adhoc

completed
2026-09-23T23:40:52.939236+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
280.1 s
total steps
284
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 will approach the neck of the leftmost bottle so I can lift it by the neck and let its base swing downward.
move_to
left_x0.4000left_y-0.1500left_z0.1500left_gripper1.0000right_x0.2940right_y0.0040right_z0.1900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0193, 0.794, 0.6094, -0.3767, -0.0227, -0.0288, 0.9989, -0.0154, 0.7902, 0.6041, -0.3878, -0.0288, -0.0345, 0.9998] state[eef_state]: left_x=0.2959 left_y=0.0019 left_z=0.1831 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9989 right_x=0.2935 right_y=0.0041 right_z=0.1794 right_yaw=-0.0003 right_pitch=-0.0004 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.4718, -1.4974, 9.812, 1.7411, 0.0073, 0.1343, -0.1294, -1.0598, -1.2376, 10.3453, 1.8388, 0.0562, 0.1929, -0.0366] 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":0.294,"right_y":0.004,"right_z":0.19},"note":"All three bottles are lying on their sides. I will approach the neck of the leftmost bottle so I can lift it by the neck 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 cap is to the left of the gripper in the wrist view. I will shift toward it and lower the open jaws, turning them to grasp across the neck.
move_to
left_x0.4050left_y-0.1050left_z0.0450left_yaw0.6500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5461, 1.4773, 0.8505, -0.0761, -0.4404, -0.3271, 0.9989, -0.0151, 0.794, 0.6083, -0.4309, -0.0292, -0.0353, 0.9998] state[eef_state]: left_x=0.3866 left_y=-0.1426 left_z=0.1313 left_yaw=-0.0188 left_pitch=-0.0638 left_roll=0.0269 left_gripper=0.9989 right_x=0.2883 right_y=0.0044 right_z=0.1715 right_yaw=0.0008 right_pitch=-0.0431 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.5949, -6.2154, 8.841, 1.7998, -0.4127, -0.0757, -0.1245, -0.4444, -0.9778, 10.6598, 1.7363, -0.0317, -0.022, -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":0.405,"left_y":-0.105,"left_z":0.045,"left_yaw":0.65},"note":"The leftmost bottle’s cap is to the left of the gripper in the wrist view. I will shift toward it and lower the open jaws, turning them to grasp across the neck."})
tool
executing move_to over 6 steps (0.6s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe cap is still ahead of the fingertips, while the bottle body extends underneath them. I will advance along the bottle toward the narrow neck before closing.
move_to
left_x0.4550left_y-0.0850left_z0.0250left_yaw0.6500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6117, 1.9144, 1.0088, -0.1333, -0.8661, -0.8833, 0.9985, -0.0151, 0.7692, 0.5652, -0.4038, -0.0292, -0.0387, 0.9998] state[eef_state]: left_x=0.4076 left_y=-0.1171 left_z=0.0459 left_yaw=0.5205 left_pitch=-0.0319 left_roll=0.0364 left_gripper=0.9985 right_x=0.2851 right_y=0.0044 right_z=0.164 right_yaw=0.0027 right_pitch=-0.0343 right_roll=-0.0029 right_gripper=0.9998 state[joint_eff]: [0.1709, -9.0872, 5.7368, 0.8181, -0.3736, -0.1001, -0.0562, -0.3897, -1.6068, 7.1316, 2.0, -0.0366, -0.0024, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.455,"left_y":-0.085,"left_z":0.025,"left_yaw":0.65},"note":"The cap is still ahead of the fingertips, while the bottle body extends underneath them. I will advance along the bottle toward the narrow neck before closing."})
tool
executing move_to over 4 steps (0.4s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteThe cap is now closer to the jaw column, but the jaws still appear over the shoulder. I will make one short advance to bring the neck between them; the other arm stays parked.
move_to
left_x0.4850left_y-0.0550left_z0.0300left_yaw0.6500right_x0.2940right_y0.0040right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5041, 2.043, 1.1168, -0.0574, -0.9058, -0.9257, 0.9984, -0.0151, 0.7532, 0.5365, -0.3958, -0.0296, -0.0387, 0.9998] state[eef_state]: left_x=0.4493 left_y=-0.085 left_z=0.0384 left_yaw=0.6715 left_pitch=0.0216 left_roll=-0.0363 left_gripper=0.9984 right_x=0.2816 right_y=0.0046 right_z=0.1569 right_yaw=0.003 right_pitch=-0.0388 right_roll=-0.0026 right_gripper=0.9998 state[joint_eff]: [0.1846, -7.6923, 5.5726, 0.8913, -0.2418, 0.0855, -0.022, -0.5538, -1.5658, 6.5846, 2.0293, -0.0952, -0.0269, -0.0171] 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":0.485,"left_y":-0.055,"left_z":0.03,"left_yaw":0.65,"right_x":0.294,"right_y":0.004,"right_z":0.2},"note":"The cap is now closer to the jaw column, but the jaws still appear over the shoulder. I will make one short advance to bring the neck between them; the other arm stays parked."})
tool
executing move_to over 3 steps (0.3s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteThe jaws straddle the bottle’s upper shoulder just below the neck. I will close partway for a gentle hold that may let the bottle pivot as it is lifted.
move_to
left_gripper0.3500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4175, 2.0789, 1.1664, -0.0025, -0.8532, -0.8352, 0.9983, -0.0154, 0.7948, 0.6209, -0.458, -0.0296, -0.0433, 0.9998] state[eef_state]: left_x=0.4753 left_y=-0.0614 left_z=0.0381 left_yaw=0.6807 left_pitch=0.0128 left_roll=-0.0392 left_gripper=0.9983 right_x=0.286 right_y=0.0044 right_z=0.1716 right_yaw=0.0051 right_pitch=-0.0582 right_roll=-0.006 right_gripper=0.9998 state[joint_eff]: [0.4581, -8.2803, 6.8718, 1.1844, -0.3883, 0.2466, -0.0171, -0.7179, -0.9504, 10.6188, 1.7265, -0.0415, -0.0073, -0.0122] camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.35},"note":"The jaws straddle the bottle’s upper shoulder just below the neck. I will close partway for a gentle hold that may let the bottle pivot as it is lifted."})
tool
executing move_to over 7 steps (0.7s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteThe jaws have closed around the bottle’s upper section. I will lift slowly and slightly back, watching whether the base swings down instead of staying horizontal.
move_to
left_x0.4550left_y-0.0600left_z0.2300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3866, 2.0937, 1.1904, 0.0731, -0.8803, -0.7624, 0.3589, -0.0154, 0.7582, 0.5571, -0.4213, -0.0303, -0.0429, 0.9998] state[eef_state]: left_x=0.4916 left_y=-0.0492 left_z=0.0508 left_yaw=0.6929 left_pitch=0.0715 left_roll=-0.0414 left_gripper=0.3589 right_x=0.281 right_y=0.0046 right_z=0.1598 right_yaw=0.0055 right_pitch=-0.0487 right_roll=-0.0054 right_gripper=0.9998 state[joint_eff]: [-0.5538, -9.4701, 5.4632, 0.7448, 0.2418, 0.0659, 0.4567, -0.6906, -1.6479, 7.4051, 2.0342, -0.1245, -0.0073, -0.0171] camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.455,"left_y":-0.06,"left_z":0.23},"note":"The jaws have closed around the bottle’s upper section. I will lift slowly and slightly back, watching whether the base swings down instead of staying horizontal."})
tool
executing move_to over 12 steps (1.2s)
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 bottle is still visible below the gripper, so the partial close may not have secured it. I will close fully to check whether anything is actually held before attempting a placement.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4328, 1.8641, 1.5848, -0.7219, -0.8692, -0.8753, 0.3586, -0.0154, 0.73, 0.5095, -0.3954, -0.0299, -0.0429, 0.9997] state[eef_state]: left_x=0.4645 left_y=-0.062 left_z=0.2 left_yaw=0.696 left_pitch=-0.0136 left_roll=0.01 left_gripper=0.3586 right_x=0.277 right_y=0.0046 right_z=0.1507 right_yaw=0.0052 right_pitch=-0.0422 right_roll=-0.0058 right_gripper=0.9997 state[joint_eff]: [-0.7726, -13.4906, 8.8137, 1.0037, -0.5104, 0.0317, -0.0464, -0.6222, -1.6342, 6.9812, 2.0733, -0.105, -0.0269, -0.0171] 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_gripper":0},"note":"The bottle is still visible below the gripper, so the partial close may not have secured it. I will close fully to check whether anything is actually held before attempting a placement."})
tool
executing move_to over 4 steps (0.4s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteThe fully closed reading confirms the gripper was empty. I will reopen and descend a little farther along the bottle, aiming to capture the neck rather than relying on a loose partial close.
move_to
left_x0.4900left_y-0.0400left_z0.0080left_gripper0.7500left_yaw0.5500right_x0.2940right_y0.0040right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4381, 1.8492, 1.5642, -0.7097, -0.8692, -0.8726, 0.0106, -0.0154, 0.7044, 0.4702, -0.3763, -0.0299, -0.0429, 0.9997] state[eef_state]: left_x=0.4616 left_y=-0.0633 left_z=0.2003 left_yaw=0.6892 left_pitch=-0.0108 left_roll=0.0064 left_gripper=0.0106 right_x=0.2734 right_y=0.0047 right_z=0.1432 right_yaw=0.0052 right_pitch=-0.0369 right_roll=-0.0059 right_gripper=0.9997 state[joint_eff]: [0.1846, -9.1829, 6.3521, 1.2723, -0.5055, 0.0024, 0.862, -0.7179, -1.347, 6.8308, 2.0293, -0.1245, -0.022, -0.0122] camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_y":-0.04,"left_z":0.008,"left_gripper":0.75,"left_yaw":0.55,"right_x":0.294,"right_y":0.004,"right_z":0.2},"note":"The fully closed reading confirms the gripper was empty. I will reopen and descend a little farther along the bottle, aiming to capture the neck rather than relying on a loose partial close."})
tool
executing move_to over 13 steps (1.3s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteThe arm stopped about 4 cm above the table at this long reach, leaving the jaws too high. I will move slightly back to a reachable point on the upper body and lower the jaws around it.
move_to
left_x0.4550left_y-0.0650left_z-0.0100
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3378, 2.0716, 1.1004, 0.2287, -0.7589, -0.6266, 0.7465, -0.0154, 0.7982, 0.6445, -0.4801, -0.0299, -0.0544, 0.9998] state[eef_state]: left_x=0.495 left_y=-0.0412 left_z=0.0413 left_yaw=0.5907 left_pitch=0.0482 left_roll=-0.0423 left_gripper=0.7465 right_x=0.286 right_y=0.0045 right_z=0.1769 right_yaw=0.0115 right_pitch=-0.06 right_roll=-0.0146 right_gripper=0.9998 state[joint_eff]: [0.8274, -6.2838, 3.2068, 0.7497, 0.1197, 0.3199, -0.0904, -0.7453, -0.7316, 10.1265, 1.9853, -0.1294, 0.105, -0.0073] camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.455,"left_y":-0.065,"left_z":-0.01},"note":"The arm stopped about 4 cm above the table at this long reach, leaving the jaws too high. I will move slightly back to a reachable point on the upper body and lower the jaws around it."})
tool
executing move_to over 4 steps (0.4s)
step 67
top_cam
camera top_cam step 67
left_cam
camera left_cam step 67
right_cam
camera right_cam step 67
assistant
agent noteThe bottle’s shoulder is now centered between the fingertips, and the descent has stopped. I will close fully here and use the jaw opening to check for a secure grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4133, 2.0861, 1.0538, 0.3317, -0.8394, -0.7013, 0.7479, -0.0238, 0.7593, 0.5842, -0.4465, -0.0383, -0.0544, 0.9997] state[eef_state]: left_x=0.4857 left_y=-0.0655 left_z=0.0411 left_yaw=0.6158 left_pitch=0.1131 left_roll=-0.114 left_gripper=0.7479 right_x=0.281 right_y=0.0037 right_z=0.1667 right_yaw=0.0101 right_pitch=-0.0477 right_roll=-0.0101 right_gripper=0.9997 state[joint_eff]: [-0.7863, -6.5162, 1.9624, 0.3004, 0.2759, -0.0073, 0.1294, -0.4034, -1.4838, 6.9812, 2.1172, -0.1832, 0.0024, -0.0171] camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The bottle’s shoulder is now centered between the fingertips, and the descent has stopped. I will close fully here and use the jaw opening to check for a secure grasp."})
tool
executing move_to over 8 steps (0.8s)
step 75
top_cam
camera top_cam step 75
left_cam
camera left_cam step 75
right_cam
camera right_cam step 75
assistant
agent noteThe gripper stopped at about 3.2 cm rather than closing empty, indicating a grasp near the shoulder. I will lift a few centimeters to confirm the bottle follows.
move_to
left_x0.4500left_y-0.0650left_z0.1100
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.429, 2.0811, 1.0393, 0.3862, -0.8989, -0.7376, 0.3334, -0.0284, 0.7319, 0.5377, -0.4213, -0.0528, -0.0547, 0.9997] state[eef_state]: left_x=0.4839 left_y=-0.0653 left_z=0.0515 left_yaw=0.6689 left_pitch=0.1651 left_roll=-0.1688 left_gripper=0.3334 right_x=0.2772 right_y=0.005 right_z=0.1579 right_yaw=0.0179 right_pitch=-0.0412 right_roll=-0.0022 right_gripper=0.9997 state[joint_eff]: [-0.6769, -5.9009, 2.1949, 0.1245, 0.5055, -0.0513, 0.4908, -0.5265, -1.4838, 6.9675, 2.0635, -0.0562, 0.0366, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.45,"left_y":-0.065,"left_z":0.11},"note":"The gripper stopped at about 3.2 cm rather than closing empty, indicating a grasp near the shoulder. I will lift a few centimeters to confirm the bottle follows."})
tool
executing move_to over 4 steps (0.4s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteThe bottle remains between the jaws during the initial lift, but the arm has risen less than commanded. I will lift mostly straight up to give the base room to swing down.
move_to
left_x0.4800left_y-0.0700left_z0.2200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.432, 2.038, 1.1175, 0.2447, -0.9077, -0.8085, 0.3318, -0.0284, 0.7071, 0.4992, -0.4015, -0.054, -0.0574, 0.9997] state[eef_state]: left_x=0.4908 left_y=-0.069 left_z=0.0773 left_yaw=0.707 left_pitch=0.1545 left_roll=-0.214 left_gripper=0.3318 right_x=0.2739 right_y=0.0053 right_z=0.1507 right_yaw=0.0203 right_pitch=-0.035 right_roll=-0.004 right_gripper=0.9997 state[joint_eff]: [-1.6752, -15.9111, 8.6632, 1.6386, -0.3736, 0.1245, 0.022, -0.4991, -1.2923, 6.8855, 1.9609, -0.0855, 0.0024, -0.0073] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.48,"left_y":-0.07,"left_z":0.22},"note":"The bottle remains between the jaws during the initial lift, but the arm has risen less than commanded. I will lift mostly straight up to give the base room to swing down."})
tool
executing move_to over 10 steps (1.0s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteThe bottle did not leave the table; the shallow grip slipped. I will reset farther back at a shorter reach so the jaws can descend around the body instead of catching only its top.
move_to
left_x0.4000left_y-0.1050left_z0.1600left_yaw0.5500left_gripper0.8500right_x0.2940right_y0.0040right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4324, 1.9762, 1.7077, -0.7422, -0.873, -0.8986, 0.3322, -0.0284, 0.6849, 0.4664, -0.3866, -0.0563, -0.0578, 0.9998] state[eef_state]: left_x=0.4884 left_y=-0.0724 left_z=0.192 left_yaw=0.7109 left_pitch=-0.0145 left_roll=0.0005 left_gripper=0.3322 right_x=0.2708 right_y=0.0058 right_z=0.1444 right_yaw=0.0224 right_pitch=-0.0308 right_roll=-0.0033 right_gripper=0.9998 state[joint_eff]: [-0.5402, -13.6957, 8.2256, 0.8425, -0.5495, 0.0611, 0.0269, -0.7043, -1.0735, 6.9128, 1.9805, -0.0806, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.105,"left_z":0.16,"left_yaw":0.55,"left_gripper":0.85,"right_x":0.294,"right_y":0.004,"right_z":0.2},"note":"The bottle did not leave the table; the shallow grip slipped. I will reset farther back at a shorter reach so the jaws can descend around the body instead of catching only its top."})
tool
executing move_to over 7 steps (0.7s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteAt the shorter reach, the bottle body is clearly visible just right of the jaw column. I will lower around its middle so I can first bring the bottle closer, making its neck easier to reach.
move_to
left_x0.4200left_y-0.1200left_z0.0050
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5911, 1.7092, 1.2118, -0.5507, -0.8764, -0.8986, 0.8461, -0.0326, 0.7963, 0.6415, -0.4664, -0.0612, -0.065, 0.9997] state[eef_state]: left_x=0.4029 left_y=-0.1026 left_z=0.1508 left_yaw=0.5548 left_pitch=-0.0272 left_roll=0.0357 left_gripper=0.8461 right_x=0.2875 right_y=0.005 right_z=0.1789 right_yaw=0.0264 right_pitch=-0.0465 right_roll=-0.0055 right_gripper=0.9997 state[joint_eff]: [-0.4444, -9.3333, 6.5573, 1.3309, -0.486, -0.0073, -0.2027, -0.5812, -1.0462, 9.7846, 1.8437, -0.1148, 0.0024, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.42,"left_y":-0.12,"left_z":0.005},"note":"At the shorter reach, the bottle body is clearly visible just right of the jaw column. I will lower around its middle so I can first bring the bottle closer, making its neck easier to reach."})
tool
executing move_to over 10 steps (1.0s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteThe jaws are now low on either side of the bottle body, rather than above it. I will close for a secure grasp before moving it closer.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6037, 2.0453, 1.0187, -0.0109, -0.8818, -0.8989, 0.8463, -0.0341, 0.77, 0.5953, -0.4458, -0.0643, -0.065, 0.9997] state[eef_state]: left_x=0.4182 left_y=-0.1184 left_z=0.0114 left_yaw=0.5449 left_pitch=-0.0186 left_roll=0.0276 left_gripper=0.8463 right_x=0.2831 right_y=0.0053 right_z=0.1692 right_yaw=0.0274 right_pitch=-0.0457 right_roll=-0.0037 right_gripper=0.9997 state[joint_eff]: [-0.4308, -9.1829, 4.2325, 1.1306, -0.5055, -0.1392, 0.0122, -0.6496, -1.812, 6.9265, 2.0391, -0.1343, -0.0415, -0.0122] camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The jaws are now low on either side of the bottle body, rather than above it. I will close for a secure grasp before moving it closer."})
tool
executing move_to over 9 steps (0.9s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent noteThe 5.3 cm jaw opening indicates a solid body grasp. I will lift slightly and draw the bottle toward the front of the table so its neck can be reached at table height.
move_to
left_x0.3500left_y-0.1400left_z0.0800left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6075, 2.0628, 1.0027, 0.0525, -0.8883, -0.9138, 0.5562, -0.0341, 0.7441, 0.5507, -0.4221, -0.0643, -0.0654, 0.9997] state[eef_state]: left_x=0.42 left_y=-0.1207 left_z=0.0069 left_yaw=0.5521 left_pitch=-0.0013 left_roll=-0.0099 left_gripper=0.5562 right_x=0.2794 right_y=0.0054 right_z=0.1605 right_yaw=0.0276 right_pitch=-0.0407 right_roll=-0.0043 right_gripper=0.9997 state[joint_eff]: [0.0479, -11.5761, 3.8769, 1.072, -0.4322, 0.1392, 1.0232, -0.7179, -1.6889, 7.0906, 2.0537, -0.1001, -0.0269, -0.0073] camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.14,"left_z":0.08,"left_gripper":0},"note":"The 5.3 cm jaw opening indicates a solid body grasp. I will lift slightly and draw the bottle toward the front of the table so its neck can be reached at table height."})
tool
executing move_to over 6 steps (0.6s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent noteThe bottle has moved with the gripper. I will bring it a little farther inward, keeping it low, to place its neck well inside the arm’s reliable reach.
move_to
left_x0.2800left_y-0.1800left_z0.0250left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7765, 1.8496, 0.9619, -0.3649, -0.857, -1.1198, 0.5477, -0.0341, 0.7204, 0.5121, -0.4019, -0.0647, -0.065, 0.9997] state[eef_state]: left_x=0.3471 left_y=-0.1488 left_z=0.0374 left_yaw=0.4926 left_pitch=-0.1109 left_roll=0.0419 left_gripper=0.5477 right_x=0.2761 right_y=0.0056 right_z=0.1532 right_yaw=0.0277 right_pitch=-0.0354 right_roll=-0.0041 right_gripper=0.9997 state[joint_eff]: [-0.3487, -12.3145, 7.6376, 1.1062, -1.5507, -0.0366, 1.033, -0.759, -1.4564, 6.8718, 2.0049, -0.1636, -0.0513, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.28,"left_y":-0.18,"left_z":0.025,"left_gripper":0},"note":"The bottle has moved with the gripper. I will bring it a little farther inward, keeping it low, to place its neck well inside the arm’s reliable reach."})
tool
executing move_to over 6 steps (0.6s)
step 127
top_cam
camera top_cam step 127
left_cam
camera left_cam step 127
right_cam
camera right_cam step 127
assistant
agent noteThe bottle is resting closer to the front, with its neck now accessible. I will release the body so I can regrasp near the cap and lift the bottle upright.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.0271, 1.9026, 0.8791, -0.4751, -0.9234, -1.449, 0.5469, -0.0341, 0.7013, 0.4778, -0.387, -0.0643, -0.065, 0.9997] state[eef_state]: left_x=0.2774 left_y=-0.1797 left_z=0.0076 left_yaw=0.4568 left_pitch=-0.085 left_roll=0.0359 left_gripper=0.5469 right_x=0.2729 right_y=0.0056 right_z=0.1455 right_yaw=0.0274 right_pitch=-0.0358 right_roll=-0.0043 right_gripper=0.9997 state[joint_eff]: [-0.3761, -7.8974, 7.159, 0.2906, -1.3114, -0.2613, 1.033, -0.5538, -1.4017, 7.0359, 1.9658, -0.1441, -0.0269, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The bottle is resting closer to the front, with its neck now accessible. I will release the body so I can regrasp near the cap and lift the bottle upright."})
tool
executing move_to over 5 steps (0.5s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteThe release was clamped while the fingertips were at table level, and the jaws stayed closed. I will raise them slightly while opening to free the bottle without dragging it.
move_to
left_z0.0700left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.0542, 1.9244, 0.8459, -0.4225, -0.9688, -1.4963, 0.5468, -0.0341, 0.6804, 0.4461, -0.3737, -0.0643, -0.0647, 0.9997] state[eef_state]: left_x=0.2738 left_y=-0.18 left_z=0.0026 left_yaw=0.4585 left_pitch=-0.0392 left_roll=0.003 left_gripper=0.5468 right_x=0.2697 right_y=0.0057 right_z=0.139 right_yaw=0.0272 right_pitch=-0.0331 right_roll=-0.0042 right_gripper=0.9997 state[joint_eff]: [-0.2256, -7.7744, 4.0684, 0.5397, -0.9255, 0.0562, 1.0281, -0.6359, -1.1829, 6.8034, 1.9463, -0.1343, -0.0171, -0.0073] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.07,"left_gripper":1},"note":"The release was clamped while the fingertips were at table level, and the jaws stayed closed. I will raise them slightly while opening to free the bottle without dragging it."})
tool
executing move_to over 5 steps (0.5s)
step 137
top_cam
camera top_cam step 137
left_cam
camera left_cam step 137
right_cam
camera right_cam step 137
assistant
agent noteThe bottle is released and lies diagonally in front of the left arm. I will move the open jaws from its body to the narrow neck near the cap.
move_to
left_x0.4150left_y-0.1200left_z0.0650left_yaw0.4500right_x0.2940right_y0.0040right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-1.0618, 1.7912, 0.9157, -0.6178, -0.9829, -1.5208, 0.9947, -0.0341, 0.6605, 0.4179, -0.3649, -0.0647, -0.065, 0.9997] state[eef_state]: left_x=0.2745 left_y=-0.183 left_z=0.0526 left_yaw=0.4647 left_pitch=-0.0247 left_roll=-0.0241 left_gripper=0.9947 right_x=0.2665 right_y=0.0059 right_z=0.1329 right_yaw=0.0277 right_pitch=-0.0327 right_roll=-0.0043 right_gripper=0.9997 state[joint_eff]: [-0.759, -8.8274, 6.2838, 0.2027, -0.7692, 0.022, -0.2222, -0.6085, -0.9915, 6.7487, 2.0147, -0.1685, -0.0122, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.415,"left_y":-0.12,"left_z":0.065,"left_yaw":0.45,"right_x":0.294,"right_y":0.004,"right_z":0.2},"note":"The bottle is released and lies diagonally in front of the left arm. I will move the open jaws from its body to the narrow neck near the cap."})
tool
executing move_to over 11 steps (1.1s)
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 cap appears just behind the fingertips in the wrist view, so I have passed the neck slightly. I will move back a few centimeters and lower to neck height.
move_to
left_x0.3700left_y-0.1250left_z0.0180
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6102, 1.8393, 0.9257, -0.0727, -0.849, -0.8474, 0.9961, -0.0353, 0.799, 0.6441, -0.474, -0.0753, -0.0803, 0.9997] state[eef_state]: left_x=0.3979 left_y=-0.112 left_z=0.0536 left_yaw=0.4924 left_pitch=-0.0226 left_roll=0.0125 left_gripper=0.9961 right_x=0.2869 right_y=0.0068 right_z=0.178 right_yaw=0.0439 right_pitch=-0.0534 right_roll=-0.0091 right_gripper=0.9997 state[joint_eff]: [0.1573, -7.9658, 7.7744, 1.2088, -0.3736, 0.1197, 0.1343, -1.1419, -0.7453, 9.9897, 1.9951, -0.0904, 0.105, -0.0122] 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_x":0.37,"left_y":-0.125,"left_z":0.018},"note":"The cap appears just behind the fingertips in the wrist view, so I have passed the neck slightly. I will move back a few centimeters and lower to neck height."})
tool
executing move_to over 3 steps (0.3s)
step 151
top_cam
camera top_cam step 151
left_cam
camera left_cam step 151
right_cam
camera right_cam step 151
assistant
agent noteThe cap and neck are now between the jaws at the correct height. I will close around the narrow neck, which should allow the heavier bottle body to hang below the grip.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.691, 1.882, 0.8433, 0.0254, -0.8848, -0.8932, 0.9963, -0.0406, 0.7673, 0.5922, -0.448, -0.083, -0.0803, 0.9997] state[eef_state]: left_x=0.3769 left_y=-0.1297 left_z=0.0283 left_yaw=0.4558 left_pitch=-0.0065 left_roll=0.0115 left_gripper=0.9963 right_x=0.2822 right_y=0.0068 right_z=0.1682 right_yaw=0.0449 right_pitch=-0.0473 right_roll=-0.0051 right_gripper=0.9997 state[joint_eff]: [1.1829, -7.5009, 4.1641, 1.0427, -0.0952, -0.2662, 0.0171, -0.6769, -1.7573, 7.2684, 2.127, -0.1343, -0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 151): [image omitted: streamed camera frame] camera 'left_cam' (step 151): [image omitted: streamed camera frame] camera 'right_cam' (step 151): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The cap and neck are now between the jaws at the correct height. I will close around the narrow neck, which should allow the heavier bottle body to hang below the grip."})
tool
executing move_to over 10 steps (1.0s)
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 slipped sideways and the gripper closed empty. I will reopen, shift toward the displaced neck, and get the fingertips lower before trying again.
move_to
left_x0.3550left_y-0.1500left_z0.0050left_gripper0.7000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6903, 1.8618, 0.8425, 0.1062, -0.9699, -0.8921, 0.0112, -0.0406, 0.7391, 0.5449, -0.4206, -0.0837, -0.0807, 0.9998] state[eef_state]: left_x=0.3874 left_y=-0.1263 left_z=0.0533 left_yaw=0.5076 left_pitch=0.0969 left_roll=-0.0528 left_gripper=0.0112 right_x=0.2786 right_y=0.0071 right_z=0.1597 right_yaw=0.0457 right_pitch=-0.0389 right_roll=-0.0057 right_gripper=0.9998 state[joint_eff]: [0.0889, -6.9402, 4.2872, 0.6569, 0.4225, -0.0269, 0.862, -0.7179, -1.5521, 7.0359, 1.9805, -0.1685, -0.0122, -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":0.355,"left_y":-0.15,"left_z":0.005,"left_gripper":0.7},"note":"The neck slipped sideways and the gripper closed empty. I will reopen, shift toward the displaced neck, and get the fingertips lower before trying again."})
tool
executing move_to over 7 steps (0.7s)
step 168
top_cam
camera top_cam step 168
left_cam
camera left_cam step 168
assistant
agent noteThe cap is still to the right of the jaw center, and the arm is not tracking the low pose cleanly. I will align laterally and return the wrist to its starting yaw for a simpler, lower grasp.
move_to
left_x0.3500left_y-0.1700left_z0.0150left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7761, 1.9255, 0.9051, -0.041, -1.034, -1.0618, 0.6952, -0.0406, 0.7177, 0.5072, -0.4023, -0.0834, -0.0807, 0.9998] state[eef_state]: left_x=0.3723 left_y=-0.1477 left_z=0.0422 left_yaw=0.5326 left_pitch=0.098 left_roll=-0.0469 left_gripper=0.6952 right_x=0.2752 right_y=0.0071 right_z=0.1517 right_yaw=0.0454 right_pitch=-0.037 right_roll=-0.0061 right_gripper=0.9998 state[joint_eff]: [-0.8547, -4.5197, 3.3436, 0.5592, 0.5153, -0.3443, 0.0366, -0.841, -1.4838, 6.9675, 1.9463, -0.1294, -0.0171, -0.0171] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 168): [image omitted: streamed camera frame] camera 'left_cam' (step 168): [image omitted: streamed camera frame] camera 'right_cam' (step 168): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.17,"left_z":0.015,"left_yaw":0},"note":"The cap is still to the right of the jaw center, and the arm is not tracking the low pose cleanly. I will align laterally and return the wrist to its starting yaw for a simpler, lower grasp."})
tool
executing move_to over 4 steps (0.4s)
step 172
assistant
agent noteThe neck is now centered in the wrist view. I will keep that alignment and lower straight down so the jaws surround the neck instead of clipping its upper surface.
move_to
left_x0.3590left_y-0.1480left_z-0.0100left_yaw0.2300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7277, 1.766, 0.5907, 0.448, -0.7876, -0.6399, 0.6954, -0.0414, 0.6952, 0.4717, -0.3866, -0.0875, -0.0807, 0.9997] state[eef_state]: left_x=0.3593 left_y=-0.1476 left_z=0.0387 left_yaw=0.2292 left_pitch=0.0724 left_roll=-0.0551 left_gripper=0.6954 right_x=0.2718 right_y=0.0078 right_z=0.1445 right_yaw=0.0481 right_pitch=-0.0342 right_roll=-0.0039 right_gripper=0.9997 state[joint_eff]: [0.2393, -3.8632, 2.9607, 0.4567, 0.5397, 0.2076, 0.0122, -0.5675, -1.1145, 6.9675, 2.0049, -0.1538, -0.0073, -0.0171] camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.359,"left_y":-0.148,"left_z":-0.01,"left_yaw":0.23},"note":"The neck is now centered in the wrist view. I will keep that alignment and lower straight down so the jaws surround the neck instead of clipping its upper surface."})
tool
executing move_to over 4 steps (0.4s)
step 176
assistant
agent noteThe descent is being blocked by the wider bottle body. The fingertips lie farther forward than the visible jaw edges, so I will advance along the bottle to put the narrow neck under the actual grasp point.
move_to
left_x0.4300left_y-0.1500left_z0.0250left_yaw0.2300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7204, 1.8622, 0.6514, 0.5701, -0.8066, -0.6147, 0.6955, -0.0414, 0.6777, 0.4404, -0.3737, -0.0902, -0.0807, 0.9997] state[eef_state]: left_x=0.3815 left_y=-0.1605 left_z=0.0419 left_yaw=0.2444 left_pitch=0.1328 left_roll=-0.0969 left_gripper=0.6955 right_x=0.2688 right_y=0.0084 right_z=0.1373 right_yaw=0.0504 right_pitch=-0.0348 right_roll=-0.0023 right_gripper=0.9997 state[joint_eff]: [-0.3624, -2.2769, 2.4, 0.1148, 0.5641, -0.5201, -0.0073, -0.7863, -1.1419, 6.8991, 1.9267, -0.1294, -0.0317, -0.0122] camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.15,"left_z":0.025,"left_yaw":0.23},"note":"The descent is being blocked by the wider bottle body. The fingertips lie farther forward than the visible jaw edges, so I will advance along the bottle to put the narrow neck under the actual grasp point."})
tool
executing move_to over 4 steps (0.4s)
step 180
assistant
agent noteThe low forward move was blocked, so I will clear the bottle first and approach its neck from above with the jaws fully open.
move_to
left_x0.4300left_y-0.1500left_z0.1300left_gripper1.0000right_x0.2940right_y0.0040right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.72, 1.8786, 0.6544, 0.6132, -0.833, -0.6334, 0.6955, -0.0414, 0.6567, 0.4068, -0.3607, -0.0902, -0.0807, 0.9997] state[eef_state]: left_x=0.3851 left_y=-0.1592 left_z=0.0453 left_yaw=0.2785 left_pitch=0.1611 left_roll=-0.1305 left_gripper=0.6955 right_x=0.2654 right_y=0.0085 right_z=0.1298 right_yaw=0.0504 right_pitch=-0.0344 right_roll=-0.0023 right_gripper=0.9997 state[joint_eff]: [-0.3897, -3.0427, 1.8803, 0.315, 0.3687, -0.315, -0.0122, -0.6222, -1.0188, 7.1179, 1.9512, -0.1636, -0.0122, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 180): [image omitted: streamed camera frame] camera 'left_cam' (step 180): [image omitted: streamed camera frame] camera 'right_cam' (step 180): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.15,"left_z":0.13,"left_gripper":1,"right_x":0.294,"right_y":0.004,"right_z":0.2},"note":"The low forward move was blocked, so I will clear the bottle first and approach its neck from above with the jaws fully open."})
tool
executing move_to over 6 steps (0.6s)
step 186
assistant
agent noteThe arm is not following the upward target from this awkward low pose. I will retract and raise it to a simpler configuration before making any further contact.
move_to
left_x0.3000left_y-0.1200left_z0.2300left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7269, 1.8912, 0.654, 0.6212, -0.7979, -0.6731, 0.9971, -0.0605, 0.7971, 0.6388, -0.4572, -0.1097, -0.0959, 0.9997] state[eef_state]: left_x=0.3839 left_y=-0.1674 left_z=0.0392 left_yaw=0.2651 left_pitch=0.1385 left_roll=-0.1741 left_gripper=0.9971 right_x=0.2885 right_y=0.0055 right_z=0.1798 right_yaw=0.0559 right_pitch=-0.0379 right_roll=-0.0032 right_gripper=0.9997 state[joint_eff]: [0.1026, -3.535, 2.0171, 0.3004, 0.022, 0.1685, -0.1245, -0.8274, -1.1829, 9.5658, 1.5995, -0.1294, 0.0317, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 186): [image omitted: streamed camera frame] camera 'left_cam' (step 186): [image omitted: streamed camera frame] camera 'right_cam' (step 186): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.12,"left_z":0.23,"left_yaw":0},"note":"The arm is not following the upward target from this awkward low pose. I will retract and raise it to a simpler configuration before making any further contact."})
tool
executing move_to over 13 steps (1.3s)
step 199
assistant
agent noteThe arm is free again, and the moved bottle now points almost straight forward. I will approach its cap from above with the jaws aligned across the neck.
move_to
left_x0.4450left_y-0.1700left_z0.1200left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7006, 1.0782, 0.8738, -0.485, -0.6029, -0.487, 0.9974, -0.0612, 0.7769, 0.601, -0.4454, -0.1131, -0.1028, 0.9997] state[eef_state]: left_x=0.3067 left_y=-0.1229 left_z=0.2166 left_yaw=0.0387 left_pitch=0.0096 left_roll=-0.03 left_gripper=0.9974 right_x=0.2842 right_y=0.0061 right_z=0.1705 right_yaw=0.0618 right_pitch=-0.0433 right_roll=-0.0062 right_gripper=0.9997 state[joint_eff]: [0.1846, -3.7128, 9.2786, 1.5311, -0.149, 0.3004, 0.022, -0.6085, -1.7573, 6.9812, 2.0586, -0.149, 0.0415, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 199): [image omitted: streamed camera frame] camera 'left_cam' (step 199): [image omitted: streamed camera frame] camera 'right_cam' (step 199): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.445,"left_y":-0.17,"left_z":0.12,"left_yaw":0},"note":"The arm is free again, and the moved bottle now points almost straight forward. I will approach its cap from above with the jaws aligned across the neck."})
tool
executing move_to over 11 steps (1.1s)
step 210
assistant
agent noteThe target cap is near the bottom of the wrist image, just to the right of center. I will make a small forward-right correction while lowering the jaws around its neck.
move_to
left_x0.4550left_y-0.1800left_z0.0050
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5415, 1.7046, 0.9623, 0.0212, -0.474, -0.3622, 0.9975, -0.0669, 0.7506, 0.5571, -0.4225, -0.1165, -0.1032, 0.9997] state[eef_state]: left_x=0.4265 left_y=-0.1583 left_z=0.1023 left_yaw=0.0318 left_pitch=-0.0672 left_roll=0.0268 left_gripper=0.9975 right_x=0.2804 right_y=0.0054 right_z=0.1622 right_yaw=0.0591 right_pitch=-0.0377 right_roll=-0.0052 right_gripper=0.9997 state[joint_eff]: [0.6085, -8.0752, 9.0188, 1.79, -0.0464, 0.2906, -0.0073, -0.4991, -1.388, 7.2821, 2.0098, -0.1783, 0.0269, -0.0073] camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.455,"left_y":-0.18,"left_z":0.005},"note":"The target cap is near the bottom of the wrist image, just to the right of center. I will make a small forward-right correction while lowering the jaws around its neck."})
tool
executing move_to over 7 steps (0.7s)
step 217
assistant
agent noteThe first bottle’s neck is now under the fingertips and out of the wrist camera’s view. I will close here, then check whether the bottle can be lifted by the neck.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5617, 2.0216, 0.9226, 0.5037, -0.5076, -0.3691, 0.9975, -0.0677, 0.73, 0.5224, -0.4023, -0.1169, -0.1032, 0.9998] state[eef_state]: left_x=0.4588 left_y=-0.1831 left_z=0.0329 left_yaw=0.0413 left_pitch=0.049 left_roll=-0.0317 left_gripper=0.9975 right_x=0.2778 right_y=0.0054 right_z=0.1558 right_yaw=0.0587 right_pitch=-0.0317 right_roll=-0.0057 right_gripper=0.9998 state[joint_eff]: [0.1436, -6.2427, 4.7248, 0.9109, 0.1099, 0.0317, -0.0122, -0.335, -1.4564, 6.8171, 1.9512, -0.1929, -0.022, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 217): [image omitted: streamed camera frame] camera 'left_cam' (step 217): [image omitted: streamed camera frame] camera 'right_cam' (step 217): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The first bottle’s neck is now under the fingertips and out of the wrist camera’s view. I will close here, then check whether the bottle can be lifted by the neck."})
tool
executing move_to over 10 steps (1.0s)
step 227
assistant
agent noteThe gripper closed empty again; the overhead view shows that it passed beyond the first bottle’s cap. I will move back over that bottle’s neck, keeping clear of the neighboring bottle.
move_to
left_x0.3850left_y-0.1800left_z0.1000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5613, 2.0167, 0.968, 0.4362, -0.5308, -0.3664, 0.011, -0.0677, 0.7147, 0.4911, -0.395, -0.1169, -0.1032, 0.9998] state[eef_state]: left_x=0.4645 left_y=-0.1822 left_z=0.0401 left_yaw=0.0585 left_pitch=0.0425 left_roll=-0.0087 left_gripper=0.011 right_x=0.274 right_y=0.0057 right_z=0.147 right_yaw=0.0587 right_pitch=-0.0404 right_roll=-0.0046 right_gripper=0.9998 state[joint_eff]: [-0.0479, -10.5094, 5.2855, 1.1893, 0.0269, -0.0464, 0.8474, -0.9094, -1.2239, 7.0359, 2.0049, -0.1832, -0.0024, -0.0122] camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.385,"left_y":-0.18,"left_z":0.1,"left_gripper":1},"note":"The gripper closed empty again; the overhead view shows that it passed beyond the first bottle’s cap. I will move back over that bottle’s neck, keeping clear of the neighboring bottle."})
