adhoc

completed
2026-09-23T23:46:39.006928+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
231.6 s
total steps
245
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 approaching the neck of the leftmost bottle so I can lift that end and let its base swing downward.
move_to
left_x0.4000left_y-0.1500left_z0.1500left_gripper1.0000right_x0.2930right_y0.0040right_z0.1800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7937, 0.6086, -0.3767, -0.0193, -0.0257, 0.9988, -0.0154, 0.7902, 0.6037, -0.3889, -0.0265, -0.0341, 0.9983] state[eef_state]: left_x=0.2957 left_y=0.0011 left_z=0.1829 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.2933 right_y=0.0037 right_z=0.179 right_yaw=-0.0002 right_pitch=-0.0 right_roll=0.0003 right_gripper=0.9983 state[joint_eff]: [-0.3487, -1.4564, 9.7162, 1.7802, -0.0562, 0.1343, -0.1294, -0.841, -1.1692, 10.3043, 1.9365, -0.0171, 0.2125, -0.1929] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.15,"left_z":0.15,"left_gripper":1,"right_x":0.293,"right_y":0.004,"right_z":0.18},"note":"All three bottles are lying on their sides. I’m approaching the neck of the leftmost bottle so I can lift that end and let its base swing downward."})
tool
executing move_to over 14 steps (1.4s)
step 14
top_cam
camera top_cam step 14
left_cam
camera left_cam step 14
right_cam
camera right_cam step 14
assistant
agent noteThe leftmost bottle’s neck is left of the gripper center in the wrist view. I’m shifting toward it and lowering with the jaws angled across the neck.
move_to
left_x0.4300left_y-0.1000left_z0.0650left_yaw0.4000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5446, 1.478, 0.8505, -0.0734, -0.4362, -0.3237, 0.9989, -0.0143, 0.794, 0.6041, -0.4042, -0.0261, -0.0353, 0.9982] state[eef_state]: left_x=0.387 left_y=-0.143 left_z=0.1313 left_yaw=-0.0169 left_pitch=-0.063 left_roll=0.0262 left_gripper=0.9989 right_x=0.2915 right_y=0.004 right_z=0.175 right_yaw=0.0012 right_pitch=-0.0187 right_roll=-0.0006 right_gripper=0.9982 state[joint_eff]: [-0.3624, -6.4479, 8.8, 1.7802, -0.3687, -0.0855, -0.1245, -0.1709, -1.6068, 7.2684, 1.7949, 0.0073, -0.0269, -0.0171] camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.10,"left_z":0.065,"left_yaw":0.4},"note":"The leftmost bottle’s neck is left of the gripper center in the wrist view. I’m shifting toward it and lowering with the jaws angled across the neck."})
tool
executing move_to over 5 steps (0.5s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteThe left wrist view shows the cap still ahead of the fingertips, with the bottle body below it. I’m advancing to the narrow neck rather than closing around the middle.
move_to
left_x0.4800left_y-0.0700left_z0.0250left_yaw0.4500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5152, 1.8084, 0.8677, 0.0948, -0.6598, -0.5396, 0.9985, -0.0143, 0.7898, 0.5892, -0.4034, -0.0265, -0.0353, 0.9982] state[eef_state]: left_x=0.4154 left_y=-0.1067 left_z=0.0492 left_yaw=0.3033 left_pitch=-0.0728 left_roll=0.0639 left_gripper=0.9985 right_x=0.2894 right_y=0.0041 right_z=0.1695 right_yaw=0.0016 right_pitch=-0.0286 right_roll=-0.0002 right_gripper=0.9982 state[joint_eff]: [0.4581, -9.306, 7.8701, 1.5653, -0.3101, -0.1587, -0.0513, -0.3897, -1.9761, 6.7077, 1.9023, -0.0366, -0.0708, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.48,"left_y":-0.07,"left_z":0.025,"left_yaw":0.45},"note":"The left wrist view shows the cap still ahead of the fingertips, with the bottle body below it. I’m advancing to the narrow neck rather than closing around the middle."})
tool
executing move_to over 5 steps (0.5s)
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 stopped short while close to the bottle body. I’m lifting clear before moving farther toward the cap, rather than pushing through that contact.
move_to
left_x0.4800left_y-0.0700left_z0.1400left_yaw0.4500right_x0.2930right_y0.0040right_z0.1800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5091, 1.8343, 0.8894, 0.1085, -0.7197, -0.6071, 0.9984, -0.0143, 0.7788, 0.5617, -0.3965, -0.0269, -0.0353, 0.9982] state[eef_state]: left_x=0.4226 left_y=-0.0984 left_z=0.053 left_yaw=0.3864 left_pitch=-0.031 left_roll=0.0307 left_gripper=0.9984 right_x=0.2862 right_y=0.0042 right_z=0.1614 right_yaw=0.0019 right_pitch=-0.0381 right_roll=0.0002 right_gripper=0.9982 state[joint_eff]: [0.0068, -8.9915, 7.1043, 1.4823, -0.486, -0.1197, -0.0269, -0.4034, -1.7573, 6.9265, 1.9707, -0.0562, -0.0464, -0.0073] 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":0.48,"left_y":-0.07,"left_z":0.14,"left_yaw":0.45,"right_x":0.293,"right_y":0.004,"right_z":0.18},"note":"The arm stopped short while close to the bottle body. I’m lifting clear before moving farther toward the cap, rather than pushing through that contact."})
tool
executing move_to over 6 steps (0.6s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteThe farther target did not produce motion, which suggests a reach or wrist-configuration limit. I’m drawing the arm back slightly and straightening the wrist to recover a reachable approach.
move_to
left_x0.4000left_y-0.0750left_z0.1400left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5091, 1.8343, 0.8894, 0.1085, -0.7193, -0.6067, 0.9984, -0.0143, 0.786, 0.5682, -0.4042, -0.0292, -0.0391, 0.9982] state[eef_state]: left_x=0.4226 left_y=-0.0985 left_z=0.053 left_yaw=0.386 left_pitch=-0.0312 left_roll=0.0308 left_gripper=0.9984 right_x=0.2863 right_y=0.0046 right_z=0.1609 right_yaw=0.0059 right_pitch=-0.0464 right_roll=-0.0014 right_gripper=0.9982 state[joint_eff]: [-0.0479, -8.8684, 7.2274, 1.4725, -0.4371, -0.1197, -0.0171, -0.4581, -0.5538, 10.441, 1.8632, -0.0366, -0.0024, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.075,"left_z":0.14,"left_yaw":0},"note":"The farther target did not produce motion, which suggests a reach or wrist-configuration limit. I’m drawing the arm back slightly and straightening the wrist to recover a reachable approach."})
tool
executing move_to over 6 steps (0.6s)
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 wrist is now clear, and the cap is nearly centered laterally. I’m moving outward above the neck with the wrist straight before descending.
move_to
left_x0.4750left_y-0.0750left_z0.1200left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3229, 1.4212, 0.738, 0.0994, -0.366, -0.2779, 0.9983, -0.0143, 0.7582, 0.5236, -0.3775, -0.0296, -0.0391, 0.9982] state[eef_state]: left_x=0.4051 left_y=-0.0651 left_z=0.1355 left_yaw=0.1221 left_pitch=0.0208 left_roll=-0.0275 left_gripper=0.9983 right_x=0.2827 right_y=0.0048 right_z=0.1534 right_yaw=0.0062 right_pitch=-0.0365 right_roll=-0.0014 right_gripper=0.9982 state[joint_eff]: [0.2393, -6.6393, 6.7624, 1.7607, 0.0611, 0.3492, -0.022, -0.4718, -1.4291, 6.8991, 1.9853, -0.0464, -0.022, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.475,"left_y":-0.075,"left_z":0.12,"left_yaw":0},"note":"The wrist is now clear, and the cap is nearly centered laterally. I’m moving outward above the neck with the wrist straight before descending."})
tool
executing move_to over 6 steps (0.6s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent noteThe arm is not tracking the long forward reach at this height. I’m trying a shorter, lower approach toward the same neck while returning the idle arm to its parked height.
move_to
left_x0.4350left_y-0.0750left_z0.0750left_yaw0.0000right_x0.2930right_y0.0040right_z0.1800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3042, 1.393, 0.7372, 0.0479, -0.2691, -0.2081, 0.9982, -0.0143, 0.7387, 0.4885, -0.3592, -0.0296, -0.0387, 0.9982] state[eef_state]: left_x=0.3982 left_y=-0.072 left_z=0.1329 left_yaw=0.0233 left_pitch=-0.0214 left_roll=-0.0097 left_gripper=0.9982 right_x=0.2795 right_y=0.0048 right_z=0.1462 right_yaw=0.006 right_pitch=-0.0339 right_roll=-0.0012 right_gripper=0.9982 state[joint_eff]: [-0.3487, -6.4205, 6.9128, 1.8291, -0.0611, 0.2027, -0.0122, -0.4581, -1.5385, 6.9538, 1.9707, -0.0513, -0.0415, -0.0073] camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.435,"left_y":-0.075,"left_z":0.075,"left_yaw":0,"right_x":0.293,"right_y":0.004,"right_z":0.18},"note":"The arm is not tracking the long forward reach at this height. I’m trying a shorter, lower approach toward the same neck while returning the idle arm to its parked height."})
tool
executing move_to over 4 steps (0.4s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteThe forward approach is still being held. I’m lowering at the reachable position to check the neck alignment directly without forcing farther outward.
move_to
left_x0.4000left_y-0.0750left_z0.0250left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3042, 1.393, 0.7372, 0.0479, -0.2691, -0.2081, 0.9983, -0.0143, 0.7856, 0.5526, -0.403, -0.0299, -0.0429, 0.9982] state[eef_state]: left_x=0.3982 left_y=-0.072 left_z=0.1329 left_yaw=0.0233 left_pitch=-0.0214 left_roll=-0.0097 left_gripper=0.9983 right_x=0.2842 right_y=0.0048 right_z=0.1541 right_yaw=0.0086 right_pitch=-0.0605 right_roll=-0.0038 right_gripper=0.9982 state[joint_eff]: [-0.3487, -6.3658, 6.9128, 1.7998, -0.0708, 0.2125, -0.0073, -0.8, -1.0051, 10.4, 1.9609, -0.1099, 0.0122, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.075,"left_z":0.025,"left_yaw":0},"note":"The forward approach is still being held. I’m lowering at the reachable position to check the neck alignment directly without forcing farther outward."})
tool
executing move_to over 7 steps (0.7s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteThe narrow shoulder of the left bottle is between the open jaws, although the cap remains farther forward. I’m closing gently around that shoulder to see whether it can be lifted securely.
move_to
left_gripper0.3000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3073, 1.7058, 0.5411, 0.6296, -0.2687, -0.2104, 0.9983, -0.0143, 0.7456, 0.49, -0.3653, -0.0296, -0.0502, 0.9983] state[eef_state]: left_x=0.4103 left_y=-0.0772 left_z=0.0498 left_yaw=0.0215 left_pitch=0.0474 left_roll=-0.0353 left_gripper=0.9983 right_x=0.2791 right_y=0.0048 right_z=0.1439 right_yaw=0.0122 right_pitch=-0.0452 right_roll=-0.0103 right_gripper=0.9983 state[joint_eff]: [0.0479, -4.8205, 2.7966, 0.7595, -0.0708, 0.2759, -0.0171, -0.6359, -1.4154, 7.2821, 2.0195, -0.1099, 0.0415, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.3},"note":"The narrow shoulder of the left bottle is between the open jaws, although the cap remains farther forward. I’m closing gently around that shoulder to see whether it can be lifted securely."})
tool
executing move_to over 7 steps (0.7s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteThe bottle shifted slightly as the jaws closed and appears seated between them. I’m completing the grasp before a short test lift.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3138, 1.6917, 0.5781, 0.577, -0.2935, -0.2089, 0.3056, -0.0154, 0.7185, 0.4473, -0.3424, -0.0303, -0.0505, 0.9982] state[eef_state]: left_x=0.416 left_y=-0.0775 left_z=0.0587 left_yaw=0.0349 left_pitch=0.0502 left_roll=-0.0215 left_gripper=0.3056 right_x=0.2753 right_y=0.0047 right_z=0.1361 right_yaw=0.0119 right_pitch=-0.0379 right_roll=-0.0103 right_gripper=0.9982 state[joint_eff]: [-0.0615, -7.2821, 6.1607, 1.1258, 0.022, 0.0806, 0.1148, -0.8957, -1.347, 6.8991, 2.0391, -0.1538, -0.0122, -0.0171] camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The bottle shifted slightly as the jaws closed and appears seated between them. I’m completing the grasp before a short test lift."})
tool
executing move_to over 4 steps (0.4s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteThe fully closed reading shows that grasp was empty. The neck is just forward and left of the fingertips, so I’m reopening and making one small correction toward it.
move_to
left_x0.4400left_y-0.0550left_z0.0150left_gripper1.0000right_x0.2930right_y0.0040right_z0.1800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3145, 1.6863, 0.614, 0.5213, -0.3004, -0.2096, 0.009, -0.017, 0.6979, 0.4122, -0.3241, -0.0303, -0.0509, 0.9982] state[eef_state]: left_x=0.4204 left_y=-0.078 left_z=0.0629 left_yaw=0.0401 left_pitch=0.0378 left_roll=-0.0139 left_gripper=0.009 right_x=0.2721 right_y=0.0043 right_z=0.1291 right_yaw=0.0106 right_pitch=-0.0341 right_roll=-0.0107 right_gripper=0.9982 state[joint_eff]: [-0.0752, -8.0479, 6.4752, 1.1258, -0.0708, -0.0073, 0.7643, -0.6632, -1.388, 6.8991, 1.9951, -0.1197, -0.0122, -0.0073] camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.44,"left_y":-0.055,"left_z":0.015,"left_gripper":1,"right_x":0.293,"right_y":0.004,"right_z":0.18},"note":"The fully closed reading shows that grasp was empty. The neck is just forward and left of the fingertips, so I’m reopening and making one small correction toward it."})
tool
executing move_to over 10 steps (1.0s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteThe cap has moved to the bottom of the wrist view and the neck is now centered between the jaws. I’m closing for the corrected neck grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2283, 1.8584, 0.6464, 0.7368, -0.2264, -0.2085, 0.9948, -0.0212, 0.786, 0.561, -0.4049, -0.0299, -0.0574, 0.9983] state[eef_state]: left_x=0.4507 left_y=-0.0603 left_z=0.0462 left_yaw=0.0651 left_pitch=0.0982 left_roll=-0.0716 left_gripper=0.9948 right_x=0.2852 right_y=0.0028 right_z=0.1574 right_yaw=0.0097 right_pitch=-0.0543 right_roll=-0.0157 right_gripper=0.9983 state[joint_eff]: [0.5265, -4.7521, 4.9983, 0.9988, -0.2418, 0.4908, -0.0269, -0.6085, -0.6769, 10.3043, 1.8681, -0.1343, 0.0904, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The cap has moved to the bottom of the wrist view and the neck is now centered between the jaws. I’m closing for the corrected neck grasp."})
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 noteThat grasp was also empty. The height readback stayed about 5 cm above the table, so I’m correcting the approach height at the bottle’s neck rather than repeating the same close.
move_to
left_x0.4450left_y-0.0750left_z-0.0200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2424, 1.821, 0.7231, 0.5632, -0.2577, -0.2035, 0.0098, -0.0284, 0.7521, 0.5056, -0.3756, -0.0486, -0.0574, 0.9982] state[eef_state]: left_x=0.4561 left_y=-0.0627 left_z=0.0544 left_yaw=0.0734 left_pitch=0.0461 left_roll=-0.0348 left_gripper=0.0098 right_x=0.2802 right_y=0.0042 right_z=0.1473 right_yaw=0.0181 right_pitch=-0.0459 right_roll=-0.005 right_gripper=0.9982 state[joint_eff]: [-0.253, -8.5675, 5.7641, 1.1502, -0.0415, 0.1734, 0.7692, -0.6085, -1.5932, 7.3094, 2.044, -0.0855, 0.0513, -0.0171] 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":0.445,"left_y":-0.075,"left_z":-0.02,"left_gripper":1},"note":"That grasp was also empty. The height readback stayed about 5 cm above the table, so I’m correcting the approach height at the bottle’s neck rather than repeating the same close."})
tool
executing move_to over 10 steps (1.0s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteThe jaws are now down against the bottle area and the bottle shifted slightly during the approach. I’m checking whether this lower placement captures the neck.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2771, 2.0045, 0.7277, 0.9142, -0.3408, -0.2356, 0.9946, -0.0284, 0.725, 0.4603, -0.3504, -0.0532, -0.0578, 0.9983] state[eef_state]: left_x=0.4795 left_y=-0.0713 left_z=0.0508 left_yaw=0.1349 left_pitch=0.2186 left_roll=-0.0919 left_gripper=0.9946 right_x=0.2762 right_y=0.0051 right_z=0.1388 right_yaw=0.0221 right_pitch=-0.0389 right_roll=-0.003 right_gripper=0.9983 state[joint_eff]: [-1.7436, -4.0, 1.2239, 0.0952, 0.2027, 0.1734, -0.2222, -0.759, -1.4974, 7.4188, 2.0147, -0.0757, 0.0024, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The jaws are now down against the bottle area and the bottle shifted slightly during the approach. I’m checking whether this lower placement captures the neck."})
tool
executing move_to over 10 steps (1.0s)
step 104
top_cam
camera top_cam step 104
left_cam
camera left_cam step 104
right_cam
camera right_cam step 104
assistant
agent noteThe overhead view now shows the closed jaws just beyond and to the left of the bottle’s neck. I’m reopening and moving back and inward to straddle the visible neck rather than bare table.
move_to
left_x0.4300left_y-0.1200left_z0.0000left_gripper1.0000right_x0.2930right_y0.0040right_z0.1800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.281, 1.911, 0.8837, 0.4431, -0.3531, -0.2611, 0.0108, -0.0284, 0.7036, 0.4244, -0.334, -0.0563, -0.0578, 0.9982] state[eef_state]: left_x=0.482 left_y=-0.0718 left_z=0.0523 left_yaw=0.1444 left_pitch=0.0176 left_roll=-0.0194 left_gripper=0.0108 right_x=0.2727 right_y=0.0058 right_z=0.1313 right_yaw=0.0247 right_pitch=-0.0369 right_roll=-0.0013 right_gripper=0.9982 state[joint_eff]: [-0.335, -9.8256, 5.7641, 1.4286, -0.1441, 0.1001, 0.8571, -0.4581, -1.4427, 7.0359, 2.0488, -0.0904, -0.0269, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.12,"left_z":0,"left_gripper":1,"right_x":0.293,"right_y":0.004,"right_z":0.18},"note":"The overhead view now shows the closed jaws just beyond and to the left of the bottle’s neck. I’m reopening and moving back and inward to straddle the visible neck rather than bare table."})
tool
executing move_to over 10 steps (1.0s)
step 114
top_cam
camera top_cam step 114
left_cam
camera left_cam step 114
right_cam
camera right_cam step 114
assistant
agent noteThe open jaws now straddle the left bottle in the overhead view. I’m closing at this corrected lateral position.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4549, 1.9453, 0.7719, 0.6861, -0.5594, -0.3218, 0.9947, -0.0288, 0.7864, 0.5613, -0.4053, -0.0566, -0.0654, 0.9982] state[eef_state]: left_x=0.457 left_y=-0.1152 left_z=0.0523 left_yaw=0.1771 left_pitch=0.1533 left_roll=-0.0311 left_gripper=0.9947 right_x=0.2852 right_y=0.0054 right_z=0.1576 right_yaw=0.0288 right_pitch=-0.0539 right_roll=-0.0064 right_gripper=0.9982 state[joint_eff]: [-1.2923, -4.7248, 2.1812, 0.7057, 0.6325, -0.5836, -0.0806, -1.0735, -0.6632, 10.3316, 1.8339, -0.1343, 0.0024, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The open jaws now straddle the left bottle in the overhead view. I’m closing at this corrected lateral position."})
tool
executing move_to over 10 steps (1.0s)
step 124
top_cam
camera top_cam step 124
left_cam
camera left_cam step 124
right_cam
camera right_cam step 124
assistant
agent noteThe bottle rotated on the table but did not stay in the jaws. I’m switching to its wider body, farther back from the cap, to establish a reliable grasp before attempting to stand it.
move_to
left_x0.3900left_y-0.1450left_z0.0350left_gripper0.6500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4377, 1.8973, 0.8822, 0.3874, -0.532, -0.3752, 0.0109, -0.0341, 0.7544, 0.5056, -0.3763, -0.0608, -0.065, 0.9982] state[eef_state]: left_x=0.4606 left_y=-0.1127 left_z=0.0552 left_yaw=0.193 left_pitch=0.0309 left_roll=-0.0076 left_gripper=0.0109 right_x=0.2801 right_y=0.0048 right_z=0.1466 right_yaw=0.0268 right_pitch=-0.0484 right_roll=-0.0039 right_gripper=0.9982 state[joint_eff]: [-0.1162, -9.8256, 6.106, 1.1844, -0.0366, -0.0659, 0.8767, -0.4718, -1.4291, 7.3915, 2.0391, -0.1245, 0.0269, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.145,"left_z":0.035,"left_gripper":0.65},"note":"The bottle rotated on the table but did not stay in the jaws. I’m switching to its wider body, farther back from the cap, to establish a reliable grasp before attempting to stand it."})
tool
executing move_to over 7 steps (0.7s)
step 131
top_cam
camera top_cam step 131
left_cam
camera left_cam step 131
right_cam
camera right_cam step 131
assistant
agent noteThe wider bottle body is visible just right of the jaw centerline. I’m centering over it and lowering a little more before closing.
move_to
left_x0.3800left_y-0.1630left_z0.0150left_gripper0.8000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6178, 1.8259, 0.7383, 0.3939, -0.6601, -0.503, 0.6448, -0.0341, 0.7254, 0.4587, -0.3489, -0.0612, -0.065, 0.9983] state[eef_state]: left_x=0.403 left_y=-0.1491 left_z=0.0445 left_yaw=0.1792 left_pitch=0.0321 left_roll=-0.0153 left_gripper=0.6448 right_x=0.2763 right_y=0.005 right_z=0.1384 right_yaw=0.0271 right_pitch=-0.0389 right_roll=-0.0043 right_gripper=0.9983 state[joint_eff]: [-0.4171, -8.6906, 3.7538, 1.1062, -0.1001, -0.1734, -0.1734, -0.759, -1.1009, 7.159, 2.0635, -0.149, -0.022, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 131): [image omitted: streamed camera frame] camera 'left_cam' (step 131): [image omitted: streamed camera frame] camera 'right_cam' (step 131): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.163,"left_z":0.015,"left_gripper":0.8},"note":"The wider bottle body is visible just right of the jaw centerline. I’m centering over it and lowering a little more before closing."})
tool
executing move_to over 2 steps (0.2s)
step 133
top_cam
camera top_cam step 133
left_cam
camera left_cam step 133
right_cam
camera right_cam step 133
assistant
agent noteThe jaws are positioned around the broader section of the bottle. I’m closing to test this body grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6628, 1.8458, 0.73, 0.4187, -0.7063, -0.5499, 0.7939, -0.0341, 0.7094, 0.4366, -0.3344, -0.0612, -0.065, 0.9982] state[eef_state]: left_x=0.396 left_y=-0.1592 left_z=0.0412 left_yaw=0.1936 left_pitch=0.0511 left_roll=-0.0334 left_gripper=0.7939 right_x=0.2746 right_y=0.005 right_z=0.1353 right_yaw=0.0271 right_pitch=-0.0305 right_roll=-0.0048 right_gripper=0.9982 state[joint_eff]: [-1.0872, -5.7094, 3.1521, 0.9939, -0.0659, -0.1929, 0.0513, -0.7726, -1.1556, 6.8171, 2.0586, -0.1636, -0.0073, -0.0171] camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The jaws are positioned around the broader section of the bottle. I’m closing to test this body grasp."})
tool
executing move_to over 8 steps (0.8s)
step 141
top_cam
camera top_cam step 141
left_cam
camera left_cam step 141
right_cam
camera right_cam step 141
assistant
agent noteThe empty close reveals that the jaw tips meet higher in this wrist image than expected. The bottle neck is just behind and right of that point, so I’m correcting backward and right using the visible jaw tips.
move_to
left_x0.3650left_y-0.1880left_z0.0200left_gripper0.6500right_x0.2930right_y0.0040right_z0.1800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6926, 1.8568, 0.7288, 0.5095, -0.7654, -0.5808, 0.0104, -0.0341, 0.6933, 0.4068, -0.3233, -0.0608, -0.065, 0.9982] state[eef_state]: left_x=0.3996 left_y=-0.1678 left_z=0.0553 left_yaw=0.2307 left_pitch=0.1276 left_roll=-0.0995 left_gripper=0.0104 right_x=0.2714 right_y=0.0051 right_z=0.1281 right_yaw=0.0267 right_pitch=-0.0332 right_roll=-0.0049 right_gripper=0.9982 state[joint_eff]: [-0.4991, -5.559, 3.0017, 0.5836, 0.2808, -0.0952, 0.8962, -0.6085, -1.1145, 7.241, 1.9121, -0.1587, -0.0317, -0.0122] approver: 8 step(s) modified (delta_clamped ×8). camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.365,"left_y":-0.188,"left_z":0.02,"left_gripper":0.65,"right_x":0.293,"right_y":0.004,"right_z":0.18},"note":"The empty close reveals that the jaw tips meet higher in this wrist image than expected. The bottle neck is just behind and right of that point, so I’m correcting backward and right using the visible jaw tips."})
tool
executing move_to over 7 steps (0.7s)
step 148
top_cam
camera top_cam step 148
left_cam
camera left_cam step 148
right_cam
camera right_cam step 148
assistant
agent noteThe bottle’s narrow neck is now centered between the visible jaw tips. I’m closing on the neck at this alignment.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7982, 1.8721, 0.8036, 0.2909, -0.8097, -0.7204, 0.645, -0.0341, 0.7853, 0.5598, -0.3981, -0.0681, -0.0692, 0.9982] state[eef_state]: left_x=0.3773 left_y=-0.1988 left_z=0.0437 left_yaw=0.2201 left_pitch=0.0549 left_roll=-0.0765 left_gripper=0.645 right_x=0.286 right_y=0.0058 right_z=0.1587 right_yaw=0.0351 right_pitch=-0.0466 right_roll=-0.0032 right_gripper=0.9982 state[joint_eff]: [-0.4718, -5.9556, 4.0821, 0.7253, -0.2271, -0.0464, -0.2271, -0.8137, -0.8684, 10.0581, 1.8632, -0.0757, 0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The bottle’s narrow neck is now centered between the visible jaw tips. I’m closing on the neck at this alignment."})
tool
executing move_to over 7 steps (0.7s)
step 155
top_cam
camera top_cam step 155
left_cam
camera left_cam step 155
right_cam
camera right_cam step 155
assistant
agent noteThe jaws passed above the neck; the height rose during closing. I’m reopening only enough for the neck and maintaining a lower target so the pads reach its sides.
move_to
left_x0.3700left_y-0.1900left_z-0.0200left_gripper0.4500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7971, 1.8717, 0.8818, 0.1822, -0.8543, -0.7338, 0.0102, -0.0341, 0.7589, 0.5129, -0.374, -0.075, -0.0765, 0.9982] state[eef_state]: left_x=0.3854 left_y=-0.1988 left_z=0.0579 left_yaw=0.2571 left_pitch=0.0665 left_roll=-0.046 left_gripper=0.0102 right_x=0.2816 right_y=0.0072 right_z=0.1493 right_yaw=0.0448 right_pitch=-0.0428 right_roll=-0.0054 right_gripper=0.9982 state[joint_eff]: [-0.1709, -8.6222, 5.2444, 0.7009, 0.0904, 0.0122, 0.8718, -0.6085, -1.5385, 7.2547, 2.0098, -0.105, 0.0659, -0.0122] camera 'top_cam' (step 155): [image omitted: streamed camera frame] camera 'left_cam' (step 155): [image omitted: streamed camera frame] camera 'right_cam' (step 155): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.37,"left_y":-0.19,"left_z":-0.02,"left_gripper":0.45},"note":"The jaws passed above the neck; the height rose during closing. I’m reopening only enough for the neck and maintaining a lower target so the pads reach its sides."})
tool
executing move_to over 6 steps (0.6s)
step 161
top_cam
camera top_cam step 161
left_cam
camera left_cam step 161
right_cam
camera right_cam step 161
assistant
agent noteThe neck is between the jaw pads at the lower approach. I’m closing while keeping the downward target, rather than allowing the grasp height to rise.
move_to
left_x0.3700left_y-0.1900left_z-0.0200left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7975, 1.9701, 0.8631, 0.3893, -0.963, -0.7513, 0.4462, -0.0341, 0.7364, 0.4717, -0.3508, -0.0826, -0.0799, 0.9982] state[eef_state]: left_x=0.3961 left_y=-0.193 left_z=0.0507 left_yaw=0.3504 left_pitch=0.1735 left_roll=-0.1085 left_gripper=0.4462 right_x=0.2781 right_y=0.0087 right_z=0.1412 right_yaw=0.0531 right_pitch=-0.0378 right_roll=-0.0041 right_gripper=0.9982 state[joint_eff]: [-0.8, -2.0581, 0.8, 0.1441, 1.4335, -0.3443, 0.0952, -0.8684, -1.7162, 6.9538, 1.9853, -0.0366, 0.0415, -0.0073] camera 'top_cam' (step 161): [image omitted: streamed camera frame] camera 'left_cam' (step 161): [image omitted: streamed camera frame] camera 'right_cam' (step 161): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.37,"left_y":-0.19,"left_z":-0.02,"left_gripper":0},"note":"The neck is between the jaw pads at the lower approach. I’m closing while keeping the downward target, rather than allowing the grasp height to rise."})
tool
executing move_to over 5 steps (0.5s)
step 166
top_cam
camera top_cam step 166
left_cam
camera left_cam step 166
assistant
agent noteThe neck slipped aside again, and the gripper is empty. I’m lifting away to clear contact and reveal the bottle’s current position before deciding whether a safe retry is feasible.
move_to
left_x0.2900left_y-0.0300left_z0.1800left_gripper1.0000right_x0.2930right_y0.0040right_z0.1800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8059, 2.0075, 0.9504, 0.2718, -0.9993, -0.8917, 0.0105, -0.0341, 0.7166, 0.4385, -0.3347, -0.0834, -0.0807, 0.9982] state[eef_state]: left_x=0.4017 left_y=-0.1987 left_z=0.0504 left_yaw=0.4315 left_pitch=0.1617 left_roll=-0.1669 left_gripper=0.0105 right_x=0.2749 right_y=0.0089 right_z=0.1344 right_yaw=0.0541 right_pitch=-0.0351 right_roll=-0.0046 right_gripper=0.9982 state[joint_eff]: [-1.3197, -2.8786, 0.8274, -0.1148, 1.0623, -0.1978, 0.8718, -0.8, -1.5111, 6.8581, 2.0244, -0.1734, -0.0317, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":-0.03,"left_z":0.18,"left_gripper":1,"right_x":0.293,"right_y":0.004,"right_z":0.18},"note":"The neck slipped aside again, and the gripper is empty. I’m lifting away to clear contact and reveal the bottle’s current position before deciding whether a safe retry is feasible."})
tool
executing move_to over 15 steps (1.5s)
step 181
assistant
agent noteWith the arm clear, the displaced bottle’s neck is now visible behind the previous grasp location. I’m approaching that neck from the nearer, more reachable position with the wrist straightened.
move_to
left_x0.3300left_y-0.1900left_z0.0350left_yaw0.0000left_gripper0.6500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5735, 1.396, 0.7338, -0.3595, -0.8181, -0.7582, 0.9965, -0.0616, 0.7891, 0.5674, -0.4118, -0.1131, -0.1028, 0.9982] state[eef_state]: left_x=0.3271 left_y=-0.0535 left_z=0.106 left_yaw=0.4714 left_pitch=-0.0649 left_roll=0.1044 left_gripper=0.9965 right_x=0.2852 right_y=0.006 right_z=0.1588 right_yaw=0.0637 right_pitch=-0.0535 right_roll=-0.0031 right_gripper=0.9982 state[joint_eff]: [0.5949, -3.959, 6.4205, 1.1844, -0.3541, 0.2711, 0.0024, -0.7726, -0.759, 10.2085, 1.8193, -0.1148, 0.0952, -0.0073] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.33,"left_y":-0.19,"left_z":0.035,"left_yaw":0,"left_gripper":0.65},"note":"With the arm clear, the displaced bottle’s neck is now visible behind the previous grasp location. I’m approaching that neck from the nearer, more reachable position with the wrist straightened."})
tool
executing move_to over 13 steps (1.3s)
step 194
assistant
agent noteThe bottle slid left during the approach and is now beside the arm. I’m lifting clear and approaching its new neck position from above to avoid another sideways push.
move_to
