0cqH9M3p9v1NnDyziT9OoYH7e26gUU5Iqw_adeMu6b1JNCG1VCTte455dPydDHbJt0JfVAnfx_x8hXJ17iXy6d9731eaKazmEs98fZ3E2mcTB-pFu7pmrNyVj8gIU6zEstS0t5oWdVArBYiwrISCLjP9seghEtVydfW1IJ8wS42Lyec2FWqxx0fOdso_JPP6ZNMRwX1IA5pU1lZmGivoHAyFbCezGOLWP7-7DZjnoCLS55gkPw0o47n9_RVPKpIUBjbu_yLMjmsi6NJhpcG22hCNUG0kDDvqNkWAM6319ryDmefENqJMk7sKstnxoCQw_C12bNCmzdHlDz4IjHGE-eUx95ecuTbPVO1N2xVjBvyqQcUW1iO_Dwh2xZ6Nmyya11nNSRLzZI5YlPHeBmtuMGiK4uzImOvCOvs3CTWQgXYgH4abArg0ooNTDt35x4xg99xabl2aqQMsWOg5JX5z6DU9bxunzN4yNuPu_0oGivHbU_z7rp5IY75ryzqryQsRRVy_lxIxgthLkzaJ-UMK_IE-xDc8bo162ybmRxY8fbvj1Cp6csJNH9iXbw6CUj5sL3rOr7dMzh6o2OwJNDMjNHl7jZbv02mvOA3FBkrOkHmkxr6OTAUwJ1M57FIPKi-SGosFQQGp2OF8lTarkCd7PtcBF3doliQ60KTZqz93_L8wWcqF88FJY44R6c-5Q02BUIJRYhGQTyWOyoQzHhmdHsPX4IuaxUpQ1ZR_GECNPJHso0o-xqe34EytAPhsXKASLvnJSzfvYZt9qXHbI2xVExpVk9A6CY42D7RM7jMjlL9Wb6-CN50jYofCKjYpiMgIRQ1XcWl3DVBpsDg=",
  "id": "rs_0d31c282637dee4a016ab473e6f46c87d09a82c269d9c3ce66",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.255,\"right_z\":0.025},\"note\":\"The straight bottle’s neck is farther away than its base. I’m first approaching its body, which is within reach, so I can draw the bottle nearer before standing it.\"}",
  "call_id": "call_i6U8oyMpaxdD4uLKokNzw3ou",
  "id": "fc_0d31c282637dee4a016ab473eb1bdc87d090ffe8104718c940",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_i6U8oyMpaxdD4uLKokNzw3ou",
  "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]: [-0.0452, 0.8261, 0.728, -0.4767, -0.0677, -0.0597, 0.9976, 0.6949, 2.0487, 1.0363, 0.2573, 0.503, 0.3397, 0.9991]\nstate[eef_state]: left_x=0.2981 left_y=0.0021 left_z=0.2081 left_yaw=0.0319 left_pitch=-0.0116 left_roll=0.0004 left_gripper=0.9976 right_x=0.4255 right_y=0.2485 right_z=0.0165 right_yaw=0.0693 right_pitch=-0.0725 right_roll=-0.0561 right_gripper=0.9991\nstate[joint_eff]: [-0.2667, -1.6068, 5.8188, 1.9219, -0.0806, -0.0855, -0.0122, -0.8957, -9.5521, 7.5692, 1.7998, 0.2955, 0.1343, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8902d34b1f0faba89daed3d98cfa6ca73bc8724fc6c3e30725d41ff5ea98f79c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d84f02e990ce10bcf1a22a5225651888c8c79178076ccef4c517173d3763177",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4413ee8a111f32190cb22fbd8d15ce0245423376c8ebbaaab52915f0740e9203",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 6.23 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 50 changed as sent

message 58 changed as sent

message 62 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3317, 1.9045, 0.6037, 0.8806, -0.3172, -0.2859, 0.9955, -0.0284, 0.7628, 0.5835, -0.4461, -0.0563, -0.0612, 0.999]\nstate[eef_state]: left_x=0.4418 left_y=-0.0901 left_z=0.0444 left_yaw=0.0808 left_pitch=0.1597 left_roll=-0.1218 left_gripper=0.9955 right_x=0.2811 right_y=0.0055 right_z=0.1656 right_yaw=0.0269 right_pitch=-0.0524 right_roll=-0.0032 right_gripper=0.999\nstate[joint_eff]: [0.6222, -3.3983, 1.4291, -0.0024, -0.3248, 0.7204, 0.1197, -0.5675, -1.6342, 6.9675, 2.1368, -0.1001, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0376, 0.828, 0.7208, -0.4625, -0.0593, -0.0669, 0.9976, 0.8726, 1.7622, 1.1805, -0.2375, 0.6331, 0.4812, 0.9991]\nstate[eef_state]: left_x=0.2994 left_y=0.0028 left_z=0.2071 left_yaw=0.0363 left_pitch=-0.007 left_roll=-0.0106 left_gripper=0.9976 right_x=0.3685 right_y=0.2822 right_z=0.1316 right_yaw=0.071 right_pitch=-0.0582 right_roll=-0.0539 right_gripper=0.9991\nstate[joint_eff]: [0.212, -1.7162, 10.1402, 1.7411, 0.0952, 0.2271, -0.0952, 0.1299, -8.7179, 9.1966, 1.6532, 0.6569, 