adhoc

completed
2026-09-24T03:18:38.099501+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 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
183.2 s
total steps
207
success_at_end
0
scenes
1
trials
1
errored
0

scene-0

completed

Stand all three bottles upright.

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteAll three bottles are lying down with their caps toward the far side of the table. I will approach the left bottle near its neck so I can lift that end and let the base swing down.
move_to
left_x0.4300left_y-0.1150left_z0.1500left_gripper1.0000right_x0.2940right_y0.0020right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7933, 0.609, -0.3763, -0.0257, -0.0284, 0.9987, -0.0158, 0.7887, 0.6033, -0.3859, -0.0166, -0.0353, 0.9998] state[eef_state]: left_x=0.2958 left_y=0.0022 left_z=0.1833 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.2936 right_y=0.0019 right_z=0.1799 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-0.5265, -1.4974, 9.7299, 1.7411, 0.0073, 0.1001, -0.1441, -1.0051, -1.0188, 10.2222, 1.8681, -0.0952, 0.188, -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":0.43,"left_y":-0.115,"left_z":0.15,"left_gripper":1,"right_x":0.294,"right_y":0.002,"right_z":0.20},"note":"All three bottles are lying down with their caps toward the far side of the table. I will approach the left bottle near its neck so I can lift that end and let the base swing down."})
tool
executing move_to over 11 steps (1.1s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
agent noteThe left bottle's neck appears left of the jaw centre in the wrist view. I am shifting toward it and lowering with the jaws turned across the bottle's neck.
move_to
left_x0.4600left_y-0.0650left_z0.0550left_yaw0.4500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3962, 1.5162, 0.8783, -0.0288, -0.3241, -0.2379, 0.9988, -0.0147, 0.7986, 0.6502, -0.4732, -0.0235, -0.0402, 0.9998] state[eef_state]: left_x=0.4151 left_y=-0.1088 left_z=0.1312 left_yaw=-0.0132 left_pitch=-0.0662 left_roll=0.0155 left_gripper=0.9988 right_x=0.2877 right_y=0.0035 right_z=0.1808 right_yaw=0.01 right_pitch=-0.0506 right_roll=0.001 right_gripper=0.9998 state[joint_eff]: [-0.5402, -7.3231, 8.4581, 1.7411, -0.3541, -0.0366, -0.1441, -0.1573, -1.0872, 10.1812, 2.0244, 0.0269, 0.022, -0.0171] camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.46,"left_y":-0.065,"left_z":0.055,"left_yaw":0.45},"note":"The left bottle's neck appears left of the jaw centre in the wrist view. I am shifting toward it and lowering with the jaws turned across the bottle's neck."})
tool
executing move_to over 5 steps (0.5s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteThe neck is still to the left of the gripper and ahead of the fingertips. I will move farther left and slightly forward to bring the neck between the jaws at bottle height.
move_to
left_x0.4900left_y-0.0050left_z0.0250left_yaw0.4500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4049, 1.8641, 0.936, 0.1879, -0.6193, -0.4679, 0.9984, -0.0147, 0.7666, 0.6022, -0.448, -0.0238, -0.0433, 0.9997] state[eef_state]: left_x=0.4547 left_y=-0.0794 left_z=0.0604 left_yaw=0.3356 left_pitch=-0.0215 left_roll=0.0265 left_gripper=0.9984 right_x=0.2834 right_y=0.0036 right_z=0.1726 right_yaw=0.0119 right_pitch=-0.0415 right_roll=-0.0015 right_gripper=0.9997 state[joint_eff]: [0.7179, -7.2, 5.5726, 1.1453, -0.5104, -0.0317, -0.0513, -0.3077, -1.3607, 6.7487, 2.0537, -0.0611, -0.0122, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_y":-0.005,"left_z":0.025,"left_yaw":0.45},"note":"The neck is still to the left of the gripper and ahead of the fingertips. I will move farther left and slightly forward to bring the neck between the jaws at bottle height."})
tool
executing move_to over 7 steps (0.7s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteThe left bottle's upper end is now hidden between the fingers, and its base remains on the table. I will gently pinch the neck rather than squeeze the broad bottle body.
move_to
left_gripper0.2200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3981, 1.9022, 0.9604, 0.1829, -0.696, -0.5545, 0.9982, -0.0147, 0.7448, 0.561, -0.4248, -0.028, -0.0433, 0.9997] state[eef_state]: left_x=0.4581 left_y=-0.0659 left_z=0.0574 left_yaw=0.445 left_pitch=0.004 left_roll=0.0036 left_gripper=0.9982 right_x=0.2803 right_y=0.0044 right_z=0.1643 right_yaw=0.0154 right_pitch=-0.0376 right_roll=0.0008 right_gripper=0.9997 state[joint_eff]: [-0.0068, -8.3761, 6.1607, 1.4432, -0.2808, -0.0806, -0.0317, -0.4034, -1.6205, 7.0222, 1.9902, -0.0708, -0.0171, -0.0073] camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.22},"note":"The left bottle's upper end is now hidden between the fingers, and its base remains on the table. I will gently pinch the neck rather than squeeze the broad bottle body."})
tool
executing move_to over 8 steps (0.8s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteThe fingers have closed around the bottle's upper end. I will secure the pinch and lift a few centimetres to check whether the bottle follows, while restoring the idle arm's clearance.
move_to
left_x0.4350left_y-0.0660left_z0.1300left_gripper0.0000right_x0.2940right_y0.0020right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3981, 1.9022, 0.96, 0.1814, -0.6956, -0.5571, 0.2255, -0.0147, 0.7254, 0.5255, -0.4026, -0.028, -0.0433, 0.9997] state[eef_state]: left_x=0.4578 left_y=-0.0658 left_z=0.0571 left_yaw=0.4462 left_pitch=0.0025 left_roll=0.0025 left_gripper=0.2255 right_x=0.278 right_y=0.0045 right_z=0.1577 right_yaw=0.0154 right_pitch=-0.0315 right_roll=0.0006 right_gripper=0.9997 state[joint_eff]: [0.0342, -9.3744, 5.7368, 1.3846, -0.2466, -0.022, 0.2125, -0.294, -1.6205, 6.8991, 1.9267, -0.0366, -0.0464, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.435,"left_y":-0.066,"left_z":0.13,"left_gripper":0,"right_x":0.294,"right_y":0.002,"right_z":0.2},"note":"The fingers have closed around the bottle's upper end. I will secure the pinch and lift a few centimetres to check whether the bottle follows, while restoring the idle arm's clearance."})
tool
executing move_to over 5 steps (0.5s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteThe gripper closed empty, so the bottle was not captured. I will reopen and move back toward the visible bottle shoulder for a lower, better-centred attempt.
move_to
left_x0.4000left_y-0.0900left_z0.0300left_gripper1.0000left_yaw0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4187, 1.718, 0.9874, -0.0502, -0.6979, -0.5842, 0.0137, -0.0238, 0.7925, 0.635, -0.4606, -0.0315, -0.0589, 0.9997] state[eef_state]: left_x=0.438 left_y=-0.0667 left_z=0.1099 left_yaw=0.4417 left_pitch=-0.0091 left_roll=-0.0044 left_gripper=0.0137 right_x=0.2873 right_y=0.0023 right_z=0.178 right_yaw=0.0177 right_pitch=-0.047 right_roll=-0.0097 right_gripper=0.9997 state[joint_eff]: [-0.6359, -10.1812, 8.7179, 1.3309, -0.4811, -0.0073, 0.7057, -0.8, -0.759, 9.9624, 1.8046, -0.1343, -0.0024, -0.0073] camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.40,"left_y":-0.09,"left_z":0.03,"left_gripper":1,"left_yaw":0.15},"note":"The gripper closed empty, so the bottle was not captured. I will reopen and move back toward the visible bottle shoulder for a lower, better-centred attempt."})
tool
executing move_to over 10 steps (1.0s)
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 shifted left during the approach and is now visibly beside, rather than between, the fingers. I will align over its exposed neck without closing yet.
move_to
left_x0.4400left_y0.0050left_z0.0250left_yaw0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4328, 1.7611, 0.6041, 0.461, -0.5278, -0.3912, 0.9951, -0.0277, 0.7647, 0.5865, -0.4412, -0.0315, -0.0586, 0.9997] state[eef_state]: left_x=0.3968 left_y=-0.0814 left_z=0.0284 left_yaw=0.1962 left_pitch=-0.0269 left_roll=0.0158 left_gripper=0.9951 right_x=0.2824 right_y=0.0013 right_z=0.1674 right_yaw=0.0136 right_pitch=-0.0482 right_roll=-0.0093 right_gripper=0.9997 state[joint_eff]: [-0.4444, -6.3658, 4.7385, 1.6142, -0.0122, 0.2466, -0.1148, -0.3214, -1.6752, 7.159, 2.044, -0.1783, -0.0073, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.44,"left_y":0.005,"left_z":0.025,"left_yaw":0.2},"note":"The bottle shifted left during the approach and is now visibly beside, rather than between, the fingers. I will align over its exposed neck without closing yet."})
tool
executing move_to over 8 steps (0.8s)
step 54
top_cam
camera top_cam step 54
left_cam
camera left_cam step 54
right_cam
camera right_cam step 54
assistant
agent noteThe left bottle has slid toward the near-left edge, so I am clearing that arm rather than pushing it farther. I will approach the right bottle from above with the other arm.
move_to
left_x0.2940left_y0.0000left_z0.2000right_x0.4200right_y0.1900right_z0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.1139, 1.8462, 0.6178, 0.5972, -0.3107, -0.2256, 0.9961, -0.0288, 0.7368, 0.5392, -0.4191, -0.0315, -0.0586, 0.9997] state[eef_state]: left_x=0.4269 left_y=0.0092 left_z=0.015 left_yaw=0.2509 left_pitch=-0.0363 left_roll=0.005 left_gripper=0.9961 right_x=0.278 right_y=0.0011 right_z=0.1577 right_yaw=0.0125 right_pitch=-0.0455 right_roll=-0.0095 right_gripper=0.9997 state[joint_eff]: [0.2803, -7.0222, 6.5026, 1.9902, 0.0415, 0.2271, 0.0855, -0.7726, -1.6205, 6.9949, 2.0733, -0.1832, -0.0171, -0.0073] camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.294,"left_y":0,"left_z":0.2,"right_x":0.42,"right_y":0.19,"right_z":0.1},"note":"The left bottle has slid toward the near-left edge, so I am clearing that arm rather than pushing it farther. I will approach the right bottle from above with the other arm."})
tool
executing move_to over 16 steps (1.6s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteThe right bottle's neck is visible just right of the jaw centre. I will correct that sideways offset and lower toward the neck, keeping the jaws open.
move_to
right_x0.4400right_y0.1700right_z0.0300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2695, 0.8738, 0.667, -0.3973, -0.4244, -0.3138, 0.9961, 0.59, 1.7031, 0.8745, 0.1013, 0.4416, 0.2813, 0.9997] state[eef_state]: left_x=0.3027 left_y=-0.0044 left_z=0.1918 left_yaw=0.2353 left_pitch=0.0164 left_roll=-0.0209 left_gripper=0.9961 right_x=0.4026 right_y=0.183 right_z=0.0811 right_yaw=0.0533 right_pitch=-0.0746 right_roll=-0.0461 right_gripper=0.9997 state[joint_eff]: [-0.2803, -1.8803, 9.6752, 1.5556, -0.232, 0.1832, -0.0024, 0.0205, -7.7197, 8.4444, 1.9414, 0.3004, 0.1929, -0.0122] camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.44,"right_y":0.17,"right_z":0.03},"note":"The right bottle's neck is visible just right of the jaw centre. I will correct that sideways offset and lower toward the neck, keeping the jaws open."})
tool
executing move_to over 4 steps (0.4s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteAt table height the jaws are around the bottle body, while the neck is still farther ahead. I will secure the body first so I can draw the bottle closer instead of reaching beyond the arm's low-height limit.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2752, 0.8955, 0.6872, -0.4488, -0.4343, -0.3176, 0.9962, 0.5018, 1.8992, 0.8143, 0.4034, 0.3931, 0.2298, 0.9997] state[eef_state]: left_x=0.2998 left_y=-0.0037 left_z=0.1856 left_yaw=0.2398 left_pitch=-0.027 left_roll=0.0069 left_gripper=0.9962 right_x=0.4287 right_y=0.1621 right_z=0.0265 right_yaw=0.0331 right_pitch=-0.0506 right_roll=-0.0381 right_gripper=0.9997 state[joint_eff]: [-0.1162, -2.3316, 7.1043, 1.8339, -0.2173, 0.0562, -0.0073, -0.3487, -6.188, 6.3385, 1.4579, -0.0659, 0.0611, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"At table height the jaws are around the bottle body, while the neck is still farther ahead. I will secure the body first so I can draw the bottle closer instead of reaching beyond the arm's low-height limit."})
tool
executing move_to over 10 steps (1.0s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteThe gripper is holding a substantial bottle-width opening, so the body is captured. I will draw it toward the base with a small lift, bringing the neck into the reachable part of the table.
move_to
right_x0.3000right_y0.1700right_z0.0650
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2756, 0.8867, 0.6624, -0.4232, -0.4347, -0.318, 0.9962, 0.498, 1.9022, 0.7803, 0.5819, 0.392, 0.2237, 0.3864] state[eef_state]: left_x=0.2995 left_y=-0.0037 left_z=0.1818 left_yaw=0.2398 left_pitch=-0.0186 left_roll=0.002 left_gripper=0.9962 right_x=0.4404 right_y=0.1667 right_z=0.0472 right_yaw=0.0327 right_pitch=0.0755 right_roll=0.021 right_gripper=0.3864 state[joint_eff]: [-0.6359, -2.5915, 6.8855, 1.8095, -0.2711, 0.0073, -0.0122, -0.2667, -8.1709, 3.9726, 1.1697, 0.0415, 0.1001, 0.486] camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.30,"right_y":0.17,"right_z":0.065},"note":"The gripper is holding a substantial bottle-width opening, so the body is captured. I will draw it toward the base with a small lift, bringing the neck into the reachable part of the table."})
tool
executing move_to over 11 steps (1.1s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
agent noteThe bottle stayed on the table rather than following the pull. I will re-centre the jaws on its body and retry with the closing command maintained during the lift.
move_to
right_x0.4450right_y0.1700right_z0.0280right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2756, 0.8825, 0.6491, -0.4156, -0.4347, -0.318, 0.9962, 0.7959, 1.4548, 0.4755, 0.2649, 0.5819, 0.4198, 0.3851] state[eef_state]: left_x=0.2985 left_y=-0.0034 left_z=0.1785 left_yaw=0.2398 left_pitch=-0.0199 left_roll=0.0028 left_gripper=0.9962 right_x=0.305 right_y=0.1778 right_z=0.0619 right_yaw=0.0761 right_pitch=-0.0083 right_roll=-0.0001 right_gripper=0.3851 state[joint_eff]: [-0.3897, -1.853, 6.4752, 1.8242, -0.232, -0.0269, -0.0122, 0.1299, -5.7368, 5.8051, 1.5897, 0.4176, 0.1783, -0.149] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.445,"right_y":0.17,"right_z":0.028,"right_gripper":1},"note":"The bottle stayed on the table rather than following the pull. I will re-centre the jaws on its body and retry with the closing command maintained during the lift."})
tool
executing move_to over 11 steps (1.1s)
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 noteLow sideways approaches are sliding the bottles, so I am switching to an overhead approach. The left bottle is now closer; I will check whether its neck can be reached without contacting the table edge.
move_to
right_x0.3000right_y0.0000right_z0.2200left_x0.3500left_y0.0350left_z0.1200left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2756, 0.8749, 0.6327, -0.3977, -0.4347, -0.3176, 0.9962, 0.4953, 1.9263, 0.7906, 0.4656, 0.3389, 0.2005, 0.997] state[eef_state]: left_x=0.2982 left_y=-0.0033 left_z=0.1767 left_yaw=0.2395 left_pitch=-0.012 left_roll=-0.0014 left_gripper=0.9962 right_x=0.4267 right_y=0.1678 right_z=0.0158 right_yaw=0.0867 right_pitch=-0.0551 right_roll=-0.0264 right_gripper=0.997 state[joint_eff]: [-0.3897, -2.1265, 6.8581, 1.6679, -0.3004, 0.0171, -0.0122, -0.9368, -8.0889, 7.0359, 2.0684, 0.2857, -0.0024, -0.1929] 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":{"right_x":0.3,"right_y":0,"right_z":0.22,"left_x":0.35,"left_y":0.035,"left_z":0.12,"left_yaw":0},"note":"Low sideways approaches are sliding the bottles, so I am switching to an overhead approach. The left bottle is now closer; I will check whether its neck can be reached without contacting the table edge."})
tool
executing move_to over 14 steps (1.4s)
step 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
agent noteThe left bottle is behind the current fingertips, toward the near edge. I will move back above its upper end while keeping the fingers clear of the bottle.
move_to
left_x0.2550left_y0.0250left_z0.0650
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.139, 1.1442, 0.5034, 0.0322, 0.0612, 0.017, 0.9963, -0.0803, 0.8688, 0.7307, -0.4332, -0.0956, -0.0978, 0.9989] state[eef_state]: left_x=0.343 left_y=0.0407 left_z=0.1132 left_yaw=0.0612 left_pitch=-0.0469 left_roll=-0.0115 left_gripper=0.9963 right_x=0.3081 right_y=-0.0043 right_z=0.2065 right_yaw=0.0361 right_pitch=0.0025 right_roll=-0.0099 right_gripper=0.9989 state[joint_eff]: [0.1709, -3.4393, 6.1607, 1.9805, 0.1636, 0.1148, -0.0073, -0.1436, -2.1128, 9.6342, 1.8437, -0.2076, 0.0122, 0.1832] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.255,"left_y":0.025,"left_z":0.065},"note":"The left bottle is behind the current fingertips, toward the near edge. I will move back above its upper end while keeping the fingers clear of the bottle."})
tool
executing move_to over 7 steps (0.7s)
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 left bottle's neck is close to the outer workspace limit. I will make one overhead alignment at that limit before descending, avoiding another sideways push.
move_to
left_x0.3350left_y0.0500left_z0.1300
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.104, 0.6575, 0.1184, 0.0101, 0.0364, 0.0189, 0.9963, -0.086, 0.8722, 0.7338, -0.474, -0.1234, -0.1104, 0.9992] state[eef_state]: left_x=0.264 left_y=0.0247 left_z=0.0748 left_yaw=0.0461 left_pitch=0.0317 left_roll=0.0088 left_gripper=0.9963 right_x=0.3031 right_y=-0.0007 right_z=0.1989 right_yaw=0.0606 right_pitch=-0.0363 right_roll=0.0005 right_gripper=0.9992 state[joint_eff]: [-0.4581, 0.253, 7.5282, 1.8926, -0.1245, -0.1636, -0.0122, -0.3214, -1.6205, 6.9538, 2.0342, 0.1245, 0.0952, 0.0171] 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_x":0.335,"left_y":0.05,"left_z":0.13},"note":"The left bottle's neck is close to the outer workspace limit. I will make one overhead alignment at that limit before descending, avoiding another sideways push."})
tool
executing move_to over 6 steps (0.6s)
step 133
top_cam
camera top_cam step 133
left_cam
camera left_cam step 133
right_cam
camera right_cam step 133
assistant
agent noteThe left arm is now above the bottle's upper end. I will descend straight down at this alignment so the open jaws can straddle the neck without sweeping it sideways.
move_to
left_z0.0230left_x0.3350left_y0.0500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.1967, 1.0523, 0.448, -0.009, 0.0982, 0.0277, 0.9963, -0.0853, 0.8551, 0.6945, -0.4511, -0.1329, -0.1104, 0.9993] state[eef_state]: left_x=0.3225 left_y=0.0502 left_z=0.1101 left_yaw=0.0818 left_pitch=-0.0494 left_roll=-0.0243 left_gripper=0.9963 right_x=0.3003 right_y=0.0014 right_z=0.1906 right_yaw=0.0694 right_pitch=-0.0348 right_roll=0.0058 right_gripper=0.9993 state[joint_eff]: [0.2803, -3.4256, 8.5949, 1.8388, 0.1734, 0.2955, -0.0122, -0.5128, -2.3043, 7.0769, 1.917, -0.0611, -0.0171, -0.0073] camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.023,"left_x":0.335,"left_y":0.05},"note":"The left arm is now above the bottle's upper end. I will descend straight down at this alignment so the open jaws can straddle the neck without sweeping it sideways."})
tool
executing move_to over 6 steps (0.6s)
step 139
top_cam
camera top_cam step 139
left_cam
camera left_cam step 139
right_cam
camera right_cam step 139
assistant
agent noteThe fingers are at table level around the left bottle's upper end. I will close once and use the measured opening to check whether the bottle has been captured.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.1829, 1.4967, 0.2314, 0.5831, 0.0685, 0.0414, 0.9963, -0.086, 0.836, 0.659, -0.4286, -0.1352, -0.1143, 0.9993] state[eef_state]: left_x=0.3188 left_y=0.0503 left_z=0.0045 left_yaw=0.0853 left_pitch=-0.12 left_roll=-0.0027 left_gripper=0.9963 right_x=0.2977 right_y=0.0018 right_z=0.1844 right_yaw=0.0725 right_pitch=-0.0285 right_roll=0.003 right_gripper=0.9993 state[joint_eff]: [-0.8, -5.6821, 3.7675, 1.9316, -0.0122, -0.1441, -0.0122, 0.0615, -2.0034, 6.9675, 1.8926, -0.0806, 0.0269, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The fingers are at table level around the left bottle's upper end. I will close once and use the measured opening to check whether the bottle has been captured."})
tool
executing move_to over 10 steps (1.0s)
step 149
top_cam
camera top_cam step 149
left_cam
camera left_cam step 149
right_cam
camera right_cam step 149
assistant
agent noteThat close was empty; the neck is outside the leftmost reachable line. The bottle's wider body is still nearer the table interior, so I will try to recover it from above before attempting to stand it.
move_to
left_x0.2200left_y-0.0150left_z0.1300left_gripper1.0000right_x0.3000right_y0.0000right_z0.2200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [0.1848, 1.6268, 0.1387, 0.9127, 0.0666, 0.0265, 0.0129, -0.086, 0.8261, 0.6289, -0.4187, -0.1352, -0.1143, 0.9995] state[eef_state]: left_x=0.3176 left_y=0.0511 left_z=0.0025 left_yaw=0.0975 left_pitch=-0.0136 left_roll=-0.0038 left_gripper=0.0129 right_x=0.2946 right_y=0.0021 right_z=0.1755 right_yaw=0.0726 right_pitch=-0.0387 right_roll=0.0046 right_gripper=0.9995 state[joint_eff]: [0.1026, -3.959, 3.0291, 1.9707, 0.0904, 0.0806, 1.1648, -0.1436, -2.3043, 7.0769, 1.9707, -0.1392, -0.0269, -0.0024] camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.22,"left_y":-0.015,"left_z":0.13,"left_gripper":1,"right_x":0.3,"right_y":0,"right_z":0.22},"note":"That close was empty; the neck is outside the leftmost reachable line. The bottle's wider body is still nearer the table interior, so I will try to recover it from above before attempting to stand it."})
tool
executing move_to over 10 steps (1.0s)
step 159
top_cam
camera top_cam step 159
left_cam
camera left_cam step 159
right_cam
camera right_cam step 159
assistant
agent noteThe left bottle's neck is not accessible at the outer limit, so I will leave it undisturbed for now. I will make a straight-down grasp on the right bottle's body from a higher approach.