left_x0.2600left_y0.0150left_z0.1200left_yaw0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8192, 1.684, 0.5598, 0.3206, -0.6952, -0.5812, 0.6523, -0.0658, 0.7582, 0.5163, -0.3782, -0.1165, -0.1066, 0.9982] state[eef_state]: left_x=0.3261 left_y=-0.1779 left_z=0.0313 left_yaw=0.0448 left_pitch=-0.0242 left_roll=0.0156 left_gripper=0.6523 right_x=0.2815 right_y=0.0056 right_z=0.1506 right_yaw=0.0644 right_pitch=-0.0399 right_roll=-0.0059 right_gripper=0.9982 state[joint_eff]: [-0.4308, -6.2017, 5.053, 1.6044, -0.2564, 0.1392, 0.1343, -0.3624, -1.7573, 6.8444, 2.044, -0.1001, 0.0269, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 194): [image omitted: streamed camera frame] camera 'left_cam' (step 194): [image omitted: streamed camera frame] camera 'right_cam' (step 194): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.26,"left_y":0.015,"left_z":0.12,"left_yaw":0,"left_gripper":1},"note":"The bottle slid left during the approach and is now beside the arm. I’m lifting clear and approaching its new neck position from above to avoid another sideways push."})
tool
executing move_to over 18 steps (1.8s)
step 212
assistant
agent noteThe wrist camera clearly shows the cap and narrow neck near the jaw centerline. I’m moving slightly forward and lowering around the neck while leaving room between the jaws.
move_to
left_x0.3050left_y0.0300left_z0.0250left_yaw0.0000left_gripper0.6500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.0616, 0.5964, 0.2783, -0.2462, -0.0204, -0.0338, 0.9979, -0.0734, 0.7368, 0.4774, -0.3576, -0.1173, -0.107, 0.9983] state[eef_state]: left_x=0.2607 left_y=0.0233 left_z=0.1089 left_yaw=0.0869 left_pitch=-0.0027 left_roll=-0.0061 left_gripper=0.9979 right_x=0.2781 right_y=0.0039 right_z=0.1426 right_yaw=0.0576 right_pitch=-0.0369 right_roll=-0.0062 right_gripper=0.9983 state[joint_eff]: [0.1436, -0.3761, 10.5094, 1.8339, 0.1343, 0.105, -0.1832, -0.4034, -1.5521, 7.0632, 1.9414, -0.1929, 0.0073, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 212): [image omitted: streamed camera frame] camera 'left_cam' (step 212): [image omitted: streamed camera frame] camera 'right_cam' (step 212): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.305,"left_y":0.03,"left_z":0.025,"left_yaw":0,"left_gripper":0.65},"note":"The wrist camera clearly shows the cap and narrow neck near the jaw centerline. I’m moving slightly forward and lowering around the neck while leaving room between the jaws."})
tool
executing move_to over 6 steps (0.6s)
step 218
assistant
agent noteAt the lower height the jaws surround the body, while the neck is still farther ahead. I’m advancing along the centered bottle to reach the narrow neck.
move_to
left_x0.3500left_y0.0300left_z0.0250left_gripper0.6500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.1585, 1.2896, 0.1383, 0.5423, 0.1234, 0.0299, 0.6549, -0.0792, 0.7132, 0.4438, -0.3428, -0.1207, -0.1066, 0.9982] state[eef_state]: left_x=0.3018 left_y=0.0299 left_z=0.0261 left_yaw=0.0281 left_pitch=-0.0424 left_roll=-0.0348 left_gripper=0.6549 right_x=0.2746 right_y=0.0032 right_z=0.1365 right_yaw=0.0545 right_pitch=-0.0317 right_roll=-0.0046 right_gripper=0.9982 state[joint_eff]: [0.335, -2.7692, 2.7829, 0.4127, -0.2271, 0.4078, 0.2613, -0.3077, -0.8274, 6.8444, 1.9512, -0.1832, 0.0024, -0.0171] camera 'top_cam' (step 218): [image omitted: streamed camera frame] camera 'left_cam' (step 218): [image omitted: streamed camera frame] camera 'right_cam' (step 218): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":0.03,"left_z":0.025,"left_gripper":0.65},"note":"At the lower height the jaws surround the body, while the neck is still farther ahead. I’m advancing along the centered bottle to reach the narrow neck."})
tool
executing move_to over 4 steps (0.4s)
step 222
assistant
agent noteThe neck and shoulder are centered between the jaws. I’m closing with a low height target to catch the neck below the cap.
move_to
left_x0.3500left_y0.0300left_z0.0050left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.1127, 1.5349, 0.2516, 0.7715, 0.0803, 0.0246, 0.6522, -0.0799, 0.6979, 0.4141, -0.3283, -0.1204, -0.1066, 0.9982] state[eef_state]: left_x=0.3513 left_y=0.0291 left_z=0.0375 left_yaw=0.0216 left_pitch=0.0517 left_roll=-0.0058 left_gripper=0.6522 right_x=0.2719 right_y=0.0031 right_z=0.1298 right_yaw=0.0535 right_pitch=-0.0317 right_roll=-0.0048 right_gripper=0.9982 state[joint_eff]: [-0.3214, -3.6855, 4.6427, 1.2821, -0.0757, 0.0024, 0.2076, -0.6769, -1.4017, 6.9812, 1.8877, -0.149, -0.0073, -0.0073] camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":0.03,"left_z":0.005,"left_gripper":0},"note":"The neck and shoulder are centered between the jaws. I’m closing with a low height target to catch the neck below the cap."})
tool
executing move_to over 7 steps (0.7s)
step 229
assistant
agent noteThe gripper stopped at about 3.4 cm rather than closing empty, so it appears to have caught the bottle. I’m making a short test lift and checking whether the bottle follows.
move_to
left_x0.3500left_y0.0300left_z0.1200left_gripper0.0000right_x0.2930right_y0.0040right_z0.1800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.1108, 1.6627, 0.2699, 0.9939, 0.0711, 0.0227, 0.3598, -0.0803, 0.6796, 0.3862, -0.3161, -0.1349, -0.1066, 0.9982] state[eef_state]: left_x=0.3725 left_y=0.0324 left_z=0.0489 left_yaw=0.0274 left_pitch=0.1638 left_roll=0.0064 left_gripper=0.3598 right_x=0.269 right_y=0.0058 right_z=0.1244 right_yaw=0.0652 right_pitch=-0.0279 right_roll=0.0031 right_gripper=0.9982 state[joint_eff]: [0.0205, -2.4274, 2.1949, 0.2222, -0.0024, 0.0611, 0.5788, -0.8137, -1.0598, 6.8308, 1.9072, -0.0611, -0.022, -0.0073] camera 'top_cam' (step 229): [image omitted: streamed camera frame] camera 'left_cam' (step 229): [image omitted: streamed camera frame] camera 'right_cam' (step 229): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":0.03,"left_z":0.12,"left_gripper":0,"right_x":0.293,"right_y":0.004,"right_z":0.18},"note":"The gripper stopped at about 3.4 cm rather than closing empty, so it appears to have caught the bottle. I’m making a short test lift and checking whether the bottle follows."})
tool
executing move_to over 5 steps (0.5s)
step 234
assistant
agent noteThe bottle slipped free during the lift and remains on its side. I’m returning both arms to a clear parked position; repeated neck grasps have not been reliable enough to continue safely.
move_to
left_x0.2930left_y0.0000left_z0.1800left_yaw0.0000left_gripper1.0000right_x0.2930right_y0.0040right_z0.1800right_yaw0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.1116, 1.1534, 0.4847, 0.5175, 0.0605, 0.0231, 0.0086, -0.0799, 0.7864, 0.5594, -0.3904, -0.1352, -0.1108, 0.9982] state[eef_state]: left_x=0.3847 left_y=0.036 left_z=0.2116 left_yaw=0.0315 left_pitch=0.4103 left_roll=0.0308 left_gripper=0.0086 right_x=0.287 right_y=0.0045 right_z=0.1604 right_yaw=0.0682 right_pitch=-0.0357 right_roll=0.001 right_gripper=0.9982 state[joint_eff]: [-0.335, -2.2632, 7.6786, 1.4042, 0.0562, 0.0171, 0.735, -0.1983, -0.9094, 9.4564, 1.6435, -0.022, -0.0073, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.293,"left_y":0,"left_z":0.18,"left_yaw":0,"left_gripper":1,"right_x":0.293,"right_y":0.004,"right_z":0.18,"right_yaw":0,"right_gripper":1},"note":"The bottle slipped free during the lift and remains on its side. I’m returning both arms to a clear parked position; repeated neck grasps have not been reliable enough to continue safely."})
tool
executing move_to over 10 steps (1.0s)
step 244
assistant
agent noteI could not establish a secure bottle grasp: repeated attempts slipped or closed empty, including the final test lift. All three bottles remain on their sides, and both arms have been returned to clear parked positions.
give_up
hindsightA nonzero gripper reading during table contact was not proof of a grasp: a reading of 0.36 fell to 0.009 on lifting while the bottle stayed on the table. Low approaches repeatedly stopped around z=0.04–0.05 and shifted the bottle sideways, so verify actual jaw-to-neck alignment and contact height before closing. With pitch and roll pinned, there is no directly commanded wrist tilt for standing a securely held horizontal bottle.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.8028, 0.6067, -0.3542, -0.0086, -0.0261, 0.9945, -0.0189, 0.7876, 0.5678, -0.4107, -0.0483, -0.0635, 0.9983] state[eef_state]: left_x=0.2991 left_y=-0.0009 left_z=0.1842 left_yaw=-0.0088 left_pitch=0.0114 left_roll=-0.0061 left_gripper=0.9945 right_x=0.2854 right_y=0.0067 right_z=0.1591 right_yaw=0.0307 right_pitch=-0.0542 right_roll=-0.0098 right_gripper=0.9983 state[joint_eff]: [-0.1983, -1.2923, 7.0085, 1.8339, -0.0904, 0.1197, -0.1538, 0.5675, -0.5265, 10.2359, 1.8535, 0.1148, 0.1832, -0.1929] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 244): [image omitted: streamed camera frame] camera 'left_cam' (step 244): [image omitted: streamed camera frame] camera 'right_cam' (step 244): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not establish a secure bottle grasp: repeated attempts slipped or closed empty, including the final test lift. All three bottles remain on their sides, and both arms have been returned to clear parked positions.","hindsight":"A nonzero gripper reading during table contact was not proof of a grasp: a reading of 0.36 fell to 0.009 on lifting while the bottle stayed on the table. Low approaches repeatedly stopped around z=0.04–0.05 and shifted the bottle sideways, so verify actual jaw-to-neck alignment and contact height before closing. With pitch and roll pinned, there is no directly commanded wrist tilt for standing a securely held horizontal bottle."})
tool
give_up: I could not establish a secure bottle grasp: repeated attempts slipped or closed empty, including the final test lift. All three bottles remain on their sides, and both arms have been returned to clear parked positions.
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 · 7.893 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Stand all three bottles upright.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7937, 0.6086, -0.3767, -0.0193, -0.0257, 0.9988, -0.0154, 0.7902, 0.6037, -0.3889, -0.0265, -0.0341, 0.9983]\nstate[eef_state]: left_x=0.2957 left_y=0.0011 left_z=0.1829 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.2933 right_y=0.0037 right_z=0.179 right_yaw=-0.0002 right_pitch=-0.0 right_roll=0.0003 right_gripper=0.9983\nstate[joint_eff]: [-0.3487, -1.4564, 9.7162, 1.7802, -0.0562, 0.1343, -0.1294, -0.841, -1.1692, 10.3043, 1.9365, -0.0171, 0.2125, -0.1929]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f7ed0775d9b7062f85fb28e2778531633e5ea86920e22f6185326b7009190a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:897720f65299bebdad643cf2365e05127c709799a1c8a66de539fc03762fc404",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5c16267fc8165cb3740e8272723ae4d20ac4708455008ee6c112d9a2d818098",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 10.6 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtGTz4Sbr8wmce08b8jkmfhsByGZyst4K59jztjDyB_8QoxTfMn-xdCZ0UmKuSNYE_-u345MFctu5Cr-18dQLw3j434N4h-07tPL271z-LR41bb1zb1loAUwXy0sAeVc9uXGF6ZUPq_VOEN-0dGzbeaQt5_hjAJJVffyNRzxkXlf7LiYTEKSem_sS4ZYJ2lyxn3sjf2Hc-dNjx2GRUx0KiGqfgV9V8m0ChX4TLRbjKV-QWoJJeR9QZT0ATPRRQd0aKSND2lJuuF3JTAUL-LIDOs9lPI92Djf0elNmZQIasloexo8Om5Ykovy7ZrYY3U-hdWS6zwr3fFhfBmr8goHkdee0oruKZXZoePMQCb95ArQHe-7gwD9uTwZh7LclbQCGwBzsW22QF3mioUER_ur5LvxBpqCzSI-bMdjVC49c6xfl3QxQu9rrZfNByxexo3tCZDKux6yNW5qnzwag61b0jRGaH2ubu3eUeWU9X_F1qWLxyR9TZ1BhJigEe9RRbf9vtz18Lo-IMIFdk3hZs2e50OWAMtPS5hd5IdsGC5MN5BxdaV7Fm0Bhl5GsuPuX9MyADCade6ROA1Uql9H7Ck3Vc94UZ232poaHA1ejqXUvmsCw35E1S0b2_bfVIfSetZeOkFszgIYIlpN0fmTvysLTVWOg1Hcc5QpGoah3JivZQ1qqNyNVWEELEIF15CIRr9d6kli7PCBIjtWOwykEsXzU30L5-ncZozNKwTtshNkWBxX-7MImF8B7DQ9LkE5gljVFF6rlLVbMp5HqdVqOm8G05Da7XaiT4lm14FLCMsqdcSOKzswBqgJ-uLdSl0CrfQNZb-TYCvSwbMQn049Ia4HG9GH2lssqRjXpY4SmEK845muDJm4By31ENfTs6eNpQHesqsvbv1UjV7elpmit7v1gjM6URAPF0XeHb8MdrAgfhnVa-u5zt0ORwZ3Br04l83uwPhSZv2hnwmedyLIDZkigLouNoVArq2pQ5P8DoXSc6-2nCuXJc1XkYsTpQMspqACzS9STcp5FaiIK9ZncodbKxWsK71bGnj4x02PKq3jEZKNCO0YZKMzPjwnMkdyVEBFeWImHqc-k9dLxJRWgm0eFYoKs2q8MRgFL8ki95EPxJ3NsPUz8wNBaOUF-WIdIhmP7KlbY2qoF197E2BCGpSblUCuWtyktVn-KletH1KfAT0hTXJ3HZB83w7iGkOKZ6Qr6OMUOOryQbQqCKj3IG4zxBW0NfQvHfKYEUbqLksj2ac-u08dUkGmIArbz6acvczTLu2w8XKpdb-xyAxU8WfbgqovW4E8R8x8HSMeEQVfub5lkDRsBt2DIRnWDgsTK82EyXQAUjiZxOrnhguHd6m3OrGKC9BNoZD6CLOH3k7LSoUzMVix_xZWmgnbUIY8ZKSXnTJs3JuZqdeAqOw-0q_e1C4bvw2XHL1I0dsKpGJI37IpaW2aP95Jj7Rr00cm_BpJ9IDi8rvuM17SbKfgvdNox2WqzBJrg9E_66174hyD81ietCQ5pSZdKSeYyFgZgnOJlv0KC9aobeuxj-735KVmxNKhsfGFRyyWX3YSY4TrO6J_vEHeMF7npBpl02x2dWqZXAYh-clVT0p59jJysg-4x9j3xwmAFVa6ZhbDAuUGuk6E4bL-KVU0RWJhA4Uh656qxNfCt-uwnDwlvz0ukWsawFId5gmtfx4g05s8VlH8-QMxdOWjEt7eXhs43jbi38q3cLLzmktgMWaAPDXHjqXify7doa21Wg9VXfY37Ngdkz0d5gb5ndVMILYPASp39vnAyvHm-0bAmcjitxnfOdJIck7AkXnI2awuaOoBLiR2Qh0XjS1_897j5Prpy8byiA6fBkPVQ-7Mk6_MjklDG80wM_mJtfmHlYwtHMufNAcnaYnIWzc4Wnh9Ztt1mL8hUX7gkZEOV-kiiZc46JCoBRq2CFO4xVJoZiET_g0fZKNGUK46nMvWk0OMCyL679OV4W5o7RLp2317agdPnObTeVMm8MGJEjvElirbK_DbphgJVbZWP8OGG9lNdAdtaWgfuzAG6ZoEDZOoruXdl3DQIifZp3ZLya_0B0h3TTQtyx8JSR0hkoM1nIzJajcAqYjAuzetd0w-ZYTZOQ1nLt0EnLrZXPT51gePTXzmu5KKIp91TRQre4VA1Nn2Ct8SWL0skUuVQ3GHxnJCEpi4_AVhnMQuatxIaXWkHd3icix-tqDaUaWtuWqwH7Tl5R2dXjbVkr0TTH4G4AJ2M8V8xhnr2SokBFzgQd2RkwP0386HxfSdy5-nnmr05rxEVpzpTP1gzDgq2_1nguZKlwK0jnVyb7Z8QdcI3S5ClpLKj34mM9XhwSVWpZugbhW20_z8Zy57IbQTtBOTJS5gL9bWxz0P6WFQ6_6P3_a5KqEYBzeyV_q_HfvL96uxDGZOiEMb91rk9_wRwFLjqfTL2Wghwmqm3wZoKFdFgd7aKw4BfnOVwy2xRxTxPVx_DuuVYjtd7Wk_i07RpFqv_wTARmiRruACH_0Q3TYNZqD9krjM8tGFwnBEEBEpYJkhOYOg55nKhUDR8s9_0aqiAkmpHG16JB-s7ticAEvG6qjfvrgw8T5EZruiDiB2WbFJeTSJY9VR_mCMxfAc_fGsV1LSKA7vlI_03mxR3FzNnrsVpGadyyqbiaD9ujfLl5Qun6h5BI0segnuhnqUfgO3S1he4_PSrnF3xdILldYDqlpjkl_B0VrtMed7hwk5NrF_oZhyCEVw4LGWBHe048Xyw1nQRCwYdzUxMXzTAnn4D-B3YaKocrrNkKo3B3Tt5kCAouWSK3lRnKVmVNVGkzpbEZNZfYfdbzjX-4vllwJ0AdT1u9YbNC2gFf2SAZoenH4Q=",
  "id": "rs_06f7b9c1ebe4d3ed016ab464ed606087d0890d5d452bbafa9b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.15,\"left_z\":0.15,\"left_gripper\":1,\"right_x\":0.293,\"right_y\":0.004,\"right_z\":0.18},\"note\":\"All three bottles are lying on their sides. I’m approaching the neck of the leftmost bottle so I can lift that end and let its base swing downward.\"}",
  "call_id": "call_yzhNC4xGBPPlm3wRwsvaZ8Qb",
  "id": "fc_06f7b9c1ebe4d3ed016ab464f2c0f087d0b9b9c27e84662194",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yzhNC4xGBPPlm3wRwsvaZ8Qb",
  "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]: [-0.5446, 1.478, 0.8505, -0.0734, -0.4362, -0.3237, 0.9989, -0.0143, 0.794, 0.6041, -0.4042, -0.0261, -0.0353, 0.9982]\nstate[eef_state]: left_x=0.387 left_y=-0.143 left_z=0.1313 left_yaw=-0.0169 left_pitch=-0.063 left_roll=0.0262 left_gripper=0.9989 right_x=0.2915 right_y=0.004 right_z=0.175 right_yaw=0.0012 right_pitch=-0.0187 right_roll=-0.0006 right_gripper=0.9982\nstate[joint_eff]: [-0.3624, -6.4479, 8.8, 1.7802, -0.3687, -0.0855, -0.1245, -0.1709, -1.6068, 7.2684, 1.7949, 0.0073, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5c6a0a1d335f2cf7c7c8f029291148d9ed37e6a3f7c36a2bbb6c6c03a440268",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7436fac857ade42504206610192eb181c5f53a241f755875407a9516ffd5b2be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1adb33ec52237836834c545e47ba70adb8d930b967467311045085db45a3919b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 2 attempt 0 · /responses · status 200 · 7.162 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7937, 0.6086, -0.3767, -0.0193, -0.0257, 0.9988, -0.0154, 0.7902, 0.6037, -0.3889, -0.0265, -0.0341, 0.9983]\nstate[eef_state]: left_x=0.2957 left_y=0.0011 left_z=0.1829 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.2933 right_y=0.0037 right_z=0.179 right_yaw=-0.0002 right_pitch=-0.0 right_roll=0.0003 right_gripper=0.9983\nstate[joint_eff]: [-0.3487, -1.4564, 9.7162, 1.7802, -0.0562, 0.1343, -0.1294, -0.841, -1.1692, 10.3043, 1.9365, -0.0171, 0.2125, -0.1929]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5446, 1.478, 0.8505, -0.0734, -0.4362, -0.3237, 0.9989, -0.0143, 0.794, 0.6041, -0.4042, -0.0261, -0.0353, 0.9982]\nstate[eef_state]: left_x=0.387 left_y=-0.143 left_z=0.1313 left_yaw=-0.0169 left_pitch=-0.063 left_roll=0.0262 left_gripper=0.9989 right_x=0.2915 right_y=0.004 right_z=0.175 right_yaw=0.0012 right_pitch=-0.0187 right_roll=-0.0006 right_gripper=0.9982\nstate[joint_eff]: [-0.3624, -6.4479, 8.8, 1.7802, -0.3687, -0.0855, -0.1245, -0.1709, -1.6068, 7.2684, 1.7949, 0.0073, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5c6a0a1d335f2cf7c7c8f029291148d9ed37e6a3f7c36a2bbb6c6c03a440268",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7436fac857ade42504206610192eb181c5f53a241f755875407a9516ffd5b2be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1adb33ec52237836834c545e47ba70adb8d930b967467311045085db45a3919b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGT_e3WzN-nebbK4JfLxMV5tjiHkDelb6b8FwFU1JSSClv9roiHgJFpBPd9LDTFK6eTASdzPGRespLyoEvx8tBkxPZLwk8f31i4QlpcC9XOI9NIbGLg79z8QsM4fIi86ffX1j2dA-gtpUY5kKQ-_DA1yb6gCecGg4RHMjGmGkiIWR9PxCJ7yYa2TQn0qA2dQfT_99WglwcCVjIaQcnJxDhZCbdb9gVfLlD4ExAVuPwlQmcwca-b2L-ZrqysIqmAb7XQ2ySAv0W4YJmt_A06IPU-wihcCnnzbcE_AFopfYhz7-DAlOrdWld1npZbUu3cOnHPCd9Hp-YPQ238qwYz5xq29HTpxyKRF5qYwBj4N6Ibj_2QWpa5_kEwyIUKonOwI1oh-r1pOPYFKXnM0B1mYBcmvg_IdLpOGj6lbBthnJa3RZAtrZZAbA06-Wkbu3s5mbK79TpBAPtkggaBCK1FThlEMQACIILapQhUN-z8L5LiqAJih91twZhyAh86I0A4MdK0H1EHbkPcrsfTB_FTlIRvAnwAzKAd16W5LDdGqURvhQ2DkRgbvs5TpIopR2_duWqt09LyEdvgufmyscMfkU5OITvsmZ8DDCz6_8LfZiuJ4jT606YD__dCfodYcZGL6pYZtoqvGadhUHXJbci9_eTV_PmbrWEFqIH1y0bQp4LrxtL3hIwSbbiMSWKnZQoeB8jUwmBErTLgl5S8LpdbhDVEnLqxPXzbzuVIM0GwzHNNQ6Wm_GDmqMjWEAEx6sICBoNf1iCXeaj74O4WlafkDzy75Ajy0aiE99FK_oqblNr99z1oVo4R4BVqDhsO7K7VVun4tkvkEwq5_xCXemg1E3sTw9aP0dQBokeZi3AUeT84LdO2TJKHcl-GrUDA7c6APMopD4bMSArSHJ05SC1dM7JMnWNazahPpcroE0_BkfLrPUs5LHdHwNBUbvwdCuWTi_x6-FW004SfbGw7RNuJ6xJ90Hedieza2e788pYHxnLgt9Cnnf-QAI8AQLbK6tKYeYtQcdUj3IbXJ3wF0OyMgO-5o0Hp26uOvLje062FcTdk87S9Eb2d5UQuEiGeD8T2J-y_Kr3bnHQC81zMJPcv1QkRXiOROd_k9eBRepGbdQuh3JCK9C5va7UtUyRmy9Dc6xWfqexHjfqlO1AEASk70FBYExxYrx3AFeR55qOEaPsMU4Cyo4xK8cG8cXp4QO5UzDk-uNobuw1N2F-MQdOZ3sds_NrJ0jg2hwv3WSp_SlXkpDJSFrQH5LJgdKlZhJgrsI3y8wKyEemn_p-LNaRFk_pXmM7rW3OfbrIN8GeTL9I0bcMz26neqQhGNd5v5FY7oMG86MRFJu-4kKsOlNUD3Lqx0ZeYcvQMV11Md8VbMrGkU8GcsPHMzwG6RY8qtkCvVZaPMqKs6GeSS8NYAh-_NQvQs-XhZbRvlTOtAH7K81DgjHZLut1-Cji_4P-Eg6yA-0dFOe7u1clnGUA1p1aOXgFNA1gNPEdchN_9OlDwQ8Kenu10NELDX4x42qk-3TEBRLHxLrx8vZmIIr-PpfCzukYTG1OR-NoiP39gH4NzCdpN69syKe-vPCdA3_mscDRz5k2bSHcemCRdpnjPBFG0Oz8IGWHxrvCJKADTLTPoDN7YWcwoC6DSoWMt7dOKtdgImKcrO1H6mqt41U8QH_vo4Yzqe-a3pb3PftlQdmot9qC6vvxesI5N38-8j_n1Rhg5CSfcojjJ3ft39LnX-1wNDe2Q2PH_L_42lHIPo2BMn0EE1rsqgJ8zgPfAqSkpHXq_V2W1XIzD4oxmou11PxUWNyuanfYja8usLRMV7EyUcmuSNZ352Fkoa2cGbxU7sIaKMZs6V3YQ6zBGX39YEvyPVAVBP4NxtwSUIGxSzPxf3iPC4QbtNr32iRI6N5k3g0hvvPCou2cw2N6_n-aeaq0Za21s3fvtwo-cbkODydttn28t8XarvYSgJW65DqPXxe9UNDHie5UlL6BuN8-hHw-ctrqdTtAsJaYjZFXf77LZDyQmPBn3LiEAvwKabUIQf_usYtYf1wBHiVzwo3ITlPJnzDtwW1C0nFJmz5RWwYVm2LKFtXCtg52sNYydDgJ0R7pL2D_AFsSibNzeKIMVHi4KbNzPOnB1nL-4qKIRaeWfVkiH1zOeP2GAOghj6LTP0kPTXQdnz3IzcJelXmK8rajqfRV9JL_10w6sMuXDwlztV5VZztPxlMsjQbmVmw_khoiPXQDz5Xb1N0ko2pIMPjn_eYvlTzI6KDnZUgc9UT_0P7rDmp_sfyrU2SJodIyhCRJhBEDoPOESEGMUJVj2PtfzPqC5KQ732kplk6d5rxAxhP-UdbXjS8eRE_Yhi4IC9Tkyi5c45Q7yUCfcn6dkUVOHi_-aTMBGEPdk8H2W8-VA0sVSRXrR6lxf-VBCbcik6cbm7zrcvuH3XcDk_Ory1OUme14-fCMhLR-pCrEzzapW7u56F8lI8EBzniIHNldNXf1Prx4HJGz_AvzyIP1J_CkUKzh1t44ooVhgXc_sJ-ptrEt0l5xmTzB3_1qML-B8QViGyO0FD6TNaf3MoYHtysA1nKSqvnarnCaM_HfNCL-o85pZ0yIt108I7lcWcxEsjFtH_MUEJ-ScrnNyypx41ujErQLXh8J_E6Q0ymQuGxE6minfCg-3KaIDpO1-Ky7WfHDbS-ZKXeyDGW78gmbeElBFyggfL1wPY6KWMlWhU2Z9NjuIl6Fj6UnWpZ5-cOOyRkSS4dmgA2aFnWaCNmIYIbOIqhAlYtcD7JHOG5SxXGm5bG6fPrucFkOYwlGc4BrxzMbqQ-aVFRC9br2cUcVmU9Pgmufo85fh4wNmq0L1SkTEGhP4zeGpunXEO2brXMI_Fm1MUIoYNGwscUDfjt8zc0H1EHOwLQBanYm9c3Oxxfxoj1H_y3gO2l_HZj4sn36J7jnkYKloClDYwJlcYtHeBOzDjX_51nm9Sx0la0f7wF8CFKTO1Zm0f3QFZUk40vnE8myXaeIg9XI2TFspocAl30NBPmk2DVdYAC7M0vYDns1h8PgzLLHRVzchEIWw9EawpD1LNK_fp2-a7nXH5kBizuqCU4b9Be_NoW22v0dYi4DzGzfxttl3mQCXiM3jas4Pd6-TbDlDEHKVYZzXQMT2vJFZ69CxegABr6b6WErC1gHbMbH-F9wQP5cJqd_m80akir3nGWh1jvG_5GwONUKqbDhg8B49mnLnQY2nGypfIgyXkGyGAlZxBuVx4CxTEsSolLSTeYk2DE-9VnRJdczzxdIKiqG1lmC9T00kfJkNR5NSAofTXmQrv0UzU5NGOwkDKI6twCm-6CWdw-lVboG1gwcc8Af7MCSSLWBkWV15mbptmWio3JFnNVEaKw2WModSnnRzSnTmDOAYdy4dfDZvQ9c_oStLcfQ==",
  "id": "rs_06f7b9c1ebe4d3ed016ab464f6b8b487d08852eb3e003ac1bc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.10,\"left_z\":0.065,\"left_yaw\":0.4},\"note\":\"The leftmost bottle’s neck is left of the gripper center in the wrist view. I’m shifting toward it and lowering with the jaws angled across the neck.\"}",
  "call_id": "call_oXhUzdcfeNHl4wJ9e5DL9H99",
  "id": "fc_06f7b9c1ebe4d3ed016ab464fedca487d0a9ad30ca653b1c5e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oXhUzdcfeNHl4wJ9e5DL9H99",
  "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]: [-0.5152, 1.8084, 0.8677, 0.0948, -0.6598, -0.5396, 0.9985, -0.0143, 0.7898, 0.5892, -0.4034, -0.0265, -0.0353, 0.9982]\nstate[eef_state]: left_x=0.4154 left_y=-0.1067 left_z=0.0492 left_yaw=0.3033 left_pitch=-0.0728 left_roll=0.0639 left_gripper=0.9985 right_x=0.2894 right_y=0.0041 right_z=0.1695 right_yaw=0.0016 right_pitch=-0.0286 right_roll=-0.0002 right_gripper=0.9982\nstate[joint_eff]: [0.4581, -9.306, 7.8701, 1.5653, -0.3101, -0.1587, -0.0513, -0.3897, -1.9761, 6.7077, 1.9023, -0.0366, -0.0708, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e692052a107bfe7838ac7249e7d6e97c2d66265f515cdf5726e512f530de9fad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7b1767030b99a15885d7f5e90efe284c5fc68aa3a7c81420dd7b853d5a236c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4d808362879ff65ecaa8e7cbea11e0e553c35d3ae7b8515eee87f3c89a3493f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 4.235 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]: [-0.5446, 1.478, 0.8505, -0.0734, -0.4362, -0.3237, 0.9989, -0.0143, 0.794, 0.6041, -0.4042, -0.0261, -0.0353, 0.9982]\nstate[eef_state]: left_x=0.387 left_y=-0.143 left_z=0.1313 left_yaw=-0.0169 left_pitch=-0.063 left_roll=0.0262 left_gripper=0.9989 right_x=0.2915 right_y=0.004 right_z=0.175 right_yaw=0.0012 right_pitch=-0.0187 right_roll=-0.0006 right_gripper=0.9982\nstate[joint_eff]: [-0.3624, -6.4479, 8.8, 1.7802, -0.3687, -0.0855, -0.1245, -0.1709, -1.6068, 7.2684, 1.7949, 0.0073, -0.0269, -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]: [-0.5152, 1.8084, 0.8677, 0.0948, -0.6598, -0.5396, 0.9985, -0.0143, 0.7898, 0.5892, -0.4034, -0.0265, -0.0353, 0.9982]\nstate[eef_state]: left_x=0.4154 left_y=-0.1067 left_z=0.0492 left_yaw=0.3033 left_pitch=-0.0728 left_roll=0.0639 left_gripper=0.9985 right_x=0.2894 right_y=0.0041 right_z=0.1695 right_yaw=0.0016 right_pitch=-0.0286 right_roll=-0.0002 right_gripper=0.9982\nstate[joint_eff]: [0.4581, -9.306, 7.8701, 1.5653, -0.3101, -0.1587, -0.0513, -0.3897, -1.9761, 6.7077, 1.9023, -0.0366, -0.0708, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e692052a107bfe7838ac7249e7d6e97c2d66265f515cdf5726e512f530de9fad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7b1767030b99a15885d7f5e90efe284c5fc68aa3a7c81420dd7b853d5a236c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4d808362879ff65ecaa8e7cbea11e0e553c35d3ae7b8515eee87f3c89a3493f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGUHZpGhNJyiqUU72JZtQ8wvZxh91HhZewgVNkJ0A051hLjnXA4AEmwBzZiXbaD_o_UetXCwcsPZFlxKWq8huXvGvsijj3_ZQKuAYHQdgJ5tUcj19XZUPvAfDOBjXaFDKuxQLlljfCm8NoXL0lTugFFlVwOedwGMTJkGcgfZs4dZ-Ac46_geWTmZ6etM1BbwLaIB-G-GZkQUJdiM-kNz6YpmbAs5RWU63cfW86SzGxSUo6bx8QPx3HF5BDskUzXKfhl4zkmcmKRQSL28zhPnWd6po9gxJue2YlVT4KyUy8wIlRsUV_tSfhcKuhcakIxfeAxrFndxbdF--_iqnJGypfkI_M2-1BfxKVDP5Kp2XdYKX8jsEmsFEE0tUoDpP8_vB1K9UDiv8hoeWtHrhfnY_nv38Z4My_bG53EkFoG0OVNf8wBiVl-i2n4B6m-EUyHDGm1L_4vl1FiYVsX5RSCHvydrbTzjSy5orPGwgHnAPNqP703m7pl-R7RYY5SdyQU47vvvBqTnb6WYYcsJd3suSd1vMrv9lmBHiProziXIQQIOrTlqOTFhcbODEeIZXRk-6JFDgz23vzRpN6KxsfOsX17zzqtHyEUGdabt7dgUcb33YLO88CSe1Cm_xYsbffwV4zacdV0UVQCUAGZ8FYb-8SRr7hOUkrANy85Hd7JaiZLKD7r7ABa29p06e5kaftdvtfXZ6LdHiEQtDEm9yv60NOfIj18_n9lBbiIy0zCoD-2OZrpD9YQCUImyJPqWAp2pX240xxbi7KbWGKOmwkXmRCwSxGzuzaNvvIQQOZlf-50kDVNeLUEyMZ4miMDSbAA2PKz8eqjMkPj76EExs0x_mnCeYmq8Gk0JzrHLTmsWQ7CO4wAV1VT4zOR8_VCfGfKuyv2Xlmv17585FKWmMV-Z41QobHq1pdfChCeSNeXjkyy956KTbayLyBoS_73HqZBYoCUy8wOGxfvEUJ41zecyoVVUTaFRfbVRi4423FE0R4SNxAOr-d-Lm8UKC-oKXGFObHocMT_6HA_N7K9ruTFquYHUYX0HgRaYiQJPknIkWzlXMc9rj9MXG8dH4yd9-A3Kmf0dzwaa34Ky2u_os8B6-oMZVid-qenm9qA4PwzzlqzlJ3NA_SeRyJ0j7ZPZ4a21GAhq_yCQCdjXl0IGhbKAVfyafLtOznQH0GYhjkTBxwOkUC0brf6hX5b-H1olC4gL1usjPqYNYAU0dBm7lhZoN-CaKipVYCryBdrqMe4qUWC1BypfKyoYLYmH2EIyRHCq_0LB6NuspmQZyrn2iB9wnGWiv60CCV2YpiPdzDhmv9OePsb9312RIB_2fQxADQACNw-_3fJQdqM_JC7CrU4jevJJLvVRohnJt43RR7OBf4lD22j-9oDR7G_Z8oKH2DW00ldh99Rdi8E6dDzM-j4zuaRIjJctEZ0Jo7IFybRlBKq__nhW58a_TSqFHikE_bjeishFPVpuwL31henozncDogt6BmdpzK8d3kPDhT2yJh4KJpFHtqfEZ07qDjk69eVGf8ruW9dpOWaybCuz7Coc6S_29SDesyiwY0qBDEk-vfzhQLmWo0Q9tJ7frsKljvUjoXESNbC7R6_f33sfaLPzfbaJwkQvz0A9PkAI9WwQp7V0qyU1bGJVDdEjFFAM3tT4rEOMSnrGpHY0oWklnNQRPSbrHqpLnHylsNH6dtWosJN5n1aBNQc1-k-cly9bEaMwfOFU4CWIqQmDs5WIyOhbo_8y0mIJpfO3aC8uZIEIFlSUE5yhMsTolqUVnLNzAib0rHAU__sve3-2bbxU4Xc8FIfM2opXSi9HzXmpz8mb_oxUhw2P8c_fqBPk6fyw5jHKofhUwp6MmqXNYyag23QoxCPFJ2dzIZrbi6pSzlsdKDEEEokwcQ0NCb1TIPwUqUUVJIVLa6UslLLpDh7PsoZ6ARW7OSMKkVhMyPx8hEc1hlBFSRxajKtVJyKXeBH48eK0wxNFyYBNZAWGQGBPYd4lgA-89AWqB5RShmTE05pL27MKgYNtDQUfOYBctvMgRbQRkE7eN3gcFlfS3ZQobmiWzhY_53IUeuEzQ9gMyBEf9GumrAluZu1g_MZSOCs5YVJUmtL9RttMPCZ6ROQhsjE3Z5--fjSJHammrs37rDemYMeT9AA=",
  "id": "rs_06f7b9c1ebe4d3ed016ab46502348887d0a96e100a31d92ed8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.07,\"left_z\":0.025,\"left_yaw\":0.45},\"note\":\"The left wrist view shows the cap still ahead of the fingertips, with the bottle body below it. I’m advancing to the narrow neck rather than closing around the middle.\"}",
  "call_id": "call_XzRGYwd8Y4dU87Wph5pb5vTo",
  "id": "fc_06f7b9c1ebe4d3ed016ab46506032487d081bf05af8020debf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XzRGYwd8Y4dU87Wph5pb5vTo",
  "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]: [-0.5091, 1.8343, 0.8894, 0.1085, -0.7197, -0.6071, 0.9984, -0.0143, 0.7788, 0.5617, -0.3965, -0.0269, -0.0353, 0.9982]\nstate[eef_state]: left_x=0.4226 left_y=-0.0984 left_z=0.053 left_yaw=0.3864 left_pitch=-0.031 left_roll=0.0307 left_gripper=0.9984 right_x=0.2862 right_y=0.0042 right_z=0.1614 right_yaw=0.0019 right_pitch=-0.0381 right_roll=0.0002 right_gripper=0.9982\nstate[joint_eff]: [0.0068, -8.9915, 7.1043, 1.4823, -0.486, -0.1197, -0.0269, -0.4034, -1.7573, 6.9265, 1.9707, -0.0562, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bdcfde33d99fa34207e353ae4980a25b717df77a1273b790df72f11166c22c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c194e2be1916c29d144631936ae470f1d05cc66b50d7dac31364cd5b81fa5296",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99950ef72197f572959be28672986c11d9a1ae01d726f05caf3e360c6385271a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 3.803 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7937, 0.6086, -0.3767, -0.0193, -0.0257, 0.9988, -0.0154, 0.7902, 0.6037, -0.3889, -0.0265, -0.0341, 0.9983]\nstate[eef_state]: left_x=0.2957 left_y=0.0011 left_z=0.1829 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.2933 right_y=0.0037 right_z=0.179 right_yaw=-0.0002 right_pitch=-0.0 right_roll=0.0003 right_gripper=0.9983\nstate[joint_eff]: [-0.3487, -1.4564, 9.7162, 1.7802, -0.0562, 0.1343, -0.1294, -0.841, -1.1692, 10.3043, 1.9365, -0.0171, 0.2125, -0.1929]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5152, 1.8084, 0.8677, 0.0948, -0.6598, -0.5396, 0.9985, -0.0143, 0.7898, 0.5892, -0.4034, -0.0265, -0.0353, 0.9982]\nstate[eef_state]: left_x=0.4154 left_y=-0.1067 left_z=0.0492 left_yaw=0.3033 left_pitch=-0.0728 left_roll=0.0639 left_gripper=0.9985 right_x=0.2894 right_y=0.0041 right_z=0.1695 right_yaw=0.0016 right_pitch=-0.0286 right_roll=-0.0002 right_gripper=0.9982\nstate[joint_eff]: [0.4581, -9.306, 7.8701, 1.5653, -0.3101, -0.1587, -0.0513, -0.3897, -1.9761, 6.7077, 1.9023, -0.0366, -0.0708, -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]: [-0.5091, 1.8343, 0.8894, 0.1085, -0.7197, -0.6071, 0.9984, -0.0143, 0.7788, 0.5617, -0.3965, -0.0269, -0.0353, 0.9982]\nstate[eef_state]: left_x=0.4226 left_y=-0.0984 left_z=0.053 left_yaw=0.3864 left_pitch=-0.031 left_roll=0.0307 left_gripper=0.9984 right_x=0.2862 right_y=0.0042 right_z=0.1614 right_yaw=0.0019 right_pitch=-0.0381 right_roll=0.0002 right_gripper=0.9982\nstate[joint_eff]: [0.0068, -8.9915, 7.1043, 1.4823, -0.486, -0.1197, -0.0269, -0.4034, -1.7573, 6.9265, 1.9707, -0.0562, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bdcfde33d99fa34207e353ae4980a25b717df77a1273b790df72f11166c22c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c194e2be1916c29d144631936ae470f1d05cc66b50d7dac31364cd5b81fa5296",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99950ef72197f572959be28672986c11d9a1ae01d726f05caf3e360c6385271a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGUMDe0VylrHW9P7zdK39CphmSmsfeq9ovphgieyvbHf8KPMcQOW5Nn9ReyG5ZqqTVpwLOkfQSwJexzhwlcNNt88eNk7TMY4r2_DN4hQWGX07Bsx6C2B2QZmUEA6lwq4z59SLc8vpZS8xFz-DE-FWgUp-OUrRymv0EJwk2TTNCZ1nQWw0Megz14jHezxU4rJ8kbq3aBog57VZm0Ljvi9m89m_OpV4ifLUpK4AVcp165rEkxV7SqPH_c_3e_UAJm5gtOpl5Y8tqyAxWCfgosPaFFWvRHYCi-Ifsm9RgptO_yrljQ2N5i0pK2NcFwMCtcUDNW_wEGEf9MiemQ-JhcKAHEs3clZltBFcGeDzZaXLqjKiyM4gMyzlHlbdVvkr3nA-_ZTaJMjB9_foyTA9zQbFweZm_TIFoIOqRKqll1TzJ02bi8YQfMZIDmFwA5cVndnq1p6Jh9GT3fWvdOV5emwXkRwlOnq76npbu5tSdcktWoy-mVBVNclI8vhw2FphN23aILl_JsUWxpZiNvGTnrnXSRZrZWKveG3t3TIYxckDoHoZrgfx_Dt0Q3EYPSfq_zoeE7VQrtYN9ftpgpd_8yUDRzutR6r6Ugmd2FvFR2ah_oQ4EQSdV76OTXnFyXZBR-IO0ijJIiIJstJa4_ImoO4Qva2SOxd4btZZP4BbBLxUC0Z6WDjr-O6FfWYx3bi7H8r5aa3W7dBety-q6LS6sjYIfBWq_h9M8n1go9Oik5RRP6uxQVpEkWHdCyJnTkRvuOhAojCImk-SpNSSZ8fYm0bwMrI0mRcwSW96w2UIeMgmGPhjYjqZOIjc94PPcky0WmFF35qIVoTSnrN4oCTncdc_b8oqq7Wwm0SOqAiIeCl-ETj85qvgbaDp2PMGh4JmnGx5NqTjJVvu0lJCfDby55XZ5-jp9xg5oH05ZqJwkEAiNZVCk7bemTAPh3nSZHeR-sNurIZ5dVCnWaeRf3kdYDr1pmprDbJL7iY8USvz-_Dzpl2YkBTWtxVop_oOPXcR79Bx6RJ5of7gytyHA7WI39B6BRLospX0mg7LnezpbhQhyRexDtZytPwdW3uQiB1JIkYAew7duN3HcPZ9hUQS0-1GD-OHRHZZD7n5E7HqIxwwjOoWEvvwOozcicT6-dIhw9OmDAbA70dVddx7mfDKJjhy80nKUAcyczzkwQTp0-HjCGl_CuuRg-AhSAPO2CSemKH4g4whuLxfjttHBfOcAowlWID8Vr4j0q-MopTFuNT5avdZOkzjoXW2VQCYX6KmNFYCS67Q0AUABzt3UqQPAuF1FjC3cfOJjypVrhGhBA5IOJwooqimu09_e6Ib7q93iPCZB1XH9cd3XznApCKXVwTqkyzVloH215gAxy5YrpsCy2L_QQqT2uttqTmkevkWphgHCO6MZkNK6bdpgDfXWGnzQmemxQ4jCRXBE8hdr8-bUzc_kdZD2nmgfoE6OFAkH8t0eI9UAjImu5mtUF1cqA-XOhmj2IG2Uqd9B8P8ANmgy9etIcu466_FJucCUGafPoPYcnnYCgiguyMdHWOK6bQbw2SYA==",
  "id": "rs_06f7b9c1ebe4d3ed016ab4650968b087d0a6ce3d0e8763e635",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.07,\"left_z\":0.14,\"left_yaw\":0.45,\"right_x\":0.293,\"right_y\":0.004,\"right_z\":0.18},\"note\":\"The arm stopped short while close to the bottle body. I’m lifting clear before moving farther toward the cap, rather than pushing through that contact.\"}",