0.2613, -0.1099]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0452, 0.8261, 0.728, -0.4767, -0.0677, -0.0597, 0.9976, 0.6949, 2.0487, 1.0363, 0.2573, 0.503, 0.3397, 0.9991]\nstate[eef_state]: left_x=0.2981 left_y=0.0021 left_z=0.2081 left_yaw=0.0319 left_pitch=-0.0116 left_roll=0.0004 left_gripper=0.9976 right_x=0.4255 right_y=0.2485 right_z=0.0165 right_yaw=0.0693 right_pitch=-0.0725 right_roll=-0.0561 right_gripper=0.9991\nstate[joint_eff]: [-0.2667, -1.6068, 5.8188, 1.9219, -0.0806, -0.0855, -0.0122, -0.8957, -9.5521, 7.5692, 1.7998, 0.2955, 0.1343, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8902d34b1f0faba89daed3d98cfa6ca73bc8724fc6c3e30725d41ff5ea98f79c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d84f02e990ce10bcf1a22a5225651888c8c79178076ccef4c517173d3763177",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4413ee8a111f32190cb22fbd8d15ce0245423376c8ebbaaab52915f0740e9203",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHPwwIFV5RR6XChlYiY4z54P9GaXdmAVENZC3qyAU3ikfqaQ1R2KFZydCAjhIiAvq_dp2rqWIqAIM6PMyVewfaRmD5uqHs7fZukyPDKGLqveoE7iH-iUWI9iR7gRVGqlXB02QNEryPZXm6TVjVGBUIlVBZ74MTBzCO0q87UPMftdLmN8rwGfnL2rQ1vNQMXplNZ6Nd3Z10jOnCx1PUT8mtbQiWq2wuaVZEmyLLKzdxH3WQl88aZhvSvsIAPVHWRcw2em_WVcbK4CfW7xkZfVcStVGKquMdDvKqidkWNtoKdrB-fit9nEqre9EvpR4_ZWs61zguSut9V7SI1xlVSYLcJAv5HhIganW0D-SZ_TmC0fNVHrWXvJIYhGmPTTCO1llpibG4khxetiQ7f873gfeFRxWfzbaeoOAazXO4HLaEvkeRpW2QBr6FZKw4p-ScG2e-qn4frxdMK0zH5g-jacNH58Lf7Jwmb_Mh5KIa-8d8xbHnPyJQFNY6k8v8ecckjGhRjIaxx9L1WV2aBjNIBGPtopFQuVxW_GOkMSfwH6o8Qs3NViihJoRC4GoJIAkNTm9pe08Tf0nPQ6cNU1p_e5lwNdKZBOLH62JR5u7f9oHsarikXzdiggIYSeZ25LzYHZf8gXGA0gcia5GKfmL0KsPdwF4h-fLRbpFb8DsWewLnB8Y_Jb8i1jtmVC3o5v4RO8DEbcM2vDaehOR2MYtyhBOBF9f5LXqn4GShqi3kNxN-iuqHna2_LcgP5CXpXsjwsqLSVCMWONig1k4__PVUY61Z7B7NgFOtGL4V5MMlxbXtFvOp0eAExVjHKhCS8psztx9gN79wv4lPqsKsqH0sxjRieDumS5nhMO5KVXDjNSIMc4BtUOo0JqhcdkFx4EYvIXQ0dmEh2Q9Ug1I-PS5NA9q6Qy-7evnMoJ5dstez0ZaMAU3451UK5v3mpXbGca3xP6RqpZ5vrYKpHSXtuqTefFEtsueq5mG0elDe8BJ0-0UljTf024Z7a1E3po_5KndBq9XhAcYaqSTtR0iUvoUgxeJAU7IMbUfnyCCfvKBSDi-hoOSQFyglPd-R9noggtsnjtnJr8eWS-75d6_9M8805lMqTnrZWDMMAYAPDCLj15zd8Gsbgzy-C2Y5BuwaNFEv9ay0-rom4h3mfDWX7jN9i2CE6LAheZvbsXUlSGmJJqYh02q5-ncCAX9qZeoNC85PuRV7PWPMAOah0Bvat_7FYcTEezo7ViGyb_dwMImGUfdqqQdtK8tCtUn_Sbf4xpWhLf0AOCFq0kmA6ysvH0SMnIngT_e5zGVxVGFA4G8n8t4_vesTBTF4dGuROOa_b2e-Sqjho8",
  "id": "rs_0d31c282637dee4a016ab473ef1f3887d08280e4118a7018d2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The straight bottle’s lower body is centered between the right jaws at table height. I’m closing around it to obtain a secure hold.\"}",
  "call_id": "call_O7fAUucbFPyuFqK8Y1STInM6",
  "id": "fc_0d31c282637dee4a016ab473efaa6887d0b1356f278b5b0d8c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_O7fAUucbFPyuFqK8Y1STInM6",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0452, 0.8246, 0.728, -0.477, -0.0673, -0.0593, 0.9976, 0.6937, 2.0747, 0.9638, 0.4084, 0.49, 0.3351, 0.5182]\nstate[eef_state]: left_x=0.2979 left_y=0.002 left_z=0.2085 left_yaw=0.0314 left_pitch=-0.0105 left_roll=0.0004 left_gripper=0.9976 right_x=0.4219 right_y=0.2474 right_z=0.0045 right_yaw=0.0824 right_pitch=-0.0346 right_roll=-0.0222 right_gripper=0.5182\nstate[joint_eff]: [-0.253, -1.7299, 6.065, 1.9023, -0.0415, -0.0366, -0.0122, -0.0479, -11.6308, 4.9026, 1.7656, 0.2418, 0.0659, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8549d2bfb56cbd2339605426f20cff02369a92dc79250e3316a977aefe241951",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e405f6ce5f9e302b84bea3feeb2ca3140a2cd44e5b6637d2a8e98ff07757851",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:173426604cc334c4e5b9fa1d76b69f9600aaa55d8fd141299c37e2c77f482801",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 3.065 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 54 changed as sent