tool
executing move_to over 10 steps (1.0s)
step 237
assistant
agent noteThe first bottle’s cap is visible at the lower left of the wrist image, separate from the neighboring bottle. I will center on it and lower to table level for a neck grasp.
move_to
left_x0.4000left_y-0.1600left_z0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6834, 1.6749, 0.8379, 0.1352, -0.5961, -0.469, 0.9944, -0.0677, 0.6914, 0.4541, -0.3759, -0.1169, -0.1032, 0.9997] state[eef_state]: left_x=0.3916 left_y=-0.1864 left_z=0.0934 left_yaw=0.0411 left_pitch=-0.0024 left_roll=-0.0099 left_gripper=0.9944 right_x=0.2708 right_y=0.0059 right_z=0.1399 right_yaw=0.0587 right_pitch=-0.0351 right_roll=-0.0053 right_gripper=0.9997 state[joint_eff]: [-0.4855, -9.2239, 5.5726, 1.4481, -0.398, 0.1197, -0.1587, -0.7453, -1.3333, 6.8444, 1.9707, -0.2125, 0.0122, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.16,"left_z":0},"note":"The first bottle’s cap is visible at the lower left of the wrist image, separate from the neighboring bottle. I will center on it and lower to table level for a neck grasp."})
tool
executing move_to over 7 steps (0.7s)
step 244
assistant
agent noteThe wide-open right jaw is close to the neighboring bottle and may be blocking the descent. I will narrow the opening and shift slightly left to isolate the first bottle’s neck.
move_to
left_x0.4000left_y-0.1500left_z0.0150left_gripper0.4500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6159, 1.8999, 0.7086, 0.6029, -0.5728, -0.4255, 0.9956, -0.0677, 0.6708, 0.4229, -0.3645, -0.1169, -0.1028, 0.9997] state[eef_state]: left_x=0.4114 left_y=-0.1695 left_z=0.0353 left_yaw=0.0699 left_pitch=0.0754 left_roll=-0.0564 left_gripper=0.9956 right_x=0.2675 right_y=0.0061 right_z=0.1332 right_yaw=0.0585 right_pitch=-0.0343 right_roll=-0.0051 right_gripper=0.9997 state[joint_eff]: [0.8274, -4.2462, 2.0308, 0.7497, 0.1148, -0.0611, 0.105, -0.7179, -1.1009, 6.8171, 2.0147, -0.1685, 0.0024, -0.0073] 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
move_to({"targets":{"left_x":0.4,"left_y":-0.15,"left_z":0.015,"left_gripper":0.45},"note":"The wide-open right jaw is close to the neighboring bottle and may be blocking the descent. I will narrow the opening and shift slightly left to isolate the first bottle’s neck."})
tool
executing move_to over 6 steps (0.6s)
step 250
assistant
agent noteThe neck is now within the narrower jaw opening. I will finish lowering and close fully, using the measured jaw gap to distinguish a grasp from another empty close.
move_to
left_x0.4100left_y-0.1600left_z-0.0050left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5816, 1.8751, 0.7067, 0.6136, -0.5915, -0.4114, 0.4557, -0.0677, 0.6476, 0.3927, -0.35, -0.1169, -0.1032, 0.9997] state[eef_state]: left_x=0.4192 left_y=-0.1534 left_z=0.0479 left_yaw=0.1136 left_pitch=0.108 left_roll=-0.0574 left_gripper=0.4557 right_x=0.2648 right_y=0.0063 right_z=0.1281 right_yaw=0.0586 right_pitch=-0.0267 right_roll=-0.0063 right_gripper=0.9997 state[joint_eff]: [-0.0479, -6.8308, 2.441, 0.7302, 0.2759, -0.0317, 0.3004, -0.7863, -0.6906, 6.9402, 1.9805, -0.1734, -0.0073, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 250): [image omitted: streamed camera frame] camera 'left_cam' (step 250): [image omitted: streamed camera frame] camera 'right_cam' (step 250): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.41,"left_y":-0.16,"left_z":-0.005,"left_gripper":0},"note":"The neck is now within the narrower jaw opening. I will finish lowering and close fully, using the measured jaw gap to distinguish a grasp from another empty close."})
tool
executing move_to over 5 steps (0.5s)
step 255
assistant
agent noteThe neck grasp is still empty, and repeated low approaches are being blocked or deflected. I will move both arms clear rather than keep nudging the bottles without a reliable way to stand them.
move_to
left_x0.3000left_y-0.0200left_z0.2300left_yaw0.0000left_gripper1.0000right_x0.2940right_y0.0040right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5976, 1.9427, 0.7712, 0.6601, -0.6483, -0.4492, 0.0103, -0.0677, 0.6334, 0.3725, -0.3424, -0.1169, -0.1032, 0.9997] state[eef_state]: left_x=0.4345 left_y=-0.1623 left_z=0.0525 left_yaw=0.1678 left_pitch=0.1584 left_roll=-0.0996 left_gripper=0.0103 right_x=0.2628 right_y=0.0064 right_z=0.1239 right_yaw=0.0586 right_pitch=-0.0252 right_roll=-0.0065 right_gripper=0.9997 state[joint_eff]: [-0.9094, -3.6308, 3.1248, 0.149, 0.4176, -0.1148, 0.8669, -0.8684, -0.9368, 6.653, 1.9463, -0.1734, -0.0415, -0.0073] camera 'top_cam' (step 255): [image omitted: streamed camera frame] camera 'left_cam' (step 255): [image omitted: streamed camera frame] camera 'right_cam' (step 255): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.02,"left_z":0.23,"left_yaw":0,"left_gripper":1,"right_x":0.294,"right_y":0.004,"right_z":0.2},"note":"The neck grasp is still empty, and repeated low approaches are being blocked or deflected. I will move both arms clear rather than keep nudging the bottles without a reliable way to stand them."})
tool
executing move_to over 13 steps (1.3s)
step 268
assistant
agent noteThe left arm only partly retracted and remains low beside the bottles. I will raise it farther while retracting to leave the workspace safely clear.
move_to
left_x0.3200left_y-0.0500left_z0.3000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.313, 1.7439, 0.7795, 0.3809, -0.3862, -0.2714, 0.996, -0.0677, 0.7998, 0.6445, -0.4751, -0.1349, -0.1104, 0.9998] state[eef_state]: left_x=0.4494 left_y=-0.0717 left_z=0.0763 left_yaw=0.1396 left_pitch=0.0256 left_roll=-0.0113 left_gripper=0.996 right_x=0.2867 right_y=0.008 right_z=0.1784 right_yaw=0.0777 right_pitch=-0.0505 right_roll=0.0015 right_gripper=0.9998 state[joint_eff]: [-1.3197, -11.2342, 8.7179, 1.7656, 0.2076, 0.398, 0.0269, -0.8684, -0.7726, 9.9897, 2.0147, -0.0317, 0.0659, -0.0073] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 268): [image omitted: streamed camera frame] camera 'left_cam' (step 268): [image omitted: streamed camera frame] camera 'right_cam' (step 268): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":-0.05,"left_z":0.3,"left_gripper":1},"note":"The left arm only partly retracted and remains low beside the bottles. I will raise it farther while retracting to leave the workspace safely clear."})
tool
executing move_to over 15 steps (1.5s)
step 283
assistant
agent noteI could not reliably grasp and lift the bottle necks to stand them upright. I moved the leftmost bottle closer, but all three remain lying down. The arms have been moved clear of the bottles.
give_up
hindsightA low body grasp succeeded at approximately left_x=0.42, left_y=-0.12, left_z=0.007 with a settled jaw opening around 0.55, allowing the bottle to be drawn inward. Neck grasps repeatedly closed empty: several low targets instead stopped at z=0.03–0.05 with substantial pose error. Fully open jaws near the clustered bottles risk contacting a neighboring bottle. Do not mistake the visible upper edges of the jaws in the wrist view for the fingertip grasp point. Retraction from deflected low poses sometimes required multiple raised, shortened-reach targets; always check the actual readback.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.334, 1.4342, 0.7883, -0.0345, -0.4015, -0.292, 0.9979, -0.0734, 0.7654, 0.5915, -0.4469, -0.1356, -0.1108, 0.9997] state[eef_state]: left_x=0.3987 left_y=-0.0615 left_z=0.1278 left_yaw=0.1427 left_pitch=-0.0567 left_roll=0.0229 left_gripper=0.9979 right_x=0.2821 right_y=0.0068 right_z=0.1692 right_yaw=0.0728 right_pitch=-0.041 right_roll=0.0002 right_gripper=0.9997 state[joint_eff]: [-0.2803, -7.706, 9.1829, 1.7509, -0.232, 0.0171, -0.232, -0.253, -1.388, 7.3641, 2.0244, -0.149, -0.0269, -0.0171] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 283): [image omitted: streamed camera frame] camera 'left_cam' (step 283): [image omitted: streamed camera frame] camera 'right_cam' (step 283): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not reliably grasp and lift the bottle necks to stand them upright. I moved the leftmost bottle closer, but all three remain lying down. The arms have been moved clear of the bottles.","hindsight":"A low body grasp succeeded at approximately left_x=0.42, left_y=-0.12, left_z=0.007 with a settled jaw opening around 0.55, allowing the bottle to be drawn inward. Neck grasps repeatedly closed empty: several low targets instead stopped at z=0.03–0.05 with substantial pose error. Fully open jaws near the clustered bottles risk contacting a neighboring bottle. Do not mistake the visible upper edges of the jaws in the wrist view for the fingertip grasp point. Retraction from deflected low poses sometimes required multiple raised, shortened-reach targets; always check the actual readback."})
tool
give_up: I could not reliably grasp and lift the bottle necks to stand them upright. I moved the leftmost bottle closer, but all three remain lying down. The arms have been moved clear of the bottles.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [0, 0], left_roll: [0, 0], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [0, 0], right_roll: [0, 0], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 9.641 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]: [-0.0193, 0.794, 0.6094, -0.3767, -0.0227, -0.0288, 0.9989, -0.0154, 0.7902, 0.6041, -0.3878, -0.0288, -0.0345, 0.9998]\nstate[eef_state]: left_x=0.2959 left_y=0.0019 left_z=0.1831 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9989 right_x=0.2935 right_y=0.0041 right_z=0.1794 right_yaw=-0.0003 right_pitch=-0.0004 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -1.4974, 9.812, 1.7411, 0.0073, 0.1343, -0.1294, -1.0598, -1.2376, 10.3453, 1.8388, 0.0562, 0.1929, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fb15f974c84426200d826252c58253cfa43662c20e6525de8cdb1783358f2ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9254d3d1d2437d55407be204f092466404fa4669f6f23b07d28357fdc38dcbb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad80f946d400d518cd5ccecd11b948389ba593c2943645274b26e53804a4fa11",
      "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 · 8.255 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtGOb_-YM2Y1fFgh6YO5bev4ZV8BX14p7HsWzzC93MS7XCzxV0-4G1lvXT275maxmlBsOnU8Plxhebd7qkysVA5EBQXv07jPor1QBkX-pQKqQ1RIxgoNiwLzSrxtNcqpCGjWO0u8lwFpdRaVkIP7fCrwxh7azZLa17i2_3FsVGtxYGdk1fhPIPgP5hnl1YvPa7LWnKh9J_FOt9X0-Y4iKbJIIend9OUre59_3S8CLTMxsibp5_B5Y1hxsZ_4QSrigQdiXI1ZhUkQD8k5Dak9HqYRFn1iICkI73a1KutzLXDpkjINBEEXskyJGE03hWwAt0GcSIquSyv45MBcGT1nNKhPwUhHxgTF8emc3B5seia-0wUFwmC2dF-MbRMREiWp6i0hFhyoed1mrB7YzE4yewixvTFywEiGn0A7ZeCpY0jBNo0B5wpvRP7Fy0ybNE6bifzLJQDB0tekzJc4Nkcz0lxynD3gnafDCxHZamVSP89bY3DazEF6wcsQ56NhIVQQ-NgYG4IMVWNKe9JNiGxCNkjHv6tMdhRoUOJCXUbQmtWPZWIIMkAX0JSf1hDhDkpXbRC8aZIud2ug2UQkTnhXdVYh3pBkToF3pVXxTY_KBKaK75boSG4NAUjG5G9qSBNqagRotb67vWtTHFtaIU54B7KrXOAPLKZ2gJGLZp8UDQdyJFoXEpzgubZVTG_OyQBYIkp9Yt5NoFzPVs5hoYUR83aIlr3aoQn_rsunuhwIlajPV_QXLWh5FH6KtiZ_idBkRUa09FlxXEe3bSDTjfgLh0KMlSko9gEFSnljx5rz95LWLvHY3er5m_Xdf0gPFVm20hRsCx2MHhEgm5JSFFE-RjjwgD2GmEW2NZ9ua2Yca93DCnMJW1grS2j3PWqkRRYzJIPioxdX71tvLL2B_PvsQVB5zcPinxyCyu7gGIJwBKZ0K8A_dqD9UEU9hK-ZPHaRt3CqJ6J9WVo70T2RLW63_Sz9hTsYmIShiwv6hYodUdaSsB9OqQ6aQb47AVdgaHdyVNDQrg2jTec6wo8qGR0jn-31Fvol7z0v0wMYoyPouRttdet1cAmS4PD0vw-rKtBX5OH8dTvMP4TiclqHXpgQzlPv3e5WsJHMm1LX_-xKbsAPlbOPiawpYqNy95i_DLaI3KErLuV8Ut_PbRXlOO1XEdf3XLwBQxgRf09r6uqFXthBPPx-IcSQIUiDO2OgrvFJ1cUHVud4sAY0K2cL11lST4VzVBtJwJ08AiuBNr7lOAhuOSDH__UbGLdMWnh4H3azUNJw6J1IBjMG61umAwAPK-lg50_DdeUxxP8y8oJSKhUKc0-HLlx8O23zouOiGipxfR0yLFk503Fu_ckqHaO7Cxv7CsO60L9XQHNmw-FNNb_kMvDBMg_V0ohcgPI_FfOz7Za_xbQjIjpalIzrYQdTCI93Kg-YjoP_CMLRqY5CWzW8ZN95TVQv2veYSr8r6cde37HVxIFzl1IfcsALkgHmSdR5FYRzHoFTsvjuMC4uv1-IfR2RSr7-FtdMetBltl8168v7blLdDI3NaoczCtR8okFLvEtp7Bb3vnunz380K477EFu7xgWGDXLNFhV2S305ofOV65--ShCOUSPsT8FakDJ1B81YZYJQKOr1VF4aaDn2CujMi2Evv_vNQClYs4oK8vcfoUePkcMpdfeaY2hpbrPTEvQSe4ODfj28BfDvl76ZzMhg5VFoF-Pm0ddS4BrwS3UwT7K0f_ZC_EnaP8tIpLsxMsnlo62XPIKhKN5II-_V-DZDXY20w0rFCgW7f_9usKmBFuZl4lSydbgIyWzuIF3-JKoFT9JojKeDxACOXelhyWdxSlMt-lSpv30n1EeDNjzcBkAz3ShueHhy31CB-YsSqOTpdXOe9GJel9u3MY--97W8zVyQbzg0dvz3PBi8e2uSBkIhJg1y1AYcv3F4qYeJS2NqpBh3Ea3_gncXcqZaG-V28Ml2GPKM9H2pxTLNI4Q1XvoSm-A6n4DDPZo_66vSddAPpM-cIzPaTXphY-A8G_dELt1iuuDTY1YniPqlsz4Q7BrB3dD9bxj56BS2NPao3IFPQ7QSTXmtEBCfm6D7H-D9__J7HaPA2IqPkyeFrLjqe-Vt7d44I5o0bImK88RyHGXVHQ7FbjJIeL04TBefUdVV9OY_IxMitZxGLdodz-BrEIxHjWzEkwHlDDk5FBh4rVTwGcFPINNskktd4mG8fLGZW0VjTM_ZTByEp8Cwtl42cfAK4b6BTeWygy1qcO_Z35rjA7bjhuRel7QNmbRIInoAhVbXntaMQUJxhqCWvOlQA2p4KpQy961S3VoAp51tLVGu_b1t5Mne-eTQQ1-qul_eSGoR8YemW4zNWgW7QRCcEKmAYne9V25Tawy5VdQ85LoT6atwA5CE6nFj4lLecSZoTIoir8LbsGsgtuMYbmHcMELCHY2Q5LDxlyY4U3GXisoY8WhJsa5lNwilxJ03OKp7O4GHRS-YiR3t9aA_BLPlyIzrG9wP8dsZpwt4FqrRz4fwEgVx7ZQBkyIi98djziCQV47K-yuKckKu9cwUKGtur7dKKi076DdDoKnA4z4QodKdcr71uZLG3-qtymS3hxH7gbyyH2q7fK7afSeeRjKxwUxEalagditaAVw6IbrFzk5k9R7gYgOwrAdhODV36UCUl5aJQR-MY_xW6ZtwIMuFb4o-jSXj9GIXobcz4Cvaexa628mQ6ZH6c4PQjhecGxmggYMvAz45IDnH7fd_3nvFwccWPmmo1DyosJSj4z3_-UESO0yQV2nsK-vxfIUXspd1DeaBKhH_Z0grpCKaVT8igQDtWeQULU5czRJg60oMahQM2Pf0Du0lM54FApyQYr-tIytr1RBNTNxvOyAdj6eE9ijpeVoNUj0KNAOF3DiYiGBVewRlqV9omy5ReMnLqPDFIPxamFYmmarF1ZXj48Nox",
  "id": "rs_046185568cad4c3b016ab463939e8487d09628603cf6bdcfcc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.15,\"left_z\":0.15,\"left_gripper\":1,\"right_x\":0.294,\"right_y\":0.004,\"right_z\":0.19},\"note\":\"All three bottles are lying on their sides. I will approach the neck of the leftmost bottle so I can lift it by the neck and let its base swing downward.\"}",
  "call_id": "call_WYjACnMWTGhUTYJpjlDIZDfo",
  "id": "fc_046185568cad4c3b016ab4639a3c2887d0b9b7e3adad0c4fc9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WYjACnMWTGhUTYJpjlDIZDfo",
  "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]: [-0.5461, 1.4773, 0.8505, -0.0761, -0.4404, -0.3271, 0.9989, -0.0151, 0.794, 0.6083, -0.4309, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3866 left_y=-0.1426 left_z=0.1313 left_yaw=-0.0188 left_pitch=-0.0638 left_roll=0.0269 left_gripper=0.9989 right_x=0.2883 right_y=0.0044 right_z=0.1715 right_yaw=0.0008 right_pitch=-0.0431 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -6.2154, 8.841, 1.7998, -0.4127, -0.0757, -0.1245, -0.4444, -0.9778, 10.6598, 1.7363, -0.0317, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8917fa29504671c2a99e9972f0580da5e01f4e779338e9c315c08de46d581a9f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c197d347cb2f87dfdba99826b4c5467f363c45f82b6c04adbb38f6d1a262d929",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ca3f29802b6f3e2f3bfe4f60dd01848de53028dd7fb4cc6a7fcc2c5a7e93b1a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 7.215 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]: [-0.0193, 0.794, 0.6094, -0.3767, -0.0227, -0.0288, 0.9989, -0.0154, 0.7902, 0.6041, -0.3878, -0.0288, -0.0345, 0.9998]\nstate[eef_state]: left_x=0.2959 left_y=0.0019 left_z=0.1831 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9989 right_x=0.2935 right_y=0.0041 right_z=0.1794 right_yaw=-0.0003 right_pitch=-0.0004 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -1.4974, 9.812, 1.7411, 0.0073, 0.1343, -0.1294, -1.0598, -1.2376, 10.3453, 1.8388, 0.0562, 0.1929, -0.0366]",
      "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]: [-0.5461, 1.4773, 0.8505, -0.0761, -0.4404, -0.3271, 0.9989, -0.0151, 0.794, 0.6083, -0.4309, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3866 left_y=-0.1426 left_z=0.1313 left_yaw=-0.0188 left_pitch=-0.0638 left_roll=0.0269 left_gripper=0.9989 right_x=0.2883 right_y=0.0044 right_z=0.1715 right_yaw=0.0008 right_pitch=-0.0431 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -6.2154, 8.841, 1.7998, -0.4127, -0.0757, -0.1245, -0.4444, -0.9778, 10.6598, 1.7363, -0.0317, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8917fa29504671c2a99e9972f0580da5e01f4e779338e9c315c08de46d581a9f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c197d347cb2f87dfdba99826b4c5467f363c45f82b6c04adbb38f6d1a262d929",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ca3f29802b6f3e2f3bfe4f60dd01848de53028dd7fb4cc6a7fcc2c5a7e93b1a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGOlGfZRI0c260j7-yes0UJf40aIzYxU34qHJKOr3uwP2qx49qWV1tBBjABnymfNaQmvwgUgnMk6MD9vSfwHwstIPQDFnLrENolmIpHaOfL0C5c7jMKOgK-jV5LBBjB2A5t4jQX6UbUfNJAU0gktqzXotxeFt-xKwMWuYuFhM1Ws7TAZN-ZHNfA3kQ41DyNmM3skhoqDUhynsNxMuOljzBVRmYstaGg1xaH3GtkOHcYCWIZykIz4QnEC8yJtbTJT8jU0Iw6DUjvELJ88BCNsT-EsSdl-8XeV4gCAR1CE9Du7zyTncRRObUzpko7B317wC9gahLG9XLOQxKsyyJjxLL3l5l1ryD2Qsv5CP-2C7AI5lHWrQ3YI5DC7lCCMkw7bXVNoH1Z5Lt76jjOSEg8iFb1DLPgZFMXr877oaQN2gQ16cR5Il6ce3k4RnWVsG3tsXNUhdAa4V0lxw-dNRMV33BtRe4R0yyCByyvfDliZWqH0HpHSyNL2Lhd6DTrstt8vzmJ5XUtVh08SWG13XKE_Rw5UWFvETOT_ObN6huUATKk5WKUAShxI0aobir059xipmeSpdQzjYixcm_Gnr9DFGjFDfIPQyFooElggxbUjhYsW-r7vG_CCJkafDFdTIEgfpX8JDeCs5NrC1H0qQOKGznGD1hMuFX-mI4PGFp40JYZ94Y8bav20MBgTPKLlWjm4_nRjuQu8yrPtWreZ0tNtxIOMMFBjOjSsdjPbvyMbb2navfYbVzt7aiJwVphw4bZzbU2nMZckyNbyBbQp9IgNObkhk2EHWr5BSJ44dfPXEeGe89OTuH1DDYdkGWQt0qlXUVKstxi-Z-9gsX7hzHNVeFr6NREmcI9oqEqvJ4YK4ahy3KqcfKnrCF8vc8Y9qMXvQjHaMOj_A5Vk1f5piMJNmgAHoQoicTSgqFA1OWSK3lK7auHSs111xCNzUNm2v49JGwcwSmTjehTbYdHHWWMWRG21udz0m8cmaByHybyAJM3C5P6Srsjb5uwkpCp8kIMEuUfjjaT3tKvFD1jGQVNAnZFoYF1WX0lFTZeGjWWfe4aapU7z7TSZBkkr2DUC_TRMYHMsUHSFmxVO_kG8GK2Tz6KrLgNlY6eCk95VbRA7N3MegCoulMrLJZ29xMyBDhqf4ieEwJaXREwcT8NeWLnT3k8ZbOhf6mD3YsxcYiZ8uuL-Hch8VQJgo328MM653c86BsjM5Tzsoq8NVQgR6lbkEK4k0Dw4hAnQ0c947lQsn53sR5V4qRKkxpnwwPJTNTGLxEEeuxZoegWhf8l6gnMPHxKwntXLw80dHHoYsZFL0HHyPkEfBTQeGLCHqk25Sv0GkA4uNwtEoudbpWXLBJoYECalnzB_3UdJ_mGevaBM_jyZVW-cnDDoxYRTQMOXErTA1uEaCUQR0fX4ZfdqUHFPBDDCIFmzySTKb-9-R2TXMravVNGG8PRfME4cx0zjXTp0WeXSSKmubQqjibQOo9QAPKZ241Wn46BIIOQTJvGJNDvIx2nd55gVd_FGIUrCIe4eWSfztaBxRwk29Gy-1psbUik8P38N4z0LBhsvXDagOycKl2PjKBsV8e1u_-mBDR-NVEY3t80GL2TDwrAF3hyzGbYndbY4ZTPSHbj_w8Z59Z_tMc8f69uW3IT96ghm1cCz5GiJNemZWMvyHEq4TGCEg94YzP1BPvLWl7vpe2fe_f6fH4bNfJ9doosdfcc0tP3czz3llEVolq7fvFSG4BIBHDRQPXUfuuzm087EAx8X6_MxzzSffNCZgGkP3uGLc0mUNzqhyQRKgIRZm6HVBNmBZZA-1WV5HX2lII6Wiqk5WXsZPFY3dfn86qXVe8ZSdrSIw6uZULh5NUupV-ZhoOKliB4ULr822cz2omxQwRBCHNmXxZ2D03L_Gc8Q1KbXEORcxM8fG0GbTizO0VVJ_q13E9bdE3dtjwbJSIhxQviutf0JHpk_RUhW12wEvNHbKVJ97KnrKcWdy6EROg-jZ95H76R6BcxkxXGO1sdNoFTfRfU4f9X5PcKwBxChwPf6e_t8OG1JR7mr2KItm8pR-8kNi7fvjRxcIGnZFZKysCKnYYIWqWHT1SjZ1ae4P8ZLrx2N5i_QNiyNrKIDu06YM3joAI4mdLyp1W2wIAkT_sZAFgA1k2kse9t33OOu4IghCf6M4136RZ4f1lp_tuB1wEO2UDMqyzBql6EhBDCvWPxKk6A1vOjBr-aszwlXr-Xw_MBTw1CtdlVha0aqOgnFdc4eZXVHU_H_u0h8CwkXqKMgHLFLVOHQ0_mkarGqAITeoUpXzSwWEMMWxkIV2LR2EpQxOmw5hRLquaRVU8t-yRVDvuMzJnIrX5bC90aAXt8Zq0_w_fDrW94guY35aMKNL7yGldSdpr0PNzMz9KfxlHjCYDO2uQTdQ04hQUJoLvs5rAqAnSK5SLHtHaRIVQSHE5OX3J--kaCnHSmP5Oy7RrfMVtV2bLksVTMgwB8h47gRPJuHxlYMtUXp6xFkGyp8Sio9x1wMWn7BKq705b-w_sbI7287q3K0JubhY7YRWH0ipOZnxJKTiIAXp1ChB6yal6R6hFc_5nCb_hfMEoz9CohOUIMLj-FLf_QvSABai37IPvOZrFwubIchXY6iGVsRayQKDgRycG1F2VNxc0Ko46N7vsOXqvzaKEwt36-_jKtxUr5k8fSJLnMZife6YGbLLe4t15YlO96ezMuFU84Ij2vt6wl5gl5JUL-sR1HwKU4ZoHF1C3mGLqPGUZ_h5KM6y9BcJN4QwzpYsNUX0HKan6Kp8xXD_-vEye0pxJEb3WZxaUxSWz_LUL9uccgpo6jmNL6ALe-Xd58lwVeaIibt6rVJxfR8hdbGm51oxT3Q77SmR7LenGZfAaMR8pJFVwmgEF9MGbwdJca70nqM9nsX8ga0lzXOBaNQ8O7NquogAiqJUkhAt9oDLe-1clJgELxRc4RuCE91HniP7YtJ4jnIv0QzOsy99WQ=",
  "id": "rs_046185568cad4c3b016ab4639e8e0487d0956fa8a563b32174",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.105,\"left_z\":0.045,\"left_yaw\":0.65},\"note\":\"The leftmost bottle’s cap is to the left of the gripper in the wrist view. I will shift toward it and lower the open jaws, turning them to grasp across the neck.\"}",
  "call_id": "call_QIentjNYKzTy4gMnDgr386sC",
  "id": "fc_046185568cad4c3b016ab463a447a887d0a74f721354a5c561",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QIentjNYKzTy4gMnDgr386sC",
  "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]: [-0.6117, 1.9144, 1.0088, -0.1333, -0.8661, -0.8833, 0.9985, -0.0151, 0.7692, 0.5652, -0.4038, -0.0292, -0.0387, 0.9998]\nstate[eef_state]: left_x=0.4076 left_y=-0.1171 left_z=0.0459 left_yaw=0.5205 left_pitch=-0.0319 left_roll=0.0364 left_gripper=0.9985 right_x=0.2851 right_y=0.0044 right_z=0.164 right_yaw=0.0027 right_pitch=-0.0343 right_roll=-0.0029 right_gripper=0.9998\nstate[joint_eff]: [0.1709, -9.0872, 5.7368, 0.8181, -0.3736, -0.1001, -0.0562, -0.3897, -1.6068, 7.1316, 2.0, -0.0366, -0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2b362ffe57d81953f04e2eb95037f94391eb838b14af09d61957285ccba710f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c67baedc23510e42bea3e91af83f8e5ddd90af5b015ac95e95ce56c3789a2e58",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c3143e1c830b71f874acd5e158ab891bfff53529811666e765bdb3b6562598e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /responses · status 200 · 6.725 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]: [-0.5461, 1.4773, 0.8505, -0.0761, -0.4404, -0.3271, 0.9989, -0.0151, 0.794, 0.6083, -0.4309, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3866 left_y=-0.1426 left_z=0.1313 left_yaw=-0.0188 left_pitch=-0.0638 left_roll=0.0269 left_gripper=0.9989 right_x=0.2883 right_y=0.0044 right_z=0.1715 right_yaw=0.0008 right_pitch=-0.0431 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -6.2154, 8.841, 1.7998, -0.4127, -0.0757, -0.1245, -0.4444, -0.9778, 10.6598, 1.7363, -0.0317, -0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6117, 1.9144, 1.0088, -0.1333, -0.8661, -0.8833, 0.9985, -0.0151, 0.7692, 0.5652, -0.4038, -0.0292, -0.0387, 0.9998]\nstate[eef_state]: left_x=0.4076 left_y=-0.1171 left_z=0.0459 left_yaw=0.5205 left_pitch=-0.0319 left_roll=0.0364 left_gripper=0.9985 right_x=0.2851 right_y=0.0044 right_z=0.164 right_yaw=0.0027 right_pitch=-0.0343 right_roll=-0.0029 right_gripper=0.9998\nstate[joint_eff]: [0.1709, -9.0872, 5.7368, 0.8181, -0.3736, -0.1001, -0.0562, -0.3897, -1.6068, 7.1316, 2.0, -0.0366, -0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2b362ffe57d81953f04e2eb95037f94391eb838b14af09d61957285ccba710f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c67baedc23510e42bea3e91af83f8e5ddd90af5b015ac95e95ce56c3789a2e58",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c3143e1c830b71f874acd5e158ab891bfff53529811666e765bdb3b6562598e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGOt_6KrQHZdEwpsFEoOmv7-_OvefCxWX69JTmFxRKlB_2DeHUy6pvwDikKvrLa4kqdv7kjcuJjtIPow1bDC93awal_rkBWhPZfwG82u9q7bXM9_8SQW8QN0OyZ6Ix4EsYXgtM-PK4yuQWITfHtn5oyRt4QdEStyzGvyJcLYj38CvkJCiyPJrYqnt6gkWpwfghuPXw5iJ_tTeI2JHAWDnwwvM3M7G6z2DSpPk0sGTNz1NmHD720OIYBfI18o8CQSvaA6AmXNJ9I5rdOOF2JpMiC69srwpMggfn8k2D_fUUl7nrxjHtGTbALfcwwi7NS-XdW8jcmqqh2daO6snl5ZP7R0CzvYB2pkzbCM9585KVTktt-ONIZve6O1dbzGv21SaXeBORmf8i4YfOxMpfgwuLZe1QDlyY6KMEoV_reUhZuGPzt7yiC_D4EiC1K_X0vqkNW21pkJ_lXnNp1SQ5oq_l2fUaDjpPgyCHepT1770MT-QApQvy6QJLqNwV-EwpG4AuOl8yXx1GebKVzfCBEdNMdPgaPpUhtGLwMVuVslXiUl9HmZaSRg5VVG3jwsle8WGUI-GMEc2Sp48_vlH5k8AZz0IC9vn3Se4UeYN3QioUPSc8TAOPEVFfT-vDs-DuA8Tw7ZNG5FA6KqtGYbJ89_HjI3qYO5neH95EtrKM4ive0GQSYNidL8R8DNAKUtb0DuJK5TPoRDJEqC1DCPyl2fBNGniicLl-viso-5og-rLcZvKUi2y3nKxeKeQFlSi78GWP2zhED4zdXgKjZaEh4hIWXHRdDpAxxS9FqH9Pbwx4RhOp-C_hgnnbfxfPAVd-f6_krjLBLLULvT-KwETNBJB7N6n--XE2wfHn4jrBawkgdSASU-2skXAq9Sx0bRLV7ZxkQVdV_-mByDJBd_wugxuolrBNJ3ipylwaSewGW4Ed94uKX1kFqQ5Eg35rStS97cj2BlSKPINE73G1hh-lB6r38gPIj9ts61ayE1gtFM_l6gyB7ysCtN6ov_oc7Lw0-CLJpNPLBRK7L1UlAuEjldhunHd1uLMk8j0IBYYpNisZojqMYAIfgY8ZLC2r08hlIXkJB_nta8URwsR15txnedvAvtyn_YzHDJzEXUYoKFVlEXZpWXdfWqLGUt1sMIByyVXjar35D2VCh6Ry9qCs4i5T896ySIywIFbXggw9WotDHGxdBdbTmZJyzw-ZXwI_eLRtaj0yxkm24tlbSMSqMz0dkAdyRe4kpQF1UNsMEBZJ12OJ8MgGBWCIdubFTiuP92GXDhsEkNxc_8EvNc1dGZwc9VUbxbPcJ4HOKCDr_KpuyvZ_xmS9KBwv5zhvvnNgrIDMNs8pYl2un3-EaE36sjSjjdOQ3W1i76mMe21H-l8p128y3an7isx7jt7_43wbYKrvkuHzqqcu334zmjMiR3kcm2uUFaDN1DiPtLGWnzMCBH5Ojv_Yelzy_6G1bCtCliB-Xs23w_YsCwAVdNQCzK34dR2BUaFWMY6oXg76ft1ipn8PU8Sr7O32KCkmnF10hE3bjpsGqePotgrv7ktoz7ypUVEejpgFBHFONSqyOA_xGevr3bs7mgzHPxkYz9E-naGWNOWpHv3Hn9dUvFHbItJ_peJey2pebjYq-TZLpI67_foyPy6T6ZXetmuMpJQUdPTACVw07Ka-OTnFNTypb4zbykZz5EJivVve8n8f8U8bfXYwtoH_En1PYqn6vAxkDOd0_t9be4wuB_4SIkmtj5M7vvlzDkHJaqtM5CpY1vxm-w8G1h6Og0whboKmZVDHA2Cm0gYw1t0hg-fcxLP6oQ3uDIlUHlArK3SfWa3HJD6AuM4PZqujRYGlf5LXpQ3GCYR6QrTjAx8sZ73dzlgFmev9uR9gphuxfyvIRO1cAQhBm0AJKL6xs6akDoKZCHcpYUdm5zw84Q9EHx-OUdJm1I4mZNn2yGi4SwPPbFTgw8sqEtodEv_biKKM1fnjpurK3FBQOMHdmbTcbuElkJb_Uux3-OoPlzz6mQ4SCMqBwc5Q8CCy_EvFdCzmkwjAE2jOOCMIuQTyJsbRKyxR3s7C9XTLpziAvWa3RbiwDmQwQmPZaV3YSqNQ4nl3yvGSbV0ulqrv5khtEjDSVYvf3C-0tAj7QNO6hOqQsOY56UECPnI2IPgVvAWhNfyURXK0UdQphgbfT5ViFoOyEQmmFVaRb0kfFbadsHS9FEFMF2TfUyXjwrjUNHhBtcs4qFWqtLYwLRyEGyoc1JyTWDW5AGC0Xa3l_1nf1UwwRWA5YWJMJ9h27soEyWizAFRgb6aYNnhiQS-eSZ_sAYmoqQu6amZLWdt8TvghvEyo6AfsSG_GvDaXu7Nq1ccXl3fICrRYvK4eeCImQTQ3PPXusUt6vemhPsTLg5N-cjY2j2L5XU_-2Spi9uUaScFDrdYF5C7CIz5oR0F2Rl",
  "id": "rs_046185568cad4c3b016ab463a74f4887d0963bf304ea18bd32",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.455,\"left_y\":-0.085,\"left_z\":0.025,\"left_yaw\":0.65},\"note\":\"The cap is still ahead of the fingertips, while the bottle body extends underneath them. I will advance along the bottle toward the narrow neck before closing.\"}",
  "call_id": "call_Lf1gfrgzRTJA8QSytAzonrvI",
  "id": "fc_046185568cad4c3b016ab463abd0b487d0a3c7a33a86a2ffbe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Lf1gfrgzRTJA8QSytAzonrvI",
  "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]: [-0.5041, 2.043, 1.1168, -0.0574, -0.9058, -0.9257, 0.9984, -0.0151, 0.7532, 0.5365, -0.3958, -0.0296, -0.0387, 0.9998]\nstate[eef_state]: left_x=0.4493 left_y=-0.085 left_z=0.0384 left_yaw=0.6715 left_pitch=0.0216 left_roll=-0.0363 left_gripper=0.9984 right_x=0.2816 right_y=0.0046 right_z=0.1569 right_yaw=0.003 right_pitch=-0.0388 right_roll=-0.0026 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -7.6923, 5.5726, 0.8913, -0.2418, 0.0855, -0.022, -0.5538, -1.5658, 6.5846, 2.0293, -0.0952, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a6ac16cbf0810827f25e3b91597d1b7f9ef775782d94b6f1ac910569580d124",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1947e45d9cd7c089012dee74c46202054954c4a1c8b81654835a4624c27a1d3f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:727f557b50359d92df6b5049231731869f226db9a714c61ba119d0034f9bbfd8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 4 attempt 0 · /responses · status 200 · 4.787 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]: [-0.0193, 0.794, 0.6094, -0.3767, -0.0227, -0.0288, 0.9989, -0.0154, 0.7902, 0.6041, -0.3878, -0.0288, -0.0345, 0.9998]\nstate[eef_state]: left_x=0.2959 left_y=0.0019 left_z=0.1831 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9989 right_x=0.2935 right_y=0.0041 right_z=0.1794 right_yaw=-0.0003 right_pitch=-0.0004 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -1.4974, 9.812, 1.7411, 0.0073, 0.1343, -0.1294, -1.0598, -1.2376, 10.3453, 1.8388, 0.0562, 0.1929, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6117, 1.9144, 1.0088, -0.1333, -0.8661, -0.8833, 0.9985, -0.0151, 0.7692, 0.5652, -0.4038, -0.0292, -0.0387, 0.9998]\nstate[eef_state]: left_x=0.4076 left_y=-0.1171 left_z=0.0459 left_yaw=0.5205 left_pitch=-0.0319 left_roll=0.0364 left_gripper=0.9985 right_x=0.2851 right_y=0.0044 right_z=0.164 right_yaw=0.0027 right_pitch=-0.0343 right_roll=-0.0029 right_gripper=0.9998\nstate[joint_eff]: [0.1709, -9.0872, 5.7368, 0.8181, -0.3736, -0.1001, -0.0562, -0.3897, -1.6068, 7.1316, 2.0, -0.0366, -0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5041, 2.043, 1.1168, -0.0574, -0.9058, -0.9257, 0.9984, -0.0151, 0.7532, 0.5365, -0.3958, -0.0296, -0.0387, 0.9998]\nstate[eef_state]: left_x=0.4493 left_y=-0.085 left_z=0.0384 left_yaw=0.6715 left_pitch=0.0216 left_roll=-0.0363 left_gripper=0.9984 right_x=0.2816 right_y=0.0046 right_z=0.1569 right_yaw=0.003 right_pitch=-0.0388 right_roll=-0.0026 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -7.6923, 5.5726, 0.8913, -0.2418, 0.0855, -0.022, -0.5538, -1.5658, 6.5846, 2.0293, -0.0952, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a6ac16cbf0810827f25e3b91597d1b7f9ef775782d94b6f1ac910569580d124",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1947e45d9cd7c089012dee74c46202054954c4a1c8b81654835a4624c27a1d3f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:727f557b50359d92df6b5049231731869f226db9a714c61ba119d0034f9bbfd8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGO0HwxtT0uFGOv7AnQI4UOZIL7WUejknFcUeBBTrGVQIqcW9DfYhdXYCFsWYnNbUH4N0gcQ0g904nd2YJk-uE2HvovVFXseMf8RqD_gCuhFxK5k6HvQR3i2SyBcHHOSuSnzksG_mSLKxGpy59gjtyb9SuUIzRr1nsVXW8kLpe1xzf25uM4UohhDvXgvbXGK3XfPbG5awtsgGJp4WK2Ss3ICV0v_rWr04OYwNGivAgyKOSb7Z4AnZa7cXqHyf-wpXpj4aV0tzR95UooXNbxT2TAFxEn7uhYijx8ntiAYB7PTfSxJiKm6ssbQtDvrHcmlFmY9VwB_1qo8Lm39eg6lfBj105mktGw4smjCkd9JVQdIyvCA-ME8OKYQ2Z7Y6LCNVwGMgHRL8NpsycqXaSP4n80NDn9bljl6VDOyn0YMOEue5tBDMaNlYaCxTZjpTpn2dWouypfIIszzMktcMkbDkFaxB-zpZ-Uvja9ZVAXajQT9Rm3DH0PJvvN0ZXyxmH4ab-z-13p2a7qoqk4ezeHQvDPppgcXcxXzrLin3ch3PnWV9rXkyAHGNgWlB9gegvvhKm969DiM8CM4Ti8FaNbKsw5f1XDpRmAqKz4RtkNpHtm160_TcU_RQtKUNifsAwYDgnLnC4DUcr9e6_Wlog9jLuaPNFyq8T1zExwtwXNentL-Wy9b9vHEuHQsR4fMPqCg8kwaY3U0fWTp498PjzZ3X7onSLUN8dzXbwYOZ-CC6gxpKyjIPkH4Mk2H_ZGQ8pzqOTMTxQjqipcrCFLYjkV4rJgAL9lgU8x3QItm4TIsRe6kslai9OwMjJ_wqoholrSCRRHNPt5Fh0iNm1YPr3kGZ1x720DlU5ZXwNZ8xAMpgGAz0Pfz_OUz_fcHuvvs7dZ96erkoaIM_zBiN_vPjt9Su2m7h_NPbEvXL2PVNUbmdrJFoRqxdEx2S9Hz-AHBZYUyD1GwWQAytNujRUXjrGjhFbGxkME6T45UYMXq36Ao-2Zu9-ycSs8LKJbDgJCrbfYNdK9-P8OaONPRVV2RijcUDMwAJesMEm_E3ndsD_EHWsp6j6oIK03ceDrdLpy0yfZgXNQOKsAdwtcTek6wNNZ0lcJvZauoVDLxs92RnqaxANp2nQMaQZU3Qyue0pSqL7neSUuCoG9IPhsum_E8fCFAgyGwpW1KIYENZ0EPvn2zLMNp5fEFgPVnZqLaiYVKQD9vVWzT38Iaeu9C7sfm_ZTpSFylNRb4PWPdLKsvHgPcM1lSFvhu2kfjxUMUVWU79Cv-DKBgYKgp0hOzvikuBMfF_P5vdOVx3xWf3MYUUUBZnVrDecW9ZBh7pPou7XcDQK-cq879pUFc5w4g4wHDiLL_HUqI2iaoJa_EP5orTHmedZ61dR9EpR2OV_f8-9WnF0f_Qyiczf2dSskyQSUosxGgR5cuCFY_aKnNjHdAwpsSBWryofUxfPSAxUdqwGgHBFOjkJiVk5si_aHFGRcKjMFMSoJiVFhNeZU6Ewd1GaR8aFl1PzdvlczWGjpbtAgF2cO1utdMxKG9IlDa2oBnkVSvo0eK9vfjDTf2y3HLTxnv2JerFzIE-B39GEV_B1-UrzQqehfT2qs9eWvU5hcsR8i5V69MJKZUQcxy8OiDLi47VnmNPd54_iVeYqSFSahQaLy38vNBBHFoPVND_qZRZb2AL0zgz-8RFmbBmx4vlVaIWy8iIcks-RWycUh_j53gLfUOjCxQtGrONChTGi2mmSWueerRtFnZdzq0QiyGz0HXug3oxqUsron9QVF1hOqkz5RT51KPNKwvBkiPjG53mwZMQvwCN3MszoLOiOvmSLWdFufww2GEzIWT6s7ifwByVuwZbM-TWkTvA3Bk54MF79RQQKhySOn4ghJnnXstJ_RR1zNWfgzQ4hiHAZp46xG6n81lpvButkOEGU1XvTmImGBnZcfmmmhFXKx_v_j7naFFTgsYDeO7fd8Clmo7QmsMlft-o-zUxZwa2JhKMWz7VOhnR-8YGksvAxJdNzUEYlHNpMLyc6Cm15lroxbcPVUzZcqUqrXBPYcbmMDOEFkVQS3tI8fXgEzSRhm7L3Ggr216tZz3cILuchfOfRgVWtATPabyelpJYzTjSMirsxQmRfNge5D3-USFDWbWfO3X9K21XRnn8uM1n7uzLfRcPyaEyj1BAS2MpgtthFZcg4JJiV4C6i3CerpfuTeZ2STahvIuyELpVYLeflaLdPapGMiWd6wfWiP08ZD49rp1n2gL0CGpSuaDzebfXFt8nD1VQFruxzlSswZMOOPjJRn_b7jtv4OpFAqe",
  "id": "rs_046185568cad4c3b016ab463af1bc087d09e1ca1554c051739",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.485,\"left_y\":-0.055,\"left_z\":0.03,\"left_yaw\":0.65,\"right_x\":0.294,\"right_y\":0.004,\"right_z\":0.2},\"note\":\"The cap is now closer to the jaw column, but the jaws still appear over the shoulder. I will make one short advance to bring the neck between them; the other arm stays parked.\"}",
  "call_id": "call_iDAixK2EQ71iM1J1LIITQadD",
  "id": "fc_046185568cad4c3b016ab463b2bfd087d0876fb72d0f71fb39",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iDAixK2EQ71iM1J1LIITQadD",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4175, 2.0789, 1.1664, -0.0025, -0.8532, -0.8352, 0.9983, -0.0154, 0.7948, 0.6209, -0.458, -0.0296, -0.0433, 0.9998]\nstate[eef_state]: left_x=0.4753 left_y=-0.0614 left_z=0.0381 left_yaw=0.6807 left_pitch=0.0128 left_roll=-0.0392 left_gripper=0.9983 right_x=0.286 right_y=0.0044 right_z=0.1716 right_yaw=0.0051 right_pitch=-0.0582 right_roll=-0.006 right_gripper=0.9998\nstate[joint_eff]: [0.4581, -8.2803, 6.8718, 1.1844, -0.3883, 0.2466, -0.0171, -0.7179, -0.9504, 10.6188, 1.7265, -0.0415, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:955ca479f8c711d5ce1daeaab68c4c50f049d27fd02aeaa9de1b5e534c86af3b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58a596b768830dbdc10d3161da5f525e14b17591376b9ad8d2718a2ddc6e9a6a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8050859630f0b234093ee64cc26b0eac5baeaff1d2dd993fadab53eb53d354fa",
      "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 5 attempt 0 · /responses · status 200 · 3.539 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]: [-0.5461, 1.4773, 0.8505, -0.0761, -0.4404, -0.3271, 0.9989, -0.0151, 0.794, 0.6083, -0.4309, -0.0292, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.3866 left_y=-0.1426 left_z=0.1313 left_yaw=-0.0188 left_pitch=-0.0638 left_roll=0.0269 left_gripper=0.9989 right_x=0.2883 right_y=0.0044 right_z=0.1715 right_yaw=0.0008 right_pitch=-0.0431 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -6.2154, 8.841, 1.7998, -0.4127, -0.0757, -0.1245, -0.4444, -0.9778, 10.6598, 1.7363, -0.0317, -0.022, -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]: [-0.5041, 2.043, 1.1168, -0.0574, -0.9058, -0.9257, 0.9984, -0.0151, 0.7532, 0.5365, -0.3958, -0.0296, -0.0387, 0.9998]\nstate[eef_state]: left_x=0.4493 left_y=-0.085 left_z=0.0384 left_yaw=0.6715 left_pitch=0.0216 left_roll=-0.0363 left_gripper=0.9984 right_x=0.2816 right_y=0.0046 right_z=0.1569 right_yaw=0.003 right_pitch=-0.0388 right_roll=-0.0026 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -7.6923, 5.5726, 0.8913, -0.2418, 0.0855, -0.022, -0.5538, -1.5658, 6.5846, 2.0293, -0.0952, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4175, 2.0789, 1.1664, -0.0025, -0.8532, -0.8352, 0.9983, -0.0154, 0.7948, 0.6209, -0.458, -0.0296, -0.0433, 0.9998]\nstate[eef_state]: left_x=0.4753 left_y=-0.0614 left_z=0.0381 left_yaw=0.6807 left_pitch=0.0128 left_roll=-0.0392 left_gripper=0.9983 right_x=0.286 right_y=0.0044 right_z=0.1716 right_yaw=0.0051 right_pitch=-0.0582 right_roll=-0.006 right_gripper=0.9998\nstate[joint_eff]: [0.4581, -8.2803, 6.8718, 1.1844, -0.3883, 0.2466, -0.0171, -0.7179, -0.9504, 10.6188, 1.7265, -0.0415, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:955ca479f8c711d5ce1daeaab68c4c50f049d27fd02aeaa9de1b5e534c86af3b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58a596b768830dbdc10d3161da5f525e14b17591376b9ad8d2718a2ddc6e9a6a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8050859630f0b234093ee64cc26b0eac5baeaff1d2dd993fadab53eb53d354fa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGO5R_bgZNL8FX6_JGF--7LFW640bbe5LrR3MvfgaL9PkynQSpUMlxbHXQ3Yw8vyWyrieQ5oqCTGBEV-WNxRmwVFeSoQCxZ4cZsBFERMORXAiy8K5aNtEJoUsT9XPe2gCx_IyMfD4OP0zCyCrcS8vxQhmXVqtoc4Hg3ehSq0EQ0he9VgzWdzAoCSYCMIQEg-SzccQpXc7Stvmvd59WRDIRLh3_58BFbi2Y_TAMNWE0UrnD3gXG7v-pBG75-lGnGj72nS13VhmeCQR6HbbUcn_oftBm-d3WVrTrMyJVnjFVdvUxljZo0QniM6swsE85VKULrv_TXowaeOgeVC2pXYPFMS5r17YIRv388PvePRENNmcNJt8N5SWhuYGx_L5FhS8yUzU_LNKN-29pPTey7I6VKYqEE0P9fWr1F4pHC2UiVWbHoR2wjuc7cpIE8lG_0XhHDbxrgXpIvCrJuUjLQooDkJoXc8wh8zTka8Em93WJsycKz54GnX8mjJ_zcDwCuOIsY1VikoUs1-5uZQNFoZ7HsV27Wuvp82e4nTBfJF_E-ieLXdLXFuU5VdDU3r4jHyyJ_Gh6b6Kf02uZsWzzsT1FPs-39uqeonY_ueztG1WoDmBvf6BW9WDZ_A1JrE2KgIQfMAtYHqsBDTP7QO_5C0vs6lrrIsk2tkZIqm97c05BnSCiTEkGnCKKj_ZWR1EJ7uU4rFlpDIAI1Nn2cG2vsxlh_WJKeYfY9jPHMOJa72W34BzXvueCvm8J96SHbEH5CDozItxjRnIOL4XOmXYQsH4wS6lxe2LxyH7-zXGR087fDynyg7ZpOnALzQiibI7ocmN_ME9AlQZywppusPUuuBOnlerWFYY3VFSMQ158vBgNaN_QOdt2HzUMrkWW8fBvo7Oj9Ud9lE1jZdcPRBBtsWgHWDbRw80Z7k1cUyYa6hJx9hdSz5Rd1V6SYCq_SVPsRfne9eawY2oEsao-VRYzn0NSdLeEdj1vnP0_-CiSeTIwnmaUtDeEqubZ6WXc1x6V5FLOhjJjdv01pIfFaOLgntIwpR1EVcPoCkkH7Q9S3RuJlYIiU3UVPpKvwp-TkaxI1SX95SFP1IRLjRVIfgYe7Onk2WauMTn2-ER6CQACRp67mczr8LN0TjfO4wwzsw4flhngVTm7hIYmR8QyS2VE86o7nI0tSYi3EEPo-JYNXqgDIf6KHvMIDuHX6ms5UTnBpYCXaGFRH5pEula6F-daynUJPP_nRRBJ07GopjGFsuOOL-GQZDIt-87j9koGAY8mCGSKW1cnIrVB6cUS88ZqFVpXFGS_FgjMztE7gdKznGg9qK2iS24K6ltoidwufZlcA6u6AYv2gud_g4ER4ZYtXhLDFN5rn0Q6_ZyNEahpfXww1gW-iLvOCF-Yw-IdoPPwU0GKwsoh5Oomhk-GAdLBISkSuJTBmcaDnIrPzo6pmGP7n7LuFVcaC1tWj58RMBmhBihhy7YPyZSH0m7ovRWcErgn9sQARQFAbWfDGRIiXeOQPQv72B-B5UHWFAoXP6AlyRJ8fRvA1R9y_CDz1MevruuYwQxCN2-ZCUV3Tn1P7f-1Q4ZI7QGzGJuLXI0z-7iM-04P88MuRFDA4o_Eam6iPorqMq8jUztoN34rrIRGMxhKIY1xOf5kqJbAFXXdgS0Y3fmU1rkMoEawzWX68ZU1Z90bEdjQY3fd37oV5ICn38JBLDOtK-6lcpUvNTFfqigsRCr-jS2vDj5LqlFs61jz4YyON1gL4gdLiyffFNfPcL_XJlH5Q=",
  "id": "rs_046185568cad4c3b016ab463b5da3087d0b75209c49586aa74",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.35},\"note\":\"The jaws straddle the bottle’s upper shoulder just below the neck. I will close partway for a gentle hold that may let the bottle pivot as it is lifted.\"}",
  "call_id": "call_Bb2KapK2Dm6SZgmNRM8JnGtm",
  "id": "fc_046185568cad4c3b016ab463b82e2c87d0be4edea36de0d7ee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Bb2KapK2Dm6SZgmNRM8JnGtm",
  "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]: [-0.3866, 2.0937, 1.1904, 0.0731, -0.8803, -0.7624, 0.3589, -0.0154, 0.7582, 0.5571, -0.4213, -0.0303, -0.0429, 0.9998]\nstate[eef_state]: left_x=0.4916 left_y=-0.0492 left_z=0.0508 left_yaw=0.6929 left_pitch=0.0715 left_roll=-0.0414 left_gripper=0.3589 right_x=0.281 right_y=0.0046 right_z=0.1598 right_yaw=0.0055 right_pitch=-0.0487 right_roll=-0.0054 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -9.4701, 5.4632, 0.7448, 0.2418, 0.0659, 0.4567, -0.6906, -1.6479, 7.4051, 2.0342, -0.1245, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d264faa8f58d63b5870636740837b36f6cab45b34f984e0cbe459a71e493deb2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7998cd9b84cb6cb9fa40ab9ddba3b2629cdb9f4226eb1f0967a19edff7ba459d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a380de51f9bdf0edf30c3dcabf2c9e34ad9e7ab8ff145ca4813db1364345e241",
      "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 · 12.66 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 10 changed as sent