move_to
left_x0.2940left_y0.0000left_z0.2200right_x0.4800right_y0.1700right_z0.1600right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4126, 0.3931, 0.3161, -0.4698, -0.3637, -0.2665, 0.9945, -0.0921, 0.8425, 0.7387, -0.5114, -0.136, -0.1295, 0.9995] state[eef_state]: left_x=0.2337 left_y=-0.0298 left_z=0.132 left_yaw=0.0181 left_pitch=0.0529 left_roll=-0.0353 left_gripper=0.9945 right_x=0.2958 right_y=0.0003 right_z=0.202 right_yaw=0.0754 right_pitch=-0.0378 right_roll=-0.0076 right_gripper=0.9995 state[joint_eff]: [-0.0068, 0.9231, 8.9231, 1.5556, -0.3053, 0.188, -0.0171, -0.4444, -0.7726, 10.0171, 1.7558, -0.1929, 0.0317, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.294,"left_y":0,"left_z":0.22,"right_x":0.48,"right_y":0.17,"right_z":0.16,"right_gripper":1},"note":"The left bottle's neck is not accessible at the outer limit, so I will leave it undisturbed for now. I will make a straight-down grasp on the right bottle's body from a higher approach."})
tool
executing move_to over 15 steps (1.5s)
step 174
top_cam
camera top_cam step 174
left_cam
camera left_cam step 174
right_cam
camera right_cam step 174
assistant
agent noteThe right bottle is centred in the wrist view. I will lower vertically onto its body near the farthest comfortable low reach, avoiding lateral contact.
move_to
right_x0.4900right_y0.1700right_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0612, 0.8043, 0.7177, -0.5133, -0.0921, -0.0906, 0.9959, 0.4328, 1.734, 1.1568, -0.1036, 0.2626, 0.1387, 0.9996] state[eef_state]: left_x=0.29 left_y=0.0021 left_z=0.2021 left_yaw=0.0481 left_pitch=-0.0365 left_roll=-0.0132 left_gripper=0.9959 right_x=0.4608 right_y=0.1663 right_z=0.1378 right_yaw=0.1199 right_pitch=-0.0828 right_roll=-0.0351 right_gripper=0.9996 state[joint_eff]: [0.4034, -1.0872, 9.935, 1.707, 0.0708, 0.2027, 0.1343, -0.1299, -8.8137, 9.2239, 2.0684, 0.398, 0.2222, -0.0464] camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.49,"right_y":0.17,"right_z":0.035},"note":"The right bottle is centred in the wrist view. I will lower vertically onto its body near the farthest comfortable low reach, avoiding lateral contact."})
tool
executing move_to over 7 steps (0.7s)
step 181
top_cam
camera top_cam step 181
left_cam
camera left_cam step 181
right_cam
camera right_cam step 181
assistant
agent noteThe bottle body now lies between the open jaws at table height. I will close firmly before a short vertical test lift.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0727, 0.7849, 0.6834, -0.4858, -0.1055, -0.0814, 0.996, 0.4175, 1.9991, 1.0016, 0.3473, 0.2325, 0.1253, 0.9996] state[eef_state]: left_x=0.2886 left_y=0.0012 left_z=0.1975 left_yaw=0.043 left_pitch=-0.0232 left_roll=0.0004 left_gripper=0.996 right_x=0.4773 right_y=0.1711 right_z=0.0325 right_yaw=0.1375 right_pitch=-0.0592 right_roll=-0.0191 right_gripper=0.9996 state[joint_eff]: [-0.3761, -1.6752, 6.9675, 1.8974, -0.149, -0.0317, 0.0073, -0.8821, -8.0342, 6.0786, 1.9805, 0.1099, 0.0757, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The bottle body now lies between the open jaws at table height. I will close firmly before a short vertical test lift."})
tool
executing move_to over 10 steps (1.0s)
step 191
top_cam
camera top_cam step 191
left_cam
camera left_cam step 191
right_cam
camera right_cam step 191
assistant
agent noteThe right gripper also closed empty, and the bottles have slid rather than been securely lifted. I am withdrawing both arms to avoid pushing the left bottle farther over the edge or chasing the right bottle beyond safe low reach.
move_to
left_x0.2940left_y0.0000left_z0.2200right_x0.3000right_y0.0000right_z0.2400right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0727, 0.7753, 0.6617, -0.4751, -0.1055, -0.0814, 0.9961, 0.4191, 1.9999, 0.963, 0.5499, 0.2306, 0.1066, 0.0134] state[eef_state]: left_x=0.287 left_y=0.0013 left_z=0.1923 left_yaw=0.043 left_pitch=-0.0247 left_roll=0.0006 left_gripper=0.9961 right_x=0.4902 right_y=0.1781 right_z=0.0586 right_yaw=0.1499 right_pitch=0.0977 right_roll=0.0102 right_gripper=0.0134 state[joint_eff]: [-0.2256, -1.7026, 7.0359, 1.9267, -0.1392, -0.0464, -0.0073, 0.0479, -9.3607, 4.4513, 1.0379, 0.0806, 0.2222, 1.1258] camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.294,"left_y":0,"left_z":0.22,"right_x":0.3,"right_y":0,"right_z":0.24,"right_gripper":1},"note":"The right gripper also closed empty, and the bottles have slid rather than been securely lifted. I am withdrawing both arms to avoid pushing the left bottle farther over the edge or chasing the right bottle beyond safe low reach."})
tool
executing move_to over 15 steps (1.5s)
step 206
top_cam
camera top_cam step 206
left_cam
camera left_cam step 206
right_cam
camera right_cam step 206
assistant
agent noteI could not obtain a secure grasp to stand the bottles. The left bottle slid to the outer table edge, and the right bottle slid farther forward during unsuccessful grasps. All three remain lying down; I have withdrawn the arms rather than risk pushing a bottle off the table. Operator repositioning is needed before another attempt.
give_up
hindsightFor these lightweight bottles, low lateral approaches and off-centre closes readily slide the bottle instead of capturing it. Approach from above and descend vertically; maintain an explicit closed-gripper target during a test lift, and verify actual bottle motion before transporting. The right arm reached about x=0.48, y=0.17 at table height, but further forward approaches lost contact as the bottle slid away. The left bottle's neck became inaccessible near the outer y=+0.05 limit after it slid toward the near-left edge.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0738, 0.8047, 0.717, -0.5144, -0.1127, -0.0822, 0.9961, -0.1364, 0.9062, 0.8234, -0.5098, -0.194, -0.1642, 0.9963] state[eef_state]: left_x=0.2898 left_y=0.0021 left_z=0.2016 left_yaw=0.0485 left_pitch=-0.0375 left_roll=0.0056 left_gripper=0.9961 right_x=0.3106 right_y=-0.0046 right_z=0.2236 right_yaw=0.0983 right_pitch=-0.0092 right_roll=-0.0086 right_gripper=0.9963 state[joint_eff]: [-0.8, -0.6632, 10.7145, 1.6679, -0.0513, -0.0659, -0.0122, -0.1436, -2.6325, 10.1675, 1.746, -0.2515, 0.1441, 0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 206): [image omitted: streamed camera frame] camera 'left_cam' (step 206): [image omitted: streamed camera frame] camera 'right_cam' (step 206): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not obtain a secure grasp to stand the bottles. The left bottle slid to the outer table edge, and the right bottle slid farther forward during unsuccessful grasps. All three remain lying down; I have withdrawn the arms rather than risk pushing a bottle off the table. Operator repositioning is needed before another attempt.","hindsight":"For these lightweight bottles, low lateral approaches and off-centre closes readily slide the bottle instead of capturing it. Approach from above and descend vertically; maintain an explicit closed-gripper target during a test lift, and verify actual bottle motion before transporting. The right arm reached about x=0.48, y=0.17 at table height, but further forward approaches lost contact as the bottle slid away. The left bottle's neck became inaccessible near the outer y=+0.05 limit after it slid toward the near-left edge."})
tool
give_up: I could not obtain a secure grasp to stand the bottles. The left bottle slid to the outer table edge, and the right bottle slid farther forward during unsuccessful grasps. All three remain lying down; I have withdrawn the arms rather than risk pushing a bottle off the table. Operator repositioning is needed before another attempt.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [0, 0], left_roll: [0, 0], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [0, 0], right_roll: [0, 0], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 10.19 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Stand all three bottles upright.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.609, -0.3763, -0.0257, -0.0284, 0.9987, -0.0158, 0.7887, 0.6033, -0.3859, -0.0166, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0022 left_z=0.1833 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.2936 right_y=0.0019 right_z=0.1799 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.5265, -1.4974, 9.7299, 1.7411, 0.0073, 0.1001, -0.1441, -1.0051, -1.0188, 10.2222, 1.8681, -0.0952, 0.188, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6343272008ee5b606aac1fd2229832e90bae11120f9577a383a784a4b35dc4a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0547e6f441029007e814dfa3fe8d6d96f4cdbf70a01bf0e0b42e65bea3925f45",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f03333653a634485dd3023a60b54b3ef95bd96bfbe9a7ad57534dbd59130608d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
wire blob 6343272008ee
wire blob 0547e6f44102
wire blob f03333653a63
call 1 attempt 0 · /responses · status 200 · 12.08 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
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  "id": "rs_03ce77fa32a088ec016ab4969c9c9c87d0b89674f7c8ed8764",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.115,\"left_z\":0.15,\"left_gripper\":1,\"right_x\":0.294,\"right_y\":0.002,\"right_z\":0.20},\"note\":\"All three bottles are lying down with their caps toward the far side of the table. I will approach the left bottle near its neck so I can lift that end and let the base swing down.\"}",
  "call_id": "call_NM2BkohCoVk77T6KJIQCO1lI",
  "id": "fc_03ce77fa32a088ec016ab496a3ad8c87d09a010acfac27668b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NM2BkohCoVk77T6KJIQCO1lI",
  "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]: [-0.3962, 1.5162, 0.8783, -0.0288, -0.3241, -0.2379, 0.9988, -0.0147, 0.7986, 0.6502, -0.4732, -0.0235, -0.0402, 0.9998]\nstate[eef_state]: left_x=0.4151 left_y=-0.1088 left_z=0.1312 left_yaw=-0.0132 left_pitch=-0.0662 left_roll=0.0155 left_gripper=0.9988 right_x=0.2877 right_y=0.0035 right_z=0.1808 right_yaw=0.01 right_pitch=-0.0506 right_roll=0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -7.3231, 8.4581, 1.7411, -0.3541, -0.0366, -0.1441, -0.1573, -1.0872, 10.1812, 2.0244, 0.0269, 0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:459346b63d1b8efd88f4c04fa1d32801b2f8088f794b838d87e66e9e26a40002",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5243cac9190c77ed146933818e716750d15cd132c8619fc7234b3160ceadf236",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e541c4a014fc7e9638bf01547c33357c61932b4c499c4e9cd88accbc26cb806",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
wire blob 459346b63d1b
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call 2 attempt 0 · /responses · status 200 · 5.49 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.609, -0.3763, -0.0257, -0.0284, 0.9987, -0.0158, 0.7887, 0.6033, -0.3859, -0.0166, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0022 left_z=0.1833 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.2936 right_y=0.0019 right_z=0.1799 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.5265, -1.4974, 9.7299, 1.7411, 0.0073, 0.1001, -0.1441, -1.0051, -1.0188, 10.2222, 1.8681, -0.0952, 0.188, -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]: [-0.3962, 1.5162, 0.8783, -0.0288, -0.3241, -0.2379, 0.9988, -0.0147, 0.7986, 0.6502, -0.4732, -0.0235, -0.0402, 0.9998]\nstate[eef_state]: left_x=0.4151 left_y=-0.1088 left_z=0.1312 left_yaw=-0.0132 left_pitch=-0.0662 left_roll=0.0155 left_gripper=0.9988 right_x=0.2877 right_y=0.0035 right_z=0.1808 right_yaw=0.01 right_pitch=-0.0506 right_roll=0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -7.3231, 8.4581, 1.7411, -0.3541, -0.0366, -0.1441, -0.1573, -1.0872, 10.1812, 2.0244, 0.0269, 0.022, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:459346b63d1b8efd88f4c04fa1d32801b2f8088f794b838d87e66e9e26a40002",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5243cac9190c77ed146933818e716750d15cd132c8619fc7234b3160ceadf236",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e541c4a014fc7e9638bf01547c33357c61932b4c499c4e9cd88accbc26cb806",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob 459346b63d1b]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJayirgBMpScx785dH5yfPevMhTx7E-BuSWOXFnDPBbYQLziBFnEdFmRkhNZiZ9GXeEYMWEFAtFxC3csQw6WRll1-ZTE8ianFfuh1ZwZN_VMjKoHkRh4OVJuPu3clzKDEKEseDRZ-_K5XOex4HuUnf0VPbciwlMItHKeFjHY1Egu2LksKawb2gGq1GQX6p2SVJdcGnFdq1lStaUTVDUeln_4HecVy6fUyZRRfS1h99eUNDPF_qwqfxl7_DFGYrLOvH12FSepmy094pK4fABmtmQtvBoHsAKq6mYO2aZuUHOvMei3Rp_mBnyvcvR6DF0EiobqfpvNhOhJm2KfoPzfcsBLe_jm8uTF4LFc4Y4_rSZC97gsatXdVGc7p0Gt6MkxDE77Ift5pmKEFeeoAtE725sy0a46gHN3chk77r-IyKxvW0f-SZLpJUZTVTCrPAiiOQB_e-az_gb9slz7EoIEV9h_qq3U1XScWDrUV7_3NujbUOi1HYQvRW0_mFNumrOvU_wGYp1e4N_8mCfW3tNF2hp-q7dywI547tGTtYnVrUHcUKgN5AxwZeyqjdS39vS1okh2pduW3NgW9WJ6PeKbgouID4giRL1CZxztLX9T8v3DVU9jvxnb9J6edWvVUGmq3EjjZx9lOKmoCh7u1HD_nzTEw1icDOrM2czDfJEaoNwVPkeF0ChV7fLCzD2wt1hS37zltKe1VOnF-QbOLNYviBjfSup8Bq2-ry70HI_fbp12F1nADKfa4n3-nR-DesW4Y73rvFQF_a1tpk2zemWtCVVsEZq-xdqRPurKQxUh9HnAwoD0YmIiEiwpuQ8cAetcC9Xod_qrKlBn4th6zS0P5UfyCGGq4hSwOvSL3Z6Qi-FMTr8CZyqEbrblIS0VLQUfW19H1otZKERpRXdiGc0FQ0Kuu-0eYOvn2WLuAp4NzToiXQg9CBH31j7t0kJ71OLrv7Us1eqKJ68N7wj6gyv1-wVVCXBsggFht0ngbBJKKbMgKRrvuZQK_HapHmiFVvne0FDj8gkg6SHHr3ApM9RUHaAIltwd-QHt6sPUrM_jwFccWP_0qpimzzghw-DmyRGlL5vxZdTmVnvPDo5sfA2yn27u2u9YgzAOM51xShnRVzLqegK0w6dGbIjqVOsW_e1xonGLp453-DZ_hXkTK_4WZsPlNbZXeKo5cScOQwbJXxL_U4QnPbk4fGCu1IKQm2CFKJpOG43xhE8812jMDy4AvLkKRJwOUW47gnjagGy8HA9QU-_U6XQeJHlJ53z2IKDrDwqBEAw2-dmGi0JdhrAillOLHJPnX4I2PJva4jAySbOWzuvmXJhGhX4mRLyOa6H9BaoOs1MTj9LaGwFtPigWcLqXIgHxYoia7PmtXG-GhpaZs_L7f9Fqtj3uXnSUurPbwajEucORoZfWSL0ghOslBNzvCXO_ZsymYo7dM1hiAttjK1V5bxhSzR3rZZ83D74sfGb9wmGaqJZdNabNpHVCMGdb8LgmM596eyO3zkXeTd240Pavld_7G6TXyTGz52OARgdWa72Sd2vIe-ZvXPqVg6ghxvEDahoFBuFGKY_18rXrxfZWPyqPXl1hwKCGjoJo22EbRRuyGRuIQM0CpspDtIjn8qMcfiXdeWdVDewhKu0pyvjQSn0IxCHHNz9NoUh1mgbIKrRPv2Ue2g4pVHvGbxYzLkchkui3od_PPSKXFZjCwz5_UmUKHUEE0cFyqihuQCmOxsXAQZHAACMT9ZtN19LR-R1IjT0ZBt-KmYFi5uWbBTtrLUizF4AWvn9T1hHWHEnxNhUbgY1oPTmEvNWwAi6dz08t3G-WmHOXV3VPTvFuhh4RWufksQc49rRFArxuQJdPLf5FKEpNnPVze0JMdzwAyjhcyzbM_YnIqzukDep6-asLciHHnZLCsRqjn7kcKaYuYm9QAGDMjiYN-qK4cqDVEQzPmyzije35SeeERXnjumFLC4tWbWjfEN6KWjHQLHsGaH8xvGPUscGp4N3VSSnwfucMeRpxU4-Zc7JgjWso33om0T6Rsrh_kX7OPNXFB5HmWTcXC8eoiIwfaT4upeEq6BRZTBVx9e2F7b0j27Vyva4Ufx8yIAaTMFL_9R9VO94TwzuluDtLUST_uOStLlPn4fQwUrHKQ-9_KS90hGYMdhIlDR3oyeG12jcox8iQN7MmHn3x7ID7aMoHhKLDI-Kd2ei0kD-l89_nQfLQZgUHemjLiCZ1PxTSqDfFV-3HRNPTghIQNYkArOn6jzaAi2XuqmBHPHd297fEX8XvOUbDKbErzeSEYPZbrCy3J4YP9O_nRrp1GeEDhsTgSsqxJShhovHOeO8UkRgX1u75C_K3qlb3PEV6xoqMZ9MlDJcwwwYdE318W4uOTQC4Q3Uc5EZhpbVn_eTjac62_XaqRmkNKqPZ6fdCxZBuoAA-bHxsxlgSIUQwtpJwGD2BhUZTNzy4pusWpP66dNgvI3lCTB7c83qbgovpph7_c14hka_iioQNNw-aGVRpBMbk2T7sNk0vGfXWfJZWh6hnYrrXqih9StdeV0sw_mcHBFemZ8iSgWsiw_20uj_Mhe-fE4MUaVAxX9CIGMLOChSOP107y6f8TuGzdNiC-RqYRjmAYpRjG0rkUblVAKMUPdrnHzNDgn4BMCfQvyzwxtOHqvE0RQEQex8sgT_P7H18CP8VwVXyIdyPrjpDpKz3fJ0XO9znst_D0g30JiO_RcUuEP0hZOxU99AQ7uSfJ_q60NPwrZdCGhK6_rTuYaLzBCYqkgdj-_H-FFIhVPMG6m-IxN7HG60wLyjeoy0j3ysehrB9Fa-u_vnMczRVFmWsb27SeNJX21mSugYjgbCmCtMvhNrA45d59cPUfIZomgw3zGdMExuzdUN_NesCqYaaDQ2g-Yz9hZvHAtdcIXAhWxXNwLdwRWeZx9SnwYtV-V7NLHC3c3loYkkIukEL6zsrsKDyYcVUGILdPFWOQ3FxrRbK67ntju6R6GXrpTTMc8UrGAgiy2MXOy9rng6Rfa4ilEe-gxPF_GyNUfKhT6AOElTl19WImGONlWFEDAiOhhBgJFZjCPAZ-r-NlNye_6cMO4C1zQEUmQ9lhtOR7q8KvjokUyRyWtH4NsJJ_xvhhu9ykKzCM-WwDkiZtcXMka3j1pI77MokGZ6s6ZZ8HqvY40pE-hHKObz7PDvwn2K-sFZJyIneAGbS2yUiLhPfvFVSAOLQaqXkyjOkzUa5JPnAdtEh9cfN5w0jOP6ZAuoaJj9tZQEC3lu0jGrzWV9j-RW1JJP9NehjRplNvh-vizOK93q4LaY08TEzy7EoIGo8qJPcdRqfEnvZEEkCZka9IvvBnyCIrRYtot7OP-RgG-Fd66WBU8Ko4EjNT0Uvpr97aaucQOwZy1idD8QtMniFjmO4vixT1hMLDnkCI3SGBM6w-Dv8PBy-_KQqjDjAsKeY1NnzDerMrmnJc6b6lHysOKyXpFL0aXhuafqAL-ieq-p3j3WYkT6sHIXQqAxB3wkZadt_cHJqz1Xx5htUHnSBZQUIGxp-I4h18tWx3M2oq8KZM0HU3Q0kFajHOIofPYCcqpdaL1REz_jBQqONdqw6QtUzY5bsj_WIwVZMsuCXyDZCdaMrQY948xZipGNOSQavCGhqMgsus4HcmzIMK1sNZzDexThQA6lWudhAdqBU5N_-LRsRIQnMDKvgFzFrqDofVYjyTxetH0JxBx6MszIJSpBb52019cIEpURANg==",