message 62 changed as sent

message 66 changed as sent

message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3199, 1.9259, 0.585, 1.0176, -0.308, -0.2363, 0.0131, -0.0284, 0.73, 0.535, -0.4194, -0.0566, -0.0616, 0.9991]\nstate[eef_state]: left_x=0.4474 left_y=-0.088 left_z=0.0591 left_yaw=0.0657 left_pitch=0.2507 left_roll=-0.1159 left_gripper=0.0131 right_x=0.277 right_y=0.0057 right_z=0.1576 right_yaw=0.0274 right_pitch=-0.0414 right_roll=-0.0039 right_gripper=0.9991\nstate[joint_eff]: [0.2803, -4.0547, 1.7436, 0.0366, -0.022, 0.1685, 0.8181, -0.6906, -1.5111, 6.7077, 2.083, -0.149, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0452, 0.8261, 0.728, -0.4767, -0.0677, -0.0597, 0.9976, 0.6949, 2.0487, 1.0363, 0.2573, 0.503, 0.3397, 0.9991]\nstate[eef_state]: left_x=0.2981 left_y=0.0021 left_z=0.2081 left_yaw=0.0319 left_pitch=-0.0116 left_roll=0.0004 left_gripper=0.9976 right_x=0.4255 right_y=0.2485 right_z=0.0165 right_yaw=0.0693 right_pitch=-0.0725 right_roll=-0.0561 right_gripper=0.9991\nstate[joint_eff]: [-0.2667, -1.6068, 5.8188, 1.9219, -0.0806, -0.0855, -0.0122, -0.8957, -9.5521, 7.5692, 1.7998, 0.2955, 0.1343, -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 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0452, 0.8246, 0.728, -0.477, -0.0673, -0.0593, 0.9976, 0.6937, 2.0747, 0.9638, 0.4084, 0.49, 0.3351, 0.5182]\nstate[eef_state]: left_x=0.2979 left_y=0.002 left_z=0.2085 left_yaw=0.0314 left_pitch=-0.0105 left_roll=0.0004 left_gripper=0.9976 right_x=0.4219 right_y=0.2474 right_z=0.0045 right_yaw=0.0824 right_pitch=-0.0346 right_roll=-0.0222 right_gripper=0.5182\nstate[joint_eff]: [-0.253, -1.7299, 6.065, 1.9023, -0.0415, -0.0366, -0.0122, -0.0479, -11.6308, 4.9026, 1.7656, 0.2418, 0.0659, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8549d2bfb56cbd2339605426f20cff02369a92dc79250e3316a977aefe241951",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e405f6ce5f9e302b84bea3feeb2ca3140a2cd44e5b6637d2a8e98ff07757851",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:173426604cc334c4e5b9fa1d76b69f9600aaa55d8fd141299c37e2c77f482801",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHP3JsV6w3YXNnQBDiDwXWAzqmRO7igFYFyKPRw784FXeZkYQ28hsqT7skyHHaCzYTM0lpo_bsbAu870w9p9orUNPEZLW0EiULO_EMhh9hqGjF6ptpox-JTN4OW8RjYLLBFuVdsfmNi46lBMjtcpuYNyBT-6EI3Up8olYUvD8ObO4bF68Me5GMbYLBOqwG6XTmH1KmXkqP-vLv8U9DEYFsLGSsHGHG1MhCKQVbSal-Lq-dCdTJ6GhHvvrW0XshHmdObS1jCTR983oe7kncYnTYTagOjGEY_C9XTFT0U-mMjcAc5l3h9P3MjH78jZd5a5b4OX1GJc4_mZ91nZN5Qyzz-UzejA9W5HbEbk07Rf9sNZIDJmoSU5aL4HVDgfZPXZ0uhtZjJQQLXbwJymRAwBsa_D_CIYh3vmLnvxrxSdL8BtprMt2A80-k7izvdWoN6Uzazy5z3bL6oUXJWRUXz6CUmcUPlX1P66CoiokXxOzJMq28dl6HysbGgrknc5L8c-seTYzy2inHxxGGaYbrpSN1OigXALCt3AusTsRXxfWwyBPiAU8zWbeAh0rmSlqgiSJWBdmKWeNdgiUFlWUBE-wHzBVz_PWUXP9zXagN9Pk2zR7ElxyntzZclLuM23PLPwqo4M8zyeAQ9w40294DR6LDdOO6gmfgkWWdtSxeEdBTAWEeARhYB-RBUUsbaZfnIseYw7MHHoii3SGnkdAXuweNJSaW3TODxMsCFrfAFFUS5h00B4mr-eZKBbs3iDnB76SrrDXINIOWavfpMhsaJM2LrkjMr25TT6y56EWs1SZxDdsqXtbgHzFc2d-Up-Eod8gfDpHGAmViAk6jyAmVfPnDpGTu4PfDJDMGPRFpFCMQ50iSN3vzRsk1BTpYZIt-2PhwN4eJ46hjPdWoI6AyuKYJhM84g4eyrNyKQnqxOkYJI2Y72zWHOvL7FB9EbEYGdhcOrMPdfCfUOgbszvZtiMhdeH6QQk_UtovPGAHDQNNImWDBQ0lS-WIZbXz8RNWToz75Uky8wkCxFbnVqXpDkpVD74gGDfap1Y9jcZVmu6jmqoLmawqSxkWhtUDvmLNanmlMFUMrGPTlRF7031HntFa0Lq4r0ifTVyalo-A3SpNEnERkVywWjyXm6ewAcSQRzA1aginei6m6t9Kc0N02Ee6WRbuerQWDXP1VLgpWb_JAk_jF1k-BLzB5-PdH2G37LGzjAzVMVK_MB_aaNO_OjE28o2DmwRTHlYRujxdS6yhgJTbG8HT2WoZ569uYwSk1fWEdfii9LEOwLCFcw4KD0WWTZPUCfJ501Rk0bhUlwFqN7BkJ19XYTT0mhaDPTk92X8M9D38ON9HLbNAIOZoXWU44rszVlCC-cYD17fzppnajKFftIW1ogZ3XC0bKQRL6bvO_97hVM5yiGIltE5QOcE7LYNYBSbxWgCGslhfO33nCuk3asXplhgIRu24-0OPtVeCdxGAM7Sa_hGVW7BjADSvCW5eH3FQ2zoUZbwZjv9ZVLLtix2NduhPuJ0SZy-4vG9LttFmHhZOIcJZkJgBgrZ996ctOLW8LZm1CENqYq8ZwfEdKOCeH5GuDr4hkLjmWBMF-LTvE3Tm6wQtJXKrLst2-kqWrlnctTb0hNd2X9y4tq_eD6TgoaAO74ub2nKG0J8xPvxzM3gVDiCvfeCAmGbzY--pwD_Nom3mIPgoGAeLEdLeXZ_Q-rawfbozbLdUNIoC0qUYWwCeH_2nw4xO3cLg354k4M8hzxbejkG9XD_U3OKOEk8rsQtg_VOimR-cc5Jzs5bi2VBVPdIvpVV5APwWc2gURXN4pMspeEGOwMaHTEUAENyY4Uv_Atyo9YrAUfVqeBcNbbK6P1IAWIvR4V6dICofL8eOMhm-urXBKmT_ROiIxHknGdG2FkDRkSvhiicuWDBN2VghWb4ESnuBrouYaa9SQbDABLWbBXP1ZR6DZX1fHoyy-lK24baLSJrNr_tkyC01ZHKzAl-_MupLHLu9yk_8v9xLa6DGQ7egOFdOvPOsYT4R5YPO0qh3QtbNelFgzKfuKOZt-VNyKv-EHBQLzIqaUhwDhORL-ika0VqHqSjlUege9wOsQGPZZOBEjXHzT-beXdo5jFhUbPyNvTMKF7vao5CkoHZlJvsmvCE2UVkhCiGpwmfGqaaia0bxBvyxW2po4Ir3ebXWW0b0CweftLZrDFsmU56r8DiGbrVLINnWViiFXVWdcGsa3dHEBFXangT",
  "id": "rs_0d31c282637dee4a016ab473f3805c87d0b55a6caaf7e23281",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.275,\"right_y\":0.245,\"right_z\":0.045},\"note\":\"The settled jaw opening confirms a body grasp. I’m drawing the bottle toward the front of the table so its neck will be reachable without overextending the arm.\"}",
  "call_id": "call_bQ5TKFVrh6jDUYKpNUoirIG3",
  "id": "fc_0d31c282637dee4a016ab473f672c487d0ac398aee26ccf25b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bQ5TKFVrh6jDUYKpNUoirIG3",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0452, 0.8242, 0.7277, -0.4767, -0.0677, -0.0593, 0.9976, 1.0367, 1.7119, 0.5987, 0.1829, 0.6617, 0.585, 0.5218]\nstate[eef_state]: left_x=0.2978 left_y=0.0021 left_z=0.2085 left_yaw=0.0317 left_pitch=-0.0101 left_roll=0.0006 left_gripper=0.9976 right_x=0.2657 right_y=0.243 right_z=0.0123 right_yaw=0.1519 right_pitch=-0.1136 right_roll=-0.0693 right_gripper=0.5218\nstate[joint_eff]: [-0.3761, -1.6889, 6.106, 1.9219, -0.0659, -0.0464, -0.0122, 0.2667, -10.1949, 5.9556, 2.21, 1.072, 0.105, 0.9011]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31594a55553d4502d29c58cbc2c15e30c7403e14ff4f61c893f278e6e2e90286",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e25906f47e129b572de6befd8ae36d4433261865911c982d2c6c7e84db54df01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f18a69ebb4d4355a28a2a4e6d543a025fcf5e5619bde18675741da81795bcbb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 3.365 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 58 changed as sent

message 66 changed as sent

message 70 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0376, 0.828, 0.7208, -0.4625, -0.0593, -0.0669, 0.9976, 0.8726, 1.7622, 1.1805, -0.2375, 0.6331, 0.4812, 0.9991]\nstate[eef_state]: left_x=0.2994 left_y=0.0028 left_z=0.2071 left_yaw=0.0363 left_pitch=-0.007 left_roll=-0.0106 left_gripper=0.9976 right_x=0.3685 right_y=0.2822 right_z=0.1316 right_yaw=0.071 right_pitch=-0.0582 right_roll=-0.0539 right_gripper=0.9991\nstate[joint_eff]: [0.212, -1.7162, 10.1402, 1.7411, 0.0952, 0.2271, -0.0952, 0.1299, -8.7179, 9.1966, 1.6532, 0.6569, 0.2613, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0452, 0.8246, 0.728, -0.477, -0.0673, -0.0593, 0.9976, 0.6937, 2.0747, 0.9638, 0.4084, 0.49, 0.3351, 0.5182]\nstate[eef_state]: left_x=0.2979 left_y=0.002 left_z=0.2085 left_yaw=0.0314 left_pitch=-0.0105 left_roll=0.0004 left_gripper=0.9976 right_x=0.4219 right_y=0.2474 right_z=0.0045 