message 18 changed as sent

message 22 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6117, 1.9144, 1.0088, -0.1333, -0.8661, -0.8833, 0.9985, -0.0151, 0.7692, 0.5652, -0.4038, -0.0292, -0.0387, 0.9998]\nstate[eef_state]: left_x=0.4076 left_y=-0.1171 left_z=0.0459 left_yaw=0.5205 left_pitch=-0.0319 left_roll=0.0364 left_gripper=0.9985 right_x=0.2851 right_y=0.0044 right_z=0.164 right_yaw=0.0027 right_pitch=-0.0343 right_roll=-0.0029 right_gripper=0.9998\nstate[joint_eff]: [0.1709, -9.0872, 5.7368, 0.8181, -0.3736, -0.1001, -0.0562, -0.3897, -1.6068, 7.1316, 2.0, -0.0366, -0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4175, 2.0789, 1.1664, -0.0025, -0.8532, -0.8352, 0.9983, -0.0154, 0.7948, 0.6209, -0.458, -0.0296, -0.0433, 0.9998]\nstate[eef_state]: left_x=0.4753 left_y=-0.0614 left_z=0.0381 left_yaw=0.6807 left_pitch=0.0128 left_roll=-0.0392 left_gripper=0.9983 right_x=0.286 right_y=0.0044 right_z=0.1716 right_yaw=0.0051 right_pitch=-0.0582 right_roll=-0.006 right_gripper=0.9998\nstate[joint_eff]: [0.4581, -8.2803, 6.8718, 1.1844, -0.3883, 0.2466, -0.0171, -0.7179, -0.9504, 10.6188, 1.7265, -0.0415, -0.0073, -0.0122]",
      "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]: [-0.3866, 2.0937, 1.1904, 0.0731, -0.8803, -0.7624, 0.3589, -0.0154, 0.7582, 0.5571, -0.4213, -0.0303, -0.0429, 0.9998]\nstate[eef_state]: left_x=0.4916 left_y=-0.0492 left_z=0.0508 left_yaw=0.6929 left_pitch=0.0715 left_roll=-0.0414 left_gripper=0.3589 right_x=0.281 right_y=0.0046 right_z=0.1598 right_yaw=0.0055 right_pitch=-0.0487 right_roll=-0.0054 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -9.4701, 5.4632, 0.7448, 0.2418, 0.0659, 0.4567, -0.6906, -1.6479, 7.4051, 2.0342, -0.1245, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d264faa8f58d63b5870636740837b36f6cab45b34f984e0cbe459a71e493deb2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7998cd9b84cb6cb9fa40ab9ddba3b2629cdb9f4226eb1f0967a19edff7ba459d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a380de51f9bdf0edf30c3dcabf2c9e34ad9e7ab8ff145ca4813db1364345e241",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGO9RNOdt9loQeD3wDQeplvfweO9I4jEm3wtFyrOfcrZ2_-xStP_FLo0JlNGXsr9tUCKoVtetV2S37S6lF0X_aNFTUPqdENjlQQi_nvUdVisr-CDq1w0FrcmXNNqqbP-OlmyeMS3JIq8K8rTddOb10koGIZpve5d7a4UDQvjPWVaHSbPGL9aKjO9IecVMvbkkd46ZO6DU2wEcGxcPudmSuRbF66L800aGMiNpHiRZbq0cR_udjre4R3sXopgSqIcuDhMN-VC97Gs_1XZL4dxyhUOBZJukzhtvBHukEnOZOpVrwI5SdQ8R-lQE8HGOKSawg6Rkg6iatqu5J4h1yLtp_LEXY5S399SOaIAMvl0etP0fHla8NqzWm-HmMDlsIofOHnF8BX3AxRsgUgle6W0wqsmooXvO6tQre2n_HWjnG00cQFLoFTnkFkpxYJgTcYl-e9eAHOSOajt9bN6ww_bnWwWplw1d3YvzSqHYb35uhq1APE8AMuA1PxiY04l6TPs2X_SHe-0k5MUKDjWga8hx9TiVtY7RQ5eo4KDVluYYKRAWm72tupF8wguXbU0re91axZR0fjy0-b9JqFZYLHyhdXxNkY7JOZjh6BagdD39iuEaZZOP8Cx53UK2IJumUgLNtAZHsm-z68udqszOsY-OW3WDadT6QBiNpbJmeBfyUJnXkZFe3qeiKsn4QU5gqvz52jgtgiaivRTcvahibgbcdRktM7Mdn-lTvjVOZjTCbmvl4eDAtFHrvaX6B4jRnQ3DKxRQSw0_PqSwXKDVk7c7uO02Qc5f1GSwIzLHaQYpcqUDpRUwnaeh8nvRWORp6JXoMwsI0IRH1sK0_fBPlrrUTKX8WJJCwYUvKkflq8D4ojd3wbMPlCozCVNLBLgSKELk4UJNPNP_RO8jqMasSr_OB09lxIT2g-ZXTAtRIfFMWC_wDgMUOqbWNLQZFtby0qNIbNRV_HDbH_RT2_1XEqjrD2HZoaye2VJ1jgCP_B9IdCDW5y4duBHrTxXXTNqUZnltx62PUa75m53jltEk5HeFaGRL9uOi3vjMMJquQlz00RJD9lgNj7ILPhTN9Q7LfV9k4kpq0yxysPrFcRzryGf54fmSdPqC5yHsnEv_mM7n3nP0b4FJR8WF8YMwdgEBrE6lVXuxqYdT6VzIn9Vslq6CV7VM7vSarah3_DuGT8tVC-UtbHQYR-JbgpKRkTmfiKWJLKCk0sLP6uoBIEdSEiGHnOl_seKFnjvb1oTyXu_jOLDew6Um3sY8e1kH3IpX-0s7zQz8JEd1x7WzSk4nNTNjf17gKjKM0F779gbXg7BdIGtEN1mE5PLo-2XnE1C8KmTcWCCM7HkX_mb9ACtU19OCHvPh0FzTsr66a_MYNQ4U0S8HrsW_gbmwS3ygEJZ2BIdnxzMC_ZaeL3fwv8YGmI0EN4Ak1cT3wOtMFxFI52a1gAecog=",
  "id": "rs_046185568cad4c3b016ab463bb26fc87d09c5d687c3a586cc5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.455,\"left_y\":-0.06,\"left_z\":0.23},\"note\":\"The jaws have closed around the bottle’s upper section. I will lift slowly and slightly back, watching whether the base swings down instead of staying horizontal.\"}",
  "call_id": "call_9XIt54yU8LRd2RdxH1Vc6CRC",
  "id": "fc_046185568cad4c3b016ab463bc3a8487d0b885088b8c828a99",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9XIt54yU8LRd2RdxH1Vc6CRC",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4328, 1.8641, 1.5848, -0.7219, -0.8692, -0.8753, 0.3586, -0.0154, 0.73, 0.5095, -0.3954, -0.0299, -0.0429, 0.9997]\nstate[eef_state]: left_x=0.4645 left_y=-0.062 left_z=0.2 left_yaw=0.696 left_pitch=-0.0136 left_roll=0.01 left_gripper=0.3586 right_x=0.277 right_y=0.0046 right_z=0.1507 right_yaw=0.0052 right_pitch=-0.0422 right_roll=-0.0058 right_gripper=0.9997\nstate[joint_eff]: [-0.7726, -13.4906, 8.8137, 1.0037, -0.5104, 0.0317, -0.0464, -0.6222, -1.6342, 6.9812, 2.0733, -0.105, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70b60c46397ab5837059a69e44f79134f0b9972e980ec27a8c59d77c8e124b19",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14b9fd730069f8cb8623fe8840b4364e84814255733d9e32232c8dfa9ce7ab71",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a9e2a80bb2f63ef4fa7b4042ffa1b3b401e06cbbd0900e6f2af3bd3fee0e5ea",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 12.67 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]: [-0.5041, 2.043, 1.1168, -0.0574, -0.9058, -0.9257, 0.9984, -0.0151, 0.7532, 0.5365, -0.3958, -0.0296, -0.0387, 0.9998]\nstate[eef_state]: left_x=0.4493 left_y=-0.085 left_z=0.0384 left_yaw=0.6715 left_pitch=0.0216 left_roll=-0.0363 left_gripper=0.9984 right_x=0.2816 right_y=0.0046 right_z=0.1569 right_yaw=0.003 right_pitch=-0.0388 right_roll=-0.0026 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -7.6923, 5.5726, 0.8913, -0.2418, 0.0855, -0.022, -0.5538, -1.5658, 6.5846, 2.0293, -0.0952, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3866, 2.0937, 1.1904, 0.0731, -0.8803, -0.7624, 0.3589, -0.0154, 0.7582, 0.5571, -0.4213, -0.0303, -0.0429, 0.9998]\nstate[eef_state]: left_x=0.4916 left_y=-0.0492 left_z=0.0508 left_yaw=0.6929 left_pitch=0.0715 left_roll=-0.0414 left_gripper=0.3589 right_x=0.281 right_y=0.0046 right_z=0.1598 right_yaw=0.0055 right_pitch=-0.0487 right_roll=-0.0054 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -9.4701, 5.4632, 0.7448, 0.2418, 0.0659, 0.4567, -0.6906, -1.6479, 7.4051, 2.0342, -0.1245, -0.0073, -0.0171]",
      "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]: [-0.4328, 1.8641, 1.5848, -0.7219, -0.8692, -0.8753, 0.3586, -0.0154, 0.73, 0.5095, -0.3954, -0.0299, -0.0429, 0.9997]\nstate[eef_state]: left_x=0.4645 left_y=-0.062 left_z=0.2 left_yaw=0.696 left_pitch=-0.0136 left_roll=0.01 left_gripper=0.3586 right_x=0.277 right_y=0.0046 right_z=0.1507 right_yaw=0.0052 right_pitch=-0.0422 right_roll=-0.0058 right_gripper=0.9997\nstate[joint_eff]: [-0.7726, -13.4906, 8.8137, 1.0037, -0.5104, 0.0317, -0.0464, -0.6222, -1.6342, 6.9812, 2.0733, -0.105, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70b60c46397ab5837059a69e44f79134f0b9972e980ec27a8c59d77c8e124b19",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14b9fd730069f8cb8623fe8840b4364e84814255733d9e32232c8dfa9ce7ab71",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a9e2a80bb2f63ef4fa7b4042ffa1b3b401e06cbbd0900e6f2af3bd3fee0e5ea",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGPK8nTZuc80lA9rJh_fzUws1AFcdVD7GP2D_f78R1JSx465LqSYkHQkDr1jlAX0MV-OWDCI9YhiIg7tF6N7D-ePnSX3ge-fXDraHfKIibYdgCDrqvDjlrK2mwThS-OmkOSOflfrNN636HMWGybSiqIc6cNTaiV-VF81zclnsp5Z4lkjhS5QWjXWQk-hXuTJ-RGPiYJnpdNpcfAyAbCBHXEfmh_sqwgTRZkVxxHOCRohVVG8u4mdEyhPLUJFqEUDJyWPlUupNlP-xfdliYR2K0ufq6sSCt4CIvEolNYGk6jGoGkGzUhNWo8y2d1pFCzQdpdWTYnw6u7jsDOrAIp6OfOwsBHieW-5c_KQA4SmbnJF71Ap9XK_9SPSjV9gbJWPBla8uOeqg0KURfmLZn3xCO2dR-vkhQETxUUgz4QdlckxZlVaYN9LhrWShC4mdm1T4xj8LAqPmf__M6URr_QY9oysHvUq7WJf03GbV-EAuGJ-8WqW7j1BjPeHOm5b0RShxR76l_Dvfzyo_bB0ROf7zr_1_YCbKD854aiyD-_HXVRIo_CvQxdMQu0t0CdFFWZheXgefKZd5tBc3YLGNijodK5TldnprjT1nWy02cTyVm5BxJubnUQy-cvFsHywNaLKisTByhOxgBK0yANuQlCpmFh5NMCU1MNwy9A4YTtZhAMcZECJIyQ-zMS1IO9qWu00mMpqjDOisp2EWM4JtCXWR0xWKDtgfkfYkOraPpTHAkjF_W5IF2nOtJB0UhCqe_L6U1tyFY3mxEd8BLh9YmKEoqsQHKh0Pww7YPBqPHnwSKfAl1pxzDkCTroLUHM-CRxbFWQbyROdGJDkfT3jYLeYKHOWFWS7lwhp1zk7I7SNw8YPztZpyWl-Mg1WdWSF-OQ-cGiGlIU5KkhgCezeQVLtotWXqriHNXJqQSX3_Smn6blQ1X-HuSFm936e6ZH_cEF3P2vaheAFAA0d3ZTBJzkOlrddVwcPkNuFRXCypD52dSZubioV06wTDlMzcIG-SrClr27r09gAhkAKCqiYNgvwGEPcKwzhwADNmW4pX4GliglWgnRt-uZe2cvZ0B2m9QvpwBX0i2cnTZMz4XGoGt14JXjjGB29Tkz6ICVV9yiIKhx0BtagjvdEBJLTiyODcORPGCes4pAjh6x6puTBInb0ov6b8GWrlkzu4jeND2HiRx9jWTCbnnulF_yCSFq9eRuHahy42PwBSt1AfleYxVy2uRcG2pVmVD_0UP3p1dYmyqTp0fhli4wh6cylWURU1a6231NLnnXfStdQDElqxF8jFK6zHHQ5VdcrQ1ANKcRdvAXpuRv-39x4PfOzitUWVZBkl9l9i5210kX3xpKjkHuIrgik0ygFvtml7VE_SWcy15oV_KHtSZA_TKkL514w34KzY1nOLUtuTES5KDDq_0x2TTMjldns2gyZIPQZEXPy0CATThRdYjVO_E0pUN02tUykqdRl33sjVybD3GWogdSUavSoEnyBvxXwBLFcnmmRZteO3jaBD85PPJP-o5jNLqY5AcJ3csZs8k2NT94-eGtrn5c6ubvBzx8YgQg929jVb8GRfTTkNpPC-5IRXq9l_n5mGaSwH89CpCuIXTfa1vx2tUJ1PuyoaXl2ykqVj-ogKFeonQfzU_uYNT-AmE18hi-H3M7ojP15eFprGf6SFYsx0V7qiDIJZgcC7q8ZkRzBX83sKZcSmdNGnE_8RqRa1mXp3W2XHVTrMY2TYLSnBEoeIErIUXfEgAAKejDBMwAnCEi4nNha_eeYcE-yU0rnT41321snc7ro0lfRSYxBfbxcAx-AFdCvwtIn6B1aMki-T7Td64qRUUXjuFCJHxMoJpyLVu9PjvlPqVz2zk_614go-LlkJmKAIbUINfjn5009rM6ma646aEwTXQiS-lMhEnxeNo2rOEM6HFnZneWKh0mSg0pqzge9Sjg31dWaCcXAFgLtYVhGlpAmmfW5wVXXe8kDQ-33Q6ZfxUhmaVkQYvGpsu-NfrHj2hx2h8VMUHMMGP9hkYoc_jvyRg8tlMOfTta6ACaW3pAFv-SXnrLDJ5apyPVwUmjQokVYd1oWiqYvJ4_puCwhtVyBDBwwoPIsjjKl_jGJ95uKQcMCqBbLRIaHLQFjq2N_pQ-cLKw8zCaO1yQ8RsqeTa3tqrQLojZqaoOW4cHZHNgBu8kaMrD9oIds1xepGJRqshQl2s6YH9Fl0Rjld6Q6f_CNN2S8Hf8LgI4OTnqgDdTUnyXFg0AlQYUi9EJ7VesESGDoY27l3I4_KU6T5ZbZMS3Eeeen2VSqTCgmQ2aDhHG8Q9suIDuHxMoedMWVdg07_Sv8DyOxjbW2lTh-ndP_a99uaraLZv079m8_MCFjaoDm-VTXM5IMILUcL3LJHeIiPGb_iY-8mTSoKoEpPtzRbrnql1ti0-WH3m05ws_sJe27LY5mpZloUkula0LK9g6gswhXQ18zOQYhV6AKd73O93tDEB1UygiqzaB983AOPRgeZd6V_aO2fv3bGrn8SaHV7NFn5ir0p1nWHmBEPAhSESulbkiYg_QB2yu9WmFBFxWu2IG_ip-N6qeflUsXHRUUQkPm8SuE2QvjNGpC7P2PlLJVp3aXEDfMMKZKSmHPW5SR8NwIxeb4nd1pdreqBLUHPvOgRtb_soVcYBxHJ1YebgmVELZMp-xHMjNFCtwJ25xY7x04RKfyX2RzRHav6dKwmgCw8-OPEyUgg-pEpRbIoVZhz8IibBonGG5I3pk59AwE2TJei1wrcCvDnasnDxCKHENeIihZZ9zcNkdbHCsmFlM6i2WFBLNa-6kjL9seMxcbgdeqBeb4yLQQ5nroT0CI1k8-bgjecUp4liLtvkvp8JhbA7MObz-rjUgdIZ1yabl0n8C86gX5Fahw20G6NKgKd1v-USL39JXe7gpfc2yYiR2tpGSGDxjWCsgnPuCVoPxNzEQBOzeAvmIugaGZYgNjeaWOSxI-H9RKMASWr8UWCLLjtohD8SMumRXGETSlQIEGA3TdS0yspqLnNIXhdSQmwRB74EB7fWFo_9jRV9vbK4MsQ8pGiMhT_Pe7iYqNvKZwg2m5TuijiRot36mXjG8tZg1E1VE_AvPdbn_4vic956qvv58WN5XPTPTiIckI5teW9nf6Xeni1R9Q2IBZSNWJmmaM8daUpf15k5qhxQtf4XJBpjv4PwaiSiaMLB_mcGikeyoUoPAFNDdmnvmem1ImACACl3TUvPzBzvWIKhX_2TzfdA_wQykqbUelk6K0K5XWxB-Q8R6Jlg1OM0GH63kS_e-Dr6ONo3s8uOW4KPFSdkkjL2ZradYaEHaB7Vwttxn-48ba1ugVdIAxAhMuEzURbo8b6_pFgCdaD5iagIP_XaMzdUQ2UjiheKmMCf3-_mqF1vNXM0YtYb8wLQ-TyVDh9UaZaNRuFK6PEV4ma7hqKK3zR7JL_h1ZNf8nfe5R",
  "id": "rs_046185568cad4c3b016ab463c0776087d091e8d50684c7b79c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The bottle is still visible below the gripper, so the partial close may not have secured it. I will close fully to check whether anything is actually held before attempting a placement.\"}",
  "call_id": "call_M82Hldlz6N1zo7gTjr1I3vqB",
  "id": "fc_046185568cad4c3b016ab463c95a2887d094ac382787332ecc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_M82Hldlz6N1zo7gTjr1I3vqB",
  "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]: [-0.4381, 1.8492, 1.5642, -0.7097, -0.8692, -0.8726, 0.0106, -0.0154, 0.7044, 0.4702, -0.3763, -0.0299, -0.0429, 0.9997]\nstate[eef_state]: left_x=0.4616 left_y=-0.0633 left_z=0.2003 left_yaw=0.6892 left_pitch=-0.0108 left_roll=0.0064 left_gripper=0.0106 right_x=0.2734 right_y=0.0047 right_z=0.1432 right_yaw=0.0052 right_pitch=-0.0369 right_roll=-0.0059 right_gripper=0.9997\nstate[joint_eff]: [0.1846, -9.1829, 6.3521, 1.2723, -0.5055, 0.0024, 0.862, -0.7179, -1.347, 6.8308, 2.0293, -0.1245, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a9075243ac2861d917f877b6bd617d6dca3c469a1885885267d073758453f0e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65dbca02ff1fa6ae51cefc0dbd6e745acc1f3aed1b8beb65fefe35643e62a795",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9db961abb33af9ca49ba37a780befa03e00b3412ec3c46adf6ee91bd5e4102be",
      "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 · 7.324 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]: [-0.4175, 2.0789, 1.1664, -0.0025, -0.8532, -0.8352, 0.9983, -0.0154, 0.7948, 0.6209, -0.458, -0.0296, -0.0433, 0.9998]\nstate[eef_state]: left_x=0.4753 left_y=-0.0614 left_z=0.0381 left_yaw=0.6807 left_pitch=0.0128 left_roll=-0.0392 left_gripper=0.9983 right_x=0.286 right_y=0.0044 right_z=0.1716 right_yaw=0.0051 right_pitch=-0.0582 right_roll=-0.006 right_gripper=0.9998\nstate[joint_eff]: [0.4581, -8.2803, 6.8718, 1.1844, -0.3883, 0.2466, -0.0171, -0.7179, -0.9504, 10.6188, 1.7265, -0.0415, -0.0073, -0.0122]",
      "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]: [-0.4328, 1.8641, 1.5848, -0.7219, -0.8692, -0.8753, 0.3586, -0.0154, 0.73, 0.5095, -0.3954, -0.0299, -0.0429, 0.9997]\nstate[eef_state]: left_x=0.4645 left_y=-0.062 left_z=0.2 left_yaw=0.696 left_pitch=-0.0136 left_roll=0.01 left_gripper=0.3586 right_x=0.277 right_y=0.0046 right_z=0.1507 right_yaw=0.0052 right_pitch=-0.0422 right_roll=-0.0058 right_gripper=0.9997\nstate[joint_eff]: [-0.7726, -13.4906, 8.8137, 1.0037, -0.5104, 0.0317, -0.0464, -0.6222, -1.6342, 6.9812, 2.0733, -0.105, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4381, 1.8492, 1.5642, -0.7097, -0.8692, -0.8726, 0.0106, -0.0154, 0.7044, 0.4702, -0.3763, -0.0299, -0.0429, 0.9997]\nstate[eef_state]: left_x=0.4616 left_y=-0.0633 left_z=0.2003 left_yaw=0.6892 left_pitch=-0.0108 left_roll=0.0064 left_gripper=0.0106 right_x=0.2734 right_y=0.0047 right_z=0.1432 right_yaw=0.0052 right_pitch=-0.0369 right_roll=-0.0059 right_gripper=0.9997\nstate[joint_eff]: [0.1846, -9.1829, 6.3521, 1.2723, -0.5055, 0.0024, 0.862, -0.7179, -1.347, 6.8308, 2.0293, -0.1245, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a9075243ac2861d917f877b6bd617d6dca3c469a1885885267d073758453f0e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65dbca02ff1fa6ae51cefc0dbd6e745acc1f3aed1b8beb65fefe35643e62a795",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9db961abb33af9ca49ba37a780befa03e00b3412ec3c46adf6ee91bd5e4102be",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_046185568cad4c3b016ab463cd1a5c87d0a3172e6be3054285",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.04,\"left_z\":0.008,\"left_gripper\":0.75,\"left_yaw\":0.55,\"right_x\":0.294,\"right_y\":0.004,\"right_z\":0.2},\"note\":\"The fully closed reading confirms the gripper was empty. I will reopen and descend a little farther along the bottle, aiming to capture the neck rather than relying on a loose partial close.\"}",
  "call_id": "call_wilFr9uZwwqGE2abpCGxMSWZ",
  "id": "fc_046185568cad4c3b016ab463d6219c87d0adb6b48c64e0da2d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wilFr9uZwwqGE2abpCGxMSWZ",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3378, 2.0716, 1.1004, 0.2287, -0.7589, -0.6266, 0.7465, -0.0154, 0.7982, 0.6445, -0.4801, -0.0299, -0.0544, 0.9998]\nstate[eef_state]: left_x=0.495 left_y=-0.0412 left_z=0.0413 left_yaw=0.5907 left_pitch=0.0482 left_roll=-0.0423 left_gripper=0.7465 right_x=0.286 right_y=0.0045 right_z=0.1769 right_yaw=0.0115 right_pitch=-0.06 right_roll=-0.0146 right_gripper=0.9998\nstate[joint_eff]: [0.8274, -6.2838, 3.2068, 0.7497, 0.1197, 0.3199, -0.0904, -0.7453, -0.7316, 10.1265, 1.9853, -0.1294, 0.105, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6df4d3532ca6e8dc07aa96eac54144f59d5e82407175969a19c4ed4494b2810",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f961c8654337784bdfb965e3ca760f12c87c535e76d3b0faf6819dc37357f16",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55a3b6cc946c300a9a9076a5ce448e607c52eac612ffb087f47e668c8cfdc37a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 9 attempt 0 · /responses · status 200 · 5.359 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]: [-0.3866, 2.0937, 1.1904, 0.0731, -0.8803, -0.7624, 0.3589, -0.0154, 0.7582, 0.5571, -0.4213, -0.0303, -0.0429, 0.9998]\nstate[eef_state]: left_x=0.4916 left_y=-0.0492 left_z=0.0508 left_yaw=0.6929 left_pitch=0.0715 left_roll=-0.0414 left_gripper=0.3589 right_x=0.281 right_y=0.0046 right_z=0.1598 right_yaw=0.0055 right_pitch=-0.0487 right_roll=-0.0054 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -9.4701, 5.4632, 0.7448, 0.2418, 0.0659, 0.4567, -0.6906, -1.6479, 7.4051, 2.0342, -0.1245, -0.0073, -0.0171]",
      "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]: [-0.4381, 1.8492, 1.5642, -0.7097, -0.8692, -0.8726, 0.0106, -0.0154, 0.7044, 0.4702, -0.3763, -0.0299, -0.0429, 0.9997]\nstate[eef_state]: left_x=0.4616 left_y=-0.0633 left_z=0.2003 left_yaw=0.6892 left_pitch=-0.0108 left_roll=0.0064 left_gripper=0.0106 right_x=0.2734 right_y=0.0047 right_z=0.1432 right_yaw=0.0052 right_pitch=-0.0369 right_roll=-0.0059 right_gripper=0.9997\nstate[joint_eff]: [0.1846, -9.1829, 6.3521, 1.2723, -0.5055, 0.0024, 0.862, -0.7179, -1.347, 6.8308, 2.0293, -0.1245, -0.022, -0.0122]",
      "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]: [-0.3378, 2.0716, 1.1004, 0.2287, -0.7589, -0.6266, 0.7465, -0.0154, 0.7982, 0.6445, -0.4801, -0.0299, -0.0544, 0.9998]\nstate[eef_state]: left_x=0.495 left_y=-0.0412 left_z=0.0413 left_yaw=0.5907 left_pitch=0.0482 left_roll=-0.0423 left_gripper=0.7465 right_x=0.286 right_y=0.0045 right_z=0.1769 right_yaw=0.0115 right_pitch=-0.06 right_roll=-0.0146 right_gripper=0.9998\nstate[joint_eff]: [0.8274, -6.2838, 3.2068, 0.7497, 0.1197, 0.3199, -0.0904, -0.7453, -0.7316, 10.1265, 1.9853, -0.1294, 0.105, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6df4d3532ca6e8dc07aa96eac54144f59d5e82407175969a19c4ed4494b2810",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f961c8654337784bdfb965e3ca760f12c87c535e76d3b0faf6819dc37357f16",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55a3b6cc946c300a9a9076a5ce448e607c52eac612ffb087f47e668c8cfdc37a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGPgkletV_Gc_l8zR_kW-mV55qcQwlFmDQy2K7Yzn45Og-pD3jViRVxgp7jA_6ucNesYfPLnnxUNeSLKgMlB_1v6uCg1bglppD0vWcWJlBbkx-oMwSN81DrkBQ6LRMdoLvMMm8IQQaAM0rBMiIKEC8wKgRxYH2DJlQsY9Q46s35GbxnDj6qJDAacRbooYF2rJjxYqk_fh47BLIJF5tcjg0jPjzU4P6lHq3Nf1yKZPIvNNDXW_qFHKl3cx2MVCXFHuYdF75YQ5Sa87h2G3QrhQEfMlRs36U__p-vNQATxBM7bfycBtXzZt7w-flb1H-FS6jDf-25wlg5YfN0X5hFabeZluJr9IMQmwbq9UKrKftg2rUsbllZSOzdnaqVA0fH_LKYvgpmPBTNvWLmHygdYwwD49jKBiZfTg9fV3eX8I4hrPr_I-SDBxm0XxVj3p1eihda9eHF4H9bGstMvtLiIe0jCcqraNRwoGDT2uJaJmkjFdZO6wjpLym3CnfpVZGgTSdxe1fl_2Ttk1Ui0EQlf5yM16PJ3Ra7y-IdyqApq35Nmpq1amH9MULEhI6n6-iazaQ7lazd2NY4j8QQr7mcLhQd2iQ-LT3xgzxZUI7oVfQ008wTvmDXKbXFdzdKFXwp2UMiPNqkm_RRSfIB4PbCNaIXSOK8mJpsayGbwAFNMn1naWYcxdK3Kglh5T5pGPGFw9_AdF5bTfWrmjTZ1eBit54JO-qhGI1kWkYGhBBWN8RQ8s1wMouTz9rOPWbM-u4niKnW3Ih7Ok9hhMlu1CTt6FBV9eyVxQlqCg2tqBBbsQvn77ks8hWj1Z7Di1hxboIfB7qqBoC2GFIqVFSkFbUk3uYBl0AcVrxOTecEWUnGKXb7GbumOXtO0vT-2JO7diPoXKZC0HALCi_vnmz59vBYT9vfTknW1HrvUqoLfJ3T5LTqwLtzNYuRcfkKxh6SWd8L9B1jVBVGcnx1ks7nosx6Y_dNfihooSwZWZs4mgmxH-hfPPJcXa9tpw-dZd-WrLy3eN0FEgdyUqVINQdUwPKnMoYORIycJozMNJe9DRFGDS9Srh1U4yCzBeqXAXotb7ETOpIZMoJ78PSKf6Ppv_-xpRguTtIi2oiibYZcGUpDLPLBxw7RpcfNbfYrr1G5mnVllzgSwZ2AQ0FMcrUK7RI3OXxR7DemK6k20wAeU4893KDUuf061OceBhNdXOzlmz93svDMZZkGs73PVE9zzvWJYJ3iF7WKjtK_PzAzV02xZ2B3Ii5TX92qnPEgjPfpffj--uzwA3r8R312eIoSnAQhOvCmeCXpR8A_Z19_N9lrMo8vP5f8RYH6lF3q05iHuHj7TqEX5RHnYQVRUC8j9I9tZ3xMJHH_piq3p59o4ePL53fRDnyY0INf_VZpq4SQKtHJPT-3WhHVGTW2B-Y79Si0meApdkztxxvoJ_6vkGe1lh_b51sPDgCw_gA9u_QsVgv6EtLfnI-NSSSSNrNlsT2897JQeTFoK_m-iYEY72dGt1pdOhQDaZpZ0qlO7qQBJPybBMpPjm0gxCzOMMeAlOYbu_4QtQlX2ihOfO7UGKKFSof3vw-9FPA993FNrTUBssLkvk7TYoBpaJF_QIeXm6-QX_1Pey6LQQ6Od9D_jRIzhRek6jcxVZOI3fcC0ueQoVpbpsyuy7aA9WIzEg7pDeyJZpWFiqMBtGWVYKeciY3oEg1rEPAn2jJFeVqWRWXi0BjyYJTLazEOHx44iM72VauUFnFShBLT88XZUk1WxqybNUgm4maHRwJiEg_xJpG7ubvlimhW8KtzFuejz8pDxxNz9KRDSMwlnnMSYn0wInsLcqEypqL32eZ_BK6CZtvkvTHelyQQoE-vvyFbqpi8qT0kTlm4OY-sCmUvxUDfZr7c2c4cdnjN3Vy_0dd6CDZW1gCXos9JVSBZTx_MedlryKcPv4yphn2mlIWk_1Q9frPG_lWuW179UHvgDlKnp7Z_dB8OfBTv0a9qFyjCvQahCihvqBrRSVfPd_3F_9JE6gt4X4espDG5bXkiWI4AZfgR5tX5yMNXs2601__JlW0LNLmtyLsJCUkkA8_09yViJpP1IQnF5VRgPppC_SZXYJlH0CoGDPsFCxfRCYQzYv0aDHXs1IVbk8KzjR9uCIuqYLKd0tF4QKP86LVtwRABP9xb27VMuBm2R9IpYD1CW8o8VjQJNvgR3MeNHRRKS6paGUg-vULWJ8rm1bs0PsCTN-5F_o43_YFPzTRLpGmWZooGB_KoytFJh0MvnPld22v0-8l9Pe-GtIMtxOJbR-pZikZ20UHJwOEn6AanwuZfifyBX4oGL4B6KK0rAKTFHgQpur-sVARhEn9K1SjVpWrlNpQsnK05xMnc_0XHdGXBomUr_-QcZm_VSKk0XxG_vgHd-Qz2nGAgA7mT6r6GDkyPpp--e1v28IjKpi-GLoX9CaiTnHvR7c41PWLqsm2fTSN9AiudkVRe3McrVYM2oU2Zq-rM5C8Dg8MPg",
  "id": "rs_046185568cad4c3b016ab463dadfa887d0a70f1d7ddbf41ddc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.455,\"left_y\":-0.065,\"left_z\":-0.01},\"note\":\"The arm stopped about 4 cm above the table at this long reach, leaving the jaws too high. I will move slightly back to a reachable point on the upper body and lower the jaws around it.\"}",
  "call_id": "call_RwYT4XVhWIHTOIlsubHVCgCN",
  "id": "fc_046185568cad4c3b016ab463df035087d094bc62a0b32361da",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RwYT4XVhWIHTOIlsubHVCgCN",
  "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]: [-0.4133, 2.0861, 1.0538, 0.3317, -0.8394, -0.7013, 0.7479, -0.0238, 0.7593, 0.5842, -0.4465, -0.0383, -0.0544, 0.9997]\nstate[eef_state]: left_x=0.4857 left_y=-0.0655 left_z=0.0411 left_yaw=0.6158 left_pitch=0.1131 left_roll=-0.114 left_gripper=0.7479 right_x=0.281 right_y=0.0037 right_z=0.1667 right_yaw=0.0101 right_pitch=-0.0477 right_roll=-0.0101 right_gripper=0.9997\nstate[joint_eff]: [-0.7863, -6.5162, 1.9624, 0.3004, 0.2759, -0.0073, 0.1294, -0.4034, -1.4838, 6.9812, 2.1172, -0.1832, 0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2ae3772c16a7da89f30644bbf1feca435caa12b557348dff366c2cb700263fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac1a233d992d2bbe1c7e78f394ce9a53ab5ca76c0f8e90818f72e40c5347e77b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acffb42228656ffa97f221160b398cc526bfbfc92c7db34b01feea32eb45ca4d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 3.328 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]: [-0.4328, 1.8641, 1.5848, -0.7219, -0.8692, -0.8753, 0.3586, -0.0154, 0.73, 0.5095, -0.3954, -0.0299, -0.0429, 0.9997]\nstate[eef_state]: left_x=0.4645 left_y=-0.062 left_z=0.2 left_yaw=0.696 left_pitch=-0.0136 left_roll=0.01 left_gripper=0.3586 right_x=0.277 right_y=0.0046 right_z=0.1507 right_yaw=0.0052 right_pitch=-0.0422 right_roll=-0.0058 right_gripper=0.9997\nstate[joint_eff]: [-0.7726, -13.4906, 8.8137, 1.0037, -0.5104, 0.0317, -0.0464, -0.6222, -1.6342, 6.9812, 2.0733, -0.105, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3378, 2.0716, 1.1004, 0.2287, -0.7589, -0.6266, 0.7465, -0.0154, 0.7982, 0.6445, -0.4801, -0.0299, -0.0544, 0.9998]\nstate[eef_state]: left_x=0.495 left_y=-0.0412 left_z=0.0413 left_yaw=0.5907 left_pitch=0.0482 left_roll=-0.0423 left_gripper=0.7465 right_x=0.286 right_y=0.0045 right_z=0.1769 right_yaw=0.0115 right_pitch=-0.06 right_roll=-0.0146 right_gripper=0.9998\nstate[joint_eff]: [0.8274, -6.2838, 3.2068, 0.7497, 0.1197, 0.3199, -0.0904, -0.7453, -0.7316, 10.1265, 1.9853, -0.1294, 0.105, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4133, 2.0861, 1.0538, 0.3317, -0.8394, -0.7013, 0.7479, -0.0238, 0.7593, 0.5842, -0.4465, -0.0383, -0.0544, 0.9997]\nstate[eef_state]: left_x=0.4857 left_y=-0.0655 left_z=0.0411 left_yaw=0.6158 left_pitch=0.1131 left_roll=-0.114 left_gripper=0.7479 right_x=0.281 right_y=0.0037 right_z=0.1667 right_yaw=0.0101 right_pitch=-0.0477 right_roll=-0.0101 right_gripper=0.9997\nstate[joint_eff]: [-0.7863, -6.5162, 1.9624, 0.3004, 0.2759, -0.0073, 0.1294, -0.4034, -1.4838, 6.9812, 2.1172, -0.1832, 0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2ae3772c16a7da89f30644bbf1feca435caa12b557348dff366c2cb700263fa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac1a233d992d2bbe1c7e78f394ce9a53ab5ca76c0f8e90818f72e40c5347e77b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acffb42228656ffa97f221160b398cc526bfbfc92c7db34b01feea32eb45ca4d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGPmnu3mLnk-_pYKNEhfJaNZNYjU7a1ka2ppGb4Yyy35zQqFIH6nEpt-gOThKlK63xn2eaHxiaF3ZUdgmhmxeg-bKGCIXF5T4gujcV7NcrzW3tx22Bzl04ND7NYog33aAiiVIcvNBviVuNYgKKc0IhnjjWgzsuyFKTAUPyw5McTwwIRDmeCltGbGFOc8Z5_P1IA9qWgmsq2qWUUjHcNaWhBvcTyoApBSANRammGe7BacBzupZTIIrrV-VFFrexCkHDZBFrSEyjqWCAvfOxIRBfz_F_05kj-tPXuE2s1f4tTeG_8NQw4DZ5faxw7hGv4Fyoqh3qtNEZj1nGFVOKGb1otavfPp2Bk5cusRUvHq-0bR5GiRdnWhC3OZ-2rcmcO2vDD-XhHTXTWlRnb1fyok2l1tyXshY3M3iw1w6C20HEU3DQmA6GWmvqa1hEs-JQaz81iwet81x1jKRDwE0vrULsgHvtxQv2zOADEEgMK52G0H_ZP4by7OQN_No0SGp5b1W_4NNP70V-lgBxs4VMnjXxhKAlSocUBAUaFGjYIsp6l4ywBPlw76h8PoYIUqU6eUhhnucJu7lvURTmj_OYaz_dAERDomHGF89y1gwbkjq_M23s2_F20e4_CsP8jCuEaT828bX7xP_P0s-e6tB7IvwXCr1cGRXRiPTSJX49RA11EFeY9ZLAOEW2WHtGSaYvZEwwB3HgPkqYMCwWmlfPuC2g1NR10TOdQiy4bKREh8nTynkKqiUqnfNeIyp-nBUEYkey-Gg9J7r2z1MW-cldLLdmNHJAWuH7uK5ZMXjXldxK7mlxgxJUKpOxbOnzUhANtBPlmAOsO4Jq5whhnx_DFuP4yEtcO9O5zCOVEJtjZ7d8YahUGBIUsVbmBtrZWbD7vwoCvZlGkREGZc0PeZ0UD4ck21e5QzyzGlsx8kFIBYxpjBGqN8FoQIiQPJ2Y5GqyyGIareOBntXXaLlZ0b1pUZIcFeLd7P7tUGgPdb1zNXPGnv39AkB1Bb6lN5VYP-LNY3VzEM1rzSsoTQeA53plG6fjtujAt9aUFjUUW0Rgvtkfn6amrNLTs6-ewqOVmPJ7m1Fj9tP8DhGFEEpSg-h0PLCSypuWTSk_SrsdQ1iz0OChc6_TmNwgYZa78g6IbWEJT2VKNCdfdccuLEZN2UA7V-iv4_FuXrcyTuyKgeyEZRNr7ZGsb_aTKB4QmVLFnf0T__MGOb0xtwPBq8Y5p7NhO1N2zANv22zPw-Yx5VZS7zJ2I-YA5-nwrOZwwMx4_Hb6Ily32MpfIsYCGunwTat47BiKqX7YGShY6J8KqbDsJROQW6kuv3IN0nZqC5auwGKGZ7cZOrVAZy7pZ47Rf2mlOyfdtr6bQ9bXy3HU19JLL_VyZtjni5g3L71OpZvIxxoG7LCzwXrLdNaHe0E3sDouWg1IbFGqRZrrc2F2zIp05w1-qRqjyFAdqoOX7eRHmvXey_onPwLfj2BH2EenGkVM8SMbJ81W3FLN8Nkr8Shfz8zLOCTdjVqzO1qdydAifm4Ia6yAUHaX8dBKpT6ZNpBBjCts_u5UdCi-gnDOIifGkrdfzA7-tEGKUkLzxGQ2f8QgtAY54mtWGNlH9BM2pOZY7u3AkYa5PHcmGW_JoYADuErgvYHbVVDrdo-r5deb3MJ69_2syaLG1qqBYPFpyrGC8e87Ic2k3-m8W5M5PE02n-dF7dgSOBf8ebSgtWGRZQl_o8AUtfErDBkslH8UE8fFFJT4eoIg8w2XhA6P-rMwPEEEfWoaHq8yIfwmduwO8MQ7vocjqe4RhqKL9KHHom7EuHhwG00w==",
  "id": "rs_046185568cad4c3b016ab463e2b2c087d09d0088f3b5b9b7b3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The bottle’s shoulder is now centered between the fingertips, and the descent has stopped. I will close fully here and use the jaw opening to check for a secure grasp.\"}",
  "call_id": "call_9HpFhsHs0BCqYvvL6DVkeQoY",
  "id": "fc_046185568cad4c3b016ab463e4f9a087d09d30f1862aecbbd7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9HpFhsHs0BCqYvvL6DVkeQoY",
  "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]: [-0.429, 2.0811, 1.0393, 0.3862, -0.8989, -0.7376, 0.3334, -0.0284, 0.7319, 0.5377, -0.4213, -0.0528, -0.0547, 0.9997]\nstate[eef_state]: left_x=0.4839 left_y=-0.0653 left_z=0.0515 left_yaw=0.6689 left_pitch=0.1651 left_roll=-0.1688 left_gripper=0.3334 right_x=0.2772 right_y=0.005 right_z=0.1579 right_yaw=0.0179 right_pitch=-0.0412 right_roll=-0.0022 right_gripper=0.9997\nstate[joint_eff]: [-0.6769, -5.9009, 2.1949, 0.1245, 0.5055, -0.0513, 0.4908, -0.5265, -1.4838, 6.9675, 2.0635, -0.0562, 0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec0f700fa80abcd0774dc4e87e3fd756018cb7e20b2b2f3fb3c936b31c26c45c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afdfba7d396a15fdae3c274e225b2fcc38a14da3386917f42eafd591fca9b04d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2cfac792810952d60e19258286aaaf8e8acab95b09de8b360fa8e578ad6f526",