  "call_id": "call_zM4JLtaZEOvS17w67h6ww7EE",
  "id": "fc_06f7b9c1ebe4d3ed016ab4650aa65c87d0bb118f1f32585f57",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zM4JLtaZEOvS17w67h6ww7EE",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5091, 1.8343, 0.8894, 0.1085, -0.7193, -0.6067, 0.9984, -0.0143, 0.786, 0.5682, -0.4042, -0.0292, -0.0391, 0.9982]\nstate[eef_state]: left_x=0.4226 left_y=-0.0985 left_z=0.053 left_yaw=0.386 left_pitch=-0.0312 left_roll=0.0308 left_gripper=0.9984 right_x=0.2863 right_y=0.0046 right_z=0.1609 right_yaw=0.0059 right_pitch=-0.0464 right_roll=-0.0014 right_gripper=0.9982\nstate[joint_eff]: [-0.0479, -8.8684, 7.2274, 1.4725, -0.4371, -0.1197, -0.0171, -0.4581, -0.5538, 10.441, 1.8632, -0.0366, -0.0024, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eba7a3abf59113f3adbab04ca9f5d6e7365b4a0a32f09c7ce1e5dc7551b01cdf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d884272a79b8385cffe202293f9726eec30041967145fb9ed52c7c26255812ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d96ed5a41032ff8d81c249b616210e025b82927ebfac9770a73e49dd2728112f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 6.268 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]: [-0.5446, 1.478, 0.8505, -0.0734, -0.4362, -0.3237, 0.9989, -0.0143, 0.794, 0.6041, -0.4042, -0.0261, -0.0353, 0.9982]\nstate[eef_state]: left_x=0.387 left_y=-0.143 left_z=0.1313 left_yaw=-0.0169 left_pitch=-0.063 left_roll=0.0262 left_gripper=0.9989 right_x=0.2915 right_y=0.004 right_z=0.175 right_yaw=0.0012 right_pitch=-0.0187 right_roll=-0.0006 right_gripper=0.9982\nstate[joint_eff]: [-0.3624, -6.4479, 8.8, 1.7802, -0.3687, -0.0855, -0.1245, -0.1709, -1.6068, 7.2684, 1.7949, 0.0073, -0.0269, -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]: [-0.5091, 1.8343, 0.8894, 0.1085, -0.7197, -0.6071, 0.9984, -0.0143, 0.7788, 0.5617, -0.3965, -0.0269, -0.0353, 0.9982]\nstate[eef_state]: left_x=0.4226 left_y=-0.0984 left_z=0.053 left_yaw=0.3864 left_pitch=-0.031 left_roll=0.0307 left_gripper=0.9984 right_x=0.2862 right_y=0.0042 right_z=0.1614 right_yaw=0.0019 right_pitch=-0.0381 right_roll=0.0002 right_gripper=0.9982\nstate[joint_eff]: [0.0068, -8.9915, 7.1043, 1.4823, -0.486, -0.1197, -0.0269, -0.4034, -1.7573, 6.9265, 1.9707, -0.0562, -0.0464, -0.0073]",
      "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]: [-0.5091, 1.8343, 0.8894, 0.1085, -0.7193, -0.6067, 0.9984, -0.0143, 0.786, 0.5682, -0.4042, -0.0292, -0.0391, 0.9982]\nstate[eef_state]: left_x=0.4226 left_y=-0.0985 left_z=0.053 left_yaw=0.386 left_pitch=-0.0312 left_roll=0.0308 left_gripper=0.9984 right_x=0.2863 right_y=0.0046 right_z=0.1609 right_yaw=0.0059 right_pitch=-0.0464 right_roll=-0.0014 right_gripper=0.9982\nstate[joint_eff]: [-0.0479, -8.8684, 7.2274, 1.4725, -0.4371, -0.1197, -0.0171, -0.4581, -0.5538, 10.441, 1.8632, -0.0366, -0.0024, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eba7a3abf59113f3adbab04ca9f5d6e7365b4a0a32f09c7ce1e5dc7551b01cdf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d884272a79b8385cffe202293f9726eec30041967145fb9ed52c7c26255812ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d96ed5a41032ff8d81c249b616210e025b82927ebfac9770a73e49dd2728112f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGUQiC2sPIYSwMON6s0rG05xuhuOogJK5FZrb9UMfYZfc9Y-lYUeibKlbWngByOMOPmMVC92KS4zA2nv3GZ-ZMA6R2v8uEbtxUFrCpUpavw09Jb1ReGHTGHgENCmI2d7cX_5F5mtea1GiiApsREgo2Hx-ScyWGxzoCIsnny-iTXyFNrgMklmrAu2uZd6HLVVCUSLJtTNuPD9rFuklkuX99GfIT2QaXPJLTixVcJI3-ARG3FElpGYM-Gqe8aToWzIYvJk_avYRkC_fxRMZ4yiMsx8lBPZrDJLy_4wjg4wRO6gZCLopaPupY5ego7V516I1qRg98OtlhAKz3ARGQlq4KJguqphUpC5XvOBMNxBVOyWh9P6Jd3kZSTukPaWb_hniPDHn7JXl4rHpKlnlRY5SZ5TbvIZH_2qRdotqoMkvrPT7NY_jLYDkPnc2GhxjegpswD5NBaY8DvXeuSbkYuH5i86wDHUTQm9Ym5SX5G2FCj03yMhGkBy0JxWCtZMo7n8K6VnDaIeNE8qk_cBPkVk67UyqH5Xn1SltIA475_Rv8p2jV2UV2C-NmNP7_OwpSZkcZT9Rs_UUrsgopNCAp8vaKuE324E9ItA4KbGNVVx_b0VMJKzYDKysTMh5eDhlPkS9aw5frZqeCpFvByBzzqO3AFlaIaCBzFD-P99jMudnYBM7OW7_Qxl1608vVx_w45tRnVuR1oT8XcwKDDFiKIMuzc8araXC4y73i2QM_zaRpW7mSZkI7ZOxqnbvD8l8pCVTkmTpdQNKB0H4LgTAm6aXRXzKaBoJ0BHkZRH3_CRWXpp7SQNp4-S0TRhgzmfq2sO5HN0QFIXzkrS7U629RCmMQkBxfyg3wiWtZPMmhUAJWUyMd634dix4p3apSlTKEFjaL-mm9FZvpLe6vYhTKb-Vn6-kCDVG5S0MMOKt6xGFL8fzazMQ4MnSazi-xx1c8rqkeKVe_J2-wiTmu4QmgdQCN9trNn0cmMbiKyYb_ZkFJkavGyd8xThTjqAgb9g-_a_vxiRuo1clsLrGrBYejqMKncAy7Rf6RMqOxZvj9WobxokTFsfOPWKBPMZd0zBBhUhmJITBKhV1I29ZUbHgPdpU03IHoZU7hAHwtF1H0SoYZLMSkOCLNXCgAYkezX8EFsR8YoXIzAt0JRlbv5SpghapkNYzBy0oMOg4SGAliznQAtRsu2aQ1eC46bx-Ll1ByOa2_OL-KhM2lxW5ibuzwPY-s4GLrvEVwlXxY1LnhKtirnO8mSJRjGLLwPCHV6ErQ7ShSdsuR0KseaqPw-xDKE097Lp-2-2wWF3Mg4QgPD-TgzFqrjGUwohbXz9AeZ8169lGSyvySc3fEuzJ_e3WG11aY8a13fprJB4T4sO3BBqxH7pvMI=",
  "id": "rs_06f7b9c1ebe4d3ed016ab4650e5ff487d09c2be215e7eb8029",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.075,\"left_z\":0.14,\"left_yaw\":0},\"note\":\"The farther target did not produce motion, which suggests a reach or wrist-configuration limit. I’m drawing the arm back slightly and straightening the wrist to recover a reachable approach.\"}",
  "call_id": "call_7djj46AFfNJDY0sJU78rNUSv",
  "id": "fc_06f7b9c1ebe4d3ed016ab4650f0ce487d0b83fb3a55893054d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7djj46AFfNJDY0sJU78rNUSv",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3229, 1.4212, 0.738, 0.0994, -0.366, -0.2779, 0.9983, -0.0143, 0.7582, 0.5236, -0.3775, -0.0296, -0.0391, 0.9982]\nstate[eef_state]: left_x=0.4051 left_y=-0.0651 left_z=0.1355 left_yaw=0.1221 left_pitch=0.0208 left_roll=-0.0275 left_gripper=0.9983 right_x=0.2827 right_y=0.0048 right_z=0.1534 right_yaw=0.0062 right_pitch=-0.0365 right_roll=-0.0014 right_gripper=0.9982\nstate[joint_eff]: [0.2393, -6.6393, 6.7624, 1.7607, 0.0611, 0.3492, -0.022, -0.4718, -1.4291, 6.8991, 1.9853, -0.0464, -0.022, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f4eb2eea5e1455331449ec81fe42fe79a4d7c3570bd84659e418e8c31709da9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35e48dd42ef70db8246f88413d6e88592d3815fd7f260398c7815d11cf6f2b43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5de77803ba3e6023b688c2d7e0bfc9fc13c35ba8e5c794400a3759d6170bd50",
      "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 · 4.164 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]: [-0.5152, 1.8084, 0.8677, 0.0948, -0.6598, -0.5396, 0.9985, -0.0143, 0.7898, 0.5892, -0.4034, -0.0265, -0.0353, 0.9982]\nstate[eef_state]: left_x=0.4154 left_y=-0.1067 left_z=0.0492 left_yaw=0.3033 left_pitch=-0.0728 left_roll=0.0639 left_gripper=0.9985 right_x=0.2894 right_y=0.0041 right_z=0.1695 right_yaw=0.0016 right_pitch=-0.0286 right_roll=-0.0002 right_gripper=0.9982\nstate[joint_eff]: [0.4581, -9.306, 7.8701, 1.5653, -0.3101, -0.1587, -0.0513, -0.3897, -1.9761, 6.7077, 1.9023, -0.0366, -0.0708, -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]: [-0.5091, 1.8343, 0.8894, 0.1085, -0.7193, -0.6067, 0.9984, -0.0143, 0.786, 0.5682, -0.4042, -0.0292, -0.0391, 0.9982]\nstate[eef_state]: left_x=0.4226 left_y=-0.0985 left_z=0.053 left_yaw=0.386 left_pitch=-0.0312 left_roll=0.0308 left_gripper=0.9984 right_x=0.2863 right_y=0.0046 right_z=0.1609 right_yaw=0.0059 right_pitch=-0.0464 right_roll=-0.0014 right_gripper=0.9982\nstate[joint_eff]: [-0.0479, -8.8684, 7.2274, 1.4725, -0.4371, -0.1197, -0.0171, -0.4581, -0.5538, 10.441, 1.8632, -0.0366, -0.0024, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3229, 1.4212, 0.738, 0.0994, -0.366, -0.2779, 0.9983, -0.0143, 0.7582, 0.5236, -0.3775, -0.0296, -0.0391, 0.9982]\nstate[eef_state]: left_x=0.4051 left_y=-0.0651 left_z=0.1355 left_yaw=0.1221 left_pitch=0.0208 left_roll=-0.0275 left_gripper=0.9983 right_x=0.2827 right_y=0.0048 right_z=0.1534 right_yaw=0.0062 right_pitch=-0.0365 right_roll=-0.0014 right_gripper=0.9982\nstate[joint_eff]: [0.2393, -6.6393, 6.7624, 1.7607, 0.0611, 0.3492, -0.022, -0.4718, -1.4291, 6.8991, 1.9853, -0.0464, -0.022, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f4eb2eea5e1455331449ec81fe42fe79a4d7c3570bd84659e418e8c31709da9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35e48dd42ef70db8246f88413d6e88592d3815fd7f260398c7815d11cf6f2b43",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5de77803ba3e6023b688c2d7e0bfc9fc13c35ba8e5c794400a3759d6170bd50",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGUXBgVbW2JbTflYYNA4mVvsP9nK1mqoJLq8yYHgBzNC1VIwDMkxmB0rmcEL2xPrHgYgSpmkriW1NoidBbY6FGzLtMApujOFfDP-U3DCJQ-Bh48Dr47lTO2VIDrKbQPzD6PQeF2ss3xuzuvSN3ieA3OYvHF-nTwxnjQT7UwDqqyVjfwsCUaaynrVjMwKTvRzKYFz9b3Bzp_UJRB9r7BDJOf3xhiXhnioZZRt6O_T75bPmZobuI8xZkwd07x5g5fyx-rPoW369SwkDDmw4yZLs-njrxudnNUCJzlF3aJcdAM2EuEKLbzddJ9YcFreCAz3lirp6YsfjWjEaouTa1ci1kT2VSJucMhDKC-nXm-9p3eJqvVG7h9N5QkVGXsUoXjWdBwulEfzJ2RlBxGXiUyPGdvgq-ocCs8LSq0ngIlOvO0c5JiM0zxYEt26zqGVAj0aV-R4W4Qb2__DUefQSO4M6kLaMoBZxHGClfuEyGw6OG40_5IXTTh6zUhmcJqtcBXmJa9kpzic7_rY5H7M2jswxJ18kBAl_rPUD3YmQdFnhpSkif59aidR82k8DHZYi8wWkp6lj_6McdEuWFrksKp0MMtgN9Ayk-0gSQ6qErDB7G1gjfMBrYUhcgKaLNdHGeiOwuJck9DdVtauQ8gDXxBeiBJB0N2DNcHXYneuik1JUbcwddgB6wYyalhif4mM4JxCVKHbXuE-8CvAEeExMq4_NQ7_3VXd7mZ-YtAmvLdylXlFMkkUCKRV8IU_gInPa6qLFMT6O12QeGQrmYeR7_DYhPdFmZEPF5NlFSW0_E68ALI1fYtVn-PBu-I1MYy8wh05zpYt1xYSz2M0N1pXk4P4Ri8-ZbB3kh-NbaYhiY_o1m6woqqSRndWTxrgblkHWyOyxDzUzhmU59E-dKAmx7sX7vkVHeC9kvzyl_UR46ED4GIMifqfLaWj4ZclCeb79XdGf5dP1jOhwrJHg1v-FzNJLoYOc4cH0AFkYh2eTW5wkcYozgdSakjej58IEugI2m9Sgqq1Q5K75uex74u6xm_JFiRZsn1KOFlnWtlIcc_kxNKfi-syN9Y5MqHLGWHEJ5pLMOzJebgBAuB6-ZehFHf016yXPkM-ZrKyrGcvTzSEmZrdR8niou10idLeceXtTOVp553IYNTxrXF-Am3BTKifq4HJ-XGUWCEPUB6Oncwnxf3FM5jjc9s0tABBxXX1ZHWMyxjMYRlJ4NVfmmeeMUIw1_W2Bz7MyXiLFFHxOXamdsG2Djf1mj9pYmmgaBwbCgfiY5rsEOkOcp-O8BFR-kfEJLQG4LlZyKsJVquDoBCDPjjInkGtnzFtS6yIE1JDvh7OnfByxv-fTPmu2rGUx6Y-GTjM2a8AzJtaDWM1QiU_NkYfTddFiMMILoF0CWtA24UmC4-P9Y5wmYqcFSvguHjgg1xhDeuyvn4rr0s8vi36j9oBUwLxfXD7fFdN3C1fE2i1LPtHOB7Wl_uH5yf_50QRNuFyBede5IR8nBAU1DwQ0OtIon9SKeczo-yTpYCLe7kAgaFz_FmlUhhQLBkKSbRzI-ZW9xPRhrgTeTQA9MNjXmlbIJEUCA1VK-oE8MIHscCpk90vrvvGIvUhLR5_2yaxqdlUy_RZL4H22do0uH5cCdl839bdbvCtocw5bt_z4HT9KlNGLW-0fEShVELI_rbNr0Pqhfwt2w02gvs9WcCCwohlQXhjp_3gSDRRYmP4-aaevfWaMuxksqEwVqYS1bThwZEyoVGeOTY_sN5WA5Z_ZSL3VvnYuCPyFMSfWubfPbGI6X_ndJ2qOkRkzgSPirHQ6p3zc4sljT9CX6tjYnJKfNt7mChL79K4Zo2nWJr_HIvGvSuTSpkGqeYa1hidsxoV0A4CFjKXk3sCndNSOOxYjdih6JYu0KgjZmYK_47JwqlTujLShpK03w1HQpUKe38PilC8e_XjxKV3ACG1GJoXfTHdUBq5D_8lxO4hUrzubN4RvQh9eUQjdYNQ6tfqjprrIu6XytpleCVsSfWzP4toSpQO1UxdOtK_4nzO0Q2ka05drs2LJSts76VbfA93CnW_JuhEH6kU0GrZmR0WIQMaa5EC_zQ44jSpQ2agYtKNhJrP9huXwPDSh324-MzKHlsa36U3ksh60DW98DqjQrvK_L0wbAsneTeAtNo2WFil22kGGb-YYZCkw6dLNPKLIoJMfBHKswoKD_JSBjwMKFHLltZJUA-2Ypq0vdJGpqYafeIqX4z5Y1bBPSha099AsHbdTie31AzNq2hNmxnkcC4VioF_tLA=",
  "id": "rs_06f7b9c1ebe4d3ed016ab46512a14887d09a43e475d66ee04b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.475,\"left_y\":-0.075,\"left_z\":0.12,\"left_yaw\":0},\"note\":\"The wrist is now clear, and the cap is nearly centered laterally. I’m moving outward above the neck with the wrist straight before descending.\"}",
  "call_id": "call_lYco7c73RqYpNe7cdchKk5io",
  "id": "fc_06f7b9c1ebe4d3ed016ab465161eec87d0ae4f0e6df16f60fc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lYco7c73RqYpNe7cdchKk5io",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3042, 1.393, 0.7372, 0.0479, -0.2691, -0.2081, 0.9982, -0.0143, 0.7387, 0.4885, -0.3592, -0.0296, -0.0387, 0.9982]\nstate[eef_state]: left_x=0.3982 left_y=-0.072 left_z=0.1329 left_yaw=0.0233 left_pitch=-0.0214 left_roll=-0.0097 left_gripper=0.9982 right_x=0.2795 right_y=0.0048 right_z=0.1462 right_yaw=0.006 right_pitch=-0.0339 right_roll=-0.0012 right_gripper=0.9982\nstate[joint_eff]: [-0.3487, -6.4205, 6.9128, 1.8291, -0.0611, 0.2027, -0.0122, -0.4581, -1.5385, 6.9538, 1.9707, -0.0513, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57e475f8029b7b8387c7c143ccac06221cd445963a6fac9c9d1422966c8b188f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:383aeb364e63bea4aaa395b1f991b67fe88bc77c6872abba7963076c988774d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5188fde5ecdc3b61287547e926b76d5b391f9748b7134e7000c9b842dc4de60",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 4.456 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]: [-0.5091, 1.8343, 0.8894, 0.1085, -0.7197, -0.6071, 0.9984, -0.0143, 0.7788, 0.5617, -0.3965, -0.0269, -0.0353, 0.9982]\nstate[eef_state]: left_x=0.4226 left_y=-0.0984 left_z=0.053 left_yaw=0.3864 left_pitch=-0.031 left_roll=0.0307 left_gripper=0.9984 right_x=0.2862 right_y=0.0042 right_z=0.1614 right_yaw=0.0019 right_pitch=-0.0381 right_roll=0.0002 right_gripper=0.9982\nstate[joint_eff]: [0.0068, -8.9915, 7.1043, 1.4823, -0.486, -0.1197, -0.0269, -0.4034, -1.7573, 6.9265, 1.9707, -0.0562, -0.0464, -0.0073]",
      "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]: [-0.3229, 1.4212, 0.738, 0.0994, -0.366, -0.2779, 0.9983, -0.0143, 0.7582, 0.5236, -0.3775, -0.0296, -0.0391, 0.9982]\nstate[eef_state]: left_x=0.4051 left_y=-0.0651 left_z=0.1355 left_yaw=0.1221 left_pitch=0.0208 left_roll=-0.0275 left_gripper=0.9983 right_x=0.2827 right_y=0.0048 right_z=0.1534 right_yaw=0.0062 right_pitch=-0.0365 right_roll=-0.0014 right_gripper=0.9982\nstate[joint_eff]: [0.2393, -6.6393, 6.7624, 1.7607, 0.0611, 0.3492, -0.022, -0.4718, -1.4291, 6.8991, 1.9853, -0.0464, -0.022, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3042, 1.393, 0.7372, 0.0479, -0.2691, -0.2081, 0.9982, -0.0143, 0.7387, 0.4885, -0.3592, -0.0296, -0.0387, 0.9982]\nstate[eef_state]: left_x=0.3982 left_y=-0.072 left_z=0.1329 left_yaw=0.0233 left_pitch=-0.0214 left_roll=-0.0097 left_gripper=0.9982 right_x=0.2795 right_y=0.0048 right_z=0.1462 right_yaw=0.006 right_pitch=-0.0339 right_roll=-0.0012 right_gripper=0.9982\nstate[joint_eff]: [-0.3487, -6.4205, 6.9128, 1.8291, -0.0611, 0.2027, -0.0122, -0.4581, -1.5385, 6.9538, 1.9707, -0.0513, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57e475f8029b7b8387c7c143ccac06221cd445963a6fac9c9d1422966c8b188f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:383aeb364e63bea4aaa395b1f991b67fe88bc77c6872abba7963076c988774d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5188fde5ecdc3b61287547e926b76d5b391f9748b7134e7000c9b842dc4de60",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGUba9DoUIBtkyP4BMqxiFYMPdIHgmkmjIC_V-Jroc-BrsGLZy7Np21HMo030sBOls-JyU9ar-T4AMADyaFnYZE4EL4iW-fX2wBqt-O2iwedOHuXo7TfVJPTfWdwOHYlZrcWKW6Avr6AFt6yJ6k2IA8GAfJEg-PvJVA5Il_jpKDZ21_CyL3JP5cbraEv7F0eMjB7OHqak4Rn4FrW2g_NyOZwkywGAuxpFNQCmHR4_SrOXgFi8F2BVdfHW9wFLU3bzXdvNEQJlmxo2yfZSVKMvX_fgFj0iJAl7nX6GGxEFtEUmw7H16dphCAAy539dh8Lejr836zxQG5xD0ZV9KY0htwiBNtd0Z66mxdOAueWI3rZZ-i6MHerpG63-chrZgbsSyNO2Kdh2Dww6FVdOBVuJTTP8TZd_gJQLsSXYcEUlay8b0c6-6xsQWr4X1t34kIltX6irOK3l3NtNPxsbQJA3tUJRrCGLRqa9SrHmHrZgEIb1auxyEWQccyazK_Y4rkhmYVGomscpZyx04ARATETlb1KvCOIdh7yjl_ZW5GVi1y5yjvJw_trn43C583FWd_GnZMpZZdfm4DpZblGt6it0G2PRXn8hST_pZBxYYamYRNRQ3oN4fSMzzazjKfHsu0CYauBZQTu4I2iiCQSMQJo7JVX7IsYeATzwAdp9ZUd79bL98YEr00bYtg0H8pQb7eGsEjLScViIDuuPiLXEvy9kuyNsugt9rLlH5pLOJMRbGLDwp0fHEGMG965nJYhiUggDmEngNkN9PMUIOZtQA6msq9hm7d4RjnmdWDMA_SqT3m_ZOIKEB1TwCODQ6xYU6a6U5YePu-1c-NE7vR0zWYiBbaPnGw7WUOVqXDXtpVV4yr8dZWBhvuCkUBgl1tSJMA_3FjTsY0Z3Zi3OFnSm-yPBnzRZk5fTFYrAp8Wo79dBvM65T7FIcs48rPwaoOpjVOJNG0QD_pARzCnEtyx9J9WaPXom310R-sFZxS6HUSRQtuTv2tE3Bvgg4nSUAKqZcXsAPmNhMYp02DFD9_ost9uYKFmBFQCVX_487-KJWEegEjuXyMZxEEEqdTtGuX3FH7CQdW1-tRBVoFmbYawnNKf0usvrR3SzgoMcrie71TritPZfLl3FKSVWhv_GQ89AcKfeuBjiV98en6bsrYydsTf9oZzaAl4qAdlO4RpiXBycfBMdVqkn_y3TVkHDzMrocbrV8Kk6UVkQIvWYp9pWYUwxJnv_JvYtjoq16b1ocE3EHx5a24mcPYIEqLVgLb55HxKSkLq9R3ZEJDU4YzISABBsZX5XkEMVLAsee74AfdE-0ZiOW_eGq-jboN5pcGB87RaL0SeH_nu8EAjsdycHKSRMXFUpn8M0s8z2abUExBCRpvzKg_o8OJRrRRKBn-LJdE7i2-26KVNNtbJNpOViLrJMMxC3rLcvNzuiX-fQLIAm9xNAZqumZ3Np-jly8Vu0zrFMZi_",
  "id": "rs_06f7b9c1ebe4d3ed016ab465196e5487d09d926ab6f6fa852c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_y\":-0.075,\"left_z\":0.075,\"left_yaw\":0,\"right_x\":0.293,\"right_y\":0.004,\"right_z\":0.18},\"note\":\"The arm is not tracking the long forward reach at this height. I’m trying a shorter, lower approach toward the same neck while returning the idle arm to its parked height.\"}",
  "call_id": "call_nRtQVRmLrxmlsCBcivbQ2z8I",
  "id": "fc_06f7b9c1ebe4d3ed016ab4651a7a2487d0a823a713adca829e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nRtQVRmLrxmlsCBcivbQ2z8I",
  "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]: [-0.3042, 1.393, 0.7372, 0.0479, -0.2691, -0.2081, 0.9983, -0.0143, 0.7856, 0.5526, -0.403, -0.0299, -0.0429, 0.9982]\nstate[eef_state]: left_x=0.3982 left_y=-0.072 left_z=0.1329 left_yaw=0.0233 left_pitch=-0.0214 left_roll=-0.0097 left_gripper=0.9983 right_x=0.2842 right_y=0.0048 right_z=0.1541 right_yaw=0.0086 right_pitch=-0.0605 right_roll=-0.0038 right_gripper=0.9982\nstate[joint_eff]: [-0.3487, -6.3658, 6.9128, 1.7998, -0.0708, 0.2125, -0.0073, -0.8, -1.0051, 10.4, 1.9609, -0.1099, 0.0122, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:940dd92e4d5c1e718769946b803ee3e4e8d514ea3a5a6670b4a4dbf8623c567b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6b34ae89dfedbe94edd9ff07ce40611ad510a25dc71726dfb59b26d46be458c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d405908bc56636aeba8b1b3f42660199af86707648f6525eab85b300366aea9b",
      "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 · 8.642 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]: [-0.5091, 1.8343, 0.8894, 0.1085, -0.7193, -0.6067, 0.9984, -0.0143, 0.786, 0.5682, -0.4042, -0.0292, -0.0391, 0.9982]\nstate[eef_state]: left_x=0.4226 left_y=-0.0985 left_z=0.053 left_yaw=0.386 left_pitch=-0.0312 left_roll=0.0308 left_gripper=0.9984 right_x=0.2863 right_y=0.0046 right_z=0.1609 right_yaw=0.0059 right_pitch=-0.0464 right_roll=-0.0014 right_gripper=0.9982\nstate[joint_eff]: [-0.0479, -8.8684, 7.2274, 1.4725, -0.4371, -0.1197, -0.0171, -0.4581, -0.5538, 10.441, 1.8632, -0.0366, -0.0024, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3042, 1.393, 0.7372, 0.0479, -0.2691, -0.2081, 0.9982, -0.0143, 0.7387, 0.4885, -0.3592, -0.0296, -0.0387, 0.9982]\nstate[eef_state]: left_x=0.3982 left_y=-0.072 left_z=0.1329 left_yaw=0.0233 left_pitch=-0.0214 left_roll=-0.0097 left_gripper=0.9982 right_x=0.2795 right_y=0.0048 right_z=0.1462 right_yaw=0.006 right_pitch=-0.0339 right_roll=-0.0012 right_gripper=0.9982\nstate[joint_eff]: [-0.3487, -6.4205, 6.9128, 1.8291, -0.0611, 0.2027, -0.0122, -0.4581, -1.5385, 6.9538, 1.9707, -0.0513, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3042, 1.393, 0.7372, 0.0479, -0.2691, -0.2081, 0.9983, -0.0143, 0.7856, 0.5526, -0.403, -0.0299, -0.0429, 0.9982]\nstate[eef_state]: left_x=0.3982 left_y=-0.072 left_z=0.1329 left_yaw=0.0233 left_pitch=-0.0214 left_roll=-0.0097 left_gripper=0.9983 right_x=0.2842 right_y=0.0048 right_z=0.1541 right_yaw=0.0086 right_pitch=-0.0605 right_roll=-0.0038 right_gripper=0.9982\nstate[joint_eff]: [-0.3487, -6.3658, 6.9128, 1.7998, -0.0708, 0.2125, -0.0073, -0.8, -1.0051, 10.4, 1.9609, -0.1099, 0.0122, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:940dd92e4d5c1e718769946b803ee3e4e8d514ea3a5a6670b4a4dbf8623c567b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6b34ae89dfedbe94edd9ff07ce40611ad510a25dc71726dfb59b26d46be458c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d405908bc56636aeba8b1b3f42660199af86707648f6525eab85b300366aea9b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGUgSmuPwiHbFV6CfTb2Jg4lDahNCBGgPru3PydwB4_vovjUJZbsX5sEoZgRenyvOFC3QJ57Iv3DeB-C5ZxZA4YTafHvoVSWe8UDYxw8kNEjuxmqFvxasebvdwEBDqN-Q3DhI3IQrwGwIBFmqwmAKbPip3x6X6f0TwqiJtrv_je9rszdS05CY_gGfwfiIF_FXmJNefWkZmRGRbSXqMgdAxoYp6Pme8B-8pefPotlZMQQwTKWd5XTTowQbNrqe__lnjY7MzHqmYoRerCgtVnA1eodNyuq2sqnXie-Ye6dnbEZKpymB2PNJc-zx3kE91evS7AAlClDvDEKOz8KoQ1jmkkhh_icQpCfBVnyo-sqvXQ_7lywnxWTLk5e4FKs2wRLIhn5pmJit5q-vY7FM56Qf1dpO8nvCzITppA5ep-yJNQHiINiug-U_7-hEEErc3M9O536lweYKraXFXBWZos_eQV_YX99CDMyNuHLu7ctKxCXua9v5te7xq686aKG5uQNiyJYP9XdkKYXbBHQQKuGVnX6OBnVgWK-fJJSZ2MwjpWswyzXdka2tIkBFxOsRtp5fYGMpLpVKpFLCWb8QyJnk_JGcjzgve6JcGmlJwSVeH9Iplr_E2XN7qh81EhAezNnH0RVrAnhLMdDPijcMeyY76O4gp4klVsdjfDfDjIFhfu0EwKEwIUChgLJQBZmai3w344v2PuMtrQuqeQXe3v4tBT4yZswHZmTrfj6dgRniU5QxRyzFu1ghytygjUeOawwb30d1IWP0n0xhTFnTtUarhKtUylgrs0X5k31VfhQGlhgEptQTHviKcxQUf9pu4cWmJjymgV-Nzhm_NBKck3OXrqKhmFTGsqS2TuAWhqQvXTsc0RsYJKCjL5S8KlI3qGy246EPLvMtmDjH8SQMke7Znq7cKxVJyFmCq9igldxE32Mo0TXMFImUSH1xAqAeVUGFYmnRVlOaUbDWMKqY7o2AOz4-dBMv2YtoOuu8ODkqtRcp9gWmMkQY6alZ7URvUJUHgxXPl5JMjJYs61O2GyJY9YB0rRc9ORAmKuwSBjy_4dg6pIVmI1fukKSgvNF_BEVU5IXemmtjauI2pFYplJ_zLrgxliSu_4sgnHnbeVOBa1D8xfp2ge9Px0nJPFsNWW_FJZCxOwgsDu0A3Or-LdVrMvK9udadzZ-KAeDn6UWWASDkbb6lFJh5PHPaLth9KL1xG7kzgEhYai5IgOau_HL5YzS7CuPtZYgFapvNWiKBoahZGBfcxWPTB6PBe_YFr9wNAuZDvEHYuK4667RJjRFjFBcZsxGahuUWdZggcEEEA-FokMTWLAL0u8lhfsCeV5wsqH2I5BNJqhddPmVaChHDpdQrmXnrrRUqSXneEDIf1eD3WhfUn0hC2wK_LlEWQOtLFzY50Dwg-i5nXynQM2RM-nRotchktmPmp0xEs83xlqoxsaS3yVNaPexuP1e8Tmg0k6_pV23V0bvLLALg6Y3Fu-ubGMa7Hk6xTQyWtbTrjX_k0DBgAaeFAcUqhMTqVEScoOguQ3rTLHWlTOO5okDhvp51U22rySHyYIXbAEPSPjrt42Gbgyz5mmNIXlJNT2XAGEBl63UEwMdJ2J_BWRfsUb1p_X7q5FI3TdqNHufZlDXycDuPvc0Qdbf-XGkuUr0PMmsTgsAxJSc5xwx8votgvwFoyDpArG_Jxa9qCLAuS_tVN2AgC-Kf_Z0EqPO4hoOM_GzzkNKa-kjPx5VYtZczWObek9a-u4VV57ImzH_h5HgL7hzyXcXFM20wKWqxWbKH3O-QomunD84mpHglQyvv7OL_H-c_bU1iLzdvaD5juWO4lclxDXjggPw8xTai2HiTU5IXfzCfEK5Z7_q80_yejdm4g==",
  "id": "rs_06f7b9c1ebe4d3ed016ab4651daf8c87d091458d2bdf6067ce",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.075,\"left_z\":0.025,\"left_yaw\":0},\"note\":\"The forward approach is still being held. I’m lowering at the reachable position to check the neck alignment directly without forcing farther outward.\"}",
  "call_id": "call_SrxA0Mtv9Hcakmt7h9z3fKgU",
  "id": "fc_06f7b9c1ebe4d3ed016ab4651fb46487d0a69c9444fe86b669",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SrxA0Mtv9Hcakmt7h9z3fKgU",
  "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]: [-0.3073, 1.7058, 0.5411, 0.6296, -0.2687, -0.2104, 0.9983, -0.0143, 0.7456, 0.49, -0.3653, -0.0296, -0.0502, 0.9983]\nstate[eef_state]: left_x=0.4103 left_y=-0.0772 left_z=0.0498 left_yaw=0.0215 left_pitch=0.0474 left_roll=-0.0353 left_gripper=0.9983 right_x=0.2791 right_y=0.0048 right_z=0.1439 right_yaw=0.0122 right_pitch=-0.0452 right_roll=-0.0103 right_gripper=0.9983\nstate[joint_eff]: [0.0479, -4.8205, 2.7966, 0.7595, -0.0708, 0.2759, -0.0171, -0.6359, -1.4154, 7.2821, 2.0195, -0.1099, 0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b8c3afd871824764b8a5e94066caebacdc0a4edf20967e0ddf9d8e3ee4163b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9f607a0a80f33ad11c3c3d358d42ebf7d8aea6694e2f1f88684e412ebcbb87a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42c7e57fc72373eabf167cfbcb59068d383bd552d99a1d0c394095cf19160c56",
      "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 · 4.01 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]: [-0.3229, 1.4212, 0.738, 0.0994, -0.366, -0.2779, 0.9983, -0.0143, 0.7582, 0.5236, -0.3775, -0.0296, -0.0391, 0.9982]\nstate[eef_state]: left_x=0.4051 left_y=-0.0651 left_z=0.1355 left_yaw=0.1221 left_pitch=0.0208 left_roll=-0.0275 left_gripper=0.9983 right_x=0.2827 right_y=0.0048 right_z=0.1534 right_yaw=0.0062 right_pitch=-0.0365 right_roll=-0.0014 right_gripper=0.9982\nstate[joint_eff]: [0.2393, -6.6393, 6.7624, 1.7607, 0.0611, 0.3492, -0.022, -0.4718, -1.4291, 6.8991, 1.9853, -0.0464, -0.022, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3042, 1.393, 0.7372, 0.0479, -0.2691, -0.2081, 0.9983, -0.0143, 0.7856, 0.5526, -0.403, -0.0299, -0.0429, 0.9982]\nstate[eef_state]: left_x=0.3982 left_y=-0.072 left_z=0.1329 left_yaw=0.0233 left_pitch=-0.0214 left_roll=-0.0097 left_gripper=0.9983 right_x=0.2842 right_y=0.0048 right_z=0.1541 right_yaw=0.0086 right_pitch=-0.0605 right_roll=-0.0038 right_gripper=0.9982\nstate[joint_eff]: [-0.3487, -6.3658, 6.9128, 1.7998, -0.0708, 0.2125, -0.0073, -0.8, -1.0051, 10.4, 1.9609, -0.1099, 0.0122, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3073, 1.7058, 0.5411, 0.6296, -0.2687, -0.2104, 0.9983, -0.0143, 0.7456, 0.49, -0.3653, -0.0296, -0.0502, 0.9983]\nstate[eef_state]: left_x=0.4103 left_y=-0.0772 left_z=0.0498 left_yaw=0.0215 left_pitch=0.0474 left_roll=-0.0353 left_gripper=0.9983 right_x=0.2791 right_y=0.0048 right_z=0.1439 right_yaw=0.0122 right_pitch=-0.0452 right_roll=-0.0103 right_gripper=0.9983\nstate[joint_eff]: [0.0479, -4.8205, 2.7966, 0.7595, -0.0708, 0.2759, -0.0171, -0.6359, -1.4154, 7.2821, 2.0195, -0.1099, 0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b8c3afd871824764b8a5e94066caebacdc0a4edf20967e0ddf9d8e3ee4163b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9f607a0a80f33ad11c3c3d358d42ebf7d8aea6694e2f1f88684e412ebcbb87a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42c7e57fc72373eabf167cfbcb59068d383bd552d99a1d0c394095cf19160c56",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGUpq7sO1h6Ryp-XzlM0DW9YcCj5geFi2ksh_bbdF6ZLfvottWUsMxQF-i2M0q4EQNg1-woq3WW7MnVwdDcnXgqoVrrytM2s4J1ykD9kbQDQGh05LVWX0JOZlZLHgGcIym3Nu9EfXWjLeav6oOzuvx3f1FYMoC5LlF1EC-BmoueZous4em8nRRnoOHSv5Nv0187OXpPe2VVS9mDii6yNZIpbXXw1N_CcA1z3whx-RI_5VFujp2TNtPLmb3M_Tfs2tvviKPzsYt3IgvifBn-FBiBmOZ84NvVwLxwJwsjhb6oeCRRhUxMxhidgqtmn4cmQCfgKCdMc8eLHS7Ub-tVhcq-7kncXY8PsOoN-wnDXnqOB37lKhTKUxnLaeuKsQaBD64Yqjmf1kQfzBRVVTx4xGYzEd8Mb2nzTZ8h4ORsg20XClMlAqmhwxWbQbdRDvVTuKltbyG4kJowPMw5nD7rWbxmZoO7t5nTqRuohWXFAmLw6gjOLVDNip94QexfznnX1mbr6aqfOLQIBEAujYHm5sYdM87ImvZtovyUJhu0LDS3uCo2ea2E1XlmXxSsM1a43AxWkfa70J9yhH-MZPNE23j-KqTMGHITT_VSyWsWGf-loqezppg5b3lMhqPC-jCfzv_rdGESW5NHom0mJyNOhl2Y2UPnAQ4VJqzhWrUkVpfZmNGUP3D9O63D_JdaolZGQdxT1vaCOlHx2fwqLRRAQl2VcV0u9Tm8E9tF9Kmh7turVhg0LkHc8-qRQeX6apdc31TDk5dVgILedAdOU6YY6W78iVezkulEdMRjW1HLj24-ljfOS0xe6CMNfv4zIo1tgmIK1DwE1GNX5hzGU0ndcrCmzP1PhQyEvVl_Jmq5-bTrWY8dWpPmoquL15Ly3L1eWC-rulfcyx9b8lNIpxPDOg15KtIMbwB7rq1ZLfc2xpyI6KkW-zIYyhLdciNv8SyNcOwLvT2ApnyvCnkAuX1E_DJ0-HyMvZ5u_nygcmDcV7Y4GotYOIMnTZUiHCvEjfldI0fobs2yI7cqfyAM1qn6PiW30M0xjpbb2L4uveF8Xi8-6zTgGAMzmD5NG3of6Jxw6LCVZ4_GHJLsfWXMPvNzf-XXPUJZ-gYw_ImQFEAymCRfMVVln-dT8c2_s5qQL_U_fbvUMX4u9YAj0EwUfBXWTZlHxgq8dVihiQo0FUVbINrmvAhph9jNzdL4adR6VPGfUHu0_MO8BtmyrX7F1Mgu1kJvhEZT9zv4fQBks4G7JpxkHviKqdO8MxVwLcItEEgLUvY45GVodhRW0YAqH5vFWQHuEazaiUQeKsyFitcgy2zrN-alARmHxo7CTUE16af8xPmhzLPqVKcS6DjZdHiH2cNSiOapasg5tGYGH33y37SizeoqtOV4bjHOiIZ7_Ej7b738Ui5qmsqc1Fh5Fhbs0J_BEzoZE63SyiKI8n-TqtsvBiDeYXXKO3TFZz9yqSPc6BE7-JK4n7z-C0uRpbU0G81pnXOAXWoFpcRLSl3nXNqpx1GIMW0LYsbFTxV06-dN8NOFtZ3acSMssuzOybdzmKKeUoQP2tJQAdjblpyIH81mQqOq3EWdr5WgG5P5EsnxW-LMfSTPqohir-L4PwGGgcn-1Yu5ia3F2OWYfa3gOlNRjGSZRZq7NUWt5t2tx5RoBFuCbQJzEHxJN65Ay0QkIHBZuCifEgZ7yfKvo4zKeaU0xy3AAfKEhcjc9n2e3-_ntlPoQfmye0H6PH4Px-oxuNlRoaDEAr-fBt4wdnCFKfYYazRBJfLnWplRlgrC42xJRYdKPQFJ811-410rq4M6MxgKbf9R7cE8S9qzUiPNsZVqli7D3C_NYmWGd2Nn88CNoirahoMazLPN8xY0PxILEgtpdloN2GrlrQ_QBVuGHgx3oT_lK_43lZJLLbz3AN6DlpMwN41ms1XEezhFsyo_b_WGiWXXIFT8TeLnsKCSPlGM67WEjJWcxSb6NUfuoRaw5TsPqCc0_4bk2F8VS0TEsC8fLCiVB839O2ajA0dUsKQZ56ST0VwahswgMFYL9__Bd8A5YrikrwzGCzidfPUdS6ouRQI_AAt2kGCkljRnAhr22WYJMNKoW7yXGnJlyNqTz0S19_ZWzQfFV3oX8SL2xBL4qU0hvFpfhmIoqYJ9CkgiB3OlM1T9FuIZ9PdV9KK5E0hj50byBWjigk2laFO1i0MoJSXlD5lrnWM-3-ZwaWs65lUwTleHeRFr0KVeW_ssc-R0h8YaSYerqCHUpfUbKDW5T3L3Z0k-rDBw-l4an40RyPTSnq5Niv955qyrAUFyBYR6LUU0t6bvNiKGV2ow4ONJ-khlqlfRXO0_02QEDj9myy5Fa2qasw-rflqQ6fbeiJJzbJ07_7cudyLpdnrfFVQ9xNjZzo8NjZq3eNwC9MAK-cJpPc04HW_AdeJl7WdhDW9Ht4XJExoKLmj5_zGUSD1ThMaMCQohRZnr4odQWdvb4u74=",
  "id": "rs_06f7b9c1ebe4d3ed016ab46523e52487d08689f11a03d7d3c4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.3},\"note\":\"The narrow shoulder of the left bottle is between the open jaws, although the cap remains farther forward. I’m closing gently around that shoulder to see whether it can be lifted securely.\"}",
  "call_id": "call_oYArHUkIWBmrGH2B2niVSyDc",
  "id": "fc_06f7b9c1ebe4d3ed016ab46528ddd487d0b6975afdf4f1bba8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oYArHUkIWBmrGH2B2niVSyDc",
  "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]: [-0.3138, 1.6917, 0.5781, 0.577, -0.2935, -0.2089, 0.3056, -0.0154, 0.7185, 0.4473, -0.3424, -0.0303, -0.0505, 0.9982]\nstate[eef_state]: left_x=0.416 left_y=-0.0775 left_z=0.0587 left_yaw=0.0349 left_pitch=0.0502 left_roll=-0.0215 left_gripper=0.3056 right_x=0.2753 right_y=0.0047 right_z=0.1361 right_yaw=0.0119 right_pitch=-0.0379 right_roll=-0.0103 right_gripper=0.9982\nstate[joint_eff]: [-0.0615, -7.2821, 6.1607, 1.1258, 0.022, 0.0806, 0.1148, -0.8957, -1.347, 6.8991, 2.0391, -0.1538, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba0d9de12897b392af22e926c689d162242aed2f0025f471941ee3fc40ef37ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35ac73262466b4756af040dc02763e5ad5e34bbe263266de391f3026744f4340",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaa1d53468f35e7c3495ada626acfc065b69e3786a3a74d4d9432d70f6b67343",