right_yaw=0.0824 right_pitch=-0.0346 right_roll=-0.0222 right_gripper=0.5182\nstate[joint_eff]: [-0.253, -1.7299, 6.065, 1.9023, -0.0415, -0.0366, -0.0122, -0.0479, -11.6308, 4.9026, 1.7656, 0.2418, 0.0659, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0452, 0.8242, 0.7277, -0.4767, -0.0677, -0.0593, 0.9976, 1.0367, 1.7119, 0.5987, 0.1829, 0.6617, 0.585, 0.5218]\nstate[eef_state]: left_x=0.2978 left_y=0.0021 left_z=0.2085 left_yaw=0.0317 left_pitch=-0.0101 left_roll=0.0006 left_gripper=0.9976 right_x=0.2657 right_y=0.243 right_z=0.0123 right_yaw=0.1519 right_pitch=-0.1136 right_roll=-0.0693 right_gripper=0.5218\nstate[joint_eff]: [-0.3761, -1.6889, 6.106, 1.9219, -0.0659, -0.0464, -0.0122, 0.2667, -10.1949, 5.9556, 2.21, 1.072, 0.105, 0.9011]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31594a55553d4502d29c58cbc2c15e30c7403e14ff4f61c893f278e6e2e90286",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e25906f47e129b572de6befd8ae36d4433261865911c982d2c6c7e84db54df01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f18a69ebb4d4355a28a2a4e6d543a025fcf5e5619bde18675741da81795bcbb",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHP7UbaiRbjaroZsl11EcacawrzeRHFUp6_Km-_YHu_b9j_XBX4BMr3g8vU-PnCQeXtj1fdYl8RCdsuAFAycoUCGIIlcv_ZzxCfj63J6KshwwBCOKoIQjtHEUHjQtS689zYDv7ik4kfAVQHNg3iTauKo0oVMy8wEMFCcjpqMA4zw4oxnN_gWHq4tV_1CzXjTSHSHFvCGi9XJNmzrtad1NpAPc8iuk0o7-529bU7Dv1dxs41-YQYuUycWH12HTBoWEuXUFpRudRCK5esJV_tyndWyhCYiQzbJQdykMdtDdXHvkI8ZISOJSLyByHe01LxKmjpPW84wpAKK-8Mxqz8Qp1sHl6-uc39DfsSMHi2TbQb5mzD0ejvc1Ii5D3k7HpuW_8wDbnFJfVHzYqSZPeXwJQJ5aHpxo4ykd8GjpAg0XR2CG3G4ULjDP4Tcl51ij7nm9H_v9cfGtbFSbMGqJc1Mp6ocf8PDbdzT0TNOM6M_8Jgk4-atKfKJISjhNsQ0N9lVv0CFKejFJa1zsYuf8JoTewCuxE6b-0wzTG29zHes9AcOkIsr1IhzEpTSMLc7n4bEy5MtAkphATkBiJMgFsI8BqTBQQ4I6PMwaibyxmqSFDH08YlxzUqo2Tcz264RFSBzNdPse64ZX9FFm_BmBmf6u1MOFI4spUQACHK3CRie-IzygJnKMj7dh5nWT0HMA4m1ZaLM2HjM9Xt91HtcMoSpwhWb14Y9jing96e5o7Ph2CLS8FPmjDl2A4QZxQml1e55gBGuf5xTYzZYoRxJ96LbIMgyGeQN-FJbrQJtTeRzQ6iVtesjCK9qhwTC6gW-VR3QPxmDitzB6JXSK51XpyorQmWzt5duC7ZoBS2KHIuGs9gRAE8nJOSxOe4TPB0QZTSM33kCA_Bta-r6xSAlrFSR6WpRUQ92nypfEgKt_tCcs6lrQV8y0UDeFKz919jwLk2lGPIGLZ1AQlP_zaT2MCjesHWQ1cNpLhM5j0JQyxBM7tE5Nww5N28Ud8lYLBDZfDPbsvPKWui5m6GZA--PCWCZ_SQoBP1Pg4s4RmBePYo3mJ1nxI9M86HvDass4lb9SYd0Vrk_gFeHM-ExHk4Dsha4ahYGESOWs7JbHtwwvv394ZH8AFbZTv5Pr1_Mli-8-L95XnVBJxnb1J-lX7PsN5wkodxboI9anoEBpX12-Ot1WsCi5lFGtpL_9-6v_fMOw2-3K8s1zs4ecsfTmmyZstjVXlhejXC-25woBpXSoqj5SLViAgQSUoki3swNG_VZTGmEwVtfW3RJkJFpNSu9Dujo0po6VYSEfFTdJFPmp0LoVMV_QCI=",
  "id": "rs_0d31c282637dee4a016ab473fa668c87d089e4d900bb3a7b97",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_z\":0.035},\"note\":\"The bottle has slid closer, and its cap is now well inside the working area. I’m releasing the body so I can switch to a neck grasp.\"}",
  "call_id": "call_hNNcqKpc2dieCWVaIxoXSEQE",
  "id": "fc_0d31c282637dee4a016ab473faf5a087d081334e3d35d3bdd9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hNNcqKpc2dieCWVaIxoXSEQE",
  "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]: [-0.0452, 0.8242, 0.7277, -0.477, -0.0677, -0.0593, 0.9976, 1.0538, 1.673, 0.5041, 0.3126, 0.6811, 0.5705, 0.9951]\nstate[eef_state]: left_x=0.2978 left_y=0.0021 left_z=0.2084 left_yaw=0.0317 left_pitch=-0.0105 left_roll=0.0006 left_gripper=0.9976 right_x=0.2586 right_y=0.2371 right_z=0.0162 right_yaw=0.1688 right_pitch=-0.0552 right_roll=-0.033 right_gripper=0.9951\nstate[joint_eff]: [-0.2667, -1.5658, 6.106, 1.917, -0.0855, -0.0317, -0.0122, -0.0205, -7.5556, 6.0786, 1.5116, 0.569, -0.0464, -0.2808]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13d1af88c86f659f4b2994d65bab98b34872c69943e56c16cd57980acdcaa0d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:181003e2aa0b99c1fb696076443bedc48159168a35b2803af2d36e713bd978e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64e1dc70693f9f3ced2151f9d3334999307bde57a7aa234f033d5e6af3734101",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 4.009 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 62 changed as sent