      "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 · 9.619 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]: [-0.4381, 1.8492, 1.5642, -0.7097, -0.8692, -0.8726, 0.0106, -0.0154, 0.7044, 0.4702, -0.3763, -0.0299, -0.0429, 0.9997]\nstate[eef_state]: left_x=0.4616 left_y=-0.0633 left_z=0.2003 left_yaw=0.6892 left_pitch=-0.0108 left_roll=0.0064 left_gripper=0.0106 right_x=0.2734 right_y=0.0047 right_z=0.1432 right_yaw=0.0052 right_pitch=-0.0369 right_roll=-0.0059 right_gripper=0.9997\nstate[joint_eff]: [0.1846, -9.1829, 6.3521, 1.2723, -0.5055, 0.0024, 0.862, -0.7179, -1.347, 6.8308, 2.0293, -0.1245, -0.022, -0.0122]",
      "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]: [-0.4133, 2.0861, 1.0538, 0.3317, -0.8394, -0.7013, 0.7479, -0.0238, 0.7593, 0.5842, -0.4465, -0.0383, -0.0544, 0.9997]\nstate[eef_state]: left_x=0.4857 left_y=-0.0655 left_z=0.0411 left_yaw=0.6158 left_pitch=0.1131 left_roll=-0.114 left_gripper=0.7479 right_x=0.281 right_y=0.0037 right_z=0.1667 right_yaw=0.0101 right_pitch=-0.0477 right_roll=-0.0101 right_gripper=0.9997\nstate[joint_eff]: [-0.7863, -6.5162, 1.9624, 0.3004, 0.2759, -0.0073, 0.1294, -0.4034, -1.4838, 6.9812, 2.1172, -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 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.429, 2.0811, 1.0393, 0.3862, -0.8989, -0.7376, 0.3334, -0.0284, 0.7319, 0.5377, -0.4213, -0.0528, -0.0547, 0.9997]\nstate[eef_state]: left_x=0.4839 left_y=-0.0653 left_z=0.0515 left_yaw=0.6689 left_pitch=0.1651 left_roll=-0.1688 left_gripper=0.3334 right_x=0.2772 right_y=0.005 right_z=0.1579 right_yaw=0.0179 right_pitch=-0.0412 right_roll=-0.0022 right_gripper=0.9997\nstate[joint_eff]: [-0.6769, -5.9009, 2.1949, 0.1245, 0.5055, -0.0513, 0.4908, -0.5265, -1.4838, 6.9675, 2.0635, -0.0562, 0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec0f700fa80abcd0774dc4e87e3fd756018cb7e20b2b2f3fb3c936b31c26c45c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afdfba7d396a15fdae3c274e225b2fcc38a14da3386917f42eafd591fca9b04d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2cfac792810952d60e19258286aaaf8e8acab95b09de8b360fa8e578ad6f526",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGPqvKCF2dPpdpN9sobyqkAAqK5gTsA4xxbFuQsw1noqmKDYfBkCeGmhK87mB3kxfESVK9bC295zxkfG3EmpIDCxp-F5RQbr6k4LP5OdudPVNpXj1p43wJEEox9gCxzWrfHBoIEoaEqOB2gkagBe5ugzLTtQikzYN3NjMMnZ1eS-IDK9jmp7HfiazUil3ALekbLI7J2-mrOVos61zTeypNqnOwVLpwk7du47WR56xSpeI1Ur6C_UA3o-dS13rHCG6_Y8XYo_cNVWeuV4LuBXkwMz5iIGjE_OSyidynn5GXguZlkMkLh0Tfy6vlJxRnZgAzvHV2HD4oAUpj3MKzXIbBC_vqNi-8RE1jcd9dY_PbfJuzSb18SypTdRRGrDNfmci2845TQAtJf5e2xzBd8trSBP8QFNdYPCuDpxEwTtPRvuwCkhguC96V2cxkwrBwINxuoizfocZDu-WAeHyQqebejNeyeJfIiHFdlE6Sl2Td5HS7o-Jf9jl8ICG-hRv5ZT221neIbvbim-GdpZ4_kiDGL0SIbnSJajpI3KwsAluU1edGnJFJEgqctlOdkdo9u8jjR2IiWpNNYa7I1zrFMB2_BXfVIXA0oybrjxnyJi_JRA7qr44dOKpwJLEHFFnowJzThNd6ZUYQeXxDOUN-lfNMSoCU5XP-nxQdSeKmTJoMX7wGk1KOg2Q5XJifxoa9Pw3IG7extuf8Yh1J-yvKEZrO7jSFeXMR25Rbgfq553zSMgettrMx5pYi39YI0R9edKyAC5d6hx0sOZGxaUMowlzMEtyBNSMIk3sz-sZI2WcVX_pYq2zZG4A-Qeofv_RTNNH4lL7mwfkOLAv5igyLyeo_0OuJgcPiPvCV9-9UtPkaYiSr566Mj6_0hBAcMsalQtbGkFtqodmcVQWKEm1ZbDRYQ3j-L68xdWckNIoNQZQ7oUEP76oHIprKhVzfUB0sCmYtSMYHZgl5u-9A_SR_HPie0itJqQKk96URP3dYWpA-ziFhSa6LuyCYy6G3nW09N9bwxaEN5i2WddT2P6XZmgkvZous_45sSkhHYHFa2AXcRAeaF2LNgdC6Im5yNsmxQufhBF-6lWrybsNVwpzU3YE7JIugTbumqjvWH4nNQlJSZQl5qlgem4BP-a1vDN2Oxwi-WD8YlS54nBJyiewBKSOvYjrTOX7lRrlVPUKtjAL9JqmlVf2tebGmSCyYoQiKv_msdnFrBqTfejJN1JtqmqOju8Hyluk76wsZ_4p2ed1_9xFZo=",
  "id": "rs_046185568cad4c3b016ab463e8e8c487d0ba05d861d5b97823",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.065,\"left_z\":0.11},\"note\":\"The gripper stopped at about 3.2 cm rather than closing empty, indicating a grasp near the shoulder. I will lift a few centimeters to confirm the bottle follows.\"}",
  "call_id": "call_lYFtPYLH7Bp6iv7g1GmEEZo2",
  "id": "fc_046185568cad4c3b016ab463e93c2c87d08c2593c6fd6b7db2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lYFtPYLH7Bp6iv7g1GmEEZo2",
  "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]: [-0.432, 2.038, 1.1175, 0.2447, -0.9077, -0.8085, 0.3318, -0.0284, 0.7071, 0.4992, -0.4015, -0.054, -0.0574, 0.9997]\nstate[eef_state]: left_x=0.4908 left_y=-0.069 left_z=0.0773 left_yaw=0.707 left_pitch=0.1545 left_roll=-0.214 left_gripper=0.3318 right_x=0.2739 right_y=0.0053 right_z=0.1507 right_yaw=0.0203 right_pitch=-0.035 right_roll=-0.004 right_gripper=0.9997\nstate[joint_eff]: [-1.6752, -15.9111, 8.6632, 1.6386, -0.3736, 0.1245, 0.022, -0.4991, -1.2923, 6.8855, 1.9609, -0.0855, 0.0024, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9338ec4448efd85cbec61829e66eaefd5ecae7517624249cf210a52d88d77f43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de1aa3be499707189ef4e1cfcb8f48f9e3e6575fcf8ae7a681a70f7270d2edc7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec18eaaf65d8acca9b9594b518b1159847fd93e9673526c038bf37426d03697f",
      "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 · 14.15 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]: [-0.3378, 2.0716, 1.1004, 0.2287, -0.7589, -0.6266, 0.7465, -0.0154, 0.7982, 0.6445, -0.4801, -0.0299, -0.0544, 0.9998]\nstate[eef_state]: left_x=0.495 left_y=-0.0412 left_z=0.0413 left_yaw=0.5907 left_pitch=0.0482 left_roll=-0.0423 left_gripper=0.7465 right_x=0.286 right_y=0.0045 right_z=0.1769 right_yaw=0.0115 right_pitch=-0.06 right_roll=-0.0146 right_gripper=0.9998\nstate[joint_eff]: [0.8274, -6.2838, 3.2068, 0.7497, 0.1197, 0.3199, -0.0904, -0.7453, -0.7316, 10.1265, 1.9853, -0.1294, 0.105, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.429, 2.0811, 1.0393, 0.3862, -0.8989, -0.7376, 0.3334, -0.0284, 0.7319, 0.5377, -0.4213, -0.0528, -0.0547, 0.9997]\nstate[eef_state]: left_x=0.4839 left_y=-0.0653 left_z=0.0515 left_yaw=0.6689 left_pitch=0.1651 left_roll=-0.1688 left_gripper=0.3334 right_x=0.2772 right_y=0.005 right_z=0.1579 right_yaw=0.0179 right_pitch=-0.0412 right_roll=-0.0022 right_gripper=0.9997\nstate[joint_eff]: [-0.6769, -5.9009, 2.1949, 0.1245, 0.5055, -0.0513, 0.4908, -0.5265, -1.4838, 6.9675, 2.0635, -0.0562, 0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.432, 2.038, 1.1175, 0.2447, -0.9077, -0.8085, 0.3318, -0.0284, 0.7071, 0.4992, -0.4015, -0.054, -0.0574, 0.9997]\nstate[eef_state]: left_x=0.4908 left_y=-0.069 left_z=0.0773 left_yaw=0.707 left_pitch=0.1545 left_roll=-0.214 left_gripper=0.3318 right_x=0.2739 right_y=0.0053 right_z=0.1507 right_yaw=0.0203 right_pitch=-0.035 right_roll=-0.004 right_gripper=0.9997\nstate[joint_eff]: [-1.6752, -15.9111, 8.6632, 1.6386, -0.3736, 0.1245, 0.022, -0.4991, -1.2923, 6.8855, 1.9609, -0.0855, 0.0024, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9338ec4448efd85cbec61829e66eaefd5ecae7517624249cf210a52d88d77f43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de1aa3be499707189ef4e1cfcb8f48f9e3e6575fcf8ae7a681a70f7270d2edc7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec18eaaf65d8acca9b9594b518b1159847fd93e9673526c038bf37426d03697f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGP0t7nr-EpVJ26LkzcPGl2UBvc7oRst3k5Q8JsFQfvfH3a0_CHmgf9eDarhiZ43mA_IUFt2gWMVYbbDMZ76NjFuTdZUGQtos17NySGZlCDXYMBn3vJXaXRuAoThb_sqHMh-wJQM7ZL0cfprRvA0dsJKRY2DaLV_VGTA4xGROmyGunLyKXzbb0rUqJONh5w0nymOeV63WNuW0qyaKuwhZVE0XjBrYzlaxGEj5ZJq8ndYmW419Dk18eneKerFIuq6ENOiJ7n5Y_aC2tmlFmY7m49sbyp-KOTtuZGOCWUhkU6aDLNPI1bEyFfXEUtKjoMCUjjirjVo4bmRNWR37gcOINXqtUl4vfh8Z0kn8tA37J49VZ9RsIUYnn9Lk5BczDixCpOdF9f8bnQZmztg5sFKAJqKl4R9Wls-3StfcghB8U3Bd7zktN7HQecwvVotn-NcLma7f1ltCInaBde2cKmO151ajtzx4q7U3pDPIFoUWNqx8l5SJkB8Q10W_qXpdnlvNHmhEdpGXQjnHGDd9KzBhak8Qnv6j54jgl3yzDKHWFob1X_7UakvhExn93yNwkHDaruE71Am3uNGJR6uvjn6qMJBna4QmrUpWpyxsRqXjbRuo7FVhEGq6sP40sTiqCy2BB9iCBdpm7HFwLT3VZs5YyeJvyJMafT7_tuaOIGMKauzjkByc6O7rhhJoC3hl0YF-z4EJXvGnTfj7CiX0TipDIlMZMe0xnHEeAM0IgVhaFldpaAm1k0WAp9Om6jyvI3uX6Q8EVDQi_PKwINuQIrrz5Fd_-IeFSGd35XeFHizorHTwBDdOjP1KNo_4zqIzWx9aysV7h3yUsGifoMYaptkx05bX6PuQzLvE0HDHUsQ4gP0Vrefkplda79FF8pV2RYpb1vnnlp2QY4UtpxYIPoaIEjSd1ornmBi0whm_LT2HMd6YfkWq7Yjc8acCtvVNCJne8jX59FS-V0WivVfs3ZfjIJeNZSpVmwKPbmBTwG5yb8SA2U8yTxMdv5VHQGKmCN4i2412FiKdxAP_OyQgYHuhQYkYbzyW3RNangS1eIvc8Q43yBLMM2RdUB8EfNsauaELcjnNod58Lvq8421Hv6nNAB25hMFU4UJVwM7i7vQLFZRQ6EWJ9_HoZ0jmcASvJV4JMs0XwRu7TrPgsnGPZv2tMtiZahB6zdkV0mdAezF8qmrSqYmUrSrnCxONiywkn8Sj3prJcpGBajiGhFC4cTSYbHhJ4g91rAhTJOu-pfsBCeZm31vLslemeKS3n3ClzjtC_db_Vx68BdwWV6b0i_VL-54fQ==",
  "id": "rs_046185568cad4c3b016ab463f2aa5c87d0a565b80aedb8e8c9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.07,\"left_z\":0.22},\"note\":\"The bottle remains between the jaws during the initial lift, but the arm has risen less than commanded. I will lift mostly straight up to give the base room to swing down.\"}",
  "call_id": "call_PbwIUI7mKRwD0OjohcbrkHTs",
  "id": "fc_046185568cad4c3b016ab463f33cf487d09d8c20efbde10079",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PbwIUI7mKRwD0OjohcbrkHTs",
  "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]: [-0.4324, 1.9762, 1.7077, -0.7422, -0.873, -0.8986, 0.3322, -0.0284, 0.6849, 0.4664, -0.3866, -0.0563, -0.0578, 0.9998]\nstate[eef_state]: left_x=0.4884 left_y=-0.0724 left_z=0.192 left_yaw=0.7109 left_pitch=-0.0145 left_roll=0.0005 left_gripper=0.3322 right_x=0.2708 right_y=0.0058 right_z=0.1444 right_yaw=0.0224 right_pitch=-0.0308 right_roll=-0.0033 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -13.6957, 8.2256, 0.8425, -0.5495, 0.0611, 0.0269, -0.7043, -1.0735, 6.9128, 1.9805, -0.0806, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02b67653e503f79a7bf7c3d90702e2c01cf0707387f8a8db30b138285819995d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5f4e3d94a5ae1baf7a52d115c3d412c9bb483305c860b40239517738a43f170",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c842bbcdaf0f2c3b5b1e016d461afa4ed013b47a4137a0275fa04d51029aae7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 6.332 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]: [-0.4133, 2.0861, 1.0538, 0.3317, -0.8394, -0.7013, 0.7479, -0.0238, 0.7593, 0.5842, -0.4465, -0.0383, -0.0544, 0.9997]\nstate[eef_state]: left_x=0.4857 left_y=-0.0655 left_z=0.0411 left_yaw=0.6158 left_pitch=0.1131 left_roll=-0.114 left_gripper=0.7479 right_x=0.281 right_y=0.0037 right_z=0.1667 right_yaw=0.0101 right_pitch=-0.0477 right_roll=-0.0101 right_gripper=0.9997\nstate[joint_eff]: [-0.7863, -6.5162, 1.9624, 0.3004, 0.2759, -0.0073, 0.1294, -0.4034, -1.4838, 6.9812, 2.1172, -0.1832, 0.0024, -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]: [-0.432, 2.038, 1.1175, 0.2447, -0.9077, -0.8085, 0.3318, -0.0284, 0.7071, 0.4992, -0.4015, -0.054, -0.0574, 0.9997]\nstate[eef_state]: left_x=0.4908 left_y=-0.069 left_z=0.0773 left_yaw=0.707 left_pitch=0.1545 left_roll=-0.214 left_gripper=0.3318 right_x=0.2739 right_y=0.0053 right_z=0.1507 right_yaw=0.0203 right_pitch=-0.035 right_roll=-0.004 right_gripper=0.9997\nstate[joint_eff]: [-1.6752, -15.9111, 8.6632, 1.6386, -0.3736, 0.1245, 0.022, -0.4991, -1.2923, 6.8855, 1.9609, -0.0855, 0.0024, -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 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4324, 1.9762, 1.7077, -0.7422, -0.873, -0.8986, 0.3322, -0.0284, 0.6849, 0.4664, -0.3866, -0.0563, -0.0578, 0.9998]\nstate[eef_state]: left_x=0.4884 left_y=-0.0724 left_z=0.192 left_yaw=0.7109 left_pitch=-0.0145 left_roll=0.0005 left_gripper=0.3322 right_x=0.2708 right_y=0.0058 right_z=0.1444 right_yaw=0.0224 right_pitch=-0.0308 right_roll=-0.0033 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -13.6957, 8.2256, 0.8425, -0.5495, 0.0611, 0.0269, -0.7043, -1.0735, 6.9128, 1.9805, -0.0806, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02b67653e503f79a7bf7c3d90702e2c01cf0707387f8a8db30b138285819995d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5f4e3d94a5ae1baf7a52d115c3d412c9bb483305c860b40239517738a43f170",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c842bbcdaf0f2c3b5b1e016d461afa4ed013b47a4137a0275fa04d51029aae7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_046185568cad4c3b016ab463f7168087d0a4fe48ccfab895f0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.105,\"left_z\":0.16,\"left_yaw\":0.55,\"left_gripper\":0.85,\"right_x\":0.294,\"right_y\":0.004,\"right_z\":0.2},\"note\":\"The bottle did not leave the table; the shallow grip slipped. I will reset farther back at a shorter reach so the jaws can descend around the body instead of catching only its top.\"}",
  "call_id": "call_GIkXZ836JhK9oIEfKqGmdcII",
  "id": "fc_046185568cad4c3b016ab4640089c087d0877cb4c6a5f449b2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GIkXZ836JhK9oIEfKqGmdcII",
  "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]: [-0.5911, 1.7092, 1.2118, -0.5507, -0.8764, -0.8986, 0.8461, -0.0326, 0.7963, 0.6415, -0.4664, -0.0612, -0.065, 0.9997]\nstate[eef_state]: left_x=0.4029 left_y=-0.1026 left_z=0.1508 left_yaw=0.5548 left_pitch=-0.0272 left_roll=0.0357 left_gripper=0.8461 right_x=0.2875 right_y=0.005 right_z=0.1789 right_yaw=0.0264 right_pitch=-0.0465 right_roll=-0.0055 right_gripper=0.9997\nstate[joint_eff]: [-0.4444, -9.3333, 6.5573, 1.3309, -0.486, -0.0073, -0.2027, -0.5812, -1.0462, 9.7846, 1.8437, -0.1148, 0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e93e9b61d8f9421f0cb985ee09d8a381778c5341bab83bc8b89e4f479842a08",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cc21a4cec7d1c63bf5e5175c3237cb13bdf415500cb05da348571d036fb6bbc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40bcd7cdd90f88d4099fd95382ba41ab89c074e619fd74310bc8f62a557255b5",
      "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 · 3.914 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]: [-0.429, 2.0811, 1.0393, 0.3862, -0.8989, -0.7376, 0.3334, -0.0284, 0.7319, 0.5377, -0.4213, -0.0528, -0.0547, 0.9997]\nstate[eef_state]: left_x=0.4839 left_y=-0.0653 left_z=0.0515 left_yaw=0.6689 left_pitch=0.1651 left_roll=-0.1688 left_gripper=0.3334 right_x=0.2772 right_y=0.005 right_z=0.1579 right_yaw=0.0179 right_pitch=-0.0412 right_roll=-0.0022 right_gripper=0.9997\nstate[joint_eff]: [-0.6769, -5.9009, 2.1949, 0.1245, 0.5055, -0.0513, 0.4908, -0.5265, -1.4838, 6.9675, 2.0635, -0.0562, 0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4324, 1.9762, 1.7077, -0.7422, -0.873, -0.8986, 0.3322, -0.0284, 0.6849, 0.4664, -0.3866, -0.0563, -0.0578, 0.9998]\nstate[eef_state]: left_x=0.4884 left_y=-0.0724 left_z=0.192 left_yaw=0.7109 left_pitch=-0.0145 left_roll=0.0005 left_gripper=0.3322 right_x=0.2708 right_y=0.0058 right_z=0.1444 right_yaw=0.0224 right_pitch=-0.0308 right_roll=-0.0033 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -13.6957, 8.2256, 0.8425, -0.5495, 0.0611, 0.0269, -0.7043, -1.0735, 6.9128, 1.9805, -0.0806, -0.0317, -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 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5911, 1.7092, 1.2118, -0.5507, -0.8764, -0.8986, 0.8461, -0.0326, 0.7963, 0.6415, -0.4664, -0.0612, -0.065, 0.9997]\nstate[eef_state]: left_x=0.4029 left_y=-0.1026 left_z=0.1508 left_yaw=0.5548 left_pitch=-0.0272 left_roll=0.0357 left_gripper=0.8461 right_x=0.2875 right_y=0.005 right_z=0.1789 right_yaw=0.0264 right_pitch=-0.0465 right_roll=-0.0055 right_gripper=0.9997\nstate[joint_eff]: [-0.4444, -9.3333, 6.5573, 1.3309, -0.486, -0.0073, -0.2027, -0.5812, -1.0462, 9.7846, 1.8437, -0.1148, 0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e93e9b61d8f9421f0cb985ee09d8a381778c5341bab83bc8b89e4f479842a08",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cc21a4cec7d1c63bf5e5175c3237cb13bdf415500cb05da348571d036fb6bbc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40bcd7cdd90f88d4099fd95382ba41ab89c074e619fd74310bc8f62a557255b5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGQKMki-BVnacuDsPEj2ZdYlDf-Y2k4uBOwIu4d-7ZXjb2feL9DQd71ZR-tI1uWv5zgJ-9zEe2fcTvB5M31EPEELVyEaXLSyMWaXcuqcdn_GG-YQtTxWVhgbddQ2xNhgr47EWInFnCtEBMqmZqhZDHkbAfTdXYeVgcaEGK3urvVyC2gQ_4t2-1Y_tYeaFfO_C49oC7Ghaon3TeDhaBYkMJKn7nBPPuRU47BGWWUmm3bLZDEww2GyGoU-8QcC3Oe_3El_NDsos_n_oyUi15UFmDN8D7ZVh_z5arp0p1cP16fqsLZuvgIRC0rRji1BUT2IAvU6YfBWaJ4fAR2_PK3_SHQXLVH-5Dv8Ej3aLEmCbHf_CXDpHenMlJZH8uyvr_TvZsjw_TO6Om9_zgB38XFd11iN8VCpKihIVHVZAuh1FgsBHTU2-h8lMRrCUj675UMnJROJZHi-UkS-dVlq6mKvndPNHMV7YAnddf2AFIyNEy9rAO7FQGAYCw-LvN2TyTxUd21Vw76gudbwvYp9gvU_5fJcPPw_HbcSbkZfXbbeFoHpmKs8vhKCrW7AO8GAoSqkTLCVDeBGhoRGAJ2bUEz-oWG72xU7ydlfNRxTnLubctXmpAFVqWS9PoOoKkCykowKiBpmX4G4DuDie60_s1z5S4H9RwreCeoASf1hkWsNNgAguPKbHwg5ebPlJ2ozt_A5ZW-d2fudxA7Dut4RiGx0cxAh542WEJLfA9TSKVnwWCOAeiW889zIR3O73U2QMHKHcubWezkrUaEv776fiH9nOXbt6yYTPUt16zwS5mws7_wpj5LpGvetGN38P5reJHSfLbPYNkSoDMlabz2cOCI-2VAMs1mYqHtOMX7t4IzSdhtfu-GNFP6SFgEYoAygezFTQm1ySVWwitl5wenSd4fSriglCfkibzRO_Ddae8uI-9B_vm9wwLf6ieVcjowLXHJRaXXZLknOkc3ZJYWXUXesnX4TLcnlaCLaiQAqdZGGhrwbdjMQaJR9_Y74lTMEEbY3fdNIbonoSpzBVU-AUBGPmTgZLhqdLmjo7p6mBuCCDnpMxqOyvLLaBBjtos6qgfYt33deAVJ6Q-HGXw2mSTXhvNaOerxJjW6HANusrLX6p7hSvGKXvjv-d9BTl8E5Rx4x2lZvXrOmLWlp2D-aDx_1X9StuLleh67elf9brvldK3KF_la9gqtcHxNxECZQQEU8H4vRnN_AStb2Ue7xmCoyCMQgHx8pRHMSQq5P-MxvDQ5c69ydrmyTCdSbtRz0o-yfYi2TZdyC9gmxFepPY7ipNp6cCCfkKI-SAldhrFig70vmEqBFCvY-GFAezQRLs35iQXQdJ858qTvf36413yc5deM40YP8AY2GYqDzcN5zlV3QiXaHInXHQNFqfJ-2uQ1Od5kVJwRM2B0Ze48DiZ1Eb2xOW5B_1Lxiantu9IPuU90I5F58lwGch2vTmjScKforAOf353cbETMxESYgA-NzN1meCAgz6Dl4RW-CfIa3Fsss3CNahD68neNfLCVV9rdNXET9VdEHdVLNPOx_tT_i6Hc_FdTjCTFRVdmPCId7XTWINDIbFziKNwRR6zK_zmhL1rOjW58sgbAe8867ciEGrLtzmKK-XpDJExptMVKe7aK1KjG4ozaCzrx5xtqzVunxpaLXMqt1atBlWXxQ5Nj4_n7ByNK6tSD23-fo2oYln6eXc_avCpSeKUo46BX1_iERLBohhDG5S9f5mxTV-vS0xV6H_z_N2JRBH7n--90ozTaM99oUSJTDuMheLwfjDU7CsA75sC-o1z2oaPH-2zJFOusAnzdVAZohHaAnS6aCO7jvZ8lV0ltGSzq5XugQckFKwjEEMM7fBwxJp67vEYkAxMstMnO3gGLkSmRgY8annb2UJev1DGFIlyHMA_NfEkGNbsqfQJ075xQq4dufaZMFkj4WCaKoD5A0-Me3H9xymfrPQdzMFAN8qwoGhU62HxKibqxVgo-Zw137hLMbJnRIPxSKE96_j0j_RB84Sagn9y2eWnB43WxOAXIIbhugaM3ccIl7KAseFegRkvKgsoDi2z6jP8G0pHEzStXrkeW_AIdeIOjaywKiVcYYC-i4ck4EDvEpMICYfvbc4jJ5ME1Ss85IM2MGC1vms6ZnOMpVDYmpjJ3IYTy7MTLs6ftOO08_BFLVZiX3YCp3MXmciESyxBlijqOe2n_YcWYUmIv5hMS32Ok=",
  "id": "rs_046185568cad4c3b016ab46405bb2487d0aab5348a775ce0e1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.12,\"left_z\":0.005},\"note\":\"At the shorter reach, the bottle body is clearly visible just right of the jaw column. I will lower around its middle so I can first bring the bottle closer, making its neck easier to reach.\"}",
  "call_id": "call_FBB7sRQ2wR9UQPOXcBNBILb5",
  "id": "fc_046185568cad4c3b016ab46409131087d0beef420d3bc5ada8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FBB7sRQ2wR9UQPOXcBNBILb5",
  "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]: [-0.6037, 2.0453, 1.0187, -0.0109, -0.8818, -0.8989, 0.8463, -0.0341, 0.77, 0.5953, -0.4458, -0.0643, -0.065, 0.9997]\nstate[eef_state]: left_x=0.4182 left_y=-0.1184 left_z=0.0114 left_yaw=0.5449 left_pitch=-0.0186 left_roll=0.0276 left_gripper=0.8463 right_x=0.2831 right_y=0.0053 right_z=0.1692 right_yaw=0.0274 right_pitch=-0.0457 right_roll=-0.0037 right_gripper=0.9997\nstate[joint_eff]: [-0.4308, -9.1829, 4.2325, 1.1306, -0.5055, -0.1392, 0.0122, -0.6496, -1.812, 6.9265, 2.0391, -0.1343, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e886e67ed2786580e7abedfea6150de4df2e40339c0508294605d87de90b89d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7089254be062f3b6c72d407e6cdf747046a3f3aa931058efd4c189c6b6a4a38d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dfd1beb8260596498b535e02ac0a42171622f00861572c7a73eef713226349b",
      "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 · 3.262 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]: [-0.432, 2.038, 1.1175, 0.2447, -0.9077, -0.8085, 0.3318, -0.0284, 0.7071, 0.4992, -0.4015, -0.054, -0.0574, 0.9997]\nstate[eef_state]: left_x=0.4908 left_y=-0.069 left_z=0.0773 left_yaw=0.707 left_pitch=0.1545 left_roll=-0.214 left_gripper=0.3318 right_x=0.2739 right_y=0.0053 right_z=0.1507 right_yaw=0.0203 right_pitch=-0.035 right_roll=-0.004 right_gripper=0.9997\nstate[joint_eff]: [-1.6752, -15.9111, 8.6632, 1.6386, -0.3736, 0.1245, 0.022, -0.4991, -1.2923, 6.8855, 1.9609, -0.0855, 0.0024, -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 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5911, 1.7092, 1.2118, -0.5507, -0.8764, -0.8986, 0.8461, -0.0326, 0.7963, 0.6415, -0.4664, -0.0612, -0.065, 0.9997]\nstate[eef_state]: left_x=0.4029 left_y=-0.1026 left_z=0.1508 left_yaw=0.5548 left_pitch=-0.0272 left_roll=0.0357 left_gripper=0.8461 right_x=0.2875 right_y=0.005 right_z=0.1789 right_yaw=0.0264 right_pitch=-0.0465 right_roll=-0.0055 right_gripper=0.9997\nstate[joint_eff]: [-0.4444, -9.3333, 6.5573, 1.3309, -0.486, -0.0073, -0.2027, -0.5812, -1.0462, 9.7846, 1.8437, -0.1148, 0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6037, 2.0453, 1.0187, -0.0109, -0.8818, -0.8989, 0.8463, -0.0341, 0.77, 0.5953, -0.4458, -0.0643, -0.065, 0.9997]\nstate[eef_state]: left_x=0.4182 left_y=-0.1184 left_z=0.0114 left_yaw=0.5449 left_pitch=-0.0186 left_roll=0.0276 left_gripper=0.8463 right_x=0.2831 right_y=0.0053 right_z=0.1692 right_yaw=0.0274 right_pitch=-0.0457 right_roll=-0.0037 right_gripper=0.9997\nstate[joint_eff]: [-0.4308, -9.1829, 4.2325, 1.1306, -0.5055, -0.1392, 0.0122, -0.6496, -1.812, 6.9265, 2.0391, -0.1343, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e886e67ed2786580e7abedfea6150de4df2e40339c0508294605d87de90b89d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7089254be062f3b6c72d407e6cdf747046a3f3aa931058efd4c189c6b6a4a38d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dfd1beb8260596498b535e02ac0a42171622f00861572c7a73eef713226349b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGQPBqUl261Vyf1jgyU2ZLGORXQ8M7Lyr62HpTbvbtC7A7qxp7h-RYCS3Nz7STp93-v14y1ASGfly38rIZV-1TjclftYKB1goTVTAVWMFOVQx35XXYWYkoxmuVDeugPwHGyh81sB_ZOMMUpq2Qa6olf9F6xHkTxkYUzp4QESdnXhONKQQ7l3FmXdyjfgoMrl6a62g59qpzqIgFu_c9NlG9dT5zdDt7aVSrBsezSOAATftuKlReJBxr8AT-CHavtLJNRP9MvHSsu9Xrf1RHCsMaQBulLPL2cLWloF0gcQ_fhSiUbBvzPXcdqixvfqGUbM3K1f9YjK8TdEiXAwaRhPqAIeHm3sLZ0-FbTAGg-igOq65U-echX9jp-iepB2dLqm6EpVo2g9dHT88JQgk0HzbhfJkkwJn3J7LqchbmHvs1OB4pK35W0C-PsG6rprkDEKXnwnO83U335KtD-FsDUE2xRgAdn0y_g-LcRg6VT9pjB92xwD9GSHcC7ClS0eCFYs4NdIbBJz2mpKVFFIL8sH546EBGUdscLIagagty9fvbL_fpvZoq4q2-GAIZIZ5f2qCUfqzg5oJKJYIBIN0jv2XX5ZEEeCYY1xC4rPrn-H8nqg2DKL1PbsoUSapHGkPmdfOZUV4pzrM7WVPuuaWubwng7-yi0WaoOFbGjkWvaNkwWgouxCOKSIPJsH4Kb1NdjNF5Xoe_OUjYGztakIpAO551caMbWZOgUQjwsp4NWlPKbToBRSaSw-irUajh7_r7wj0hXdI3zyDJu-tYpZpaa0DONWJu4hI-iaV_entDjpEosNafvP4NCjjXBJ8TKU3dOGOtSfMlI-u50RKMsMdpxgW63b6eZi5Jwq3xuTwiHp2_LVPTcurfrFmvDg6j_bT9ajOdmXPmSvXC1TaTOfuoQLtzxR2QWXOIlz4tZcBNFf-mm1Ybq8OOv5zLcpCa5XTBRUpWTocMmC06KTygEQDtMsguvz9DvMwoiMzhkzW8TAdMSle2Q67Y4SH4kh0lV6uRPAskAhKC6uGtJRByAP8ja1q5T2DocN_pwqG6O5xO-fdIuiNorzULoUibG1YHn3OxtnQ_FfTN519rrfOtPlGvyivWfptRTNDryQxBFvDxOvUwyT02DDuP6lo9LpAM7SIMXNXi5bysTdxAXqcLKS6Sd6kw0ZUoxcozrwLTFIGvtn5JNJhUAO10omETAd__xjId0c0oerU1gWq316uEqRoYtO9k9Gzg==",
  "id": "rs_046185568cad4c3b016ab4640dc8a087d0bc44f83ce06a9296",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws are now low on either side of the bottle body, rather than above it. I will close for a secure grasp before moving it closer.\"}",
  "call_id": "call_b6BaAkvh7lKth0FI2CGZrrN6",
  "id": "fc_046185568cad4c3b016ab4640e0ae087d0bf54b4b1d6d9cb4e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_b6BaAkvh7lKth0FI2CGZrrN6",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6075, 2.0628, 1.0027, 0.0525, -0.8883, -0.9138, 0.5562, -0.0341, 0.7441, 0.5507, -0.4221, -0.0643, -0.0654, 0.9997]\nstate[eef_state]: left_x=0.42 left_y=-0.1207 left_z=0.0069 left_yaw=0.5521 left_pitch=-0.0013 left_roll=-0.0099 left_gripper=0.5562 right_x=0.2794 right_y=0.0054 right_z=0.1605 right_yaw=0.0276 right_pitch=-0.0407 right_roll=-0.0043 right_gripper=0.9997\nstate[joint_eff]: [0.0479, -11.5761, 3.8769, 1.072, -0.4322, 0.1392, 1.0232, -0.7179, -1.6889, 7.0906, 2.0537, -0.1001, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38e5a2ace371643e3bf87083b4fc60eac13bcc4a4adebab5b75b275e241d94dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:607430051a7b70f47c71a769717864013ca0513e765121cbbee7ddc93182224e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1580a1bbe2904a194d7eedfeff15bdb28c9b36a7856451dee4e996b5357baec",
      "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 · 3.776 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]: [-0.4324, 1.9762, 1.7077, -0.7422, -0.873, -0.8986, 0.3322, -0.0284, 0.6849, 0.4664, -0.3866, -0.0563, -0.0578, 0.9998]\nstate[eef_state]: left_x=0.4884 left_y=-0.0724 left_z=0.192 left_yaw=0.7109 left_pitch=-0.0145 left_roll=0.0005 left_gripper=0.3322 right_x=0.2708 right_y=0.0058 right_z=0.1444 right_yaw=0.0224 right_pitch=-0.0308 right_roll=-0.0033 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -13.6957, 8.2256, 0.8425, -0.5495, 0.0611, 0.0269, -0.7043, -1.0735, 6.9128, 1.9805, -0.0806, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.6037, 2.0453, 1.0187, -0.0109, -0.8818, -0.8989, 0.8463, -0.0341, 0.77, 0.5953, -0.4458, -0.0643, -0.065, 0.9997]\nstate[eef_state]: left_x=0.4182 left_y=-0.1184 left_z=0.0114 left_yaw=0.5449 left_pitch=-0.0186 left_roll=0.0276 left_gripper=0.8463 right_x=0.2831 right_y=0.0053 right_z=0.1692 right_yaw=0.0274 right_pitch=-0.0457 right_roll=-0.0037 right_gripper=0.9997\nstate[joint_eff]: [-0.4308, -9.1829, 4.2325, 1.1306, -0.5055, -0.1392, 0.0122, -0.6496, -1.812, 6.9265, 2.0391, -0.1343, -0.0415, -0.0122]",
      "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]: [-0.6075, 2.0628, 1.0027, 0.0525, -0.8883, -0.9138, 0.5562, -0.0341, 0.7441, 0.5507, -0.4221, -0.0643, -0.0654, 0.9997]\nstate[eef_state]: left_x=0.42 left_y=-0.1207 left_z=0.0069 left_yaw=0.5521 left_pitch=-0.0013 left_roll=-0.0099 left_gripper=0.5562 right_x=0.2794 right_y=0.0054 right_z=0.1605 right_yaw=0.0276 right_pitch=-0.0407 right_roll=-0.0043 right_gripper=0.9997\nstate[joint_eff]: [0.0479, -11.5761, 3.8769, 1.072, -0.4322, 0.1392, 1.0232, -0.7179, -1.6889, 7.0906, 2.0537, -0.1001, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38e5a2ace371643e3bf87083b4fc60eac13bcc4a4adebab5b75b275e241d94dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:607430051a7b70f47c71a769717864013ca0513e765121cbbee7ddc93182224e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1580a1bbe2904a194d7eedfeff15bdb28c9b36a7856451dee4e996b5357baec",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.14,\"left_z\":0.08,\"left_gripper\":0},\"note\":\"The 5.3 cm jaw opening indicates a solid body grasp. I will lift slightly and draw the bottle toward the front of the table so its neck can be reached at table height.\"}",
  "call_id": "call_8bEs8yl07khwWdj2tsIHDHHE",
  "id": "fc_046185568cad4c3b016ab46411d35c87d099f192d1df24a5fa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8bEs8yl07khwWdj2tsIHDHHE",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7765, 1.8496, 0.9619, -0.3649, -0.857, -1.1198, 0.5477, -0.0341, 0.7204, 0.5121, -0.4019, -0.0647, -0.065, 0.9997]\nstate[eef_state]: left_x=0.3471 left_y=-0.1488 left_z=0.0374 left_yaw=0.4926 left_pitch=-0.1109 left_roll=0.0419 left_gripper=0.5477 right_x=0.2761 right_y=0.0056 right_z=0.1532 right_yaw=0.0277 right_pitch=-0.0354 right_roll=-0.0041 right_gripper=0.9997\nstate[joint_eff]: [-0.3487, -12.3145, 7.6376, 1.1062, -1.5507, -0.0366, 1.033, -0.759, -1.4564, 6.8718, 2.0049, -0.1636, -0.0513, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8af36feb702671243d83ddc4d2861754cf32313cacc99e7db8942d203e1f290f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17963f8388d7170e875c81a78791f6f23f87d4c45f0ba2680c0fe36ad217af57",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec33358c3c455b6067ae5062bf0ca2c900f848d627b2425629e8e3845ac66655",
      "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 · 7.87 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 54 changed as sent