      "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 · 5.008 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]: [-0.3042, 1.393, 0.7372, 0.0479, -0.2691, -0.2081, 0.9982, -0.0143, 0.7387, 0.4885, -0.3592, -0.0296, -0.0387, 0.9982]\nstate[eef_state]: left_x=0.3982 left_y=-0.072 left_z=0.1329 left_yaw=0.0233 left_pitch=-0.0214 left_roll=-0.0097 left_gripper=0.9982 right_x=0.2795 right_y=0.0048 right_z=0.1462 right_yaw=0.006 right_pitch=-0.0339 right_roll=-0.0012 right_gripper=0.9982\nstate[joint_eff]: [-0.3487, -6.4205, 6.9128, 1.8291, -0.0611, 0.2027, -0.0122, -0.4581, -1.5385, 6.9538, 1.9707, -0.0513, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3073, 1.7058, 0.5411, 0.6296, -0.2687, -0.2104, 0.9983, -0.0143, 0.7456, 0.49, -0.3653, -0.0296, -0.0502, 0.9983]\nstate[eef_state]: left_x=0.4103 left_y=-0.0772 left_z=0.0498 left_yaw=0.0215 left_pitch=0.0474 left_roll=-0.0353 left_gripper=0.9983 right_x=0.2791 right_y=0.0048 right_z=0.1439 right_yaw=0.0122 right_pitch=-0.0452 right_roll=-0.0103 right_gripper=0.9983\nstate[joint_eff]: [0.0479, -4.8205, 2.7966, 0.7595, -0.0708, 0.2759, -0.0171, -0.6359, -1.4154, 7.2821, 2.0195, -0.1099, 0.0415, -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 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3138, 1.6917, 0.5781, 0.577, -0.2935, -0.2089, 0.3056, -0.0154, 0.7185, 0.4473, -0.3424, -0.0303, -0.0505, 0.9982]\nstate[eef_state]: left_x=0.416 left_y=-0.0775 left_z=0.0587 left_yaw=0.0349 left_pitch=0.0502 left_roll=-0.0215 left_gripper=0.3056 right_x=0.2753 right_y=0.0047 right_z=0.1361 right_yaw=0.0119 right_pitch=-0.0379 right_roll=-0.0103 right_gripper=0.9982\nstate[joint_eff]: [-0.0615, -7.2821, 6.1607, 1.1258, 0.022, 0.0806, 0.1148, -0.8957, -1.347, 6.8991, 2.0391, -0.1538, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba0d9de12897b392af22e926c689d162242aed2f0025f471941ee3fc40ef37ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35ac73262466b4756af040dc02763e5ad5e34bbe263266de391f3026744f4340",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaa1d53468f35e7c3495ada626acfc065b69e3786a3a74d4d9432d70f6b67343",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGUuEiD0dvoQFTa8mRNoAtyRn3Op7eK_pzFxpVnjtqsBFR6x4bLKQQ0Yx1LZYUIEuPgoLTOR1H8AnTxYDb1xiZt5Yv_qvD2RYXOo5jcQFkpKPPY11Fn8tQYSroSjdrTZt1l3lRaopWBBKRXknV4qRU9LSC8k1A9Ox-MUauUMha4V1_zRimJDjT8g9IBo9xYwq0dfRdVSLKoZbYgVAkn_EvFSKkK0x2pJm4fyjGUBvR41lnBtR3C5_u3HNS-Ln_z5qIEwRvvzPClYFQk00aIqQeHIlQmhRxOIS2iC_a_ny9SzVV9snkmIUw67kEr1gY0R1BSu_xmoFdwb2SW11Q5x8Oa1ZGNlg_x3atyG1LBSg8cgCN8tv_tDiXDI8cOkLVx9qlBB4kuRH1t_SNcbWD0aMzuJHT89iqRjA8nt9aI5XsakqvvhsghKAbX8IrXA2Is0_mkmB37axquwV1_vWhsjFfEoR_hPK6--HGVc6c7d8f2xUeHPv4hJ0sF-7sVSTr47DQAxFnbfQVdufeWDfQNqWnNayM6m0eP4h41SbEz1gEL7hT_Wx-E04p08ncFeZ1M40DsbyagoPUv8eqlgQitZyc-85dgvnxDd0lnoB6F6A_mfNPtgRrn5JYv7GJ9ycqOsCUbKdxglmzrHo78Y7VfyC4t_Pi_x7IuSImAO-7fJGcUmIIPa-CQlFbgd6WmylmyU_x3n4M_Uofx1ro2-1P0uNCfBjOTxq_-PG67en_NJCHgXIQiLnGRUQ6o_-_mC2cfi93UZRrRvcj0tkxAQ-X81jczvbIkMicBlrRYZ0sfvzYeQq2_AafyxiAPtyM6hUD_X--qJ9CPfTuA_AAxkULTOkunSTEWnBMf1jUhlpLBaUEHcIFFZly9xNpYoR5Lih4RgiGpnvCmn_ud_rpa7jpk4Pt4VMbc88ZaitO8UA_5wGvuCkK7gfrBeImr-sdlhfTRO6pA8Kcx4l_8mWaVgLhpa89A2vOz1r0SKiuFZvKIEjh4UKRH0gnDm4pDEyVDOMeF4srv6pp8wdONIB34YKvMvaSxapp1wuIr6KAdY0pVVe8e_WmuKpFGJKVeUCM1GyuRgu4uUmBx8vPSlWpSHpJsikxj8xIEHqx51qzCGYJ0u0Xzxffd4jptRhcxfnLcIZSvWZSyNWevjOlVvKTsbwxlexbsvVBFnmwGr745nZmeuDC5bXtYWKTmevdUvDDkRvb0W9wXp6R2Gkqp89Q0Aoi-MI4LXYFc0zJlDQaE1mjSFr62wBoOcRvvpBnLK_QtoREB7GE-VT2UWYMcCWu_gNTG3T3nNSXGFS4gYd_0cBtliMEzBZnPacQ7f5oRlZIDovzISZmbpHnRzdUBKmAZn1-6WUgJ-cGgCvQHpViipU-QyfM_oaZFE45Ba_eEWqycMXNamRwCh",
  "id": "rs_06f7b9c1ebe4d3ed016ab4652c913c87d08a75f215d2cf7d09",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The bottle shifted slightly as the jaws closed and appears seated between them. I’m completing the grasp before a short test lift.\"}",
  "call_id": "call_GRV58DyT98dgf4GyaNLaoKjK",
  "id": "fc_06f7b9c1ebe4d3ed016ab4652d907487d0a22da69913f88c6a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GRV58DyT98dgf4GyaNLaoKjK",
  "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]: [-0.3145, 1.6863, 0.614, 0.5213, -0.3004, -0.2096, 0.009, -0.017, 0.6979, 0.4122, -0.3241, -0.0303, -0.0509, 0.9982]\nstate[eef_state]: left_x=0.4204 left_y=-0.078 left_z=0.0629 left_yaw=0.0401 left_pitch=0.0378 left_roll=-0.0139 left_gripper=0.009 right_x=0.2721 right_y=0.0043 right_z=0.1291 right_yaw=0.0106 right_pitch=-0.0341 right_roll=-0.0107 right_gripper=0.9982\nstate[joint_eff]: [-0.0752, -8.0479, 6.4752, 1.1258, -0.0708, -0.0073, 0.7643, -0.6632, -1.388, 6.8991, 1.9951, -0.1197, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7c0e8ca830dc405d308dec72c50acc33628d2ffc42e6d86769511e1e5af7919",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61fe156d8496f15cea8b62cafb37438b8a31cafb30aa1b7fe64c2a0be82a8164",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91d2a3acd8bd81136d9cb2d0b008a7a6e1e7fd561dac6dda59e7703085f5ad95",
      "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 · 2.933 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]: [-0.3042, 1.393, 0.7372, 0.0479, -0.2691, -0.2081, 0.9983, -0.0143, 0.7856, 0.5526, -0.403, -0.0299, -0.0429, 0.9982]\nstate[eef_state]: left_x=0.3982 left_y=-0.072 left_z=0.1329 left_yaw=0.0233 left_pitch=-0.0214 left_roll=-0.0097 left_gripper=0.9983 right_x=0.2842 right_y=0.0048 right_z=0.1541 right_yaw=0.0086 right_pitch=-0.0605 right_roll=-0.0038 right_gripper=0.9982\nstate[joint_eff]: [-0.3487, -6.3658, 6.9128, 1.7998, -0.0708, 0.2125, -0.0073, -0.8, -1.0051, 10.4, 1.9609, -0.1099, 0.0122, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3138, 1.6917, 0.5781, 0.577, -0.2935, -0.2089, 0.3056, -0.0154, 0.7185, 0.4473, -0.3424, -0.0303, -0.0505, 0.9982]\nstate[eef_state]: left_x=0.416 left_y=-0.0775 left_z=0.0587 left_yaw=0.0349 left_pitch=0.0502 left_roll=-0.0215 left_gripper=0.3056 right_x=0.2753 right_y=0.0047 right_z=0.1361 right_yaw=0.0119 right_pitch=-0.0379 right_roll=-0.0103 right_gripper=0.9982\nstate[joint_eff]: [-0.0615, -7.2821, 6.1607, 1.1258, 0.022, 0.0806, 0.1148, -0.8957, -1.347, 6.8991, 2.0391, -0.1538, -0.0122, -0.0171]",
      "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]: [-0.3145, 1.6863, 0.614, 0.5213, -0.3004, -0.2096, 0.009, -0.017, 0.6979, 0.4122, -0.3241, -0.0303, -0.0509, 0.9982]\nstate[eef_state]: left_x=0.4204 left_y=-0.078 left_z=0.0629 left_yaw=0.0401 left_pitch=0.0378 left_roll=-0.0139 left_gripper=0.009 right_x=0.2721 right_y=0.0043 right_z=0.1291 right_yaw=0.0106 right_pitch=-0.0341 right_roll=-0.0107 right_gripper=0.9982\nstate[joint_eff]: [-0.0752, -8.0479, 6.4752, 1.1258, -0.0708, -0.0073, 0.7643, -0.6632, -1.388, 6.8991, 1.9951, -0.1197, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7c0e8ca830dc405d308dec72c50acc33628d2ffc42e6d86769511e1e5af7919",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61fe156d8496f15cea8b62cafb37438b8a31cafb30aa1b7fe64c2a0be82a8164",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91d2a3acd8bd81136d9cb2d0b008a7a6e1e7fd561dac6dda59e7703085f5ad95",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGUzA_AKMuetgkFQyYT3V2-8IFZh8USbeLPM3K0MEciBm8-AYB9ZaHr4pwH1HWZUnfIEmGdyWviyHZoezsyRFV2uY4YCzvnQaG5snFFyLsMc9IOovHLYkDpmvC6f3eWPoN38X3QMC4uOPMyK1LGuhLkHVRNvmcDP1OJVBf3Wk4lNMZYSwhoQbOC8r4YJ8H1OU3u0-l26LzYKf-EYYAmlOqJ4aejp5Ur8gNwgcrZGfiWlcFkvlWeAEvkesQQM0rQsiEHWiWYJV8E_b121BI5SQogANdgVf8LUn5GEXuUraoHGFNeP_eF-h9HrLUwn46LUoUjHUIh9bKGAx81DYsLWvZfyflJ913cT5Obe96Ls_9NvA-U-SZF0OoYqK2GKiOVcmxv_8yWJ_Gwp3XDnL5MO9mi5R4zBwlhQdLy5HQZS-fsiKuRWq-fvv24dYyWNnedAWOEN9Fc5Rein9USULIi-AF-UIpi5yblsuseyvti465ipUjymIVlV8GegKrIUU8hX2V1u1NwLvI8vRgkY0ajL3KUa9IKhmpgVCW6ceQsC29ksZuBtQaXvuBUjEzekL4-hHTI_6pD_36Y8VqimWpp0oxiL0OqZhSvrsBlSsxK-WprMjTCvfLUYbwXt1mEWIcJyjFg6smp3Ii5DKGZlooYQ6G5m148w2mMMvNoBOoqV4M79sAPZruX-LpvKIa7u9ar2dB0wPIt8xj24FTBMIaayOcRGMRwRG7Viha6RFn156YnczHlhpKvqp4A4KyuzGtIyndhqTP6qaDg0BmIOgUK9WgUmTEteiMjb-iafEhH_EGUGvWTJonl79dT26hGJ2AlELXPP_5SJm2QW7DWYls9ijxU9DQs5BbE7JrqWBE8CJreTP5hGxWI4NtZpc9bta7qwBGKUKem3p6ldA3bzK7_cZdi39QAiudDK_wD45BMKJD3RM8k8eLmW22AzHULDoO8hs3SrvWF3rJL4PyXxnEZwhjwfnPszG_bW8fny4_W4bb5KiBWlcyKlmVEnYoO7SBnQcNYHMBTAP7ihn3p0ZTnYkCSeIx7eaUo37SZ0lwVR2EPdlzNQpr0EujwNc1o9d99Wk9mwve2GZA8KvrfQ-HjepN48qf8ACE09sY45UlpxATI6mdc91smMzSVQ2lBFhZl05hPYFRI4HqJb54SnhNBWRFk6fuUdy3_uOF2JSdZVYF4vqJ2gepfej7Ogu_5w3UdB4pFb1KHdcXuasJcjG81ztzIybpRVp_v0POza6_Si_gwrUF1zMrcgSJQn-VGwWhUcawUxBjpnJqJUF42biWQulDcQlWJCIST4lfcIAHfaq6XpTwvrfeBRpwl8-mPeYCfaB41hFS8djYIW8bi2GFLdxQylDzJlnzOJItWzd71hxjq7ZaA-YMU4i-mRDv3WW00jYdNx48K9CjGOYkNDnxDa9w_GJS806l-cIBiq4Irr6wRrkQijepd1fkv9OswDW5T_B5LiviWnJbED-fXkoeBQ00pbVompkq2sxea2cs3BbsggE11qjpnHsXV3xxPYfvRpj2MJ",
  "id": "rs_06f7b9c1ebe4d3ed016ab46530515887d0b6ec0605b03fdb29",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.055,\"left_z\":0.015,\"left_gripper\":1,\"right_x\":0.293,\"right_y\":0.004,\"right_z\":0.18},\"note\":\"The fully closed reading shows that grasp was empty. The neck is just forward and left of the fingertips, so I’m reopening and making one small correction toward it.\"}",
  "call_id": "call_NQPFTBz6ml7ccYzfPSkRcA9p",
  "id": "fc_06f7b9c1ebe4d3ed016ab465317cac87d099251a4c56fc32d8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NQPFTBz6ml7ccYzfPSkRcA9p",
  "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]: [-0.2283, 1.8584, 0.6464, 0.7368, -0.2264, -0.2085, 0.9948, -0.0212, 0.786, 0.561, -0.4049, -0.0299, -0.0574, 0.9983]\nstate[eef_state]: left_x=0.4507 left_y=-0.0603 left_z=0.0462 left_yaw=0.0651 left_pitch=0.0982 left_roll=-0.0716 left_gripper=0.9948 right_x=0.2852 right_y=0.0028 right_z=0.1574 right_yaw=0.0097 right_pitch=-0.0543 right_roll=-0.0157 right_gripper=0.9983\nstate[joint_eff]: [0.5265, -4.7521, 4.9983, 0.9988, -0.2418, 0.4908, -0.0269, -0.6085, -0.6769, 10.3043, 1.8681, -0.1343, 0.0904, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c75a90690cefa063a0246d6ecd8acc4e1e2fc172e83d8d554934f5a3ecd7035a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19d9a6646fc7ad080524512e65e23889bb7e4c8d1a61ae22655963f2d75f7aa7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70dc7e4abc899765f421c729991285a199d8e3e21cf18ca17f602d2e683a3b51",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 8.464 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]: [-0.3073, 1.7058, 0.5411, 0.6296, -0.2687, -0.2104, 0.9983, -0.0143, 0.7456, 0.49, -0.3653, -0.0296, -0.0502, 0.9983]\nstate[eef_state]: left_x=0.4103 left_y=-0.0772 left_z=0.0498 left_yaw=0.0215 left_pitch=0.0474 left_roll=-0.0353 left_gripper=0.9983 right_x=0.2791 right_y=0.0048 right_z=0.1439 right_yaw=0.0122 right_pitch=-0.0452 right_roll=-0.0103 right_gripper=0.9983\nstate[joint_eff]: [0.0479, -4.8205, 2.7966, 0.7595, -0.0708, 0.2759, -0.0171, -0.6359, -1.4154, 7.2821, 2.0195, -0.1099, 0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3145, 1.6863, 0.614, 0.5213, -0.3004, -0.2096, 0.009, -0.017, 0.6979, 0.4122, -0.3241, -0.0303, -0.0509, 0.9982]\nstate[eef_state]: left_x=0.4204 left_y=-0.078 left_z=0.0629 left_yaw=0.0401 left_pitch=0.0378 left_roll=-0.0139 left_gripper=0.009 right_x=0.2721 right_y=0.0043 right_z=0.1291 right_yaw=0.0106 right_pitch=-0.0341 right_roll=-0.0107 right_gripper=0.9982\nstate[joint_eff]: [-0.0752, -8.0479, 6.4752, 1.1258, -0.0708, -0.0073, 0.7643, -0.6632, -1.388, 6.8991, 1.9951, -0.1197, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2283, 1.8584, 0.6464, 0.7368, -0.2264, -0.2085, 0.9948, -0.0212, 0.786, 0.561, -0.4049, -0.0299, -0.0574, 0.9983]\nstate[eef_state]: left_x=0.4507 left_y=-0.0603 left_z=0.0462 left_yaw=0.0651 left_pitch=0.0982 left_roll=-0.0716 left_gripper=0.9948 right_x=0.2852 right_y=0.0028 right_z=0.1574 right_yaw=0.0097 right_pitch=-0.0543 right_roll=-0.0157 right_gripper=0.9983\nstate[joint_eff]: [0.5265, -4.7521, 4.9983, 0.9988, -0.2418, 0.4908, -0.0269, -0.6085, -0.6769, 10.3043, 1.8681, -0.1343, 0.0904, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c75a90690cefa063a0246d6ecd8acc4e1e2fc172e83d8d554934f5a3ecd7035a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19d9a6646fc7ad080524512e65e23889bb7e4c8d1a61ae22655963f2d75f7aa7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70dc7e4abc899765f421c729991285a199d8e3e21cf18ca17f602d2e683a3b51",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGU3k9_zGFZpQNBgrYzoWx7OIBHPJKD3Kpqr6VTHlYQ5T76OoR8wQqsuXbRr90FBZ9CZFyNv_BDxJ-6C0dn4-z8tQU73C53JQq1Xi1-kAR4WUjtNvUAadxFwoM1e4GIjwKsPomoGz74qtPvWlE08ZZa5uzFo8MwOcYeMsYQEKjwBZffCOtsARB7DVB9xIAkYs5UUEp_gWovCnPWfD_gFZNKP8rAzEnu3c6wOzXcbu4QO7R-19aBq2WGVIgTtr2HfJScG4kRuqO8nKn4oPNT2wV0-eKqMCqsIKcX0815Xd4qsyG8lHosuC2RPXfx6rw485vuqzyfkVrsV8-vHWQTPO_loB4hGMuMzTaoaXEIE6AmQXpRaTxt-Ygw1MCHFHb1fmThyjEZsR0ipnJ3yGHOYrXiA7zrGU8-shqQC0IORrRa3I6q2aJ3hAcRzcKjSegI-wjCXCLYoRn66_YlVHG4DmUeZqyIxl1jSnK1EpRKdtPJ3F4i3EZrVxN1uSuVGQkwp8K5xpM5MPD3E_dc8LR9tnwZ-OJU_QS94CwV30UuYbAaxDq3qm5t_Ltt8IvZZHjCGNXVB4DSB2ck2I8e0OG474HH_ALbUnq5PszLxscUD6Xes2auhapfvtJLONnLDKVSI93p1sUDY3TFym5oRrth01G2-BEvKpux38DP4O2hlG_CfpfadpM8s5HDx_CH6PbNnH65S4MAhu-nrB3iHgAjKQwpfbpnmXOF7OjsGeW24VqlCu7V60TQ_cB_wbD_6rwLu7-6v-0rOwHEnIv11DUvbfj5blGVfH2g2oGXIBC8F1dmoWsPqjVdwCiU2IHSXK-hzdcaJ9m7AayPYLe_Gpht3eOnnC5igjP9sj_YiCBT7YvfjD3t9YZK6XnY0uxF9amIytdLDoxSjSnptb3Pm9KKPyCTDHRbr-S8N0jzRgqemD2ZSXZ_hpBOLb157P_qOBQBLLkqI69jmWFZNms1JWTlHVC5Ch-5brZOA82WzjrT69CDTj5OY9HNXGrXI0RV3W2fXC6hQf-qIGoOLO4bPh9E_VcdmqWh3E7jYUAK9IEb49JV8ooj_yzfNxZ5SsCZ2TD899CObRmCuJGuxkzObrLMzdM-PEAbbhJX3vEQXqk4yP6VLDj8M8o4WI1Hjn-QrBEWpgCI-e0E9HqMvwC7WqAkPv5aoCuVVa1-HZhTOF6nC0VO8nc8uJfla3dAMk2cK7W_U6fLCvFPqQ199Gx3aFb8LXv-qMRD36Yjq7LeL4Fz7WtjZvU03wjF4RZPfGqLMEa0J9UAF05gkuURzhuMTdyBXtuMtB-To0fT99nIAYs4CfgKq-rneUlLGebrV1ZwYPUirIyplsAmo2bbJbeP4IdUGNnU0eoU-doN33wLUcogxb36i2BMY-XZo_IObuekDQC6YYY-KtpnXMQ0nQvsoMG8NOVpzQ0FwFbI9XyQ_U8BAYBzX-68=",
  "id": "rs_06f7b9c1ebe4d3ed016ab46536429087d0a6cf6d6a9c126341",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap has moved to the bottom of the wrist view and the neck is now centered between the jaws. I’m closing for the corrected neck grasp.\"}",
  "call_id": "call_UCcHQ7IdGwU3mswTu0RZ93TH",
  "id": "fc_06f7b9c1ebe4d3ed016ab46536eab887d08a2235106954ea4a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UCcHQ7IdGwU3mswTu0RZ93TH",
  "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]: [-0.2424, 1.821, 0.7231, 0.5632, -0.2577, -0.2035, 0.0098, -0.0284, 0.7521, 0.5056, -0.3756, -0.0486, -0.0574, 0.9982]\nstate[eef_state]: left_x=0.4561 left_y=-0.0627 left_z=0.0544 left_yaw=0.0734 left_pitch=0.0461 left_roll=-0.0348 left_gripper=0.0098 right_x=0.2802 right_y=0.0042 right_z=0.1473 right_yaw=0.0181 right_pitch=-0.0459 right_roll=-0.005 right_gripper=0.9982\nstate[joint_eff]: [-0.253, -8.5675, 5.7641, 1.1502, -0.0415, 0.1734, 0.7692, -0.6085, -1.5932, 7.3094, 2.044, -0.0855, 0.0513, -0.0171]\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:e119f910783edb3eb258f02b121795c33ae8b0bd3d404d9f68b86ca61feef54e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b78c56753447067fd44f34e6521491fb994e65c2c18f1a29b6c902cd23e3a116",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91373b01e1f2e75c095dceb201157dc4b139b832286bb1350e8256820c56c083",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /responses · status 200 · 5.329 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]: [-0.3138, 1.6917, 0.5781, 0.577, -0.2935, -0.2089, 0.3056, -0.0154, 0.7185, 0.4473, -0.3424, -0.0303, -0.0505, 0.9982]\nstate[eef_state]: left_x=0.416 left_y=-0.0775 left_z=0.0587 left_yaw=0.0349 left_pitch=0.0502 left_roll=-0.0215 left_gripper=0.3056 right_x=0.2753 right_y=0.0047 right_z=0.1361 right_yaw=0.0119 right_pitch=-0.0379 right_roll=-0.0103 right_gripper=0.9982\nstate[joint_eff]: [-0.0615, -7.2821, 6.1607, 1.1258, 0.022, 0.0806, 0.1148, -0.8957, -1.347, 6.8991, 2.0391, -0.1538, -0.0122, -0.0171]",
      "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]: [-0.2283, 1.8584, 0.6464, 0.7368, -0.2264, -0.2085, 0.9948, -0.0212, 0.786, 0.561, -0.4049, -0.0299, -0.0574, 0.9983]\nstate[eef_state]: left_x=0.4507 left_y=-0.0603 left_z=0.0462 left_yaw=0.0651 left_pitch=0.0982 left_roll=-0.0716 left_gripper=0.9948 right_x=0.2852 right_y=0.0028 right_z=0.1574 right_yaw=0.0097 right_pitch=-0.0543 right_roll=-0.0157 right_gripper=0.9983\nstate[joint_eff]: [0.5265, -4.7521, 4.9983, 0.9988, -0.2418, 0.4908, -0.0269, -0.6085, -0.6769, 10.3043, 1.8681, -0.1343, 0.0904, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2424, 1.821, 0.7231, 0.5632, -0.2577, -0.2035, 0.0098, -0.0284, 0.7521, 0.5056, -0.3756, -0.0486, -0.0574, 0.9982]\nstate[eef_state]: left_x=0.4561 left_y=-0.0627 left_z=0.0544 left_yaw=0.0734 left_pitch=0.0461 left_roll=-0.0348 left_gripper=0.0098 right_x=0.2802 right_y=0.0042 right_z=0.1473 right_yaw=0.0181 right_pitch=-0.0459 right_roll=-0.005 right_gripper=0.9982\nstate[joint_eff]: [-0.253, -8.5675, 5.7641, 1.1502, -0.0415, 0.1734, 0.7692, -0.6085, -1.5932, 7.3094, 2.044, -0.0855, 0.0513, -0.0171]\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,$blob:e119f910783edb3eb258f02b121795c33ae8b0bd3d404d9f68b86ca61feef54e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b78c56753447067fd44f34e6521491fb994e65c2c18f1a29b6c902cd23e3a116",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91373b01e1f2e75c095dceb201157dc4b139b832286bb1350e8256820c56c083",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGVBhczLo7y2jTK3T-oaI8qjAPQaJbm0F065ma4JXCx1mdunK5DpyOK3mMqAN7ygKA3UYzngded3RF9zhyA7PBmMQUmeOX9NsFfV3iWB7-giBmrCNLQ-i8yG2QK0EkyMVOmjSEKgCwx-Zk1w4HShi9u5zXO4um8qc_uWZy6BxWqw9SsN-MgMIFPGa9HxoeTVwZXufsN3TaZcHyqoklfj5ld0SsyO93e9dCJfvoEEEEv-LHxn075INt0daqFS4JYHWxlHMss0JccbAyPZdHgvsVzDN6LAI1M6Qq6md-p0NxtwXXMjP0zhmbSrfoow_GAnsOYU4IjPQLtGz5tLlLrNnWQR8zlvlr9LqYpt-C-iECrFjfhqHGZeD2ZApwGkknW_Y_spqcDpQ16PZ0g5JCFx6KEZw-Ws7kALqORztdLI80Tg61SvfYuN9SVBYfGeoDyqKDVhZ2PWkqUCnhRuirt-3xmRIGVzcjVrjdBDOSEgl7l7NuOK0adQjyK-R5DN8AYKr47pJ_6yCp7hxYh29i6gL9cFgcviAafhu7BMzqEmoxkVdwREuuNzzFEVDikOf8UR4_IeZq6Pa4mVRy-3IhqmBtjgjox-7XF0-3hThywnuVHeok1wlnD_fmVjbTKkWtndQftWly4v8g8sbOcwVuzTnWl6WlbKpKsoPq4qv1ad2X8B3OB7lq8cJ-j7zMnyYzWYaRihW6GMEuHB1oRPjZqgAR1O0sselflruMVwrz1Kpa7aXVAxX-0yMW1dtp1uWtkNg2rNpK9cHUeICjD0SoIomBh6XlrYShI2VTAVCXgdNtvj4u3V4as9ZidQ5KH6oXn_75XEUCKjHdwqv6jJFT-H0OsmRNoHtqq9d8I-pjGTCEhMcdY7w_aCzHWobwGDfgYgByEEdxnamScBrlIDIilx-k871dJ71o2xcZkj5ZSxCD2W6CCYlIzlj76trsOlUs-DnXITvnZYTrj2C5b4HM5qITqnzQlGQiJ2rL_Dt5iHNnUxaVvNNsXrraAIWIrN8mNvAjmjyJgYKbYLQohG7-7XwjMpQHJzBn8SUsCnOLLVXoucbfNORharCvW-CnzCdxL4WLL0cPZKMFY_tHa_zc4SCLZvJeXvah_fRiakwy7o4K9c-3X_QQ7guzaTw0pQihegAE9H4fIe4ZNUKSeirBUbqSLiFNIX7f3lQYZ1EFL8MvNQv1_Pbo50n9njzeEbNcwRttlFEuiOUkdgqL1wqh3htVWOC48KDWaLbVMa0yDmZZbMGC0i1J5j_Q7wNBnLmgCCHQH4dMlE6qPmD9cauXqGXaBO93drfqXf_Uq4QqdjEtuvQSc3r5HrvgsBu5VYI53x5PvYaV4sW0V05DISp1TT8_af8Tjve1JO7pEnn6xhJ6FxDVhNzxdmCIh8gs2opzGFqtcSMf1xusUsSym2j1IW3LuGlwtA9nU_WLtVn9gCJG6sJYs9M605zZEtwRqJVnXJiBIrx1XxRJjlleJAr3wkjAToHnabyzoX-bhGG9ajKtJF4fLDO_nA60N9AsF7S9ZBEmWswZmeyxBGSOsnE1SZPts-m3KCREUeSJrKQ8CIpWV6bsG8w8d8kHJF-5aE9gdeR5V71nzzXeAkAvHSYdYqxSW4qZfgMPAQntxTY6YxDTWCONpMNo9Rq8nSfKmIGSAjmu4t5JTn0vaCueS8DG-eWK9pF9-DuaunfC0yyGj9h2SRQ2ba-zkBRkgDuvMrZmJdmZhrZpZ4EQJ8v2PgMN_tXa2bAT1yQsM-UmsOrrOt-_9X_hBouTrWFZQsZcJl7R7xt284mAQZtclKUNMzXG8P998EbRjfAws9kvFJ5Tt0GORptqZhPacL7strEMi63P4pbrKOAeioYPM3VbKowA45Av81MRctRDYbRlG28XkMbNfQhYObv5OQEUsBK60IYTaAL1sNeFd5OFiojnL06i3EKAvf_Pr-NlAF3A5JKBJ9sUKQ5aZH8yhDNKylOVbNQuF4WPoQinJnSNwOcG1JjTS4P2bGFKvi77UlhooFQUnswpAlfKZSRpZ4Y0_ONOCiL8uPgm0yvQ4H1cqpTsElVNcKGBiZddT01tfdofQBZY51RUgrte9WTx2Tyz7CpqXnvioYVaRIz4CxwRhyO8dJCaycAFGX5u1sKAWkRyqw7rYbRq7TtHvqPdujDZui8pXOLmbBKpFrfsIN9RIQP5csCKi95uz4HC-KosrJc-mfa8FkY6zTaRwfy07b2lrgHCNammzz4wAoknqIxYqTsFbsWXLUIf5tDHYiyrmxi6G8Py6YF52-IPOHsElR7sLRggbeFQD7AFnI9i5YPRhsNIIpT4xcn9ojP6Y1S8YoSg7NChtQCakUSSTE8R87HlwoDCXkucbJzAkYkX7RbBl05-_FF6pxl95Rr-i7JK5KYkWdf32DPpemWKL-DR91gArQKIZQG01adf0JnwP_z-eU6RXsg2bXiti9-89rFFtEwQYRTU2Lqam1419Mo33oKQQpEJJCpIoTLeQ4F3pgRLyjdnRPwoa3gl_ced9SLmtcdcZPoUKfNpK3ZXoqtcIlKxLeWUEM67LEq4WX4oWmZFun2IrfapIwjdnFSbqRiSI_3H38s1DNpwIXtjV3XFkXUff_3f2rbBlcjyRvoCJS_Lx-MDTmW6Ta_V7iAv0R0YUEbJHOXuk4OJT9IkfhFPyUZ5Zct7h-hhTlRfZUYGzklO65aV5ypGp_emp-3GZrIL0phG7J3dXknDCssEqvSs3ALRCh4SKKWFphGTrWmI8gsi7W5C4xWRW1WqXwCY6Jm4saboYKViagSgXAy5B4J349Yf4NbPBMi4mH0mA1b4fb1EZNGEn5HRGC8OGrhTl7QNJREoHy6UvqhUe5gAQ=",
  "id": "rs_06f7b9c1ebe4d3ed016ab4653a1af487d0818e89064bd5ce29",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":-0.075,\"left_z\":-0.02,\"left_gripper\":1},\"note\":\"That grasp was also empty. The height readback stayed about 5 cm above the table, so I’m correcting the approach height at the bottle’s neck rather than repeating the same close.\"}",
  "call_id": "call_ERZWNlg364Wn4jphTg4SHTDo",
  "id": "fc_06f7b9c1ebe4d3ed016ab4653efbdc87d084a34c1a5abecba1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ERZWNlg364Wn4jphTg4SHTDo",
  "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]: [-0.2771, 2.0045, 0.7277, 0.9142, -0.3408, -0.2356, 0.9946, -0.0284, 0.725, 0.4603, -0.3504, -0.0532, -0.0578, 0.9983]\nstate[eef_state]: left_x=0.4795 left_y=-0.0713 left_z=0.0508 left_yaw=0.1349 left_pitch=0.2186 left_roll=-0.0919 left_gripper=0.9946 right_x=0.2762 right_y=0.0051 right_z=0.1388 right_yaw=0.0221 right_pitch=-0.0389 right_roll=-0.003 right_gripper=0.9983\nstate[joint_eff]: [-1.7436, -4.0, 1.2239, 0.0952, 0.2027, 0.1734, -0.2222, -0.759, -1.4974, 7.4188, 2.0147, -0.0757, 0.0024, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec20e945f1a35ff18ef2d701083282b37c6eae210e67fab5ff2b685c6321ccb8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf5d9679278c25ad4142f7f1487a0be18c318c768083326e4e26e8c94c2dd2fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95826778b9d8ad310904f7f6a059e4629fbee77c8e7114ff6b9e70f03aed8ec5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /responses · status 200 · 6.761 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]: [-0.3145, 1.6863, 0.614, 0.5213, -0.3004, -0.2096, 0.009, -0.017, 0.6979, 0.4122, -0.3241, -0.0303, -0.0509, 0.9982]\nstate[eef_state]: left_x=0.4204 left_y=-0.078 left_z=0.0629 left_yaw=0.0401 left_pitch=0.0378 left_roll=-0.0139 left_gripper=0.009 right_x=0.2721 right_y=0.0043 right_z=0.1291 right_yaw=0.0106 right_pitch=-0.0341 right_roll=-0.0107 right_gripper=0.9982\nstate[joint_eff]: [-0.0752, -8.0479, 6.4752, 1.1258, -0.0708, -0.0073, 0.7643, -0.6632, -1.388, 6.8991, 1.9951, -0.1197, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2424, 1.821, 0.7231, 0.5632, -0.2577, -0.2035, 0.0098, -0.0284, 0.7521, 0.5056, -0.3756, -0.0486, -0.0574, 0.9982]\nstate[eef_state]: left_x=0.4561 left_y=-0.0627 left_z=0.0544 left_yaw=0.0734 left_pitch=0.0461 left_roll=-0.0348 left_gripper=0.0098 right_x=0.2802 right_y=0.0042 right_z=0.1473 right_yaw=0.0181 right_pitch=-0.0459 right_roll=-0.005 right_gripper=0.9982\nstate[joint_eff]: [-0.253, -8.5675, 5.7641, 1.1502, -0.0415, 0.1734, 0.7692, -0.6085, -1.5932, 7.3094, 2.044, -0.0855, 0.0513, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2771, 2.0045, 0.7277, 0.9142, -0.3408, -0.2356, 0.9946, -0.0284, 0.725, 0.4603, -0.3504, -0.0532, -0.0578, 0.9983]\nstate[eef_state]: left_x=0.4795 left_y=-0.0713 left_z=0.0508 left_yaw=0.1349 left_pitch=0.2186 left_roll=-0.0919 left_gripper=0.9946 right_x=0.2762 right_y=0.0051 right_z=0.1388 right_yaw=0.0221 right_pitch=-0.0389 right_roll=-0.003 right_gripper=0.9983\nstate[joint_eff]: [-1.7436, -4.0, 1.2239, 0.0952, 0.2027, 0.1734, -0.2222, -0.759, -1.4974, 7.4188, 2.0147, -0.0757, 0.0024, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec20e945f1a35ff18ef2d701083282b37c6eae210e67fab5ff2b685c6321ccb8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf5d9679278c25ad4142f7f1487a0be18c318c768083326e4e26e8c94c2dd2fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95826778b9d8ad310904f7f6a059e4629fbee77c8e7114ff6b9e70f03aed8ec5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGVHoUDbxpWXxcMDKDEvzea-UmFn5KeTRTE7SIxrUV0pAHOV3AJK6p3piKPOMa2dG4TAJkGgfZVHCBkU2NCM4O-sSZJlEr23oDz0lj74LaPcenuOGsnS0yo32wScemdMD8ZPnFhJTGR4mR7VAf-hRxGt1zbd8RsPxnwOANZUaJmEZZAnmfe7mZuaOd1CQ3_tXH6Q66sx95ON1rcGmZNl0I1sinYOJftezlnh8jYB8yZsJYMam9tYHmOxh_POOoE_Mlf9p-1nkZ41T8dfILkyzO2H6kWfrewluE6-_-F24VoAkr7hYTzf4qvXQ8cgqySv2uFYV4XSnirXV3PF-2Enrz07-QS7_8Dm9VpMm0IzXiaFZEo9eG3Zgu-flTLo5vnQJWpY-JDfKf-ijiXibGB23Wv4KIDDJZiOsmt2wPGZLsVu25ztLMolXBtlrMjTcOIOWoShIH4MmpIql6rabJ1lUbrmkEEGaGRx4iuVcq6lfmFs7EeDEo3KaSOc1XFTMsd_kfVqvPG5ewAQuFJIC00eMdMZfH3WDh6RxvRZFnGXwJd5ASCZCO0rd37FnwkHT7IEltDWi9W8XoBo3bHkDHGqZu8J5T8TrHEsFAleHgLmIL3N2-PGSMJZCDwd1IKPxgJkpVlDhJuOxmpTPiAM14IEecSh-VLUwTL2G9MmY_OUnLWYsym8a1BC8qc07je79p_qI8bdaqoN2w-yPwBr2fmS2QYJjmQK5b6rk-ihqjN9gqznCeuMDXzV0oq_Sj-51KJN4whR5fCQSFAx61ClKmFD-di1d-6VNQz-oTqDEJNgBgsHKDShHyYrIk9G2Rm9iZ9DKT2rrkhK3R6MC40uyISi33SrpamEB-XMjuK9uMnVtRJSWHBkKeghE8184SV_xiKfueLAxba2DxsI9ES5m20-sFQ0g57FDE90Kwug4Z7PLoqPng2hRmkrJLQyPfymr7qceTMYTn9OfrPdJuXmTZZnvo7_EbZH_ziILH90Qk_8_kVKKKZZgNe_fCnJEdIgnfeFZwcDZnHio1WwvNGXn2Y8BN230g9ON4ioRT5MZUOb7aYcHuA0VeczBRHl3YsFg3Utbq-xHDBhIhhJthwmXsT_iJQiQ2t8niWpdfdLvObohow5yJsVcBLYhwquhN7H67547Bq6vv7vRTGCutnqtX-ZWM0SixapSOWpcOuLAiqHetqQBL8x__qL5VBpXYc7sa56wUZ7aK2A06FtafSYZ2OLFiRzlqbHVTvkDU5oGH_vkzMuGz1n_O23dIkxdVYzUgbLA906Nb6g_CFXlsZel6Dfs3Z8GdSv26XUYR2vZqaruXy1zhFmxb5EjsuS-O6GupROZ6tCqBYrOkxhuxAdNGbBj0MODw42p9M9hso_wKZHB-QWOlB1iX2eAbFtmWJJfJ-yxN08ETyZ0FkMV7MNvyxyf14Z852rRry4DL8S4FaUzh121kzHJB8QuxicWeuzdm8EboiTRHzg9jfFtcXsk2Q_47E2ZFst0lQfv4k-aeiBLttI_XjMAR3rb1n0hSvWe-QSTN6Ind58czt1swR0HD--iMRF2ph02RDujtYC4jEdepuZN7b76tookUdrMNC23vBC3kUQhJzCuQz_KQnLrzDGWzmcbBHZgK2LM-inrDMJGckDRSSqJvoMomWMcLwNNeOQ-PaRFoVN9qLcTqGjICBlBgUDZAuC0sKuoLcK42sgtf9nl_-oVqH0mr5OS6rWLbAsabAZ2m_8A0QbLxLbGzcChwHw9areODpS8t6EQk4GRZtCoq8N6B1UYMzndp1lOqGIdYJPQalHni5Oq2qgflEbLI9aWtv4-feflwGXPigdhqF_-kK4k1dnaD7AG3iin9XeDrK_N9aRi45mf86koHCx30FtQpAOZwl62QROvHU8NDVXyaMym4UMasrCy7_a3u1jrXGwHXdFkCXo791QL9RmMwAch0XCJ3a8JQQ6-FPxuL1OANdORBPyIDwHlUbvh6-URRHoLi6782Vw1SoOvu6fxfJHdryyepqGXXan38qKRQ7vponP4w6x7iVRNuXQDzx5sCHfIliihplYBYwUkS9R3PrO0WBYi37QwLmNuB9XgmHjKH80ZnIDu8wutGblfAzqQhJazfOabz1oKzSngBWqJXp9OOqdS-tBXEoVydTynjkPpH7_8XPJVrF7IARyPcT8B4fv",
  "id": "rs_06f7b9c1ebe4d3ed016ab46543c3f087d0ab5ae08d2dceb7a8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws are now down against the bottle area and the bottle shifted slightly during the approach. I’m checking whether this lower placement captures the neck.\"}",
  "call_id": "call_8qd2rhMv60ohuP6TrkxJyyMt",
  "id": "fc_06f7b9c1ebe4d3ed016ab465468dd087d0995b73fc2e4a83dd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8qd2rhMv60ohuP6TrkxJyyMt",
  "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]: [-0.281, 1.911, 0.8837, 0.4431, -0.3531, -0.2611, 0.0108, -0.0284, 0.7036, 0.4244, -0.334, -0.0563, -0.0578, 0.9982]\nstate[eef_state]: left_x=0.482 left_y=-0.0718 left_z=0.0523 left_yaw=0.1444 left_pitch=0.0176 left_roll=-0.0194 left_gripper=0.0108 right_x=0.2727 right_y=0.0058 right_z=0.1313 right_yaw=0.0247 right_pitch=-0.0369 right_roll=-0.0013 right_gripper=0.9982\nstate[joint_eff]: [-0.335, -9.8256, 5.7641, 1.4286, -0.1441, 0.1001, 0.8571, -0.4581, -1.4427, 7.0359, 2.0488, -0.0904, -0.0269, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93ceb85a03142dbbb49c70da36e4fabad3b6057c9f426d70b45ce369f89d669e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fec9f36447644f2d8af780e3de7568a79138ccbebb7071b0223af328c1ebf0f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:020b07956d6c848e65e3d876b76685c28f8091b0ceb79186d145bc8b8c17f016",
      "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 · 3.579 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]: [-0.2283, 1.8584, 0.6464, 0.7368, -0.2264, -0.2085, 0.9948, -0.0212, 0.786, 0.561, -0.4049, -0.0299, -0.0574, 0.9983]\nstate[eef_state]: left_x=0.4507 left_y=-0.0603 left_z=0.0462 left_yaw=0.0651 left_pitch=0.0982 left_roll=-0.0716 left_gripper=0.9948 right_x=0.2852 right_y=0.0028 right_z=0.1574 right_yaw=0.0097 right_pitch=-0.0543 right_roll=-0.0157 right_gripper=0.9983\nstate[joint_eff]: [0.5265, -4.7521, 4.9983, 0.9988, -0.2418, 0.4908, -0.0269, -0.6085, -0.6769, 10.3043, 1.8681, -0.1343, 0.0904, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2771, 2.0045, 0.7277, 0.9142, -0.3408, -0.2356, 0.9946, -0.0284, 0.725, 0.4603, -0.3504, -0.0532, -0.0578, 0.9983]\nstate[eef_state]: left_x=0.4795 left_y=-0.0713 left_z=0.0508 left_yaw=0.1349 left_pitch=0.2186 left_roll=-0.0919 left_gripper=0.9946 right_x=0.2762 right_y=0.0051 right_z=0.1388 right_yaw=0.0221 right_pitch=-0.0389 right_roll=-0.003 right_gripper=0.9983\nstate[joint_eff]: [-1.7436, -4.0, 1.2239, 0.0952, 0.2027, 0.1734, -0.2222, -0.759, -1.4974, 7.4188, 2.0147, -0.0757, 0.0024, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.281, 1.911, 0.8837, 0.4431, -0.3531, -0.2611, 0.0108, -0.0284, 0.7036, 0.4244, -0.334, -0.0563, -0.0578, 0.9982]\nstate[eef_state]: left_x=0.482 left_y=-0.0718 left_z=0.0523 left_yaw=0.1444 left_pitch=0.0176 left_roll=-0.0194 left_gripper=0.0108 right_x=0.2727 right_y=0.0058 right_z=0.1313 right_yaw=0.0247 right_pitch=-0.0369 right_roll=-0.0013 right_gripper=0.9982\nstate[joint_eff]: [-0.335, -9.8256, 5.7641, 1.4286, -0.1441, 0.1001, 0.8571, -0.4581, -1.4427, 7.0359, 2.0488, -0.0904, -0.0269, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93ceb85a03142dbbb49c70da36e4fabad3b6057c9f426d70b45ce369f89d669e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fec9f36447644f2d8af780e3de7568a79138ccbebb7071b0223af328c1ebf0f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:020b07956d6c848e65e3d876b76685c28f8091b0ceb79186d145bc8b8c17f016",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGVPOErBIJyH6g-wyKXzAEHk02x1qP5gPFgtcgN2iOCpiqGqlgRbVdOtkRRsz-G6SaKxJ-X2GyP4vbEseVqWmR0AQKevcc__FCi_3JEJ49X_ti3kCnHGiLGJOA_73AsX4u_APhy-5F6uRllKON0IBL5Hk69Zg4BZ2cXsDgMYAkn-g0AgrkA6hbcOwIE-KiHcAw0rCSmZPuf37mW8VshigLUnQ9yRTjT9LjJkYbdPde9fRHmkpX9M3Z9XvmEJCQUykydmw2xY-wUJBuf4HYCfJ7hgjHJqa8UFFCWzJEXiwIJohm8XYC6OHMgi4jDL8hjOEZ0-NL8d6ylOfrUgTEWsLqiUe3xyPFEYb9nJP4fmxf6bhH6GCYQRXPP6UXTbNTEcCZJCR40PdbNYksIxlb3yC09yuCW1wfFzPo9lVsdoRG3FoDK7TZdSu6iMvC4_cr0bkLAasnqomfes9vyWHodKoa7QxW3wBYn-P6vm5psiGe2MEO-1795u8Wexx5sV5tg3KreIqUSGNXbN5GmEUeTN0hI7x9txbypwRBNrAMrMyU37TBRYAlzeaXXImPfBhPJEdGO05zUsYaCHoCD2fUmfZ6fENLl6MVPXC9Workk_NCtHwZ0vmEf-8YWvPSLrPZ1eEBAjq-2zIwmfoAy7Lx9bjazquFqdcrW20gJ3qRuoDqkxCG6DBd-vLuIBtqsNfk0LZLDmaQub99_m0-I1wMRR8p3OoM53x3hE7uIreLhV-epmSDEqw2_Yi2_yWObgyWMDqONtB30kNzWg94kLWLN1EmftA1bcZcviUqAs7mSPw7LQzlit-_BUCYBr4hoO3cGYtlFE-CRn43wGemWvmBaYovygb7YqYU_8umydPP7yokFn7qNioHsHq7WjlyHTLwuU8dklLNUrwNpI7RyURfYf68glDa3IzCVUyop8dtSQilOKRO_CvI6jPew8XXS3hbONu3d9Nsv9lYnXjZ9Ja-b_vAkVV21HzlY_nPVILk9O1hZOhOv0SfA7O9NfDWtNSxmCGJUP8IXy5t1pD1WB0impaBoiFc6q_-WFxyC7uIvNsEeDcqN-4a0S4VGe-odpOryMQRwRMO-QMb6u-sIRXxgLx3h9U12TkZUqIUEkdqW5YYOirrpUwr6wjU5uUFL6SJLMiJxVlE_iMWQ3FglIr1BPgLO-XQJahQjqGT2bOezhFwiuMaDUfVrMtOFVrqkFT7eAFNnCm5oV7oNH0WcPqsGWt2uw_mSXRPaJmA952z0gK65nXir2W6_Hi8IyFKA2UXkVjq-WvA9gU-4oHbviL2FvCb4sInIEh7hFmRkv0T5lbi7FiQCOPWcgX7L7QMYAKbg6mQbK-SicJrvA4-KHFFTIvNzTOmwucV0dx6P5YqdmaHVNK7F68e25O_a8_3Hd-seRzjXzpzp8mlJZlLmhm90IIxOFx6lQkaBE1x7EOwV9tBm-arW2ePzkXp39u_JB-lGFrSCQkR3RwUTLqxFOWE3Qw_kZdx1V5rna8l-ZB9khFLQHarcVyfoyfpDJi_QOdhj56fEm_X1XUPb_dfy3X7coAG_nrAFeBJlV7k47OMB4sd0l1k8mxFb7yuxjx8qD5LmCHc9GFMluD02V3uXO7IpXwCx__Lqx62873QrZjSbNF2zVwr7rX6HajRngqWLg-zlDBu_8cyUorAdjESHphwioc4aj4mX5ue4gfNv7kUZOEcjQg4Q-h1yNFk-AnhhCamSg9GsRoUYAXNSA-p9Q3VGaW3j94Gi98XzbTf9qGvGGoZmmmTTcBkTYrvxfiCO4DY00_jYV6k9OKmR3w5n246vMXqypcz1A74M4JXi-mlt1BDcaIj20ZTIRuqXYw5E-HGSaloLqwGprR5xUwMV12zv0f5VtHdo4bdFZf4xIn5_C4cNapp_H7sre7l1MknJ-SFsg9I-97jjrSjvEf0eMF-Zy-QPReb0ZlNVMGniyCC4LeiiAtZKhUAkTHiFLTBDG7IEBqsjnCuS3unObI9PDgV1HIZOXbfwtD8vhiVUh_cTwZkaU8V31cQaA1wt-TfQKF4fjRUu4KSOv2hHiQVvIrFpJhYXVpFbV3XzeQUVQKmOhM3rAg7pPzqfUbrVhAKiXzrySObGbXUtTkA4IRlPQf6s5k25scTJXP2wOjfX-FvtJIRFdiyzoSlJov2g_iyMDeySfEMrD",
  "id": "rs_06f7b9c1ebe4d3ed016ab46549fba087d0aecfd91a1900caee",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.12,\"left_z\":0,\"left_gripper\":1,\"right_x\":0.293,\"right_y\":0.004,\"right_z\":0.18},\"note\":\"The overhead view now shows the closed jaws just beyond and to the left of the bottle’s neck. I’m reopening and moving back and inward to straddle the visible neck rather than bare table.\"}",