  "id": "rs_03ce77fa32a088ec016ab496a7c12c87d08339d52d7db2da95",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.065,\"left_z\":0.055,\"left_yaw\":0.45},\"note\":\"The left bottle's neck appears left of the jaw centre in the wrist view. I am shifting toward it and lowering with the jaws turned across the bottle's neck.\"}",
  "call_id": "call_o7YOZlfvzlQUK1Skfdmdn5aS",
  "id": "fc_03ce77fa32a088ec016ab496b12eb487d0ba80631fe4a20905",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_o7YOZlfvzlQUK1Skfdmdn5aS",
  "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]: [-0.4049, 1.8641, 0.936, 0.1879, -0.6193, -0.4679, 0.9984, -0.0147, 0.7666, 0.6022, -0.448, -0.0238, -0.0433, 0.9997]\nstate[eef_state]: left_x=0.4547 left_y=-0.0794 left_z=0.0604 left_yaw=0.3356 left_pitch=-0.0215 left_roll=0.0265 left_gripper=0.9984 right_x=0.2834 right_y=0.0036 right_z=0.1726 right_yaw=0.0119 right_pitch=-0.0415 right_roll=-0.0015 right_gripper=0.9997\nstate[joint_eff]: [0.7179, -7.2, 5.5726, 1.1453, -0.5104, -0.0317, -0.0513, -0.3077, -1.3607, 6.7487, 2.0537, -0.0611, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d91165cba21c5eef5f630c78840991cf22332971bf87257179ffcb663edb39fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d13dbdaa92adec21b65e6b7aef82fa9db485f19b42d9fc278c0165aea613ff72",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c825cc37242cd3101a6881815f748ab8d1fda6d1ef95dba175c26a93c60f8e4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 4 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]: [-0.3962, 1.5162, 0.8783, -0.0288, -0.3241, -0.2379, 0.9988, -0.0147, 0.7986, 0.6502, -0.4732, -0.0235, -0.0402, 0.9998]\nstate[eef_state]: left_x=0.4151 left_y=-0.1088 left_z=0.1312 left_yaw=-0.0132 left_pitch=-0.0662 left_roll=0.0155 left_gripper=0.9988 right_x=0.2877 right_y=0.0035 right_z=0.1808 right_yaw=0.01 right_pitch=-0.0506 right_roll=0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -7.3231, 8.4581, 1.7411, -0.3541, -0.0366, -0.1441, -0.1573, -1.0872, 10.1812, 2.0244, 0.0269, 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]: [-0.4049, 1.8641, 0.936, 0.1879, -0.6193, -0.4679, 0.9984, -0.0147, 0.7666, 0.6022, -0.448, -0.0238, -0.0433, 0.9997]\nstate[eef_state]: left_x=0.4547 left_y=-0.0794 left_z=0.0604 left_yaw=0.3356 left_pitch=-0.0215 left_roll=0.0265 left_gripper=0.9984 right_x=0.2834 right_y=0.0036 right_z=0.1726 right_yaw=0.0119 right_pitch=-0.0415 right_roll=-0.0015 right_gripper=0.9997\nstate[joint_eff]: [0.7179, -7.2, 5.5726, 1.1453, -0.5104, -0.0317, -0.0513, -0.3077, -1.3607, 6.7487, 2.0537, -0.0611, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d91165cba21c5eef5f630c78840991cf22332971bf87257179ffcb663edb39fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d13dbdaa92adec21b65e6b7aef82fa9db485f19b42d9fc278c0165aea613ff72",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c825cc37242cd3101a6881815f748ab8d1fda6d1ef95dba175c26a93c60f8e4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJa4ZBBiJcvxL_MtmvY1cyoHBVR6CtJfpgK09kqVabPB_5XNJRViHLgj6MQuHCsxhK05xSsdoA7gwPNo7C3hIuq5eIN-EDMx0N1X9rP4x1nx5c221gjdTGr3YN_DLaHBgV3zJSG7O-LjNqInpQ__7gBdMwrrAhUUeCdyKEMw8lijBcp7ZIYmOD5-PRufi8rPO9EiL5EVrwJFK3S8sivpgSvJPxDou7c9Hes5Bc2sd7B79teeZTXJWO_LqWOCYkU_AlRyzVjfqOfgtLTukUfh6oi0Oox3ddRU0LrstOdMRXV4vQa92ueVA1s7xk8Yy3IE2n2HB8fIJAbk_ry3W0P86Ou3yl_dN93Pi1dnWELwIDWikx67wLYMUv_QLWzlxa7iuDRnc1RZjaZK65JjHf9rGV1dw4uE04ceEZMqCb-ZhAe1OOd_Y5TSJ98lyh8wSB4X9LbMNpmcBQ_NcECUbQmfKdRdosfpFo5aiSctYwg02qPKMRox18KhQ5LRYvKILTdUh8Tu9HmLA6Ud4Zfutsfp-Zn83tfncPpVWv6jmYmhNYgkDxwYXkyw66nUx2vT59aUqyZLBZ_AyhBgEKXuwM5msJd3RlumJjJhRAAYIb9JoY9ED3FPiDgDXTs5-OfwGgqq0BeRrQnmzHJQ4ZasBuhJxOmrn2wIU8KN8TQQ9el1Sw5eXJs3SF1GQp0lN72fZDzKluWXzlXRxcLoOOfBrZT5roxL_8zk4vy-BzBST3QT8-HpHvcndBSeWmS2uaH40aYbVw8kJ0xPGwPnDkiXlu_jfZRtk56ZkuL1XlxrBxfRkQ9P0kcp9yOcF-N0jZOdKVqtwqmg7mQZogILBZ4vXK2z8bqpG1LGPuIsOoEJO34KrOC1SYKTR_lxAg39ND2UzIsqk8K_jPC2qT8o8Q-uvVSNcwJwvSnaGhDPqgtp72or38qwSyBaCCFAtWHO-tsnyBc9QsUmL8v11hzSQ_LsZEH1T4j3RB92YEUgX5RJ5w9ewDskgsUnle-jWvzO4XJAUQT8X8wzCanWXv29ohRnxNIbbuYvblU2YC_a_xsz0tY-SxyeWX1yhWh7XgE7NlvtPeftdvjc--ge3YHdmhhRZLoJE8dcXKaoZgKR9htCZoHo-sm2oSCHl7tagca2TR8Ql_Gxnes5nK8zWGecoLVMhs5mggoJH1lme3tAyrzlTcxajFoqeePrUayenGn_a74xkHR616KifptzKU_vNgxJ9gZS0CoZ8jB9smQtd52yO8fplTyXx4Y75cFnpMOplp7b46iRlXW1vV0pKbWfrTT4PZTlqAfshiwHwv5IZfJZf9wI8IuVCGHUNVLFa29qF9knAgOgBalbTOHYoqbELdtW6IzCRSDS1MhQHfqm_kun7Pnp_2C_IwPTjF75YnwVCxO1ohlUvzwTAXL4QsdFy34mqbsMM05WoMJ5-uqACImf_lHznaHrn9UIMuKiUDCmetTUUmHLHCr9eKpiflsU-yStPrrSldOSAbR1Js4cA9-9q_yOAqSVpNdZlNJQmYpxCGbzix-8KyD9XqzYt4Ang5uGaATOYlg5Rz1zLpLWCtyKMzw3P_OuMvk-0G8VP8EtMQar0pxjdN5zrM0nh0LQljasuF0zC8JFqxaRkLGfRb9gJLd4ntmMAYK8Di1SbbubMLehHBvh0wPGldeNg64c-KpoMDf-FegP57SfzJCWW-yWiXGAhR9UQOwvUMIV7OIz-2vD5CgfPVwVNaM5uq4jL8JY11WQeLPbQCZ2vT-dvQ2HDzg6YE8BVwMOtwisz-NxfFtNdTpNhotb7Op9CAvZ3FQHOcwdZyv76dUZZmbISqB91lFWuGh-ZeStCP6IcmaiT1lO-aCf2rFrPXbRpiSlcQ5LLMCqP-moIwYYnh1M4zHcYcWhfWrTq8-zm-z3MAS3U55yAYyaeXFxbTWpe2LljzgRFUWHbN8GPB5Ti5nSG4F6TMtG_ceFgYN-zoSEt4uyOYe4ZhpidiZNJRfAQxfNii6EUovCCldo8ztLB2R1aoWO8NhSKxB2msoOcMUCw1QF5fAgp9uanhuJiv98GK8bm_AttHEvPKHGe86WsqrrPQMWMZKkUMwZR82ZqTqXPiY3-ur52GZTaCJEX5Sk-2DmY3AQ48oYwJf2yw==",
  "id": "rs_03ce77fa32a088ec016ab496b4388887d0be157da3ea9c8a6e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.005,\"left_z\":0.025,\"left_yaw\":0.45},\"note\":\"The neck is still to the left of the gripper and ahead of the fingertips. I will move farther left and slightly forward to bring the neck between the jaws at bottle height.\"}",
  "call_id": "call_Kn23bN3DynB0lMXl0MWy99rF",
  "id": "fc_03ce77fa32a088ec016ab496b749e887d09af3f778f0dcfb27",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Kn23bN3DynB0lMXl0MWy99rF",
  "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]: [-0.3981, 1.9022, 0.9604, 0.1829, -0.696, -0.5545, 0.9982, -0.0147, 0.7448, 0.561, -0.4248, -0.028, -0.0433, 0.9997]\nstate[eef_state]: left_x=0.4581 left_y=-0.0659 left_z=0.0574 left_yaw=0.445 left_pitch=0.004 left_roll=0.0036 left_gripper=0.9982 right_x=0.2803 right_y=0.0044 right_z=0.1643 right_yaw=0.0154 right_pitch=-0.0376 right_roll=0.0008 right_gripper=0.9997\nstate[joint_eff]: [-0.0068, -8.3761, 6.1607, 1.4432, -0.2808, -0.0806, -0.0317, -0.4034, -1.6205, 7.0222, 1.9902, -0.0708, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5541b2a8ac046ad3d00826dfce10a890186b850163b77bd8a12aed84ce98ed4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be7eaa2f78fc894d1e677ce4f83f8205f5408b87691449686c4b9cdf02b623fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b7f5bf88f24f1a0b96cdbd894d70d0ccf5bc056e1b306340a02a9c723da30ec",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /responses · status 200 · 4.25 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7933, 0.609, -0.3763, -0.0257, -0.0284, 0.9987, -0.0158, 0.7887, 0.6033, -0.3859, -0.0166, -0.0353, 0.9998]\nstate[eef_state]: left_x=0.2958 left_y=0.0022 left_z=0.1833 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.2936 right_y=0.0019 right_z=0.1799 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.5265, -1.4974, 9.7299, 1.7411, 0.0073, 0.1001, -0.1441, -1.0051, -1.0188, 10.2222, 1.8681, -0.0952, 0.188, -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]: [-0.4049, 1.8641, 0.936, 0.1879, -0.6193, -0.4679, 0.9984, -0.0147, 0.7666, 0.6022, -0.448, -0.0238, -0.0433, 0.9997]\nstate[eef_state]: left_x=0.4547 left_y=-0.0794 left_z=0.0604 left_yaw=0.3356 left_pitch=-0.0215 left_roll=0.0265 left_gripper=0.9984 right_x=0.2834 right_y=0.0036 right_z=0.1726 right_yaw=0.0119 right_pitch=-0.0415 right_roll=-0.0015 right_gripper=0.9997\nstate[joint_eff]: [0.7179, -7.2, 5.5726, 1.1453, -0.5104, -0.0317, -0.0513, -0.3077, -1.3607, 6.7487, 2.0537, -0.0611, -0.0122, -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]: [-0.3981, 1.9022, 0.9604, 0.1829, -0.696, -0.5545, 0.9982, -0.0147, 0.7448, 0.561, -0.4248, -0.028, -0.0433, 0.9997]\nstate[eef_state]: left_x=0.4581 left_y=-0.0659 left_z=0.0574 left_yaw=0.445 left_pitch=0.004 left_roll=0.0036 left_gripper=0.9982 right_x=0.2803 right_y=0.0044 right_z=0.1643 right_yaw=0.0154 right_pitch=-0.0376 right_roll=0.0008 right_gripper=0.9997\nstate[joint_eff]: [-0.0068, -8.3761, 6.1607, 1.4432, -0.2808, -0.0806, -0.0317, -0.4034, -1.6205, 7.0222, 1.9902, -0.0708, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5541b2a8ac046ad3d00826dfce10a890186b850163b77bd8a12aed84ce98ed4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be7eaa2f78fc894d1e677ce4f83f8205f5408b87691449686c4b9cdf02b623fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b7f5bf88f24f1a0b96cdbd894d70d0ccf5bc056e1b306340a02a9c723da30ec",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJa8f-gk-NdHVZZ7JmX6U1YNWNrl4FD8flfuSmGm8BNcamQToVNjF8mBU8vLsBnIqC7L7BtO8ZeI8i0smlTViKozAoyj1yiRRtMzP07t2j7nW9XYtpLAblDzRW8qMx4jlBpBhOG_FcY4wCpxU1ehN6Q4p5anXgBhs-bYxRoIEcG7kWqCbvGFFPTgCtv20Ummd1VaTdZ2DBlmfHBTPbPOXS6ACMGdVQMLha7uYUjt8Yek4NxB8YHNX5O2d-6p3LBzioNHSpT1CKqEA5iZfb9V0gtN67CaYXuZevgPOcYQUn7ybYBu8bopi7leBl1CCL8_b9008OWatk8eFLL5UaDhBiA-fKNxjjl98bhmk4A85Yl6bcjbJ4k1icgteq6_kJSVa7w44hGShqAnIHTu9pfw2Pa3kgECfdyt6ovjOIepXucqshq50MnyqtNoEAcgXJXNgYRmGOJpRRYaIwcLSwShia5eu1Smqzbn9QJfSeQYCeiLA-nUh1Q2Bhzg02xkoNG1Emdb7WYG40fdkZ06Aq_ERlvyXrVeCX-cLLDLyGyGOiv14qXixw_ha5FV2r83dGWiYmIvd7iJkL691OCJapak6ocO4DRQulYHFjoxYviuiSDxi-flPi2alSHl8sj6UUEKMtN-xYOzRV1BdF-wNGrJf0qAafzU9bi9QSzZIajuQSKTkPBQnAqxLf8OCtbVms9iEYUGTMoC4Q4AcjGoQdkvJq6MSWEQLtRFX9TgxJ0xC9ME5Ne0vBlbD7UMAIcnR0oWWUcLqn_M8F8Xr2saoTjMh3jToeyxwzrrLjqQmPxBYwaR1H75LT0NDESNO40allrM5gCSEgaEjXmjZ9gRwH06slivMUV70ojEjqd6YUkC0iHYe6Z0avRCf0jOkb4-L8MgorhLE5524YhjOLdQ5u9LIbUWYSPOvnpazphn33s4_rA9aOFoB8COVOiO0ABQjTDa6dfZRpQ9hEn_eApFGhpJitesc6LOqkfcgUQUvypmLjUST613nG3YYBoa0F7-9ICbgOe5BvX58bi9R1Wx2if_ShIFM4pH-lbqX65BWPlBAjWR90ichwfabdSZ7XlC4irOvmKGAZjvdVSTiC3kM9GnRowBRBw33vEDhl2XN8gpv41cME48ENsFUpQNnm5SnQMIxrfzxjI83Cg6uGrxrgO3wEe-tTs_lVXZt6MVLYCjbBAzCwWqs13rPOQKDi7fuQTW9rXX6f7VtjlLuvY5-lVc7SSXz12UGA7TyoYfyh6nomnKSn8HE733fa6JTwhHJArdeCniBVyartrY0RihCOI5V71A5d3wr54Tf7Qg2Bv0swyGTaB1X7ZrvgKwUl2xYtNjjosK2nzAxosAigUWSkQkJydPmHI3MnXMNwXrAHXi7v7jkzd_xttMC1A5T6B-lvnTBDnehapOgBsai2AXqNyLFr6IyQ1xAmWFKAfxQt-cUGFQXezw5BHdLT0ieFeVAyLgVnfAnKIzjpn11R897cnHuEtHjvIGQK7lyjWg9Sa0U8QwHQAxg-gmBTGOF5qYGbT_ef9IFbfR0RmlMtfn_V4WtKV6DeHlSaHJzc0q_xioOxmp2KBxWrRKtIBqM7ElboK_0bcz",
  "id": "rs_03ce77fa32a088ec016ab496ba946887d0ad99f6e36ed8040d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.22},\"note\":\"The left bottle's upper end is now hidden between the fingers, and its base remains on the table. I will gently pinch the neck rather than squeeze the broad bottle body.\"}",
  "call_id": "call_xblv7XWqTShKxvy0F9korzbm",
  "id": "fc_03ce77fa32a088ec016ab496bbf23c87d09cf917ae6d78c537",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xblv7XWqTShKxvy0F9korzbm",
  "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]: [-0.3981, 1.9022, 0.96, 0.1814, -0.6956, -0.5571, 0.2255, -0.0147, 0.7254, 0.5255, -0.4026, -0.028, -0.0433, 0.9997]\nstate[eef_state]: left_x=0.4578 left_y=-0.0658 left_z=0.0571 left_yaw=0.4462 left_pitch=0.0025 left_roll=0.0025 left_gripper=0.2255 right_x=0.278 right_y=0.0045 right_z=0.1577 right_yaw=0.0154 right_pitch=-0.0315 right_roll=0.0006 right_gripper=0.9997\nstate[joint_eff]: [0.0342, -9.3744, 5.7368, 1.3846, -0.2466, -0.022, 0.2125, -0.294, -1.6205, 6.8991, 1.9267, -0.0366, -0.0464, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe6c10fb9b19a0dbe2ea2809f643b49022916d383e52fb935dc930e16c4585cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97812f734e6182df12245ff5335df8cd1d72d9e2a7eda3987d8675f5b0b012df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80162d3976ae99d6d418dd21b232717330c84cf9b9c45e75782ac07f29dfa25c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 6.003 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]: [-0.3962, 1.5162, 0.8783, -0.0288, -0.3241, -0.2379, 0.9988, -0.0147, 0.7986, 0.6502, -0.4732, -0.0235, -0.0402, 0.9998]\nstate[eef_state]: left_x=0.4151 left_y=-0.1088 left_z=0.1312 left_yaw=-0.0132 left_pitch=-0.0662 left_roll=0.0155 left_gripper=0.9988 right_x=0.2877 right_y=0.0035 right_z=0.1808 right_yaw=0.01 right_pitch=-0.0506 right_roll=0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -7.3231, 8.4581, 1.7411, -0.3541, -0.0366, -0.1441, -0.1573, -1.0872, 10.1812, 2.0244, 0.0269, 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]: [-0.3981, 1.9022, 0.9604, 0.1829, -0.696, -0.5545, 0.9982, -0.0147, 0.7448, 0.561, -0.4248, -0.028, -0.0433, 0.9997]\nstate[eef_state]: left_x=0.4581 left_y=-0.0659 left_z=0.0574 left_yaw=0.445 left_pitch=0.004 left_roll=0.0036 left_gripper=0.9982 right_x=0.2803 right_y=0.0044 right_z=0.1643 right_yaw=0.0154 right_pitch=-0.0376 right_roll=0.0008 right_gripper=0.9997\nstate[joint_eff]: [-0.0068, -8.3761, 6.1607, 1.4432, -0.2808, -0.0806, -0.0317, -0.4034, -1.6205, 7.0222, 1.9902, -0.0708, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3981, 1.9022, 0.96, 0.1814, -0.6956, -0.5571, 0.2255, -0.0147, 0.7254, 0.5255, -0.4026, -0.028, -0.0433, 0.9997]\nstate[eef_state]: left_x=0.4578 left_y=-0.0658 left_z=0.0571 left_yaw=0.4462 left_pitch=0.0025 left_roll=0.0025 left_gripper=0.2255 right_x=0.278 right_y=0.0045 right_z=0.1577 right_yaw=0.0154 right_pitch=-0.0315 right_roll=0.0006 right_gripper=0.9997\nstate[joint_eff]: [0.0342, -9.3744, 5.7368, 1.3846, -0.2466, -0.022, 0.2125, -0.294, -1.6205, 6.8991, 1.9267, -0.0366, -0.0464, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe6c10fb9b19a0dbe2ea2809f643b49022916d383e52fb935dc930e16c4585cd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97812f734e6182df12245ff5335df8cd1d72d9e2a7eda3987d8675f5b0b012df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80162d3976ae99d6d418dd21b232717330c84cf9b9c45e75782ac07f29dfa25c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJbBoDS28upkirlylDHv1LIPLbLNfBIcQVbuxjTJhkeCOjPppZ-69AxZLOA3ZKAa7-m82-ed9eOam5mex8MRSU2JwkM2YEIHjM5lwWXKhSPry19hRZiSWmfmHDbeMERNT44Nn5yTn_EFwV5WTJufTtJHrKTW6C9j-qhcmDOSWb4xxf0CsPPd8aHAEWTIArStSmcHRrdH6Ai6LeaQj7bPuEV7MG_r9aar7l_WK6tDIFos22yl35DoHidsjarbpo_ELbV9n06E4C0pizP9a4IaTD9NHuTDtxIWmyg2sLQC6tLiOQYQ3Xs-ncIFBorXUE_NNaAamXVi6afNAUekq_2VME88I2mon0kYX-KdVPzX28UlS5Cw-tH-xNxrSpPnYJtIRifuvcNmmJfsKZ_vKiknZSUhGEadEnNYL_D6EtNGQYMtqqjeVnxGAkwHngkWF0zdq7RymSogeSHirYL0mugR_97KcJOo4IgEbukCcXGOyOZa7WGgRbWanUlgT4V4b9lYouVEmKg9HPZa7jhrmN2ogQB7L4eTVAB_b3Gyw_OmlDSadUXCM_NcxFq_TRnUwEqr0cNRFcgdYs4Q9bjbKE2jVw5SQQ5lGsjMFwHuAmc5BMDacAyAIPjF08I_d5o4JOvQPuFWlthGs1zfJ0itmZHNx0PAuD4LijsVf3Stwr_tsOeT_jSJ9gm2iEnOXfLggfifqFqD5bswZJxFRLRsbsl7ezElbgCTu9nYzI0nCurlUooZU2I_jYlKynoAjQwN2fiWtqHcYFEfkLPsF5ee7AabOdSWSmBSbiCsfHq8Uk6VG38FSfZJ15ElTpo0mx-EnRtkqbhBB4Cdx8znafQ8foX-dFq6hTFM8DmHhiBnXTHlwn-a8yvNQ8II380wGsmAVbvB0huEaGjzokUyOo4tU7q8OVUGPsrE00eW1tbRiIFy3GAUnJbjTrQzTE2OnVkCiYFGbpdjrLxWGw7Wc0K2CTozy2Xb2e2chUVpL0kIa-E3XgMfjBkeO7QV0iQc5jSdUfI6_DCCCHzLOMwFGU_P1rkMUfOHjUtYg_A_USK2dzRVofr8nt6CNNT1yBFSA4uIrHXzSELRLY8K3ZPwfzCc53lN3S_jgtBRHcFf8LNJwLeq0R7AMwCqbUNaNqvAnajpJRH8Pmq_KRi9k8xkCP4u9xvT1QK89XwB0myzkl2Rx6wegijPOyDtNm9Dwi3GXrlCAZLbc6x10pDZSeE_7AJmRK5Qw5DjStJJFp-QX8P6G6HpeulSlpZkDJjBvzjoJwmntv6dUfJlwGZWZtEiTZOxxyCJ6NGoDx4SZ4VHcc-ldeRho4SBTxjpmkdKOf0Hza7dy6yrvAtG1FTKV1_RWx4RRXaYiJSUVL4I1cmlmDGAKW6_yA0N6UPfthgY3dwm0lVELUFp-rksmk4jEIDIlahGiEZu6SHAE2feMujbKUp0N3UEGXlhhXe1w55C2EB2aGUi_Dd0KsyTRqwgXW1IcSWPvpRUJ_iSZg==",