message 62 changed as sent

message 65 changed as sent

message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5911, 1.7092, 1.2118, -0.5507, -0.8764, -0.8986, 0.8461, -0.0326, 0.7963, 0.6415, -0.4664, -0.0612, -0.065, 0.9997]\nstate[eef_state]: left_x=0.4029 left_y=-0.1026 left_z=0.1508 left_yaw=0.5548 left_pitch=-0.0272 left_roll=0.0357 left_gripper=0.8461 right_x=0.2875 right_y=0.005 right_z=0.1789 right_yaw=0.0264 right_pitch=-0.0465 right_roll=-0.0055 right_gripper=0.9997\nstate[joint_eff]: [-0.4444, -9.3333, 6.5573, 1.3309, -0.486, -0.0073, -0.2027, -0.5812, -1.0462, 9.7846, 1.8437, -0.1148, 0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6075, 2.0628, 1.0027, 0.0525, -0.8883, -0.9138, 0.5562, -0.0341, 0.7441, 0.5507, -0.4221, -0.0643, -0.0654, 0.9997]\nstate[eef_state]: left_x=0.42 left_y=-0.1207 left_z=0.0069 left_yaw=0.5521 left_pitch=-0.0013 left_roll=-0.0099 left_gripper=0.5562 right_x=0.2794 right_y=0.0054 right_z=0.1605 right_yaw=0.0276 right_pitch=-0.0407 right_roll=-0.0043 right_gripper=0.9997\nstate[joint_eff]: [0.0479, -11.5761, 3.8769, 1.072, -0.4322, 0.1392, 1.0232, -0.7179, -1.6889, 7.0906, 2.0537, -0.1001, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7765, 1.8496, 0.9619, -0.3649, -0.857, -1.1198, 0.5477, -0.0341, 0.7204, 0.5121, -0.4019, -0.0647, -0.065, 0.9997]\nstate[eef_state]: left_x=0.3471 left_y=-0.1488 left_z=0.0374 left_yaw=0.4926 left_pitch=-0.1109 left_roll=0.0419 left_gripper=0.5477 right_x=0.2761 right_y=0.0056 right_z=0.1532 right_yaw=0.0277 right_pitch=-0.0354 right_roll=-0.0041 right_gripper=0.9997\nstate[joint_eff]: [-0.3487, -12.3145, 7.6376, 1.1062, -1.5507, -0.0366, 1.033, -0.759, -1.4564, 6.8718, 2.0049, -0.1636, -0.0513, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8af36feb702671243d83ddc4d2861754cf32313cacc99e7db8942d203e1f290f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17963f8388d7170e875c81a78791f6f23f87d4c45f0ba2680c0fe36ad217af57",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec33358c3c455b6067ae5062bf0ca2c900f848d627b2425629e8e3845ac66655",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGQXTWsvu0_5foukaw22aXhbJ469MpFILi6csKv0F-xuX40k_XQ-sji8DLOrA-ZpIoBHw_0krCMB57VjrTIy4HhMdaScPsRAlHyJ4VQ0KW5KGe81Ov9hFTaqLHtwpCJo7R3ElpRFgmNcbidNVq65oTQMrTQNK65Fgq3PK1mfTn7uOexswp-RKOjeY0krsvjXR1Y3iugkjDoN99xTJaWRP0h9InXxXHCI_gUu_d-ywTxnAjUUHLgeW-8WXBan7C6rambWrnnL6EXmraODirkKC1Avdd0dmabzH2eCnaZDMICJ5eb8UNC_4DbhuoPn4gqE1d3OC_8YX2X68_V1FyUqhIXelnzLRBfB-lkX9UwwYimMnuITtWOnJCbS1-NK7emmlID_Ky6ldjSIB1y9qiecyosqi3yhwWa3icC5c0IShAe-oBX8CFnYPJslYaEIAcK-cAcbgQXuAVO5WgbqwSvFssbnLV6917gaYh66D7-ggm3sMPlc_5Xhzwt49iM9hs3lEkm2rCt71cX9Vh-v8gva2l4lomNFUaI5xb6cCq0Pxw-6GjBT0JDWc4lK38SubXKxfuXi3nXC1hMMFsWHsUBTTJeR2paLRoNOMR9NrGDQgF4RyZ2Zu2Uiz0bx-tz5I_T_YFFH-d4x9n_KRJySwS9iJSlS7lpB9A16ZWUaf-267InH3tdrj0Etp5IJoqrEDGCaauQp62A_wNgOccRW_AFDEnK0Ni33YijvpG-WcJEImyel_cjYiEm6oHNR8c-7eimUczQNmdVqyLazeFftfOHeQG6XCNyGeSMPFTyIOCrdlfVJkej0JerSh-lwXFycxoqK1-G_tCzXwgyw6BAje9fJqb2awD_EL0PnDGMJmAF9EN5tvlCFBeLd5EFhDv6dSkO_eo8WPjgzz-uIiHk83tAcLiUZ547dUxNLuYk_TKkPoQsuW_UGHXQVO6BLEf-CMnba_EQzpbhXYovHk17UtTAGpzAlBEqGVsNuWHiTuwfbIJmnOblx7EibBuAViMV2qx3qrhYCOOZF7SIwXBJ5N0-WcNjwOqbx-KrnoxIuJFU2dj5uKGGN807Mej_SE_ZdROQpgo1aSX0Ue2p2LJaLHYW3I5OBqQuSdNv6w3UePCFxzNLjG_7alii26Ow9TvZTGGZ-8MVH2bQhJR_k7eFSuB6IucR0wAqxXzfyH3SEZNPgl9kSb6nyq3CsOkUg9zQaYGinvQk13YeTdts0sPsNSAsUU52Mr7xuANS2x7SHzCI-dSq_sfIN46WFSkxNY8QnLV8SKZdq6XxrYbKYR0HjjmCflyHKs2YPqTu-N1MA6zyfXeV8okKFF3rfjnMe2pb6BvO9BmpziwKAYk36D-uVeRG_scGB3n0uX-RmD5mr7E2SVtPZX0Fa-OY9bJbIQBfnTGFGX3m0LqHJK3UfrKqaep89PFrVQ94Q_xcVXBGyxbZpiU2DMJpeepa71ddQdmSKMPH9un0Dvewo3GIUhbCx5vHfZsRFx-9R8pLc6oA-UG6Ghqz580H_EEF4GIawbE_b4m3roLYfmtbqMjkY0InAyTnmmypjNIZoT-VIIA1XybzBXr0KWVcmJrul3sg-8YSIQO0MN9Niag8X3JNh0XM13edckfDlnQ==",
  "id": "rs_046185568cad4c3b016ab4641526d887d083611ac2bef29c45",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.28,\"left_y\":-0.18,\"left_z\":0.025,\"left_gripper\":0},\"note\":\"The bottle has moved with the gripper. I will bring it a little farther inward, keeping it low, to place its neck well inside the arm’s reliable reach.\"}",
  "call_id": "call_g78IkEfoQSCszTKWshDlEGpc",
  "id": "fc_046185568cad4c3b016ab46416a58887d08a94c0f330a5c586",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_g78IkEfoQSCszTKWshDlEGpc",
  "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]: [-1.0271, 1.9026, 0.8791, -0.4751, -0.9234, -1.449, 0.5469, -0.0341, 0.7013, 0.4778, -0.387, -0.0643, -0.065, 0.9997]\nstate[eef_state]: left_x=0.2774 left_y=-0.1797 left_z=0.0076 left_yaw=0.4568 left_pitch=-0.085 left_roll=0.0359 left_gripper=0.5469 right_x=0.2729 right_y=0.0056 right_z=0.1455 right_yaw=0.0274 right_pitch=-0.0358 right_roll=-0.0043 right_gripper=0.9997\nstate[joint_eff]: [-0.3761, -7.8974, 7.159, 0.2906, -1.3114, -0.2613, 1.033, -0.5538, -1.4017, 7.0359, 1.9658, -0.1441, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:229b63a635b7d796e2ae27d05d60a2aafbe7e88dd551fc92bff5c41ac51c3725",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:616c7aa27e784430c91f46b9d58fb03da27c7687bd13a49e7c1b5e862c50e7d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb531d06462ec0d5c02d6305360f08729dc5c583ea271c936729779fd39487c9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 3.746 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 58 changed as sent

message 65 changed as sent

message 69 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6037, 2.0453, 1.0187, -0.0109, -0.8818, -0.8989, 0.8463, -0.0341, 0.77, 0.5953, -0.4458, -0.0643, -0.065, 0.9997]\nstate[eef_state]: left_x=0.4182 left_y=-0.1184 left_z=0.0114 left_yaw=0.5449 left_pitch=-0.0186 left_roll=0.0276 left_gripper=0.8463 right_x=0.2831 right_y=0.0053 right_z=0.1692 right_yaw=0.0274 right_pitch=-0.0457 right_roll=-0.0037 right_gripper=0.9997\nstate[joint_eff]: [-0.4308, -9.1829, 4.2325, 1.1306, -0.5055, -0.1392, 0.0122, -0.6496, -1.812, 6.9265, 2.0391, -0.1343, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7765, 1.8496, 0.9619, -0.3649, -0.857, -1.1198, 0.5477, -0.0341, 0.7204, 0.5121, -0.4019, -0.0647, -0.065, 0.9997]\nstate[eef_state]: left_x=0.3471 left_y=-0.1488 left_z=0.0374 left_yaw=0.4926 left_pitch=-0.1109 left_roll=0.0419 left_gripper=0.5477 right_x=0.2761 right_y=0.0056 right_z=0.1532 right_yaw=0.0277 right_pitch=-0.0354 right_roll=-0.0041 right_gripper=0.9997\nstate[joint_eff]: [-0.3487, -12.3145, 7.6376, 1.1062, -1.5507, -0.0366, 1.033, -0.759, -1.4564, 6.8718, 2.0049, -0.1636, -0.0513, -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 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0271, 1.9026, 0.8791, -0.4751, -0.9234, -1.449, 0.5469, -0.0341, 0.7013, 0.4778, -0.387, -0.0643, -0.065, 0.9997]\nstate[eef_state]: left_x=0.2774 left_y=-0.1797 left_z=0.0076 left_yaw=0.4568 left_pitch=-0.085 left_roll=0.0359 left_gripper=0.5469 right_x=0.2729 right_y=0.0056 right_z=0.1455 right_yaw=0.0274 right_pitch=-0.0358 right_roll=-0.0043 right_gripper=0.9997\nstate[joint_eff]: [-0.3761, -7.8974, 7.159, 0.2906, -1.3114, -0.2613, 1.033, -0.5538, -1.4017, 7.0359, 1.9658, -0.1441, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:229b63a635b7d796e2ae27d05d60a2aafbe7e88dd551fc92bff5c41ac51c3725",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:616c7aa27e784430c91f46b9d58fb03da27c7687bd13a49e7c1b5e862c50e7d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb531d06462ec0d5c02d6305360f08729dc5c583ea271c936729779fd39487c9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGQfefQae-IL1BlYfiE90GXvAvk1_z943jNkHdqWxHSIxpwwZPM3s5FCsnXsBb3xFbjTlfLI2rW_Y-vY7qJW3sF6eOGvaLUtrOTBkAxSfefsUXIgZZ_JhGmVNwrv-J3puh3qEQjnm8idH94HoQYHfHrTmPuvoCll6XGH4R_fgF-KrMGZVrPUZy65McpLGj3rk19r-QG_ioCFeBc0i9A8nXtKWATnQXX6kH6yFpFctLnsOn_6D7KhjSRwIYeWggR3E-xqj1h83sop2UlDlnHdf3kntEIPgBcKaGS0VpbD2mUaiINO7IYxU7P1z0A7LKUZtLMqqz65_nYAfljL1ypoj2qF7VJi8vWSKj5LAek5Yn5KBlyOP1aJa_7pQRErkrA2njVc8ZBNAbhEP9KNeqlU6OqBPVUchknQWF5VjK6Tafhe01xWRjqq_MrFQeJ5pebxTXFUKiec9plr9yLDi56U1eOwhy9sBPDaBf5bBtU-atRy_uva6ebKA54DTbPbBMpovMNVKzgu-wqFh6zDICClJmJ-BCPiR7qcOkuB1CGnPg9lzJYo4XRSwrqM1sH0ZnQ2EIhxLWdl9Ilrqilg6b4WiLDAXupnc1vrPGPa_TVuab2irTQ4ZRtQvw7X21DSzSG5m53A_nELAujcFzI4QXg34dBQuhp7e695BAHbHLT62N1vnyUQtm4gu14vaYUFzrw1SWXKeoEWfh_a3PO-J5fEtnLlFeAsTOtRdym8EYuLGTxXbc4z-ocO-6lHjq_PO3YMIch28owzBHdmiQfvcEcbH01LPYlyZJyQa5f5NvUuv_9UQ912J1FbmyI5ruN2zkXI_6CEq2KeVWpv6l4FHM6DOYNYGSDbV85-D_p-toKH4A-00fvLwkOK8qoUG5Po_p8lloH1y0XCs9Z78QFjvAb8f6rUuZbKf3K2do5T_nMgyFaWY43Os_K-0KbwC-7oRd1vDOvrVXrZadwVUqIJNKN7a0lv5ynOTh8oVTenTBY1ktA0y_-N7bPJfRhnYYLWBQOBYN6Tc-oEYAuJugHQV623o2i92euoGKW6L6zK_VwgX6PQGS7BzRb3JBWs1gJafDItAqw7VS4Ku8Ir-uV_pYYVasLkfhR_QtOpzH9JZgQG0DpZtCiIKolxSQThF_kzCNorWJcfIWpkttRA7OBReLCxHVlXVkWtf3xcFDnoUUQ0XTP0ppwBcfEgk92QVJeb3qyqUXEAIuNM6Jujy4rXVK-Y4WHlblo92Sc3caf61tm3nmWbpNYdB265s509-jAzB1MjNXmoPNSsqp2I_14bFpy_6K-KKi8cY_cRXucVGfB_CBMl1kedZw8U8cYvKyHZkjGQTyFvHqJrf2-Mu3Y7rPXpCfzlOs6mYmygMTbhM0mrXWIrjvb2MF3eBAC_XbyTeEFk_HicsRKDhIXexx7-gXSYvMdz4W2mkpW0Qc3WBNl1Xx8h-IEf0Yv8IRFft7pbr5hg2l2_rMCA_-Z21v-V6cBh0UkB2PJJs6_BxQNe5F5rEBVw3FbvG8JzY5KvHwf2pBEKHz-ChpR-hh83Cz58Em4izAdipSV4l880AZKmdT6Vkv2Zihj9pHd4YMOS0P98HBJSNWGV7U-sSTmAdk_3JutNiSa654YfIsD6gQayC5ldZvlkSV8727Gle63cFRltov64uBxzL1wkML_sETQh9kovCOKrqChnKZO_FzCJNjbrOoMViTDms5l0RfNetdccGXcMvJozkU56lI7EUShbKiIuGff8PjZ7KQ8glN44HxqjlOqeJaSE9-xSenj9eBff0Le4pnPCBpaUAS5adp7HLmm-EVei6Kjyx33e9Ep3dp1NuhsnzcH0gVERLG-3dXG1rdBo5h2VAPgkOZDLvKk-EPtSWKWq52RcQyRwWTwRWY7Cs5r4veMzOeWU9UWkify_OsyF9eWstdr8aem94MlIMzMnoFuzxOQjQgt_QmpmEd3ujnHAJITVD_OXO413QcaGbrMdqYaS6sfuVpo6571XMnutqv4d98nld8q_zdXMcuuiboWKutRwkQsFWMUT58f7CDlTOqfJ4hyhgNK1s47qF0Fmyiu_xzS2fVZAwRjAvrNj79TYKR1y0WVklJ_t_tdHxUth6jlgG1-WLdNmTQeCFb3wkptxiwuRbqy4PnQ4sgmGpcxFygQgNzAT7yRv184mUeJP_3Rwi1d9F6bq8E7imlDMXEGqtKk1S215MS3J4oojIea0LgU62Qoq4B2vvTxNtW_2Hhm_9dx90MI2Qf0xTRnUr5C1SBXRsNdZCozIZJQlrDnCH4p_7Aydi6hRCsMfL4-kal_7WXzNHRWZDDlAgNGlk1gv5OuGIzvWKoODwWx3wlbdPYD0cqrRFnR--rKNdpRqMKKC8-bmZzXzUeNDVs-90bmuB_7h2GMROahu2fyOvf1V5SFWK1KFAf8oqE5vKMudbfXykAF6hetEyZoaYuaTHQV7Uc3k5yPNJ682JCKucDqHyoKglauxXbz_pFOzr5K7BLRP",
  "id": "rs_046185568cad4c3b016ab46419db7c87d0a20532a2cfb96b6b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The bottle is resting closer to the front, with its neck now accessible. I will release the body so I can regrasp near the cap and lift the bottle upright.\"}",
  "call_id": "call_M2YUHACfifuj1iHyaeMYZwzn",
  "id": "fc_046185568cad4c3b016ab4641ecfb087d09590e6aa44cbb2b3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_M2YUHACfifuj1iHyaeMYZwzn",
  "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]: [-1.0542, 1.9244, 0.8459, -0.4225, -0.9688, -1.4963, 0.5468, -0.0341, 0.6804, 0.4461, -0.3737, -0.0643, -0.0647, 0.9997]\nstate[eef_state]: left_x=0.2738 left_y=-0.18 left_z=0.0026 left_yaw=0.4585 left_pitch=-0.0392 left_roll=0.003 left_gripper=0.5468 right_x=0.2697 right_y=0.0057 right_z=0.139 right_yaw=0.0272 right_pitch=-0.0331 right_roll=-0.0042 right_gripper=0.9997\nstate[joint_eff]: [-0.2256, -7.7744, 4.0684, 0.5397, -0.9255, 0.0562, 1.0281, -0.6359, -1.1829, 6.8034, 1.9463, -0.1343, -0.0171, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c4667a61baa64c63e78fd272fb939fe21f5fc45fb26fbb0802695098cd3f2f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3a60b26493a83974eca130bd0f6c774c42070a9aeb5c1aa128c37f3df0d23dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:830c1bf7b10b55b672cf191f75fd7a527edf6f80d6a21d71b32a84fb7ce1877a",
      "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 · 13.43 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 62 changed as sent

message 69 changed as sent

message 73 changed as sent

message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6075, 2.0628, 1.0027, 0.0525, -0.8883, -0.9138, 0.5562, -0.0341, 0.7441, 0.5507, -0.4221, -0.0643, -0.0654, 0.9997]\nstate[eef_state]: left_x=0.42 left_y=-0.1207 left_z=0.0069 left_yaw=0.5521 left_pitch=-0.0013 left_roll=-0.0099 left_gripper=0.5562 right_x=0.2794 right_y=0.0054 right_z=0.1605 right_yaw=0.0276 right_pitch=-0.0407 right_roll=-0.0043 right_gripper=0.9997\nstate[joint_eff]: [0.0479, -11.5761, 3.8769, 1.072, -0.4322, 0.1392, 1.0232, -0.7179, -1.6889, 7.0906, 2.0537, -0.1001, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0271, 1.9026, 0.8791, -0.4751, -0.9234, -1.449, 0.5469, -0.0341, 0.7013, 0.4778, -0.387, -0.0643, -0.065, 0.9997]\nstate[eef_state]: left_x=0.2774 left_y=-0.1797 left_z=0.0076 left_yaw=0.4568 left_pitch=-0.085 left_roll=0.0359 left_gripper=0.5469 right_x=0.2729 right_y=0.0056 right_z=0.1455 right_yaw=0.0274 right_pitch=-0.0358 right_roll=-0.0043 right_gripper=0.9997\nstate[joint_eff]: [-0.3761, -7.8974, 7.159, 0.2906, -1.3114, -0.2613, 1.033, -0.5538, -1.4017, 7.0359, 1.9658, -0.1441, -0.0269, -0.0122]\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 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0542, 1.9244, 0.8459, -0.4225, -0.9688, -1.4963, 0.5468, -0.0341, 0.6804, 0.4461, -0.3737, -0.0643, -0.0647, 0.9997]\nstate[eef_state]: left_x=0.2738 left_y=-0.18 left_z=0.0026 left_yaw=0.4585 left_pitch=-0.0392 left_roll=0.003 left_gripper=0.5468 right_x=0.2697 right_y=0.0057 right_z=0.139 right_yaw=0.0272 right_pitch=-0.0331 right_roll=-0.0042 right_gripper=0.9997\nstate[joint_eff]: [-0.2256, -7.7744, 4.0684, 0.5397, -0.9255, 0.0562, 1.0281, -0.6359, -1.1829, 6.8034, 1.9463, -0.1343, -0.0171, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c4667a61baa64c63e78fd272fb939fe21f5fc45fb26fbb0802695098cd3f2f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3a60b26493a83974eca130bd0f6c774c42070a9aeb5c1aa128c37f3df0d23dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:830c1bf7b10b55b672cf191f75fd7a527edf6f80d6a21d71b32a84fb7ce1877a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGQke8JNhK45i3V_skb0Ncv2lAz7NAxz1Vf7Mffss2UKWex7vM1p4BvLUVuxFSirdEjdaLLNOB1yv7DWF03WDKemI2fzs6HsBahdB0rjFyzP_ZYNUhyA0gmW8JDpy9idnnYvh8QNgu4n3-Z6wCji3eudmuR2DUUHNsTuMYgNUtOuGDbvK2cMMNA9V--z1pID23PJyLNuwFaTU8xjeRo7Ix48Qi_V3UfXUzIquTVNfqxH3_Gd_NvzeoCo64x15-kqmXA61yVoH_X5hNVHUFX0_m7qFqLX_8dqUDonXLITbw1Tnykadd2nQneJlh1QjqxmVz9lUCmgCMcVgg_H6DKCLqnWMv42ELw-GnrqpJ_IUYU4VUCvXnuB95D0PGrEksXeuVCxt7XLyjK4Pvt4lA5VWmbThb6nM_mV7m_i-pIEEe6mH6V2BeEv18UYGgGsHOixOgQhdq_rmtJ_9YjzMzDwox3RY7mHPIdWlhNhxa4L6crJzX7rt7f_qL1gqByr5Xb1RVTV7V2UMWtrhKzUDVSyITuiIL0RzInsodpFjn76PZ5FS7FeDU4GXHy-qd3P0V7EEFGzrDpoinBj6FD0B0Sv2AJPijuhr1xGQDPsaX2_0AswjQ07vYPJMAoU1uHOvUXzcuVubkRuWyv5GRUlf48DfOYxN2Bqj5UPGuwTQLe-uV2oyhiLjG97A_VohAQgoAqpDCUKNMwcFJB7Oelm3BSCyhSGy-5yJHUvvVHS3uDjhf9RpecrfUr-dpD_BUju36OtIbVXi65wijwge9JSVUTwZhDVkx3v0arb2aPwCYhv747V_IcA4fRZ8F7Mdndykab0s4Lqu5WrPSEkwgaXHR7x-8c0yYFUVpQ2ntdqtp6y_ZHTQw-5dPVDEeg7Ur7yvaUVDIhvRj__26U8RwJtafxBohaScUmSnjp9_aLymMI3vD270O1ip6rfF_gxxi9mavQdzeHslJ6m_eVuhX7Hv13ARhgenrHGFIRg8LP26IhTpVek4ZEms1XfnqbdNzGq9cglCHE-_COuUKD675Mt30cWqDHZ1CWsWpbAxpblWv4fX8ggYILaKZScKH0Q377aQEmETjy-T26tQj2sLvIWYi-ex4yZZZmgP2hldKfWoN8gIdPN9V1fySXay1YBdmgBxhTPr-pRepnNsp35ttBuDl1OPizwVv7hd9tX_qKhE8DRtFGPekw3IuCqD2c_gzHSxvu8cm8FDJyuZDvz7wO9Q2P1HpcVNu4fk_M_Jq4rVa1pkoZzFvXTPj1y4Oo8n9gMI8eMYs9_wvGopRrkzawD9NimLowXXlcozuzqeS0q6gZ--oQRzXutRregDucw0nUShVF2HrRUAiAqrRhBF5zywPJfOroQf3BW32JqRuMHYahirWUxo4U0FajoysrnPDd1s_Md5vCSGpI98995_O6mN4SmxYpBBNUV_dMag1bhSD4h6yDIwP9SiHbhpFrJhtHHutCOCmqo",
  "id": "rs_046185568cad4c3b016ab46422335087d09a0cdc7905167c31",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.07,\"left_gripper\":1},\"note\":\"The release was clamped while the fingertips were at table level, and the jaws stayed closed. I will raise them slightly while opening to free the bottle without dragging it.\"}",
  "call_id": "call_02cfWobkRp2BokD4cVNG90ii",
  "id": "fc_046185568cad4c3b016ab46423076487d0b609e2db560f558c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_02cfWobkRp2BokD4cVNG90ii",
  "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]: [-1.0618, 1.7912, 0.9157, -0.6178, -0.9829, -1.5208, 0.9947, -0.0341, 0.6605, 0.4179, -0.3649, -0.0647, -0.065, 0.9997]\nstate[eef_state]: left_x=0.2745 left_y=-0.183 left_z=0.0526 left_yaw=0.4647 left_pitch=-0.0247 left_roll=-0.0241 left_gripper=0.9947 right_x=0.2665 right_y=0.0059 right_z=0.1329 right_yaw=0.0277 right_pitch=-0.0327 right_roll=-0.0043 right_gripper=0.9997\nstate[joint_eff]: [-0.759, -8.8274, 6.2838, 0.2027, -0.7692, 0.022, -0.2222, -0.6085, -0.9915, 6.7487, 2.0147, -0.1685, -0.0122, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cad66305b2b5a9337e799d2f9f4fadd3aa4b8bc8ec3bc1eb0dc98e05095e97a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8e2e56a1f393fcf6f61c51265d6239d644095a2853db9fff1347dfb4b02f0ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:960f2da4e74197c34b9943571113e445d26628142000bcaee6d1aad1c7a64df9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 5.256 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 65 changed as sent

message 73 changed as sent

message 77 changed as sent

message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7765, 1.8496, 0.9619, -0.3649, -0.857, -1.1198, 0.5477, -0.0341, 0.7204, 0.5121, -0.4019, -0.0647, -0.065, 0.9997]\nstate[eef_state]: left_x=0.3471 left_y=-0.1488 left_z=0.0374 left_yaw=0.4926 left_pitch=-0.1109 left_roll=0.0419 left_gripper=0.5477 right_x=0.2761 right_y=0.0056 right_z=0.1532 right_yaw=0.0277 right_pitch=-0.0354 right_roll=-0.0041 right_gripper=0.9997\nstate[joint_eff]: [-0.3487, -12.3145, 7.6376, 1.1062, -1.5507, -0.0366, 1.033, -0.759, -1.4564, 6.8718, 2.0049, -0.1636, -0.0513, -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 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0542, 1.9244, 0.8459, -0.4225, -0.9688, -1.4963, 0.5468, -0.0341, 0.6804, 0.4461, -0.3737, -0.0643, -0.0647, 0.9997]\nstate[eef_state]: left_x=0.2738 left_y=-0.18 left_z=0.0026 left_yaw=0.4585 left_pitch=-0.0392 left_roll=0.003 left_gripper=0.5468 right_x=0.2697 right_y=0.0057 right_z=0.139 right_yaw=0.0272 right_pitch=-0.0331 right_roll=-0.0042 right_gripper=0.9997\nstate[joint_eff]: [-0.2256, -7.7744, 4.0684, 0.5397, -0.9255, 0.0562, 1.0281, -0.6359, -1.1829, 6.8034, 1.9463, -0.1343, -0.0171, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0618, 1.7912, 0.9157, -0.6178, -0.9829, -1.5208, 0.9947, -0.0341, 0.6605, 0.4179, -0.3649, -0.0647, -0.065, 0.9997]\nstate[eef_state]: left_x=0.2745 left_y=-0.183 left_z=0.0526 left_yaw=0.4647 left_pitch=-0.0247 left_roll=-0.0241 left_gripper=0.9947 right_x=0.2665 right_y=0.0059 right_z=0.1329 right_yaw=0.0277 right_pitch=-0.0327 right_roll=-0.0043 right_gripper=0.9997\nstate[joint_eff]: [-0.759, -8.8274, 6.2838, 0.2027, -0.7692, 0.022, -0.2222, -0.6085, -0.9915, 6.7487, 2.0147, -0.1685, -0.0122, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cad66305b2b5a9337e799d2f9f4fadd3aa4b8bc8ec3bc1eb0dc98e05095e97a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8e2e56a1f393fcf6f61c51265d6239d644095a2853db9fff1347dfb4b02f0ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:960f2da4e74197c34b9943571113e445d26628142000bcaee6d1aad1c7a64df9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGQxn9qKMysmj_2X6YtT2t8nhr8TfWfGBi3beaMwY1m-2DVRtoKfirzoT1btKQoO702p-m4O2nQwYfP8fkuTapYZdHQTipYwkhNVcHvh0sS_PF8C3BY6mbYJCQemWKdRPO5Q1XSd4i__0sXZ3xy-3PXaYcnIgrnN5ZbdS8aZyskLZUH2XeqwV7afA7wf1dkjB3qI5rzLL34y9CDoGV634Gki7lmNKMQIMS8El14C5Jz5PAlFqAuJ1tX2WIVQC3Otn54UWRD0TrM3unm8yzekWciC2kWoiM7AF6FY_7UHUIBX5qDKIog6TjLVCjPLOxxPuFV0AUy1eSOaHjIrzldtyzKFyVQ5UvDV_dmXoRavKENQrSn-bzebxa02peuLp4ZzTwK3G7MIv7XlmHf2kYkcqQRDeF9_8fUznsgigmx3k4rj7T26f1xGi4CrgN4NrX1x_jufZnCYaNxoWl_Z_dtN46zG5HOCJFCKVSIgquB8UQJFrH5cQIGBVLph4geVG8_JsDXV0zPEVWjMWv_po4-_KuLkpgWXVGpo5I32m3bclUu_ZOmr6PDEg0b6t8-pHsryRVrG_URRmZYh4C4oXKU0gKglrwnXCZMYwkXJH6fm9Sr1oDCDTUI2tm-6HbU2YOe68vQcqfAP0Q6lmuoxO_jTPYXChnV4IeMH90tEl3beCJK7qf7BX7m-0NPYHL-NoLydbarVbPvZ62PxqyVkQ_SbHdJA7kFRdqz-1p21PGBtCcJlWr5Wch4t5ib1uvyrhStOIJJ7nJzm-8LYrTvCbBfh8Sf_s_hRz7goYFfZBSfr5WojC8MeIkOvGyTtFriYz90eQcOD1KrgoUj2I8hZxik9YwTh2iZsU_-3Z93UzN-4-K23V4uHvvmdq5lmRfg3xcxuum-NUyvI21LaYTC2vxOcMmjuX5RJqfznGyA35b-m-vg3tGoj-dNWnf7bwhN1wOOVC1ubappfFn9BeMOR7s5he7RKh310ONbLm9RANEwP279holJwfc-KXF1GpOjirWamwR_4azUq3CA9mzu6ag0_fWw-jMgMULhiNsQInEdT0EjnHgGOX93K7gO4ixjbrARzHyv53gz9cbbevNFffX-ecjDWsJwk_En4aSjeHB9iIC5GWybphdZBACjsN31M1nrIe_RyFH3OqLBAHRNVS1ncjPhHMurN_YG0SRJW3_DNqai8fZ2uAqeTwHUMBaaHNWMnuG5tR4Esm3Ch3Fq3BQOfyPOFqSPrxZFuBXkNljXkB0oR_J1TRT4eSlEHM0AZDinot0HZQYDr0OTMYzOV6Ln9g3l5hKr7OxV4-ZuwX-YjQVansg3wFtgx2th0on7Y30oP0PEYQURYWwwlwd8vQnPBdpPL6KmTE3ZWziSjmAWHp3qOzMCwbJ6t7a_Mca0obXEWFFZA0YVOe0_MwAxH8TkMWIdwA-WczChHmm6NsG09BmipIUOIYDIa4P1uMNjZUwhooIsKtS2p39iq-zLcSwzgKQ33QRsvFzxUEZ8bIrmAp06QplhbmKSB21jZZw2wFlc8bgKcNd9uZH3JoVFOACRMwaeOMj3id7NRZPou2S4tmgZoKNVSZYiCCh1-Yl-FSixzxDj4J7TvYdsz64U-r5sGGTntaHBzGasNwiS0Hd-NqOg-cD-qDXvFrjRgc4K1oQue-dJD",
  "id": "rs_046185568cad4c3b016ab4642e3bac87d0b23303d723a080d6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.12,\"left_z\":0.065,\"left_yaw\":0.45,\"right_x\":0.294,\"right_y\":0.004,\"right_z\":0.2},\"note\":\"The bottle is released and lies diagonally in front of the left arm. I will move the open jaws from its body to the narrow neck near the cap.\"}",
  "call_id": "call_TG0oIh3HouRYcXfag34hKS9N",
  "id": "fc_046185568cad4c3b016ab46430820487d09fec58961b4af446",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TG0oIh3HouRYcXfag34hKS9N",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6102, 1.8393, 0.9257, -0.0727, -0.849, -0.8474, 0.9961, -0.0353, 0.799, 0.6441, -0.474, -0.0753, -0.0803, 0.9997]\nstate[eef_state]: left_x=0.3979 left_y=-0.112 left_z=0.0536 left_yaw=0.4924 left_pitch=-0.0226 left_roll=0.0125 left_gripper=0.9961 right_x=0.2869 right_y=0.0068 right_z=0.178 right_yaw=0.0439 right_pitch=-0.0534 right_roll=-0.0091 right_gripper=0.9997\nstate[joint_eff]: [0.1573, -7.9658, 7.7744, 1.2088, -0.3736, 0.1197, 0.1343, -1.1419, -0.7453, 9.9897, 1.9951, -0.0904, 0.105, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee45fdeb147ca086378afbe8586fa18982942fdcf4e655783ec7a5815687f106",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d428ac05d3315b4f31a14f42d1c0f97f09ffd0c17777593ebd65401fe6064536",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8064434cfe6d4040f5db471957e50c1a9d3e7a71c7ae6ce8bef8d174ad8e6051",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 3.987 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 69 changed as sent

message 77 changed as sent

message 81 changed as sent

message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0271, 1.9026, 0.8791, -0.4751, -0.9234, -1.449, 0.5469, -0.0341, 0.7013, 0.4778, -0.387, -0.0643, -0.065, 0.9997]\nstate[eef_state]: left_x=0.2774 left_y=-0.1797 left_z=0.0076 left_yaw=0.4568 left_pitch=-0.085 left_roll=0.0359 left_gripper=0.5469 right_x=0.2729 right_y=0.0056 right_z=0.1455 right_yaw=0.0274 right_pitch=-0.0358 right_roll=-0.0043 right_gripper=0.9997\nstate[joint_eff]: [-0.3761, -7.8974, 7.159, 0.2906, -1.3114, -0.2613, 1.033, -0.5538, -1.4017, 7.0359, 1.9658, -0.1441, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0618, 1.7912, 0.9157, -0.6178, -0.9829, -1.5208, 0.9947, -0.0341, 0.6605, 0.4179, -0.3649, -0.0647, -0.065, 0.9997]\nstate[eef_state]: left_x=0.2745 left_y=-0.183 left_z=0.0526 left_yaw=0.4647 left_pitch=-0.0247 left_roll=-0.0241 left_gripper=0.9947 right_x=0.2665 right_y=0.0059 right_z=0.1329 right_yaw=0.0277 right_pitch=-0.0327 right_roll=-0.0043 right_gripper=0.9997\nstate[joint_eff]: [-0.759, -8.8274, 6.2838, 0.2027, -0.7692, 0.022, -0.2222, -0.6085, -0.9915, 6.7487, 2.0147, -0.1685, -0.0122, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6102, 1.8393, 0.9257, -0.0727, -0.849, -0.8474, 0.9961, -0.0353, 0.799, 0.6441, -0.474, -0.0753, -0.0803, 0.9997]\nstate[eef_state]: left_x=0.3979 left_y=-0.112 left_z=0.0536 left_yaw=0.4924 left_pitch=-0.0226 left_roll=0.0125 left_gripper=0.9961 right_x=0.2869 right_y=0.0068 right_z=0.178 right_yaw=0.0439 right_pitch=-0.0534 right_roll=-0.0091 right_gripper=0.9997\nstate[joint_eff]: [0.1573, -7.9658, 7.7744, 1.2088, -0.3736, 0.1197, 0.1343, -1.1419, -0.7453, 9.9897, 1.9951, -0.0904, 0.105, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee45fdeb147ca086378afbe8586fa18982942fdcf4e655783ec7a5815687f106",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d428ac05d3315b4f31a14f42d1c0f97f09ffd0c17777593ebd65401fe6064536",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8064434cfe6d4040f5db471957e50c1a9d3e7a71c7ae6ce8bef8d174ad8e6051",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGQ4mLrV76MJOK3n4F_qidJfALrhjT7JCCu0kUoTyv1QCWt3XiN4ZSa4PluN2irlRUx6m4-ayURXwvPYi3NGYn8_e6GsmPkApr4Q2V_Mt62JYJ0kAXGK1-3HOXcIZgw3ptsZ-VzymGKpMkfl4ASITMLcT9VvVyon7tNsvL6IRThHQ_vI1e9A7lPhiMBaAwo9H6jQKhPYwdGoK4tTpxx0KfnQP72KtPEdU1uoW52H3x5tqpV7_KCw7emkIcX2EBw9ieaaVIiawJCTIi4A3NgHUa5ntdNTrsct110SCW_3veW6SS9IFV6IzvcaoZzmvJRJOEU3ENJKE7TKo03_lerc_AKyH5_1mlOtc_278M5vfRTjNljFZHZor7KNDRJtzRFhXe67D2qAZtOjYx9a8L39ONacMxvsGk80cFpgr4me4SzIbHduVPPTPXaq-5ntoclBUVzkrb-viMR00vSXfO6ObjKmjgbS4OQbyCJ1LlMq5a1ce_THWNr0mvuaqZ36buuTEY0AcRMSwFwiLKvooGOkux-pfAyqgH5u9peRvcMMfrsNUcrLQl299W54SYDgh-m6xDiorrzCD78Lz6mS99UeUdnaMoD14CtfrO1mUHzP_aaivoK8k69VjSIOvKhnfg6uHx4TpFX0BtVcWt3zdmUPqZYgi8eyJMFC5Bvb60OXOk19kchfHmwTFbV3bfuDDO3cD6dEA7RRJ9bcPJqRFx4IXCPHIJ_UzfWzBiPTRNKhrqiBdN26gFe-FKbbFOBF84L8s6ab_lRbQe-24hA_dVArqzlfGlBL51W5Il9PfFtJJ6wXt1JqZigT6RRqGE_MpCG_hWv9Xqxp8N2bLura5E0uzfi4yGhtMZJE3l64y5EsFoyK5Rmrq5RPaZSlF6CXA1HXonpeFQc2P0DGJZPUxhfX19MYaB01-2lCV-FOAs71m9TjKK0Gt0JgsroF1VnBO3Dubtcfn1HtgpwjXRsdSz61t4n_CkY38GP4va1HthZlXUQKMxmq5QpfhbeiuteJm8QrmoDywjFgLEZPn4UFIs402D8StREpTxxDcgiidGQVxRBTZR3bY_cyxeFFrBTvhWmE7at5YRnZ0L3FaN9cAG7e2awiVEL3agAoSTjtY0GhHDBZ1gyCIx-375IGXWrGvCjX6gntX7aG5yAJcFYjGRLjIufJMAKDmmKsuzCYzozlNX20PO5GxkNnwAYXHN4k5riwI7BDz_WHEZsAW_2CNIopVldv9_ubDKxcG94TqfR34lIpU3aMRBL8PoeRwCn9CUzhOpZlHwcQKMux14ABa2DZ-hrQfW2SgmAJed4xe7iBd7A9xzdaNG9bHF1QUhfPLD6Z7XtmrYn4kF1QQYg6xTRpa1CGklYVSLjKkXZQEVko0xETsPlSfdAMBpS73Xy5p9Mxo1EdiZLcHezYbTJOSXqHTBicfVIceT7Of3-h-36pbRbkpeD6QwcGXBz4YSttzxvYWp_H_n_wBXgSlqDy9pV1Ijh4VmyQ8cFc5lzGcHTWv8ognzemzzRMUK6HRlmgt42QhLRIYY68kst8WpuZaqkDihiwjhDSw3WDvIAqdA-d1TkDVjvB-2iINkHKVeDyZhraJ6g9pKfnAGYX1bIOJqm15p41ORyn9fGW03QZqTWcItH8ZLrT3puKYKMD1V7Ob9kS2DCGvcG-IgncTqyuvkYE1ge1plV3GnmfvkwYvHBZi4OzzYRucZlLo3Iqi60bAlkVEhoi5uo-T4XvvR2RGfKEnyqoyQ==",
  "id": "rs_046185568cad4c3b016ab464349de887d0a596a87e020266dc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.125,\"left_z\":0.018},\"note\":\"The cap appears just behind the fingertips in the wrist view, so I have passed the neck slightly. I will move back a few centimeters and lower to neck height.\"}",
  "call_id": "call_W8YeEI660Tz1ilLrzVuc5u7V",
  "id": "fc_046185568cad4c3b016ab464372a0487d0a5eb85c02e36b7df",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_W8YeEI660Tz1ilLrzVuc5u7V",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.691, 1.882, 0.8433, 0.0254, -0.8848, -0.8932, 0.9963, -0.0406, 0.7673, 0.5922, -0.448, -0.083, -0.0803, 0.9997]\nstate[eef_state]: left_x=0.3769 left_y=-0.1297 left_z=0.0283 left_yaw=0.4558 left_pitch=-0.0065 left_roll=0.0115 left_gripper=0.9963 right_x=0.2822 right_y=0.0068 right_z=0.1682 right_yaw=0.0449 right_pitch=-0.0473 right_roll=-0.0051 right_gripper=0.9997\nstate[joint_eff]: [1.1829, -7.5009, 4.1641, 1.0427, -0.0952, -0.2662, 0.0171, -0.6769, -1.7573, 7.2684, 2.127, -0.1343, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b891f06c2a7c22f0379cd104ca5d8498fb01070d5ac0bb6e5d58c82fd860c394",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8df447fccd51dfcfef0524eefd8a58d38c09cc982b6ae05957ebacccf5c68bec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b4b2fd6312feae20a07df668afefc6dae0e62fbfc17a79724883d5e564ecd3c",
      "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 · 5.554 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 73 changed as sent