  "call_id": "call_2SeLHD2f6zBJSfddn5LgXUw6",
  "id": "fc_06f7b9c1ebe4d3ed016ab4654d967087d082a4bc0e6b0cba4b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2SeLHD2f6zBJSfddn5LgXUw6",
  "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]: [-0.4549, 1.9453, 0.7719, 0.6861, -0.5594, -0.3218, 0.9947, -0.0288, 0.7864, 0.5613, -0.4053, -0.0566, -0.0654, 0.9982]\nstate[eef_state]: left_x=0.457 left_y=-0.1152 left_z=0.0523 left_yaw=0.1771 left_pitch=0.1533 left_roll=-0.0311 left_gripper=0.9947 right_x=0.2852 right_y=0.0054 right_z=0.1576 right_yaw=0.0288 right_pitch=-0.0539 right_roll=-0.0064 right_gripper=0.9982\nstate[joint_eff]: [-1.2923, -4.7248, 2.1812, 0.7057, 0.6325, -0.5836, -0.0806, -1.0735, -0.6632, 10.3316, 1.8339, -0.1343, 0.0024, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:498d33ef69ab97435fda46255e918a9170b00e514673eaf0be3bea6e7612b56a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e569d30c7d8bb5eeb9f4dd044754b78e3eb90f769ab2c0b519f465948a0c3d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9262a5e146da4101becf5aa0b6dcd5b921d4b80ad3924b485bc5b0df46a73d5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 12.82 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]: [-0.2424, 1.821, 0.7231, 0.5632, -0.2577, -0.2035, 0.0098, -0.0284, 0.7521, 0.5056, -0.3756, -0.0486, -0.0574, 0.9982]\nstate[eef_state]: left_x=0.4561 left_y=-0.0627 left_z=0.0544 left_yaw=0.0734 left_pitch=0.0461 left_roll=-0.0348 left_gripper=0.0098 right_x=0.2802 right_y=0.0042 right_z=0.1473 right_yaw=0.0181 right_pitch=-0.0459 right_roll=-0.005 right_gripper=0.9982\nstate[joint_eff]: [-0.253, -8.5675, 5.7641, 1.1502, -0.0415, 0.1734, 0.7692, -0.6085, -1.5932, 7.3094, 2.044, -0.0855, 0.0513, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.281, 1.911, 0.8837, 0.4431, -0.3531, -0.2611, 0.0108, -0.0284, 0.7036, 0.4244, -0.334, -0.0563, -0.0578, 0.9982]\nstate[eef_state]: left_x=0.482 left_y=-0.0718 left_z=0.0523 left_yaw=0.1444 left_pitch=0.0176 left_roll=-0.0194 left_gripper=0.0108 right_x=0.2727 right_y=0.0058 right_z=0.1313 right_yaw=0.0247 right_pitch=-0.0369 right_roll=-0.0013 right_gripper=0.9982\nstate[joint_eff]: [-0.335, -9.8256, 5.7641, 1.4286, -0.1441, 0.1001, 0.8571, -0.4581, -1.4427, 7.0359, 2.0488, -0.0904, -0.0269, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4549, 1.9453, 0.7719, 0.6861, -0.5594, -0.3218, 0.9947, -0.0288, 0.7864, 0.5613, -0.4053, -0.0566, -0.0654, 0.9982]\nstate[eef_state]: left_x=0.457 left_y=-0.1152 left_z=0.0523 left_yaw=0.1771 left_pitch=0.1533 left_roll=-0.0311 left_gripper=0.9947 right_x=0.2852 right_y=0.0054 right_z=0.1576 right_yaw=0.0288 right_pitch=-0.0539 right_roll=-0.0064 right_gripper=0.9982\nstate[joint_eff]: [-1.2923, -4.7248, 2.1812, 0.7057, 0.6325, -0.5836, -0.0806, -1.0735, -0.6632, 10.3316, 1.8339, -0.1343, 0.0024, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:498d33ef69ab97435fda46255e918a9170b00e514673eaf0be3bea6e7612b56a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e569d30c7d8bb5eeb9f4dd044754b78e3eb90f769ab2c0b519f465948a0c3d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9262a5e146da4101becf5aa0b6dcd5b921d4b80ad3924b485bc5b0df46a73d5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGVTlWpjuDO9UEbb5vKOZXYTV7T5Nu58_IHng_h-HGwPYbooGXOOdLVNUzwy5jCACvyLdVAnji6FXbNq0Do5Hy-GAmJKFEEk2fqN0Q9n4qRYfShYL04ZpS9e9OuD8OuYwprbmynoTAepAy2b2Re67YheHCKl9-L-yiUPXO18bpE1Ba_sdJheRAknZQ57hWye9dedrTmmJ9nJPyRHZT_dloR2UQG2ZOKfMUj48Dy5LZ2ddOMGsGf0XCaHSdqv_bf2gsGd54K4gKheMsO21S6ZMmwVq3siKmKX8pfUwks5NuLWFtCweFM-ZFwTCvAMQWtfvRg-BgH2AfPNHnx7o4E64YW0TA4i4bcvLwzcbt3hd09Qh-Cm6HJzWhS0wDzke_zoLMyP6rEPwNZIVzWKr7D2lFbii4ogEU3lREusSUwDVkhjPSEcw9F3Mc1g60812Y6c30rOwiXYXQv6LU0PRO3wpkMBbMvRsZSASuwmD0Csy8s1aBDHCmYrjxo_CnT_4X9coAT6SNiqCvWUi9EaovocvwCyLRLdSPICdVkkwUrKd3w_B4cX7uGW0n69zus_FnhnNNkYjwVJNrjzHhPSoyhskNOsopZHB8JT8YKkZtbXBrjiWIxa29-zfTkV9l4_xMXF86Fldw_8LQDoq84SGKiKTb_sJb8tZwOqqz41wxVlJI0fcYPwVATVD9zuf59aMyLuXCY34oElQGbWg18bIPeTBX301NRkt4uxnP9jyImnaPaG7DrIN6HVfn97yF5OpQi42TDSS3uiOZBY1kW96ltM-fPymgYUH4T8FMVLk1hR_ZvmEUMFU1UcQa8PwJd6f8uhCAiRO7zJgfg23KHqisJtWgNRjFvUEJyDpE-nQc-Y9o1mFsqJBjpO_b5MEiF5VKdeDCoVDtsKY685DS6P8uLRq-tr5NgP4QeeTg1qf2lBBZceM28_BQq6eE-tKzr6_agRXsgaPvBN9ORlTQ_f5cykAaDX6PgxqL0ZStb_JGtTwcVG3Oj74NTLa92OQYVjR94er7-WfmIxMJ9pL1mNXljIxhm1oVxUqvUs_rO5_r34VPkaopsOA0VWiYIZe--VXnA968txSWkM-NefqGxzlCbW0rF8UqqFMsKlGw9uTqdJpXjQA7gIpsYV8BCyhVqI3YqlRbd2G1JSrZZ0MMCdPPf0W7u17MO-JvWvWBkPeUHDuHCxQQeB8nhNnbgN9ye-8PioZsOQCmlm2LIwia23HfaEDSV8yfQMAaFPN08LzPt8moYLONrZ7Y7m8yhOGxAn42R9LF0rrRKemVNFirZgIzrswdKSd57A4gKk-nuJHsd2fTkLOxyVSPnCuSKhdfOsBKHlP5BqtvMrmqYv-PfCgRqZ0Xr4gnHIRTZKEDpMvx8WxaiHq1Spgoi1JsupCO7_231qml5qbI7BE84vDs8CYQOXoi59LryMayxk2eqejCw1OvjkA1id9fsFvo_7BPaR_m31lwFkTmd8AHhTYn8xq0pADhq99WKtRiqx0SiH_fw2AJ9NgHWJVDHLqVvKsZMtii7mBQKk",
  "id": "rs_06f7b9c1ebe4d3ed016ab46551b38087d09dda7db0c94b7648",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The open jaws now straddle the left bottle in the overhead view. I’m closing at this corrected lateral position.\"}",
  "call_id": "call_ZILoIQPiLC9qzm5mvHGtnBuB",
  "id": "fc_06f7b9c1ebe4d3ed016ab46552adc487d09a04070eebbad20a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZILoIQPiLC9qzm5mvHGtnBuB",
  "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]: [-0.4377, 1.8973, 0.8822, 0.3874, -0.532, -0.3752, 0.0109, -0.0341, 0.7544, 0.5056, -0.3763, -0.0608, -0.065, 0.9982]\nstate[eef_state]: left_x=0.4606 left_y=-0.1127 left_z=0.0552 left_yaw=0.193 left_pitch=0.0309 left_roll=-0.0076 left_gripper=0.0109 right_x=0.2801 right_y=0.0048 right_z=0.1466 right_yaw=0.0268 right_pitch=-0.0484 right_roll=-0.0039 right_gripper=0.9982\nstate[joint_eff]: [-0.1162, -9.8256, 6.106, 1.1844, -0.0366, -0.0659, 0.8767, -0.4718, -1.4291, 7.3915, 2.0391, -0.1245, 0.0269, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cde9282725fae15cc409b1dd0b31ab24e97224065ef3197e9d9761169900547",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c22906a890e697f7ec1b4f54ff0d525d7aa322a21d6835dca302f56cd8edc647",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48bfef549b1f387527fff14e96324f530854f5f4869641fbaf52027fcd0d3816",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 4.597 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]: [-0.2771, 2.0045, 0.7277, 0.9142, -0.3408, -0.2356, 0.9946, -0.0284, 0.725, 0.4603, -0.3504, -0.0532, -0.0578, 0.9983]\nstate[eef_state]: left_x=0.4795 left_y=-0.0713 left_z=0.0508 left_yaw=0.1349 left_pitch=0.2186 left_roll=-0.0919 left_gripper=0.9946 right_x=0.2762 right_y=0.0051 right_z=0.1388 right_yaw=0.0221 right_pitch=-0.0389 right_roll=-0.003 right_gripper=0.9983\nstate[joint_eff]: [-1.7436, -4.0, 1.2239, 0.0952, 0.2027, 0.1734, -0.2222, -0.759, -1.4974, 7.4188, 2.0147, -0.0757, 0.0024, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4549, 1.9453, 0.7719, 0.6861, -0.5594, -0.3218, 0.9947, -0.0288, 0.7864, 0.5613, -0.4053, -0.0566, -0.0654, 0.9982]\nstate[eef_state]: left_x=0.457 left_y=-0.1152 left_z=0.0523 left_yaw=0.1771 left_pitch=0.1533 left_roll=-0.0311 left_gripper=0.9947 right_x=0.2852 right_y=0.0054 right_z=0.1576 right_yaw=0.0288 right_pitch=-0.0539 right_roll=-0.0064 right_gripper=0.9982\nstate[joint_eff]: [-1.2923, -4.7248, 2.1812, 0.7057, 0.6325, -0.5836, -0.0806, -1.0735, -0.6632, 10.3316, 1.8339, -0.1343, 0.0024, -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 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4377, 1.8973, 0.8822, 0.3874, -0.532, -0.3752, 0.0109, -0.0341, 0.7544, 0.5056, -0.3763, -0.0608, -0.065, 0.9982]\nstate[eef_state]: left_x=0.4606 left_y=-0.1127 left_z=0.0552 left_yaw=0.193 left_pitch=0.0309 left_roll=-0.0076 left_gripper=0.0109 right_x=0.2801 right_y=0.0048 right_z=0.1466 right_yaw=0.0268 right_pitch=-0.0484 right_roll=-0.0039 right_gripper=0.9982\nstate[joint_eff]: [-0.1162, -9.8256, 6.106, 1.1844, -0.0366, -0.0659, 0.8767, -0.4718, -1.4291, 7.3915, 2.0391, -0.1245, 0.0269, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cde9282725fae15cc409b1dd0b31ab24e97224065ef3197e9d9761169900547",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c22906a890e697f7ec1b4f54ff0d525d7aa322a21d6835dca302f56cd8edc647",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48bfef549b1f387527fff14e96324f530854f5f4869641fbaf52027fcd0d3816",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGVheXm9Anxn7DqlLuq9_rXb8BigkQ3G7TkCFpSojxvBM9A25J_98Ua_OLEe20YI_6Lw27FAWPDv28VfAjir5wipNedQCIdfNmHPQdxT4HapybKw7D9JKM9oskWJvlwHoR6KsZ0hGZJ4f2_6ujhWKGa1vQXXfODAK_6TJ_GZXjFb-bRtuLC6-YJ1FMWA8-IYMTsYoScTwamBqdNwc-Hphn1Iax-T4ddhqluG9Xz_w90rGkH7bfZmiko9SN7H0axZjGgohL3JVIb5VhL258XS-eVti3mSkVg5DS5iHYT3Na_KZZgae4FEcnpSmyaHjNPTLGNUPHlRDA9OAR59mtG0KFVGUDTkrjpcRrwk61fjeqJx-3dF3HTRM_Ffxab4wTlQ-xHHYgtvAChh_eLICowDkxi_RuO8tkHHsDjgxRcZl17_iLN3y6iZz04xXILA4XNtPWR-sMPS7Oo5B69t7I4XuAINFIHe_Q8ZZsyDz6NBxhsngTe1gq4heIoAf-xVadcfKrtwmUbVO-kLhlgZEssS1Zxtfizuaj1XjkVjHenYP86kXeje0p0gvAy8dZRZdn5qDZUAkvuHY3SEREnBKuzxKtiGQpiJBOFik9RNeU5t-y30R0AApPG1xxcUqVbD2rKexODOjmw35qh0zuY0Qw4DH4y2L9XV4nZ7JMaKWAM0GjvoFZHgz9O9YtBXLNvzskUIRg3gRxBaBMkHUnUtkV3vlbRglqrQZmkrbMlXJ6ca2R3dPsvdRvBz_a8UFqrbkHIpa1rj6EO7dJMV2S4cl0zoXOsXL5eFzDFvjfD9mmQa5ZIyFzdKK7SBVxeCxWbmzI6o-5xHNDdUz_cpOHxqjz1KbfV4mUuNxaz_wJGxHL-kl6EsPXWyQfps-CTcHRrU3_YkEfu9f3mCE6rimr1_hXj3g0-XRk3X7fk13vc_See177t6E8UfSnr1p9ENR5k0jbZJDe2fAnnmWrimc1tTQJSX4nTukNVOSB2Ld01pILWF6rqVa3miYOEfKVKQyC5QkGTZ-c7t6O9G4hQ40XzS9MAUB4zgU4Z5G1zDRRWtHFIOL_YHokZf4zKAfA-EgDCM-CNj_15aGHUgK0ah0qu5erQKpVvnbXBr4iLrj2cFNeA8TN9mz3yutAWsUG6PnhUmDFUqxY3iL5bOOJAMKzcXcy74A867eCh9HNP-j_-QtqFlUo9kE40qoYyd3O5zQCR3Ds3kEdDLCeFU_-NJNI82A8x9cT-_qjUAtu4fPDtCMPDNvZjTjko0M4HaToCgDn5UmrZXkLLUu4Vjdl4hfcmkRgLh4MidGU2SIkB-LUIGfFRB-a9pY5bGnPN3SbZDfOAAR7BmHQF4Y-bSVQIFURXE0heqomZs6SqB2eiNm4WEjMxxc-ZMfpS9Aabg4m7btrU7Ewbw1GFvhlHkMvLRLHkRWdsJzVFJ8vGTJ-MYw7lkijB5Eltzg7J8Zv7JFAZKio5LqEiO4w8l84IE0NZUQhhqW0yFpz2rQqfSiNod6zXrQ6-MhLiRVXqHWh-5utDoglRusspz_8aa2AqO262DMs5MFgbqnZ1PaZHnijzvFMkaHh8j8IG-MSKUFdK4U1xJyXkkEE5D7-sbGDirChWYbhqx4X-uPhM4_6yNNRMejVOeHR3FSk5HzBDoesbuiCk6ksqOOx3FEkGAiVexKqxG2uWNyrBKkIMiS9uZ1LyEsFKRZeKofJ6UwOVgTJaHdE-AeKAoCM-wTJzpK0OoPLvs4YbJuM5Q0-ZgNvjWb8BZkrwFHHBst978izADWE7qQkzd-SxLOPmAyOweYCcW_uws9lYET79OjjlMbeRRutjmJJ2Ws4Ee6T8NDmjTy_mMhYTWfCmpA5aRib8jcIEQ-K0ExO18whSPkqKdMgS2RKwtwLm4YNB21_49ZLRPpek-ovO3OuJqpE_B9grM0H0UMMzKYNa-EherenIxvqT-vds9BpkhYUYuo-JdRkE7Z4uDAm5SFZx5lfB1mbeAHfPOAlWtet3Eu8p6akr2g6rSULntTKd6jCrIa6EJ8LQ8GP449Z5rsX4bHdUVNFjPQSRXnezebp6wDom_xFCNGRxo3t-bzvVM9Tgvy4GmXR0AFWd-gJygI_VM8iqutAydiZcpFipFsW2baae1XPxAucuV7VyCZxRa4k9djGVa0XQ_V2Z30vusOJko__7jztAqJV0JVlUOxkpqx3mJFefYcQtyalZrU3K7J2Jh5Dr57v7CGFcNDd-t3d5paHk6aO3I4c7EO16own9edojK9C-YnwtTa2eoFNb8uQRayh4zepRQ-H3DVKDNnwhnDSdzCg31FzxO7xRLe5Ox0EZNJQrXRbRgz1pQc_5byJY7hkR1HkVh8_fk4ITJSduQAxpWRpY7cODYP_jBlfYtHk6aeuC4gIozQo1oOGR0jjI79plE3K_Nvk2_rTvqoWVFjvSiQg_N_AKrnVyaWWrtCGLN5Mi5ZmjCFz2sgfWngizQwoWd_Vhlpn9tS9RdP07KHzWBj8ovuutLFBkWzLzJf_ATdSqiGfmjUca-uLVEOBbSHkiue1oc9nAbduuFifcdJDMyWtZsvRdzRziYTLu7YNBJLC6QZUdG6_v0niDObf14igYLmDlpz4sOohGvEZt6MMz9QH27c8uxTWoYr0mOBLjy1trTwX0wuS26K70Osn_imdXBCXZbdBfZPSyQfgrx0bbqxe_8KA-bPKBFc_DvFs1rCFSJNUM8-Gex5mNMljMgA4tmat0UJOaOe83gXr0s7x2ALCQKRKksHMO-kBfA1BSG0z2XuzcEe4QQiFtjKYdSBg66ximm3BzstE5qdXhf8UgvoJNvBLKAa6UB2YBuKDMCJXorMqmWw5UrI7pXKHndHW_ew4aUqHC1iKNz8JFu7ESDtoosbIW0T2mGJHeLcB0JedyF2pspWyCJB1_VlzuCKSdq0Doqn_CnwzGmjuITxacgY63ykCBwu1JHIWUAMDkfsuvOPLST_Sn5_pMvxqKDpdcTJhcna4V930Q0Hx83VxDW6rjQnTypJvsBaKzbxgA-xVejTIQCMUotZckd4_r_sHW9SHGdYBWvjWtQg9iOFf6bZnrPkJ-eshae58CyZjQx54YYR13rPs8IyUO9ccWyS38_5-6p8IyCkT-WF5x_w6LLHjqkUnmQv9KlctT1XZkdjIqV4G0k0cVjvlNMXpzZWUP_zVyVxk5DyKOo1iYvPmmcFapZ4LxJV2sneEJ3sANmGDfFzeqwEHXy_4423nIqsihKlLZwW6yMVgHi2wh4UA7a2dC4LnSy7lQ5EH7At5LBg1HM3LbJ73T_1W7H6NK529H_KiGLxM-QMW4sFI9q64jtihK58zUwyo9b02v6xbURGctQZ0RAiO4voN2dLm8fJB9tpSCV1bwJ6erTBe64XXurz7vLPCNngOPrt3s51u0vhej2zKuudum51JTg_eqKk-VZ_EQugZg2yGJc9hE6o4Hu_ktP_b0U-Qt2x9WwcZGtX7Q53H4gX7zbONaQKNsXv8KO88OpxxqS1DTBeXVgSZNY1BkYos1hc75Mxcpv8CzEO0BJo8iFK2PRK_pNfS96nMvG6YAtnNQeeBVd2-fVq0L5mOvgVVQ1CGDETGgwnLGxxq5aVxmBozfejfSY7Bksr4WJgmA1NKyF459bck4T2-24S4dSH0J-oxsISWoOcqYVJeo5mN5fV-SEEGSKW5xhhUOFPfDDkV-TopQ5H8u9-YSBTr7MiPJXVvwyu3FhG-4e0Kv4gwPZcV8oSfUL9tK3WQ9H63-U6mMp1QB90EMHVJtK4e4EkGOCjOmTs_e_-6lVbBj_HsFws8bJ7T-3LbFdvs5m6b51mwZqAp1vx0Ke9jiE3l8hHw4YXr3h3AcEqfJDlaT94611Xf47mkmMhLbab4yzbvlja3ZhkAvjgB1mcPXaufBzcKQo_6cksiUlYGFsHgIFsbo5WUSw49gtDRwvfDlCRG3wWPIyOpeXTKsCPg7Gd9NRdbAYccM3NpHuU9aRMeKsWRuAM9XkyGudqgr3DVVdfLq3orMky_m_eRrgU1pOzV0RcX0tNAD7KVvAKXRxOJYzMIZtWroudL1rWZsoMpaZsTBmQV09vHeuAqxj7uJ0sBpsjpvFQbiE8mX7qrr4H86s32PCk2pk59vtFSC2j8_mlsG83fiMpmnPEfJChpumoJUjPe-ySWV0tYKg1rIBQzngxg==",
  "id": "rs_06f7b9c1ebe4d3ed016ab46556399087d0872b98d448b8abdb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.145,\"left_z\":0.035,\"left_gripper\":0.65},\"note\":\"The bottle rotated on the table but did not stay in the jaws. I’m switching to its wider body, farther back from the cap, to establish a reliable grasp before attempting to stand it.\"}",
  "call_id": "call_yKFaZJcdy4lhkjIMCECY8ofn",
  "id": "fc_06f7b9c1ebe4d3ed016ab4655ff01087d08245da0a080ce70c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yKFaZJcdy4lhkjIMCECY8ofn",
  "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]: [-0.6178, 1.8259, 0.7383, 0.3939, -0.6601, -0.503, 0.6448, -0.0341, 0.7254, 0.4587, -0.3489, -0.0612, -0.065, 0.9983]\nstate[eef_state]: left_x=0.403 left_y=-0.1491 left_z=0.0445 left_yaw=0.1792 left_pitch=0.0321 left_roll=-0.0153 left_gripper=0.6448 right_x=0.2763 right_y=0.005 right_z=0.1384 right_yaw=0.0271 right_pitch=-0.0389 right_roll=-0.0043 right_gripper=0.9983\nstate[joint_eff]: [-0.4171, -8.6906, 3.7538, 1.1062, -0.1001, -0.1734, -0.1734, -0.759, -1.1009, 7.159, 2.0635, -0.149, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30ca5c8a68f148499653dc76270add24d48b337a67de61d3a2c8cfe8a6705b46",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05f089341d736c2c1c12f8b68c48f322c9224d8318f2c31d22dbe0f0d6b242dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc38c44aef7f073bfff4341f57190345d2fb27521416ad1a47c29a5b0028061a",
      "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 · 2.629 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]: [-0.281, 1.911, 0.8837, 0.4431, -0.3531, -0.2611, 0.0108, -0.0284, 0.7036, 0.4244, -0.334, -0.0563, -0.0578, 0.9982]\nstate[eef_state]: left_x=0.482 left_y=-0.0718 left_z=0.0523 left_yaw=0.1444 left_pitch=0.0176 left_roll=-0.0194 left_gripper=0.0108 right_x=0.2727 right_y=0.0058 right_z=0.1313 right_yaw=0.0247 right_pitch=-0.0369 right_roll=-0.0013 right_gripper=0.9982\nstate[joint_eff]: [-0.335, -9.8256, 5.7641, 1.4286, -0.1441, 0.1001, 0.8571, -0.4581, -1.4427, 7.0359, 2.0488, -0.0904, -0.0269, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4377, 1.8973, 0.8822, 0.3874, -0.532, -0.3752, 0.0109, -0.0341, 0.7544, 0.5056, -0.3763, -0.0608, -0.065, 0.9982]\nstate[eef_state]: left_x=0.4606 left_y=-0.1127 left_z=0.0552 left_yaw=0.193 left_pitch=0.0309 left_roll=-0.0076 left_gripper=0.0109 right_x=0.2801 right_y=0.0048 right_z=0.1466 right_yaw=0.0268 right_pitch=-0.0484 right_roll=-0.0039 right_gripper=0.9982\nstate[joint_eff]: [-0.1162, -9.8256, 6.106, 1.1844, -0.0366, -0.0659, 0.8767, -0.4718, -1.4291, 7.3915, 2.0391, -0.1245, 0.0269, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6178, 1.8259, 0.7383, 0.3939, -0.6601, -0.503, 0.6448, -0.0341, 0.7254, 0.4587, -0.3489, -0.0612, -0.065, 0.9983]\nstate[eef_state]: left_x=0.403 left_y=-0.1491 left_z=0.0445 left_yaw=0.1792 left_pitch=0.0321 left_roll=-0.0153 left_gripper=0.6448 right_x=0.2763 right_y=0.005 right_z=0.1384 right_yaw=0.0271 right_pitch=-0.0389 right_roll=-0.0043 right_gripper=0.9983\nstate[joint_eff]: [-0.4171, -8.6906, 3.7538, 1.1062, -0.1001, -0.1734, -0.1734, -0.759, -1.1009, 7.159, 2.0635, -0.149, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30ca5c8a68f148499653dc76270add24d48b337a67de61d3a2c8cfe8a6705b46",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05f089341d736c2c1c12f8b68c48f322c9224d8318f2c31d22dbe0f0d6b242dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc38c44aef7f073bfff4341f57190345d2fb27521416ad1a47c29a5b0028061a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGVmHToulyoxILCaaFfI0jIjFlFi0TrPY0sw1l2km5o_5NBvnZexGbjHM0CjbZ90XzvYz0UWv8XBP6cXU4DNkJVp-6yMbfjzMV8BCwpuHCJissjCPuv0LQLKBP17ywENNTbXzpufQydbDiexna89zpZdy7HO2COE0FNa1Fu-fKPnGNApREn3uXXMMnYzMcdw7P43dYFcgq9iqfPGxSbpfTVQ5qqETL-zCu9y2BXXuz9NMC3lIW-pn8ihFyAYTmGJ2b6A3Zrnj5hDlh9lxI-wUBY_nk_rO9htjJSrEn6S1BbHql6KzUM1CCZ9Cu65w0YwanSLs4aElTefR4Hx6dukvI9HUhWd8rbe2JVbOUyk9fJmUGTzuIXMjVWlYYakgk9l6IkGapFBNlQ5tiWmFQZp37ngH2KI-Y6VC_cEIvFxi-0D-ycVgDJ3yhbbBqZYJqBGhTY5Zft2F3O-3ncBMiTFdE6cKNhWnrf93RYodRy7q7B9wldl1AXvzEoeRa5TGyqE6Wirz_CWDvqbhHWaP7dpSIsf591OhgoEQcYCmphQFRTemeQ2St6i4U8hvBfYt91gsaFsAnLZ4jwO2te-xWhB-az3irD9gQRYUE1sAnko3mOQbwERfsGDccoU9tED2c-mJgtiWIU8Mpyl869cF3RlanKlbA8JF5upZcGeBkQGiSfvDaPJxGKJqLrd1PMNtO5pfEZJrkKm9RPr0ftKsDKY_A2s2eMj5Yur_h3kWAL2Tc31ccOFNfl1DKNcsWo5DxBTotgKbxRhkWA5TIy2OfAtzkR9r1x1RNgHqJVGjRVqXsbMBfPxV_yyYUzfnVz_cpWn9jAYQIpy4x6ilOE6MQNICQAHYAu5PPLeJgdLBB2Vwxp1ltN1WVN4MPK-dSRYVRm2VlqXrJJ03106py7som5A36hC8fn6nuDHSiZow7SbEIpdKdpMahfrZB7lSXpTbtXTX4hhF8k7gEZoNYbr09tQGLqjV0aetBVDUWx2_b7xxhSL_ukcueLuZ3hpGO6a51QgvKjH8RsKfpIMcDogUBs4zbW-NgGNjUgrwlbLa7quOgQCqq-AsRLuPGvZflV6ImYnbkR7YDtFIBmCAE4VAvHmB4vy3KaKXWrrxZNERpgF1V_r-eWLyiUPfqDfwyxEauzUF1tL4HUQ9BB8hgrWhlediDralc-s_xmZ3jVKbHQebte0PCYZfygKY6sScyAC5-ObYa_D9fZFLkpXntVUHG2nKHwVR0WVUhbLDMbv05DagVchTP8vzctoW3ok-7daR8QVZXGF20OBUiVvcnIWrXiHq9tOMirvucUGrn__mT6dRs6FxPip_RqqCjBe_2mxPbJy1TcZWWIsmP-rr8YYSDam1Up-ye5Y8-bPd2SbP-oymofMTcNBRgTW_HLFdd4RVaAmAMPKorJNUMcP2JQGp5-EDDbLb7x4LLgxNv4i-EUOyecyrIM-XouAxYvBtt4xsXDvN30FJWxAcvGS5vU9I-zDod16CgQGjvzKItOPSIPXrLbWuyoriqsZIOLR-z7qDi25FBeFeD9FZuoji9LUAJbe_2CTzRc0plfDB9cFB-yX5uLUTNexLoQuq66vSPp3ki2s8NsmUfPtWZtaEcdb-DbunOkk7ZvC-gVS1SdGFL3b71lEpYagMUkzgSfgpTEwo89IV7XwRm5LhG782DQ4-gRIPQKUTJeuGOBg7X8PK7ean9pG1lpJcokOGoqTD_gojsqEM26S",
  "id": "rs_06f7b9c1ebe4d3ed016ab465638d8c87d08855c67680336049",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.163,\"left_z\":0.015,\"left_gripper\":0.8},\"note\":\"The wider bottle body is visible just right of the jaw centerline. I’m centering over it and lowering a little more before closing.\"}",
  "call_id": "call_7DXbx6Seu0Aty5KRkNcRHr6i",
  "id": "fc_06f7b9c1ebe4d3ed016ab4656566f887d095eb74d43c1c2463",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7DXbx6Seu0Aty5KRkNcRHr6i",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6628, 1.8458, 0.73, 0.4187, -0.7063, -0.5499, 0.7939, -0.0341, 0.7094, 0.4366, -0.3344, -0.0612, -0.065, 0.9982]\nstate[eef_state]: left_x=0.396 left_y=-0.1592 left_z=0.0412 left_yaw=0.1936 left_pitch=0.0511 left_roll=-0.0334 left_gripper=0.7939 right_x=0.2746 right_y=0.005 right_z=0.1353 right_yaw=0.0271 right_pitch=-0.0305 right_roll=-0.0048 right_gripper=0.9982\nstate[joint_eff]: [-1.0872, -5.7094, 3.1521, 0.9939, -0.0659, -0.1929, 0.0513, -0.7726, -1.1556, 6.8171, 2.0586, -0.1636, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c3334fecf08d3485999e27acda1d6aeb5d3bbc9487fd86ad95cb7047397ceab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3d679d86b7871ce20121a510de2d852eea76bc5f389d4ee5b510ffa93060827",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce7c8a8d50d798ee80ec05a3e4467b901de45aaa2b3e4698abda73205f8354d0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 8.607 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]: [-0.4549, 1.9453, 0.7719, 0.6861, -0.5594, -0.3218, 0.9947, -0.0288, 0.7864, 0.5613, -0.4053, -0.0566, -0.0654, 0.9982]\nstate[eef_state]: left_x=0.457 left_y=-0.1152 left_z=0.0523 left_yaw=0.1771 left_pitch=0.1533 left_roll=-0.0311 left_gripper=0.9947 right_x=0.2852 right_y=0.0054 right_z=0.1576 right_yaw=0.0288 right_pitch=-0.0539 right_roll=-0.0064 right_gripper=0.9982\nstate[joint_eff]: [-1.2923, -4.7248, 2.1812, 0.7057, 0.6325, -0.5836, -0.0806, -1.0735, -0.6632, 10.3316, 1.8339, -0.1343, 0.0024, -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 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6178, 1.8259, 0.7383, 0.3939, -0.6601, -0.503, 0.6448, -0.0341, 0.7254, 0.4587, -0.3489, -0.0612, -0.065, 0.9983]\nstate[eef_state]: left_x=0.403 left_y=-0.1491 left_z=0.0445 left_yaw=0.1792 left_pitch=0.0321 left_roll=-0.0153 left_gripper=0.6448 right_x=0.2763 right_y=0.005 right_z=0.1384 right_yaw=0.0271 right_pitch=-0.0389 right_roll=-0.0043 right_gripper=0.9983\nstate[joint_eff]: [-0.4171, -8.6906, 3.7538, 1.1062, -0.1001, -0.1734, -0.1734, -0.759, -1.1009, 7.159, 2.0635, -0.149, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6628, 1.8458, 0.73, 0.4187, -0.7063, -0.5499, 0.7939, -0.0341, 0.7094, 0.4366, -0.3344, -0.0612, -0.065, 0.9982]\nstate[eef_state]: left_x=0.396 left_y=-0.1592 left_z=0.0412 left_yaw=0.1936 left_pitch=0.0511 left_roll=-0.0334 left_gripper=0.7939 right_x=0.2746 right_y=0.005 right_z=0.1353 right_yaw=0.0271 right_pitch=-0.0305 right_roll=-0.0048 right_gripper=0.9982\nstate[joint_eff]: [-1.0872, -5.7094, 3.1521, 0.9939, -0.0659, -0.1929, 0.0513, -0.7726, -1.1556, 6.8171, 2.0586, -0.1636, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c3334fecf08d3485999e27acda1d6aeb5d3bbc9487fd86ad95cb7047397ceab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3d679d86b7871ce20121a510de2d852eea76bc5f389d4ee5b510ffa93060827",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce7c8a8d50d798ee80ec05a3e4467b901de45aaa2b3e4698abda73205f8354d0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGVp0dXLo1wCjAWogV-bTYWWYEGYH3jU0N7hSR2owLKVH_3uP_YOdRDtGIQdYNBXvWsmnWU2KgwXPhyPhw9fvPxfnjKxK5ArTh5JS_68ohsoasv3TmsI6pAoZci3avVbEoJSnrJoNyIQncwIVrC76lbeBc4ewmBRBatZm3k2LnfD6Hnu-QY_i7JHeKv3lFz_4cyyZh5N2mcaOrW6N7deqgBsZg2vJJHvGiRpQYI2m_byZuplr7hUDM9AqBLtvF2VgDjk-oEWa8trK2piydBfaI3euSxaolFQM-6RDDd_gWpwIePJFIgwFz_T01foR0WOw7uAeu0vTqGQmsv46keQCLbtdB7N9_lmW1H_ET8nBdQ0c-W6ttvC7EHU_KHEn8Gjrk2qVetG7OfpcVUUav96g5Ewso4Bc6U3BPH8p9smGkqDzzjo59C_hZPOTPrLyt2tKSeSkEUpg-2UkettfSxTyFchSmjK4zVVUXFZ9V8RRCxSYZXYC5-jppefOjJ_F6FmUMI6HO8SnPb2BBWnnbUsUAwuafoVQkJ0sPgGStUEcz4Q_MdfJDFdBlLf3zE6P4Am0Az3Hazb3vLcNqjPMbESOYDS5jIHpDNNoTZncyBnI9WIsscLaaHzqo0aAM92yG6guT41r0wHvkj6W16Ejq96poiZSB2ZCGy_8dBTugno5hOXpucDp0jUnSfZWZDk2nAhepOEcE5zYZvAdEpVDzCmc7e96kydGzyGWHaIhDB_cNCZhuotg6SyZVF4s9LBHCJYAUCJwb_uQRTVF3NUYy6jLmKRCaWl5HqcQNUXUO1EsKvx6baktBUoZLbLbXjpb1n-XrqZ9qIX2h0WZTUzH4aCDRsNhmjfuGpTIeBDop8stirP3zFcHnF34Qvs76lBqABcjPorJa7t9o9EtOa-9GyOcQAXtAJGVPYBHixp949_nZCfzUBW6SG2kFk1gefQx105afXk9Alc8dd_L2ilSI99frT58UqwMg0rySQEdvB7vk-kOgbEBQRZ1K4I1muiLVzR_7dObbBuLpqUNicUVmAbkcE9FNkmz_0eFPDOOwwIiBC3NG_DtLwpH2XMpzxAxkBHo_SoUNVgwslwh23pfaCjjjnqVjmbmvNiQEQ92hLCWAHgXegZAhHk2xs2veKj68wcAM9tXHlUUdr_w4hgwUPqLMKlBCEmp2eDEoZc7vvp10E0DbyDX7vwXVGThPC8CQvJPd7f-vjxcH1kroTCjl5U19J80A==",
  "id": "rs_06f7b9c1ebe4d3ed016ab46568376887d0b31690a537bed8df",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws are positioned around the broader section of the bottle. I’m closing to test this body grasp.\"}",
  "call_id": "call_73bVymSmxxcvE9J4P1K3YX0W",
  "id": "fc_06f7b9c1ebe4d3ed016ab4656876d887d0a18279cef744f359",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_73bVymSmxxcvE9J4P1K3YX0W",
  "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]: [-0.6926, 1.8568, 0.7288, 0.5095, -0.7654, -0.5808, 0.0104, -0.0341, 0.6933, 0.4068, -0.3233, -0.0608, -0.065, 0.9982]\nstate[eef_state]: left_x=0.3996 left_y=-0.1678 left_z=0.0553 left_yaw=0.2307 left_pitch=0.1276 left_roll=-0.0995 left_gripper=0.0104 right_x=0.2714 right_y=0.0051 right_z=0.1281 right_yaw=0.0267 right_pitch=-0.0332 right_roll=-0.0049 right_gripper=0.9982\nstate[joint_eff]: [-0.4991, -5.559, 3.0017, 0.5836, 0.2808, -0.0952, 0.8962, -0.6085, -1.1145, 7.241, 1.9121, -0.1587, -0.0317, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91ce74777362066516a9f72bf4e78ce60e4e24c9681c987cfdff7de33af92bf4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3638c984e565dd5557fc1f078185b42275dd7a981ea4ddf6dba10ddf1092c0c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fabf10c36a6eacd2219efd2235dfb8e44b335b3cdecff2c2b624318b32b13b6f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 3.395 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]: [-0.4377, 1.8973, 0.8822, 0.3874, -0.532, -0.3752, 0.0109, -0.0341, 0.7544, 0.5056, -0.3763, -0.0608, -0.065, 0.9982]\nstate[eef_state]: left_x=0.4606 left_y=-0.1127 left_z=0.0552 left_yaw=0.193 left_pitch=0.0309 left_roll=-0.0076 left_gripper=0.0109 right_x=0.2801 right_y=0.0048 right_z=0.1466 right_yaw=0.0268 right_pitch=-0.0484 right_roll=-0.0039 right_gripper=0.9982\nstate[joint_eff]: [-0.1162, -9.8256, 6.106, 1.1844, -0.0366, -0.0659, 0.8767, -0.4718, -1.4291, 7.3915, 2.0391, -0.1245, 0.0269, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6628, 1.8458, 0.73, 0.4187, -0.7063, -0.5499, 0.7939, -0.0341, 0.7094, 0.4366, -0.3344, -0.0612, -0.065, 0.9982]\nstate[eef_state]: left_x=0.396 left_y=-0.1592 left_z=0.0412 left_yaw=0.1936 left_pitch=0.0511 left_roll=-0.0334 left_gripper=0.7939 right_x=0.2746 right_y=0.005 right_z=0.1353 right_yaw=0.0271 right_pitch=-0.0305 right_roll=-0.0048 right_gripper=0.9982\nstate[joint_eff]: [-1.0872, -5.7094, 3.1521, 0.9939, -0.0659, -0.1929, 0.0513, -0.7726, -1.1556, 6.8171, 2.0586, -0.1636, -0.0073, -0.0171]",
      "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]: [-0.6926, 1.8568, 0.7288, 0.5095, -0.7654, -0.5808, 0.0104, -0.0341, 0.6933, 0.4068, -0.3233, -0.0608, -0.065, 0.9982]\nstate[eef_state]: left_x=0.3996 left_y=-0.1678 left_z=0.0553 left_yaw=0.2307 left_pitch=0.1276 left_roll=-0.0995 left_gripper=0.0104 right_x=0.2714 right_y=0.0051 right_z=0.1281 right_yaw=0.0267 right_pitch=-0.0332 right_roll=-0.0049 right_gripper=0.9982\nstate[joint_eff]: [-0.4991, -5.559, 3.0017, 0.5836, 0.2808, -0.0952, 0.8962, -0.6085, -1.1145, 7.241, 1.9121, -0.1587, -0.0317, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91ce74777362066516a9f72bf4e78ce60e4e24c9681c987cfdff7de33af92bf4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3638c984e565dd5557fc1f078185b42275dd7a981ea4ddf6dba10ddf1092c0c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fabf10c36a6eacd2219efd2235dfb8e44b335b3cdecff2c2b624318b32b13b6f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGVy0cFbVeJR3fX5S_eHz_joDnkXzJZIhYzJv-SEf--OCjw1hdusT-RXUFxPT21M0QXUDZL6YPdCuHGVjZhMNykSEWr4oBu9MA-9SOeM34lrA6cpj0ROCg35GeKmOEsb9tTvEqIo9B0ponsVMpzX7oNRN2IZaWJ8Xr5UD-N2K2u7U56IdGxhWro7bkPuIBzlvUrV-BXjAHYZNh2wZpx65CQNVMdYZP6fnQFM42fAzvFRkiNMU0vJyx4tuIbWjCZ0S9HS3UtaGN0-9wUgm4UTUYOVXX77FBA4DnXFiBg7X0Le9Bu_zk8TAcGvw9t0tg5oSMU0MG4ACQAswqyDMwyKEXatlsdjH6sDDDHbVrf_pxaG15EeRBGeCHFP5n49w1zinRSJsmnK77-9ghXJyQXP5n2LhKCh7LY7OkVQS3Mdw58WD5GMrku_974QK9jGLqfQrtUiwXYM22XvXI0vsygCwArLw6aynrICJFVjGnTN-2SI5B4mZX5ZsQ0xRvz94aD6kp0bP522goS0TAPxNYZVu4ikQKb9BKofS4nkts436dw0xEWFFvedLLiN4FSDivhNqPBBcljc2wazcPOO4bwqX-yDCmLW3M2mzKnDtOEEaRGAj_y2p7-Y-dGQ_NA85dbYgcW5N05UUakDH8iNQ2lDjAlUZayt4GLz-mMTN6bcB4qtloKash1xT2MaKhjlMTU0ei5jXU5wm42j1Th9NPrDkPHVoZDQsMlmNgcrY3GW0OgB95xTtFnN7LccbMtBEJuMiQ6gTPBVlCqmRYJTOIkVdFuRajAkgm4SNnnpvWxRvmqQr1hD_eC4DANR3JPVydxzMZoI96m9ZoLXSW6F-XGdfYMKSWYxGEvOU14xnbweiSAj84hfgjGGMztxQO5sDsU9U4LoawKaOsJu8_aNZBDad6BnVGSPbsnMhG-Iuh3RiHRjKTej0rOzXnV-yQlkky0r2Fe1cfdFKPUj3DNVcXOrHyHVRBzNE3_wiDBphOh9GjC7YMFUOrZfXoVo39t6DbIoDP8SekFfvUh8YKmpYOzE3ZXLIIbVMfZb9dzxcmGdSndIH767gqNGzzzPq1vdm91X2GK1CAzTiAoBlOlNUMsyDUmhpCOaO_2OmIAYW7HGZQiDaomp5dBP4Oaa5_zCg8m8BZdvgI2ePwDs3fWHxWKcLz_CR1VRpbzIIFQY5bj-9cOxIBHoxxiBoAoMIef71PT-9-iYZwp3p_TcTBLNFShe5C-xcc1__uBssuIune-x_Y98tEEeWpuCaa8437oC38VgFtH-HveE2mzkos3_R5-fjnhXbqTcXsRGJQGkOBl8ACn-beSxG9VBCzz9h0jwZhI8vRNDhAC16cjOgid9hUo7COSYrmmYxAqFuwzGD7UPhtm7XuBOhhBeZNCFEfkvSVtmiV0VxHi6dc5c2RH7X-MAFmjImpsRg43BgWZ9G4xqBYTpFRrCvbEJp8LA-f0dJine5GD5LV7hVxpS0Q2wYHa3LM8vnY06Bhx2TJb3tubxHlCw0_StuihEvfEpJQVfS--mbc2cryE2jLgfnSuHbZhjgLPfYzraFHDomLTgZwH5Qk963V3jbyJ35-ki4WzhKKfgZy7o7V7-O-yvpzWX0NeEXER20PiVshvDv5QxqojKPCwtzeNXxm1IvZGfshtTRPbhshfT45D7LlyHTEXIuiGbzB3O0KjUZ9T63IrztuXCnbKodBKcPyZXeyefL_ZRBBl1EkV2BlOuf9kIlhryzzDbYAPcaj9faS-z4UQD0TAJ0jl0FlvlNgtL5MMowwb7Xe_at_VHB_KjXW_Nu-NNRnABioEhRTh9ViMyEfsbmcvL6vTQBzOajgti_s47yBW2iTDo9ap0YiQEG5-UNg0diVneTNv_lIlmNEOQuYp6hOSpWcWlBPIz2CUVjYuGJj2W7ktw6-nD5eNdpX60kFF9OiSsp8VtFmVHFbqSsgvddplUIJyEv9yzC36Rlja0TPLfSxVERots-esn80FohsWtXpkBB1ZjN_eJKo6J_KUMuiTrWOGhQNkGKIuFpRXmcrzFWPsL0T1qbZS6w8ukrkqIBn8ROlOSR_b6tK0VbvlgJUsmUSsvOnPdkaD8R5lMuYBDVCOX79RAGUlmRJ0P2V4tf9_oCIe2De4cy2WyqTCBpDCsewonySEYAT6mNSZBULp1F1Ey5XG7-CBpOl2Ep9_BKoKcVt_KUyK9ZXsOEsdAKNToc66r6RPfuXrNKqU8HWqRG1i1T11Ck6kOmNxzG6970vU_V3NYEeNQXcQOu6c-c5vH_7AUmZTwMZxcfG9M73wdzXClIRMSMgO0ExPeP1ts9Oj7ZsbQx262DEZfHK0KIM5nPRIHqaikn2ANjJjI4o89zPa_DmUqxQuDatl6sDqBWjkJHzNRyHJxW1HhTHTga4DOaHzEu6uBWBOhX_5q78Rq6O_jSqRbvXvjRB8idpqA-2MaJiVAhxb3_ErHDnKPcGj6N_S0c1havvZ_A2k64DNLcF4qG_z0dASPZdIXsBujJilNn36xhyhUFIsfJKch4imPDxKw09KNlDDJCUPL-Fq16nTToYhD_mv-3nvNK4evtTxYxPOSrdqOY-uLh9x9cbRD3Y_fKGzJVvGgt83onz7JmWERl1BQ",
  "id": "rs_06f7b9c1ebe4d3ed016ab4656ce8b887d084fe085b3615672c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.188,\"left_z\":0.02,\"left_gripper\":0.65,\"right_x\":0.293,\"right_y\":0.004,\"right_z\":0.18},\"note\":\"The empty close reveals that the jaw tips meet higher in this wrist image than expected. The bottle neck is just behind and right of that point, so I’m correcting backward and right using the visible jaw tips.\"}",
  "call_id": "call_Te8jkogit9VOIPJGsY2DhY3l",
  "id": "fc_06f7b9c1ebe4d3ed016ab46570fea087d0b4f55ac9b7432237",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Te8jkogit9VOIPJGsY2DhY3l",
  "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]: [-0.7982, 1.8721, 0.8036, 0.2909, -0.8097, -0.7204, 0.645, -0.0341, 0.7853, 0.5598, -0.3981, -0.0681, -0.0692, 0.9982]\nstate[eef_state]: left_x=0.3773 left_y=-0.1988 left_z=0.0437 left_yaw=0.2201 left_pitch=0.0549 left_roll=-0.0765 left_gripper=0.645 right_x=0.286 right_y=0.0058 right_z=0.1587 right_yaw=0.0351 right_pitch=-0.0466 right_roll=-0.0032 right_gripper=0.9982\nstate[joint_eff]: [-0.4718, -5.9556, 4.0821, 0.7253, -0.2271, -0.0464, -0.2271, -0.8137, -0.8684, 10.0581, 1.8632, -0.0757, 0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2470cec86fb7ed8bdeec1484db786c9487e0acc4745578cf662ef91574329f1f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1a03ea7a7097041cf280eeb8765a31f8031986c8aabd113086a2794813d2f44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d483816b4b132b1699a961974920f5b3df397bb109ce0c15161d349dc6b86e4f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 7.597 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 70 changed as sent