  "id": "rs_03ce77fa32a088ec016ab496bf4a2487d080d94a1d6467d6f8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_y\":-0.066,\"left_z\":0.13,\"left_gripper\":0,\"right_x\":0.294,\"right_y\":0.002,\"right_z\":0.2},\"note\":\"The fingers have closed around the bottle's upper end. I will secure the pinch and lift a few centimetres to check whether the bottle follows, while restoring the idle arm's clearance.\"}",
  "call_id": "call_zf5QjK4CvB3exI2ZTvPODIGK",
  "id": "fc_03ce77fa32a088ec016ab496c0a41487d089137dda2376c748",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zf5QjK4CvB3exI2ZTvPODIGK",
  "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]: [-0.4187, 1.718, 0.9874, -0.0502, -0.6979, -0.5842, 0.0137, -0.0238, 0.7925, 0.635, -0.4606, -0.0315, -0.0589, 0.9997]\nstate[eef_state]: left_x=0.438 left_y=-0.0667 left_z=0.1099 left_yaw=0.4417 left_pitch=-0.0091 left_roll=-0.0044 left_gripper=0.0137 right_x=0.2873 right_y=0.0023 right_z=0.178 right_yaw=0.0177 right_pitch=-0.047 right_roll=-0.0097 right_gripper=0.9997\nstate[joint_eff]: [-0.6359, -10.1812, 8.7179, 1.3309, -0.4811, -0.0073, 0.7057, -0.8, -0.759, 9.9624, 1.8046, -0.1343, -0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cade9eb3b61fc4ffcf3bc9b4271dee35c1a23d9512520cd9404b3b3546ac0a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c0d71164678f70d0e56f9c045f54656b4db2a0914c90fcf159623bfe06942dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edfd853e2ba417c30a3050163b877ea8105608b572a6bf17a6667d0e8beb5116",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 5.027 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]: [-0.4049, 1.8641, 0.936, 0.1879, -0.6193, -0.4679, 0.9984, -0.0147, 0.7666, 0.6022, -0.448, -0.0238, -0.0433, 0.9997]\nstate[eef_state]: left_x=0.4547 left_y=-0.0794 left_z=0.0604 left_yaw=0.3356 left_pitch=-0.0215 left_roll=0.0265 left_gripper=0.9984 right_x=0.2834 right_y=0.0036 right_z=0.1726 right_yaw=0.0119 right_pitch=-0.0415 right_roll=-0.0015 right_gripper=0.9997\nstate[joint_eff]: [0.7179, -7.2, 5.5726, 1.1453, -0.5104, -0.0317, -0.0513, -0.3077, -1.3607, 6.7487, 2.0537, -0.0611, -0.0122, -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]: [-0.3981, 1.9022, 0.96, 0.1814, -0.6956, -0.5571, 0.2255, -0.0147, 0.7254, 0.5255, -0.4026, -0.028, -0.0433, 0.9997]\nstate[eef_state]: left_x=0.4578 left_y=-0.0658 left_z=0.0571 left_yaw=0.4462 left_pitch=0.0025 left_roll=0.0025 left_gripper=0.2255 right_x=0.278 right_y=0.0045 right_z=0.1577 right_yaw=0.0154 right_pitch=-0.0315 right_roll=0.0006 right_gripper=0.9997\nstate[joint_eff]: [0.0342, -9.3744, 5.7368, 1.3846, -0.2466, -0.022, 0.2125, -0.294, -1.6205, 6.8991, 1.9267, -0.0366, -0.0464, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4187, 1.718, 0.9874, -0.0502, -0.6979, -0.5842, 0.0137, -0.0238, 0.7925, 0.635, -0.4606, -0.0315, -0.0589, 0.9997]\nstate[eef_state]: left_x=0.438 left_y=-0.0667 left_z=0.1099 left_yaw=0.4417 left_pitch=-0.0091 left_roll=-0.0044 left_gripper=0.0137 right_x=0.2873 right_y=0.0023 right_z=0.178 right_yaw=0.0177 right_pitch=-0.047 right_roll=-0.0097 right_gripper=0.9997\nstate[joint_eff]: [-0.6359, -10.1812, 8.7179, 1.3309, -0.4811, -0.0073, 0.7057, -0.8, -0.759, 9.9624, 1.8046, -0.1343, -0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cade9eb3b61fc4ffcf3bc9b4271dee35c1a23d9512520cd9404b3b3546ac0a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c0d71164678f70d0e56f9c045f54656b4db2a0914c90fcf159623bfe06942dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edfd853e2ba417c30a3050163b877ea8105608b572a6bf17a6667d0e8beb5116",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJbIKds-sGst40j-CLjs3eyoM7FPAfLk0ylZoV2zX8ogQZhZW5W962IFmZ49edI1_Acz1D0JrAPpeM5ub_sxLbUlUAc2OuM5SFdCs5GjRVXXImgmFWzsGEJEbDY7C1VVaIPtH1z8LJilKG_0X7276AOt0u0dMFLnllAsRcwZsn6g5YnsbQ-dTIcj4vhBcn8Y7A4XtjMmAt1xKP1513lsHkm195JysPQo24B4IK0mVFL_jOOtMW5Lr1XNZZeTcS3sXiPekYGhI5vrROEcI4jK6FAEj4kpNBSS-_UxSsfmuK2HCBDaQtEiWpxWmH7gIsdy6GJMlCtib3_DWET3pTV1hq0XdpAXoXOG2ESCM3f1mT8BoJOGOx-zYhz0h3Ed0c8Hakl4BimGePlkwrgNINykegqBnUEkdtasGUH0-jrJrxfoZGhPPG2N3w94BIxMAxf20CQrv_jbOeX89IZZLsTAF5dkq0VS12RVyBVniPERxFDh1B8HqW092z4Tw2h1qa68s89rrd1ORweV3rJ8_yxklcwQazXhVP2YlBMQ8G-FloOowr1cxsjFId2fG2T0BEx5Bq1IST55IGR_rgmECzqL9uFtWwZMq3jLfJvmus5ttBg8YJVW9ht0I3vNOuOkxNcNDqKPbh-ezObrZIayr7Q56B_3h7iID5aLww451u4qZjs4NFxGCVScSNaCMFV1Guy-pe4R5JAJ3bcHHm-Hv38WOKxhIyiYWvVe1v7lXxcTDXUQAMU88YL8J0oOHQWBlbDEI7cF80hRdKVlK8INXVTNWXumonG4uig-EA1_6AB5Y8ia8XkxNHcFsOlI7ZOtnOa3pBY_npG6Wvj5oXE4uyaaMH7ZeCP2YhF4UVwQ3yN9y3YY-rvXeE9MYADbvecdbKUYKFRI644zQeR2ArScIaw_V3mDnmx1fsRDKkaBRfJGOZ4BiG-rwPh855EV3U4DbCWpV6ovsCpsqCW7oe4iuev2LGCfO8WMbWCjguRVzs62BMRafJflKUy5rrwlXmacjGZAbZmGejfdOAaaPuXUDmStplyltbU7VgAKr9RC0fH7Vtjk3uo40n0lOJDX-WYY2JnthlJJ2pT8p_Rs6lruHnO0Q6pqUXc5Derh80BbGDPqxW0zw6ros-HIcwR0K54OZH5N_0vujO1G3-En45p3moHUduiyR4NCtw_OuqG9ZDgdYVliwNgTwdSMBl_O9kLpTv2ued893F4gFrJxeKeJ-w0HKyOtGFa5tqRWtQNo3IiNxdCZcOTEkb5X5WaU4coZ3ZbXlI0tptBKQOYKTYLj8OSKpp-Z1vQfjWWMKDdogQusvrb2UpbbVd00gcnljUyEsbkB1OQM6G8aykozwv2LfOI_P2wjk1Xyxtm0bpc9Fjp8_NTUWnAE6YYuU-0eCMgj5qjPCOmQlBHS6hvMHBMyS0xhq04878xzN8-tLD4Nktw9jc1mckShVud-baoTpOUmjC4RDRCGI_YCTkxxs3VDgzSvgUzrBPkci3PSwLGnUwu8KMEfq5KFNZZgV1zppnorgtkIRwJYYNzPGF-ePvj5edOmB31GlMXMb04igl8gZI6cK0myaQ-sJu8XKWGmZ76_5prXbN4hVKyV7UDrQQFL8q4jatQ4LK2pD_e9K6A4ZzbfXyfe7C_ClQlKnJIozo_6OESSa7C5ZiviRw_neR-ZogRZw6k8IvlzoVokQCLThUKzwEEhX6x7a3TuI3momrN3zy0chhijYrw8SWc6OGA9Adl6vIbfNL6_ScunwAnSkySkf3zoMhpks4_N_Ha0DeJxmrR7Ksc9XHrgncv9WF9RQ4gdyleatOqpHKyTnW9j58ueF6y7zxPhv-svl4QHPUlW0zgDFUwqT898oF-Qm4Fq6TVAJn28Bd4sOzNjysAalp-0Li6cWPZFT7xnAjhus9nd90VXZz_5aYedjbYIxl-kftKPca2dkXXfWpT6ODnObBp4AL9qv04=",
  "id": "rs_03ce77fa32a088ec016ab496c3f87487d0b4c1d25712495165",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.40,\"left_y\":-0.09,\"left_z\":0.03,\"left_gripper\":1,\"left_yaw\":0.15},\"note\":\"The gripper closed empty, so the bottle was not captured. I will reopen and move back toward the visible bottle shoulder for a lower, better-centred attempt.\"}",
  "call_id": "call_3M2PJoikx5ejYFp9tSeuNMJu",
  "id": "fc_03ce77fa32a088ec016ab496c707c887d0a07ffc06e5918ff2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3M2PJoikx5ejYFp9tSeuNMJu",
  "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]: [-0.4328, 1.7611, 0.6041, 0.461, -0.5278, -0.3912, 0.9951, -0.0277, 0.7647, 0.5865, -0.4412, -0.0315, -0.0586, 0.9997]\nstate[eef_state]: left_x=0.3968 left_y=-0.0814 left_z=0.0284 left_yaw=0.1962 left_pitch=-0.0269 left_roll=0.0158 left_gripper=0.9951 right_x=0.2824 right_y=0.0013 right_z=0.1674 right_yaw=0.0136 right_pitch=-0.0482 right_roll=-0.0093 right_gripper=0.9997\nstate[joint_eff]: [-0.4444, -6.3658, 4.7385, 1.6142, -0.0122, 0.2466, -0.1148, -0.3214, -1.6752, 7.159, 2.044, -0.1783, -0.0073, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cea6e7c212abab7d458a9a34f7bbb53d8042698fed8c514f44ce08d6a4ab486",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d57476a450379da5fc7b00ce8da705b1dfbc11d6cb379a09fc3d0a47af11cbd4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f97a27e5cfdde9cfaddabdfbcafa98c7214f4df27eb26a0cbdf9c420e8328583",
      "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 · 8.137 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]: [-0.3981, 1.9022, 0.9604, 0.1829, -0.696, -0.5545, 0.9982, -0.0147, 0.7448, 0.561, -0.4248, -0.028, -0.0433, 0.9997]\nstate[eef_state]: left_x=0.4581 left_y=-0.0659 left_z=0.0574 left_yaw=0.445 left_pitch=0.004 left_roll=0.0036 left_gripper=0.9982 right_x=0.2803 right_y=0.0044 right_z=0.1643 right_yaw=0.0154 right_pitch=-0.0376 right_roll=0.0008 right_gripper=0.9997\nstate[joint_eff]: [-0.0068, -8.3761, 6.1607, 1.4432, -0.2808, -0.0806, -0.0317, -0.4034, -1.6205, 7.0222, 1.9902, -0.0708, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4187, 1.718, 0.9874, -0.0502, -0.6979, -0.5842, 0.0137, -0.0238, 0.7925, 0.635, -0.4606, -0.0315, -0.0589, 0.9997]\nstate[eef_state]: left_x=0.438 left_y=-0.0667 left_z=0.1099 left_yaw=0.4417 left_pitch=-0.0091 left_roll=-0.0044 left_gripper=0.0137 right_x=0.2873 right_y=0.0023 right_z=0.178 right_yaw=0.0177 right_pitch=-0.047 right_roll=-0.0097 right_gripper=0.9997\nstate[joint_eff]: [-0.6359, -10.1812, 8.7179, 1.3309, -0.4811, -0.0073, 0.7057, -0.8, -0.759, 9.9624, 1.8046, -0.1343, -0.0024, -0.0073]",
      "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, 1.7611, 0.6041, 0.461, -0.5278, -0.3912, 0.9951, -0.0277, 0.7647, 0.5865, -0.4412, -0.0315, -0.0586, 0.9997]\nstate[eef_state]: left_x=0.3968 left_y=-0.0814 left_z=0.0284 left_yaw=0.1962 left_pitch=-0.0269 left_roll=0.0158 left_gripper=0.9951 right_x=0.2824 right_y=0.0013 right_z=0.1674 right_yaw=0.0136 right_pitch=-0.0482 right_roll=-0.0093 right_gripper=0.9997\nstate[joint_eff]: [-0.4444, -6.3658, 4.7385, 1.6142, -0.0122, 0.2466, -0.1148, -0.3214, -1.6752, 7.159, 2.044, -0.1783, -0.0073, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cea6e7c212abab7d458a9a34f7bbb53d8042698fed8c514f44ce08d6a4ab486",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d57476a450379da5fc7b00ce8da705b1dfbc11d6cb379a09fc3d0a47af11cbd4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f97a27e5cfdde9cfaddabdfbcafa98c7214f4df27eb26a0cbdf9c420e8328583",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJbO-AD1S3IJp5AKYrh_g4qnjGv-QdHWT3hLxHSDqAHhY5lN5nxTju_FuWtDVvOC2GsUo0r1NX6iUq4kbW7_f3C991fXk5c4fzL5U-Vyi_q_FIhMOeyhWshUyGicNea5p63EXHopGx0wOoCa77CkXINLu25WOMFtvnvR0CIeaD12rLBN1P4j1cstVzV1FOByjy0FfJv8HuKrG6memFHap2lVbdyHOlMTwhTzozLdI_EXKwaCO0PF3nMl70ULoX8q1kYOTjx4vK44CQiLgLa6E2ckh9n2Y5CI-8Akp3MDOzPIZjB_1TL0EVmSq4bwnnwsyIpvTWXM9D7ODOxGhg8l5M8azDavCiiXGiZ6SqCXpcDl1XivEi8-HTCr7s5tpTFLT46Hkt8cYyBEjhxf9dXElq33ETAL8tjwUpALyTZLZfm2lFUNYZxZT75opgwuVX8h6rK2wtL70AchlS86O1NSCmaBAJoJw-Sy52QvxCqST_NAmYiLcv_3oyxZUhVPJA2K8x8NNY8pwnSbHKqv6RnqFtgEowXkDFHfhje17_4-YNeR0bpu1gfikTW8KG0W94pTbFKI2x2eDQjyDEx676PSJBKIh4LkatvFsDL0ZjW7b_Bsaf4oBlaYHDp7zK-JJ_B5ziPvhh8X6Xfh6llIZnpvcfEA1nAliOXXQhASwkE890u9QIVRVKLKucKq1e4upWDJ_8kF1RYw3ZqYMfsWSpbT1pyXvcUAsJHmLQxv4S5SA3eoC0Lk308mv0k_45fQ8vgBP_z6Vk-gQCCxjnfwA8twHkZTj-9DIKQ6SgvCSgW_mO23O6z6JrliUlCchV47O-nQEu4WK4NFNR688NgqLIpSHfoTtzbgYlRGkpmeCijFqnXYCmRlCn3kLwIx7yhyPcp6J0FJ1Q34U18pO02rSV1yw7TyNEG-Asy1UqaM7QZP0jENhTSkHx5bbyq8N8PE_xYGKuqNTE3da31vfieB56zcGaRWK6_8eYBbrPZwzUb_Jd3ojOfIH9OzWp6CP1SFUDaZ09oSoZJyWT5ci-AG57IiRapqBUILKHKuL07evjNKLBYa8xDZyQY_4rkM9qktbegzUxRBlmg9SMQXmGBRX4NyRfxidx3Id-PpNzTeFjF7uVgTl9JDbPlt4bwOl7L40KNGVYLnDjCk5UoJQaPVuVVK2ga_sr_gYsAmaZFYlzWZvvyllj6uoOWsrfjIaCDoLz2gwnkN53Ykhlb6lF-eNXy75WKUNoDc14A8JIABIKCTJf_pQCfKxGtT-iBRN0MgrnCgkpCJZ3YIFozrqC-QK7Gpn8iEMmZXudhxL94JKeHHokMYXWC8lsHBBycb1v6U25fbL5EpAwvrai0BySM6uuMxU_QYmYiDELswMU7mdw3oHY5UbV-2pyVNtuBa6u3sg1HaYz1jyHk0FXrMDUnrkMuu5AsXn7w-5rgFyRZNsHOIq3hMm1lTpZlb3Xp15KqdfUb3gqPmJ_96I6ekw1Ob41lAgYLCuwTkOQ816QLQLdpQzQdDj4p-p-5Fl_35tlttB51xGmJCsofXhFj3H5pAGCn07MmQnFywmRG9YzytOKPBAuVaQPrjxL_WXVaV97Fjr2c8P9K5G6uwB2EKFw0yuJwboeWMzUFKSRHxmbjebNYpPXNRtFiaixMH8QqUXlyqEBX4l94DmQtOl_KT2iKJ7zaO_P5y6ZKrY_lIHBi0_usZC7XM1EaIzKbOxLst-pvCfdDKrnZLFDYYOJooxp-PL2jPhSmNhh2RhKyt1xpmGxwJFKWX8sOUwD1CNzyGuoKBfkV0GmrU0QR7n9AXODTkz23bJH0ommWYhqIyWoWA48ZfxoS8fHKON7DTPieRLf6xQfSIa556",
  "id": "rs_03ce77fa32a088ec016ab496cad43487d0b61810d9da6779f6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":0.005,\"left_z\":0.025,\"left_yaw\":0.2},\"note\":\"The bottle shifted left during the approach and is now visibly beside, rather than between, the fingers. I will align over its exposed neck without closing yet.\"}",
  "call_id": "call_Ksblw76Lq7z4sRuREG3HakHO",
  "id": "fc_03ce77fa32a088ec016ab496cd469887d0b8d79ce17bc484d5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ksblw76Lq7z4sRuREG3HakHO",
  "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]: [-0.1139, 1.8462, 0.6178, 0.5972, -0.3107, -0.2256, 0.9961, -0.0288, 0.7368, 0.5392, -0.4191, -0.0315, -0.0586, 0.9997]\nstate[eef_state]: left_x=0.4269 left_y=0.0092 left_z=0.015 left_yaw=0.2509 left_pitch=-0.0363 left_roll=0.005 left_gripper=0.9961 right_x=0.278 right_y=0.0011 right_z=0.1577 right_yaw=0.0125 right_pitch=-0.0455 right_roll=-0.0095 right_gripper=0.9997\nstate[joint_eff]: [0.2803, -7.0222, 6.5026, 1.9902, 0.0415, 0.2271, 0.0855, -0.7726, -1.6205, 6.9949, 2.0733, -0.1832, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80eb3469b399a1245287b7cad9f43a80e65d3918099f8a3b0c210ce38795fa55",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62416d7c43726892ec89f0bbf2147add118da3ece9b842cff1e6561b58b94887",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03f13cb2506b4d5c0586629faad41a7e0479914da8e9bdb3d26b8a4465e4c9c2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 4.396 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]: [-0.3981, 1.9022, 0.96, 0.1814, -0.6956, -0.5571, 0.2255, -0.0147, 0.7254, 0.5255, -0.4026, -0.028, -0.0433, 0.9997]\nstate[eef_state]: left_x=0.4578 left_y=-0.0658 left_z=0.0571 left_yaw=0.4462 left_pitch=0.0025 left_roll=0.0025 left_gripper=0.2255 right_x=0.278 right_y=0.0045 right_z=0.1577 right_yaw=0.0154 right_pitch=-0.0315 right_roll=0.0006 right_gripper=0.9997\nstate[joint_eff]: [0.0342, -9.3744, 5.7368, 1.3846, -0.2466, -0.022, 0.2125, -0.294, -1.6205, 6.8991, 1.9267, -0.0366, -0.0464, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4328, 1.7611, 0.6041, 0.461, -0.5278, -0.3912, 0.9951, -0.0277, 0.7647, 0.5865, -0.4412, -0.0315, -0.0586, 0.9997]\nstate[eef_state]: left_x=0.3968 left_y=-0.0814 left_z=0.0284 left_yaw=0.1962 left_pitch=-0.0269 left_roll=0.0158 left_gripper=0.9951 right_x=0.2824 right_y=0.0013 right_z=0.1674 right_yaw=0.0136 right_pitch=-0.0482 right_roll=-0.0093 right_gripper=0.9997\nstate[joint_eff]: [-0.4444, -6.3658, 4.7385, 1.6142, -0.0122, 0.2466, -0.1148, -0.3214, -1.6752, 7.159, 2.044, -0.1783, -0.0073, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.1139, 1.8462, 0.6178, 0.5972, -0.3107, -0.2256, 0.9961, -0.0288, 0.7368, 0.5392, -0.4191, -0.0315, -0.0586, 0.9997]\nstate[eef_state]: left_x=0.4269 left_y=0.0092 left_z=0.015 left_yaw=0.2509 left_pitch=-0.0363 left_roll=0.005 left_gripper=0.9961 right_x=0.278 right_y=0.0011 right_z=0.1577 right_yaw=0.0125 right_pitch=-0.0455 