message 81 changed as sent

message 85 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0542, 1.9244, 0.8459, -0.4225, -0.9688, -1.4963, 0.5468, -0.0341, 0.6804, 0.4461, -0.3737, -0.0643, -0.0647, 0.9997]\nstate[eef_state]: left_x=0.2738 left_y=-0.18 left_z=0.0026 left_yaw=0.4585 left_pitch=-0.0392 left_roll=0.003 left_gripper=0.5468 right_x=0.2697 right_y=0.0057 right_z=0.139 right_yaw=0.0272 right_pitch=-0.0331 right_roll=-0.0042 right_gripper=0.9997\nstate[joint_eff]: [-0.2256, -7.7744, 4.0684, 0.5397, -0.9255, 0.0562, 1.0281, -0.6359, -1.1829, 6.8034, 1.9463, -0.1343, -0.0171, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6102, 1.8393, 0.9257, -0.0727, -0.849, -0.8474, 0.9961, -0.0353, 0.799, 0.6441, -0.474, -0.0753, -0.0803, 0.9997]\nstate[eef_state]: left_x=0.3979 left_y=-0.112 left_z=0.0536 left_yaw=0.4924 left_pitch=-0.0226 left_roll=0.0125 left_gripper=0.9961 right_x=0.2869 right_y=0.0068 right_z=0.178 right_yaw=0.0439 right_pitch=-0.0534 right_roll=-0.0091 right_gripper=0.9997\nstate[joint_eff]: [0.1573, -7.9658, 7.7744, 1.2088, -0.3736, 0.1197, 0.1343, -1.1419, -0.7453, 9.9897, 1.9951, -0.0904, 0.105, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.691, 1.882, 0.8433, 0.0254, -0.8848, -0.8932, 0.9963, -0.0406, 0.7673, 0.5922, -0.448, -0.083, -0.0803, 0.9997]\nstate[eef_state]: left_x=0.3769 left_y=-0.1297 left_z=0.0283 left_yaw=0.4558 left_pitch=-0.0065 left_roll=0.0115 left_gripper=0.9963 right_x=0.2822 right_y=0.0068 right_z=0.1682 right_yaw=0.0449 right_pitch=-0.0473 right_roll=-0.0051 right_gripper=0.9997\nstate[joint_eff]: [1.1829, -7.5009, 4.1641, 1.0427, -0.0952, -0.2662, 0.0171, -0.6769, -1.7573, 7.2684, 2.127, -0.1343, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b891f06c2a7c22f0379cd104ca5d8498fb01070d5ac0bb6e5d58c82fd860c394",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8df447fccd51dfcfef0524eefd8a58d38c09cc982b6ae05957ebacccf5c68bec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b4b2fd6312feae20a07df668afefc6dae0e62fbfc17a79724883d5e564ecd3c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGQ8iKO2UDZcSkFwT2aZZkGCbsMrDg_rVlpMKw6WnmAbwObDvvHIEKBvN1oIkelK5gkUxt_RLIFqA4ZJxWd-_eh2Al5wUmi2noUA2RhItcO6-eYHpDF3gDkDKKyZFWzz9lYb8fp_cZGV6TLTKqVnEfzoaLTJkCIewxcm-JOYpv425gEJwbp4WFHeoIlhVUpIjHpUZR2bMmM3fwfW0cZeX6l0iWGfRQsVfDRp0bJVVAhgTcdbrWgowLdEpU3eisWWdQQ0iMRs-YgwzGeyiL6fRw2hkm13RrFpVYBf5TKNwpAwxBDPn_dcGLWIyBxkTDpWBlYLgDegXElOAkoSbPZuGnzKplYKolA0x4FtIGu3ga8KnAkRAN5riwEWemLGe7o3TZPAXG2QoHGPghMB1lst2T8Ds_6okXAPbyOol6MS2cJeZVxWJv6cxYhGttZD10ZihHguGOuxM-K3hRhkD5rQYRDGyUPrJAe7_7QzNSJYfR3RHIRjVuFVHiL7O6eYAjzm1oeiBOZiasBTB5xGjH-WhnPoQvPX_Ir7MHh7OuxT530hegO4DbjJmTbO5hiAdbunNl33M9oWWo5lVDNjvEAh5G2I32eVyQGC1POK29TDinQCldx1gLUvqXLlchv9-roJ7b-KfcK2gBFE493mld8hvvSYnWfBQAtp1-faXOjQMT4qYBVpq-ExKm9YeeCK4TdnKkHcQGyxQB6zRIQ02qbA3Z2OpV9LFFatyv6Jhp_ediKdqLbGQ7EJaZ1kzkP9Ltd7-Yi1Sq3ZRhAPcyH8zDtgvJH1O9lCazMMrakmdgdyF-RXcfZDyMUXz4LKY00AmJ9Pgkg2sRfFcoU28kK2kNNjywkg4IsZuCpUBk-GyeVFt_-e6nNmoZ_Oa6ZDFdfvjrq5Pc1Vdakkdmbq534xFMoFFNIPY6KLNJXeb0LLGubKUOJ5n7lN1w0mH6IZD-JsnoB7Q3V6f--KfEmDhPPpm0bxD8gz0IQ8RvkZ-tiDt1ZlUvuS4lURVi9ADd3Znuykgrr_vJtV69s57-q42eugLquxesZk8cV0xdjBFPPBPTCve9q8uiJLuT2LLsNReFzMC-Jr8o-GH1ELd1frOh6-S_bDembap3l0-fhzKW3LDKdSxsNBUUClMvXGjO_6lUhnGC4gy4-XTPwNCvQMJ-LroD7A1NV_PShL3pEp_9f1NToWkDo2cys9STSn1vHRTVGTZUXQiAHwsgh_yj65-FY3G2_B4nHizjc13S3QDiwBMqmEA3l8ndZOvFtPDjS1eyf7M_6wTFrIQ27pbkiApjOMA8IlYT-Kcj8LWy0pqOt4SwEBjsGxhu4=",
  "id": "rs_046185568cad4c3b016ab4643a997487d0935191659e2e9a13",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The cap and neck are now between the jaws at the correct height. I will close around the narrow neck, which should allow the heavier bottle body to hang below the grip.\"}",
  "call_id": "call_PBv50PpOhyFYaG5KvXaXvdN1",
  "id": "fc_046185568cad4c3b016ab4643b7f6487d08e9d1c449201ce69",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PBv50PpOhyFYaG5KvXaXvdN1",
  "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]: [-0.6903, 1.8618, 0.8425, 0.1062, -0.9699, -0.8921, 0.0112, -0.0406, 0.7391, 0.5449, -0.4206, -0.0837, -0.0807, 0.9998]\nstate[eef_state]: left_x=0.3874 left_y=-0.1263 left_z=0.0533 left_yaw=0.5076 left_pitch=0.0969 left_roll=-0.0528 left_gripper=0.0112 right_x=0.2786 right_y=0.0071 right_z=0.1597 right_yaw=0.0457 right_pitch=-0.0389 right_roll=-0.0057 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -6.9402, 4.2872, 0.6569, 0.4225, -0.0269, 0.862, -0.7179, -1.5521, 7.0359, 1.9805, -0.1685, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f97d2b1932a462ec5ec50d77f2735c397d8583b8b6ba44210109ffe86c0f9a41",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8271e31d53cae858de663d11e672c4fed5d99052053cfab2f13a59652f12663",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0f3262997db6ae9f3b9268e720b0fceebcfeea3eb11fd293c49fb507b1ac440",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 5.5 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 77 changed as sent

message 85 changed as sent

message 89 changed as sent

message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-1.0618, 1.7912, 0.9157, -0.6178, -0.9829, -1.5208, 0.9947, -0.0341, 0.6605, 0.4179, -0.3649, -0.0647, -0.065, 0.9997]\nstate[eef_state]: left_x=0.2745 left_y=-0.183 left_z=0.0526 left_yaw=0.4647 left_pitch=-0.0247 left_roll=-0.0241 left_gripper=0.9947 right_x=0.2665 right_y=0.0059 right_z=0.1329 right_yaw=0.0277 right_pitch=-0.0327 right_roll=-0.0043 right_gripper=0.9997\nstate[joint_eff]: [-0.759, -8.8274, 6.2838, 0.2027, -0.7692, 0.022, -0.2222, -0.6085, -0.9915, 6.7487, 2.0147, -0.1685, -0.0122, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.691, 1.882, 0.8433, 0.0254, -0.8848, -0.8932, 0.9963, -0.0406, 0.7673, 0.5922, -0.448, -0.083, -0.0803, 0.9997]\nstate[eef_state]: left_x=0.3769 left_y=-0.1297 left_z=0.0283 left_yaw=0.4558 left_pitch=-0.0065 left_roll=0.0115 left_gripper=0.9963 right_x=0.2822 right_y=0.0068 right_z=0.1682 right_yaw=0.0449 right_pitch=-0.0473 right_roll=-0.0051 right_gripper=0.9997\nstate[joint_eff]: [1.1829, -7.5009, 4.1641, 1.0427, -0.0952, -0.2662, 0.0171, -0.6769, -1.7573, 7.2684, 2.127, -0.1343, -0.022, -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 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6903, 1.8618, 0.8425, 0.1062, -0.9699, -0.8921, 0.0112, -0.0406, 0.7391, 0.5449, -0.4206, -0.0837, -0.0807, 0.9998]\nstate[eef_state]: left_x=0.3874 left_y=-0.1263 left_z=0.0533 left_yaw=0.5076 left_pitch=0.0969 left_roll=-0.0528 left_gripper=0.0112 right_x=0.2786 right_y=0.0071 right_z=0.1597 right_yaw=0.0457 right_pitch=-0.0389 right_roll=-0.0057 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -6.9402, 4.2872, 0.6569, 0.4225, -0.0269, 0.862, -0.7179, -1.5521, 7.0359, 1.9805, -0.1685, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f97d2b1932a462ec5ec50d77f2735c397d8583b8b6ba44210109ffe86c0f9a41",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8271e31d53cae858de663d11e672c4fed5d99052053cfab2f13a59652f12663",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0f3262997db6ae9f3b9268e720b0fceebcfeea3eb11fd293c49fb507b1ac440",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGRC-iv_bsQ8U4U8s-U7rxAKmK3Z7Gc8S2yEWirA32TZjbtvyDU8QQTz7zvaMe4K3C32Q4EfxOUso2F4N6vprG6TvtRB2WeME7G2CplNZnIhejadPPHhIT7qdpnIAmYCETXL6dgbvnLZsadHOR3huz2EX_bHLpAiD4qIzeWHiDbWPECeLqm_e39VwCpPYFi5TEkkR1VRSL32X0emlGQRKg79WIgt7o75V8H2k3QT8NTeMbJ8E_tZ1QDS-B-at7baWERDA187Y4dNloqWRnmtlCDs5z4a-LO4jq4F0oixdGDRIk5jAZEZIQNytFwYZ04GFc7MtZhd_flsAZ_vETg5ojZ1jSgbTG3m-AEft9d-3vg5fHgWVA2zxW9sifMGSt5eUk4-CMrTktgcykKGfftWedPejVgdNYdCk2eNa_x24ZSJsARp4WNUQ9thVn57WxcHz42dbM0sLLRnktBQcd8fvXm_UbU3fPIBigyvO2nDt9MG1A5Ec9lEKdqnkvpGzSWwWjTfT-S-sYT_NhU8AjCFuos-yN982xcBqiakNGIqg1atj2tp3DDabJiAh7OLVp6hNPyR3ZEB7OzZeHJefNAtxhWZ-an3CM-lXfuKhb4DxRay2aFfZb-UA0wvSAgRgaXVtQAJKUWcOw3390lgQzD7H5Kps7yMuUmCDKcEPN_188EzYOYJos_gnSqKfQYo8CXe746lzyAIU9mkm_0GtFn77mURIrxDESWPI4nbwicWGZDguesfCKaXoZ8LU7oYLqVqY4KvaGbf-LkJwbgK7ijU22E-mzwh_z-5pA4SlJmj0XXEPnPyFTpFsC1xvXt7stunv2WH1z8lxslZ3Vt4j8lg8WD7rcKBnR5ipc4KI34-D60DcDgozGDsJO6AHV7lMuXx3b2QDAv3wZuZ6TqhTtfwQuKd200dmuOQbKyLS0nhpMmggDHQunePfTIY1ecFiVyem7rkhVQ7aLaDnRONswxYUMk5xBxodCrA4a6Ehb2hzaKTEusmcGty2WCtaqILfH-F5ONZiE0tmZPiTOxeXumHaeFC1-bvX7ZFTAbnduoVXejcEaCu_AefcZ3RVT5GBdKJwIcCJIW5EJOgIGKHk_DiNhLlNaY7BrcUC95PfawYLA9Hbyg0fflEe5A1Buh44hhqkpVgN0JUJtQnafwn2bRj8oO7sE8yxeA3KJadNeROgaUjyHjpMfYWkok5xBHItfRR7C5Fd9YHskphI4PKdrN5ZKF9JsyHNk6RVggtQlQvGswcqC93vknCsmaeUboQN49nKp18g8NHKm9JRn67PxYyhXkf2EOaxAgHiCYj7F84NxRSaij2B9S5t3H-RRSCy6dt0NGdEinTXLarVZ3hih9PKoUCM2RmP9o3aCBt0FUoTKs0WAzMX7CZ40VCd3Y82HP4Yojxqklfq-9t9S8UWz05F5JQDJgPyd8A_7CUjO5cM7sXlfyvRv-heFR0gCXHX7o04qQ7s-NeJMDBut9Q0bTxK00lmg1p2Q6-Q8aiy10t24hX-jPwq4LLU-sY2KAEdo_ZESUuJwsq0qFVVdd9FGkWRxx39-rOi3siljV0ymcG1XNR6iY05ggbb7qOBgYEh9jwNsZgxzNzGnC7BQDEoxr9eDe3nPiSDKBDjdtBvX6ShwZSjh-Tb4zpKQUNkSGzLeCmNmSj",
  "id": "rs_046185568cad4c3b016ab4643f61a887d08a632390788af906",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.355,\"left_y\":-0.15,\"left_z\":0.005,\"left_gripper\":0.7},\"note\":\"The neck slipped sideways and the gripper closed empty. I will reopen, shift toward the displaced neck, and get the fingertips lower before trying again.\"}",
  "call_id": "call_U967QGWHJNhCk5NBt6mbNBk6",
  "id": "fc_046185568cad4c3b016ab464419c5887d08760d96791340c7f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_U967QGWHJNhCk5NBt6mbNBk6",
  "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]: [-0.7761, 1.9255, 0.9051, -0.041, -1.034, -1.0618, 0.6952, -0.0406, 0.7177, 0.5072, -0.4023, -0.0834, -0.0807, 0.9998]\nstate[eef_state]: left_x=0.3723 left_y=-0.1477 left_z=0.0422 left_yaw=0.5326 left_pitch=0.098 left_roll=-0.0469 left_gripper=0.6952 right_x=0.2752 right_y=0.0071 right_z=0.1517 right_yaw=0.0454 right_pitch=-0.037 right_roll=-0.0061 right_gripper=0.9998\nstate[joint_eff]: [-0.8547, -4.5197, 3.3436, 0.5592, 0.5153, -0.3443, 0.0366, -0.841, -1.4838, 6.9675, 1.9463, -0.1294, -0.0171, -0.0171]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6349463c2377de8246bf327dc897da33411117f9add7f8b2a650814fd9d0fdde",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33b2acf3fbdebd4c16cae22493c1cdf46b5cdea09eb0e545d99659825dfe5022",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b415dfd91ed67b3851ee46137de1a0d0840f95efcfb998ea853400c3379120f7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 24 attempt 0 · /responses · status 200 · 5.237 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 81 changed as sent

message 89 changed as sent

message 93 changed as sent

message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6102, 1.8393, 0.9257, -0.0727, -0.849, -0.8474, 0.9961, -0.0353, 0.799, 0.6441, -0.474, -0.0753, -0.0803, 0.9997]\nstate[eef_state]: left_x=0.3979 left_y=-0.112 left_z=0.0536 left_yaw=0.4924 left_pitch=-0.0226 left_roll=0.0125 left_gripper=0.9961 right_x=0.2869 right_y=0.0068 right_z=0.178 right_yaw=0.0439 right_pitch=-0.0534 right_roll=-0.0091 right_gripper=0.9997\nstate[joint_eff]: [0.1573, -7.9658, 7.7744, 1.2088, -0.3736, 0.1197, 0.1343, -1.1419, -0.7453, 9.9897, 1.9951, -0.0904, 0.105, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6903, 1.8618, 0.8425, 0.1062, -0.9699, -0.8921, 0.0112, -0.0406, 0.7391, 0.5449, -0.4206, -0.0837, -0.0807, 0.9998]\nstate[eef_state]: left_x=0.3874 left_y=-0.1263 left_z=0.0533 left_yaw=0.5076 left_pitch=0.0969 left_roll=-0.0528 left_gripper=0.0112 right_x=0.2786 right_y=0.0071 right_z=0.1597 right_yaw=0.0457 right_pitch=-0.0389 right_roll=-0.0057 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -6.9402, 4.2872, 0.6569, 0.4225, -0.0269, 0.862, -0.7179, -1.5521, 7.0359, 1.9805, -0.1685, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7761, 1.9255, 0.9051, -0.041, -1.034, -1.0618, 0.6952, -0.0406, 0.7177, 0.5072, -0.4023, -0.0834, -0.0807, 0.9998]\nstate[eef_state]: left_x=0.3723 left_y=-0.1477 left_z=0.0422 left_yaw=0.5326 left_pitch=0.098 left_roll=-0.0469 left_gripper=0.6952 right_x=0.2752 right_y=0.0071 right_z=0.1517 right_yaw=0.0454 right_pitch=-0.037 right_roll=-0.0061 right_gripper=0.9998\nstate[joint_eff]: [-0.8547, -4.5197, 3.3436, 0.5592, 0.5153, -0.3443, 0.0366, -0.841, -1.4838, 6.9675, 1.9463, -0.1294, -0.0171, -0.0171]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6349463c2377de8246bf327dc897da33411117f9add7f8b2a650814fd9d0fdde",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33b2acf3fbdebd4c16cae22493c1cdf46b5cdea09eb0e545d99659825dfe5022",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b415dfd91ed67b3851ee46137de1a0d0840f95efcfb998ea853400c3379120f7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGRJnE-hjRCL46NIyl68EiYrC6_4_LU_VeL9Tc2sMD-7fFbd95mtKP0itQizVML1o0kI_fN83MLLR2BVGMUo4uCcQiCzzjXNj1KOdCFGHpOdZBKQq-ivmIAg3-ZhqmiKF7MUBrYlBd8-YEJvZ6S-6CUldZfybDG8d1xUtjxHZsKrc2z99mCWJL9TXYFHbJgflISIa3pp1hiYax_174bnGPi2Alk3YcR0GcL2SC7RH245m9j15H0J9qkTagWKM4xjsWwgEi1UCTu3Tvd-eciZWpbcFyf646-_l-kg5xXYGzpLOny8KIOd0ASILfYCBq1JEBOl8LYOanayIyBDGlx2LJhBSRhFRMNe2BqdmWtRaPDGflAHSLb9dIp72tClD8vsZtkyZ2xg7R1l0rwRg2tqyJAZLQBH7OEZelzCFvvF8srRaTKRooNMLap7iUj8Ne4cMG-Kwe7SBIj42X-KR7AupVIgVlj-YBFCw4MjfhMmpPi7n1GgvWN5JMoXejhBj0mq1mL8-yesxNZTRV24sAgI8WNuxgC-1U1d3iffSvFRw1LSDTPDEILyNSdnMhq8TexmO3uS3q6IZjqwmkhvR7qdCzgq6aRXihrooliCn-6doyaVF9XHIbQAKbE1EFbtzJdpgce6lEn09po4DOQX7SYw8wB3WaAoQZJTpFmrbNvUXDLOvyi6_yqSI9FvAjdCd3c930Y5A8LyAotZF7hCkWDp2P1_xHXAGvQuHY8ThAOUahDlUVDQ6wnyOGP8JDWRRyxaKvNlsb7S4bKni1S6sW89O8CeDxctUsG6OLLaDwyxDhc4UbvDvO82o4vv7AaCfHlt41BqNhKiOPvDekcK2A0_UmEdtdcKz-0v1W08OIQecehjmLHYYEcdVExS63W7lL7nvepvM7S5jLWFPWBPJVNtseZhfVKGrpOmUUENw-8zDMjhFGOfCCxWUtE7lIdytgy3xwcliUWasS7hEl-kmhyNybY1FbrEGbU740f2wAAEjoUIWUXo9BKu2sFrn3L0DyVz1N6olyMGkEoEBZcJuklkcHCj3s43DPq-zMfBT0EuKFt6x7omzGEX8VErJ-j_59zE5L4myz-QmVIatLLgsliW4s5f0Kcq-hlCsxP0NAep-3t57OEhddC3dlfbpRdN9E27yaZWQqvCBXamj_4mJo1Lovl7QCCrm3WvH8AUfItHtRFl0a1hlu3A0cQtomjlG2mFy23-A4tM7OHzPbuyC9fmYUK7TaRnnJQr0x5sSzfCSA_KsgU2Z_dvvibAXjNN05nNH31ND_8RL5xWH2jqcJhRU8UmNgvGSw2xNIiX10gbmHo_TwrdgV96cV03g5Oh6zJHuRFK5qQeuO3kcNazI4MYNucvnOLy7pizQPaZjURamXfJQD3cnZAGBghTltqrdlchSjoVp1rL_s24nPTgC2N_JE5TvYVLGP6-ul178SkAkXpN48TGTbcpeV0v7FuqqWosbwNjWDW1M6gr9aolGtXsQ_gtO6O-JMV3Pa85G37YoI2rycIyPtMwSinqRBhcJFjMGDAXKBc3a3tVnXh_3TfWZpvdbYPZxtLyBKWlacvyDuKjDhLZ2PZeMpL2h0cn8YnRG1u8m5YSue0kirjuIpCfr6FLe_XVDh1B5ltjo_wM1cMQiYDDYCO1ryBFT7-SVygrO0UbJ7tlPNtEXlXeOv8T-f7D9yvWZpdR1-El1mF7F7f7eWpSn0aSYSnOW_YYFxgkSVd_oU6AmbaxwOdJREM5Wb0R8iNjxctxCE158V3_vuLrmy5Vvxi2zt2EPVx-xjc6HmdD",
  "id": "rs_046185568cad4c3b016ab4644541e887d08298756632915e0a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.17,\"left_z\":0.015,\"left_yaw\":0},\"note\":\"The cap is still to the right of the jaw center, and the arm is not tracking the low pose cleanly. I will align laterally and return the wrist to its starting yaw for a simpler, lower grasp.\"}",
  "call_id": "call_6l5zNKuNkJhuCydWLto09v4R",
  "id": "fc_046185568cad4c3b016ab46447dd3c87d0b69ef0c8764b6247",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6l5zNKuNkJhuCydWLto09v4R",
  "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]: [-0.7277, 1.766, 0.5907, 0.448, -0.7876, -0.6399, 0.6954, -0.0414, 0.6952, 0.4717, -0.3866, -0.0875, -0.0807, 0.9997]\nstate[eef_state]: left_x=0.3593 left_y=-0.1476 left_z=0.0387 left_yaw=0.2292 left_pitch=0.0724 left_roll=-0.0551 left_gripper=0.6954 right_x=0.2718 right_y=0.0078 right_z=0.1445 right_yaw=0.0481 right_pitch=-0.0342 right_roll=-0.0039 right_gripper=0.9997\nstate[joint_eff]: [0.2393, -3.8632, 2.9607, 0.4567, 0.5397, 0.2076, 0.0122, -0.5675, -1.1145, 6.9675, 2.0049, -0.1538, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:267a125e014117b6d9935a09e38eb7ecb33584e0382c9cad47efeab08c5925d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e250263c32992e2a29647bc4f3b7e60236cfc29d163a380408382d67b19a8271",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:775696d899738b53481a9a8e1834056e820c306a33683095dbf43e3d7ffcdd96",
      "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 · 7.647 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 85 changed as sent

message 93 changed as sent

message 97 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.691, 1.882, 0.8433, 0.0254, -0.8848, -0.8932, 0.9963, -0.0406, 0.7673, 0.5922, -0.448, -0.083, -0.0803, 0.9997]\nstate[eef_state]: left_x=0.3769 left_y=-0.1297 left_z=0.0283 left_yaw=0.4558 left_pitch=-0.0065 left_roll=0.0115 left_gripper=0.9963 right_x=0.2822 right_y=0.0068 right_z=0.1682 right_yaw=0.0449 right_pitch=-0.0473 right_roll=-0.0051 right_gripper=0.9997\nstate[joint_eff]: [1.1829, -7.5009, 4.1641, 1.0427, -0.0952, -0.2662, 0.0171, -0.6769, -1.7573, 7.2684, 2.127, -0.1343, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7761, 1.9255, 0.9051, -0.041, -1.034, -1.0618, 0.6952, -0.0406, 0.7177, 0.5072, -0.4023, -0.0834, -0.0807, 0.9998]\nstate[eef_state]: left_x=0.3723 left_y=-0.1477 left_z=0.0422 left_yaw=0.5326 left_pitch=0.098 left_roll=-0.0469 left_gripper=0.6952 right_x=0.2752 right_y=0.0071 right_z=0.1517 right_yaw=0.0454 right_pitch=-0.037 right_roll=-0.0061 right_gripper=0.9998\nstate[joint_eff]: [-0.8547, -4.5197, 3.3436, 0.5592, 0.5153, -0.3443, 0.0366, -0.841, -1.4838, 6.9675, 1.9463, -0.1294, -0.0171, -0.0171]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7277, 1.766, 0.5907, 0.448, -0.7876, -0.6399, 0.6954, -0.0414, 0.6952, 0.4717, -0.3866, -0.0875, -0.0807, 0.9997]\nstate[eef_state]: left_x=0.3593 left_y=-0.1476 left_z=0.0387 left_yaw=0.2292 left_pitch=0.0724 left_roll=-0.0551 left_gripper=0.6954 right_x=0.2718 right_y=0.0078 right_z=0.1445 right_yaw=0.0481 right_pitch=-0.0342 right_roll=-0.0039 right_gripper=0.9997\nstate[joint_eff]: [0.2393, -3.8632, 2.9607, 0.4567, 0.5397, 0.2076, 0.0122, -0.5675, -1.1145, 6.9675, 2.0049, -0.1538, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:267a125e014117b6d9935a09e38eb7ecb33584e0382c9cad47efeab08c5925d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e250263c32992e2a29647bc4f3b7e60236cfc29d163a380408382d67b19a8271",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:775696d899738b53481a9a8e1834056e820c306a33683095dbf43e3d7ffcdd96",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGROqRvZAeYCjCYY5mjiCGSoCrCa94uqikHhLTtqj5x-nLfEvMKPkfNNoLKu-K5A6YElbufmQEV9CwKK_pfux3duIUk1yjfOecZAvjo21OVyWdBv_JYn7yNBMednsW82g_L_9hDIwxEfbT4t_u3JR55kAhEIBhfz0xWEkILt2l8D-PYOUWBJWeCMOMtJShe8QtSlXx5VVFZjMXDGXS1-ILNjpjt2p5idloLV_Nacl0wtsasKKzRZpeYKE_JilQ67G_g6bKStnQu4z1tmkTh5q9w7yxyX2vaht_B4wOhKHH5Q-YRlbuB9f0yCQbhxaI9BxlBhOgCrycNO6hrqqM0fCTKPCqmP-G9ZHXM7nGYeGYwv9cZb403wfAnDOGQoUDrWelI3eUKKKyAmuO3BL9IxyUJ3RgAogETCJecL05KobybV-KQI4wsHyCwkffNuxlhzaM3vKF9m5DhlYUSn4-5ATuUAQQ-8D3ATVgtK_3PusPNZ86nssGaXF9Kb11Ub3teQXW6siHSTFWJoIxir9UT-t5r-QITTpiBVlU-M6RXOAgwFKaLPQhsQcmXvDHUwlmjmLfvRZdAQnJxbDLyXlZidUQMW4ijWQOepLGNHmBfspUeGDaJXE9cXLghxlx5FLvYKzlEi4Y0ElHTZ0_Ukpi5R4kXpfTAnmB58PcNX3rquUx0LMv9h1ZMGYXhUPbattrSBRWz3cICvW5BEoR7KKcBoDo_FomzCzW74ZmVD_3dAGpfKCZPSqVd5CtTWJug2fQCsQiLEgpMGyknM51x7oK0k7pZ7RviSZTldqWQ2DMvLVPlMietDE4xJtT1zXvNXoC1gGpglardosD6GHEvVtgFQ7f0_mQdYVBkLNkEU415ORR3P9WN_ykgewP4ulM4oFUKCpsdWzwomkKiCObPwsTzYs_IPIkR_xOOTqgOrtdqm1-EqtpDCnPokuolISyLWH5gfJgWDCIH06-jUJ2MW3Nk6CDGiKZhEvjmBDp0q2igJdr5vm-LW0J-3rdIL-VB6qWYN7C8xl5UMfM75W2nHJwNpBmGU_EK_Ev6I4jP0vnScI30UW1gJl6gmOKPJ0r3y7WiM6SgFqVt-xwran66fZCVOMAlAh7n0yjW8JWH9o6Uohr0QwihjmOFKv469hkcW5dAh9hnmjM6dwZShkLx_HmHRFoyub3XX9QN26go8CotWqpOlzVmw6l7kRCQ2GPlBR508FHGtzgH9oICt6N8jnFGicP7795mL6bdGltkq-42se_VfKUFYapPDt7PVPy2YABN1LaTT34r4R_pvAQEUSXeqL-8-8ZxteSNiFsGfzfiQipxyNJs40dJAo4ek1YgeEYlGziILGZkuXvOXOuy-K-JLrycnsyRZ1ZN8Q3elGWkjNk6uRHC7NshHUF8eTh_dxYKaTQGUoqAh6Xwjrtv4qxOdC8gkK72bQpIcUIxAhH_Du_MeJR6cN2IAA5NCX1TEfFwivsuVtWiIlePd_kEwXJKQmzRNsV4cw49ysLOxDZsLI7lESl6HeyjIut2-VvkyE_HPAgJT6--C-3n4dyIax5xP2WMHpYPsISDcOAAUeHUidQxddTLJUSTXc2jWegmDCGbhlSZCo519r6UjZ487smimwvdWWzRzsGZncDWWnrNvkFMgtvQFjuP1YguMOi1VA14oS7AIQAIhjJ1JbDDxpJcWEFwXefhnbVGWA8PzKkzdAjcPEhGEtiHYgf9g8aTFBEC_TLrNBvn4RVRdlBGriP49aQj1eGLNSHObOW8oZxGcxyTnNc4TYmPG9bA1D-jCpcBpAvU4a5yfu1T8dWlo5zYIRxd01WtEHyFRLN79Hu48N-AYw5A=",
  "id": "rs_046185568cad4c3b016ab4644b4a1487d0b08032ab1f05f17e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.359,\"left_y\":-0.148,\"left_z\":-0.01,\"left_yaw\":0.23},\"note\":\"The neck is now centered in the wrist view. I will keep that alignment and lower straight down so the jaws surround the neck instead of clipping its upper surface.\"}",
  "call_id": "call_gUvrIIFb0a7EPx9zHVk2xa2K",
  "id": "fc_046185568cad4c3b016ab4644d857887d0859ad49c625ff011",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gUvrIIFb0a7EPx9zHVk2xa2K",
  "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]: [-0.7204, 1.8622, 0.6514, 0.5701, -0.8066, -0.6147, 0.6955, -0.0414, 0.6777, 0.4404, -0.3737, -0.0902, -0.0807, 0.9997]\nstate[eef_state]: left_x=0.3815 left_y=-0.1605 left_z=0.0419 left_yaw=0.2444 left_pitch=0.1328 left_roll=-0.0969 left_gripper=0.6955 right_x=0.2688 right_y=0.0084 right_z=0.1373 right_yaw=0.0504 right_pitch=-0.0348 right_roll=-0.0023 right_gripper=0.9997\nstate[joint_eff]: [-0.3624, -2.2769, 2.4, 0.1148, 0.5641, -0.5201, -0.0073, -0.7863, -1.1419, 6.8991, 1.9267, -0.1294, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:991b7a6f26f3c6de72607be2d10e4603a5036979582967cd08e2ecff13bd1791",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afcbb9684c908f847d6bd6ceed7b27328f2e3cc16563f1560378340ff4c0f60e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01ff56ecb6b22edf266cb39db54383f8985d8fc1687fa9538d9ceab7dff408cf",
      "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 · 4.045 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 89 changed as sent

message 97 changed as sent

message 101 changed as sent

message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6903, 1.8618, 0.8425, 0.1062, -0.9699, -0.8921, 0.0112, -0.0406, 0.7391, 0.5449, -0.4206, -0.0837, -0.0807, 0.9998]\nstate[eef_state]: left_x=0.3874 left_y=-0.1263 left_z=0.0533 left_yaw=0.5076 left_pitch=0.0969 left_roll=-0.0528 left_gripper=0.0112 right_x=0.2786 right_y=0.0071 right_z=0.1597 right_yaw=0.0457 right_pitch=-0.0389 right_roll=-0.0057 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -6.9402, 4.2872, 0.6569, 0.4225, -0.0269, 0.862, -0.7179, -1.5521, 7.0359, 1.9805, -0.1685, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7277, 1.766, 0.5907, 0.448, -0.7876, -0.6399, 0.6954, -0.0414, 0.6952, 0.4717, -0.3866, -0.0875, -0.0807, 0.9997]\nstate[eef_state]: left_x=0.3593 left_y=-0.1476 left_z=0.0387 left_yaw=0.2292 left_pitch=0.0724 left_roll=-0.0551 left_gripper=0.6954 right_x=0.2718 right_y=0.0078 right_z=0.1445 right_yaw=0.0481 right_pitch=-0.0342 right_roll=-0.0039 right_gripper=0.9997\nstate[joint_eff]: [0.2393, -3.8632, 2.9607, 0.4567, 0.5397, 0.2076, 0.0122, -0.5675, -1.1145, 6.9675, 2.0049, -0.1538, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7204, 1.8622, 0.6514, 0.5701, -0.8066, -0.6147, 0.6955, -0.0414, 0.6777, 0.4404, -0.3737, -0.0902, -0.0807, 0.9997]\nstate[eef_state]: left_x=0.3815 left_y=-0.1605 left_z=0.0419 left_yaw=0.2444 left_pitch=0.1328 left_roll=-0.0969 left_gripper=0.6955 right_x=0.2688 right_y=0.0084 right_z=0.1373 right_yaw=0.0504 right_pitch=-0.0348 right_roll=-0.0023 right_gripper=0.9997\nstate[joint_eff]: [-0.3624, -2.2769, 2.4, 0.1148, 0.5641, -0.5201, -0.0073, -0.7863, -1.1419, 6.8991, 1.9267, -0.1294, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:991b7a6f26f3c6de72607be2d10e4603a5036979582967cd08e2ecff13bd1791",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afcbb9684c908f847d6bd6ceed7b27328f2e3cc16563f1560378340ff4c0f60e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01ff56ecb6b22edf266cb39db54383f8985d8fc1687fa9538d9ceab7dff408cf",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGRW7ICsfNuWa_aOzHlFKjpMPKFYV7uJXapKUJEm1CiQ6fIzJZhW-0Tn44_L5Qpl0KSJ7dKcwHkhLxM_4hXVYckVJd7-mnpR3-xgVFdHDmUNkOCoP9J5Ag5BtYxoCxeIc7UAV-PGpjrautF07eTSwBjZAwLiXScXeJ-G5YFVLfPDiHzSHD0hN9kQJsMMsgbSan7m2YA9QjAKhEPBqIQLPY51_S32kyKV_EXRRqOoG8jJOznC3T_qlwgoAylmiLztqpdJJ3Foe1kQe9qwDLNSdvz46xrsC81V2-zsmRURWeCE-DWGyd0JNManZDEC1b3i8POE0ZKNzaAMeCCUPL4r9365j-8JveP3PjgAGpb-7dJXGMOVmF0_ds2i4gDq5wjvXAo3gQdy_1g5irN8m_zUxDhLRcmohyGPr2iKrVuC6XEbbRE6-ZDGq8aroe1BMrvO0V26KAqiyqjh0I_ARrN30ygU1JLQzXZAnls54J864KpFeYeGzvVEcHYS-wPWZkyF7yG7gxZAXouqzVuWRPLiiPkCFAuR2DuhRaBvKsufDprSAS1wkIe394lFDERnv1YxKMEN32Fd8YVCR5tqLwxMXynnmWmwBW_a3050UpLezwd1KJHwCrqIuqW1djbmzCXZj1uUck6bDQUvSxuSaNpeYoDDt1lhG1Zm8NwjcYBPtU2-EPAZZcdiC2gMM9s4wu9axmUHmltZEqGHMRTC6ZiNaVYH2z8aZKYZo2KsvsV4nGjuWLQcTHxpE5T_HC8oUtbtVHwdfp6wNG07JNN-Z0XA2q9C2vjRGXyzv1ID_SRl8CffCgWMgV_keRsorgUbB5Cvuyk6lgMV6d4eS2BQsLVt7uDZpsPLS3GbzLkJ2VM-1q3sIf0bM2N-xeXaOJxFqf_ze61QQqIcfaUTgzUn2kKJFzsgqyV1yzrf-HlGBe1gKMo3AriR7lcvpDyI730u01xnBhf4FNFcn8C2gad_RrfVYP-mLtB3lHTVFs1gc17Z0Gg1Nr2nCtlNWdpKr44jfSMluBSWnktf2tZz0CklFqOIx5crSOtumG2uvtl2pcdqZejH3f-Z3je2wfD1R059DrkBRaEFXUe5RlH5SsGQREbmOc9dbpRvpmHM_24ESaMRvlhU8rYGR_8U_6xouKDa0Tr53z7azyq5TGheof6OQPFyv1jOyBtPjOgJx2QEXTrckAYvT_jUU42q7Fi7UGE9EIXLbNYFDcuqebwN0a-5fL_WqXzI1su9v3ufrl-ySftXN-tVArCo3dj0jR5mK5X2rhRVXxNKOfoP6ynoYjnP6ek15uck4OcFPsRwNRXoCMLctfoszcAG0cjaBRZZGZgxxgW3vef-1qpDjbBI01IJYxf2jQHsAQrIB6o8wXuN_bSowZ-T4U51dPCvPkjKe8VHpu-9tJqwWufg2AjKBE42g_yYZPER2uUao6KLYw6NuzJgwIo0qyYL01_Nzom_dc-Xu8XL9Ng6TFlITCcg9-DG2WRaNjcfVUOrjxmqqd-K62KJeZ7CuRb8LcQlSUlFzUYq5aLgK2wYldiAARmqmY_EQxm8YUiD6m9LfSqqgMueWeTrdYhjjW0GtevTDNVS3G5wfpSf9VU0YB-fdeBv1cWeWJWYrf_Kd3SwVtSQ5gy9Ik5CLXaXF-ZA0Ee2l4LQDmYnjHEcih5r4k6TC0fT0F0NlIpU9TFmrFbUTJbawhjog_hOv5UrL5qLZg6HJ00P-7zS2K3xiz7KQGG6MsRdXURKGP4qWE9Sm1VPwjt6CrTZOk-FDK-fi58Yq_unsF65yIf-Ab1kmd5aQGQ4JZt8HoOVPW38X5ueGM-P1bAeFB74pXnrg7AVaO_YDFGcp5qV57MuzNSYSm_X15a-5YB6_ILppcCqq-ecj52JOOmMuuJvhltCCbRlXMXGmHR23JyfNSmA-06Y35po74q9WBrnReRtUWVUQd9p7KDL3yf5AXNCk0ReSF0IupjWrpxOJYS9kdZZIA_XSzCg5r6rcsU4npu-vq9U-Al74YN5CLFcStR8ZTKQHTetBBf6dGdyY6zGytKehVbdsg1Bh3oaFRihatvNGC0eW1OcWQttQs30v4Krc-4Paq58Y8GRk2d1TBGGgLQxtIZaRpnpiqCW0OG-qLKfU7lPd94Bu-szkXNDTSIWOfKgBBGFdnKUunFe5TVJX0wzJkYThItU8Uo1lAR3czwd3cxQ2ZNVpF6tlpMX_-H_sviDPn7z_bLBxVsrzegeaDHgALqpIHxizWngMXW28HG-QW4BQLOx6bGUiHP4X70Mh2m8iVwFGO7Em2PPeMQR7StErUUjHd-o8poRHrv6356BOxOmRZIRQu8wPkdN-JM4O5FcFtgOzobSpjpT0eeXzopWd6Zyf-sUe7K2_45af4MPO3xcWk2ypAd4iczjxMG2A5MeGSYlQML1XS5dHB5sQwK1u1u0iuPMqUumPYP9ylpBHkzrsWT4sPH1Hvfn2FCfeauCaauooxV4df19FFaHtelAbgeDLgtmx0sT9eFv4Uy3x3a3tI77fiTq1gezh86yVdmM_5BkKqjsfWDqCyU5vfaK2G9cS0udsO_AW15Jbfb7VV4RgSRhmY6TL63RZQyulFlOmrE2vQWLeTlRwXKob8Pl4ZMNG8Te",
  "id": "rs_046185568cad4c3b016ab46450c24c87d0bd7c14939a075b44",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.15,\"left_z\":0.025,\"left_yaw\":0.23},\"note\":\"The descent is being blocked by the wider bottle body. The fingertips lie farther forward than the visible jaw edges, so I will advance along the bottle to put the narrow neck under the actual grasp point.\"}",
  "call_id": "call_SMjIGD5iN9kM09gwWX7UTgj3",
  "id": "fc_046185568cad4c3b016ab46455a01c87d09fb5b4aaabc66c5d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SMjIGD5iN9kM09gwWX7UTgj3",
  "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]: [-0.72, 1.8786, 0.6544, 0.6132, -0.833, -0.6334, 0.6955, -0.0414, 0.6567, 0.4068, -0.3607, -0.0902, -0.0807, 0.9997]\nstate[eef_state]: left_x=0.3851 left_y=-0.1592 left_z=0.0453 left_yaw=0.2785 left_pitch=0.1611 left_roll=-0.1305 left_gripper=0.6955 right_x=0.2654 right_y=0.0085 right_z=0.1298 right_yaw=0.0504 right_pitch=-0.0344 right_roll=-0.0023 right_gripper=0.9997\nstate[joint_eff]: [-0.3897, -3.0427, 1.8803, 0.315, 0.3687, -0.315, -0.0122, -0.6222, -1.0188, 7.1179, 1.9512, -0.1636, -0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98e2f4ef074c76955dbc66ab8932f61b2c310d6e6204a24018c45800d740832b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8161f2627c44ff48aa192c15cae0e7553ffccc402e82f5eb27c893bb87a36a2b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:036185b9b744b0f0eae1835a4017631e9c2eda9974168e2e004c37617cff86bd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 27 attempt 0 · /responses · status 200 · 4.735 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 93 changed as sent