message 70 changed as sent

message 74 changed as sent

message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0452, 0.8261, 0.728, -0.4767, -0.0677, -0.0597, 0.9976, 0.6949, 2.0487, 1.0363, 0.2573, 0.503, 0.3397, 0.9991]\nstate[eef_state]: left_x=0.2981 left_y=0.0021 left_z=0.2081 left_yaw=0.0319 left_pitch=-0.0116 left_roll=0.0004 left_gripper=0.9976 right_x=0.4255 right_y=0.2485 right_z=0.0165 right_yaw=0.0693 right_pitch=-0.0725 right_roll=-0.0561 right_gripper=0.9991\nstate[joint_eff]: [-0.2667, -1.6068, 5.8188, 1.9219, -0.0806, -0.0855, -0.0122, -0.8957, -9.5521, 7.5692, 1.7998, 0.2955, 0.1343, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0452, 0.8242, 0.7277, -0.4767, -0.0677, -0.0593, 0.9976, 1.0367, 1.7119, 0.5987, 0.1829, 0.6617, 0.585, 0.5218]\nstate[eef_state]: left_x=0.2978 left_y=0.0021 left_z=0.2085 left_yaw=0.0317 left_pitch=-0.0101 left_roll=0.0006 left_gripper=0.9976 right_x=0.2657 right_y=0.243 right_z=0.0123 right_yaw=0.1519 right_pitch=-0.1136 right_roll=-0.0693 right_gripper=0.5218\nstate[joint_eff]: [-0.3761, -1.6889, 6.106, 1.9219, -0.0659, -0.0464, -0.0122, 0.2667, -10.1949, 5.9556, 2.21, 1.072, 0.105, 0.9011]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0452, 0.8242, 0.7277, -0.477, -0.0677, -0.0593, 0.9976, 1.0538, 1.673, 0.5041, 0.3126, 0.6811, 0.5705, 0.9951]\nstate[eef_state]: left_x=0.2978 left_y=0.0021 left_z=0.2084 left_yaw=0.0317 left_pitch=-0.0105 left_roll=0.0006 left_gripper=0.9976 right_x=0.2586 right_y=0.2371 right_z=0.0162 right_yaw=0.1688 right_pitch=-0.0552 right_roll=-0.033 right_gripper=0.9951\nstate[joint_eff]: [-0.2667, -1.5658, 6.106, 1.917, -0.0855, -0.0317, -0.0122, -0.0205, -7.5556, 6.0786, 1.5116, 0.569, -0.0464, -0.2808]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13d1af88c86f659f4b2994d65bab98b34872c69943e56c16cd57980acdcaa0d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:181003e2aa0b99c1fb696076443bedc48159168a35b2803af2d36e713bd978e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64e1dc70693f9f3ced2151f9d3334999307bde57a7aa234f033d5e6af3734101",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHP_uaPihhwRFJHZzamcTph-c-BmYSvCu0sYp1_t6dVP0GwWjQcLIdIXovV_CIMWJhjy1HFJfCbc-S-abPAPLcnq728BVXkHXO-HmsfxvYrhKrwO6J20GGIOfMemc4E2__eE6XnHyOCPyW0fhnASUpnhDcWX4iGMXcW0Dnvm_YQ0NsfQBxLIya9L3b033Gr151g57OZcDN61B9BOAhSV1iv_Ssu2tOIzNtcS3jhtGLQhLHwb0VDvX4m_7-MS3pPirUYKrOtyzoWR5bAjVmPuAZNOV2yFBbyacooCo9Cx3CJ1JNa5OauRIWFygmz5gj07D8P-MO1Nf4O8n88gvCmrQT6NaSMWr8OBUGNqAlIWHNdQtoC1jTTxXgk0-ycjGupkAkRzjhHEGC6Phx66g6ZU9fzsV4yOFZ4M0Z3QHgc65tF8u8-Zc8hMXgDWyT4Bx2JmBZsvDiKE4izuJNsKhaLuUz2C6zu223VnzVZlpNe19nXyWBwoXibdO3zI-DDqWpqcisImVY8wLwpUT1DLuXOqLPjLddgxzHZOpPZklLSSyOWwDHBg3rOjrZDcjx_Gw7AGfADIOGz240qb-KyXU9yaID-BLhnG8FoVoD3y3kxia7W3zWgfY-ZXakzyQUAg1bOWeSKKnpRBsCkqJJtKzQCImjXO_9bWEQrRjJwgRQkATVdvlc_YInGY3SzJKn_hSPglzTIwM6VKwC_Roaz5WML44GUse3CTfsZBwzDEoUksmZZI6KxWwaQuuDs_LQn_XxrodumCTFo7JOJr330vB780WBiIU779Bd0SUN3T7PpzgyH45gQ9LSTdyy5b5dJXkpjbUB4eJE_6TI_shKLeL0RZdahr60gXGjFL6P_IcLTFFi-R-FiLXyJUc_Z0Vmznwiom9SWSvlk1S8mLcU2PxvMbfMpAAh0ffiXiIzNDdawoL1vb-MidADb1_H9NY39CDtAmnXGhnQ8Jojjl4HGJHnoZYJ7CQ9bGQuHKso3xOb6jCM-LlHw4mvmRJUkmt6NrSc47cr0MAdRL8HAQMDlKXnRtjwBb6ewsNgMZID_THZYrdwahi8AO0Y-Bio4kv8P5jhnigdJ4iou-d8PC3kLgOW4KmY2TF7EVZ5zoDaU9_Fnygn9SLkfoWFsfF6B7GHH8i6QxOy2yYkNHo82IS60FWSZ76XVK0PM9CyWjq1RfgK6YU1adQ12D2dQ6NXXHowU2JRrWnhBpFGtUhVzS9-qPr-njdiXhkP46X-pCZtcLccTWU-sxV0tyBmVJMY-WdeJ0rVyW_0u8yWxqFChDAgFCqV6abEuOjpiUV-651eoOzH0n5iyRi2gV2fUwGR5Y8bJ53PqfXT4apGiobHn4ocy7P4gil4QYDg==",