right_roll=-0.0095 right_gripper=0.9997\nstate[joint_eff]: [0.2803, -7.0222, 6.5026, 1.9902, 0.0415, 0.2271, 0.0855, -0.7726, -1.6205, 6.9949, 2.0733, -0.1832, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80eb3469b399a1245287b7cad9f43a80e65d3918099f8a3b0c210ce38795fa55",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62416d7c43726892ec89f0bbf2147add118da3ece9b842cff1e6561b58b94887",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03f13cb2506b4d5c0586629faad41a7e0479914da8e9bdb3d26b8a4465e4c9c2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJbXr2TL8an-FoqUesin6izU3BK_e__xpkIlpeYj3hhpc1C4O0_H4KFi_QLf75jU6ymVAZCWUQCpVASDX2rGkD3VPk7E6gBjCGTEv7OZyGMuXm9iwYq-yWIGiZd4C5c0DLax9hZhwsSSzud6TlShvWo1TboSaFMvxGSQSdjqJlYr1B3nNGoInUThwYaIuHUjANiah8zG6Qc6qrCXBGWAstELSsL5khAWrJmH8N9pcHhnQHCnfyWMJXb_cn025MnSM92ggLlNv_dggq8-DefMv8BJOUjIUdKrDtU4C4UaLx6HcJKscY083g3RkD6iCCWHX6C1AJ6bKwvUbrkiM2r1Zgc4OsBSelBihMDarZblr9C3yZxtGE255pfcAgCL7G3AcB2Vtfoe890Ktp6qTTtVBed_hYHs2xVz6_rj7diA5SdR74kDrnPzmqCDWBVqH1gkUXW6ROnT40ypxowfRajMnksB_GZ22y7eHvszgtaO00MyjciayRayTGViZp1DrC3RnoaCrkX7q7JGp9lx_TRyfdyAYG271r4a6pWBzI5Q2T4ZxOhoF8PdzCP6z2a648wWSBv0XRFickovNnW4zNZeUkS_QrAUPMlvHIBQXDREgoznB0CL1resN0_46HVRJUcSSyqy3cpSBnHuWGzdAEkEpUarGAKw7geBi7YBu0I2HiCQNPM4FPqH9auNHVZVHziiDwZDro2AyJbPbjAcSKDGmbD_P7KcjSb7F2iAB-3B7TUfeA58jqwR3c5TvO9uA69wPOd5RxARIjN-Js7KsMZ7NgJIlWOWaqh5c6gG9hoNie7HwXzcLxfPtHEgnREHS-kVH_1CJecpi6of3Fy2wKy5MLQY3ce9jFRHfBpfRc-2aPqDxjnrf6lUzd2EKk_anx7QeL9qBSrrbRNjhrPxvBBeC_OiBYGbU69UyjqbD7GvBb9gPSVePV4-u5rTH-vvb5dxi1cU3oxFF_f5dy4Y1UP9mWEOtRVqz3IDjWhjAH3-Vamx5tYyWOu3b-pPX2-CKgA3G6JM6pZpWfszXPaMxyhBQCY8pn5yw9RTwIKTeebk7QLw24oKfPLQLtv6Ur3AXPjV_6LV9QmTm1qAiNWovcQkrnhBubcc_D3ydg83ZZoXGgZQB-pGwOeFIhw332H6Z4rxdrmycVO7sh1nIpYq340R-5lgFkxL6AnwHFWx3aYEbtxc1rA9PKYimLPknKn97JriHJr8aqRQ6-sQVil43vWKVjChLlw13vCqDVReNTllL3YTYhO7HU1S_COPStsDxfedq0om5gnbkfzT1VO-9BvPdyRYo3tlc4FE7X7KYkmGpb6u6zmEWPSBZEqJLk8Ru4XX10M8H0Mzc_DX3hrfJetsD9RB5uFmav8E_t-Ed889H5sNNABVjQaGCIvfqdQZ0tVBALP0IeypGH1zxUYc6HLns9abxgYGATKQKnwPSRKsidoScv06DRiJ3K4VCNMZaQ8UAbEJFk3tsuMHE15HBWSFn-nwhNQuLEBElQt_tAPFpxV3N2YiFUZKdip6_NSx4T0MHbKYW5Kr-M0L3WIF766a1zABbZinC28XwNoySuLQJ2mSGLncaldJ7jZ-xQgtRMvUnauvmPp2_elUhPPbrA6ad6T1fjGotGsXKEndFIf-RDNtU-I7AwlGR5fCG4NFH5fhD7VieFT9kfdFX0xhjI-460NyrBt9nZUlc2KsI-I1rnhVLqvY0RFjaWwpnG1q7oYkb6e7iIVOrB9VBTMro9V69J9bxXgJzZTtLfdsECIQh7KQLCf1vtsnryM3MtxBuKX6QTaQVpONcsSQdXuePjwKZpJ6dJe0xgf67h0EBd2AVh4I4_6gi07y6GiQeoINAQXk0mpytT0P4vp7rBemIBs_tovYVwsisN82-b1FBzOMLFz0v6_oKv9suIzFHqM_TNxjGu14xMpoICV-3mRWMuiQa0A5dmEG831VLoPeKCyUdCbzrNa9Cn3NyBUV1Efr3ZU7UZuwaqmQj1KA03CpKy39P-c_sbV0g-giaErbt94YLu8RIhhNnPvdYdCl99v9gyF3xRwheVsf3VUSB3DKEerIjk_X5SnSj4ptLDjehJNwBrmJireKygnMQgdPnBuo4gPpt1FIlqOIwQwTnOiYCe7RQy-q3CF2oNX8j3ZQ7dCAOonubrZN56Kw8FEIpuh7yMXNTqI6yYQQVfJnS5OjGPe0SBaqwdU9VCg-ly5wurjhDljKzZCl8-drVwQ0q7NxFv7K-1pHuEwe7diEw6UtA11JD9QAJns-af8f8QHZrnSgH6SbKsYqHCBfU52gKpfyCDNZWEDjc9rn-GXIk05sPtkQu_7wtyGMHvPMUTPdPcz4J4ZqpbfXMITJwAxh5cpq-m3O1WoTd6aOAgR5ED2SanUEwJ539tkOHxAayA8Ei8UdP5DaOPUAxuAE3FBl8AP0ENXmHM-i3BFuyNDV4mOKp-5vRWDI33iXlq6VOJLXTtBPxfW569YUHAZx-R2mejtzfyQ5EP3MChpzYlznlsb23cIViC0qlMdTEEq0F9PNcSAvX8hEZX0xCeTi0uUcCWlCuAtVQJj3t29ZwuAwrys9K6bJOny3p4hc1QgCo0DdlxI3UbFv17qT0JE5fV_CwOlGuBUmIp4g",
  "id": "rs_03ce77fa32a088ec016ab496d0991c87d0a4e3bd6ac3fa7fdb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.294,\"left_y\":0,\"left_z\":0.2,\"right_x\":0.42,\"right_y\":0.19,\"right_z\":0.1},\"note\":\"The left bottle has slid toward the near-left edge, so I am clearing that arm rather than pushing it farther. I will approach the right bottle from above with the other arm.\"}",
  "call_id": "call_Q9DbtmLlPXPbTCSxfWT7jHbR",
  "id": "fc_03ce77fa32a088ec016ab496d5da3887d09172f90d0c05aa73",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Q9DbtmLlPXPbTCSxfWT7jHbR",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2695, 0.8738, 0.667, -0.3973, -0.4244, -0.3138, 0.9961, 0.59, 1.7031, 0.8745, 0.1013, 0.4416, 0.2813, 0.9997]\nstate[eef_state]: left_x=0.3027 left_y=-0.0044 left_z=0.1918 left_yaw=0.2353 left_pitch=0.0164 left_roll=-0.0209 left_gripper=0.9961 right_x=0.4026 right_y=0.183 right_z=0.0811 right_yaw=0.0533 right_pitch=-0.0746 right_roll=-0.0461 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -1.8803, 9.6752, 1.5556, -0.232, 0.1832, -0.0024, 0.0205, -7.7197, 8.4444, 1.9414, 0.3004, 0.1929, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26b30c9014c45fa7d4e2ea3ff5cc86b4c34d75f2edda1b4fc79902d9cc93bb2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92b0a99c3e5a83a94abc968e671e58b0a72175128be9c81a7b4124fbe5c678d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:172ab7cd6b758b94584c5ce5383d9bd83616e0b19f01bf0c77fd202f90a7e1d9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 7.076 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]: [-0.4187, 1.718, 0.9874, -0.0502, -0.6979, -0.5842, 0.0137, -0.0238, 0.7925, 0.635, -0.4606, -0.0315, -0.0589, 0.9997]\nstate[eef_state]: left_x=0.438 left_y=-0.0667 left_z=0.1099 left_yaw=0.4417 left_pitch=-0.0091 left_roll=-0.0044 left_gripper=0.0137 right_x=0.2873 right_y=0.0023 right_z=0.178 right_yaw=0.0177 right_pitch=-0.047 right_roll=-0.0097 right_gripper=0.9997\nstate[joint_eff]: [-0.6359, -10.1812, 8.7179, 1.3309, -0.4811, -0.0073, 0.7057, -0.8, -0.759, 9.9624, 1.8046, -0.1343, -0.0024, -0.0073]",
      "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]: [-0.1139, 1.8462, 0.6178, 0.5972, -0.3107, -0.2256, 0.9961, -0.0288, 0.7368, 0.5392, -0.4191, -0.0315, -0.0586, 0.9997]\nstate[eef_state]: left_x=0.4269 left_y=0.0092 left_z=0.015 left_yaw=0.2509 left_pitch=-0.0363 left_roll=0.005 left_gripper=0.9961 right_x=0.278 right_y=0.0011 right_z=0.1577 right_yaw=0.0125 right_pitch=-0.0455 right_roll=-0.0095 right_gripper=0.9997\nstate[joint_eff]: [0.2803, -7.0222, 6.5026, 1.9902, 0.0415, 0.2271, 0.0855, -0.7726, -1.6205, 6.9949, 2.0733, -0.1832, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2695, 0.8738, 0.667, -0.3973, -0.4244, -0.3138, 0.9961, 0.59, 1.7031, 0.8745, 0.1013, 0.4416, 0.2813, 0.9997]\nstate[eef_state]: left_x=0.3027 left_y=-0.0044 left_z=0.1918 left_yaw=0.2353 left_pitch=0.0164 left_roll=-0.0209 left_gripper=0.9961 right_x=0.4026 right_y=0.183 right_z=0.0811 right_yaw=0.0533 right_pitch=-0.0746 right_roll=-0.0461 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -1.8803, 9.6752, 1.5556, -0.232, 0.1832, -0.0024, 0.0205, -7.7197, 8.4444, 1.9414, 0.3004, 0.1929, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26b30c9014c45fa7d4e2ea3ff5cc86b4c34d75f2edda1b4fc79902d9cc93bb2e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92b0a99c3e5a83a94abc968e671e58b0a72175128be9c81a7b4124fbe5c678d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:172ab7cd6b758b94584c5ce5383d9bd83616e0b19f01bf0c77fd202f90a7e1d9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJbdewIF4K95Y6PJiTYYk8oriuQix8P5uFfRnF1OzZqNqLGR2yBuXgGKj_1j1kjAkXnXg2fxQXjkEuBA_3Xj50Ecwc6XGoE4wum_7Q9rfLSVS3DfjsKhKhxIzjU0zHlcP2v625S9FYdVU-6LLWse4eQlp3OxQBaS5mtRxJ_oPx3ntt7MN6FC1m1IUzr_BbG09GvAlLxlHWYqibDg5CYFIdy0PmDGloa62gnciTfHE0AqrZJJJMhmb_fyN2GQZk3E9oQMu7TKi0GEks6uImX8gk25ih4BL5d_oF0y7JT2Deyo_K0EojJ1IIUyhL4wdhhssau5PnzNCLfU6cAWRZnWBDR16BngZpwE58CTRF5IqgfmTOq1zsO77hr1qf-Ty2gmKURv1K0R0tTIcXIyzv8dpBwo1Hsiv7j6MF2FR3F9JyrASmC8Mz-utWI4zqlAm_P3QCiD_I8nyD7UrnfjW6SDBor0aURONCl0Mkn7oKVm_eU6s4ycBuhvhciUbSDcNicX2HK5kQFxc9CxRymdt9FRWCaX8_hp-lOekrabDbu5IpDutKI_1_STOYCWwSx0cwavdwMGMIRCo7vDal_6t_c5EKj_zJaRbKDo4uMCWu4aSd6Hji-cuGpvHwAUAezTPQVu-BYs-7dKrAtgb2172CBUcNb52Ri9Ho748-eE2L4IZFCN9wnRm3VETkdRrUKYZu-azdlHMMQsRmU_JO2DV5MB9WpECc3WlgVCHCxcA3Vucm2nBE6xAwTzZ_V7vZcprtAcX2YCD6dF-5Knsk7ByNDdNBt21czcZwvFajxmgKTmqkBLzaV8JvwGlCfDVTCVqevFEIws76OryDeA3nNovB-CJoi6AN0aEn9YgEH1CkQ05ci1R3Zmbt9wMOMRWh1h0r4jGwkPvqevQgcoG_ePvdKXqHOMlmHJabTL0FQtoANQf1qLBgFb6_4gR6Lx1pVDxBqf5awi0CGPmkFGpCdUipT_a_xIr9LzdGr4H3fgQGkbacJHd4RMfwIfH6uQmv6knorBuEkBlviTkSSspcBwuF-JpYgtjvdH17MCaOmMm-IS08vQQLYVSQ8MICQWXVqOKbFAi6Gfz-RKaiLfXG1KdqEblmuv2R5mGCqjHG1DCNbrC9wHHsVjp_H2X__kL2wUUCFO6pkUQWEm7D7zpzEq5lVabOODmybWYG0al1SbdTcQY7YYff7pOe9dkqgkbKbamJdiCELFbUmEgVw0OWLkRZtksvMQ3_yKKAB2z30VQ1UA1qNdLOuG6wn-n9LhuuTh6xlzkgW8VQ-knPsnYI9yBzLtH6JDyfIIx1TtvXYo6p9fO2FFm6UkdVzYp9_ayL5hPadT0BzqSdfOou05FKZ3oxU4jEeG1G1aY1c4OKm5Ub7OCNAsiVU8rpqjippGimCMCnAWYZDuAQMaKelLpjS3M2Gno2ug9sBLduBRyQ4lzZVno-KcZ3fiNKTKPfoc3YT3JArD7Gf91PMYqf5eRlXC6NS4FxLHMme-BX3aX0GK_xorA2X8I1Z2JDJpp5oazIaxwPuNEEa1k54qzhMYIyvEMZe6BttJ7JWVkrDahFlfmeRTTYR0g7c=",
  "id": "rs_03ce77fa32a088ec016ab496da460487d0aed69e06ffe73249",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.17,\"right_z\":0.03},\"note\":\"The right bottle's neck is visible just right of the jaw centre. I will correct that sideways offset and lower toward the neck, keeping the jaws open.\"}",
  "call_id": "call_oiMzWKekES1dV3XxUXh9aYOH",
  "id": "fc_03ce77fa32a088ec016ab496dc3f0c87d0a221786f8c1ab197",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oiMzWKekES1dV3XxUXh9aYOH",
  "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]: [-0.2752, 0.8955, 0.6872, -0.4488, -0.4343, -0.3176, 0.9962, 0.5018, 1.8992, 0.8143, 0.4034, 0.3931, 0.2298, 0.9997]\nstate[eef_state]: left_x=0.2998 left_y=-0.0037 left_z=0.1856 left_yaw=0.2398 left_pitch=-0.027 left_roll=0.0069 left_gripper=0.9962 right_x=0.4287 right_y=0.1621 right_z=0.0265 right_yaw=0.0331 right_pitch=-0.0506 right_roll=-0.0381 right_gripper=0.9997\nstate[joint_eff]: [-0.1162, -2.3316, 7.1043, 1.8339, -0.2173, 0.0562, -0.0073, -0.3487, -6.188, 6.3385, 1.4579, -0.0659, 0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd625202f1ef4324d21f2563b0009dd110190d8ee8bd4beac974782cc2d72d71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46748e217fe236c91d0b30dfcc26a866d0d1cce2247ee1471882f5f708037e21",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9855f3a065a7e3d46f109899031c046592ff9c54bae10b7a6c31d381786fdc4f",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 3.297 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, 1.7611, 0.6041, 0.461, -0.5278, -0.3912, 0.9951, -0.0277, 0.7647, 0.5865, -0.4412, -0.0315, -0.0586, 0.9997]\nstate[eef_state]: left_x=0.3968 left_y=-0.0814 left_z=0.0284 left_yaw=0.1962 left_pitch=-0.0269 left_roll=0.0158 left_gripper=0.9951 right_x=0.2824 right_y=0.0013 right_z=0.1674 right_yaw=0.0136 right_pitch=-0.0482 right_roll=-0.0093 right_gripper=0.9997\nstate[joint_eff]: [-0.4444, -6.3658, 4.7385, 1.6142, -0.0122, 0.2466, -0.1148, -0.3214, -1.6752, 7.159, 2.044, -0.1783, -0.0073, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2695, 0.8738, 0.667, -0.3973, -0.4244, -0.3138, 0.9961, 0.59, 1.7031, 0.8745, 0.1013, 0.4416, 0.2813, 0.9997]\nstate[eef_state]: left_x=0.3027 left_y=-0.0044 left_z=0.1918 left_yaw=0.2353 left_pitch=0.0164 left_roll=-0.0209 left_gripper=0.9961 right_x=0.4026 right_y=0.183 right_z=0.0811 right_yaw=0.0533 right_pitch=-0.0746 right_roll=-0.0461 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -1.8803, 9.6752, 1.5556, -0.232, 0.1832, -0.0024, 0.0205, -7.7197, 8.4444, 1.9414, 0.3004, 0.1929, -0.0122]",
      "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]: [-0.2752, 0.8955, 0.6872, -0.4488, -0.4343, -0.3176, 0.9962, 0.5018, 1.8992, 0.8143, 0.4034, 0.3931, 0.2298, 0.9997]\nstate[eef_state]: left_x=0.2998 left_y=-0.0037 left_z=0.1856 left_yaw=0.2398 left_pitch=-0.027 left_roll=0.0069 left_gripper=0.9962 right_x=0.4287 right_y=0.1621 right_z=0.0265 right_yaw=0.0331 right_pitch=-0.0506 right_roll=-0.0381 right_gripper=0.9997\nstate[joint_eff]: [-0.1162, -2.3316, 7.1043, 1.8339, -0.2173, 0.0562, -0.0073, -0.3487, -6.188, 6.3385, 1.4579, -0.0659, 0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd625202f1ef4324d21f2563b0009dd110190d8ee8bd4beac974782cc2d72d71",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46748e217fe236c91d0b30dfcc26a866d0d1cce2247ee1471882f5f708037e21",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9855f3a065a7e3d46f109899031c046592ff9c54bae10b7a6c31d381786fdc4f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJbkHqNGBMntitXLKMdUK-PJT_gRIuNWVdL9Key973GSmw24i3-zTUs2VvGfJD8XJRbPbw1YLonawfi7nIbJfl1ly3L7ObInmWn0Fjgn19ksJzKhE4Wd88JSxTLmKZEIRosENieKBvZpXxOJJah-3K0NV-UpcprGTZ3Ceupl2GWxeZYSYACn59Y_sWIY-pLeNaBBWw84qnr1gf3Di4sdvOcoXv7Ym4SFe_dB5MSwKWkAJqG3d4P5FJkv32Kkukf4WZHue3UjHEONgVQNTSUGkxUrZHiSH_cWiaCDO3WH3g-CZ71iqdLXND7IyUmMO-8hi97iw8tMHAkeRyUPV4RmQbFpVqEywVzQQuZMK6GYk7wnlNY9fhw9Eiy_HbUngnm17eJxnHnxoHGszTewv0XnHaEvsa1QkPw7XWdXS1CfOY6Z0CiLCCoZjHib_yjvrxPJLfWx-v7VDlESYqjETLVN6YdOoRTrO1rV36ZEIICxHgbN5OhuifHYx5SpZV6zr2aYIOqlSdtjW8B2WmBNEhARzFiIawVolf5MpvZDjYWnx17DinXxAYBolo9mJ7KwQfjwOB7Need4aBFAbP8_27XptU00yyqxHdwR4Nj6LA0g1Fr3kUT18VIPh2uLPjr1N4OCXCKx09zQKHWN62fAp0oFDb_dUd2zBOOksfI8bkcPDlP1DsldRLX2EKDR24npmnzNEi9wtR_2XOGNIWcLubZvPhxZOtrgRt6WP9QFNbSymsZ9Oc0hr8_9vlwdZN1NowHNJ-uABZd1_wPUNkQc6NHAhpYwOhxheSug4g2d7iZUrQuzgsqkffp3duD36dKJ28iPQnP7CnV0Fqw8PL5WKOOkAVg_nb1027tkbfFcpJDwS9BxRndkErpHpkO3hqsU96SCh_yEl-H3RNGM9crsY9OenmvYVh7CEm6Qujm_Spgydq7fts44eL73GGSpB9tPpodmt7OPiHzUCinBLrUrRuV06x4SQtc8i69LwAvMlIppwq7EOtB4M_TUc19-KOLYXRwSuofbg0rDePULDgAEjIAY59ARYmhzIOKZ-iDqaff94BvVLw37IM21voby51-8Ker40ZXJlFTMPYcEbUAVgI1tY14khlfvQBCBUzwgB8zwlNn_96FYFTGOSoY2oGNX9SYRyw5Heo4V1aKB036nOidGkcwDlCTqos7eX0ZwwUgxoryDycLhQO_UiBokGXPXxl7y6LX0pfn3W0I9kqqCO_Y04aTpX0COkhq9Z-K1IS76p_YLvmyGl5bzm-4alAEFGBBHXjl3VjQQuWoU6twZPwXVF_eTXZZRYvS0SyQC4OJtV_wf5MHHWr_fjdiHgCROrbzdOGITTVpc6teqXZfu1HpUORj9O4AVzTGDg2baCrFmNiQCqbliKd4mRKz8esCif6M2s6Rc5UcVWmrwTGmRHW3GtKbLPUNUeXJFV3clHRmA-pzA3ZCazyn9d_AMqM5dFVnYPWLXro8Z5x2_ZMi-uKIvXjUEoUte8ImmQB2DMuAkj-MdEvfdjei0_6FriceLVLUstUMObZ1GfFzfxg-f7eEXkSSYySN3ngZi1JKHwclOQw0PlP9cJ0eU4pbUpcXQzmgs2HtJuKAWDrS0LUaIRghveV9UwHloVdXVD3jePO6r66y8aDCd2tlTyBUayFIhw7bmTa0xv2XIv1rfxB-mVJ-SfA9m94dgWTuFRvTFnsEf-jnyBlzfpHz4L7p0gjfw4NeOs0F_dkCiOoEa9Jduc3G2UiM1Vj2tz9NbgssMSVepJrvk_tQx2qf1S99wwGI5Ln2b5fGY5zfp4A1XNtUGbYCM7EJvD3X92-v0_Li4dDEZpXzn8CAaUoa7p-rgx3Y1mA4Qh5uy7bFYUbhi406QOt5dhh4ZJh0n_7_qVPaMKsOvNcS0Yr-NFHlM4l5oZ5c-fcyh9ADXUdZorlMz_DlqR2j5JIYUXIAwWV8p-nQJGBE9xG1yQD08bnlryLSYnpeuzxv8PyzlOCBBTfzaKq1uj9K8gfONkrnOVokCl-zw0RiI_MyuFM08g8HnGXxPhz3VO03uuuA4kH7LlI0K_H9iEl5HZCEYfsKF1zrVZ-xdid2F3xayJq4oUgHpXBOxO1Ecg2A7e1YS5P6pglnnjopQEUq250vc-LjQrtJOXMDdUOL2U_zoGnhWonmPpR2on9q-sVOHmbzwQD1MF3joTQFYtKXo4HoFVO0Kmpwunfn0OPYgm5jjUyEeQ89En0IgyhYzfleyTgHzJWdBQIcCpamZ7hlOZqsTAJFaj06yJrZmBACg7aSo5D9hpGzGQuvgNm-FZsQUae0Xsva_4xQ0Pp5ZqC8SsXG5df89Ula6xn5muz-cwAap0lVSJXXaAJdLQGxl229t_x9Unf5CDocR3-13JmQFH9a_yrZ7tNJ3_8NwF8oBfwZmJvbn4vGyA3BVT53zaJ7LskNpz7vq-BzIl5R3s2jobJsn1jASeVEJ4doQkG3HKlakOAfWIMgE793RS3AsCET_KE2cduxwUCDWGHenb7NISDNmk4sAC9ehNOL7PWUfdSbMhDODAOfHsCJ_8xIgyGPNEDw75qf_OVrTHudVb862CtBBGNvU5j7n4Mve1k-49o2vH_Au7BDAHrTKBXICQDgdmfk2JOb-r9WlgVz17wx2yLAofRmuDp0sLgSn7PDlj7h9nYLnmG7uVf3fi9zUpTx6bKmhna0_2mEPC5C1fw5i27wUtkKETgzgPOmeasSViz15WKQ=",
  "id": "rs_03ce77fa32a088ec016ab496dedbd487d0bc1f7150f533927f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"At table height the jaws are around the bottle body, while the neck is still farther ahead. I will secure the body first so I can draw the bottle closer instead of reaching beyond the arm's low-height limit.\"}",
  "call_id": "call_x5pHJehcAMz5Inw4WaP0R3IZ",