message 78 changed as sent

message 82 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6178, 1.8259, 0.7383, 0.3939, -0.6601, -0.503, 0.6448, -0.0341, 0.7254, 0.4587, -0.3489, -0.0612, -0.065, 0.9983]\nstate[eef_state]: left_x=0.403 left_y=-0.1491 left_z=0.0445 left_yaw=0.1792 left_pitch=0.0321 left_roll=-0.0153 left_gripper=0.6448 right_x=0.2763 right_y=0.005 right_z=0.1384 right_yaw=0.0271 right_pitch=-0.0389 right_roll=-0.0043 right_gripper=0.9983\nstate[joint_eff]: [-0.4171, -8.6906, 3.7538, 1.1062, -0.1001, -0.1734, -0.1734, -0.759, -1.1009, 7.159, 2.0635, -0.149, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6926, 1.8568, 0.7288, 0.5095, -0.7654, -0.5808, 0.0104, -0.0341, 0.6933, 0.4068, -0.3233, -0.0608, -0.065, 0.9982]\nstate[eef_state]: left_x=0.3996 left_y=-0.1678 left_z=0.0553 left_yaw=0.2307 left_pitch=0.1276 left_roll=-0.0995 left_gripper=0.0104 right_x=0.2714 right_y=0.0051 right_z=0.1281 right_yaw=0.0267 right_pitch=-0.0332 right_roll=-0.0049 right_gripper=0.9982\nstate[joint_eff]: [-0.4991, -5.559, 3.0017, 0.5836, 0.2808, -0.0952, 0.8962, -0.6085, -1.1145, 7.241, 1.9121, -0.1587, -0.0317, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7982, 1.8721, 0.8036, 0.2909, -0.8097, -0.7204, 0.645, -0.0341, 0.7853, 0.5598, -0.3981, -0.0681, -0.0692, 0.9982]\nstate[eef_state]: left_x=0.3773 left_y=-0.1988 left_z=0.0437 left_yaw=0.2201 left_pitch=0.0549 left_roll=-0.0765 left_gripper=0.645 right_x=0.286 right_y=0.0058 right_z=0.1587 right_yaw=0.0351 right_pitch=-0.0466 right_roll=-0.0032 right_gripper=0.9982\nstate[joint_eff]: [-0.4718, -5.9556, 4.0821, 0.7253, -0.2271, -0.0464, -0.2271, -0.8137, -0.8684, 10.0581, 1.8632, -0.0757, 0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2470cec86fb7ed8bdeec1484db786c9487e0acc4745578cf662ef91574329f1f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1a03ea7a7097041cf280eeb8765a31f8031986c8aabd113086a2794813d2f44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d483816b4b132b1699a961974920f5b3df397bb109ce0c15161d349dc6b86e4f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGV2Rxlvi0UfCSjSQGRCOyLBkD0kYq-Q_guSZJShFQ4s79lk-jvdwesWCqJivXakt51zY8HGACMWU6bUheyPJ-9vhES7UoWgzBXEAnqZJDOc-YlnlfGtA5UpvRz6KW4RXzTvkVhyWnGx4bVYRUYoK2fIiAovOy8w5ID4q_-qjtd_nX9xnfO8f2P4InwyfZxDX3vYJDcT4cHAVpyYuTEzV0a-y4PpCyjQqD0XDZweuGPgaJc_DZdB73Rlj9YTkd-fxp491sZtgd1wZQcmu_pMksuUadEB9NS3v638B51BXGUh825VYxuwBKBu5hXCg3dFawxmeGm5L9J--va0AyhLxKJg1R41jlynnStxJAh2B045oQ6ri1Kk2asYAyEqk7Kubxc5ttfkaZvAMZR19VW_6Vfx-AODSxaNwaQBqNR8bf5qOwOlRUiiCee-yQN2hSm6WZd5USh46D_HqZflDP7b-_hwjD544ZGTha2CKeUFILaE1wJBUvxX1ZTFgl9oIy8N_QXAYNcLlYYA6eo8F_WjhBaX4m_SVNb_c2w7YhdOSLNjJeGCQ6IiKWt6o-2BNTAlbhuTG8mKssqIFxgIGWwlPaEFBVqjVfPDVaCyg0Iu9fWCOxSCKmP3tmv-UyG7K7E9-BlLes2LIZVtRebn6riZZReqq5nBIrBYUjTvwb47QJtgaddeLYys7FXUp73tz3tdi1AvxZHNWVLU-2A2HwBVORlPEpHBXOdjcqW6RQ8ClCuVBDBuXYIrNaa5rQYCJk0G8GfVBzpY7FjRK-3Ay26EauWrGwUGa-4mb2YCyJPaqHPRJSyq5vwPEXYaglhDAMZ0eog4MFQ7W97KTnUQ8aQ-Y8mSUwppEAeoHNYUxnppRt63Vt3TzKL2ZDW4q6lb24FbL9UjJUCE01m_rs6Ff1UNtihlUk5lh_3clpwHLMxlsoSwFeEpzOjYGt2x9gXhtSF4-SBgC2ljglBfbWGSip5F2dlCvz5TdCuMiEsQBJKca89zBRVrMOi3wrDOmTc2tqFxt9t9WpWdSC-GLpjjxcuV1sF5Ytu8COzcPz5BNVY0uIkeZdOqEL45oMsqFYXON8tMrXzomiYy2dhNFA3rllfgoRm_eHZZ3kUZQoVADOXuG-DM2VFUeGdue7n-R7iESeghX79ivekeM0taLbK6xmKECEc4MzcsLaSCvaljDNuffNNuVpZNcHFgKqAykEscvt9C2JyAw3_HnnCEPFSlwbRmFsMGlG0Dn7wmoD7G086XvXcLpYd2vMeiqb_99J598GdatYIBuso_xxUjRdiFM-nxqn-CbAh67dcrA2RDx72wxMqSslSShTyf_EL5IAy8unE013UkQFM6oJCEzw4D4ceRahZAPw==",
  "id": "rs_06f7b9c1ebe4d3ed016ab46574f01487d08f6f915187b13bb4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The bottle’s narrow neck is now centered between the visible jaw tips. I’m closing on the neck at this alignment.\"}",
  "call_id": "call_YpKEPn8wTmoF0IDTminFfpaT",
  "id": "fc_06f7b9c1ebe4d3ed016ab46575e5f487d0a13a83d3f73cf93c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YpKEPn8wTmoF0IDTminFfpaT",
  "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]: [-0.7971, 1.8717, 0.8818, 0.1822, -0.8543, -0.7338, 0.0102, -0.0341, 0.7589, 0.5129, -0.374, -0.075, -0.0765, 0.9982]\nstate[eef_state]: left_x=0.3854 left_y=-0.1988 left_z=0.0579 left_yaw=0.2571 left_pitch=0.0665 left_roll=-0.046 left_gripper=0.0102 right_x=0.2816 right_y=0.0072 right_z=0.1493 right_yaw=0.0448 right_pitch=-0.0428 right_roll=-0.0054 right_gripper=0.9982\nstate[joint_eff]: [-0.1709, -8.6222, 5.2444, 0.7009, 0.0904, 0.0122, 0.8718, -0.6085, -1.5385, 7.2547, 2.0098, -0.105, 0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2eade10f0d9f476ecc422be5c5d1373bbcb32063dcd848cf9bfb90688eef329",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d99e58bdc50ed41f249bb736624713862466470a8f1227f5d9f56ae37aad9844",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:740cb32cf8ad986a06ed6c203a1a196f669b8f704011cc17d3be89a06b83b346",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 3.451 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 74 changed as sent

message 82 changed as sent

message 86 changed as sent

message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6628, 1.8458, 0.73, 0.4187, -0.7063, -0.5499, 0.7939, -0.0341, 0.7094, 0.4366, -0.3344, -0.0612, -0.065, 0.9982]\nstate[eef_state]: left_x=0.396 left_y=-0.1592 left_z=0.0412 left_yaw=0.1936 left_pitch=0.0511 left_roll=-0.0334 left_gripper=0.7939 right_x=0.2746 right_y=0.005 right_z=0.1353 right_yaw=0.0271 right_pitch=-0.0305 right_roll=-0.0048 right_gripper=0.9982\nstate[joint_eff]: [-1.0872, -5.7094, 3.1521, 0.9939, -0.0659, -0.1929, 0.0513, -0.7726, -1.1556, 6.8171, 2.0586, -0.1636, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7982, 1.8721, 0.8036, 0.2909, -0.8097, -0.7204, 0.645, -0.0341, 0.7853, 0.5598, -0.3981, -0.0681, -0.0692, 0.9982]\nstate[eef_state]: left_x=0.3773 left_y=-0.1988 left_z=0.0437 left_yaw=0.2201 left_pitch=0.0549 left_roll=-0.0765 left_gripper=0.645 right_x=0.286 right_y=0.0058 right_z=0.1587 right_yaw=0.0351 right_pitch=-0.0466 right_roll=-0.0032 right_gripper=0.9982\nstate[joint_eff]: [-0.4718, -5.9556, 4.0821, 0.7253, -0.2271, -0.0464, -0.2271, -0.8137, -0.8684, 10.0581, 1.8632, -0.0757, 0.0513, -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 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7971, 1.8717, 0.8818, 0.1822, -0.8543, -0.7338, 0.0102, -0.0341, 0.7589, 0.5129, -0.374, -0.075, -0.0765, 0.9982]\nstate[eef_state]: left_x=0.3854 left_y=-0.1988 left_z=0.0579 left_yaw=0.2571 left_pitch=0.0665 left_roll=-0.046 left_gripper=0.0102 right_x=0.2816 right_y=0.0072 right_z=0.1493 right_yaw=0.0448 right_pitch=-0.0428 right_roll=-0.0054 right_gripper=0.9982\nstate[joint_eff]: [-0.1709, -8.6222, 5.2444, 0.7009, 0.0904, 0.0122, 0.8718, -0.6085, -1.5385, 7.2547, 2.0098, -0.105, 0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2eade10f0d9f476ecc422be5c5d1373bbcb32063dcd848cf9bfb90688eef329",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d99e58bdc50ed41f249bb736624713862466470a8f1227f5d9f56ae37aad9844",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:740cb32cf8ad986a06ed6c203a1a196f669b8f704011cc17d3be89a06b83b346",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGV-eLeHPsRXwsmtFGG5BnRytYCmKEc1blFtS7y5ESKuwjHfvrqJFQqVEttncR_FbUAko4EjfcLwdbwKoq3X-pdzRQGhuNiuozbhP5Lp-RUdEpjLp_Urt9FG-n20B-qknNrqCHnyYy1cqbRwsTm91OMWij9rL3rguZqdQF7mjNGWMbtjSDWIHaf4wEE2a-HVCh2OOV7qfcrxJowRTgYXCPxwgoUqBsqxb_gP2zU_6_fPAEgPGrmxQ63SvagZqeyStuMMjERto_Nr7eITS_9Z1MzBEagMetyOcZuHqYur35shkoO1QRuNvr7Rma0LxPBCX641sp2w8tq0GDQ1kM0y9G6fa40HDli5K3GPdP-t0Yb0e8mnv4EFMiuk3uepvCLB8_6KtDW-ZFJkHxqpXYebGmoKhdyxhHxjtAeUmlblLuS1rk-ZekKq8Sy5uxgCYQ4915AWR6zMgAlP34eSybFcA_Jemne-sT6CaWt3PTrdw7POhCEOuSA5ySe0DBx0_B3tjfkg67m3ahV6mMY9uWPP_hzR2w3UiHghz8ZhlRQsT3s1jWo4z6tfo5fbmkznrL4tdin_sv4nud7ZeD4EbHl1n-7y40h0a4pl5mvpwzRJ_-6UAqYxUw5ToQHUfm7wVJjL5EZbp07Oxyf8xvwt0djKqDc6RcimjLadoe8E-VXALQ0N_tIkOhxoTlJoSIztf05AzfhXzGDX5SscX0rYE45aHwr2wapkKQB3ymG_sl4ZObmW8hDHJLIXoE2I1LTpHJZpj2Ko9rJyirSSGevJw61IkhbrA9HLFyybo1ZYuDwoVdhZnro6I1PMrrg-332_IBRBoSq50gcfgKKo7Iw7leipBV7ydBmE-aVZaHX4Oot12-wz1ivif4JOdOntb7rjPCqf1EEnJXUZlWjBPcmGqSmbuexj6nsDxGG8g9kK3_JTZzLzkTwg9nRRTrnvXUtoD92vNhlGUSAdTTS8OmxaBSV5p4VXNqMCri6X_79jabflfR34Wa5X1BzxrEJHDV6KAyXKetzfqkKL2Vmu_UnkkwkKe3v9vPNBLzMp2L5tVEA4KnMQbfe7kVwYA2TteuOgDRYwvqNidRFAB3rsPX-CcN_rtB1of75YublW2nv9MLAJ6Ekk4QFOScMjXxAf-hKZOXhZ5ooz5A50HFje0788AmiUFx1wMU1NLIqf0dDcNVdQNKEBSa99MFBrF5nOV-fpmVFXZqJHImAc35aNb5zDJgoYaHzfM7eWf7K6y5HKyQz6SqfNRZuZUrz0Qibdwkp5W1HAUh_gTI-376jAb1xV3EffFT94b44_l32OkgfhQYxQBqY_f7inIoQobYxDL6XwvI-LboRnFRDwgw2r5x36FcRJy9BHcz9XI8KNVgKFmTybQSWfy15VqDfcj1Xg7Bp7Gr1ibrSMrE7kU8y24z48ZTL7sW0NcVeJh27z63BdAJ0ZykHlLYZd48Y9E7k4MElL4YLFA1JrgGgF25qnp1XqQKpFElRLZ3TvCNaFEhqQTbgEUnCuLPGAce90FROCvif2yTfVAgIDJT0e006MdnlyKPPq9Alu9riJOHu01Te1ytOGCoZTaQX9kaPOwGhCNsQQ9L7SVlPc72iKvwB_TDgjjGLeL5vmYKk86HmPiHdCphYVITtOUOevZj63QDioARj2PCHnzBVmrTkaVGf0DF_BDlqSM0jVw6y1sT-NCoEaMaydBdkeMrutAk1tlwup96RuqCPgUfDFOJLVEmRlfD2ry8S6qEv7mbm7mailPxrDhCp-0V8jDeXED6NRkCvXDkxv3HZS_Xf6ahBUutg8W0G9pq1YJsnQUl52LKsR4jXZTEl7M1dadamMTTLKZ0-z4NLwjsGybo4eQrpF5Dv1cyqH33Tjluu_Ucky9kG150oz_1Setn-HwP9q6nnpdY2PV2_mX7_WgZ2S4TbySQ_ABcy11IxK1QenFyHvSw2onFh_HBNsR0O6JdibmGJetBQ070ceowg81nTInqX7fRWw_U2JUO-nBzExl90XfSvSeKi-SwE5I1AeeUtum-Svqor7_qL9-HeY1CJBqX_mdR9IRy81zsnVLf4hEctFz_atSYZE6gftqaYulvev0H06uA5ohJF43oKBPUamvej7jxHT2Gg9DlZXeYXFC8Qf5xRJNpLhLfDLlRAobCMI4PL6dVzLkZzljNbE7aUhTwt6kezqERu7tC2sOk9ot7zsbBBDefYKeWBZypBJqVsTwNN1URlI21-YalDpjGazy_5jcEqC-bhwGEbmDcoD41T0xxkDxb6Fer3drozB9s9qSUTTTTsq4Zj8HilhHGHIl0issUyJbBC5FK9VwNynzPqCRDTS3znr3g5XumxRHMF2tduh1FuHoAlpn7f5TP3paiLEyqXafC7acBo_tcSrbw81PIuGiycge-Al96nXSGWXjATnaBu6zp4LrEpODiKzxVVKFUj7R0trQxn5uUYpHezoLqqTTb1G5-UNalhjWRz4riQ7iMh3KfeANU4V2Om2NBQHOIPj-9fNkOdUQR4Zhc8g0AjHofue0N6Fxd4EICiSCDUTxSUeXCKN2rU46UaodaGeoTlCp5bujVSaatWDLuL4dqfAvP_gTH33Yrfz84c=",
  "id": "rs_06f7b9c1ebe4d3ed016ab465790e9887d08aa7faf1ba252a1a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.19,\"left_z\":-0.02,\"left_gripper\":0.45},\"note\":\"The jaws passed above the neck; the height rose during closing. I’m reopening only enough for the neck and maintaining a lower target so the pads reach its sides.\"}",
  "call_id": "call_3IRAKUyhNdyD35CbV5GM8SZl",
  "id": "fc_06f7b9c1ebe4d3ed016ab4657db4f487d09d5266797b6c6d98",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3IRAKUyhNdyD35CbV5GM8SZl",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7975, 1.9701, 0.8631, 0.3893, -0.963, -0.7513, 0.4462, -0.0341, 0.7364, 0.4717, -0.3508, -0.0826, -0.0799, 0.9982]\nstate[eef_state]: left_x=0.3961 left_y=-0.193 left_z=0.0507 left_yaw=0.3504 left_pitch=0.1735 left_roll=-0.1085 left_gripper=0.4462 right_x=0.2781 right_y=0.0087 right_z=0.1412 right_yaw=0.0531 right_pitch=-0.0378 right_roll=-0.0041 right_gripper=0.9982\nstate[joint_eff]: [-0.8, -2.0581, 0.8, 0.1441, 1.4335, -0.3443, 0.0952, -0.8684, -1.7162, 6.9538, 1.9853, -0.0366, 0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28d58ea161a4432b8543c85a78e9ff15fbd6c4ed0994b39ced24988f6fc83df9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a6c048e17eb026ae7ac97ad3e92b816340cc72aa45bf838f1d18b98b37c52c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ffdf4873af8279882547c1a4a611593205f5d97d50397d4974df9ea2fc06713",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 8.215 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 78 changed as sent