  "id": "rs_0d31c282637dee4a016ab473fddc5487d09b844c90cca32670",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_y\":0.245,\"right_z\":0.12,\"right_yaw\":0},\"note\":\"The bottle is resting flat in its new position. I’m lifting clear and moving above its neck, keeping the jaws aligned across the bottle.\"}",
  "call_id": "call_QdV3uVlR2hhWpzjn7knabLzC",
  "id": "fc_0d31c282637dee4a016ab473fed7c487d0881f0db1450be2b3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QdV3uVlR2hhWpzjn7knabLzC",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0452, 0.8196, 0.7277, -0.4774, -0.0673, -0.0593, 0.9976, 0.6998, 1.8534, 1.0107, 0.0154, 0.5491, 0.411, 0.9947]\nstate[eef_state]: left_x=0.2973 left_y=0.002 left_z=0.2096 left_yaw=0.0314 left_pitch=-0.0063 left_roll=0.0001 left_gripper=0.9976 right_x=0.402 right_y=0.2226 right_z=0.0602 right_yaw=-0.0033 right_pitch=-0.1075 right_roll=-0.0701 right_gripper=0.9947\nstate[joint_eff]: [-0.3487, -1.5248, 6.106, 1.8877, -0.0317, -0.0513, -0.0122, 1.5111, -9.5248, 6.8855, 1.2625, 0.3101, 0.0415, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3185f339f1c1fefc2541c22f62240904d04a1e28283d01f6087b05a8444be508",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d6a1242a318a4f33dfd1cf9fd22c8c5c2939171a19156067cf776bf823818a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29d2b21a8cae547a2c0f802bf61bfe07c4486827af54790276deb4a1721c11a4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 11.34 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 66 changed as sent

message 74 changed as sent

message 78 changed as sent

message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0452, 0.8246, 0.728, -0.477, -0.0673, -0.0593, 0.9976, 0.6937, 2.0747, 0.9638, 0.4084, 0.49, 0.3351, 0.5182]\nstate[eef_state]: left_x=0.2979 left_y=0.002 left_z=0.2085 left_yaw=0.0314 left_pitch=-0.0105 left_roll=0.0004 left_gripper=0.9976 right_x=0.4219 right_y=0.2474 right_z=0.0045 right_yaw=0.0824 right_pitch=-0.0346 right_roll=-0.0222 right_gripper=0.5182\nstate[joint_eff]: [-0.253, -1.7299, 6.065, 1.9023, -0.0415, -0.0366, -0.0122, -0.0479, -11.6308, 4.9026, 1.7656, 0.2418, 0.0659, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0452, 0.8242, 0.7277, -0.477, -0.0677, -0.0593, 0.9976, 1.0538, 1.673, 0.5041, 0.3126, 0.6811, 0.5705, 0.9951]\nstate[eef_state]: left_x=0.2978 left_y=0.0021 left_z=0.2084 left_yaw=0.0317 left_pitch=-0.0105 left_roll=0.0006 left_gripper=0.9976 right_x=0.2586 right_y=0.2371 right_z=0.0162 right_yaw=0.1688 right_pitch=-0.0552 right_roll=-0.033 right_gripper=0.9951\nstate[joint_eff]: [-0.2667, -1.5658, 6.106, 1.917, -0.0855, -0.0317, -0.0122, -0.0205, -7.5556, 6.0786, 1.5116, 0.569, -0.0464, -0.2808]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0452, 0.8196, 0.7277, -0.4774, -0.0673, -0.0593, 0.9976, 0.6998, 1.8534, 1.0107, 0.0154, 0.5491, 0.411, 0.9947]\nstate[eef_state]: left_x=0.2973 left_y=0.002 left_z=0.2096 left_yaw=0.0314 left_pitch=-0.0063 left_roll=0.0001 left_gripper=0.9976 right_x=0.402 right_y=0.2226 right_z=0.0602 right_yaw=-0.0033 right_pitch=-0.1075 right_roll=-0.0701 right_gripper=0.9947\nstate[joint_eff]: [-0.3487, -1.5248, 6.106, 