  "id": "fc_03ce77fa32a088ec016ab496e39cb087d0aa2ea074794980f7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_x5pHJehcAMz5Inw4WaP0R3IZ",
  "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]: [-0.2756, 0.8867, 0.6624, -0.4232, -0.4347, -0.318, 0.9962, 0.498, 1.9022, 0.7803, 0.5819, 0.392, 0.2237, 0.3864]\nstate[eef_state]: left_x=0.2995 left_y=-0.0037 left_z=0.1818 left_yaw=0.2398 left_pitch=-0.0186 left_roll=0.002 left_gripper=0.9962 right_x=0.4404 right_y=0.1667 right_z=0.0472 right_yaw=0.0327 right_pitch=0.0755 right_roll=0.021 right_gripper=0.3864\nstate[joint_eff]: [-0.6359, -2.5915, 6.8855, 1.8095, -0.2711, 0.0073, -0.0122, -0.2667, -8.1709, 3.9726, 1.1697, 0.0415, 0.1001, 0.486]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a914b23f666bc43fc3488f13fdd95de5fefd651d2776e17ce139865057f337a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e46fae64233e510da7b6e6e22ede9e5118da842aab6766c6930e525e1d3cc3bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c950401e0085522137924d81e3de63fb59ab484968731cb3ee40f09679a7a20",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 7.424 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]: [-0.1139, 1.8462, 0.6178, 0.5972, -0.3107, -0.2256, 0.9961, -0.0288, 0.7368, 0.5392, -0.4191, -0.0315, -0.0586, 0.9997]\nstate[eef_state]: left_x=0.4269 left_y=0.0092 left_z=0.015 left_yaw=0.2509 left_pitch=-0.0363 left_roll=0.005 left_gripper=0.9961 right_x=0.278 right_y=0.0011 right_z=0.1577 right_yaw=0.0125 right_pitch=-0.0455 right_roll=-0.0095 right_gripper=0.9997\nstate[joint_eff]: [0.2803, -7.0222, 6.5026, 1.9902, 0.0415, 0.2271, 0.0855, -0.7726, -1.6205, 6.9949, 2.0733, -0.1832, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2752, 0.8955, 0.6872, -0.4488, -0.4343, -0.3176, 0.9962, 0.5018, 1.8992, 0.8143, 0.4034, 0.3931, 0.2298, 0.9997]\nstate[eef_state]: left_x=0.2998 left_y=-0.0037 left_z=0.1856 left_yaw=0.2398 left_pitch=-0.027 left_roll=0.0069 left_gripper=0.9962 right_x=0.4287 right_y=0.1621 right_z=0.0265 right_yaw=0.0331 right_pitch=-0.0506 right_roll=-0.0381 right_gripper=0.9997\nstate[joint_eff]: [-0.1162, -2.3316, 7.1043, 1.8339, -0.2173, 0.0562, -0.0073, -0.3487, -6.188, 6.3385, 1.4579, -0.0659, 0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2756, 0.8867, 0.6624, -0.4232, -0.4347, -0.318, 0.9962, 0.498, 1.9022, 0.7803, 0.5819, 0.392, 0.2237, 0.3864]\nstate[eef_state]: left_x=0.2995 left_y=-0.0037 left_z=0.1818 left_yaw=0.2398 left_pitch=-0.0186 left_roll=0.002 left_gripper=0.9962 right_x=0.4404 right_y=0.1667 right_z=0.0472 right_yaw=0.0327 right_pitch=0.0755 right_roll=0.021 right_gripper=0.3864\nstate[joint_eff]: [-0.6359, -2.5915, 6.8855, 1.8095, -0.2711, 0.0073, -0.0122, -0.2667, -8.1709, 3.9726, 1.1697, 0.0415, 0.1001, 0.486]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a914b23f666bc43fc3488f13fdd95de5fefd651d2776e17ce139865057f337a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e46fae64233e510da7b6e6e22ede9e5118da842aab6766c6930e525e1d3cc3bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c950401e0085522137924d81e3de63fb59ab484968731cb3ee40f09679a7a20",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJbob88_wSzXk9OnjNBL6OOi1_STTdsmNjdxKI33KDmHjZXP1ZEP2IQlBsOnDE7sq1udTnF4ymQXCsDbcdrqqtCK735cdO1Pvkxy2izuI7Z8qcYQ63wN5gWiqm3RGa6cNwsLiquTiZh6ozp0fWa1W_B_K4qQXlRo6pcHpCEXRdrVfC27AIzekcJhVvb7PI3uKfUuhXCiWRn2I9SHa9m4-IyUXIJ0h4qEoT-4hYi1SeFuNAWhj5J3TuHbBI-Kp8P9Bb2NPEaI-zX5VnyFEXGa16QD7ev4EcB3iZuLNgA-IgEPIMqsc92QZBcSykZjJstsdvi6n4gI4TqRnqbfaF2kts_3mbiAB3x29SU3AUBkofd4uZQC4sw5w5k5hp_aFbw8YRbBnxjzOdoc0Cvh-exsw1TgQK5qNbJqQKENQ2YucGc3l7WAKWeuKvOPOwZZ4hnqUPs7SEc_zqfYpEwK1pMVamrZeX6aKhtN9zIyFCGC-YzI4RroPcUuvKLTjHiMWGjaG-tcRA2J8ao_2Z4s55IiHs25yAwTZe0XaSJo1HcCy8iKMMtBdNTGc1aFY6UR05x3aVrAHqSd3Uhu5056pEjovO6EDoAUEzBJwandqOTqFFQWcsIJCDfNI8mexl5jPJS_y85vZnPnFbsirmNXewzMvcNgWRYNlIidwZ85CgSx24wQhiAh7lvhrUe5l-e1hl-fw3U8DNVDXPwc_SfxygpkkyTephzriCYh3FRUuqLHMAMH8G4LBRBKQGLoNrngib9euwaeFtojkWHMBzy0bfyBoFqUn9MHoqUTCEXjzgkiYJZJCjk6BQgUKR3SfboMsQHIoDagYjTDJqFNhHfN2qZBWSzvqV7Up4s4PE2TMOzx0Wblo5W1h_8n2AtqrZH4NmNshdHGbfZRN3KstrXHe2Ni-zZPjBZCcqqV0IB_3_-UgrnDJnUCFJgCaJq0Hr0Wc5OFS7FyR0kT2122rQJivSvhYApGrZmLs2as0J8MiB0Oujj1X4PVN3KfLvkLU1etnSf-tXD5WvJ73VuDKrGyQWgp9gbrmU-NITsCpJ7s8B8yCht8p4kh6wGrVxYrpylvCXmwcnhnxCIA-sE1K_SH3jVeDt7nQv3A6bltqVnJ35Dt3Aeb_FVUs9E7b_P2C6_2nIBx7u0NHIc-vpGPBL9Z-C1CXGfDzzJe5woTNH0YS4YuWX2CiQ60Jt90bRyjrutZUobCcdSxxUWN_lA_dX4xQ7E_LaVxyIaifWvyV0i8KHx4Zl6lQMuo8SfRBQxn0Dr5DlZt2MLpNEqAaIDh7qi-yKKXve5GLw==",
  "id": "rs_03ce77fa32a088ec016ab496e70b7c87d0a47c3832a907f744",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.30,\"right_y\":0.17,\"right_z\":0.065},\"note\":\"The gripper is holding a substantial bottle-width opening, so the body is captured. I will draw it toward the base with a small lift, bringing the neck into the reachable part of the table.\"}",
  "call_id": "call_j89CpiL8iNFqTe4MG7TKsrFP",
  "id": "fc_03ce77fa32a088ec016ab496e7908487d08a580c0759132b73",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_j89CpiL8iNFqTe4MG7TKsrFP",
  "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]: [-0.2756, 0.8825, 0.6491, -0.4156, -0.4347, -0.318, 0.9962, 0.7959, 1.4548, 0.4755, 0.2649, 0.5819, 0.4198, 0.3851]\nstate[eef_state]: left_x=0.2985 left_y=-0.0034 left_z=0.1785 left_yaw=0.2398 left_pitch=-0.0199 left_roll=0.0028 left_gripper=0.9962 right_x=0.305 right_y=0.1778 right_z=0.0619 right_yaw=0.0761 right_pitch=-0.0083 right_roll=-0.0001 right_gripper=0.3851\nstate[joint_eff]: [-0.3897, -1.853, 6.4752, 1.8242, -0.232, -0.0269, -0.0122, 0.1299, -5.7368, 5.8051, 1.5897, 0.4176, 0.1783, -0.149]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29983c570d8048286f0de77565ae1474601faaa992759e61a6e862bfe2b84a49",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4807aa7a98722168302e9f18f53c5276a6288b27f9b83c887bdfb0146a40a9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:668a2756a851586eb697f2d66c8ecc31193563f416b7b763915d94bbe5e0f1ad",
      "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 12 attempt 0 · /responses · status 200 · 9.824 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]: [-0.2695, 0.8738, 0.667, -0.3973, -0.4244, -0.3138, 0.9961, 0.59, 1.7031, 0.8745, 0.1013, 0.4416, 0.2813, 0.9997]\nstate[eef_state]: left_x=0.3027 left_y=-0.0044 left_z=0.1918 left_yaw=0.2353 left_pitch=0.0164 left_roll=-0.0209 left_gripper=0.9961 right_x=0.4026 right_y=0.183 right_z=0.0811 right_yaw=0.0533 right_pitch=-0.0746 right_roll=-0.0461 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -1.8803, 9.6752, 1.5556, -0.232, 0.1832, -0.0024, 0.0205, -7.7197, 8.4444, 1.9414, 0.3004, 0.1929, -0.0122]",
      "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]: [-0.2756, 0.8867, 0.6624, -0.4232, -0.4347, -0.318, 0.9962, 0.498, 1.9022, 0.7803, 0.5819, 0.392, 0.2237, 0.3864]\nstate[eef_state]: left_x=0.2995 left_y=-0.0037 left_z=0.1818 left_yaw=0.2398 left_pitch=-0.0186 left_roll=0.002 left_gripper=0.9962 right_x=0.4404 right_y=0.1667 right_z=0.0472 right_yaw=0.0327 right_pitch=0.0755 right_roll=0.021 right_gripper=0.3864\nstate[joint_eff]: [-0.6359, -2.5915, 6.8855, 1.8095, -0.2711, 0.0073, -0.0122, -0.2667, -8.1709, 3.9726, 1.1697, 0.0415, 0.1001, 0.486]",
      "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]: [-0.2756, 0.8825, 0.6491, -0.4156, -0.4347, -0.318, 0.9962, 0.7959, 1.4548, 0.4755, 0.2649, 0.5819, 0.4198, 0.3851]\nstate[eef_state]: left_x=0.2985 left_y=-0.0034 left_z=0.1785 left_yaw=0.2398 left_pitch=-0.0199 left_roll=0.0028 left_gripper=0.9962 right_x=0.305 right_y=0.1778 right_z=0.0619 right_yaw=0.0761 right_pitch=-0.0083 right_roll=-0.0001 right_gripper=0.3851\nstate[joint_eff]: [-0.3897, -1.853, 6.4752, 1.8242, -0.232, -0.0269, -0.0122, 0.1299, -5.7368, 5.8051, 1.5897, 0.4176, 0.1783, -0.149]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29983c570d8048286f0de77565ae1474601faaa992759e61a6e862bfe2b84a49",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4807aa7a98722168302e9f18f53c5276a6288b27f9b83c887bdfb0146a40a9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:668a2756a851586eb697f2d66c8ecc31193563f416b7b763915d94bbe5e0f1ad",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJbxV_kVWYEz-SD9My2M9iJBZenyCc4tmyQbAZPWrW0TyCL17TfCRxFCntJuTaUJLFNoXUZ1ooBDJPAR6vdhpOANEYj-D_960UhVE1bC3AY79IngOE6kUF40mF3KxBRZGLj-q6_r_VKYgv1jdSZ2325-S1QTuohy6oNhOyUmfmdEanLxMBvNFZ_NrtVocOcyBCTnBnSWyV8RIsQEg0I9CSqE0onwyb1kdQkHlmUzjsPOkyz3dB8cw8LboNd_wfqPy0OhWpF4iKHhkZLazUrkMiXKPwqNGaPbnjDyB0ozk3wuozZz_FjkArXgR4ozHAp9LgQSJ969ndiB_5RciH2RDvHfCRZumaryScSlhfJ6yzgk1x0C5LgcXI0XfLDNnqkUuXgP8vtEY1gITxDbpDy91b4E5SiDtAfyhbZsN9Zlww1hKfsYQmMjU46ri0PfqgF2S-qu6L-HeQqp2siNvOjvpcEFekC6y_VQN8BoOL2BMMoGBBpOuSQPsi3Y52WKGrkVjOLMhiE6DW3wgkD4cQzQkUMEaL7Mig4SUCR6TwmRcc9g-8H5mvbpoNF3WFyR84hVOiw9dHZ3C8A8dUCMKVNMPGN6MHRXhyyPcZWbwJZxt8lQUlh7I8kOG3BEaxoL0nG_LgmBqEIcaWJMqzFSX2WES-35jbbLytPMBMLiU4bSX0ZNEDXISOhWxtdL-ABOVKAKh8JKfne2ihp34sTqOqCiS-46B90k4RArKUY-ZJ_S3rtVxDQ6_Lv08x1o8oDJ7U1CqMd44tI_v8OUgB6Mdc3L25FRNhTkbhhSxM_1WNF-6_job5z83NnKq_1kraWx3uvNtaBWkrgT5hjoLwUhoLG7To9xdh5ABacUsoD67Cmgq3t1WumP0ia2UDvQFhcyufope8ldbRbuGRTjF3Xu85eknQvzBeDKRlht_-BzmSQ3c8MHlubMmAL7p9WldwTKkLfHPUOBk9AgHojdBHJXABqY0rzVjBJR0ZWA_ZtCyY0IP3DBcV5--6218bxAzvgzNkPg1pxogApDIRM7h84IiXHnYmhaB4NCncFc1l362t_8isuWNXGGfmpP9jOLnPSgarhzYGdGwWV2ipVBMeIQbtnKbQjfK-Kr5gJPjVntY599xbNUnlQw7QX9HQorjLfOQi61b5VKh2u1wz7XtTWqoxbL05DCXG9PNjhhminjWGq8dndUgq9iTOKYK3fLNxcLLD9Lt5mpnzI1GkK9rFWbtS8NfWgRAublrZEZLkOzYFb0bdIvfj0txuSsmgMmZMaazcOgk2C3NJyVSVXStw_Y9yfbvSWMI5aEdb1KiM7uyCavgKwCYGuHz5rETAoGWrxET9psauAOd5bB9Dx8n3ZjqR-sTS1SfbBjXlHXJxEJoSkPm4zTtjHfyrsSeRMn1DZz1vvF5OiBhfKCmBsXtDjHT1_EAHLr5DxNfCZ_IcILSYbHjwQvqNJL8VapjWvj8jDKNJMO5di5TeRaM7Z3pge1h5HtGbpbbat0dHfbcWI64tW2825gUadD5WKwZb6smStcgPlpnTKi1Zkdj5LnlYTd4u7odynJ30Xa_bYkDo7i4cjimofF-cu74Mo6gdwcLYsv-oWCsfEFwvh7aI_Je2zCjGuNzlbl_zVMow8L9p0UA8c_p9M88wZIaAw0BbMBgDVWsz0d1nbMtCSztAUujBz9TbvZSE3eRCZYOiBqG3UqTgbuxpwytIEt_6UQut5OZ26Zh2uQnABhjvalWNlDv8EbHnxlgP6lRWodRoBK6z-xzQYv9V4bgMeygVqIPTHOwrI04Xa6ZVZxrFuunOSCJlTgUWOTjCp83rfoqvCtfJglKTr7o9FsRtnaYUTnOk1wR41pp0rJDpVxwdpw5PPd0tnquqXY6RhBk9Qfm2vFfuZw8Cd_FUFeSIXocLslsHAv-1r9gxOjiTk9O8Xs413YNBhsldosVW02M8jb0gLbh_WjEhNFwIRX7f1z08WXroqTasOlFk44-Kh_GIzsZHg4I8P_fGMV3U57vbj1v3i0ESFCs21bIdPjCdRXfCd_0dGYTfWOhwY08gg3CippHb7kR5u6L_CD1NK_IWAS7KWujL0HsjPZLnA1lzMo6mP2g4Av_W54D4mAezVVSeQFXrJeNnkzBYVzvsSioKOQmkfM8fTjx5seZfy-rWaPXL9kt5szUl-53xx1MBgwGpGyxHnq2UBt0JcLGgIKtowtDeFIkM-42k6EKYFcl_eXKbHbKHTm6YS6ba3H0qQoHeZnvAcTO0XAxRgYGAU9UNnnmsn3okPzrFwW4SWns9n0nsG9l7NUyva0hBG2G3hO6x4-owPSydO6g8hjMVQei9FTmjpsTb9aCh2iiKAXi96gJQAF0xCpPP-lSR8f_aklfLi748fRgm8s8kTxyf5rHVcvhJmaTOTczv6HN1m53eR4tKtaZ5kf8cMjAxW5uhIqR9wMM2QhkYjyvMUvhjBdjk8wcb5ZcvkrVYk5VEfSpaOdvpuyj43VubNicOQ3vV0qST9WYmhDnWiiveqnmvtVssotH5WOz-Cj_3-x_cO1GStZnuGoE4XCy2LV_leQVII_QkrVFzFllZlr9TCinoEqkRzVpYxblguWa6kMPcPyndBir0rkaoWhfIkkIYRb_KYp6tH9MTRPJIq9-lKKlJkk_GSSmX2Zt-H0hOy7TO4UROX1ow0ObqbjnoDb4bFYMzzj",
  "id": "rs_03ce77fa32a088ec016ab496eb641487d0b233e52e011ac58b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.17,\"right_z\":0.028,\"right_gripper\":1},\"note\":\"The bottle stayed on the table rather than following the pull. I will re-centre the jaws on its body and retry with the closing command maintained during the lift.\"}",
  "call_id": "call_Uw5WYg4uso0t2yun2pcOaQKX",
  "id": "fc_03ce77fa32a088ec016ab496f00f1c87d0b93b396c50a50e3e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Uw5WYg4uso0t2yun2pcOaQKX",
  "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]: [-0.2756, 0.8749, 0.6327, -0.3977, -0.4347, -0.3176, 0.9962, 0.4953, 1.9263, 0.7906, 0.4656, 0.3389, 0.2005, 0.997]\nstate[eef_state]: left_x=0.2982 left_y=-0.0033 left_z=0.1767 left_yaw=0.2395 left_pitch=-0.012 left_roll=-0.0014 left_gripper=0.9962 right_x=0.4267 right_y=0.1678 right_z=0.0158 right_yaw=0.0867 right_pitch=-0.0551 right_roll=-0.0264 right_gripper=0.997\nstate[joint_eff]: [-0.3897, -2.1265, 6.8581, 1.6679, -0.3004, 0.0171, -0.0122, -0.9368, -8.0889, 7.0359, 2.0684, 0.2857, -0.0024, -0.1929]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6fa1d133f83c10f45a3c5f3d1e99db6ce88f8bee10946c500e830b9c2bc0309",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bac1aa289d0555d1663372f478e8963982648aeb268ffa73e874874b34f6847",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43dd5a1db745efe1d92de85cf667631d9b88dd5628c1fc430bdf2e66a3701d46",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /responses · status 200 · 6.229 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]: [-0.2752, 0.8955, 0.6872, -0.4488, -0.4343, -0.3176, 0.9962, 0.5018, 1.8992, 0.8143, 0.4034, 0.3931, 0.2298, 0.9997]\nstate[eef_state]: left_x=0.2998 left_y=-0.0037 left_z=0.1856 left_yaw=0.2398 left_pitch=-0.027 left_roll=0.0069 left_gripper=0.9962 right_x=0.4287 right_y=0.1621 right_z=0.0265 right_yaw=0.0331 right_pitch=-0.0506 right_roll=-0.0381 right_gripper=0.9997\nstate[joint_eff]: [-0.1162, -2.3316, 7.1043, 1.8339, -0.2173, 0.0562, -0.0073, -0.3487, -6.188, 6.3385, 1.4579, -0.0659, 0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2756, 0.8825, 0.6491, -0.4156, -0.4347, -0.318, 0.9962, 0.7959, 1.4548, 0.4755, 0.2649, 0.5819, 0.4198, 0.3851]\nstate[eef_state]: left_x=0.2985 left_y=-0.0034 left_z=0.1785 left_yaw=0.2398 left_pitch=-0.0199 left_roll=0.0028 left_gripper=0.9962 right_x=0.305 right_y=0.1778 right_z=0.0619 right_yaw=0.0761 right_pitch=-0.0083 right_roll=-0.0001 right_gripper=0.3851\nstate[joint_eff]: [-0.3897, -1.853, 6.4752, 1.8242, -0.232, -0.0269, -0.0122, 0.1299, -5.7368, 5.8051, 1.5897, 0.4176, 0.1783, -0.149]\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]: [-0.2756, 0.8749, 0.6327, -0.3977, -0.4347, -0.3176, 0.9962, 0.4953, 1.9263, 0.7906, 0.4656, 0.3389, 0.2005, 0.997]\nstate[eef_state]: left_x=0.2982 left_y=-0.0033 left_z=0.1767 left_yaw=0.2395 left_pitch=-0.012 left_roll=-0.0014 left_gripper=0.9962 right_x=0.4267 right_y=0.1678 right_z=0.0158 right_yaw=0.0867 right_pitch=-0.0551 right_roll=-0.0264 right_gripper=0.997\nstate[joint_eff]: [-0.3897, -2.1265, 6.8581, 1.6679, -0.3004, 0.0171, -0.0122, -0.9368, -8.0889, 7.0359, 2.0684, 