message 101 changed as sent

message 105 changed as sent

message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7761, 1.9255, 0.9051, -0.041, -1.034, -1.0618, 0.6952, -0.0406, 0.7177, 0.5072, -0.4023, -0.0834, -0.0807, 0.9998]\nstate[eef_state]: left_x=0.3723 left_y=-0.1477 left_z=0.0422 left_yaw=0.5326 left_pitch=0.098 left_roll=-0.0469 left_gripper=0.6952 right_x=0.2752 right_y=0.0071 right_z=0.1517 right_yaw=0.0454 right_pitch=-0.037 right_roll=-0.0061 right_gripper=0.9998\nstate[joint_eff]: [-0.8547, -4.5197, 3.3436, 0.5592, 0.5153, -0.3443, 0.0366, -0.841, -1.4838, 6.9675, 1.9463, -0.1294, -0.0171, -0.0171]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7204, 1.8622, 0.6514, 0.5701, -0.8066, -0.6147, 0.6955, -0.0414, 0.6777, 0.4404, -0.3737, -0.0902, -0.0807, 0.9997]\nstate[eef_state]: left_x=0.3815 left_y=-0.1605 left_z=0.0419 left_yaw=0.2444 left_pitch=0.1328 left_roll=-0.0969 left_gripper=0.6955 right_x=0.2688 right_y=0.0084 right_z=0.1373 right_yaw=0.0504 right_pitch=-0.0348 right_roll=-0.0023 right_gripper=0.9997\nstate[joint_eff]: [-0.3624, -2.2769, 2.4, 0.1148, 0.5641, -0.5201, -0.0073, -0.7863, -1.1419, 6.8991, 1.9267, -0.1294, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.72, 1.8786, 0.6544, 0.6132, -0.833, -0.6334, 0.6955, -0.0414, 0.6567, 0.4068, -0.3607, -0.0902, -0.0807, 0.9997]\nstate[eef_state]: left_x=0.3851 left_y=-0.1592 left_z=0.0453 left_yaw=0.2785 left_pitch=0.1611 left_roll=-0.1305 left_gripper=0.6955 right_x=0.2654 right_y=0.0085 right_z=0.1298 right_yaw=0.0504 right_pitch=-0.0344 right_roll=-0.0023 right_gripper=0.9997\nstate[joint_eff]: [-0.3897, -3.0427, 1.8803, 0.315, 0.3687, -0.315, -0.0122, -0.6222, -1.0188, 7.1179, 1.9512, -0.1636, -0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98e2f4ef074c76955dbc66ab8932f61b2c310d6e6204a24018c45800d740832b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8161f2627c44ff48aa192c15cae0e7553ffccc402e82f5eb27c893bb87a36a2b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:036185b9b744b0f0eae1835a4017631e9c2eda9974168e2e004c37617cff86bd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGRarFylqoPIs4tn3gUe3KkGllDz6AKJeERxI3Mh4V3Pi7IP6ZFQQy-yyWJrYpndhWZtwvcdcrAL26lI6vQ1Em99lTHUzOlYA3RiXLtkM6eK-nC_j5RRuL9s0pzO_QBVcLkaVxWsxpeEVk_1nBesry_lijzd21AGTN3oIVhf_mcTP0XYB7MH6lYOcGi83Np5iWnqtHrLtYaaHuoGvmU2qcJCe56MkrL6r7f45SHfBq9CnZCNSB-XFKmBkINMoc64hITLbb91TKokLcRhiKN47PvzwKoCvM8h-3CwZyjG29jUL4c5x7jRT3THljq0ySKnFixisNoQxhtE14YcWWnHq9DHjeP7UfdzcHht_wdTQq93aKfzNnqS8ev4lK-yoLdmvj83Sa5ylY9ZIiZF95uWU4gvsL2k_xohs2hSzwn4O6YZNDdRPEpA3uYYAPNxS1MYlBrlEc6XwiR_nFe2v8F_hKI3EEcTfBinqJ4ZKO_5a9Ic4DC6h5b1RzJE6NMo46qtSAUIcYot6IpPxlpd2PinNHlyvlnEumTGBdBdhrkgVmej4AN_SBXHMsXnAxUnttD0wGeK7d3HI0ELmBRSAs302yh2tEeSVmL9p49qxiHFVV1KCEcyr0R6MlvLhYt4A40LkJave5YPJ_ICpQMZH0t6-iI6TeshArx2Jb1jkpC8G6cP_iiKLYKigZPOnVBULHcrzIij9_PPRm0NrlW2O82pb046GeVAjhr4-_LJUpgT0hLt3LFk17IP3VUzHzy2YEe0T1xpXZaPmruZc97NJw5Iz-EZAMivv7mtVNOyE6E4-qhGUUM1K_eT-Ben4hnbfE9240BBF0vNlFYEDzEGUmLM5MmnfERHqf9K7QAGwPEozCHTcw9vCtswy3xfGK4FQ9Pa_bQaj2i6ncFs4puaYXfOa8Rf-N86QUuAP-hIiaKIYt83ltz2du2PbVTi8dlDxGZ5Wr0ucE-0O5bFR5Aln8LQIOjVob2Le1VYElIvu7zp14Lk6TOUCErI_aXS06DVHgvK1hgFSPNJyiIUUzotGdiFZJUQlCdMWQlyMplk-eVKOlrk74ttHX2Ap2lvdpUDsAf1BRcN12ypERJxTHQg40mtwJgqm3P60IhacZMjGJOxhbZ8X1SpMLCJ-mcHn0Wttc28faJyk9AdRoYQw9Ka3Kw8o0QXz0pM8N0_yU9kKmo4AIaAjobRZEpGoEy16H5i60DngDr7ptXGb-odgtdstvbkMn5yMLShL0t3rMUVXcqlSZ51TLgem-Ryi_I-ovaANWi4SNjotAUFGnPO42NUu1cL6pMpshI2ogi8KHaTqqsLXgFXnC-h5N_qr2opusEiTyE31D70fPAjka4IW0MylrJQHe_uaNrExm7YKD9gZQFXUExfhC7wZOQbP6sZ9HuYf1mMauxE7BHn-T0CGmeI0_BEl7dzZ7fc7Ce5mCx391QaAHKcNxro-c2mHpIAr93cvFXf9ryQ3Y7OoFOJZQIpoM0t00-ISiW02q5KyefowzoiuZC3hdveEjqmTqDx6PWYg68BZ1Tb",
  "id": "rs_046185568cad4c3b016ab46458ecb087d09f55e3e522666f7a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.15,\"left_z\":0.13,\"left_gripper\":1,\"right_x\":0.294,\"right_y\":0.004,\"right_z\":0.2},\"note\":\"The low forward move was blocked, so I will clear the bottle first and approach its neck from above with the jaws fully open.\"}",
  "call_id": "call_U0NhQJV4gtWxYwa6ozknStDk",
  "id": "fc_046185568cad4c3b016ab46459f42487d08b2346d55c14c2e8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_U0NhQJV4gtWxYwa6ozknStDk",
  "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]: [-0.7269, 1.8912, 0.654, 0.6212, -0.7979, -0.6731, 0.9971, -0.0605, 0.7971, 0.6388, -0.4572, -0.1097, -0.0959, 0.9997]\nstate[eef_state]: left_x=0.3839 left_y=-0.1674 left_z=0.0392 left_yaw=0.2651 left_pitch=0.1385 left_roll=-0.1741 left_gripper=0.9971 right_x=0.2885 right_y=0.0055 right_z=0.1798 right_yaw=0.0559 right_pitch=-0.0379 right_roll=-0.0032 right_gripper=0.9997\nstate[joint_eff]: [0.1026, -3.535, 2.0171, 0.3004, 0.022, 0.1685, -0.1245, -0.8274, -1.1829, 9.5658, 1.5995, -0.1294, 0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b99a12673cede9d9724def6a95484ee94f4c38542428571ac40c663ff629c21",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99d33cafd10c4aa79675c92abbfeaf0bc3631a506790b43019e825474bf87903",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42d286ae54654eaecf82f44f872a0de817a81e536bf5a8667ea95d2b7f12c9ff",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 5.94 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 97 changed as sent

message 105 changed as sent

message 109 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7277, 1.766, 0.5907, 0.448, -0.7876, -0.6399, 0.6954, -0.0414, 0.6952, 0.4717, -0.3866, -0.0875, -0.0807, 0.9997]\nstate[eef_state]: left_x=0.3593 left_y=-0.1476 left_z=0.0387 left_yaw=0.2292 left_pitch=0.0724 left_roll=-0.0551 left_gripper=0.6954 right_x=0.2718 right_y=0.0078 right_z=0.1445 right_yaw=0.0481 right_pitch=-0.0342 right_roll=-0.0039 right_gripper=0.9997\nstate[joint_eff]: [0.2393, -3.8632, 2.9607, 0.4567, 0.5397, 0.2076, 0.0122, -0.5675, -1.1145, 6.9675, 2.0049, -0.1538, -0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.72, 1.8786, 0.6544, 0.6132, -0.833, -0.6334, 0.6955, -0.0414, 0.6567, 0.4068, -0.3607, -0.0902, -0.0807, 0.9997]\nstate[eef_state]: left_x=0.3851 left_y=-0.1592 left_z=0.0453 left_yaw=0.2785 left_pitch=0.1611 left_roll=-0.1305 left_gripper=0.6955 right_x=0.2654 right_y=0.0085 right_z=0.1298 right_yaw=0.0504 right_pitch=-0.0344 right_roll=-0.0023 right_gripper=0.9997\nstate[joint_eff]: [-0.3897, -3.0427, 1.8803, 0.315, 0.3687, -0.315, -0.0122, -0.6222, -1.0188, 7.1179, 1.9512, -0.1636, -0.0122, -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 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7269, 1.8912, 0.654, 0.6212, -0.7979, -0.6731, 0.9971, -0.0605, 0.7971, 0.6388, -0.4572, -0.1097, -0.0959, 0.9997]\nstate[eef_state]: left_x=0.3839 left_y=-0.1674 left_z=0.0392 left_yaw=0.2651 left_pitch=0.1385 left_roll=-0.1741 left_gripper=0.9971 right_x=0.2885 right_y=0.0055 right_z=0.1798 right_yaw=0.0559 right_pitch=-0.0379 right_roll=-0.0032 right_gripper=0.9997\nstate[joint_eff]: [0.1026, -3.535, 2.0171, 0.3004, 0.022, 0.1685, -0.1245, -0.8274, -1.1829, 9.5658, 1.5995, -0.1294, 0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b99a12673cede9d9724def6a95484ee94f4c38542428571ac40c663ff629c21",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99d33cafd10c4aa79675c92abbfeaf0bc3631a506790b43019e825474bf87903",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:42d286ae54654eaecf82f44f872a0de817a81e536bf5a8667ea95d2b7f12c9ff",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGRgpfb0NABVH5FBABLLEiNrnV8AtAyHtCKVR7Dz97axIaUqBDcncKzldjF7CkwVZ90xXdXaHgu63o1lPifev13EneUtFd5ujnvDKU_cVJJD4zWqMNrqgHFv7Jxw9bAPL5bcX1FXK7S3qczWG19vj5OlpCCm3_KPG9il4_KknBPNgE6vYrSu9h_7_koW9gW-C8-MdH8oysBTSIPi5byjyaKe_YM16cenZjWL6NQFWhruY6Pk-ANqzGtMbEVYCb0lknsQS3uIcVdUA9fNkVmM0zxQL1LOtV-H1_i-ISiWBKACQCENASELv6c2EQ2mA5Csf3N3t8XYP9nLYvCtEaIQiWWUnPKuDs8qM4hc2flhqe-Qla2b1UYWrHChK5GOBIIp9bqFkFLLoJA8n_9KXZLafmruG0GOTSvtpA2jIrZfnxPK42q_Dng6lBIhgM6eKmaZk_m1xdkNwJhj7aXLj9pcKhYDybooKpEDwjTFIfi8cvlWoO3fB0qd4CJrR9mNBX0sSsbvWop_D0lVhXygIIWvoZerx4c3W0tQtpGhgH-UU-GMccoReuzuOnKqJrQiDLxZnefhvxBZ9hlZnVuevN5jcL5vya0OoXz-C3ge27HnzUuKmfu580LDw3UX38fSxz2xrFhUTDPI_TZdBV_RHYWBQrORnyvr_k--9CeVfR-g6RCsH-D7ejjXKDQu9Gue7kbDfPyIJ1CH25sxyu9_dgrGZJiggNffydWEzI41cvFPKiLyR2NehP0CVS9G3gTfkSw17ZVT2BNmTGvQ18ojw4ikwAsC0J9gkt0yJ05fpfmn3N4kDYaF49WG3Ek8oxkHc-GCnFjT6TmyekBbU5jcmYnwcR8U9SeBYXVo3dA2RsIYG6J2maToFXOsBNwbP58fpUOq5rIPgkk558Dyz3RkC85iJzEIoljGk7fPKgrQ960GlwppVYNMJKWQiP2FCxd2Vdz3jgrZj5YwI0PjvjDoCQ1sPtBwoC7tIwIxvDlA5hfDdqU8D5xWOXM6MjQq766TyZYuMkJswSdMtUlUsRWofux7L9nPL9ABG6GSCL_akzESRxK_Zj4lX-l0EkFjG6cQYs0tK2r4XI1uO3Xfgr1aobjCFi3k3toCQ78xcW7HWZ837DE6iZ-7QKX6i5GJLAoz9k3S6vvM14f3aCksABFw1ap6yWtAwSskHVOVnC7SCkM2Nuhw_ISYc0DPXw8a7aUKvyCzNetb8ora7AnWBeqN_yZSxVJwJ1kZN4MmBkRTAvcAH1Ei962q-Qx9NhsUKaQh8AY7pzaew5t5Ws2YfXQ4TGtkWkROUw7y6qmQhKhOuDZtqcy5SIFtc-FYgjiGWhZFdf3x92eM0M_yJMmm1varvlhmAxI7agp48B0JgN8TZWnjtnbFheu01g7xTmfMaW4wSh7yM9nYvgCkvgFru4xYH2wyIqJfI6zhrz00yhyCw5xy_0_QSzM=",
  "id": "rs_046185568cad4c3b016ab4645dd3e887d088474a2efbc94501",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.12,\"left_z\":0.23,\"left_yaw\":0},\"note\":\"The arm is not following the upward target from this awkward low pose. I will retract and raise it to a simpler configuration before making any further contact.\"}",
  "call_id": "call_epKrTrwtWEb7kwfTuPzcXK2D",
  "id": "fc_046185568cad4c3b016ab4645efe6087d094fc91a65e9e96eb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_epKrTrwtWEb7kwfTuPzcXK2D",
  "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]: [-0.7006, 1.0782, 0.8738, -0.485, -0.6029, -0.487, 0.9974, -0.0612, 0.7769, 0.601, -0.4454, -0.1131, -0.1028, 0.9997]\nstate[eef_state]: left_x=0.3067 left_y=-0.1229 left_z=0.2166 left_yaw=0.0387 left_pitch=0.0096 left_roll=-0.03 left_gripper=0.9974 right_x=0.2842 right_y=0.0061 right_z=0.1705 right_yaw=0.0618 right_pitch=-0.0433 right_roll=-0.0062 right_gripper=0.9997\nstate[joint_eff]: [0.1846, -3.7128, 9.2786, 1.5311, -0.149, 0.3004, 0.022, -0.6085, -1.7573, 6.9812, 2.0586, -0.149, 0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1441cd31735d103328b11c1b0fecb414d16dc457c94c60651a471a3508d35a0f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:361192e23283188284d1dab3a37fff7e3ab859d802d5c337faa9aced248bec3d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2de1c9509f4e3016e82c0ae36d4564b302947300784e6839b3e6f06e485205c",
      "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 · 5.536 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 101 changed as sent

message 109 changed as sent

message 113 changed as sent

message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7204, 1.8622, 0.6514, 0.5701, -0.8066, -0.6147, 0.6955, -0.0414, 0.6777, 0.4404, -0.3737, -0.0902, -0.0807, 0.9997]\nstate[eef_state]: left_x=0.3815 left_y=-0.1605 left_z=0.0419 left_yaw=0.2444 left_pitch=0.1328 left_roll=-0.0969 left_gripper=0.6955 right_x=0.2688 right_y=0.0084 right_z=0.1373 right_yaw=0.0504 right_pitch=-0.0348 right_roll=-0.0023 right_gripper=0.9997\nstate[joint_eff]: [-0.3624, -2.2769, 2.4, 0.1148, 0.5641, -0.5201, -0.0073, -0.7863, -1.1419, 6.8991, 1.9267, -0.1294, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7269, 1.8912, 0.654, 0.6212, -0.7979, -0.6731, 0.9971, -0.0605, 0.7971, 0.6388, -0.4572, -0.1097, -0.0959, 0.9997]\nstate[eef_state]: left_x=0.3839 left_y=-0.1674 left_z=0.0392 left_yaw=0.2651 left_pitch=0.1385 left_roll=-0.1741 left_gripper=0.9971 right_x=0.2885 right_y=0.0055 right_z=0.1798 right_yaw=0.0559 right_pitch=-0.0379 right_roll=-0.0032 right_gripper=0.9997\nstate[joint_eff]: [0.1026, -3.535, 2.0171, 0.3004, 0.022, 0.1685, -0.1245, -0.8274, -1.1829, 9.5658, 1.5995, -0.1294, 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 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7006, 1.0782, 0.8738, -0.485, -0.6029, -0.487, 0.9974, -0.0612, 0.7769, 0.601, -0.4454, -0.1131, -0.1028, 0.9997]\nstate[eef_state]: left_x=0.3067 left_y=-0.1229 left_z=0.2166 left_yaw=0.0387 left_pitch=0.0096 left_roll=-0.03 left_gripper=0.9974 right_x=0.2842 right_y=0.0061 right_z=0.1705 right_yaw=0.0618 right_pitch=-0.0433 right_roll=-0.0062 right_gripper=0.9997\nstate[joint_eff]: [0.1846, -3.7128, 9.2786, 1.5311, -0.149, 0.3004, 0.022, -0.6085, -1.7573, 6.9812, 2.0586, -0.149, 0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1441cd31735d103328b11c1b0fecb414d16dc457c94c60651a471a3508d35a0f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:361192e23283188284d1dab3a37fff7e3ab859d802d5c337faa9aced248bec3d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2de1c9509f4e3016e82c0ae36d4564b302947300784e6839b3e6f06e485205c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGRn2Ms_uc0cE-tvlcKcBJIXcjfg88o1wVFzk1zXu6ZmDSEN2-mWyqJZsO79lZr8cKdCC2AEmGTEkXehOmJ-onR6zb3C7EW9-FMenaI47X27z3jBxFqaqcSwjYlpGx2EBbmS2QElH0fohCMpxKcwoQ-WzOrSx0KbiMXKT1PPVvbQoInrtotANWoQF5mGrPSStPIYQsbu9AzB6KoW0y1U0p9zjDvVCtJccEjeuwc3UXgsXT_84ru1JkKANaiXSrbssvG63LRd4QFzNWtpu0xS9hEHisHwF9otz-ZBYyOh2J2y6f_5eH-I9b8yJ7_D40MiPDuLyVDhBTDuYKZv7QPvmnnJWpWQMTcAVkbg0kVIlxa3lK8-5FLmyfPHjlOmcHyXDHJetxIfgm3sSqcrVCAv61MQ0696_iYR0YICOpZv6kkAf4kimpePgtWroy5bq4022vr_dlYXWg1JBP4zUfVAbGX7fOzw5cL8F4XL-nBV3Chsx4uG0QF_xSp7ywfSPvXhHL0DykbQGHbo1c5pi4aKsFkU8WPLGHlnRSnk2d01qI1A0gEwBOBfrDTUZmJK5R8nJn0aXfIhaMSBSRji2ucS5gKpfyuzJF4xHjTeZ_QJOGqy4AbIIiiVJlm86oHj1uDfruu4Uw-7qxC24_Ve6tFmEiof0e9v_r8DZbZmilBMZ3cjZAjo_35LZRKIhYh96lBP84D8yrWgTTjrohLw6vwpzthKf3Q0MfeK0JnsruecQ-26e3IZtBvohcYHxWKoo7wjG_7tNg0HLAyYIfTgQQGPN2kt_k3STi8X_y5QLdy24WYLYy7f1Ra9XxuSUlTAgT2LcEQHBVZk1UTJt1_hi4RrhNqi681R4AZjYvgYifu7r3ZTHFOOdLyb0gAdc5jC3GMF52I3fH0uFZ3Vh7zsJ2U4NXWn9UVRHB4nWVHhk4jsVQaq1tsPuKldWmnE8pA1d_APZd-XpG7VzWidT0yZRzZ44aRUDk66_oGps_i1qJMYSZ9diy1oWKtMNDIi3DtR1yMVbzBVa9GI10_PrYAp2R2OXm0OV_s7GyKnOYWTtypFDnl80vgAnEjMNloA5oGmMPhfQqbW14aB1thFeI3KeoKT9w90UMVqeeqOo-XKBbgJqS7ZWDJuvMjrtTpZNOQkuoRWHrgxcyebOb1lM3VlwoOzZVOfQQJ_7RUrRaQfeaStPvYuYyZLvFA9yaKfDACDZosw8LawN7A-jc6qvlVvIxX1q5_qVNu6oyMyoETj_UpVLFMUzGSLqMR-Ul6nZQLaN8itJZJNkBJv7y-mmOE1McolEdmaYGb3NXptuCseBJGBUBRwheMvGbPbhdbGrRX3LMfm17VbSB263aAxq3-2z7t2fGtckJl3m_oErFKQp7dbPQh08FoMvMk2dcrjQDZt-PcCwRFJdUnMLw7wUzGcvVKwPkdVEzX-q38Y2AnJwFdtso-F32LtsUGnfwM_-I_tJwGdoKSg0rx--sOKIThDOuIasOinnxiMBw4wTT37snVmK_PUSa0wo8MN4PhX0ZVq4fSYfOHwAofx7bvuslYWa_VnIYN3wkQguPdvP8SrNtJJrUhF1o9ZhsbboEUJVa9_hJEkVt52bhlwlD50Chtu8t__YuW9ZIs1R8OucqwuzwX1MZR05L91j6N3EHKARjc8COIZlhQ-zKfcV-gTBQ_NhdKQTMpZiMs8G5TJg-priJePMzEAi2yLaOucan4z58tCR7HZwmgFWW6Hr0gqb-DsBZWOpV9f2qTPpTLoo0cyaNPlNE-lPApIM2UmE4PC9WLDSCkW0VC98-BenFIVFJZP1pZNu8erRWLZErNMJuApXKAYbzq3Nvk=",
  "id": "rs_046185568cad4c3b016ab46463672087d0b91dba89df0f20a6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":-0.17,\"left_z\":0.12,\"left_yaw\":0},\"note\":\"The arm is free again, and the moved bottle now points almost straight forward. I will approach its cap from above with the jaws aligned across the neck.\"}",
  "call_id": "call_jDgudnwNvuFzetGBCUasb1T5",
  "id": "fc_046185568cad4c3b016ab4646644c887d0818f060fc123bc9d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jDgudnwNvuFzetGBCUasb1T5",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5415, 1.7046, 0.9623, 0.0212, -0.474, -0.3622, 0.9975, -0.0669, 0.7506, 0.5571, -0.4225, -0.1165, -0.1032, 0.9997]\nstate[eef_state]: left_x=0.4265 left_y=-0.1583 left_z=0.1023 left_yaw=0.0318 left_pitch=-0.0672 left_roll=0.0268 left_gripper=0.9975 right_x=0.2804 right_y=0.0054 right_z=0.1622 right_yaw=0.0591 right_pitch=-0.0377 right_roll=-0.0052 right_gripper=0.9997\nstate[joint_eff]: [0.6085, -8.0752, 9.0188, 1.79, -0.0464, 0.2906, -0.0073, -0.4991, -1.388, 7.2821, 2.0098, -0.1783, 0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0c2d360ad02ae8b90115f8b9916555817f32fb418d6e24673aaf9a172dbabf1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a051225d0191b36986545541c228edcb6b2c12b9b11d7cdca71a689df3c5fe73",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d541544f7b2e95a40adbe26b5e52bf6ece0c46bde3ee46909fa0c90a35b76e4d",
      "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 · 4.45 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 105 changed as sent

message 113 changed as sent

message 117 changed as sent

message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.72, 1.8786, 0.6544, 0.6132, -0.833, -0.6334, 0.6955, -0.0414, 0.6567, 0.4068, -0.3607, -0.0902, -0.0807, 0.9997]\nstate[eef_state]: left_x=0.3851 left_y=-0.1592 left_z=0.0453 left_yaw=0.2785 left_pitch=0.1611 left_roll=-0.1305 left_gripper=0.6955 right_x=0.2654 right_y=0.0085 right_z=0.1298 right_yaw=0.0504 right_pitch=-0.0344 right_roll=-0.0023 right_gripper=0.9997\nstate[joint_eff]: [-0.3897, -3.0427, 1.8803, 0.315, 0.3687, -0.315, -0.0122, -0.6222, -1.0188, 7.1179, 1.9512, -0.1636, -0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7006, 1.0782, 0.8738, -0.485, -0.6029, -0.487, 0.9974, -0.0612, 0.7769, 0.601, -0.4454, -0.1131, -0.1028, 0.9997]\nstate[eef_state]: left_x=0.3067 left_y=-0.1229 left_z=0.2166 left_yaw=0.0387 left_pitch=0.0096 left_roll=-0.03 left_gripper=0.9974 right_x=0.2842 right_y=0.0061 right_z=0.1705 right_yaw=0.0618 right_pitch=-0.0433 right_roll=-0.0062 right_gripper=0.9997\nstate[joint_eff]: [0.1846, -3.7128, 9.2786, 1.5311, -0.149, 0.3004, 0.022, -0.6085, -1.7573, 6.9812, 2.0586, -0.149, 0.0415, -0.0122]\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 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5415, 1.7046, 0.9623, 0.0212, -0.474, -0.3622, 0.9975, -0.0669, 0.7506, 0.5571, -0.4225, -0.1165, -0.1032, 0.9997]\nstate[eef_state]: left_x=0.4265 left_y=-0.1583 left_z=0.1023 left_yaw=0.0318 left_pitch=-0.0672 left_roll=0.0268 left_gripper=0.9975 right_x=0.2804 right_y=0.0054 right_z=0.1622 right_yaw=0.0591 right_pitch=-0.0377 right_roll=-0.0052 right_gripper=0.9997\nstate[joint_eff]: [0.6085, -8.0752, 9.0188, 1.79, -0.0464, 0.2906, -0.0073, -0.4991, -1.388, 7.2821, 2.0098, -0.1783, 0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0c2d360ad02ae8b90115f8b9916555817f32fb418d6e24673aaf9a172dbabf1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a051225d0191b36986545541c228edcb6b2c12b9b11d7cdca71a689df3c5fe73",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d541544f7b2e95a40adbe26b5e52bf6ece0c46bde3ee46909fa0c90a35b76e4d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGRtNpHUjyDzBzMbn22sQ_uhAF0QThceJQdTkhnck0zEHXMIetXDrBF8wm4CQjTrLR1_E-LekViFr0um19ZqnVYQG0wmfXpEdus_FtU-2q5Ihcp4PcZilQMsda0h-0lECdOHnHbCv95u2vIRkzIzevmj2CEpLPaHeeaFvLHL6MoPN1kGAWPrz9LPmg9kSd_9aFjgduQusfsMFKfrK6TFV2GbK6-ORAxyngn0VbPodm_Olxmmq6gPvocT7fpJC2arkKl7s6O2oftHBLFCHRZly03pNpWkAkxsE4Uk9b0yzt8C0DDsrGB84gWQVR7VA713LSFBSXkk_H26QTLG4QdvgXWRD90RdclIk9meNOc-QhOMBOGmaCVLjVixh54a2Dvu9r9ONaZFdgQF6gyUsxwW08eKYzEPFxaX1_QdlOs71OtkEnzDidtUO5LV2ovmH8AFVVkUMxdWPT4t6XVQmqUoj9K0YPOjpSyHZbCg6P8YUFNZTlRj1kCcnKFsc667vV85goGZK1U3tbfT1lCOHjID_4vlZ_UpwqJw3sTcqT8AsEwDsB9IB-wXeC8-VM8XgNrhDXT0TC5glanbJFMsS9wTfA1M3Spy24V78sxaqI49vEfOi2Zu0W61WHLAjOqlEdkwT8f6-0dtXL2fJbMUdeZi3-yY_XXNaOp_aTU9WWpeX_FhV09b57qwr5AGePU4XxJ19brH8agwsPdQdr1yOcOR1nP4BMKjkU5enBO8nlr3PN5frLyHZk9GNkWDf_-7Rql8AXx2Z2thL5-V9R3ZlULFJW5BfIjw--fkJ2WokOe63X2Ko4FSiG9s1GAHEfTjMMy0ogvrwhAFLJam4U8BR2AdeHTxwP8YvQtHdZB_gH3TA429Kjuo883qq7HCrMtVMDknwrVVxzZh5Rtc9mlol_IDjBA2ItXT2FzZOFTYogibahEw1Ird-nHFSp95rSDaDge0K4rt2Y6NWM0_yuP0EFdMNzPeHy3xHM5jTZsCgFZwInC-dbVTOshuWBkovnd2AKsxK3lNoc9kqk7DcJtcf_crOv3QVx-u5IG8m6uQucyzxdIVkoXPgCalfPXx3hLEZ2VKfBB3A9vE1h4auQimOWtogruykukPK7ncXpQ0pH1xoqRk5Zi2S54TJlk-USKfxomD2MLUSTlbQqtc-jMjaw2S7SKcpCj9WRwZEXSclihEdZ0_M5qkFodT3iYHhR1qOOchOgwlNL8BDT8yYmS_kDjwW5kZGlrWJLnKSk4W4K8eODNv0-mn5gk7ePW4q_owg9pfqKqRG0zL-KiI7ytnPDCprzbJ9JXVMNkNJxLMzy-4AfJWB393zXbON2IXEhSfAkxolJK-fHYXOdGmgOJqDSF-h-bSynlwzOu8XqBZKmUkdClM_5jsKY0jd6Mg55_8FG0Zccx6heTf34MKBvuSU8LT7BupGKpAGIlSKLR5Ht1tfmzgb747_gLMWc9_RYPzNsZRpsrqwAOQikJuR7ly74ht-W7N9GDWUQiSATv2nIqPviEOAxa8KKxG8VDoEQvFRS9naxk4LKiRZZEMOB7peZPU4YQSdM9CwOWKY4LUkoysuhLF7iJQadI_XMflYBl_cZER_mq6qOQxTsvF03hm3NEWNg8FQfMXqQQ9OzMLu8sh1a-PcF7j6oR3OVOC4Jhkpy73WkuZ1Gvo8kLo2jgs_Me31R3hIIrsZtKB5LKOhzPpOHYuKj3dbyV-RpLSlQnhDvYo_dH9TgvMN0FcSkud_zbupzkwC0sDXw99HayhAJnTl0nGx3VqRYqZmHccSqweF2vZzkdawm6PREQVeqs1sXIYKp378IbdaY--X_ChrrENqLDavxFhUmeeCBiR203tz62sa5YU",
  "id": "rs_046185568cad4c3b016ab4646a64bc87d0b04f4e2c24c91de7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.455,\"left_y\":-0.18,\"left_z\":0.005},\"note\":\"The target cap is near the bottom of the wrist image, just to the right of center. I will make a small forward-right correction while lowering the jaws around its neck.\"}",
  "call_id": "call_C5mA0cl1UoPmGbXxpzDGN2Mo",
  "id": "fc_046185568cad4c3b016ab4646cd20c87d0a3ccc19609967345",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_C5mA0cl1UoPmGbXxpzDGN2Mo",
  "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]: [-0.5617, 2.0216, 0.9226, 0.5037, -0.5076, -0.3691, 0.9975, -0.0677, 0.73, 0.5224, -0.4023, -0.1169, -0.1032, 0.9998]\nstate[eef_state]: left_x=0.4588 left_y=-0.1831 left_z=0.0329 left_yaw=0.0413 left_pitch=0.049 left_roll=-0.0317 left_gripper=0.9975 right_x=0.2778 right_y=0.0054 right_z=0.1558 right_yaw=0.0587 right_pitch=-0.0317 right_roll=-0.0057 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -6.2427, 4.7248, 0.9109, 0.1099, 0.0317, -0.0122, -0.335, -1.4564, 6.8171, 1.9512, -0.1929, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05f41b15aa47d5a8f941e183da823d645d6514b259136b9434e0bd8d80efaad4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60b1dd9e065329fbc4d8027af98812ae723f4306c7047dc360964bc60af05a2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:303cfd1cec7c198a40a7bc7942a6842960ae8cd3ab73ad81c10ed31d80805f67",
      "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 · 10.28 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 109 changed as sent

message 117 changed as sent

message 121 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7269, 1.8912, 0.654, 0.6212, -0.7979, -0.6731, 0.9971, -0.0605, 0.7971, 0.6388, -0.4572, -0.1097, -0.0959, 0.9997]\nstate[eef_state]: left_x=0.3839 left_y=-0.1674 left_z=0.0392 left_yaw=0.2651 left_pitch=0.1385 left_roll=-0.1741 left_gripper=0.9971 right_x=0.2885 right_y=0.0055 right_z=0.1798 right_yaw=0.0559 right_pitch=-0.0379 right_roll=-0.0032 right_gripper=0.9997\nstate[joint_eff]: [0.1026, -3.535, 2.0171, 0.3004, 0.022, 0.1685, -0.1245, -0.8274, -1.1829, 9.5658, 1.5995, -0.1294, 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 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5415, 1.7046, 0.9623, 0.0212, -0.474, -0.3622, 0.9975, -0.0669, 0.7506, 0.5571, -0.4225, -0.1165, -0.1032, 0.9997]\nstate[eef_state]: left_x=0.4265 left_y=-0.1583 left_z=0.1023 left_yaw=0.0318 left_pitch=-0.0672 left_roll=0.0268 left_gripper=0.9975 right_x=0.2804 right_y=0.0054 right_z=0.1622 right_yaw=0.0591 right_pitch=-0.0377 right_roll=-0.0052 right_gripper=0.9997\nstate[joint_eff]: [0.6085, -8.0752, 9.0188, 1.79, -0.0464, 0.2906, -0.0073, -0.4991, -1.388, 7.2821, 2.0098, -0.1783, 0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5617, 2.0216, 0.9226, 0.5037, -0.5076, -0.3691, 0.9975, -0.0677, 0.73, 0.5224, -0.4023, -0.1169, -0.1032, 0.9998]\nstate[eef_state]: left_x=0.4588 left_y=-0.1831 left_z=0.0329 left_yaw=0.0413 left_pitch=0.049 left_roll=-0.0317 left_gripper=0.9975 right_x=0.2778 right_y=0.0054 right_z=0.1558 right_yaw=0.0587 right_pitch=-0.0317 right_roll=-0.0057 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -6.2427, 4.7248, 0.9109, 0.1099, 0.0317, -0.0122, -0.335, -1.4564, 6.8171, 1.9512, -0.1929, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05f41b15aa47d5a8f941e183da823d645d6514b259136b9434e0bd8d80efaad4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60b1dd9e065329fbc4d8027af98812ae723f4306c7047dc360964bc60af05a2d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:303cfd1cec7c198a40a7bc7942a6842960ae8cd3ab73ad81c10ed31d80805f67",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGRyU43j1zu81BSCntSw6rgGjyidOB1f-a29bDWFgbGy1aKhcHfUAqpw74lByFxQX8njUzeJAw_Jdn4VkLz_DEBFKnoVvlRj-RAhXVswCwgqIxzLcq8hTsgsN25kKyfL619DbSuEhP89DQiqsg7Nt5wKrkzKlNmPW2H3sqUfCeKR4TMoaruWaCXQsLOnP_kE8cVMfF8aGIiEckVJCT25oZ8W5fh8krOLPdErDz14pisskpQJJXLzN3w6A47VH6Z59m2WM1oUf43GdwKSduhdSLJuwsy44DG2m5jT1NBuQANR61Iawih2-8NAg_KR_o9_8xD0xL2hIGRcJ79uhPW6kZHggm2d2QwhjgEscwrteM5tr3UMc-DGjwumTJVHO38yvQTzQMh_3dVzHc_69PO_x_dRFpDb0JpEfjGh09ELZXOHkcGCsp9F2Yy_1X2ePLOs7eSkr-f1Z0gPJATtIP6PuqtHhDyZaUw8EOFVeMYBP5-XmA9APyh3fhcSO30KSsU_nMEZIMBkF59NffB3kuS-GcRpPEQzr_1g7HHpMHggkip_msrqdotrZQhFIHUjFIT242DvRTEkaLKJOHQGrbrKu4Cbmo4Jy4hvBwlcrYzjn9aXjIHv73ciPTpW5ZmMCR6ADvnst_2DtJ90xT7bj4HC8VaXQxK3PcBLGnJ_K9kuOwY-Tf2ZrTCSHB1W-xqm3qWyJ-6l70oydwF2uqeC-z2U1Uado21aQ5yv0u7HmS_LSPSoLRwSUenMhTOM_han3omw3IafcabzeOmTKxGqhBs8TDWNJ3aLHxIAq4w9zSCFnOy49HjdXydGMslUfjLDmL-pWX_gpnT-S_6uovloeZAYotjXiNdI6P9W27KFDVUh1cG8LWxPzcMUJP1rjTxLpGwkgo0bqDiVUsadq7OFyry3Zs9YrnQ1SUW0nwukAt6NvSj0pO2rs2PhJsNR3CPVaL98S-LFC8aIQBlI-Tm7Vahtul8OfGxtTwxv-MQYFLebTUpvHKNrqNFDPhnVxqtpdGAzLkJiWHDKqyzR8BUvWPehOu07qr_deQDTa0Gu0tqmOmVPQ5AqS7x69T2zxCfdlZKM0Ewa4EDx2IOc135P3gQYQGaR-yyOAXO4Q-S_YoKYAfWEvG-CeOuyuahg3O9aUk5NsaECoPJupW9Uv04khhWbomNyX55NT6FirDZ1qBZqdRALiYWQLr-cY6XG6KHGoDY6FzyHhCyxF-vHViW_1VAhixZ9yRYSPwqrUSXvFcLYXoD0o1jZYxKvuroEtNU3AYRFQqwwoLFvsK6s62eoeVe4EJm42Qj6GTamqYNtxwyI_Mp9k2soyIM2eE6KLdT0z2PxoaYxVp4DGAnPiANOW_Wi8weY9i4sA8XzR-0V-l8aisLyVqj2FHNa1poLCwfsuJHTsJkokB7jZ_LP5KuQH2UCGbqcEc4AwWO_3mGyarpgzI5994aiIqptxGKxODQJ4wxibLCK",
  "id": "rs_046185568cad4c3b016ab464711c5c87d08db341a6d467afd3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The first bottle’s neck is now under the fingertips and out of the wrist camera’s view. I will close here, then check whether the bottle can be lifted by the neck.\"}",
  "call_id": "call_Bm7KxA3Gtdek3W0KDCqMvTQT",
  "id": "fc_046185568cad4c3b016ab46471f1d487d08c0877b210ffce45",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Bm7KxA3Gtdek3W0KDCqMvTQT",
  "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]: [-0.5613, 2.0167, 0.968, 0.4362, -0.5308, -0.3664, 0.011, -0.0677, 0.7147, 0.4911, -0.395, -0.1169, -0.1032, 0.9998]\nstate[eef_state]: left_x=0.4645 left_y=-0.1822 left_z=0.0401 left_yaw=0.0585 left_pitch=0.0425 left_roll=-0.0087 left_gripper=0.011 right_x=0.274 right_y=0.0057 right_z=0.147 right_yaw=0.0587 right_pitch=-0.0404 right_roll=-0.0046 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -10.5094, 5.2855, 1.1893, 0.0269, -0.0464, 0.8474, -0.9094, -1.2239, 7.0359, 2.0049, -0.1832, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b2f34d1e963f7e7573ff38e516bbd55bf0f3723275e9e01a3410596e7d1cbe0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:744b04b06e5907272d6a46a1b137b23d393139dd4d3ce91e8b63fa49560cb6fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6791edef1fb1a4c38a2b0e1eda9110a8f036d41dbe31c1431d1d36305127ee5c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 4.539 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 113 changed as sent