message 86 changed as sent

message 90 changed as sent

message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6926, 1.8568, 0.7288, 0.5095, -0.7654, -0.5808, 0.0104, -0.0341, 0.6933, 0.4068, -0.3233, -0.0608, -0.065, 0.9982]\nstate[eef_state]: left_x=0.3996 left_y=-0.1678 left_z=0.0553 left_yaw=0.2307 left_pitch=0.1276 left_roll=-0.0995 left_gripper=0.0104 right_x=0.2714 right_y=0.0051 right_z=0.1281 right_yaw=0.0267 right_pitch=-0.0332 right_roll=-0.0049 right_gripper=0.9982\nstate[joint_eff]: [-0.4991, -5.559, 3.0017, 0.5836, 0.2808, -0.0952, 0.8962, -0.6085, -1.1145, 7.241, 1.9121, -0.1587, -0.0317, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7971, 1.8717, 0.8818, 0.1822, -0.8543, -0.7338, 0.0102, -0.0341, 0.7589, 0.5129, -0.374, -0.075, -0.0765, 0.9982]\nstate[eef_state]: left_x=0.3854 left_y=-0.1988 left_z=0.0579 left_yaw=0.2571 left_pitch=0.0665 left_roll=-0.046 left_gripper=0.0102 right_x=0.2816 right_y=0.0072 right_z=0.1493 right_yaw=0.0448 right_pitch=-0.0428 right_roll=-0.0054 right_gripper=0.9982\nstate[joint_eff]: [-0.1709, -8.6222, 5.2444, 0.7009, 0.0904, 0.0122, 0.8718, -0.6085, -1.5385, 7.2547, 2.0098, -0.105, 0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7975, 1.9701, 0.8631, 0.3893, -0.963, -0.7513, 0.4462, -0.0341, 0.7364, 0.4717, -0.3508, -0.0826, -0.0799, 0.9982]\nstate[eef_state]: left_x=0.3961 left_y=-0.193 left_z=0.0507 left_yaw=0.3504 left_pitch=0.1735 left_roll=-0.1085 left_gripper=0.4462 right_x=0.2781 right_y=0.0087 right_z=0.1412 right_yaw=0.0531 right_pitch=-0.0378 right_roll=-0.0041 right_gripper=0.9982\nstate[joint_eff]: [-0.8, -2.0581, 0.8, 0.1441, 1.4335, -0.3443, 0.0952, -0.8684, -1.7162, 6.9538, 1.9853, -0.0366, 0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28d58ea161a4432b8543c85a78e9ff15fbd6c4ed0994b39ced24988f6fc83df9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a6c048e17eb026ae7ac97ad3e92b816340cc72aa45bf838f1d18b98b37c52c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ffdf4873af8279882547c1a4a611593205f5d97d50397d4974df9ea2fc06713",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGWCATeYlB3n0nCsUYGW3XeSm848rTZsxV9n9-pk_ZFl1HY4bH1qkcO3OnmO6tIY4Zyti6MWJTdaV9I-JY1BqOM8mUoHztNy95j6I7uqzQJvQz78nZng8377LLNV-kWZIUisbGzjLNUtLCS7VS0nXdZjPLDd0M-pJWgtgNtd0KvUEk5QFMlZpZbUV3X4ScKBJBvo1tHiahkPJdmFQcaxfH3-D3YDhi20VvgZikMV5IRrFJEkm2xl_1Iv0RcqtFuHwHBF0-Qxn74BN9d5S6j1_AatEcyJSImtxscyR4r135EH33DpvvRUXlVUIYSBHNtepb2g1CW5Wwl7mr5gBc2kcyxMl2MysFSM-MIuvuQYH_9cMvdl_Yn3V8CLbn2b8sidFWkMNjamZLmNp3orIlyrnbNTSV1xgIj5vc2T_nr6JD7R8NhtLHKwOJ31CA2oVM9fLRIH3PmW7VvBMU8GzLTMwk4tlQXtg8QvCY7tURTXxideZjmTZFaNcU4bTrA92UoxMi73zR5SemXxbFL3ZoQSsA2Dw_cDhPN2R7I-zHruv8iJKCC1DaiqK9ePwQ63ZeTKucYi5tzd40vyxsslAsIFZ5A6FLFsv-42TWP1bdMCTuFLcICP16mop8m28vS_0LcStAJ0dFaEhaegphu1tx7dwdmAQrF1hn7ssOj87ecAFKSqVQ_gvdhcvfIvZC9vdcOXMcjqvm30m83pFXtDCNer-hTxXqBrenT8Q7yVp2aT-1MDDa7FwZ1A9cD2G7XKcvh68kqoSyclRHT1wHPUD4cecdc3wswp2cqkQWBpUePdXKXdcu7x4AssOvyTs2cBplfd4xvbVc_NCxc1s3mMe0Njp6qdjORDMFSJMK9Hs4nfY1RcatK8u7qqn9-8nkdQJ5ApUc8-ok-wKm12JHPqrW8Xgyo0fQKwX-3ZrGZJUuvZbxy5gRXAp3lF_CJkYm1s0jFCcUou2jbWRaVc2R3GmhNQpWR2KNOrhjoiTQGyk2S88ZpeN7Navitm0j-wqUOnxpuPThEeg-6U3I-oCgp2DamuYUt6By6p09R3A3HwV7gTdWI3GycqYfcVQc8fKoQNfaQXsOtRPV-OvPRUALwoGz-eBx2EW_-r6IsIxh8yBD88hpoFTI_AYotGxwJ3cXPfXEc2Rc09U35I1gFO0FfFkuTAEKqLI4A9SsCA1-buw4W7Nex1-D14-OIe62JFOw48uYqBY-ZWtAyGUK75oEjzKa5wOLWGWWpg9K4n-zlQ763azNtydXBfxLUxEpcDMe6_3xTMPepuQbrDzO96Q5AjuJ5UnPeEJA==",
  "id": "rs_06f7b9c1ebe4d3ed016ab4658134f087d098e513f000605845",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.19,\"left_z\":-0.02,\"left_gripper\":0},\"note\":\"The neck is between the jaw pads at the lower approach. I’m closing while keeping the downward target, rather than allowing the grasp height to rise.\"}",
  "call_id": "call_KiE45peFFiILe9cV13tyuknj",
  "id": "fc_06f7b9c1ebe4d3ed016ab46581a03487d0940f91bd32bf4d5c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KiE45peFFiILe9cV13tyuknj",
  "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]: [-0.8059, 2.0075, 0.9504, 0.2718, -0.9993, -0.8917, 0.0105, -0.0341, 0.7166, 0.4385, -0.3347, -0.0834, -0.0807, 0.9982]\nstate[eef_state]: left_x=0.4017 left_y=-0.1987 left_z=0.0504 left_yaw=0.4315 left_pitch=0.1617 left_roll=-0.1669 left_gripper=0.0105 right_x=0.2749 right_y=0.0089 right_z=0.1344 right_yaw=0.0541 right_pitch=-0.0351 right_roll=-0.0046 right_gripper=0.9982\nstate[joint_eff]: [-1.3197, -2.8786, 0.8274, -0.1148, 1.0623, -0.1978, 0.8718, -0.8, -1.5111, 6.8581, 2.0244, -0.1734, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:912cb271b240693ce217aabf981285233498cc0e681b3ef59751a01cf20ac5d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aad3d57f8367f9282ab26404c37857895382f9b32e1399493c089b74b9365eab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08ceafff3d5b2ff8cb4bd97037df42e5ae7fddd90a25324fb9e932cde64bebcc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 19.34 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 82 changed as sent

message 90 changed as sent

message 94 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7982, 1.8721, 0.8036, 0.2909, -0.8097, -0.7204, 0.645, -0.0341, 0.7853, 0.5598, -0.3981, -0.0681, -0.0692, 0.9982]\nstate[eef_state]: left_x=0.3773 left_y=-0.1988 left_z=0.0437 left_yaw=0.2201 left_pitch=0.0549 left_roll=-0.0765 left_gripper=0.645 right_x=0.286 right_y=0.0058 right_z=0.1587 right_yaw=0.0351 right_pitch=-0.0466 right_roll=-0.0032 right_gripper=0.9982\nstate[joint_eff]: [-0.4718, -5.9556, 4.0821, 0.7253, -0.2271, -0.0464, -0.2271, -0.8137, -0.8684, 10.0581, 1.8632, -0.0757, 0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7975, 1.9701, 0.8631, 0.3893, -0.963, -0.7513, 0.4462, -0.0341, 0.7364, 0.4717, -0.3508, -0.0826, -0.0799, 0.9982]\nstate[eef_state]: left_x=0.3961 left_y=-0.193 left_z=0.0507 left_yaw=0.3504 left_pitch=0.1735 left_roll=-0.1085 left_gripper=0.4462 right_x=0.2781 right_y=0.0087 right_z=0.1412 right_yaw=0.0531 right_pitch=-0.0378 right_roll=-0.0041 right_gripper=0.9982\nstate[joint_eff]: [-0.8, -2.0581, 0.8, 0.1441, 1.4335, -0.3443, 0.0952, -0.8684, -1.7162, 6.9538, 1.9853, -0.0366, 0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8059, 2.0075, 0.9504, 0.2718, -0.9993, -0.8917, 0.0105, -0.0341, 0.7166, 0.4385, -0.3347, -0.0834, -0.0807, 0.9982]\nstate[eef_state]: left_x=0.4017 left_y=-0.1987 left_z=0.0504 left_yaw=0.4315 left_pitch=0.1617 left_roll=-0.1669 left_gripper=0.0105 right_x=0.2749 right_y=0.0089 right_z=0.1344 right_yaw=0.0541 right_pitch=-0.0351 right_roll=-0.0046 right_gripper=0.9982\nstate[joint_eff]: [-1.3197, -2.8786, 0.8274, -0.1148, 1.0623, -0.1978, 0.8718, -0.8, -1.5111, 6.8581, 2.0244, -0.1734, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:912cb271b240693ce217aabf981285233498cc0e681b3ef59751a01cf20ac5d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aad3d57f8367f9282ab26404c37857895382f9b32e1399493c089b74b9365eab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08ceafff3d5b2ff8cb4bd97037df42e5ae7fddd90a25324fb9e932cde64bebcc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGWLZ-MU8Jna7EadxHDnxf7nDKyZGfnyYt2HLdFLK2vHS1vzVlhWviuWw7XevNSHkIIxzkuyqCMYCVXZ47pO3xkkaaXWs-v-fH2AZQjOTAQAAC7RJWfsSE9hCNz2Q4NODdJdpZQHDqgQDLMUhIpVRdvJXvsF28GhOHQoMmftJDG9XV_li_l9dZvX-RmM90_VAhtpBO3DQ5f4gOhJiDRISiC2CuWjQ-_JI21Qz3l9PwzrYfcViB8tD7RrZl3wQOwbW82B5t_tOQC6gXfetbzC-vvzG-EixRQB2Ldn6DvGfuNEqf0oQXnVOOL-K_pZv-J5NNSfGdOSHCyRrjTb8bdDxFctWyWexu4oJUGSUVmTHkeD_MrNic43I2E1GjvCV3hmoHRF0igBiKmg6oJRWECIJv1nUZSDWRJ-fRraiqNx5BTNgHqiHI8AVOdmZa0YGoerGz4SyuDZ3FiWh6oXNMsdh-3M7tqw4P4fDUNSqRwZ0axYgkJcU823QTg_6nYLGBCvFYbd2GxJu1xAnvzqlYGlISd11z10ysJOAQVpf3eJNm6h6P5YsFaCwK0wAC0uXxQ8Xz_oOUA8RzzAiz9eNrhHqWKgcEKCdK-NqCKwkpuFoc3cQkMQhqdcIAQi4QnFCVjbet-QwCWM24gxl7tfxH9RvzW6FyUF8OBwY5MpHVHXLnMiftnxN9j1Gt-he2s6n6WkojKRx0vvZgRx5VJuSUMq6JBo5sPOXCCrmyTIhdSpDNr5zMHboOL2QXNkiThsBcAfahkT3lQhpKrAsxA8cWBtUrgzU-LNBNaTBaHPY1CeHqlQn-NpAtsDVq5e_ftcrukV7BWKcTIaG20A27E4vEsWWP4b54D774YFrq8_UwHcIkpbCkTRwuLcBGnhRTAlsYNDsQa99H6PxJTCveE3gEbCuuJitDybrDjt4stISQWk9lzLKTTnWNsP2RCE51gJT67dC25FTF_HWBwi0nCAMGmfI3hGBC1kNUeZmrUnEz5rHmWj_rA_be4yTn56S1NvRIy6N3fVxLOnKN-OSF14CziskNA8TEwmjZES_kl_p_UWI1nsGkwaWKbyNnX-daaq6d7cvTla9D_kOQER3kxRszqXM7a0HsBiQZcYQReFjS9FTc5TkM1-6-KCLYPUoMhqf2jWEIUChvaJUBKOzK8W8OAki66xSxNxksnCWZAi2kgFDht9mkoGnsF3p7LVQVDb0vlmhnlKdAn4VV3kJkW1MZ_AByEV0_Jokbjq0NscPb_kA8qBfHhM09OGmhYAM0t-iyeFN7WtuCyG-7qU0AxbY_hG2mkLXyMCNJmIplOCsh_A2kX_Jur5H8wmU3omhZY72ts6ifCA7gIzDpRZ1u0qO5ERTq6GrvJS7c27nPbWilL2gBSCl9HbTzYIuXlYYPn_zEuMrcMvXeitB4RELkiFBW7Mnfpa_7CXSsAXOp6i48Bot6Ts6KC2GPI5_gkGDFL0_T_vaWEiuawvpARcOMm7_to3mLRC66TTQqYfTGboCtInAlQKt-U-GoWybZqkqb0L0WXStktPCYKsxmQMaNOMestLz4g4aSlaswt_cugovFI6e9J0wZ9Th1MZ1bdj4vNhQiIFCMw8LM9p1OJusehX0JA_b2kzqllPGQywinYRe9Vi17sih0apaTc0VYLDGeoluYbMYzU3UFgOFHd9gv4RjvKMkX7xrgTiRMOF4sOjQMj14RdJ5E8Yc8NaW6YOy3p8KaPtQ7LIrUDc5GvP4HQep2BGA06VeCMhD5C4rmL32I6R74mU9Tct2VnX9l9NSD1TWgqASBeVBzPFj5qNmMcan--xU9O-XRXKUN0dqYUNMFwkGRImiwRzR04pXz64wZt2A3W7mJT-lZQVZDdva0y3gm7NmxPN90yNTNY_mIGtjsH64KEN-7s4_6XGHQljW8spJm6r2ZUJYojbt5hvKYl3HkjvPEz_RlX2Nw4NAplO4wKyCNeZib1b9PENS4foxLS342zdaD5fGDMtaRMtgjczyxKLC4KuMo4JxF8DbdS8QiE44YtYLGTCR112b_9tRm--w_SBd2Sod7D2JRuTd4inHE5CHFZei3cPKiwZRJ4QWV7EId0Mlhnp02-IHEzVApRVVuwJ3wrjEW6cZJ0ITgq2MqU8mC8ZaPeRD2WQzZAFOFQoATE6mT-jSgg5Qn6laHXlxnLQmY6AZP9HJctq-zkqkdqYR5D1xIjpSoOVoHXtgmOG65CqnBB12C9PEdhd1r1ZYiLpBjvmsBYPgPyceh5lZnjyJnAwlziDGrTXe0l3P0G1z0h4KlnoxustjL7ku23HEehjO6U_i5CVdJ0oz2wbUj-p_z93kCk0NatCsAVlqzjHzguGpOEz3yqLXAUdBfrXMovaWJznEZFvV9ecws1BajGSxfYssGK_-UaJbFJH_fd5UBBaXlbaYpTGuX7-3tLEyDf2d3J2NkuJhBLnqRWz7e6qk6GNEErxzkEcFYl7lwL4yNOQTrEV3TtmDWe83fAZWgEkigAy_RndqKGtZihiUKpOzjFjunCLXfh72TNH5Vjqv5sACwSB44vkpq5AZV1b-Y2GuWJ_RMAvJ1Q5cUe75-d67LZxieZyDzRy39lzPC5YxEKbG1BRLnpKOGl2IxWgroJXGJaTB7FTiyfo9F2aJXsTxzbLCIvBQRmUFLNzqfBJ-cVj_aMpTlGVYoKgnTGxX8uJ6Bg0vE494FTYuKkc-MB0eDwbMfoJIPKTYWZW47XJODN6Lk7SIM0db_RoVGCMoXcnjhsDrZq2T4fcPeh7DGiz-SLjgJYs5vNAXy936I2C2bxdw9oy3sFymL0YPWBIwjSwNJqpWd3qT_RKGQSUYVHzmYUrLkZtmMcZKUuuSKD1AZCvqQBt20zgflYQOSR0jsH48mn1UUHAf640TRs9oM3NPv7nvKDyOs95EAeMSf44qCWf2xH7B4UTngBhTfzwrbYE0bB9hwTbM6pAIgevMXIULVqsVXeLka-HjyCQhbekTH0Tb8AkwxLLeRLD1nm8W2kaRUdJkjWGq1ulRMkCZujgeyvna9RxbIUOupy4fwEC5JEFH0FXSdmgaO5Oz1vwhnV2B469",
  "id": "rs_06f7b9c1ebe4d3ed016ab46584f36087d0b0757ea6b59bec54",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.03,\"left_z\":0.18,\"left_gripper\":1,\"right_x\":0.293,\"right_y\":0.004,\"right_z\":0.18},\"note\":\"The neck slipped aside again, and the gripper is empty. I’m lifting away to clear contact and reveal the bottle’s current position before deciding whether a safe retry is feasible.\"}",
  "call_id": "call_gzFKo0HzTbbel906CNtRLH8z",
  "id": "fc_06f7b9c1ebe4d3ed016ab4658a4ebc87d08833ca3e3aed63d0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gzFKo0HzTbbel906CNtRLH8z",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5735, 1.396, 0.7338, -0.3595, -0.8181, -0.7582, 0.9965, -0.0616, 0.7891, 0.5674, -0.4118, -0.1131, -0.1028, 0.9982]\nstate[eef_state]: left_x=0.3271 left_y=-0.0535 left_z=0.106 left_yaw=0.4714 left_pitch=-0.0649 left_roll=0.1044 left_gripper=0.9965 right_x=0.2852 right_y=0.006 right_z=0.1588 right_yaw=0.0637 right_pitch=-0.0535 right_roll=-0.0031 right_gripper=0.9982\nstate[joint_eff]: [0.5949, -3.959, 6.4205, 1.1844, -0.3541, 0.2711, 0.0024, -0.7726, -0.759, 10.2085, 1.8193, -0.1148, 0.0952, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27c3458b45d32a9410bd08ae8d176e57b97b4b484535df12047f1e1494ae3c84",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3f94b855ee8586fa137ff8d9987234517623039c3f7b17df2e166c63b372f0a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82639471ced572f26146548fc3d95a67c410c17190fc47df9e8b731a29ddc20a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 8.872 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 86 changed as sent

message 94 changed as sent

message 98 changed as sent

message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7971, 1.8717, 0.8818, 0.1822, -0.8543, -0.7338, 0.0102, -0.0341, 0.7589, 0.5129, -0.374, -0.075, -0.0765, 0.9982]\nstate[eef_state]: left_x=0.3854 left_y=-0.1988 left_z=0.0579 left_yaw=0.2571 left_pitch=0.0665 left_roll=-0.046 left_gripper=0.0102 right_x=0.2816 right_y=0.0072 right_z=0.1493 right_yaw=0.0448 right_pitch=-0.0428 right_roll=-0.0054 right_gripper=0.9982\nstate[joint_eff]: [-0.1709, -8.6222, 5.2444, 0.7009, 0.0904, 0.0122, 0.8718, -0.6085, -1.5385, 7.2547, 2.0098, -0.105, 0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8059, 2.0075, 0.9504, 0.2718, -0.9993, -0.8917, 0.0105, -0.0341, 0.7166, 0.4385, -0.3347, -0.0834, -0.0807, 0.9982]\nstate[eef_state]: left_x=0.4017 left_y=-0.1987 left_z=0.0504 left_yaw=0.4315 left_pitch=0.1617 left_roll=-0.1669 left_gripper=0.0105 right_x=0.2749 right_y=0.0089 right_z=0.1344 right_yaw=0.0541 right_pitch=-0.0351 right_roll=-0.0046 right_gripper=0.9982\nstate[joint_eff]: [-1.3197, -2.8786, 0.8274, -0.1148, 1.0623, -0.1978, 0.8718, -0.8, -1.5111, 6.8581, 2.0244, -0.1734, -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 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5735, 1.396, 0.7338, -0.3595, -0.8181, -0.7582, 0.9965, -0.0616, 0.7891, 0.5674, -0.4118, -0.1131, -0.1028, 0.9982]\nstate[eef_state]: left_x=0.3271 left_y=-0.0535 left_z=0.106 left_yaw=0.4714 left_pitch=-0.0649 left_roll=0.1044 left_gripper=0.9965 right_x=0.2852 right_y=0.006 right_z=0.1588 right_yaw=0.0637 right_pitch=-0.0535 right_roll=-0.0031 right_gripper=0.9982\nstate[joint_eff]: [0.5949, -3.959, 6.4205, 1.1844, -0.3541, 0.2711, 0.0024, -0.7726, -0.759, 10.2085, 1.8193, -0.1148, 0.0952, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27c3458b45d32a9410bd08ae8d176e57b97b4b484535df12047f1e1494ae3c84",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3f94b855ee8586fa137ff8d9987234517623039c3f7b17df2e166c63b372f0a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82639471ced572f26146548fc3d95a67c410c17190fc47df9e8b731a29ddc20a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_06f7b9c1ebe4d3ed016ab4658f4cb487d08eb4a568639ebdfb",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtGWgaXqQOGYAEE2GONXb9V9OXNnjsK-30dZaTxTCCqv2mppafBU1aHbrwI_Cr7UthZ1XmyCh3pgpieTFsjExVyusTRAEr6yFni1d8AZfb9rIZ663aJPxg7C9PoWdC07bEuFzQlWJZ1207n6a4nNLcYyPlTcb7P95zcFiv6JjoRH5hHzC21_aG0Gc15hyIPcPHzc8rOwBjqSxSo1VS5xFcUt0f9NyjVZJ03_Da830Gxfg7P-PtSwWnkHCwuEqW7exSDXvmCagbOI2kMZGFbYG-zc283mrB1k03jfDCXFlIITZboCM5zdoA9G987c_FkxFWJIpKaqg-WWJZQmExc2w6aYhyqHuMyc4ZgaELnsSYkI7b7ReufjRCJsIry0Tvuu59E-QJ497eKWPD47GcOaK0WztlDQOFW7te7E5KXz6QUE0k-xKYBUL7g8jbq1mPurSxn0mr0-l0tntxN3xl8b6_cjhvZl6v4U_SWnHeemzFdfBbbjiG8RI5IEJ-ifRqMbk6GCeXSFyTByOmOKOdinOTjN21CsSSFEg4kr_G274MnhTcp7OdnnL4sDxxufr2kiQIJ7ACwL3tPas6dHNoiTey2PkWdvma5P1OJEoa_d3BXt_eeIJCa_DxVXvwV9cjfg2oJ0MlGYOtwg5xxZnhHJKQNw_eNucOLDSmG0zKYu_UUQLXL3GAE-IvVb9eP0TovOXCCUDwb9tgNOS2m9lVTJ-irJKCTzJkjuje7bknTXD4fbeT_q2gLqoVhJO7QRzOhkDWLuK2VvEmMRGcXJCcTPcohWF9kaUdjRvrl85DO7k0PZrK7Qc7q3VVQuMPijMIBpG4FNhEXV_V9LAxNv9UqFI4zhKBBr-MvhRVxCWFgrBHI9um7kF1AfYyPP-utW5kWOwwUxj5PlfBKj1XA3iAHnc3VvctP33t6qAQFdbZ-BMiuNImjBYzWz6jkjDM08m7d8woGuJTj4tg_u_VVylyb4fhBgUWKHW2NrKgStyazNTqhk41CJNLJRLbVz61sSc17GtMsv8MLnp-exuDTBXFPBM5419ThlVWDa36M1v5HRuYYZyMdwVfODZRCW71kvBSyl7DrGuF8_j2L0EvcwWCR0Dh_cXtIqgk59hiHKyqwsXo3Eaa_t_WrUywlnCk5RSvtRPPgs_YF-wm831PkZAx5uTiKkWQyQ07NRL7Z0bq2yKogQ9v0Bi6LfCGCLdqGpAO5mYoEWyScdTiH00nRfdp5VCbZAv349Hwl8uamiewPswk7kyCswnlJcZzXVJBE5r2J0Qr8w5GiSgrOc6H3flIXM7VY8N5xOjJYbp6uAClGkNrmTZVBvJUo7L1FchyqYPArfKzhEOOu6ykxobRVmpFtAd036dMIAGKV6HWJZ_-6SEfIr2qqtT8RjLUjHRU4yx9754hpFAnvOl73vZd37yko09iQz6z-HsQFLcUdQ3DLLrFfLMyE7DUVuXvD0cM09Hm65CD_jqFZt5WkL14YKUWhAATNC8ATM-G4O3oZJVcnAlab8hfIlXeinAqBp6lrsqZnSl7aUwsmNCBcd3SvoO4eQbBuDHfdcLDQx4ww8utFDr01EQUdVK2mVdBtmNu07Z6x5kbrlcvuZluanlLXNLzls2i5hblA-XBoPZkeJr33rHw8YXRDxOx0I5g66DGYZrldDSe1Ctufoy0VB9Vyq0Rtd3ioyY3ESl_Br_ydN55QJKHaCvmFPnr4FWiLXLlSrJUw0lTIFQa5EhBm4tI86Z5G2WpY35VOGHIZH84p6KqSFrllOgQpR6PYXc40FFC9oF0kZzHbrGHkmjr1Z2Z3yphdXI7URFLw_oOCg_wFMEHsPAV9lTwms0ON4X8TraI3UZB_Fo-57_T_TplbChx_WtUK0gzykI9-V2oauSadVxrqmGlaxQTDrBg-iwYLCUcawb2GSiN2WmCo7SnWMGr7wngx2amgZJt2ulUNXHcrbr5WwHj0J207LOfLU_oPIBljHCBv4Cdh-WqOggGKx01ZfrVL3u1S7GQ8c4odi7D1j6ItDd_Pi6rGEi0Tm2hx9Zd7rBlyLemcYripOztSld8pQfClwvvdedmzJkmGG97WiQddKp_QeO-mTMbDRyy4IHL7F1h76MnpVYgaOdlw2OGX5m3HHjs7Hv6FF_zf_7f-2Zx644xx14qVtmYGaPR8tcUTO9jFudWwdHLHIf-qCLm2k8bvhumI6TEGZ44nE4GXZow40VGXkaWZoe83HwvdsL-I9sHpnIWERh0Rt6pI_ofCRPcoXonhR4cN3_P0-hN1jQR72AUAXKj0Uc_qK1KYWkHf_a5OdDSNkgFeqJYmD5TBChpAv2fVRVHLyvay6nNEZ3yZT2818iBS-4avlYFxSlXnt1PXl2gvbkfYs0NWAfSt6ydgI_xQgtuNzNci0o2LZtyB3e1g5q-4QBEegN_xaOL19EGmfTyigfKUyn2tTXLYnr5IOoRDbeiANKLCpHvGvhl5o6-8gFVwOeLBULh3R-zS5V0Kt-iKb8ez9wA3rTgamX_4O47CSVrD2eNNlI_a1nsi6TS2dcgqTpC2sdp5KxIjGqouTTU1Al0uowkFb-56jvAOAJPyHYE0s6FMXmUExGu4liREl0wWGDNVuJsx_VLpfVk6GSUFR6Tj6tnH21oc5tJOzJ_X61PqdSV0oYLqNYJiD_UA4HD9t8A3-0ROy0dZfdO1-kGDqIjo7ToAkiVfG0f_IHdjBw7Dc0SR30JxdifX8ntLuZfeXSolhNIOST1YYkQJUlmK5Vh77PkUJlT9tXM1qa0m9H8pK0rrs-h29LmroXpLTh37Q6GjG9OJhMjOzZQakXO6NGO5DiP_RfqyFdIotL1xqsFq-2j_GXzi8HChqa060ULkAREehi2RT9_T15UNB99cc0ZpTkmnfZDPkkKlNikWVBhJNeqCHoNLmBV3051G8cADGSqPj7FBxdSluNbUcmqRyUarDrtAMpw9235GZ0voSioAtzBF9Z8QdpIiI5PMsZAPrVmDZHIFhg1YGUvEURUY1BV5NNVXVnWm3RclTlUyRsH_8sgseKUw5qKKZ-LbP7bCjHdD_TJ_Cl_b-nqMG9bGvamgN1E0L28tpLHxf2_xmOKg==",
  "id": "rs_06f7b9c1ebe4d3ed016ab465984bd087d090f9f5e203614feb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.19,\"left_z\":0.035,\"left_yaw\":0,\"left_gripper\":0.65},\"note\":\"With the arm clear, the displaced bottle’s neck is now visible behind the previous grasp location. I’m approaching that neck from the nearer, more reachable position with the wrist straightened.\"}",
  "call_id": "call_EmwrDkwmGTqBB8D2ugMYwYmi",
  "id": "fc_06f7b9c1ebe4d3ed016ab4659eaf7c87d090960f9ebf85d34c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EmwrDkwmGTqBB8D2ugMYwYmi",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8192, 1.684, 0.5598, 0.3206, -0.6952, -0.5812, 0.6523, -0.0658, 0.7582, 0.5163, -0.3782, -0.1165, -0.1066, 0.9982]\nstate[eef_state]: left_x=0.3261 left_y=-0.1779 left_z=0.0313 left_yaw=0.0448 left_pitch=-0.0242 left_roll=0.0156 left_gripper=0.6523 right_x=0.2815 right_y=0.0056 right_z=0.1506 right_yaw=0.0644 right_pitch=-0.0399 right_roll=-0.0059 right_gripper=0.9982\nstate[joint_eff]: [-0.4308, -6.2017, 5.053, 1.6044, -0.2564, 0.1392, 0.1343, -0.3624, -1.7573, 6.8444, 2.044, -0.1001, 0.0269, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d3245897f4a0181406833b0b25c6f2aa30b290a7eb60fa29da3b7d013e0f7cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5ca45047ceb5d11439392f4b85f5016ffd0f74b9bfae502a6c3de4193b2d590",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3129aa1b4cb14e5f22341cf67b8df65931fd2a8c735b4f8f5609cd935b3dea00",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 5.668 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 90 changed as sent

message 98 changed as sent

message 103 changed as sent

message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7975, 1.9701, 0.8631, 0.3893, -0.963, -0.7513, 0.4462, -0.0341, 0.7364, 0.4717, -0.3508, -0.0826, -0.0799, 0.9982]\nstate[eef_state]: left_x=0.3961 left_y=-0.193 left_z=0.0507 left_yaw=0.3504 left_pitch=0.1735 left_roll=-0.1085 left_gripper=0.4462 right_x=0.2781 right_y=0.0087 right_z=0.1412 right_yaw=0.0531 right_pitch=-0.0378 right_roll=-0.0041 right_gripper=0.9982\nstate[joint_eff]: [-0.8, -2.0581, 0.8, 0.1441, 1.4335, -0.3443, 0.0952, -0.8684, -1.7162, 6.9538, 1.9853, -0.0366, 0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5735, 1.396, 0.7338, -0.3595, -0.8181, -0.7582, 0.9965, -0.0616, 0.7891, 0.5674, -0.4118, -0.1131, -0.1028, 0.9982]\nstate[eef_state]: left_x=0.3271 left_y=-0.0535 left_z=0.106 left_yaw=0.4714 left_pitch=-0.0649 left_roll=0.1044 left_gripper=0.9965 right_x=0.2852 right_y=0.006 right_z=0.1588 right_yaw=0.0637 right_pitch=-0.0535 right_roll=-0.0031 right_gripper=0.9982\nstate[joint_eff]: [0.5949, -3.959, 6.4205, 1.1844, -0.3541, 0.2711, 0.0024, -0.7726, -0.759, 10.2085, 1.8193, -0.1148, 0.0952, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8192, 1.684, 0.5598, 0.3206, -0.6952, -0.5812, 0.6523, -0.0658, 0.7582, 0.5163, -0.3782, -0.1165, -0.1066, 0.9982]\nstate[eef_state]: left_x=0.3261 left_y=-0.1779 left_z=0.0313 left_yaw=0.0448 left_pitch=-0.0242 left_roll=0.0156 left_gripper=0.6523 right_x=0.2815 right_y=0.0056 right_z=0.1506 right_yaw=0.0644 right_pitch=-0.0399 right_roll=-0.0059 right_gripper=0.9982\nstate[joint_eff]: [-0.4308, -6.2017, 5.053, 1.6044, -0.2564, 0.1392, 0.1343, -0.3624, -1.7573, 6.8444, 2.044, -0.1001, 0.0269, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d3245897f4a0181406833b0b25c6f2aa30b290a7eb60fa29da3b7d013e0f7cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5ca45047ceb5d11439392f4b85f5016ffd0f74b9bfae502a6c3de4193b2d590",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3129aa1b4cb14e5f22341cf67b8df65931fd2a8c735b4f8f5609cd935b3dea00",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGWqRoQPf41ZX5wU9skfJyP9tnWUIBVmaQn3W-XX-bnd_ascasLgLKh7ZbgXbxmdTfgwXxezpZLv1-mQTll2UnmOoMH_GIy9b-X1u4bOx7Ka7Plszsd-otC__RIhpxCI3voOn39OvfScZv7JZW2PUe4RwvfVRhnyyv8demxs6PiQuMVJGjpnYgak0AhTMbsEpah1ANczjRaM09aXIwCY90vPYx_FHk4toO8IqeGrhNR3aebhz5XFHU_YQ6RrkZ9j0lxp_68leU4H7UtdcY71QpEhlrJ9y1dNFDmFwdBZI8aTdtZOwmPWD_rwN6R0uGbmaz5ku3cVDpZJxbVoQxJ-OxZBdiJ0jnn3gfemG_z6m9HvjL7NYCCckDmLvxO7E3YqoPF2tV_m0Uo47l0hQFHiWFvE32B7Ygt0ZCGE-JcPN7lAG857muqzPsby9vBCliCZhaKXamVKI4u-b8ofjmlJ3pcWoQokuhc1LPVbzTFS6kHI1a7VcytgCmoOD7g9ZC9DnX7Ee8bvOAGfvengq2i96iBS6GqzGMvzOIvS8ZvmgjGpHbuh79HQrahr_0KiVgvjryJ_xEB9tVU1o9_DCQh93ckILBRHd0D8PMGe4DXuLDXlQgNBbhKRThOedbAafu-Px5WaU3xdxHQXrkANBdbcoHtP8egb4JOUVZEeJ4vJOaHFuj6Prc0yoWScvMRi8h7Nr6ZLO87C89Ud13jY2AAno66U6K66BNmPwZHLIVm2F8sPlZNcEJIKrF-NSZbu_yUV0lN50r0c1YsEzn2Xwp0iKhIIbuZhovwwEZQEf5JSe7REKiIXipDG1PTMr7iQf27EeS6TVLp9SHKhEXF2GSedsEK8AvjJJUG8roqhMkHkgCD334j8_FiLeqXo80EXh39psT5s4ND_qatvHRq6nJCUP2oKzxFmwcIk2uvfXjQ4dmguFygM3b5LcaICLzYdKKw_RzRM9DyNv3g2mTKMZGFB-o07dT4Ze1VKFELIv03UtxbURqgRrmbDdDwFlo3DY5V4GlvSwCC7A32hiq4CkygY0NUneW9Y3EQytzQdzbPbDVjexz4serdpYOQQfPlfq-CQr3rDzSbFOQMDuog81Sx5sBb4oMtUxNSyvK1P7SJdMtGeYZnGsVf7cSB9bgk6AZ7Qn3it9ZVpMfVLiCksyDt1sfc4LsYABIOeAtYJGauK_s_IT6CgLKckGMUC23-ZzWNOVPnogQDW-kGm-eIFZ_P6Qgf7PgAs0ToRR9hyqo3Qsz_mr-iIDCLeoxhPKl9wG3MPSrXgCifOapRz7HoYe7E9dThv5Vr6fRZoaqhOndWirKrE_pzjNX7GZHKB4ib-HmHsR4GVjN1ClCR1yxxcIFOFsX8SkPnJfaG9Txwq7TigyBTcsq0A8p6ZI9_WjiLMSO0Ezk3lnUoOGtsQY-zvg21RVybrldO_FsLIOH6L90ov6HKnV2huoOFVquyuvdAgdbH4kb4LN5FnZaSxYcKMGrJI0fjJZG_zhiEoEN_tuRJz3gbTMpyBpKfZ-UMeROfl8qUK3zJKS1mlGUl_8HIMNXXAGPoftda9LkMC1SBTqDXrlFYVI4VXSXEdx6qBmrhGQ9QHevSUX8-VZmo3afYFSgRsvj02e6_-jMnYsrfJCyhIPVleKVdC3FKKPpdHSx9Ipiy3MwH6r8Rc_vA-Mijhs-UEOeV-yAfZwK81voMC2gnFuMLndSd-Kz5abBnY96eYKfyQfyc1fb-ax48Zw-A5kpFmBGiF6uYyb0YIcWp3UWIXSdhWrCryvlWs6gAtXN9xYBd0c37ksHCC490CiTli78tGZLghoHJ28eKgAOFPCjb0HYBjZy1d5YeTu3nXls1DfUnDlCNcfe7Cm3pakY4DKg4fLfWptQIUcGqzWSOPI3hTgg058pfYaPD3nJ5PMvVj5RQ6H6EVkkETrSmz2lGTJBhXt2_U5-ZeOTeuRIF6Yehm9Y5oisJfwM8dKbbCYPbv_c2LyPujONO_O2m0lRA53YD6wIBzjDQr1U8Xm8n9U5MRhD6UdoijLn-S0m2w5qRZkK-ASQWKCeslSgIhg77YNOw1ct5DH9Ep8A3VMniIyYsJ7H8hR3v7rmZcLd-WL_jD2Z5NZFt1PN9UaHHvZntOONCtS4b0TuVXv-RJWWB-2mML3CuNY025_BL7fF5EgvtLo4KZjbubfMS7CJ54KhTu-61MinPFynmq8taVrbz3jt9qB6pQXMW0cN6w6xVzQ8yr2gQPTdw6Xb6F-98HPxKc9rlRZzoUj_yamNJSTSz-iOuS8ccjZ4x1SeeNBFx12_ImQL7Wxi1y2uhMnJ5i2L3tdoLsd3KVna3x3PgMYMQBYrbTELD3H-A6IVbd476_HrHxHGLJ74lWrJdRLg9xby2_glJzr8RK7X9KNRpz3gND4gwSLVrGnSxsISz_TZflwqqSgawF-HwW3bbpg4fvMfv9P-AIIYgNIdEVFCNIAu8qprPLApYEzsfKMwI65Pi0HtHpDTEETokbNqnelKWLZ86TX_78nmLF0S1pM1orgslfPqGpghQg85qZsh3tVNcGjHk437x3pNtaw0jnhpXUKUn33PicKy8YxMwehgVeszFBthvPKccU3jsmcQYbqKry3mMfogsIiDCldWI_f_bRHDZXHorJtC6B6e2i3VV8RJu0-eGGuZomKb8OiVTni14kf7Tg4W9gICvvhyQ5lFyD5980Zlvl-5PSio8koIQ-O-HMY893J4eotA-9yYkMKTSOabPYNp-YRuKh4xr549jvbm8UwMjW72ENxXHAYzDiKTKOGWfK18Fun_W8V7g_WJQjeIZYfpikdIa5",
  "id": "rs_06f7b9c1ebe4d3ed016ab465a35f9c87d082f8e400b65e4635",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.26,\"left_y\":0.015,\"left_z\":0.12,\"left_yaw\":0,\"left_gripper\":1},\"note\":\"The bottle slid left during the approach and is now beside the arm. I’m lifting clear and approaching its new neck position from above to avoid another sideways push.\"}",
  "call_id": "call_2EMmuzgQe2IVej7KVHxZgn1a",
  "id": "fc_06f7b9c1ebe4d3ed016ab465a93b7487d086f2b4f48b0d04c0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2EMmuzgQe2IVej7KVHxZgn1a",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0616, 0.5964, 0.2783, -0.2462, -0.0204, -0.0338, 0.9979, -0.0734, 0.7368, 0.4774, -0.3576, -0.1173, -0.107, 0.9983]\nstate[eef_state]: left_x=0.2607 left_y=0.0233 left_z=0.1089 left_yaw=0.0869 left_pitch=-0.0027 left_roll=-0.0061 left_gripper=0.9979 right_x=0.2781 right_y=0.0039 right_z=0.1426 right_yaw=0.0576 right_pitch=-0.0369 right_roll=-0.0062 right_gripper=0.9983\nstate[joint_eff]: [0.1436, -0.3761, 10.5094, 1.8339, 0.1343, 0.105, -0.1832, -0.4034, -1.5521, 7.0632, 1.9414, -0.1929, 0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b462f09b17002ba16bff221e10b453d574fed6b4907bfd6d7209d2fe035cb520",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc98141c1b7c98798c116fdcbf678d2b69d82a9ef2dfa064ee9ad5818d31d4e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f60ca0338fac5977bb1d76f081c9c482e49a1f366f5ffa3db6ec0793bacd74a0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 5.241 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 94 changed as sent