1.8877, -0.0317, -0.0513, -0.0122, 1.5111, -9.5248, 6.8855, 1.2625, 0.3101, 0.0415, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3185f339f1c1fefc2541c22f62240904d04a1e28283d01f6087b05a8444be508",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d6a1242a318a4f33dfd1cf9fd22c8c5c2939171a19156067cf776bf823818a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29d2b21a8cae547a2c0f802bf61bfe07c4486827af54790276deb4a1721c11a4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtHQELOn-yylXQWg-IjCpM34tQ9WkLmRk5oStosSBfhwYs0apL1ywLR8-ronpysea-s9kgzZcX0yq8M2lZrA2Inrc36ujmodGn216oAeXlyoHhUqLW1Cj4iqCckWWn_zmKey90hmQxU0TFaySDHQFDz63e-zEG1RReAq8eAmNPvzhy_qFR4ipYssbliawt5VdgMiUpMii5uLENHKocdXgTwN5xNzTcxpGk-OLRhHwF7K1sGfmRHzH_v8WUSvLG_i0LIfYPKU8y-JYO10rGPgIAYIBOnSa745Eo8rt6pKtsv5VAqm15p7oux-4Rt6wgfsg-MY405Q2bNMmzh-XAVDtyICpnyYaZRGtP14wuOJLpCs3qfpufcBJEARuDRjokPEQDxtvxTZ6G-7mPuae_Xtf0QHSkEKOIgyBF8Z0Bat5lh-0nTSoWdELpnfXviquWpYpvafoK5OkMrtPdWqMwYxIS1n8hMAaEFE5MV64hf9yrKgabRWj-h4C5Xz2IUx6x0bgkKPWv9VLk4OSOtSUMxAdjxsyybe7NnYFqCu3rb_zEHjm7gBUub0kJfaJvOH6fz-Be47RnQ8j2N40Up4TYbUuYBY1VasIRwe8TCviyTrU_jcfHqoZLPIrK9JY7AD9qXLOVKXUNvEsGcx34awxFQyndN0m_Hz2Hn7nKFTp0ETKpLqNmJIZHDJdtE2Co__j9g3jXvFJpZEMbpSE2voM5FqBBVFMYwtvjIFhUBElsHdYrAZmxTMa12RVrVLzjOO_pffwDsreUNy7Er05YTo1ClYtG3-hmno_vOiPQMSvIJVQHsVkvMBnD_BJXo0BqZpAE5UpOWUUFuP9PZjlafe1ZfyICtQ8yCmN6smXaw-4ZCGYmYkCxQGVfv80haRbmIWrNY2YsL5TJxAVOgTx9e3lhdlVW-DbBGgoSIuSJlF-OqkbLoUC0sN2hdI1Bt1NiEHuPPdVgFGJAdR7FJK8BWIpElDEaZMS1cadI3t3w8iV6X6sbvnUagDJK5Wesj2oK5GbKhoG5jcLhO0L4LJUvyVryEkRXmhL-_k26BvfVn50QuTe0hKw8rtrpwuwTqzBUQK9vlQ-Iwda1saX4SIjbtvKPy2TIss-hlZr1m1Alp-TRqZ3sTI_GBJXdtpmFUaBMeT76rV2wn8_7ax2wGT-SVQrHPGDv_Gthdw6SGcQfK8jgF7MjBPasLgixBVM_w6xzZAoGh85XQztEuVR9hjYtof_SZxduEOf4qH4C7Bt1OolBXODyaW_b1xL3KuAsdqKu6JFicZuq9Jp3WK2yb3mpP7AlkG0E2UZPpVAh-L9wh8uRftSP2iNAnipNfPlueDhHLBLI-aOy4tVR_jHbcD0rZiNA-Cmn1MkycqVIMm-FsXC3AeEFNli7YvLUuP4Vr90CsQwKsQ53z8QQ7qJi6qFUu6MvdNVN3I6xu1SCnciD7zyskx6-kfVyaxk0CjMsfLCmi_6gUmAvlfNxD1pXkVN7haoO5mqMTUiBm773cNkPCEOeJPQvMXqt24SucQ6xl9JYL3chOY1WqMB74S_LW3WBpm-JFmaqVPUxQ==",
  "id": "rs_0d31c282637dee4a016ab47402cc3087d095486dd73e7e6638",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.28,\"right_z\":0.18},\"note\":\"The arm lagged during the combined move and brushed the bottle. I’m lifting higher before the next descent so the open fingers clear its body.\"}",
  "call_id": "call_zX1qsf6cxiB8p3RgszfBnV6x",
  "id": "fc_0d31c282637dee4a016ab47403e6e887d0a690ad6d69937342",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zX1qsf6cxiB8p3RgszfBnV6x",
  "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]: [-0.0452, 0.8188, 0.7277, -0.4801, -0.0677, -0.0593, 0.9976, 0.7544, 1.8622, 1.4174, -0.2691, 0.5755, 0.4118, 0.9947]\nstate[eef_state]: left_x=0.2969 left_y=0.0021 left_z=0.2092 left_yaw=0.0317 left_pitch=-0.0082 left_roll=0.0005 left_gripper=0.9976 right_x=0.4335 right_y=0.2804 right_z=0.1708 right_yaw=0.0354 right_pitch=-0.0097 right_roll=-0.0094 right_gripper=0.9947\nstate[joint_eff]: [-0.3761, -1.6342, 6.4479, 1.8339, -0.0513, -0.0611, -0.0122, -0.1709, -8.6632, 8.9915, 1.6337, 0.4713, 0.2076, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56083def66791a33b3547159367eae9007d12783869a897f14afbfbb8e30d8a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52b5ae2500bec792f2185b369ce961e1bac76d8f945034af1e9a7a74ddffd3a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e929112d8c3d35ec527dcc5e4c81189aed8ff543f1bf67965935976d5bba49d5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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