0.2857, -0.0024, -0.1929]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6fa1d133f83c10f45a3c5f3d1e99db6ce88f8bee10946c500e830b9c2bc0309",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bac1aa289d0555d1663372f478e8963982648aeb268ffa73e874874b34f6847",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43dd5a1db745efe1d92de85cf667631d9b88dd5628c1fc430bdf2e66a3701d46",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJb8j19mHH2AbrGyo3MOBZqch0uAgQdeGlSlJl3Rxfkp9Ff9HF8yEBqYpQmcVYnsY53l_WPTkJmvf8Br7B52iD1RC4A_ltvjRsNSsA5LSH05QTeejsv4j8Y3nIZ-WIogYa_MVecRkhKvLjFEWc2mihs91R4PLyyQwU0GB-dhWkZpWSCsVA6ufh3wMTEDIpbs3pjFr9WCDMb0AjOqOYhVF4dP0P4xnBhN_k4dfFFRXAFDXEB26lyv6aquSVPYgOQ0cvZoFm3yIjaiflLT_zQWpelejn3YTqgoE8dQ0EmMsWjubRjitALMydJS49p5Py0lN1zukrePX5Ztc_nEcaqu75yWWmfJiGeA9kCtaLp0Rc_R1m1xEoWMaNak0b18dGQbjcE4MPsYBS7w70l8DvmX_JyGh_yjATHhGzLn_CxZwq0z7QaNnUpvY5L7obPlFQ74nsElXl0APQfA4Y3qMiNINIDDBs_C0Y41C1HbhotjeKwsJuu869Idix3jAuUTmhc8TZ1N41HesIk3D83IeRdk-omVO9WvM9Cv5C4HGL8uR5KGZN2Tga1uwfo17vtFbwDHVl8ekcA_UuyAtOXGnAdN89AVOVjiojeOt5u8QTToC4auckg3v7zbL3AZy6qkYsT2iBzds0v6YJOi-QlaOx9MT1kq6yMlVI5-e8OQZSwowARUmJ_PKuac8CIuol9c8q279eF7vHgmeRtWtPRPS7P_X1RbBUCoRVXKqLXCPgYincM5qb6G66zG_pD1ahMLZEYK4--hDn9d9gtku9g5H21Yqqkx30h231UJkPBo21jowggisn5OLf7J4d8y7BUvHwy1De_l9_1038Bxz9aaSY2ktSYE8MCTqvf4gPKdSZEtdHmosV2lhodKcHSPATpKOI-zNJ2S7VivUwL0LJam9KqUi0aWfJBAOpDzwSC0FGYTmJ9PxJvVKKNT51kVPb4tnQZPPocA54atGRNszlGphM8NwHtWWlctm4fwX2GuxlH1KUDcroFNKClWyzFci-K_pod6_fT2zv2Ic4fsrOEnw-sQTzWd-N3nh1o9mP-mR-5r0jm5eYMjxm535O-cmsTHkXJQ-BmBpTZ3_9pk7FvECDwqPBzhMKQ9xrK4TKBspCP3Cs4pFmusXCciV43pXNmoTpcw_M9z-TWF8uxY-pQfum8wQs8-SxWN9ukfFjjSXi2MXWJcVtEcjRJNckZcIoGDG9P28TDQBGBVNMwJcYX0qY9oU3ynvnoHit7lhR9uU7HQLMIY3KcubwAD8qOk4ApDGb7k0jkaQawy5RoQ9xzdgXum9YzDaYonUOUL_MYHT14feqMmL1vjOMr-sHay-iu8WVtHGnZO2QWY-TKVnGGWhaiOT8g7KF2kldevZgfV8pg61HkiXYQUPD1Vq631pQmCqEpgyA3D7fLMeeOeQZvix8KWHlyMVBErKUPic4caJb7xbNBNnfv6UKgW16E1qTUQKY8h0PtLa8J2PoMfBSw1FfyLTBkFJ3uW-65qQ56sSetuCqTwhHGII8iFcQVD3LI4AoY4J-VNODFgHpIfUmFUJsjgivWEYtSqyjDdJl9vYeZm3P3M83XDFTrYdoEtMo52Sb2Yz2B-vkZ3cr4smKGrxgJtgPURjuDmiyDzJQ8H6Wdc-zfIX3ItkVkEN02Jx7nk5Gl6dC7--kcLxrKLPl1gxuUqZFoTohjkxNRiu4kz8AJfip04F_VhV3vGzOZN5m9nHoUbCuDWB9nsLILjDwOehcs4_WWrU5iCYgOdEF5PZks8RwxBWHiVuOxtolhLz0Cbs5ZDgKJbrwDftiuDL8Uiemfxwsi4ocU4cOLAtDNeBrUVFF-DcgOsr7pE6PTSZdqirOfLtOIiUTiH5B23DZPbu-RMJRP1Iq8UxAFa2jL39plg5SvQG7w0bGUHSmq0Zp8rS4D8AzVZRFoSoW-M6VHQmgtmAGnTn4CtlWwe0udHBpwdU6iG6_nYMA3_iAMWQgTsiBAa40KNcnszUPMtAff0XWLRpCDFh-oQLmg6aQyAKCb2iw1loWiv-TOjwtLrML71IIjQe9KKmHYhvaE2VAAkh1qswHzoMTLDLbh_UDyHmJsjYqHRx1fzg2sF_lh47tJiIe2G66XytqF5EiJzrNYXMSn6qnVSYJylTeAGmZdCbN084Nqx0wOjKK1ZM9RNGay8uIlgvMpTyXCfKefT2JFpuXEu61-nVwi5qIPCltsoEfUqAF8HEOWoRVuwKQou0DV_lXkBflhx4qdVEB42ATCd6GzNbuG7WxmmbJw1PzPBBCUadDeTpZUcb0QVyAhWjx0ls8H0O20EG11c9k63k1FjEE3kAxv-rBLpv1f1QRN5dgwRVisKys53MjCznWDfgOUrYSGUKhlhyNgy3p0xSrNWTLUFItW3s59F8VFC0obBUHZLODAwufIf5i9Z9WyYQZfkRc1lk6DYonZxdCAtBz9E9Fg17vAjx-ZFyb6aUdlld_mbU864zoPKjmVmY2kBoTkDkBplJus2ol9TKYkgM6xR-qKCgbVLxerEK3wEftdMon9uOrk_QokDH7nRrEyTRskYAA6IjkImVTOSPVg4UFJT7vEsL9H9SZUISQLWBk4mJon2ZHpfIYtNf3WdKR4EtMIbbc2jq_MR7xVyL0rsmttXuyvWoAieWzHLJHRE4b6-wyd8hmtftaDhfjFvivd-EzA5P6uAw0-0-kIQHWJ2WTrRe2HL1cg5bC2ywC7DujX2yTFeQdaR7KV2vVtAFmW91wQEU-FmCv7GNxntxHnBbnblWaG0CLmfgr7wcb3CfL0_KIANDNEgwKVyFxi4VWXz4fhBezICaGcPsomNR2HxARD6FIem9Kq5mdKAGULqOyYnwgEY2jG2UIeEMoz5R8t0VPBNdhkU-ruLEOjqWk8gW-QiyrX4hviQCUdjJQwvtYuwy2M4vXmjmpCIEUNHzxQla0KOnLnRjVvbuQkC1YGJLMlmJusAMZMTFHu715QTmPAIBuX4Zg3vSdb_LGXI0eRobv4D5lgoEfKWlR3wVa20ZE3-BNSQ5HD3A5dxVGOsQFQkB1sEyA-k3A2EsQ8IW6-gvMillc1__mg3wXU89sBrouv0GlaSk9f9KhuQ4x4kPW5ydIbKKb5bibBeSq8V6kxOl2Q9CGGMpJheAe0rBZbZX4uJD4A_7ZP7kdL_jg4P6H1xjDy7isqAR7Ddbj8ENJKugP6W-S3wH2oHAK01D9LpCKub_3whoBxxCKXalc31VW7rPs7pTAMi3K1_lIiMAr6EV2YiYFuoSOxJ",
  "id": "rs_03ce77fa32a088ec016ab496f3eb9487d0a48e8d4a998a0352",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0,\"right_z\":0.22,\"left_x\":0.35,\"left_y\":0.035,\"left_z\":0.12,\"left_yaw\":0},\"note\":\"Low sideways approaches are sliding the bottles, so I am switching to an overhead approach. The left bottle is now closer; I will check whether its neck can be reached without contacting the table edge.\"}",
  "call_id": "call_GFLWkAxALkoM5W2yBtGAXHBO",
  "id": "fc_03ce77fa32a088ec016ab496fa9a0487d0a8ac2a697493a0d0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GFLWkAxALkoM5W2yBtGAXHBO",
  "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]: [0.139, 1.1442, 0.5034, 0.0322, 0.0612, 0.017, 0.9963, -0.0803, 0.8688, 0.7307, -0.4332, -0.0956, -0.0978, 0.9989]\nstate[eef_state]: left_x=0.343 left_y=0.0407 left_z=0.1132 left_yaw=0.0612 left_pitch=-0.0469 left_roll=-0.0115 left_gripper=0.9963 right_x=0.3081 right_y=-0.0043 right_z=0.2065 right_yaw=0.0361 right_pitch=0.0025 right_roll=-0.0099 right_gripper=0.9989\nstate[joint_eff]: [0.1709, -3.4393, 6.1607, 1.9805, 0.1636, 0.1148, -0.0073, -0.1436, -2.1128, 9.6342, 1.8437, -0.2076, 0.0122, 0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1aa38a206c35910bbf33fc55e4f6e4d6e0efc88d1da703aa683d668d03747975",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:772747b1a576e81e662968445d638cd11de58dde945e36a7d067d91a6f8c51b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ace073ee8bc633e6b1da5cb0d7ec94b5ea9d1f4644089f8283b8126ca152f103",
      "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 · 10.73 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]: [-0.2756, 0.8867, 0.6624, -0.4232, -0.4347, -0.318, 0.9962, 0.498, 1.9022, 0.7803, 0.5819, 0.392, 0.2237, 0.3864]\nstate[eef_state]: left_x=0.2995 left_y=-0.0037 left_z=0.1818 left_yaw=0.2398 left_pitch=-0.0186 left_roll=0.002 left_gripper=0.9962 right_x=0.4404 right_y=0.1667 right_z=0.0472 right_yaw=0.0327 right_pitch=0.0755 right_roll=0.021 right_gripper=0.3864\nstate[joint_eff]: [-0.6359, -2.5915, 6.8855, 1.8095, -0.2711, 0.0073, -0.0122, -0.2667, -8.1709, 3.9726, 1.1697, 0.0415, 0.1001, 0.486]",
      "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]: [-0.2756, 0.8749, 0.6327, -0.3977, -0.4347, -0.3176, 0.9962, 0.4953, 1.9263, 0.7906, 0.4656, 0.3389, 0.2005, 0.997]\nstate[eef_state]: left_x=0.2982 left_y=-0.0033 left_z=0.1767 left_yaw=0.2395 left_pitch=-0.012 left_roll=-0.0014 left_gripper=0.9962 right_x=0.4267 right_y=0.1678 right_z=0.0158 right_yaw=0.0867 right_pitch=-0.0551 right_roll=-0.0264 right_gripper=0.997\nstate[joint_eff]: [-0.3897, -2.1265, 6.8581, 1.6679, -0.3004, 0.0171, -0.0122, -0.9368, -8.0889, 7.0359, 2.0684, 0.2857, -0.0024, -0.1929]",
      "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]: [0.139, 1.1442, 0.5034, 0.0322, 0.0612, 0.017, 0.9963, -0.0803, 0.8688, 0.7307, -0.4332, -0.0956, -0.0978, 0.9989]\nstate[eef_state]: left_x=0.343 left_y=0.0407 left_z=0.1132 left_yaw=0.0612 left_pitch=-0.0469 left_roll=-0.0115 left_gripper=0.9963 right_x=0.3081 right_y=-0.0043 right_z=0.2065 right_yaw=0.0361 right_pitch=0.0025 right_roll=-0.0099 right_gripper=0.9989\nstate[joint_eff]: [0.1709, -3.4393, 6.1607, 1.9805, 0.1636, 0.1148, -0.0073, -0.1436, -2.1128, 9.6342, 1.8437, -0.2076, 0.0122, 0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1aa38a206c35910bbf33fc55e4f6e4d6e0efc88d1da703aa683d668d03747975",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:772747b1a576e81e662968445d638cd11de58dde945e36a7d067d91a6f8c51b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ace073ee8bc633e6b1da5cb0d7ec94b5ea9d1f4644089f8283b8126ca152f103",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJcDak_jyqQsBveqnQbTvSZQLlgBNMGtPGYxvn_5Ag_xKVvu6sjCwEYsv0JOP2tb4SSWbti-wRN8LzKA2GyRdXOws2NMCdRtoTSFd2lm756dOcLY85b5l4Q2KV0fuO6DTU42wYsRMWiXEXkgBxyPlFmqtE67uKEtsSQSYONRU52xcJZG4wE7xfZ0YZmCrZ10m0mkr-DpiQ9g_ufKC8s8mqklPKEsqqJiAQTLPRDVpQioHeZFi1_gEkvRy8V16NTxk9tq5Iuygv3KINAXIs_m20yqlRjyKzm9s-pN346JYcYT3aMlHsZ3l42keYSgmTJHL6C0SbgfbX0oq3_VPYE42feohL8vDfcOX2NGxfzgD-cjmjDFgZ33fWvmE_dECgxlcqeKKW8uTJ1cnukCNOmtz5-zsc5rLenZ2onnPMwa_ewOX0Xgg_L1KG-40h570Y9Xy2OtWv--1MwrvXHAJoNOAyETyuN3bMcxCv8yMtuDBWjVS7IDQoer6Oxv4dRmqBv5-EiQ0Xrr3sFhHH7jpAQJy2seSIIJfjFx0leCPzez4avQyFuumSUdW4M5jZGkHsyjBm9mmtIRI8gKyG9P9UuXvllIJSuylkH8ae2R2hgd7hQ5cSpNix0CuV-dxaIANHgdtbBXKJluCQutNFpH-Y1BXqqUa46siWlRq0xwMAmVh_YDWyFbeHw7_l7_--gKp2SO1ZRNrE56e8BKqWcKf4w00Rck7eYGTZYtHA7ViIL4aP0JbuX_LHtvHYprBliruYWoPvmWGWG4zGximjvyGs_PJmkSYCVCz-onBoTvWbNTdST72eJvfiEFnpuro3oWLlIx-nw2upX7HMjXgnv4pxe0sVQLZ5ujV5O_tvo_tJ7Cbm1T5sHc0nUCQ-4C5WtOzq-29SWE9W_J9NOSzTvsawtI6CtEOMAvCo5__YLGlaFzav8n0Cw345mePQKJGCmiLjCXZXK0bdI-cBmUUT9qEn9ElbzsR5fkVTsgrwns1HjC1nKuqqkwBVxsvw__tnpCf0HjHM3JrWHJzrS9gLGOGWj97d59-pn19yr44NB9Bgd0v81PEB1376rSwHbzq4kSkvvSnwa9_JTvtw2Ulfmyph7AsS5OFEt_TFXnAVbL4Pjl3dgfnTIEZGQsxHT6UsW45T2-fTRkpp5aX2BVHBbTD3beewndyEQhqlZk8Z5pG1fRj_1hCtrJArQDkvnHTpiXIPedM5QkiqQWf9PIMNzqHFvxbOOGjG3zMPAW644zjzGxpZreFxmqujjnn0H6rZUWMHqkwtSwan_ZrxlOuW5onAnl3-VjDsm1nCsfbfijaHeKWx1sTdLrd_vEvsxH1yByzFwN9QboLnOqTXGSIEtzLlrxZ2Ht5hgiGQ4RrQif2vXxKvYRN5QmDEWeOy2RbujgTOoALJ805Ek8n7Z6W0ztSP4Cij5i7-4_3UCBOouRxnltkP_mklWOf7dz2y7FQ-hrBavfVYd5xJumPp1YRzu0_sS0dDt01za0k9DXp-4D3fDfuJhiC7485z8GC1CeoPu2njfEb1xvyHf6paxWs3JE-64hjY30M8aEEtt-U5Cmt5xH7D7YcOGBYMDH8Vh3lxBdg6eRImki5jxBtav6AgezqjjXlKrHbEgjdFnovfdxZOWDIeRjcHenYXCKjzZiAaQfo9zQToNA1LAeymh52hCWYpBOTsRZBizEhbosDIKF2Q7nh4h2wt2o8XBAOh9akg6TZkbazUxx8zIAQnW_ZaCsspeZ7FRmmJQbWR9hpHA-6YqUgDsJlSLAqgFnPtGXFNZBkS2Lytbr",
  "id": "rs_03ce77fa32a088ec016ab496ff040c87d0804a9563c3c8bb75",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.255,\"left_y\":0.025,\"left_z\":0.065},\"note\":\"The left bottle is behind the current fingertips, toward the near edge. I will move back above its upper end while keeping the fingers clear of the bottle.\"}",
  "call_id": "call_FNQaFKoVApNX9mcr4K36y6QV",
  "id": "fc_03ce77fa32a088ec016ab4970288b087d0a2e1e480c7e136bb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FNQaFKoVApNX9mcr4K36y6QV",
  "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]: [0.104, 0.6575, 0.1184, 0.0101, 0.0364, 0.0189, 0.9963, -0.086, 0.8722, 0.7338, -0.474, -0.1234, -0.1104, 0.9992]\nstate[eef_state]: left_x=0.264 left_y=0.0247 left_z=0.0748 left_yaw=0.0461 left_pitch=0.0317 left_roll=0.0088 left_gripper=0.9963 right_x=0.3031 right_y=-0.0007 right_z=0.1989 right_yaw=0.0606 right_pitch=-0.0363 right_roll=0.0005 right_gripper=0.9992\nstate[joint_eff]: [-0.4581, 0.253, 7.5282, 1.8926, -0.1245, -0.1636, -0.0122, -0.3214, -1.6205, 6.9538, 2.0342, 0.1245, 0.0952, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e99e5b79b6c951996e00c26315e7e43bf3d787f8e624028683003868887c0527",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fbc5271fe5d477c39859d3ef3a2795c418fdeeaf65a84d20309152f8d85fd30",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d95d1ef634caf0acd1263713305613ed0f8db8b06027846c3c63f861f66faa0",
      "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 · 3.446 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]: [-0.2756, 0.8825, 0.6491, -0.4156, -0.4347, -0.318, 0.9962, 0.7959, 1.4548, 0.4755, 0.2649, 0.5819, 0.4198, 0.3851]\nstate[eef_state]: left_x=0.2985 left_y=-0.0034 left_z=0.1785 left_yaw=0.2398 left_pitch=-0.0199 left_roll=0.0028 left_gripper=0.9962 right_x=0.305 right_y=0.1778 right_z=0.0619 right_yaw=0.0761 right_pitch=-0.0083 right_roll=-0.0001 right_gripper=0.3851\nstate[joint_eff]: [-0.3897, -1.853, 6.4752, 1.8242, -0.232, -0.0269, -0.0122, 0.1299, -5.7368, 5.8051, 1.5897, 0.4176, 0.1783, -0.149]\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]: [0.139, 1.1442, 0.5034, 0.0322, 0.0612, 0.017, 0.9963, -0.0803, 0.8688, 0.7307, -0.4332, -0.0956, -0.0978, 0.9989]\nstate[eef_state]: left_x=0.343 left_y=0.0407 left_z=0.1132 left_yaw=0.0612 left_pitch=-0.0469 left_roll=-0.0115 left_gripper=0.9963 right_x=0.3081 right_y=-0.0043 right_z=0.2065 right_yaw=0.0361 right_pitch=0.0025 right_roll=-0.0099 right_gripper=0.9989\nstate[joint_eff]: [0.1709, -3.4393, 6.1607, 1.9805, 0.1636, 0.1148, -0.0073, -0.1436, -2.1128, 9.6342, 1.8437, -0.2076, 0.0122, 0.1832]\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]: [0.104, 0.6575, 0.1184, 0.0101, 0.0364, 0.0189, 0.9963, -0.086, 0.8722, 0.7338, -0.474, -0.1234, -0.1104, 0.9992]\nstate[eef_state]: left_x=0.264 left_y=0.0247 left_z=0.0748 left_yaw=0.0461 left_pitch=0.0317 left_roll=0.0088 left_gripper=0.9963 right_x=0.3031 right_y=-0.0007 right_z=0.1989 right_yaw=0.0606 right_pitch=-0.0363 right_roll=0.0005 right_gripper=0.9992\nstate[joint_eff]: [-0.4581, 0.253, 7.5282, 1.8926, -0.1245, -0.1636, -0.0122, -0.3214, -1.6205, 6.9538, 2.0342, 0.1245, 0.0952, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e99e5b79b6c951996e00c26315e7e43bf3d787f8e624028683003868887c0527",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fbc5271fe5d477c39859d3ef3a2795c418fdeeaf65a84d20309152f8d85fd30",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d95d1ef634caf0acd1263713305613ed0f8db8b06027846c3c63f861f66faa0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJcOgHLJs1EDEMORnP2gbWprbUW2fzxWbuWaSm5uKDZVZy7E4LT1werzm8zfPjVX-wE4_DkbZmaGenQC8SkPgu7kv9G97RlvLdF9BO-k090LkktxErbeFagFgwKI46YxceuzdRjiT-gSxEfTAS1hL7rIDLz5W4bNhyQpupcSSzi4n8ek4celFVu2FX8WC0-4UgGjtKuROoM9zyYbMTV64BtA-bPRa2lRBHm4q7xXdiDSEC2WWvtsWgpaNmxn97BvdPjFz38vso6Sk7UaFEhAMdCYKZcXW4T6_vjlC2oXcW0R_x7iqWnjcc2tA64K5o1hDmwY2ijUdt6Gq97hIBn-xueOLEa4g97xhWz5gtgxTo1zIAUFr8Pv31oxu9_p8Ug7acYANZVJMSXdGA_DV5kIF0i8m_co7YmRBdP23CgHAfy6t4pPJZ5aAmMbp-saU_efouu7Sj2oq4hVqjkKN1tzIBJMwi3vc9N4LXVOG2eOwLFg0Q3swZ5R8yhevbXi53f3iDBRbM76csUgZCEjFxjpUK6CBmzyp_J8LxdHegiiGWGbHsN-p6a4DNO91KLrB-k_XZZhJJCLFqj5eLGeLfc8yUTdMjJ0mZ8keDUK3xKVrsad1Y03BRRw6Z9v_qltc5N9xVmUq_ui24YbK3v10JnvIms7UneeFzJYjNQfZC5_aSbOtPej6hvy7v80toplRHrxhsr6WvNWDKmkYdiLondU1CjBJsRwqMsRyLGTcejvQxx-AbUXnQkxWkklLkNtLObyRuP52ommHkojgzxsEPmcBYBLLBciIwLK4Cvhy2Z8L9wzFyVS0lYlFNiJfB2KYiNA0A615OgmVEPOQOuFEFlgymetjvnnp4paH2J1hHe1lmPSIxXEbhhD1XQd7WsZQrz2W2Zl_h_t_lUXB5GyhW1DrGB8SB6Dv8utX2nbvjIupWEc4OOzyLJtNN1-FTmOYOJ7wYVswIn7aUJrP-0376BaImg8HxRBPrPmMFzbl_3vBOdHpiSwyfX4Ly-n1IePs2Tb7uieg_VvZSwdEmVjjPikAHzQ5Q3h_jueiWGoo-JGpUAP-WVzYNhP4fl6D5MPWRZ-zr8tbNnibFFji1axsxkUk4dcLINO911vxboIRf-4yQOALSDU8dpdpeIWHpV3yxk8ja60Ke-kB3Z3BH9FjLwgNHbv2Hu7M239L7Hps45wZVkSc-bjSY6ArghmaJmhHWpZzMxE-bcZPadbMejEFOIsOmQ2TCVcqKfVd9ZydK50lFakrW84yuqFnwQtIE9jZt-WlcKU14gd-JEMH0M27rasDgD32TL0ovnC4Vgxd78X1HtVbWUDiThk13HEm7mjJT-GoaNy1io4JUovRW57lEu903iyhpM9erl-HVIpL7hx10YTvqzGNBPiH_dB9BQG92zfZxzrVMXii-ejp1Hl3C1phxLZIQcZAMyMGVZdiPXyWIroScMZaX8UP_BgbbbjsiXlxYZSU_q84c0Pc6wcdTHMg_X_bhZZFrZKdesMM7I3hpcUm1WC-eYh_64oFIhtcNejqUBEPgiTNzw-51ftUf0-Uidc-IVjbp1A-TVrEXlgPZWmkhsxdTjCRfkKLAumLf5ZnHGrIsLVUMWGen6PP9__PRNMdY-8RhDUhLqmYmPpbBCNwLYevFNJJeb0g8xkvnzj0a2Dx-rw0wXqRya_pW4ugMjeVHnzzwj9yhDRBUC_Kak2KtsTJkjiDgJtUU9SDTv4EOTB_gC9O5iX-NhwVfrGKMVL4LPYqVXY3ld8WZbbV_lJT-WlFQ9oAcgd0_bWDs_aiWDdzSxkaNHtbdBNpiHXJzt57psS7LJeN3HkCrZrUC1zeUqDubGDuikVrTRq1PvAeBH_1hkWpq3feNOQH_M9sXQb56BXy7NU6oSrYx6uY4gi1ue4_QpWVVKBCuwnDqILeATitwMWmuaS3x6p2OarQ4Zp30QmMwdTTf-KxoNAe3cjd68NVWbd4Xufr0NoYlpOt9oNu0680f4mvlvqrWOagfyqugEb8pzA5ff8DNVtYUiDsPAb-l7XqRos6AlHLh2Aiewv9bKYFKOcVrshFvPdfdAiT6CUxYXy4y91XC21EXHH74MtPUD1vBOym3yyc4ZyeC_OuAh0HvfyaRSUAZfu1Df3D8i8A6NZXIW9FYwDlaH80v8Vuh6nsTGV4BCH8sOW8TEMkREH1lw0qBStWGJp7HlIhtVxGxBvyBxKRaI6UWigOWUk-4u_igczqywivf-XS8azHaMfl7ktRsjRNH0F5zZ4g6BMomCPtLF-xUhq03bXjZaZgvpCG-mLDKbUOLQf4EHoKYwdg4Jkjy-JXziqAkZg1RBqv_AT3H8AJ1Gvd70ZqagKRnJAKMXqsy9qGUOumJZSLUEkn_LyAPbLJMYPGapfK_6t1CJfatmJk1rmZXOmBmSOE_WyiWQg54jYtlGkkpQpcNVbkxnp_hrFIPBqb92Yh6GBSUiFVU0uHvlCJNhapexLQlisxb46dnFvU6ES1oNySiTexxYBVcUJeATchUfwJ6PTNzy7xhkfO3V_qEa57Obc-IcWYcw5Zj3DWBpfxdZ10cayBRsKyHxT3AUsI5iLohc0MTgr6-OkWc2-6duQq0J0rgTShc5LEgJedx4uW7KQBjbn2fsUaZ5e1rHzEFWLX3WHi_yiZ-OAZypc0kgqhSBwgyYZ7WOvZ3NQfVLuqPm26z_CqxtbBLVwzzDZGtZlkbtl17go8eevZDOSHzUKo3sv_WCBLQalSF0_qS1E-UC8UwuIXWW4C7teVpE6w_F5dn-bCmRRl6zIRt2AyNoFQXkb7bjemmzstVCAwSsxvFCjYiUmjUteSa8cHKXRc3b4r-VbdOIHbTfY1r2rn5htuI7KqaCr-C72d0aDE6WqB-f8xDZfi8PxQ3711dheFsoyf3NiYn_-de8aquVKRUQ3Tmoy3d1rtuvsAmJrDqkyExSE0UoF5lAo8fbCKZe4eKhjUnwT4knpp6ypI2H3UJjzXQMlvZqzb80TnUCW45jvH4731RICC7C2v8VkUSVpvW67Vkq_Lo-fPp2mzzfK9moyB_5aqHPie0pD2HzKZ08yXXSI_BhoEikr7NB3bBlZGhsN2QIi6mDGtBJ0H4VfzTyycTEJtmu03s9bdkDLOPpnm9mvVQoLmduOUSsQ4a68sv4PRvbc7qNrBsZGlH6I1Jp_r4J5OvnpH97O_Id9JVO0U9L4EbK3H9trpsef4v6qRQf1niXKLtSYswfmMvVvkFvj4JBxT7uGKIjKMmQez-rjcZ2RPGBDdShLGSzbttTlPppci3yhUWIBVjJ8hbrpWCp4S6DtY1ZXDIFcJXEFQ3yLI2tNVeyHS6QxzgKDidcfL2utP0t3MU-DzaJthwpt-VgeXHQ4o1w_cjNcArb45MArT9bWJbxUHGgRj-ZuE0mGfabxLGVrwGhVyI7DWjT-C-jSzYlu5rGsA4XdAlTL8DWyb79QrHN_99Kvk5dtwFfjsupUDA==",