message 121 changed as sent

message 125 changed as sent

message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7006, 1.0782, 0.8738, -0.485, -0.6029, -0.487, 0.9974, -0.0612, 0.7769, 0.601, -0.4454, -0.1131, -0.1028, 0.9997]\nstate[eef_state]: left_x=0.3067 left_y=-0.1229 left_z=0.2166 left_yaw=0.0387 left_pitch=0.0096 left_roll=-0.03 left_gripper=0.9974 right_x=0.2842 right_y=0.0061 right_z=0.1705 right_yaw=0.0618 right_pitch=-0.0433 right_roll=-0.0062 right_gripper=0.9997\nstate[joint_eff]: [0.1846, -3.7128, 9.2786, 1.5311, -0.149, 0.3004, 0.022, -0.6085, -1.7573, 6.9812, 2.0586, -0.149, 0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5617, 2.0216, 0.9226, 0.5037, -0.5076, -0.3691, 0.9975, -0.0677, 0.73, 0.5224, -0.4023, -0.1169, -0.1032, 0.9998]\nstate[eef_state]: left_x=0.4588 left_y=-0.1831 left_z=0.0329 left_yaw=0.0413 left_pitch=0.049 left_roll=-0.0317 left_gripper=0.9975 right_x=0.2778 right_y=0.0054 right_z=0.1558 right_yaw=0.0587 right_pitch=-0.0317 right_roll=-0.0057 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -6.2427, 4.7248, 0.9109, 0.1099, 0.0317, -0.0122, -0.335, -1.4564, 6.8171, 1.9512, -0.1929, -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 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5613, 2.0167, 0.968, 0.4362, -0.5308, -0.3664, 0.011, -0.0677, 0.7147, 0.4911, -0.395, -0.1169, -0.1032, 0.9998]\nstate[eef_state]: left_x=0.4645 left_y=-0.1822 left_z=0.0401 left_yaw=0.0585 left_pitch=0.0425 left_roll=-0.0087 left_gripper=0.011 right_x=0.274 right_y=0.0057 right_z=0.147 right_yaw=0.0587 right_pitch=-0.0404 right_roll=-0.0046 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -10.5094, 5.2855, 1.1893, 0.0269, -0.0464, 0.8474, -0.9094, -1.2239, 7.0359, 2.0049, -0.1832, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b2f34d1e963f7e7573ff38e516bbd55bf0f3723275e9e01a3410596e7d1cbe0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:744b04b06e5907272d6a46a1b137b23d393139dd4d3ce91e8b63fa49560cb6fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6791edef1fb1a4c38a2b0e1eda9110a8f036d41dbe31c1431d1d36305127ee5c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGR-yXu4neRw-1Ph8S6YNRRW6LgbDcx0y4fHGtZY_ktxZq6ggdhn7bE2Vh8CrqjcHfAFhvHT7uobFwHuHY7jq9aDXJ0wzU5DKoKiyOTJx5xU_XF9ZAMLzB-RjqDVq4ww-nXNuykStfGA7WymQMXghRxvcsRaLOP_qb-AXmHF32UZgvmxM4hPeOb0I96E6FYFs_FixqeTwFmwgWmNPunjnk4EEkkFRbOt75atJvBDCuIgUJlV3XNKwEH1sFROh4_r_ZNyUTNcWHBzeo6JVe1WNoCNlL6Ir9t8QSKtLymC88QjBsQrBzi7q2eUB0DYG_PzThHDwWQuwtGFFJrrbL-aP0uj9sfF3Ck2P9iJLbhoHStIw2t6snIuRRCywwf8eM_JWHRCPjxNxQULbEGEStUhke5_qWZRzt8t_JytDX9Hxs8dax9YgeCJLMnscVo3ebilKDtdci_Cmxch-YtAmeHDtd_eJuesR3NO_H-do3zumnyeVDEGuHSTwV9nrpfGEtTi-7v-LvqWQJEZL8Bm8awaVkx0TNDP5rZSbyDoZQLzV1tCGpAdJGTT-0nTZRkHCmhcAwpCvIYBmuqqbtjriCV1PDsWRszcw5H-awKnrnz_8prjwSUyL1FoXjjsjMZU5-dES-qqFCEOCzQpvzrpeGBZmyc8wbWW9Y58RGZyoya3pjwNjlHmPa8pHXCyYibZuV54Xee4o0b1T33qABFNErZ-JiWbzdi_qvc7AHervU_WqkP_tkln2b8IXTOFD_UgZh6iZuPBqn6miq2P-ZBsC_Y9qqq-xJsoFgEa--Olgjp4Gugxx5nqkhsbm-Fghpc4R81oGmMRd2aLxrC6OrUUZFbvJNAAdFAiuYkAQjVTJjUHX6io3q4V5ZJRNMo6aEIEF4ET9CkZ5SWe8Jvny6AYzytPf2paU3QB0DjKLoulFpSGJMrJwNGAOosKE_4c6lyguBM4sWnZKkYih5ZUUmZAga6CCwigysnsOcEwTKhhnQBLcspNalw7DoH0wHmOHbsRpRkDm6_l3wq2DZwupQ-Vkj3I_-LNovfQ4M-N3rdmvz7kPz3yISVgpvb470bSShWXHGROqovx4HpZLCGBF3sR9motFP6K8AGKDPrk_MStkifW0iBFrP-DRKAqE03KEDTRaw2ZVqE1Ku7_ifb7EoNq3XM9XbvX9TX_x8-p_2uS3MSENiyY-7eLSwuBy-qGKKuy0wlyIN8qV1psrsfctOIIPMb2wsN01r0-bvHPY-ucc-GBbpEh0KPrQyHPkLPuzjLFZPsNwQDn8O3_Xv6l8buEfHZQDrdKxUNd7XW4O5PSf2vt1m5Od-kql0fS6Wm5QQ3fHDtoQcwRW7SFoxfsuhGEMg57ABcr1zrpNDtJJc-6jHZTmH5bGLpx-0ilIvklauX0lAwwHhzfudpZZ0GOUQQJ1wjLQblFXuv_RlfgA6ThUcuhwTLVwv7X9EbVfycVOwHVPllf_Eg8_FvB4jxWmxI0BucGPJaeNOUEBN3YR8PgTnztxcvFB6TvA98EOgee7EwQ688te-hG0ag_uaz1E6LUXiVxgGgGeFsSd37LecLvA2N6fWqhbcdEohptsI_zdfSaesYlyxFnNCiHLx2xeOuUJRtXZSMfpVROtIqbXBuN3W6yGa-533wbkj8zBU2WA3GoA7rFG4UkAzmEXu-6JzU5lsopeA9b4TrhMwQzLkOa7CdG18_kcCQiT8w2K4z_j4SVVQ4fXuaE2a0f8XMuer3KOEleKABOIeK_NcdEOyIjTZ9UjXnJa3pjd3KHaIHqFtKIocJL8e7hHjVeEdY3Cfnnod8p3p0Z19qEJ7j2Q9RYNK9-EEOmVuf0pmZmdea4Ca2szTbCCMZheQcFawIVp9XXlw0phYOs0I4qz3VSsGlaKMIwPAQx-lfRgiSV3L7BhFupdGzFvQgs100skHzKwDp_RwsCAo1eu3mbZHdoZlIefxQjsKZUiDxo6a9svCizl1DVz2-YZu3hF9UivlPvme5w_1XTkA9ae_davc8iOdINWy4xZwjfKqre9QCrl1ctD5zSWIldjTfwLpaBLug5w8FwPIVZtA6E4eh7QMeWxoR0qEHDHv38O-fZlqThIznsrhM3eTiC3S-r-1dpnOFzFmX0GlDx8IFmtZJVgkspI90COy9rY0J2hm1uJfjz0E7r3vXi9yJGJ25Hor4ewK3kso5oIH7wlPPVK16i9DX6iiarol_WzBkkheMVvReJ6HzkY58U30EmBL_-zc3rL7udBfHxdZwC3nIkC9ZBZ_lmuQeu8vcoDJeMqYpKJ7s0rd4auwxDogyM5AKyxmg_7rOaa7U8kefo5lGdqGe0nU70V_Rk0z2TkN1gb2zf9BMqBOIWxRpgdzN2Pa19Uk8k9GtWPpP9RdMdBPL53yr-LaIuisjI4q_oemoZq_2tMRezdqbr66aTj1Lrtlk2krSQ-uvbYwIHW0rzc3stV18pzWlBkjO3zLlHjcKKpgRR8L_yqCVcs2CiTo31Od-Q1tze5AqI4GQ1v-wjq7TRGx3t8jxI6QaBJJABD4H8DhRrSLlUdba8XpWH2TV4GOvZw4CLC_z1Ve-7ohCRkgg-VHtiSmYNxz6YTpFst-xlP6gAJSXP9cEv5zStXHluEERqMtIyNuByvThTm8_-lLjy8tiqVXkGbF1YsLlq5BJ_vOtmV6PlSl_nw6DGHHJ3X-CnqbVNjFBDSOkjhPaOcEAjeXdXl_HYo8PZ0cCjq9_8U98fPdy2OP8Zv9PctL3ha_zFZgOkF5cr8acKpaW8PAKdyo8p8rp6Z2OzyDx9Gls7K-4FQ55pJcIX1s-ryFRu-5SHC_0KgyqYDsoeJOgh4T6yADg1evCQTwsBfq1pLYbcIeUy6ZioV7HVTSVJnopFHj4c9n9RV_Eqp_r_OvB6SEQkC2cLe9k7FOPtP0QExEDuh7MNsHPI_rLkR9IXUiuNf3dMJWoOtLGudx-FF4l5m75TiZBPlW-P7tpEG2MyiUVWqt7fXpelm1pVXBn2xwFskeFAR8EFGLT7rs6vtyL4dsj-khcaG4cZ7Q4ywfbFf3oEoSHN0NqxHXtQwayNkn_wHWz6AmBvZukIqwS82Qn8o5qk4WroFuxi3ZPUxulCpEcORImbSq2DIn-iRYxK1_jFVOeVpRVzP46yDvi6KyYf_OuSXM5b4tjFGwFJJGzwBqcKtp6Z7hUxG9R8NXw4sftCsv9pOJ7XkvOecSbkZ25iEgTMmNQRh50RjmUiW04xuSz_XG8=",
  "id": "rs_046185568cad4c3b016ab46475eb4c87d0b62a7050471aedb1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.18,\"left_z\":0.1,\"left_gripper\":1},\"note\":\"The gripper closed empty again; the overhead view shows that it passed beyond the first bottle’s cap. I will move back over that bottle’s neck, keeping clear of the neighboring bottle.\"}",
  "call_id": "call_TmHFFvz22WRfCBkSLoaXaYMZ",
  "id": "fc_046185568cad4c3b016ab4647d0f6c87d0834f9e5aa61d654d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TmHFFvz22WRfCBkSLoaXaYMZ",
  "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]: [-0.6834, 1.6749, 0.8379, 0.1352, -0.5961, -0.469, 0.9944, -0.0677, 0.6914, 0.4541, -0.3759, -0.1169, -0.1032, 0.9997]\nstate[eef_state]: left_x=0.3916 left_y=-0.1864 left_z=0.0934 left_yaw=0.0411 left_pitch=-0.0024 left_roll=-0.0099 left_gripper=0.9944 right_x=0.2708 right_y=0.0059 right_z=0.1399 right_yaw=0.0587 right_pitch=-0.0351 right_roll=-0.0053 right_gripper=0.9997\nstate[joint_eff]: [-0.4855, -9.2239, 5.5726, 1.4481, -0.398, 0.1197, -0.1587, -0.7453, -1.3333, 6.8444, 1.9707, -0.2125, 0.0122, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29072cd9ef077308312ac203a22a494426205e255a4262ebf68b737cd0a03179",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7a86a66840b5dc4f7070cfcad51efbdf171074bfc5891b0c2c0b0c262f0ec09",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc72ee2b460b0e99eb89f011fb5579dd629a3c9a0f95df4d11514f5d333fd64f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 33 attempt 0 · /responses · status 200 · 5.449 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 117 changed as sent

message 125 changed as sent

message 129 changed as sent

message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5415, 1.7046, 0.9623, 0.0212, -0.474, -0.3622, 0.9975, -0.0669, 0.7506, 0.5571, -0.4225, -0.1165, -0.1032, 0.9997]\nstate[eef_state]: left_x=0.4265 left_y=-0.1583 left_z=0.1023 left_yaw=0.0318 left_pitch=-0.0672 left_roll=0.0268 left_gripper=0.9975 right_x=0.2804 right_y=0.0054 right_z=0.1622 right_yaw=0.0591 right_pitch=-0.0377 right_roll=-0.0052 right_gripper=0.9997\nstate[joint_eff]: [0.6085, -8.0752, 9.0188, 1.79, -0.0464, 0.2906, -0.0073, -0.4991, -1.388, 7.2821, 2.0098, -0.1783, 0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5613, 2.0167, 0.968, 0.4362, -0.5308, -0.3664, 0.011, -0.0677, 0.7147, 0.4911, -0.395, -0.1169, -0.1032, 0.9998]\nstate[eef_state]: left_x=0.4645 left_y=-0.1822 left_z=0.0401 left_yaw=0.0585 left_pitch=0.0425 left_roll=-0.0087 left_gripper=0.011 right_x=0.274 right_y=0.0057 right_z=0.147 right_yaw=0.0587 right_pitch=-0.0404 right_roll=-0.0046 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -10.5094, 5.2855, 1.1893, 0.0269, -0.0464, 0.8474, -0.9094, -1.2239, 7.0359, 2.0049, -0.1832, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6834, 1.6749, 0.8379, 0.1352, -0.5961, -0.469, 0.9944, -0.0677, 0.6914, 0.4541, -0.3759, -0.1169, -0.1032, 0.9997]\nstate[eef_state]: left_x=0.3916 left_y=-0.1864 left_z=0.0934 left_yaw=0.0411 left_pitch=-0.0024 left_roll=-0.0099 left_gripper=0.9944 right_x=0.2708 right_y=0.0059 right_z=0.1399 right_yaw=0.0587 right_pitch=-0.0351 right_roll=-0.0053 right_gripper=0.9997\nstate[joint_eff]: [-0.4855, -9.2239, 5.5726, 1.4481, -0.398, 0.1197, -0.1587, -0.7453, -1.3333, 6.8444, 1.9707, -0.2125, 0.0122, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29072cd9ef077308312ac203a22a494426205e255a4262ebf68b737cd0a03179",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7a86a66840b5dc4f7070cfcad51efbdf171074bfc5891b0c2c0b0c262f0ec09",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc72ee2b460b0e99eb89f011fb5579dd629a3c9a0f95df4d11514f5d333fd64f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGSD8IB9XTPNF5sG2XbzAhm8EI8l9dVfqsI9Nx69N7Z203HQ0eBFA4oeSqoq9uYKJl5ymJ35IG11FEEkXGbLZGO_9C7PSpxcjS5gUpx_SU1sQbJYo_6tFozYPjZHXvKU_hzZInxGW0uyGtZNpsexGkwNt_xUTyyqa7UTCjSphha-Hrj7go8rlmU-4AydLj-SO0s4UKBorIRBz13p56-KrQlifHyodm3iHCIYJzBI3alRqvJG5cZa2C9sCNJW5-JXN6J5kOqzybi8oxi8bW3UFAlwm8Zxw-pbZ_-cw5pNK7NrlOJaRHOH3p7uZKB09HoxUk2T_W7MxYTg186AxSYTWc04DVoKci2MQ-nmacDp6ZO2pmtYlNmxQA6l8OYVRbcCtv9IbD2UOSmQ0sOJmtFTYe2UT-zOCh1iEUlX8hG-sMMbWmm9OU5OoZf2Np19ZOQrKe_ZT6hY-8Gmiizy2GRlGi6VYGqj25DcD1rCW0_2dQmsY6KG0VJhnTpKA8Q36eC3cfJ4SaOwH601dHRCNezpUALRq-Wyb2OaiJuFvv8AUMB2riP4cp8sHi1N4bmDDRP2QzPWZ_rnUy-YLNfzOGG7v1Bqa_ZH4M2e36nTBneuR0kicWZN2mut1D1GgovFqPe0TxmjVheRoWovimM-60Ls5V1A1kJeYo2bF78DwdLdVMXT17j-nZ8ozEAPrRhRalw4gZ6vWBA3gfX6OAF-k9cSHIYiAMmVmX4fGXJvDwexkU0DJuPFZlBt7OknoDk7PEW5yvTC4FYVkySJLaUkhK0YMfLQmSwVVRP4iKQox_gISL-elipoOTIANHGvKUMeta4QOQuW1AB0KnfWJJLk7GFtbp4UmoKNrfJJhhvuTxKjR1wb97_2J2Ql9JWg1ZwfuCEH_ndv7uugVPF_jzaTBhELHFPJzU2x4eIvh6DcNsvqcFjnHt12he_jrC5W02A-lmkClq1MOh8_q7UP0BFGS8V_PX6ZMfnxlB6utp8GqyArC-LZ7fCnf7K00wzHm9Zm4H7ZABFgJCSWIfTU9W4JBN0jMIYo6QQa-jRD6stXQ_3wa3RQ2k52ldc4yiQcsZaDNSWtZVxvdUR-Db_ojpZKTyv978e3fYrnTEX2tohB3EqaTIXxheDyXiSvfb44mp6uHw-5tq8JjMnyl3pNETPh1WYEyzGICckOV3sG4VlFxaa9yrwjXba1QX2vFRP3nZfpwtxQ0Z4iauXiWH4d3OpvWSmg3db96OhfY_eHj6Fyb1qBelMLbSGhAzqxv_fnih5vGKXmblMZnUkgpLLhCl9Y6Vy0UlqfvjB8qdirh8jkQcTFriBToJc3l2kwMvaVFIpGI6vMNEuLAUhBJHI0-mlSMqgQkXj1R4tB_tC2iydUJ1kntTCKDXBq-tjdN_5xQiJ3uuQbTng0YscYr5k3koOrO4ShnXn0auLM-QhwL24LL44APfuhjdqbyc0fWwTTcn8so9Aby2-puDUbLtMA0X8LrO3jeUeoyRhqzJi9Qy3_CsbFBKAhq4lIT-rGoYLo1JVWFQZv5gf8OGh0UIMG86JM-dAxh208HpHsTSaaFlEnePFKa7qvSEs-k4S1AuwlxiITr1nnuxpx",
  "id": "rs_046185568cad4c3b016ab46481024087d09b2f1d72d58b392f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.16,\"left_z\":0},\"note\":\"The first bottle’s cap is visible at the lower left of the wrist image, separate from the neighboring bottle. I will center on it and lower to table level for a neck grasp.\"}",
  "call_id": "call_6BmnkIOzOponHhGyg1uNFpnU",
  "id": "fc_046185568cad4c3b016ab46482d2e487d087b5568fed7abca3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6BmnkIOzOponHhGyg1uNFpnU",
  "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]: [-0.6159, 1.8999, 0.7086, 0.6029, -0.5728, -0.4255, 0.9956, -0.0677, 0.6708, 0.4229, -0.3645, -0.1169, -0.1028, 0.9997]\nstate[eef_state]: left_x=0.4114 left_y=-0.1695 left_z=0.0353 left_yaw=0.0699 left_pitch=0.0754 left_roll=-0.0564 left_gripper=0.9956 right_x=0.2675 right_y=0.0061 right_z=0.1332 right_yaw=0.0585 right_pitch=-0.0343 right_roll=-0.0051 right_gripper=0.9997\nstate[joint_eff]: [0.8274, -4.2462, 2.0308, 0.7497, 0.1148, -0.0611, 0.105, -0.7179, -1.1009, 6.8171, 2.0147, -0.1685, 0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe03bdbc4280f886805b3a67bf0892aadadac2fcacbb5e851b9da193a83c0942",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a68c17d1c120be3f9682f2a29c1e89036e5ef998220718dec06807dea2a7863",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7e09f35e00cb09cede67336d085f6dddd36cc3dd165f44c68a300d0ccf17986",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 34 attempt 0 · /responses · status 200 · 4.7 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 121 changed as sent

message 129 changed as sent

message 133 changed as sent

message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5617, 2.0216, 0.9226, 0.5037, -0.5076, -0.3691, 0.9975, -0.0677, 0.73, 0.5224, -0.4023, -0.1169, -0.1032, 0.9998]\nstate[eef_state]: left_x=0.4588 left_y=-0.1831 left_z=0.0329 left_yaw=0.0413 left_pitch=0.049 left_roll=-0.0317 left_gripper=0.9975 right_x=0.2778 right_y=0.0054 right_z=0.1558 right_yaw=0.0587 right_pitch=-0.0317 right_roll=-0.0057 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -6.2427, 4.7248, 0.9109, 0.1099, 0.0317, -0.0122, -0.335, -1.4564, 6.8171, 1.9512, -0.1929, -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 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6834, 1.6749, 0.8379, 0.1352, -0.5961, -0.469, 0.9944, -0.0677, 0.6914, 0.4541, -0.3759, -0.1169, -0.1032, 0.9997]\nstate[eef_state]: left_x=0.3916 left_y=-0.1864 left_z=0.0934 left_yaw=0.0411 left_pitch=-0.0024 left_roll=-0.0099 left_gripper=0.9944 right_x=0.2708 right_y=0.0059 right_z=0.1399 right_yaw=0.0587 right_pitch=-0.0351 right_roll=-0.0053 right_gripper=0.9997\nstate[joint_eff]: [-0.4855, -9.2239, 5.5726, 1.4481, -0.398, 0.1197, -0.1587, -0.7453, -1.3333, 6.8444, 1.9707, -0.2125, 0.0122, -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 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6159, 1.8999, 0.7086, 0.6029, -0.5728, -0.4255, 0.9956, -0.0677, 0.6708, 0.4229, -0.3645, -0.1169, -0.1028, 0.9997]\nstate[eef_state]: left_x=0.4114 left_y=-0.1695 left_z=0.0353 left_yaw=0.0699 left_pitch=0.0754 left_roll=-0.0564 left_gripper=0.9956 right_x=0.2675 right_y=0.0061 right_z=0.1332 right_yaw=0.0585 right_pitch=-0.0343 right_roll=-0.0051 right_gripper=0.9997\nstate[joint_eff]: [0.8274, -4.2462, 2.0308, 0.7497, 0.1148, -0.0611, 0.105, -0.7179, -1.1009, 6.8171, 2.0147, -0.1685, 0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe03bdbc4280f886805b3a67bf0892aadadac2fcacbb5e851b9da193a83c0942",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a68c17d1c120be3f9682f2a29c1e89036e5ef998220718dec06807dea2a7863",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7e09f35e00cb09cede67336d085f6dddd36cc3dd165f44c68a300d0ccf17986",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtGSJjytNZxOMX2RadeibQXBUD-ha2QU2fNFNfYXqXf-fzixqDwMuk8gjXm-NrDoBcKRdULcF-fVwwWXP7mqHjtTX-cNu9_AfSK0lW7lvrJTbBNy8DXKkyvoE8VnEasbfmov_lfcOzEruaJBwf9vnOiqduItShp_YOcelyaqVCIl0nqYaig-9dr8Scac6XCDKH2uGJhKaqLaalmDXwTJ8Qzz3inlTMrB-JOS6gvAWAmEP5K3R9GQPF00xR52-610y0jI3aln3hrfg9SWwHMdGyB8SZFUbyINkbYIU9xeYtXSzO2ttEqlUsIXLfnfpnZZ0llYI18Z9FifXOF8MfEb-mYp-yGTQ7KxR1cngqUuUqRKr6_QofAePFZVmvxv2RKUf4yiFPAwiSTZdF5FsGyN0f88XmMZW9OIRobLG_VOIXNr6v4TlcR5KbNGGOC-nvU4FS7NqllS2CQ0hvxYaykJkAkWBXO7rnC0PCKSfSEE_OEQgtoKkpZLCy7Jo1W_YcYm0-N3mlG8d9WVTkeSqM-cfNMYT_Fn7kardWdWB9nZdRHBbTgDriFQN9yrfsu9kc_DWzqDIGbjewHsW1x8NjWvP5z-NZLaNq5RSahEIN4o8MQMiTUrpA9RDSa2cGFSoJpsVpP-iFTgROtxt38sDQsVsxqxfXvf9aXtc1WhfEzUY-Lv-A3XAwtBx9rP4bogIMApXpD_dLIBoyLlgpXsc98d0dJyjvIZGLafwI-hQnpiXwFNeiQ1RCRv-251EV5EmyxoPexWDdcEhPxwLTx1dNBCm9iTdQ9PlBq9NvsCcp8uUwBvW_o0Bwa8G8gPTmijxKc9EmPTpI7KA7R76AHCYYxRU5RH6miChhzeMFh0OT-5hZV_VExCH9AHizxh4drrYzdEEpUtquRpTzqeIoTMjaKnmdmDkxmb--Tb7zJtC-VJP9s1XYJZ6NRrEe5EnHZESlQasa8iwAtI0zMasjzDKpcM6H67Im1oESJ6uvt_Dpmrmt3rT0LTd9vlFKRsFyi0BKRhXrK1_wRupwT0zBuwGpeXpIa86lymqLuo5-mqZBMVcAOy69NFz8XwAEcsJd-f_p1FR3a2WSc38Ee4asYAerOhZxGQ39RzXahqrMENeEgkPsonr4MO9XzCDHsGMopxBEttDaMS__sLizd7Z_dxA-qoc0fJDZ8OaY0PLDSaatuJVmJFpxmA_SDrdKnZpQ02xdxaSQFNEqmFCYVv78OKFrneVBvnKpjczx-huqey7hBINCTIngXEaosQN9CVAvog4ihuQ_jl9xYFmJi6IG32nQ_3KVWvPKoImSMGfqG5NFgE3IoR4ZL1o1ZkBy2837d1hyfhprdvILY07LPvnPydZLhl1zV8lhJcnKpanOC3nV7WFaEU9nasaL86iWoBOAgTSemsbU7MzY4an8HwayqRxGPkTmCfPM2kHnDKY-WXZhspg5CR8Z8O3xbYXlhtXRL6UHdCF-yyXYyVGYhwgoYpqejWOl5htat2xfX8R6B4b8yubZG3_2Ex36VuDiM6vP06R6RaK_vFqCf2VPxSQmjnzUYyMP_0-SbUIFHdt6Ivk2ebWNcZjE_TkO2mHgZ_fGr_jlUPlZG1oPaKIyR2Cs8oAgnu01vbMZXGqYzogj-3Y_M0_PYYtADzd5XucXeIe6tTlhD5cjEGNZxqlyj5QZBeq4XjIZs8qHJmikHO1cSp0hNu__h05ABOquOCezP9OwN4pznW7KeyOu6NyZhiV3OzprSdbKotFpqDfzgMu03nEoWn0IwLXMjb3e2th1CjqmjPrBZ8645tltp7p6yZqhS08pGxZY532sf4Qx2p2FTq5TroKuAuFLFqK_NgpMrwfjyMTN9WY5S85",
  "id": "rs_046185568cad4c3b016ab46486e16087d09171134a50f7af17",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.15,\"left_z\":0.015,\"left_gripper\":0.45},\"note\":\"The wide-open right jaw is close to the neighboring bottle and may be blocking the descent. I will narrow the opening and shift slightly left to isolate the first bottle’s neck.\"}",
  "call_id": "call_ba6zB1iWyrYzA7zdzvIXGxGp",
  "id": "fc_046185568cad4c3b016ab46488d4bc87d0b3d78f259032c41e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ba6zB1iWyrYzA7zdzvIXGxGp",
  "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]: [-0.5816, 1.8751, 0.7067, 0.6136, -0.5915, -0.4114, 0.4557, -0.0677, 0.6476, 0.3927, -0.35, -0.1169, -0.1032, 0.9997]\nstate[eef_state]: left_x=0.4192 left_y=-0.1534 left_z=0.0479 left_yaw=0.1136 left_pitch=0.108 left_roll=-0.0574 left_gripper=0.4557 right_x=0.2648 right_y=0.0063 right_z=0.1281 right_yaw=0.0586 right_pitch=-0.0267 right_roll=-0.0063 right_gripper=0.9997\nstate[joint_eff]: [-0.0479, -6.8308, 2.441, 0.7302, 0.2759, -0.0317, 0.3004, -0.7863, -0.6906, 6.9402, 1.9805, -0.1734, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45fad3f4b458842da3362749c5b5cf640b1149d556af1ab440fe339965988a5b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:455952390b813b86d73379dffd99f75cb258b2b7ecabeabf078599dc5fc2d5b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7821dabf39d78f91d8d292bc79e3f2ec2755a4f0803b2555fbcc9b1a141d5f1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /responses · status 200 · 6.489 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 125 changed as sent

message 133 changed as sent

message 137 changed as sent

message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5613, 2.0167, 0.968, 0.4362, -0.5308, -0.3664, 0.011, -0.0677, 0.7147, 0.4911, -0.395, -0.1169, -0.1032, 0.9998]\nstate[eef_state]: left_x=0.4645 left_y=-0.1822 left_z=0.0401 left_yaw=0.0585 left_pitch=0.0425 left_roll=-0.0087 left_gripper=0.011 right_x=0.274 right_y=0.0057 right_z=0.147 right_yaw=0.0587 right_pitch=-0.0404 right_roll=-0.0046 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -10.5094, 5.2855, 1.1893, 0.0269, -0.0464, 0.8474, -0.9094, -1.2239, 7.0359, 2.0049, -0.1832, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6159, 1.8999, 0.7086, 0.6029, -0.5728, -0.4255, 0.9956, -0.0677, 0.6708, 0.4229, -0.3645, -0.1169, -0.1028, 0.9997]\nstate[eef_state]: left_x=0.4114 left_y=-0.1695 left_z=0.0353 left_yaw=0.0699 left_pitch=0.0754 left_roll=-0.0564 left_gripper=0.9956 right_x=0.2675 right_y=0.0061 right_z=0.1332 right_yaw=0.0585 right_pitch=-0.0343 right_roll=-0.0051 right_gripper=0.9997\nstate[joint_eff]: [0.8274, -4.2462, 2.0308, 0.7497, 0.1148, -0.0611, 0.105, -0.7179, -1.1009, 6.8171, 2.0147, -0.1685, 0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5816, 1.8751, 0.7067, 0.6136, -0.5915, -0.4114, 0.4557, -0.0677, 0.6476, 0.3927, -0.35, -0.1169, -0.1032, 0.9997]\nstate[eef_state]: left_x=0.4192 left_y=-0.1534 left_z=0.0479 left_yaw=0.1136 left_pitch=0.108 left_roll=-0.0574 left_gripper=0.4557 right_x=0.2648 right_y=0.0063 right_z=0.1281 right_yaw=0.0586 right_pitch=-0.0267 right_roll=-0.0063 right_gripper=0.9997\nstate[joint_eff]: [-0.0479, -6.8308, 2.441, 0.7302, 0.2759, -0.0317, 0.3004, -0.7863, -0.6906, 6.9402, 1.9805, -0.1734, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45fad3f4b458842da3362749c5b5cf640b1149d556af1ab440fe339965988a5b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:455952390b813b86d73379dffd99f75cb258b2b7ecabeabf078599dc5fc2d5b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7821dabf39d78f91d8d292bc79e3f2ec2755a4f0803b2555fbcc9b1a141d5f1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGSPEdvRrM7KJSQ1tWyrvkumCioQCIaOjdNI4A1P5KIIg3PPPz7lpRaDggfjx-LA9sOi8lSAf-LYWXMQPRH4QwWsNnjSZtV2MoiGYBwidou2MgdYIAy3ZHHtBjEO_fCvfTDD7wkLRCaiisP2MXNUgkZVl8Ku2vskUr7qJP6AAHk7iuHL80gEOhkD8yBC-38AgPMWZ0DdwGihT0NEh2hqJ23ExUx79kXvg_2BT-idRCZbAUC3Q8UuGmd6cgK5zBFY-AhxyBUIh21AfEmUGKKMM_qxvgHdLjmBVT_GHeSRGRAaKWRsGlW0x4r_8IL5CDrhhmiYXSI58PrGVsWmALj5dG9qClJYFKrslPd_nZbXWRMOz_McchL839r-nyCIA7mgQlcWXlaI_rqAWvhtELAqj-XkT1_BCNrMG6ygHLo_VhbUnRT0zdgXQfGnYCcC3ZzuSaXGXWhBBjeoeEveeIMWmOohgx_U1eFoA2qAj9NjK-qsp6O_tiI5oTKHoAD9Swi8yLBNZbhkNuJeZnZ66lwZNVxSgTjapWh5TWzPaPgssbktJx7p5pn9z_u4Sdk87mk--YJPwNRUWUXdphAk70lbW-PKGeIQflROf6gSSpEO4BN-hJ1dHkoRgjTTIOB3erx_ry28EsGMlNuxkA0t-VCgqFI50q8OnTB5eZD7DO8eXgCuRahl3RFMu-ICNvTVn9n4ZYV9WU34Td1Zc1wdQtcoxNouB-jAXDxr9SMjK4pgTD9pO5MI0sIDTPJsEfBFz-v6NMW_uiumMSZmS8G0N93A_EXFo4w54gQZAOUwo3Ww3DfqCy0tQbSSlXvcS7-FZ8NL0-QUd5Z3O-LzoWExonnirsrWDC6HBqptJYwTvHt4beci-Fi968A7tzb87tHuVBXM0QKzT2DJoB02YaW4fJiYk46NwPeQv3exjd5HxDy_IKrcz3FdoriM68R5u_dWkHxU2tF2YNNnNiT-HAsQ8KfEj_AzzafgOtEZibV_dXDKLo6FQXWc-iDxQmcu5jgMDYJHJziVAzSUCauOiqCycR0wlIZmoZXpFuwgLfdLPX5-FpadCIZW8E0a2tp8E8ubqyeQy5GlX1qwLolvppz5vYOoRP6oiAVRsl0LIet9Yg-cqzWoTbkDnrq9xgPrOusg0FiVL1iktNDKMWLTGRG2l_3rzRSdq_T3LpOIkErHjJzHtEnoRHzaYNwvL4y1jMAsWYuXcBGGXyaTTN7WmoJdIudfxAdqI56YOaqiQbLgO7cTvfApBz_yPUoYxryERsSMzwwSiHJHoE6bdVM9naUqK_wplUJJ8vXMBmrsNGvFtpXX3yXk4U3cop1nDfkCKNba-Gi0MPPB4pDix6KtW6BN_oiSIFGMUcMWAUUgvBmbtjCXlvXrHjxOnh80e5biGyuO8vq_ehoKElzg7T_JZSVVyKV6PBlUEAEvwtCp3YyyqxVdHx33yFEFFQctHbNBKNPygziEYIo2lp33XLoQT-K3_rijSBzCRA==",
  "id": "rs_046185568cad4c3b016ab4648c578487d0b3ecf9375de3a70c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.16,\"left_z\":-0.005,\"left_gripper\":0},\"note\":\"The neck is now within the narrower jaw opening. I will finish lowering and close fully, using the measured jaw gap to distinguish a grasp from another empty close.\"}",
  "call_id": "call_mNMmeGwmziz8thJHnZTYM5tA",
  "id": "fc_046185568cad4c3b016ab4648da2f087d0b613ebce137b99c6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mNMmeGwmziz8thJHnZTYM5tA",
  "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]: [-0.5976, 1.9427, 0.7712, 0.6601, -0.6483, -0.4492, 0.0103, -0.0677, 0.6334, 0.3725, -0.3424, -0.1169, -0.1032, 0.9997]\nstate[eef_state]: left_x=0.4345 left_y=-0.1623 left_z=0.0525 left_yaw=0.1678 left_pitch=0.1584 left_roll=-0.0996 left_gripper=0.0103 right_x=0.2628 right_y=0.0064 right_z=0.1239 right_yaw=0.0586 right_pitch=-0.0252 right_roll=-0.0065 right_gripper=0.9997\nstate[joint_eff]: [-0.9094, -3.6308, 3.1248, 0.149, 0.4176, -0.1148, 0.8669, -0.8684, -0.9368, 6.653, 1.9463, -0.1734, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92364f12208e976f7d72053c01b25e7a6fef3ebd4c2b60f9de603caa0f2f56a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3af0fbec582fd7d06869d3d7308a8c8d748bdbde9f23fb8cfdb13b5480941223",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07cb738d398db3f27d8117c41aa123ed3ee7097e48ec99177ec7c773fbf1a09e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /responses · status 200 · 3.933 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 129 changed as sent

message 137 changed as sent

message 141 changed as sent

message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6834, 1.6749, 0.8379, 0.1352, -0.5961, -0.469, 0.9944, -0.0677, 0.6914, 0.4541, -0.3759, -0.1169, -0.1032, 0.9997]\nstate[eef_state]: left_x=0.3916 left_y=-0.1864 left_z=0.0934 left_yaw=0.0411 left_pitch=-0.0024 left_roll=-0.0099 left_gripper=0.9944 right_x=0.2708 right_y=0.0059 right_z=0.1399 right_yaw=0.0587 right_pitch=-0.0351 right_roll=-0.0053 right_gripper=0.9997\nstate[joint_eff]: [-0.4855, -9.2239, 5.5726, 1.4481, -0.398, 0.1197, -0.1587, -0.7453, -1.3333, 6.8444, 1.9707, -0.2125, 0.0122, -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 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5816, 1.8751, 0.7067, 0.6136, -0.5915, -0.4114, 0.4557, -0.0677, 0.6476, 0.3927, -0.35, -0.1169, -0.1032, 0.9997]\nstate[eef_state]: left_x=0.4192 left_y=-0.1534 left_z=0.0479 left_yaw=0.1136 left_pitch=0.108 left_roll=-0.0574 left_gripper=0.4557 right_x=0.2648 right_y=0.0063 right_z=0.1281 right_yaw=0.0586 right_pitch=-0.0267 right_roll=-0.0063 right_gripper=0.9997\nstate[joint_eff]: [-0.0479, -6.8308, 2.441, 0.7302, 0.2759, -0.0317, 0.3004, -0.7863, -0.6906, 6.9402, 1.9805, -0.1734, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5976, 1.9427, 0.7712, 0.6601, -0.6483, -0.4492, 0.0103, -0.0677, 0.6334, 0.3725, -0.3424, -0.1169, -0.1032, 0.9997]\nstate[eef_state]: left_x=0.4345 left_y=-0.1623 left_z=0.0525 left_yaw=0.1678 left_pitch=0.1584 left_roll=-0.0996 left_gripper=0.0103 right_x=0.2628 right_y=0.0064 right_z=0.1239 right_yaw=0.0586 right_pitch=-0.0252 right_roll=-0.0065 right_gripper=0.9997\nstate[joint_eff]: [-0.9094, -3.6308, 3.1248, 0.149, 0.4176, -0.1148, 0.8669, -0.8684, -0.9368, 6.653, 1.9463, -0.1734, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92364f12208e976f7d72053c01b25e7a6fef3ebd4c2b60f9de603caa0f2f56a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3af0fbec582fd7d06869d3d7308a8c8d748bdbde9f23fb8cfdb13b5480941223",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07cb738d398db3f27d8117c41aa123ed3ee7097e48ec99177ec7c773fbf1a09e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_046185568cad4c3b016ab46491504c87d0a3e2f041902484d7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.02,\"left_z\":0.23,\"left_yaw\":0,\"left_gripper\":1,\"right_x\":0.294,\"right_y\":0.004,\"right_z\":0.2},\"note\":\"The neck grasp is still empty, and repeated low approaches are being blocked or deflected. I will move both arms clear rather than keep nudging the bottles without a reliable way to stand them.\"}",
  "call_id": "call_Km2VkdzB2lDY7tt05IMKACVZ",
  "id": "fc_046185568cad4c3b016ab46493893887d0ab780e17a412178e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Km2VkdzB2lDY7tt05IMKACVZ",
  "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]: [-0.313, 1.7439, 0.7795, 0.3809, -0.3862, -0.2714, 0.996, -0.0677, 0.7998, 0.6445, -0.4751, -0.1349, -0.1104, 0.9998]\nstate[eef_state]: left_x=0.4494 left_y=-0.0717 left_z=0.0763 left_yaw=0.1396 left_pitch=0.0256 left_roll=-0.0113 left_gripper=0.996 right_x=0.2867 right_y=0.008 right_z=0.1784 right_yaw=0.0777 right_pitch=-0.0505 right_roll=0.0015 right_gripper=0.9998\nstate[joint_eff]: [-1.3197, -11.2342, 8.7179, 1.7656, 0.2076, 0.398, 0.0269, -0.8684, -0.7726, 9.9897, 2.0147, -0.0317, 0.0659, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89c6be1bb62d36973ac283c48853c06f8f5568246b839096176eda8911abecdd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b01ca9f0ae92db84d0ec573e0bd8b58f97de94d49684923c26d940d6cd7756d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcd0adc25c92ab7571fa24c91cffcd8f68d92552e20bcd4415991437917f2045",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /responses · status 200 · 5.446 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 133 changed as sent

message 141 changed as sent

message 145 changed as sent

message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6159, 1.8999, 0.7086, 0.6029, -0.5728, -0.4255, 0.9956, -0.0677, 0.6708, 0.4229, -0.3645, -0.1169, -0.1028, 0.9997]\nstate[eef_state]: left_x=0.4114 left_y=-0.1695 left_z=0.0353 left_yaw=0.0699 left_pitch=0.0754 left_roll=-0.0564 left_gripper=0.9956 right_x=0.2675 right_y=0.0061 right_z=0.1332 right_yaw=0.0585 right_pitch=-0.0343 right_roll=-0.0051 right_gripper=0.9997\nstate[joint_eff]: [0.8274, -4.2462, 2.0308, 0.7497, 0.1148, -0.0611, 0.105, -0.7179, -1.1009, 6.8171, 2.0147, -0.1685, 0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5976, 1.9427, 0.7712, 0.6601, -0.6483, -0.4492, 0.0103, -0.0677, 0.6334, 0.3725, -0.3424, -0.1169, -0.1032, 0.9997]\nstate[eef_state]: left_x=0.4345 left_y=-0.1623 left_z=0.0525 left_yaw=0.1678 left_pitch=0.1584 left_roll=-0.0996 left_gripper=0.0103 right_x=0.2628 right_y=0.0064 right_z=0.1239 right_yaw=0.0586 right_pitch=-0.0252 right_roll=-0.0065 right_gripper=0.9997\nstate[joint_eff]: [-0.9094, -3.6308, 3.1248, 0.149, 0.4176, -0.1148, 0.8669, -0.8684, -0.9368, 6.653, 1.9463, -0.1734, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.313, 1.7439, 0.7795, 0.3809, -0.3862, -0.2714, 0.996, -0.0677, 0.7998, 0.6445, -0.4751, -0.1349, -0.1104, 0.9998]\nstate[eef_state]: left_x=0.4494 left_y=-0.0717 left_z=0.0763 left_yaw=0.1396 left_pitch=0.0256 left_roll=-0.0113 left_gripper=0.996 right_x=0.2867 right_y=0.008 right_z=0.1784 right_yaw=0.0777 right_pitch=-0.0505 right_roll=0.0015 right_gripper=0.9998\nstate[joint_eff]: [-1.3197, -11.2342, 8.7179, 1.7656, 0.2076, 0.398, 0.0269, -0.8684, -0.7726, 9.9897, 2.0147, -0.0317, 0.0659, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89c6be1bb62d36973ac283c48853c06f8f5568246b839096176eda8911abecdd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b01ca9f0ae92db84d0ec573e0bd8b58f97de94d49684923c26d940d6cd7756d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcd0adc25c92ab7571fa24c91cffcd8f68d92552e20bcd4415991437917f2045",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtGSbjklhsyZFai6m1Fx-MYo6optAyhzji5kn0KXExNVDy0CKeBsOhNpHxuqzlpZTBRLcKoMltA9Q5eFy8SLPATL0AaZZ4N9B4osg6oQ2O0Wa3fZAsN8WpmPTK9L3s8-Js5et-OHBLHTpZdqdPEo8k4FFFNQDGhaMFWdBIOGIODRcXdvLWci7WvLALE3qTbFruBy8qiG7pgBT2vyLXni8_dByexIoxDssYnIvOcvO99Raw3Pdv3NWg8vXgA1j7RGd-iTHneGITMexljO2s7U7L-P5vdmYaiYcqj5nGQd1iO1zB4tNiJMg7KkuAqrqlO0t8m7IKGh1hB1TgrOkEetgLDDq9Rf8CojTmuTDTd11-Pt-BtCaoiFWXIISGTnkLc0VvzUmtJUf6HywuUorksoUYj2TNKSiiogigxaML-HusKk_e9Apl2dwRm5a9ZZjqvIU15TVX4YeRVLPv75wWD-8qBqLx9QbgJvenlGhcu5iwBsONBLgb5eFaIzbKfcV92b3h4CC18IZWv3yGp5EQaziKz_nOTlmXaRMK6vx5hia3kBokY3VfH3PntsmPa9tF79ZBxJWHlgZHg-9G3N0o3_SaEjC8kPmDm7u8m1AD0iH5E43fiSfVC1pF1OJ7vtzFKxX5aEt__9g73FazDXewXSECAqPvUxIAC6azwuxjsp4GYjJwqv6_-paBQnc5axDYXp8qU9NT6fiYnSuL_fqVe4mz2_dzQWUFmpQ57h6enqoomgUUYKttujCwVDAQq-zfD-OIPhgjHyWhTtVJdMt5Hy3bDf-iubLuzusrVfvJNHysD0pfsXUgVtm1AB5qQzfZQEPWOOQgbp-kvMBb5cRlLFUfq_A-7gh8KkUOUwAl1fmqaITGWoWN4D599NjnyamhqmwMa80TaDrRea9fsl5wlYysZOeH0XOLE9ZeVfoByGYwP8tesyk7acNy98TZG5LCC7E4OlK9PaGOwuv_z7cMwK7RN5tsCXatZkq-HjQ_iWuXzhPvHpSj0g1epAlV2SAE3yjuGy9KXEy1rwcXaMChbqd4zmux_hfX5PNIG7EPseomPhGFzignJWNuaYObd1GOvp4IdQJLLg66Giq9UkZ2EZ4Y964n_L1QlONiXGbtFhBvYPvfd5PWiuuu34o0v_S9G5SznA_xc07ggJoVaye8SCFhI_2LS0AEr5EX_YrxxaAjnIlp96HoHtCPPAmVpGTj1C9eEuxi6Y48_I9G0aZjwrfuobIMyN_CCXM0SwC3mZ3fKYkDfVRCZjzIGUxKgxlzLqcobQ9cdzngrvzlkifge-Qd7biCYhOsA22p_b5Gwpf8pbeziasCvkETgJibYVLfP22o38g20Ty2JwiPKsP36kH6mZZQ0WKtg-Rgne9fxzFL4HbHyMzO6dt32RdTLo-6xwl25ASSXeZ-klJIEFlnHlckccB4w==",
  "id": "rs_046185568cad4c3b016ab4649922ec87d08fd12be22c3092db",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.05,\"left_z\":0.3,\"left_gripper\":1},\"note\":\"The left arm only partly retracted and remains low beside the bottles. I will raise it farther while retracting to leave the workspace safely clear.\"}",
  "call_id": "call_s80abvaVnhfOXh6vX1KLCbGF",
  "id": "fc_046185568cad4c3b016ab4649a271087d0a04a8416599216be",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_s80abvaVnhfOXh6vX1KLCbGF",
  "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]: [-0.334, 1.4342, 0.7883, -0.0345, -0.4015, -0.292, 0.9979, -0.0734, 0.7654, 0.5915, -0.4469, -0.1356, -0.1108, 0.9997]\nstate[eef_state]: left_x=0.3987 left_y=-0.0615 left_z=0.1278 left_yaw=0.1427 left_pitch=-0.0567 left_roll=0.0229 left_gripper=0.9979 right_x=0.2821 right_y=0.0068 right_z=0.1692 right_yaw=0.0728 right_pitch=-0.041 right_roll=0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -7.706, 9.1829, 1.7509, -0.232, 0.0171, -0.232, -0.253, -1.388, 7.3641, 2.0244, -0.149, -0.0269, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64ad6a7080f3dd3c2536cf420bb1f933e8973ef51a913aef8e3b6f513e70cea7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68a96b14d5abb048d8659afe9f9551e1c0a95eb03cbdfb69238c95ac69b45806",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75a224898d8680f7ad659016086c66820f36b53a042a4e1e7d62786f2ce82f01",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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