message 103 changed as sent

message 107 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8059, 2.0075, 0.9504, 0.2718, -0.9993, -0.8917, 0.0105, -0.0341, 0.7166, 0.4385, -0.3347, -0.0834, -0.0807, 0.9982]\nstate[eef_state]: left_x=0.4017 left_y=-0.1987 left_z=0.0504 left_yaw=0.4315 left_pitch=0.1617 left_roll=-0.1669 left_gripper=0.0105 right_x=0.2749 right_y=0.0089 right_z=0.1344 right_yaw=0.0541 right_pitch=-0.0351 right_roll=-0.0046 right_gripper=0.9982\nstate[joint_eff]: [-1.3197, -2.8786, 0.8274, -0.1148, 1.0623, -0.1978, 0.8718, -0.8, -1.5111, 6.8581, 2.0244, -0.1734, -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 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8192, 1.684, 0.5598, 0.3206, -0.6952, -0.5812, 0.6523, -0.0658, 0.7582, 0.5163, -0.3782, -0.1165, -0.1066, 0.9982]\nstate[eef_state]: left_x=0.3261 left_y=-0.1779 left_z=0.0313 left_yaw=0.0448 left_pitch=-0.0242 left_roll=0.0156 left_gripper=0.6523 right_x=0.2815 right_y=0.0056 right_z=0.1506 right_yaw=0.0644 right_pitch=-0.0399 right_roll=-0.0059 right_gripper=0.9982\nstate[joint_eff]: [-0.4308, -6.2017, 5.053, 1.6044, -0.2564, 0.1392, 0.1343, -0.3624, -1.7573, 6.8444, 2.044, -0.1001, 0.0269, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0616, 0.5964, 0.2783, -0.2462, -0.0204, -0.0338, 0.9979, -0.0734, 0.7368, 0.4774, -0.3576, -0.1173, -0.107, 0.9983]\nstate[eef_state]: left_x=0.2607 left_y=0.0233 left_z=0.1089 left_yaw=0.0869 left_pitch=-0.0027 left_roll=-0.0061 left_gripper=0.9979 right_x=0.2781 right_y=0.0039 right_z=0.1426 right_yaw=0.0576 right_pitch=-0.0369 right_roll=-0.0062 right_gripper=0.9983\nstate[joint_eff]: [0.1436, -0.3761, 10.5094, 1.8339, 0.1343, 0.105, -0.1832, -0.4034, -1.5521, 7.0632, 1.9414, -0.1929, 0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b462f09b17002ba16bff221e10b453d574fed6b4907bfd6d7209d2fe035cb520",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc98141c1b7c98798c116fdcbf678d2b69d82a9ef2dfa064ee9ad5818d31d4e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f60ca0338fac5977bb1d76f081c9c482e49a1f366f5ffa3db6ec0793bacd74a0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGWxmPcfIInJGt3PKerDTxO0S7R1wxEblI079j6rUA6WgOREHSkIu2mXMyhPAZkPGci0eJL5hpo8vz1PVnnk34Q-zfiH4-h13UBlznOPs9khSJ3zpY6vPXSXxZFKWNM_JOnlkQgrU7w-ARwECO7-PdDE9_97i0AtdoLnYyT3Dy_5p4H8sNO7NHbadVFmg5t2Z1YIUs1cOEWh-dBeZBDhxFFBUMLzrsv00rVdbfPvuuiXR1y6yDp4vYoWTqGBswh4qbdYYs_Hrk7sfXOLufX5txLBmWISvJix3CMkgNTSjAzeMDZuE0YRkZeDII2289HnJk3q9wFNiEUJVJ2tFLbn7DQ7htOZO1cLaoJ9Ag7YqmxmLsAp4tSWaR1bLAKiT01s6Emx-vXnJXzrriJDd8CWSe0twHAk4A5BB2ePQ-EGojDm0NiBb4dry0h4jS9eV84jWr-gVwEP-1Fz2-Df0cGWB32OzlhGRYuVKM61ONhsl2i2J7nT5ln6P5Xd3V5kZw3fhkxvrr8Rtmvcu3s0sB6-UH_azw4bAAfimnqeXIRwT9Ym-DTMLCIR3_2nF-CmtXnVk7He6PXbGyNwjCACtbQAcS_S6Nvr_3raFLWtykCPuggavWuzHmdVRsIW1bHPOVX4RXNlbSfE658gzEunGubfX83DlC3bsLB7V9RTfprU6lpjGblKF8180eeQcyqMvEAOxgot_CIRPr4qMYFRMbQ_-4Lq5p_-q5NAV8uk6cgLEKFmzPakBtGPSaGtnGSLPpqVjuebyJOMaxMMWo8jUGqgq1ofix-2KwQ_gF3zj_p3zyyHXymEuQiAH12CIG_k5OjN3pUC5oMQdJn6brBgcLYvxIqaObpLMSMSf1y_92pSwrFr3CJygpNoxeip7cSCTc_3pgCQhCW5Mmf4haTK8RoIRUzFPuYWlte-dej57jdg4LfOrHwtxGHHBNZWPxOiYjqcCs3rpa5axKkRKwTdoMD36F4EbGHR_sJmUVSlNYMW646neSB2_yOXV8F0JhMy6RcACx83PCeTofXEsHk5N3Tq_4ekkO-lcjx-QOrRaEiKuVpH8i6wNs4FwTu4APqfoxbUHqJ9YVVtKUxREp2h08xTSYEzZDd1OR_YBRHETZl9AqFxG8pVN7C-TYebEMbSB8aEdXt2pohaXu0mfQt1GkAWwrwUnJJLbbsU4rzG-HwxtreBGbN_iHISUTKKadSCGnxtZMG7UeqAJpKU25MwQr82dhqvDTTR33-efN_toj6dyPgtQ7lIUzoQSCg1zmR6sZHwzHbeMyBppbGkbYkxqBeiH9jyw_yseVuCTI_DnFW2KqvwKVDvYm9MN7MfdCwgE5h6iN9kLCTerbY_GQzcYeR73usK3nqAcm7hCWUfvVHweq3N_OWldXtgBYugIW_JPMb8xyC7TnQlsR8i2uU6CMWub3Mz8Hwc43r3SrVjXpfEDJKFS3EM2FNV6pLZdBX4krWCu1Ap4La6mJzx5Xd3pIKhQsURSpnMpOBmsrDOHkNWTERFIsnrLC52MZeFms1WfSLKyiK2aOInpXETB2ahP8nm8agMV8BZoFzZrgF6Kbo_ltEeAdMOxSkP2YYQAUMI7ZzKSaWQhU44BSMD9VNgwgNycVn6gYdTp745o5r5_Cll464YLhPI2d50LaUamTP3BekWkR7wgR55RXV7IgcWs0134woVxgmGq6y0vOqc_bRljrd89o4DTUV7Su0oDGloofAZstA_N37UTv-Nns4F5kPmPxhxshrZUhIDabS0yGJADMwPkDU0CcSdxRD9JA27wu3VMUcGDb5_HDUZRntzgdOZXmA-NffZDOdvi7DIRp9W2n7XJNwXsgahzVwyuLW4WMsbHSsnTrm4iCivQ00KL8CuCxfRogXeObE2-MAiQ0jT1yNZspg=",
  "id": "rs_06f7b9c1ebe4d3ed016ab465adccdc87d0aceda97803f5e9e8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.305,\"left_y\":0.03,\"left_z\":0.025,\"left_yaw\":0,\"left_gripper\":0.65},\"note\":\"The wrist camera clearly shows the cap and narrow neck near the jaw centerline. I’m moving slightly forward and lowering around the neck while leaving room between the jaws.\"}",
  "call_id": "call_wVNwdsLZfmu7wwCUSxGaoj5S",
  "id": "fc_06f7b9c1ebe4d3ed016ab465b07c0887d0a769e68f144560ac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wVNwdsLZfmu7wwCUSxGaoj5S",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.1585, 1.2896, 0.1383, 0.5423, 0.1234, 0.0299, 0.6549, -0.0792, 0.7132, 0.4438, -0.3428, -0.1207, -0.1066, 0.9982]\nstate[eef_state]: left_x=0.3018 left_y=0.0299 left_z=0.0261 left_yaw=0.0281 left_pitch=-0.0424 left_roll=-0.0348 left_gripper=0.6549 right_x=0.2746 right_y=0.0032 right_z=0.1365 right_yaw=0.0545 right_pitch=-0.0317 right_roll=-0.0046 right_gripper=0.9982\nstate[joint_eff]: [0.335, -2.7692, 2.7829, 0.4127, -0.2271, 0.4078, 0.2613, -0.3077, -0.8274, 6.8444, 1.9512, -0.1832, 0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3008f6833e70ab1cec421095b67a679adbfb19526b6efd203032a397748baa5d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6f7362b29069abf1e6dc98a4767c63d07451ce566e3af7d2252105fb0a306d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:927f1199f811e18fa73594c693fd3a395dee18a1b87adae9252390c1b00f754f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 28 attempt 0 · /responses · status 200 · 4.407 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 98 changed as sent

message 107 changed as sent

message 111 changed as sent

message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5735, 1.396, 0.7338, -0.3595, -0.8181, -0.7582, 0.9965, -0.0616, 0.7891, 0.5674, -0.4118, -0.1131, -0.1028, 0.9982]\nstate[eef_state]: left_x=0.3271 left_y=-0.0535 left_z=0.106 left_yaw=0.4714 left_pitch=-0.0649 left_roll=0.1044 left_gripper=0.9965 right_x=0.2852 right_y=0.006 right_z=0.1588 right_yaw=0.0637 right_pitch=-0.0535 right_roll=-0.0031 right_gripper=0.9982\nstate[joint_eff]: [0.5949, -3.959, 6.4205, 1.1844, -0.3541, 0.2711, 0.0024, -0.7726, -0.759, 10.2085, 1.8193, -0.1148, 0.0952, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0616, 0.5964, 0.2783, -0.2462, -0.0204, -0.0338, 0.9979, -0.0734, 0.7368, 0.4774, -0.3576, -0.1173, -0.107, 0.9983]\nstate[eef_state]: left_x=0.2607 left_y=0.0233 left_z=0.1089 left_yaw=0.0869 left_pitch=-0.0027 left_roll=-0.0061 left_gripper=0.9979 right_x=0.2781 right_y=0.0039 right_z=0.1426 right_yaw=0.0576 right_pitch=-0.0369 right_roll=-0.0062 right_gripper=0.9983\nstate[joint_eff]: [0.1436, -0.3761, 10.5094, 1.8339, 0.1343, 0.105, -0.1832, -0.4034, -1.5521, 7.0632, 1.9414, -0.1929, 0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.1585, 1.2896, 0.1383, 0.5423, 0.1234, 0.0299, 0.6549, -0.0792, 0.7132, 0.4438, -0.3428, -0.1207, -0.1066, 0.9982]\nstate[eef_state]: left_x=0.3018 left_y=0.0299 left_z=0.0261 left_yaw=0.0281 left_pitch=-0.0424 left_roll=-0.0348 left_gripper=0.6549 right_x=0.2746 right_y=0.0032 right_z=0.1365 right_yaw=0.0545 right_pitch=-0.0317 right_roll=-0.0046 right_gripper=0.9982\nstate[joint_eff]: [0.335, -2.7692, 2.7829, 0.4127, -0.2271, 0.4078, 0.2613, -0.3077, -0.8274, 6.8444, 1.9512, -0.1832, 0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3008f6833e70ab1cec421095b67a679adbfb19526b6efd203032a397748baa5d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6f7362b29069abf1e6dc98a4767c63d07451ce566e3af7d2252105fb0a306d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:927f1199f811e18fa73594c693fd3a395dee18a1b87adae9252390c1b00f754f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGW3NCHz5Oft4bDLzF3zdL_bmEIE_qUEqs0xe0v7PXLPK3wQFABEmtqSlI9clUifqFNeZbHwqAc2iYnSjo7lJ8hBkSJLH7CulXNuYI8xNWUZgKqGX3GBjf58LHPWlHgt1I0FLnZ4CGLH13I9ktbMvdcbU6ftpWciYdHPKvPQE_i_USQe-zreVGm7dhP_HeSWQ8v_yj18chAc9ZcWGfkiTSYzTmeMPeoB7-kv8pPAbK4oz8FieIzsX_h-Pz-iCJgY4e62_y-XtrGTI1_fpX2nU6gyZOz2aDcCVObN8Ji8KM-JNrGBz0bcRMOnCxm9Kxzxr8wHRcyadC_sFZ8d0z8bfdB0zPsBg-rQMw8dzuZQc_PUcMb8NaW7loXzHHVOtOtYUu4Uf_VTRUIZ8GVsyj2nyinGjtstUsU7RTk0zF2yO4_sNfrV30PKjOtBKjbjGLBKiGwUhNKfYIIPXg6tDGGTTNvpRToNO1_bp5HCsM8as9k2dXI7U6yDN9X2h1NPfQRdds4hM8IobsCb5Exvw7f-ts1yGrniQFhwleADOP1luthUDuAtoDasqgtarJrxuPHdvb8Rt6ZQU3qNyds7W2DxLYzhqD0n6_PiXMlll4AIUF266thAs7k3WOQYQ6NXMvK1sDGTcNJceXboSTe4B2EEZXr-ObOfZJH93P5l3jYOPCwy5DZUGYwrLNGxk-JgE4azPSc7dpzEfwySWq8Hvi_o8q1aIJEY26Bz1EAL4SmLdv4KDxfb4uUhrWduqB7BF1yh5dAqZm3LQqwCZAfzPpcA8RyMMHuqcQq6bGK7-nFrGiSvl0d52wZBzbUWnTXKHikDiYqYjGmuiTayG3BqCsezYQmsLzho80nREb_orFmKh2uVzFxV88jkyLpwMOFaBKrME0Ta3RTNgkIMNf6wOSjdzq5S0r7lTH89QJBjQmKSR6Wki2JviptTjFvg83Q6F7LIGPiKxkPpPcN4SWiN62JAJTvAn9QixGajeGd_1_sfJkPXpY2ryN5NdndoeqfcM14UzGx72GB-ZSncvBvLKxxMo_oK3VAEV8GScgprdIJUlPpUN9zKCTnEZxIrx3lRbB-gvkO9X4GuOLCxNzvh-blU89TLIJgBk5tb9vp0w0nCt-jVYAdXygn7EnOUv8ydxTFFbHh19DeKGqfOjzqKMTAdQeLzqusHORlzkyux5uvsTPP2ZQEvB1gfgSdbNzRz6qaInIw4fwozt7OgEryvQ8Te32qz4TKyYf6E0N48a30vwRHr5yLeXpGSIMQqMlvHymalxzSJMvgib3069mS9aRU6iREpNcTn9Xbu8qmY0zYMjz0bjVnER6Yb3QdK3prkjXkLui0EGS8y5Z418HvoDYvlIK4D9kBbUAaTCn3rSV6rvnMxkMtCGPRsgISscTR5O90kFPhTitZHrioYztJCYpnkNLHRk8IGIjFLKt345hlStNoCpEojKsx5GvoeiU8YUSgBbHQoROqXbdp0JE6Jwj0Wwr7CIoBp37fyAq_Uu_xc2Lr9Pfq_3u-H6Ya6bOZSsZ7YsOdIiEm92woxNCgOivk18ein_vnxvHRU1CYRU6PiP1KkgDz6IUogzkKF3HaIvJOUyE_AiVkEMzqaeu1nVz94K0EIbOgOiNrDno1dWI3ukLoJxyy57wpme4w2gI4VQ8dyLwcSiEBB1Cvzh9eAuWqJaLZXlre-j2IDgR858aMfDU0bn9Wbw5B9FASf_VSkBlwfvhRmeN688hcm4PvHDqN3SiwXx5rgXMjZFzDu2vWGVd5zTaQHax3PF0CgDYytIfTr8Im_GJc2rYB_2DG-lQyKeRTtHTHNbMjHyGHH0l1raGYoc-fMhRRpzJ93CSGh_vW0RTe4WypYb-0a3OL6sXbp106yrw==",
  "id": "rs_06f7b9c1ebe4d3ed016ab465b44cf087d0906a48989213737c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":0.03,\"left_z\":0.025,\"left_gripper\":0.65},\"note\":\"At the lower height the jaws surround the body, while the neck is still farther ahead. I’m advancing along the centered bottle to reach the narrow neck.\"}",
  "call_id": "call_yBzkLvQvjDeyjaKBEZlRWUSY",
  "id": "fc_06f7b9c1ebe4d3ed016ab465b6872087d09622d88e3bc5a726",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yBzkLvQvjDeyjaKBEZlRWUSY",
  "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]: [0.1127, 1.5349, 0.2516, 0.7715, 0.0803, 0.0246, 0.6522, -0.0799, 0.6979, 0.4141, -0.3283, -0.1204, -0.1066, 0.9982]\nstate[eef_state]: left_x=0.3513 left_y=0.0291 left_z=0.0375 left_yaw=0.0216 left_pitch=0.0517 left_roll=-0.0058 left_gripper=0.6522 right_x=0.2719 right_y=0.0031 right_z=0.1298 right_yaw=0.0535 right_pitch=-0.0317 right_roll=-0.0048 right_gripper=0.9982\nstate[joint_eff]: [-0.3214, -3.6855, 4.6427, 1.2821, -0.0757, 0.0024, 0.2076, -0.6769, -1.4017, 6.9812, 1.8877, -0.149, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e9d39460d885b796bc08eeaee45ed05c7c80fb40d994440e20b061a1543743e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c33f9c02b2b9a202e1242dfe918945f946538960b65a56f32468326853532014",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:454a282b3091e0dec74d473c0776ae5c64d85a1a77296e70a8b0517e43a654a9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 4.32 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 103 changed as sent

message 111 changed as sent

message 115 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8192, 1.684, 0.5598, 0.3206, -0.6952, -0.5812, 0.6523, -0.0658, 0.7582, 0.5163, -0.3782, -0.1165, -0.1066, 0.9982]\nstate[eef_state]: left_x=0.3261 left_y=-0.1779 left_z=0.0313 left_yaw=0.0448 left_pitch=-0.0242 left_roll=0.0156 left_gripper=0.6523 right_x=0.2815 right_y=0.0056 right_z=0.1506 right_yaw=0.0644 right_pitch=-0.0399 right_roll=-0.0059 right_gripper=0.9982\nstate[joint_eff]: [-0.4308, -6.2017, 5.053, 1.6044, -0.2564, 0.1392, 0.1343, -0.3624, -1.7573, 6.8444, 2.044, -0.1001, 0.0269, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.1585, 1.2896, 0.1383, 0.5423, 0.1234, 0.0299, 0.6549, -0.0792, 0.7132, 0.4438, -0.3428, -0.1207, -0.1066, 0.9982]\nstate[eef_state]: left_x=0.3018 left_y=0.0299 left_z=0.0261 left_yaw=0.0281 left_pitch=-0.0424 left_roll=-0.0348 left_gripper=0.6549 right_x=0.2746 right_y=0.0032 right_z=0.1365 right_yaw=0.0545 right_pitch=-0.0317 right_roll=-0.0046 right_gripper=0.9982\nstate[joint_eff]: [0.335, -2.7692, 2.7829, 0.4127, -0.2271, 0.4078, 0.2613, -0.3077, -0.8274, 6.8444, 1.9512, -0.1832, 0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.1127, 1.5349, 0.2516, 0.7715, 0.0803, 0.0246, 0.6522, -0.0799, 0.6979, 0.4141, -0.3283, -0.1204, -0.1066, 0.9982]\nstate[eef_state]: left_x=0.3513 left_y=0.0291 left_z=0.0375 left_yaw=0.0216 left_pitch=0.0517 left_roll=-0.0058 left_gripper=0.6522 right_x=0.2719 right_y=0.0031 right_z=0.1298 right_yaw=0.0535 right_pitch=-0.0317 right_roll=-0.0048 right_gripper=0.9982\nstate[joint_eff]: [-0.3214, -3.6855, 4.6427, 1.2821, -0.0757, 0.0024, 0.2076, -0.6769, -1.4017, 6.9812, 1.8877, -0.149, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e9d39460d885b796bc08eeaee45ed05c7c80fb40d994440e20b061a1543743e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c33f9c02b2b9a202e1242dfe918945f946538960b65a56f32468326853532014",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:454a282b3091e0dec74d473c0776ae5c64d85a1a77296e70a8b0517e43a654a9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGW8SZbbXPHSP8olFchLGXmRiSSUbXUM0XdCE3X4sQx8633fI9IzfHVvlLocPBw4GG9xItzeR1yxXSDpnaqEHjba2Lw2ME-2Iqtpm9KkBwmX86Qles1ONyswG-7wHMBEEvbkbTP4qKm8oUaXafuHGlo9Jfk_oaJKGClfFPfR4Ojljx7_G7pvUwbiA-r3VgggCMTPIjUXn38m1exEaz4SEAY60WXCNeB3wB6awwx9G_T28W0ThMJDveXRyuSQhE4efirwfVpovz7uumXNzJSjuGkbI-wFuchPBM4hCxT7g5ByaptLDzVg8uJRXlTVhahJ1kwIqU9A99xsynYcp26HT4MVDw-dQCurQrMezYdp95A80sKof0wNGCrEpyR_dB3nAA1LdsLCJ_fucBold2FQpgpQbl4IWvJdcNxlua5Ydo2OzQ-jvQO9Xsi2m853joclco7QK9B7XDzPd0wt0yGG9whnxp5y4eB4vbj-rntG7UHJ4-rMaog_daCgGzRP5HXYMGIsI4wtCw3S6sJK_VDiZgzVQztgFicVkPKL42H16ilHIOYOJfsoOhM4bEF70xqV1LHpzzBou8Rr38sAjouF6AfVAEFOxnikTCGIiOC_eGmPljVFBsG1YgH9wMCztPvzEC1072rVJG0cSgze31SRjhG4takRBgMN6DM-fEBYMhCd-jPvH8VfrVL1SHeKUEOxVb8jeld4HUdK8EXHQfml2D-woNp_6HQ5EK_YwfGeXW7bXrXjrRvtZ0s_wfgKag95Ukbh4Nn2R91doVX01GUfNlEz9Wb5TIqE-mz7Uwn1BuI-ciTXctfy7hRQpmm3I5NO0m7_0FsIoUBCPL9XdZAthEQesyDGG8PUErjdfQJSpu_UFVXA-wyRU9QBiwGSsDoufTYQPFPm-LvQpn-2BIbx54DAwyuFXU-MS1Ogio7QZ40Uwer-LHKzcpxjI8ISAkZiHMDAfu9f1VbsYmudWGIWGln9LDkxuFsF2R3n-EhCCK5Dw5cGnfVkew497NCsKb6T1N55MDb1d-1E6O0L4M_TxyYhFY9q6ht7jlIDv1uhCDAD66s1B5uapn7TsfrV1b3q0YT1FFCg7U3ejZfdfwhkswjlFHgsDfs8bKIQShRxfwwyx45yvjW1b1Oe2lwE4p0Kozf7O1W9-F3ZFtDMd0HhnX61ku9LLzFXPHF30VabqrS0fbdG8CeeDYZXJjqFhzObnopM06xXa3NmUmvkp9A5Zda3GDSzzyCZzN36TkVT7NOAEg9gdutnh1Pe5OBvckVzZvbyLXamvNiAJ8jklP1lm2LuQ0BViEsj3_Abw206ympVCz7glYo7Enkddr6tlaYhxRAhzw_ap7ynRKl50pAuMuiR-fnmoksS2-4EEDVzPa1nlxucRT-O8qoqJ3InD4lx7o1dJ177ouAIJ1eTowX-ZxR4DHSG_TpX3zFmQg7BT1d22V63SGDY_cXnDaWpZIyE2euUsucMB5-v7Ml4wD-dTVuXFBLZ5cbWZ-8rDMnOPvW6_hw0J61z_MKBuI4Qg28ehscOcP_p6WXoL66LtS5LNMjH5ZdrD_tP_B9xF68CmWya7w1TF-Uq6m2jbNTACkJLg48L",
  "id": "rs_06f7b9c1ebe4d3ed016ab465b9efb087d0842410a317db8768",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":0.03,\"left_z\":0.005,\"left_gripper\":0},\"note\":\"The neck and shoulder are centered between the jaws. I’m closing with a low height target to catch the neck below the cap.\"}",
  "call_id": "call_hOQBxtnktWjBLs9knTUTjqgH",
  "id": "fc_06f7b9c1ebe4d3ed016ab465bb6e1087d0a044de96b23cceb0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hOQBxtnktWjBLs9knTUTjqgH",
  "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]: [0.1108, 1.6627, 0.2699, 0.9939, 0.0711, 0.0227, 0.3598, -0.0803, 0.6796, 0.3862, -0.3161, -0.1349, -0.1066, 0.9982]\nstate[eef_state]: left_x=0.3725 left_y=0.0324 left_z=0.0489 left_yaw=0.0274 left_pitch=0.1638 left_roll=0.0064 left_gripper=0.3598 right_x=0.269 right_y=0.0058 right_z=0.1244 right_yaw=0.0652 right_pitch=-0.0279 right_roll=0.0031 right_gripper=0.9982\nstate[joint_eff]: [0.0205, -2.4274, 2.1949, 0.2222, -0.0024, 0.0611, 0.5788, -0.8137, -1.0598, 6.8308, 1.9072, -0.0611, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df7edaac7bf338eee93f7980d9373d628a201c337315aea432f1a107504032b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dd24c31a6080b0ebcbd705c2cdb80e88ea3fcec7e6d34ee4b5626dfdbba47e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf8996e117433009da12cff3405bcb185c0b9815b78a0f600dac10de27b70df6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 4.612 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 107 changed as sent

message 115 changed as sent

message 119 changed as sent

message 107 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.0616, 0.5964, 0.2783, -0.2462, -0.0204, -0.0338, 0.9979, -0.0734, 0.7368, 0.4774, -0.3576, -0.1173, -0.107, 0.9983]\nstate[eef_state]: left_x=0.2607 left_y=0.0233 left_z=0.1089 left_yaw=0.0869 left_pitch=-0.0027 left_roll=-0.0061 left_gripper=0.9979 right_x=0.2781 right_y=0.0039 right_z=0.1426 right_yaw=0.0576 right_pitch=-0.0369 right_roll=-0.0062 right_gripper=0.9983\nstate[joint_eff]: [0.1436, -0.3761, 10.5094, 1.8339, 0.1343, 0.105, -0.1832, -0.4034, -1.5521, 7.0632, 1.9414, -0.1929, 0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.1127, 1.5349, 0.2516, 0.7715, 0.0803, 0.0246, 0.6522, -0.0799, 0.6979, 0.4141, -0.3283, -0.1204, -0.1066, 0.9982]\nstate[eef_state]: left_x=0.3513 left_y=0.0291 left_z=0.0375 left_yaw=0.0216 left_pitch=0.0517 left_roll=-0.0058 left_gripper=0.6522 right_x=0.2719 right_y=0.0031 right_z=0.1298 right_yaw=0.0535 right_pitch=-0.0317 right_roll=-0.0048 right_gripper=0.9982\nstate[joint_eff]: [-0.3214, -3.6855, 4.6427, 1.2821, -0.0757, 0.0024, 0.2076, -0.6769, -1.4017, 6.9812, 1.8877, -0.149, -0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.1108, 1.6627, 0.2699, 0.9939, 0.0711, 0.0227, 0.3598, -0.0803, 0.6796, 0.3862, -0.3161, -0.1349, -0.1066, 0.9982]\nstate[eef_state]: left_x=0.3725 left_y=0.0324 left_z=0.0489 left_yaw=0.0274 left_pitch=0.1638 left_roll=0.0064 left_gripper=0.3598 right_x=0.269 right_y=0.0058 right_z=0.1244 right_yaw=0.0652 right_pitch=-0.0279 right_roll=0.0031 right_gripper=0.9982\nstate[joint_eff]: [0.0205, -2.4274, 2.1949, 0.2222, -0.0024, 0.0611, 0.5788, -0.8137, -1.0598, 6.8308, 1.9072, -0.0611, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df7edaac7bf338eee93f7980d9373d628a201c337315aea432f1a107504032b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dd24c31a6080b0ebcbd705c2cdb80e88ea3fcec7e6d34ee4b5626dfdbba47e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf8996e117433009da12cff3405bcb185c0b9815b78a0f600dac10de27b70df6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGXBtzzraH_tSTj4uOKN_aXTMyDeZ92Ouk-mprurVotmcpG4nprHirN5F6RFdIGZ1aD8e2S28YdNU_kyix7IEQsofjaGiuVa-tnAD8dkHsR8HsnVLjqX7pQNgyC8LcVOpr-LBcJ9sZL2VtI3hWeoXVN3jA-ooyc6Zup5N7fQLFMX8FlBadE-HvQJiawfbVtc9ZNXuwYhr-XduzK5qWoTEWinSzM5uLtFByGGISd0cFDKy5qcgCZIXdnK7KvAjDlj5NdQCSGC_E85vrPDBeqIbTWOoEpvC_EX4LW1gRCGIjcW3Y0yNX6ngmOEZURsNmrur5sA11ebbVuRdn9Cf4DrsoghHZQ4MYbDus4R-ORnZNAzJH3gbf3raOKxUxG74fEufGi5OH9goUlEaVPaqrDyESEwrgzwOnWagQiDMTTduXKvG9T1P3ncsM4c8a3FxGY-5x4d2NtcFVzaFEg-irBFq1F9I1n-s7P154Tq7-pxgEf7G5M7-Dt0n3KVTrnfPI3BBZFqffi8jpas8IhzvbpQZY5tLecqmU44BvL1l2EoP2KqK4h9mPCIpt5xOq2zQx8Cp2RHxcZr6lAsCPWKxUWzCrRvdPAwH0Wp0pYTjSIW06Hywjtyj_B64MC0Wo_oq0x7G-pGbVm_1AAXtq0unPYpCAaHYy3TWHYWmUxMlS6aaPRslFQVJJbKsl1rrHjQQX_Vsg0TNdcIfVFAjdRNU-jZ1Xs8w6jxgsWQ8ROZDwzBqC2OobBsbcn1fLt-qof2tRTNMm-L98KAGCwVnld23dnd9aZHOyWzZXNz9jtpAxPS7OyavNjg9PhfnG1-RZhKsfeAchIjXmf4K3Q-7c6TZ9_p_w_Jaf-UoVvybCpaUACoHL7L8dE67NkICsw6vEy6XARqyuqhLOPmRwrT0TI3l7Te8bn1jVeWnJXDIAHN5s7B59Jj-ILNdpp7JL4zL4seY-V6kL3vZawkGzLOdZ6AvAB-Tm4UEL3bkTraEYJGc6CwhiQEvwL-ru-RsvwnoWOw4Phr_OhSJztr2_oQIu4m5hi_NGDHTSCYb3HgV3L-uece7NUWDkUQRoimIYYEhsF_9kjsEUsqCdWVmyfcJkWFy44jtmecTaQDqo8SBmBjzmQWhGf5KIU3QKrP0aCtBNTzOqM8kOVl5yz96_LzxISIo8y8u6K97_YIhQnsEDYXgEHS7usXoChGK6gL2y7XZHJ3eUT8mhA6GFhNr-V3wqqFtMLH3ak2M103-IFplSKWofMphQCiD0xEBp2vXGRvxePLeg65CY9cEjcn7p_4a6gcddM_e1KTKg8Vux7tM2IdTMK_90pPFgmJ7C44Ibl-XW5L58PfR7J6",
  "id": "rs_06f7b9c1ebe4d3ed016ab465bf218c87d084045bc5ce799995",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":0.03,\"left_z\":0.12,\"left_gripper\":0,\"right_x\":0.293,\"right_y\":0.004,\"right_z\":0.18},\"note\":\"The gripper stopped at about 3.4 cm rather than closing empty, so it appears to have caught the bottle. I’m making a short test lift and checking whether the bottle follows.\"}",
  "call_id": "call_8W9nDi3O4xN5Ehyeyn91I8DY",
  "id": "fc_06f7b9c1ebe4d3ed016ab465bfcd9087d0ae95a41ba68d7238",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8W9nDi3O4xN5Ehyeyn91I8DY",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.1116, 1.1534, 0.4847, 0.5175, 0.0605, 0.0231, 0.0086, -0.0799, 0.7864, 0.5594, -0.3904, -0.1352, -0.1108, 0.9982]\nstate[eef_state]: left_x=0.3847 left_y=0.036 left_z=0.2116 left_yaw=0.0315 left_pitch=0.4103 left_roll=0.0308 left_gripper=0.0086 right_x=0.287 right_y=0.0045 right_z=0.1604 right_yaw=0.0682 right_pitch=-0.0357 right_roll=0.001 right_gripper=0.9982\nstate[joint_eff]: [-0.335, -2.2632, 7.6786, 1.4042, 0.0562, 0.0171, 0.735, -0.1983, -0.9094, 9.4564, 1.6435, -0.022, -0.0073, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9f608afbbe952d5f998fd8f59e42d8c1d3bfe84a932e9213fc82ac40a184091",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71a4fffd796502bef75e6d61fe6eb89c90ab14739bf295e5cadc5eb5082fdf1e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59bde08d57f84ddfe937f41dc89e87e2501c88057a17ec7805d1767ab21b8d93",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 4.456 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 111 changed as sent

message 119 changed as sent

message 123 changed as sent

message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.1585, 1.2896, 0.1383, 0.5423, 0.1234, 0.0299, 0.6549, -0.0792, 0.7132, 0.4438, -0.3428, -0.1207, -0.1066, 0.9982]\nstate[eef_state]: left_x=0.3018 left_y=0.0299 left_z=0.0261 left_yaw=0.0281 left_pitch=-0.0424 left_roll=-0.0348 left_gripper=0.6549 right_x=0.2746 right_y=0.0032 right_z=0.1365 right_yaw=0.0545 right_pitch=-0.0317 right_roll=-0.0046 right_gripper=0.9982\nstate[joint_eff]: [0.335, -2.7692, 2.7829, 0.4127, -0.2271, 0.4078, 0.2613, -0.3077, -0.8274, 6.8444, 1.9512, -0.1832, 0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 119 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.1108, 1.6627, 0.2699, 0.9939, 0.0711, 0.0227, 0.3598, -0.0803, 0.6796, 0.3862, -0.3161, -0.1349, -0.1066, 0.9982]\nstate[eef_state]: left_x=0.3725 left_y=0.0324 left_z=0.0489 left_yaw=0.0274 left_pitch=0.1638 left_roll=0.0064 left_gripper=0.3598 right_x=0.269 right_y=0.0058 right_z=0.1244 right_yaw=0.0652 right_pitch=-0.0279 right_roll=0.0031 right_gripper=0.9982\nstate[joint_eff]: [0.0205, -2.4274, 2.1949, 0.2222, -0.0024, 0.0611, 0.5788, -0.8137, -1.0598, 6.8308, 1.9072, -0.0611, -0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.1116, 1.1534, 0.4847, 0.5175, 0.0605, 0.0231, 0.0086, -0.0799, 0.7864, 0.5594, -0.3904, -0.1352, -0.1108, 0.9982]\nstate[eef_state]: left_x=0.3847 left_y=0.036 left_z=0.2116 left_yaw=0.0315 left_pitch=0.4103 left_roll=0.0308 left_gripper=0.0086 right_x=0.287 right_y=0.0045 right_z=0.1604 right_yaw=0.0682 right_pitch=-0.0357 right_roll=0.001 right_gripper=0.9982\nstate[joint_eff]: [-0.335, -2.2632, 7.6786, 1.4042, 0.0562, 0.0171, 0.735, -0.1983, -0.9094, 9.4564, 1.6435, -0.022, -0.0073, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9f608afbbe952d5f998fd8f59e42d8c1d3bfe84a932e9213fc82ac40a184091",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71a4fffd796502bef75e6d61fe6eb89c90ab14739bf295e5cadc5eb5082fdf1e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59bde08d57f84ddfe937f41dc89e87e2501c88057a17ec7805d1767ab21b8d93",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGXGqis-rPe7WQi8yPokmXC8EYnHP12eCrPF4tPTWHM2qYjqik-KJfPoqM45F2xsn2PEZw_nx6BJrUFljcT29TFQJJpB2wB7Fh_4d9AxVmJMv1nJ07sI0L0UxZDJDxoNKCRVyIs9MbxdZl6xFXgNd5UhUV1ZafesbaotkDc1fX48PBV4l_wVkNTq-a8ToYFFg1mcXcpBMGLPyN5MkWq8mpiNPZ4RcB6V6FballZahCJiiZtBK84QSeHBAXe0XJKUVb9hFzu7-qhSFBX7Cqvjlm4aVpzzdb1TLQLUxH4veV6fJd1OyHWUVqAl_d1ArhYJGq4PRWDDQ5s7udlRv_EoMDtwzRfOETXgFYlXBLZlpVEvFwqADJjDlrzhhX05u7Wa7l9AiGYUOOTW9k7cXrK_Tr_Ge0e8S38c99Ej6A0IJNL7reQVuhScAG01F1xWVlvGCTWfE42jBxRmwAixRVcQI0wX9F2Yh-uzDNzHJdynaxfYnMt9T4uIURAvhIZ5cCZZ3_JDnAzRBeZJC0xE0GvDltNAFMfu18auqrcz6d6cX1mhYxIPKT3Drn38cBApBqxbL4XjT0CYMARtgrz-8s5-vBoUFZZuk_qj76RpYWQVF_ATE6F0SchCP72KmraFCsm8Yd6TcjoZuW9ouRjKk3pyRaRn02an9FZo_sn93Bg1k9y3MRkRtSlDZ7pKBDLyK-Lgsg8TDjzSd1ORjc7rC0-pXiR2Ps8hx7d5EWvJEbSnAOdm1GxEzFEJ_IegmKDtzdXE6lQL3_QDW-SHmolHJKb8W1n8_dnZx62W_HMSrGXuZf0lUMCVYRR3nXcKOf1EDascmff0NCBNfKtqewywTt0_JHcgRRU0YFzDFaWMuLL6Vq_4Eyrjoip-quPI57X8Obi0m2glrnAjqGjayUECkEy5ciFiTE2rIrPRGM3TwQOK13mFkvJsbu3aFW-anu362C8-yrThxZUQBpbSJTr-6EM1zdeTKGkT24halkbc_k-X8qCCEG7E1emXdEWiW8JjShqKKj2UD_AVTc7VtvdzbqzYQ4UoQvXZgdXKHZj952K9cA3PTzsZfs7IHeRO7UnyE_7id5bDagTnuZECnszKuH6cgWe5ce1l83HWm7sfmK5W8XYAvJEVkH5VBu965RQYuoE6B0w2Gkc_aDIcdJkxyz3hFNMNKqtiGeJCsRY-j1tFQR2x7F9FWkVj7JLyCpkud8UaIHdewEjTdjwz5cq35NSWJUq2aS5RK91U0QoWyRZz3pF-gqe3pfvInIZCpOO_GK4Sq_VqXZnxhVYHpdLZMuM2XEoT0lmRrgK-vhehS522oEfI1Esy-ARlFYS1h-Z83ihYvQPu2sOpLrZcHILyYVQ2HTf1rQSey8INaNaDiUkK8582R9YSgQCU4eev-__Qf4D4DcouNAvwsr3DkL5zmGyOiiimvR2SsWn_4I9TCgfKG6BOR6qlj23awvy4vr1Ddak-oWbvkkFxLcx-EqMiRaCITM6eC-ORbruEQ8YlYZp--KplWptShqFanqyMux-qymAv0jv8",
  "id": "rs_06f7b9c1ebe4d3ed016ab465c379c887d0aeb5d61ab579e79d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.293,\"left_y\":0,\"left_z\":0.18,\"left_yaw\":0,\"left_gripper\":1,\"right_x\":0.293,\"right_y\":0.004,\"right_z\":0.18,\"right_yaw\":0,\"right_gripper\":1},\"note\":\"The bottle slipped free during the lift and remains on its side. I’m returning both arms to a clear parked position; repeated neck grasps have not been reliable enough to continue safely.\"}",
  "call_id": "call_hDz82DLNjeciJUzS1AWyKeM9",
  "id": "fc_06f7b9c1ebe4d3ed016ab465c4ba2487d09d53b66fe1800423",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hDz82DLNjeciJUzS1AWyKeM9",
  "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]: [-0.02, 0.8028, 0.6067, -0.3542, -0.0086, -0.0261, 0.9945, -0.0189, 0.7876, 0.5678, -0.4107, -0.0483, -0.0635, 0.9983]\nstate[eef_state]: left_x=0.2991 left_y=-0.0009 left_z=0.1842 left_yaw=-0.0088 left_pitch=0.0114 left_roll=-0.0061 left_gripper=0.9945 right_x=0.2854 right_y=0.0067 right_z=0.1591 right_yaw=0.0307 right_pitch=-0.0542 right_roll=-0.0098 right_gripper=0.9983\nstate[joint_eff]: [-0.1983, -1.2923, 7.0085, 1.8339, -0.0904, 0.1197, -0.1538, 0.5675, -0.5265, 10.2359, 1.8535, 0.1148, 0.1832, -0.1929]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c030f5d406027947a47e41db549a203814b25711508e05dff36cd26f8c5e4090",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6516b8fbb30aa10d2e9b64293412b9382c50cb80ce15ab7e633d429d5d6974ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccb84d18190f542383459b655fe28d443d8f6ca42cce4edf66bf4a70b95146a9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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