  "id": "rs_03ce77fa32a088ec016ab49705ea7087d0bdded03f847746a5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.335,\"left_y\":0.05,\"left_z\":0.13},\"note\":\"The left bottle's neck is close to the outer workspace limit. I will make one overhead alignment at that limit before descending, avoiding another sideways push.\"}",
  "call_id": "call_PdwH2apC5MLjWDHxgNJ5rY8F",
  "id": "fc_03ce77fa32a088ec016ab4970dd75c87d0aa18c26b2ed0864d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PdwH2apC5MLjWDHxgNJ5rY8F",
  "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]: [0.1967, 1.0523, 0.448, -0.009, 0.0982, 0.0277, 0.9963, -0.0853, 0.8551, 0.6945, -0.4511, -0.1329, -0.1104, 0.9993]\nstate[eef_state]: left_x=0.3225 left_y=0.0502 left_z=0.1101 left_yaw=0.0818 left_pitch=-0.0494 left_roll=-0.0243 left_gripper=0.9963 right_x=0.3003 right_y=0.0014 right_z=0.1906 right_yaw=0.0694 right_pitch=-0.0348 right_roll=0.0058 right_gripper=0.9993\nstate[joint_eff]: [0.2803, -3.4256, 8.5949, 1.8388, 0.1734, 0.2955, -0.0122, -0.5128, -2.3043, 7.0769, 1.917, -0.0611, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28b0412ad919853f8a17a881f804f5b43945f21d41add6dda959f7aadc5bdd3b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a6472c7d24fabf9b6fc436c86400c503e62b4d30ad313480de5e3b2e557b981",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93a5145fb0f4de96f8a5a0da6ebeebf9656d042ba85b52510fd9b944d92ce0a3",
      "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 · 2.737 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]: [-0.2756, 0.8749, 0.6327, -0.3977, -0.4347, -0.3176, 0.9962, 0.4953, 1.9263, 0.7906, 0.4656, 0.3389, 0.2005, 0.997]\nstate[eef_state]: left_x=0.2982 left_y=-0.0033 left_z=0.1767 left_yaw=0.2395 left_pitch=-0.012 left_roll=-0.0014 left_gripper=0.9962 right_x=0.4267 right_y=0.1678 right_z=0.0158 right_yaw=0.0867 right_pitch=-0.0551 right_roll=-0.0264 right_gripper=0.997\nstate[joint_eff]: [-0.3897, -2.1265, 6.8581, 1.6679, -0.3004, 0.0171, -0.0122, -0.9368, -8.0889, 7.0359, 2.0684, 0.2857, -0.0024, -0.1929]",
      "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]: [0.104, 0.6575, 0.1184, 0.0101, 0.0364, 0.0189, 0.9963, -0.086, 0.8722, 0.7338, -0.474, -0.1234, -0.1104, 0.9992]\nstate[eef_state]: left_x=0.264 left_y=0.0247 left_z=0.0748 left_yaw=0.0461 left_pitch=0.0317 left_roll=0.0088 left_gripper=0.9963 right_x=0.3031 right_y=-0.0007 right_z=0.1989 right_yaw=0.0606 right_pitch=-0.0363 right_roll=0.0005 right_gripper=0.9992\nstate[joint_eff]: [-0.4581, 0.253, 7.5282, 1.8926, -0.1245, -0.1636, -0.0122, -0.3214, -1.6205, 6.9538, 2.0342, 0.1245, 0.0952, 0.0171]",
      "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]: [0.1967, 1.0523, 0.448, -0.009, 0.0982, 0.0277, 0.9963, -0.0853, 0.8551, 0.6945, -0.4511, -0.1329, -0.1104, 0.9993]\nstate[eef_state]: left_x=0.3225 left_y=0.0502 left_z=0.1101 left_yaw=0.0818 left_pitch=-0.0494 left_roll=-0.0243 left_gripper=0.9963 right_x=0.3003 right_y=0.0014 right_z=0.1906 right_yaw=0.0694 right_pitch=-0.0348 right_roll=0.0058 right_gripper=0.9993\nstate[joint_eff]: [0.2803, -3.4256, 8.5949, 1.8388, 0.1734, 0.2955, -0.0122, -0.5128, -2.3043, 7.0769, 1.917, -0.0611, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28b0412ad919853f8a17a881f804f5b43945f21d41add6dda959f7aadc5bdd3b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a6472c7d24fabf9b6fc436c86400c503e62b4d30ad313480de5e3b2e557b981",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93a5145fb0f4de96f8a5a0da6ebeebf9656d042ba85b52510fd9b944d92ce0a3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJcScfaOlivJOjuKtWfJX_ZWisqALkcC8t2x1M1d2zz9BYrW_O1ICpUL6e3Cqw7bGgLq1udIKtskSJ5kogW3yKWulSWyT3oLvTKrT7GPDiYtu6EX5c5k66jwl58p_xRlCVsln_i1WwxOoQOfNKGYSW0wlTt3qVVzMo_zVv_4LesfLVh7Qpp1-chf1SV7xbR8xlmMPEoMvnw51VG0QMFrUPd9ncD3sPZiyrWFvNfsvSUafFNcigDqWnAvdJTi6halEPfbBXeD3Ps_vbfrovavF0qooDOihgsNMMFKKmSLTEEMTmMtNbB0_fivZw8KmYzMMu5J_ADM697KBLbXC8F3SxhEayeW_aenVmo92mvw30kbBucnLRWexscyDEM78DHABdGCtJHcaHDH0nPiAm_VOgl58EbQCrICrRhRw3eKQG0O_Aw2VNth4aOToA-zo49U8ZkqufXb8FDjaSn0qoA0E83Wb28R5OwdIi4L1mHRafsv1Xd_1-081LSntzu7ui-E5ns4t2SaYjTAlytd6Mfg2976Z6BFOS9Y3QgaGN0ffhJZWeuqjni1FU6gnmcUi_tYso-PSJ6sbuWuAyn8MM6MO-JQ4_XBHBRKCNLzfpDIpVi_3WzmAUvwcj8WlxJN_e1dtnWfLc85JWPExJr_gg444DTbPK-3QWIYK9dOAruwIuYMJGVtYS1iyAkBwfxCFXWyH9_GsDOkRBJdyLXOXtdkjJQNRq7eZVoJI5zYctK1H-HeVeP_R8meNFye8CAGCD7S6B-c-WHAWro3q_772CasEayP5LM226FOSpCuSlmdjm8U35BXMsm16R-oLuHx_EehN973iqEPEBrNzC9Rq3TEtmiRe_1vZqofOFEha_AtIzU8HwwJNXLfNEtrxSLVkX7WYR81Zpq8C9T_HeQlQEZZz8jA8a8-htC6NiDSyfgDafcbeWV_BhAUpYCMINXcIi3gP7CiXb32OSEPCNzh_pBlRF9f_88QbLwvYHmjB9bfjZhW_zzQB_2QLm9sWdCDH7gIYCCSqbnwNit248m_Ez1_u_HbI628Re8ytznbgQI9WBHVCHnl90hKlqgNVY98XcgvjWOugu0YiMLMPe7Ick3o8kWGAJPzVD4HDKTKyaRmhxRuiZL9g8gDXzk6ZEslRwb47871kTI6qYs_UVmFPpz5gy0b7xOc4ZPixwLz7UdSqcEyEtQXryR9ofYD26rjdWdIFMuUeGV3ya-csLlHUsQueYZqnIAB6YDuhDqf5jBJ8Vt39hSXoVD0l_ffDsVq2DytcAmwq2mTsuAY7G2MFJbd8yV7vpotLno0pMqpGsIX4HvoR6AvYIk7zCYi7X36Yb6i1pivSzqSwN0WyvzEsBCaqLUp9Q==",
  "id": "rs_03ce77fa32a088ec016ab4971119fc87d09d0e8c199cc322e7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.023,\"left_x\":0.335,\"left_y\":0.05},\"note\":\"The left arm is now above the bottle's upper end. I will descend straight down at this alignment so the open jaws can straddle the neck without sweeping it sideways.\"}",
  "call_id": "call_Cue2sMV2jyqCHgJsHGybXJEE",
  "id": "fc_03ce77fa32a088ec016ab49711ebd887d09a71fef0f85c8130",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Cue2sMV2jyqCHgJsHGybXJEE",
  "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]: [0.1829, 1.4967, 0.2314, 0.5831, 0.0685, 0.0414, 0.9963, -0.086, 0.836, 0.659, -0.4286, -0.1352, -0.1143, 0.9993]\nstate[eef_state]: left_x=0.3188 left_y=0.0503 left_z=0.0045 left_yaw=0.0853 left_pitch=-0.12 left_roll=-0.0027 left_gripper=0.9963 right_x=0.2977 right_y=0.0018 right_z=0.1844 right_yaw=0.0725 right_pitch=-0.0285 right_roll=0.003 right_gripper=0.9993\nstate[joint_eff]: [-0.8, -5.6821, 3.7675, 1.9316, -0.0122, -0.1441, -0.0122, 0.0615, -2.0034, 6.9675, 1.8926, -0.0806, 0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63bbbd08c1c0b4d245891a77fd4803669063852ec7c79099d19e65c041c93660",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbbf0ba03bc887a27424577ac8ad88dec6cb2736e9f638900afafe5749697c3b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd1fe810cb3dcea091e52e27e66274c71862f75b96d27284159e12c57ad31cf5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 8.979 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 54 changed as sent

message 62 changed as sent

message 66 changed as sent

message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.139, 1.1442, 0.5034, 0.0322, 0.0612, 0.017, 0.9963, -0.0803, 0.8688, 0.7307, -0.4332, -0.0956, -0.0978, 0.9989]\nstate[eef_state]: left_x=0.343 left_y=0.0407 left_z=0.1132 left_yaw=0.0612 left_pitch=-0.0469 left_roll=-0.0115 left_gripper=0.9963 right_x=0.3081 right_y=-0.0043 right_z=0.2065 right_yaw=0.0361 right_pitch=0.0025 right_roll=-0.0099 right_gripper=0.9989\nstate[joint_eff]: [0.1709, -3.4393, 6.1607, 1.9805, 0.1636, 0.1148, -0.0073, -0.1436, -2.1128, 9.6342, 1.8437, -0.2076, 0.0122, 0.1832]\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]: [0.1967, 1.0523, 0.448, -0.009, 0.0982, 0.0277, 0.9963, -0.0853, 0.8551, 0.6945, -0.4511, -0.1329, -0.1104, 0.9993]\nstate[eef_state]: left_x=0.3225 left_y=0.0502 left_z=0.1101 left_yaw=0.0818 left_pitch=-0.0494 left_roll=-0.0243 left_gripper=0.9963 right_x=0.3003 right_y=0.0014 right_z=0.1906 right_yaw=0.0694 right_pitch=-0.0348 right_roll=0.0058 right_gripper=0.9993\nstate[joint_eff]: [0.2803, -3.4256, 8.5949, 1.8388, 0.1734, 0.2955, -0.0122, -0.5128, -2.3043, 7.0769, 1.917, -0.0611, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.1829, 1.4967, 0.2314, 0.5831, 0.0685, 0.0414, 0.9963, -0.086, 0.836, 0.659, -0.4286, -0.1352, -0.1143, 0.9993]\nstate[eef_state]: left_x=0.3188 left_y=0.0503 left_z=0.0045 left_yaw=0.0853 left_pitch=-0.12 left_roll=-0.0027 left_gripper=0.9963 right_x=0.2977 right_y=0.0018 right_z=0.1844 right_yaw=0.0725 right_pitch=-0.0285 right_roll=0.003 right_gripper=0.9993\nstate[joint_eff]: [-0.8, -5.6821, 3.7675, 1.9316, -0.0122, -0.1441, -0.0122, 0.0615, -2.0034, 6.9675, 1.8926, -0.0806, 0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63bbbd08c1c0b4d245891a77fd4803669063852ec7c79099d19e65c041c93660",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbbf0ba03bc887a27424577ac8ad88dec6cb2736e9f638900afafe5749697c3b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd1fe810cb3dcea091e52e27e66274c71862f75b96d27284159e12c57ad31cf5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtJcWIo_QvRdTaKbvnadBUjR5LHn7ahMa8s6fi39VpHkpOKnhSBAxXyEwf-x3OvW2yxRTQtubGFisyi6tqwomwqjugLUhoLGP59BXYBe9i-IioHp5jDKhGKCNuFlzCdgAtLMdZA0OHg2KfazuKB2PBft2UtklrvE0lEoiEzQKaa5gCu9_myLcDdPNAS8kzCpfB6JmOcJ4rjBK-bKkYg3hPN3CKLD9frc2H0lDulr320X1Rida1wx3jq57icqT0OqJ50T6JTDdfl4RbjCfgz9302obgJpcmbFzutLJRPF-d0IxIjoF47ZCjuq1G2NrGUnZfaSZfXss7gMCkYvVg1VZnTjpgrNGAwUky5mBhzdEyReRjCluJo69PJYxKfgNAIEOSsmJtDKIj1mLkSXtkxEHFHwW7RthQVtfQN6MelnKa2iCtITn18msiHGtTVv-aoDc-OaTzJkjf-47KRjCpdmuyC3biaRAGYhiJdNn-KuFNfYYFcxpcnEWOnRw3ennUwhDabutjDwqY8B_jfcZx96Wdov0NGe2Kdm4kxqUWbfm5xN3cYJ0gSPz9MNZYfYNoUGhbw3byviiDwr2UASpVf35ccwshNKOp7bfp-DXx_ETSFdt3F3ZGpCZ2Hpay81FXXnBGx3wqljmRFyPvbOcC6fi-LCT5kOQ4tAX90sJZaeEPNj_KNdLwmbfb4LMpWmIGtzgUgtkagj1laBIXVk9C8aBG-aBI2ijW5v3sqv8EgYVoA-dt2m6eofJLlBMiUkQ3XBuG0C2fd43VdDodzrOEgrZgXYUd8me85bZ2fLHLrpwzzbhl7usIFs4oJgx12-5Neqp2DVuEj2o34hVREJNrvo5N4I5Xs3WIxTbwlpb-W_OONUhJzYhcx6DerE3cARswOrrIJLMZlPI6ls1jvOsjwamQWY89bFV_6gav1_KijSaknn-oiLVCNsK_UCwazw0ZrYdNg7Ajas7ppv3N__WfVi4K_4wRhNm0VfYHwduzzceDKI9nVaPYWDYE71answ7tdTfd1j5UfS-kBeA3xREjlekQyStHfmVS0E6tm5OcDhv9BY852Z5UJFY4bjQ7jP_RXlUB6S2ltBa6RwFhpa-JE1nBSSaUQCYWTJgTBdjjHNYB6cOZoClFDE4TWOihEneOflp3G_lvR9MQ9rueQxe5iDFKrrAn2E4lMF2fmLqiYqGXYowha6bctUEmnkizsKVIByUmSL_TUgV7OSuLzH6Q6FHHfaMKA==",
  "id": "rs_03ce77fa32a088ec016ab4971505a887d0962358f172bd2f05",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fingers are at table level around the left bottle's upper end. I will close once and use the measured opening to check whether the bottle has been captured.\"}",
  "call_id": "call_b8IupvyVYzWRVsZRDbYtpHPA",
  "id": "fc_03ce77fa32a088ec016ab4971551ec87d0bf724ad545e29b53",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_b8IupvyVYzWRVsZRDbYtpHPA",
  "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]: [0.1848, 1.6268, 0.1387, 0.9127, 0.0666, 0.0265, 0.0129, -0.086, 0.8261, 0.6289, -0.4187, -0.1352, -0.1143, 0.9995]\nstate[eef_state]: left_x=0.3176 left_y=0.0511 left_z=0.0025 left_yaw=0.0975 left_pitch=-0.0136 left_roll=-0.0038 left_gripper=0.0129 right_x=0.2946 right_y=0.0021 right_z=0.1755 right_yaw=0.0726 right_pitch=-0.0387 right_roll=0.0046 right_gripper=0.9995\nstate[joint_eff]: [0.1026, -3.959, 3.0291, 1.9707, 0.0904, 0.0806, 1.1648, -0.1436, -2.3043, 7.0769, 1.9707, -0.1392, -0.0269, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1591b39ac965d73a8a62906eba2521f78bf022baf36333830a90bda8637ddc30",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06079b6b04eb2997f8c6fd83d92314a0b2ebdebe8f06e3462e6430575ea01a05",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4517b252e229dc3843beaa3ce2a91c11c59124ce6c310e8be3933a9cb831e5b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 15.76 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 58 changed as sent

message 66 changed as sent

message 70 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.104, 0.6575, 0.1184, 0.0101, 0.0364, 0.0189, 0.9963, -0.086, 0.8722, 0.7338, -0.474, -0.1234, -0.1104, 0.9992]\nstate[eef_state]: left_x=0.264 left_y=0.0247 left_z=0.0748 left_yaw=0.0461 left_pitch=0.0317 left_roll=0.0088 left_gripper=0.9963 right_x=0.3031 right_y=-0.0007 right_z=0.1989 right_yaw=0.0606 right_pitch=-0.0363 right_roll=0.0005 right_gripper=0.9992\nstate[joint_eff]: [-0.4581, 0.253, 7.5282, 1.8926, -0.1245, -0.1636, -0.0122, -0.3214, -1.6205, 6.9538, 2.0342, 0.1245, 0.0952, 0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.1829, 1.4967, 0.2314, 0.5831, 0.0685, 0.0414, 0.9963, -0.086, 0.836, 0.659, -0.4286, -0.1352, -0.1143, 0.9993]\nstate[eef_state]: left_x=0.3188 left_y=0.0503 left_z=0.0045 left_yaw=0.0853 left_pitch=-0.12 left_roll=-0.0027 left_gripper=0.9963 right_x=0.2977 right_y=0.0018 right_z=0.1844 right_yaw=0.0725 right_pitch=-0.0285 right_roll=0.003 right_gripper=0.9993\nstate[joint_eff]: [-0.8, -5.6821, 3.7675, 1.9316, -0.0122, -0.1441, -0.0122, 0.0615, -2.0034, 6.9675, 1.8926, -0.0806, 0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.1848, 1.6268, 0.1387, 0.9127, 0.0666, 0.0265, 0.0129, -0.086, 0.8261, 0.6289, -0.4187, -0.1352, -0.1143, 0.9995]\nstate[eef_state]: left_x=0.3176 left_y=0.0511 left_z=0.0025 left_yaw=0.0975 left_pitch=-0.0136 left_roll=-0.0038 left_gripper=0.0129 right_x=0.2946 right_y=0.0021 right_z=0.1755 right_yaw=0.0726 right_pitch=-0.0387 right_roll=0.0046 right_gripper=0.9995\nstate[joint_eff]: [0.1026, -3.959, 3.0291, 1.9707, 0.0904, 0.0806, 1.1648, -0.1436, -2.3043, 7.0769, 1.9707, -0.1392, -0.0269, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1591b39ac965d73a8a62906eba2521f78bf022baf36333830a90bda8637ddc30",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06079b6b04eb2997f8c6fd83d92314a0b2ebdebe8f06e3462e6430575ea01a05",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4517b252e229dc3843beaa3ce2a91c11c59124ce6c310e8be3933a9cb831e5b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJcgiKyZ2bqIojj9DqdzIdFczSQwz9KYWB0DW9Oq8HA6T1NOzFPenf5YDL0pLB0GMM52SEP1L1myy34AzhwUHNvfFMSetk0uP1vHq6xFBg5Cn8fYP3ZjBLnCwph8q3GlO1rnuGXt6vvUjPJ5OkNuOyE1oiwQnIegFOAslAhnghrgklegMKWr0XU_v4seOuQAr1qaHhFwehR7XHgKcYE7XMkpcOLo8oRzu5ZTGV16D3_vj9uqZP6GcyRE-56GH_uIfizIQc0xKZdXG_fi4TxxK1jYGDWqTm2DhoXyYidaoCQ7IUXAqK72MJLqklsn06-clxnTOQanSmWvgO9lTmlOZMrz7u7FOoj_W_vB0JOd6N8_poU2evQT77yE38MFNIo0mXMvWEQbniK6N0d-B5hIGz9RUPamT9H0JxYWOsZ70aKycT2G3prA8TecIiUiP1mGdMDoETJpzlZUDezLCAdWNW-EG4Ej3ohigukMnPa3XBOXrYedGqmszJMqVlAZVgWhtZ6k_UGHEfOUdr625mPZxQrVg6YYMkA49Bv5WImUnmkBlGjCkludJSkQ4NhYxcneNoyJAQFyYWXzjno6xKwC_h2SqFn1YQW_eb1HsaIAuEpG-cZIjHrLFwFDCTdUk5h0wWNG7LB-y7IwS32-AXU_UdsFVNQn4L-m5W5kOS_0cfL6OVwTyV3W3SLD3lvzQI9eViIDIdV4ix68Jvk14NIjQmOe4-9LmsH-ttz2dlw2M98PMu-EWpuNJC30VOVZHZCAOwIiKGZDsPTrESMEEEYeCSvmed4C3B2t1yAi1Xep7aphzIbM7SiYqeDEknkQgA7b9O0mZJJDDVZBmKP0LSwhkc5KOp5bcnO2y22Esxp_-QGYXTJy6fITVad56toYHKEivzOWc4E7UdbLQLB3sATAMM8MiLVEKzUIGdK5nlZSKYFlePcTT1agRvadvyCZysUx9XbFcjxM-X7hCPu8sB7M-rdExH33yJA4XmufXghqH-9AXrLrlZsBoZhaWNnWv2f4AmRN4uUvCP7kgwVpygoSbPBRdO6liNKWMTgKs59CjFsF7mS1P2U7fcSEo10DhqVzS823FTQB4KJVtgjdvYMLiuSBuxBCQEEh1oF6O9WqIcQecqWZcf6PmHF9TxlFwbf9ZPrPOqmhJhck5ZSQlT4PG5W0y-wsVjVRJ6-g3_VfS8UVI_LJBZIvupt1ZRgxMIhK5W0QBRzxmGwuke7Kc9_vDE3FqwkInE9t7lHKXYuZ3kX8yhxN8OU2pPWCSIgfxnRRShmN18uS0Gz5u1u_dulRH0DFn4vD3iE1YD2BbL9KeKe0N6_qbczRX8EA1P9en42fHWjx8nfUZguZyvCF31F7lCN0yHhxqzFoyxmKgJ0F3920_EEaJeD6_QO5_iEwTZNbE9XJTeHgfz0_2YHo1TDbDfiGnE9AewBzXjS4v_K0far8NNz98UZAEZXC2NRykRse9FYIhJIwkJfc1_5PvTjlGrGqvMfjIItGF-3jXEDSrj4-17DRVqFJKhGMLknjI39e_lu_ZOcUUfU8uLz64cuamuvRpIfdPoE_MdNYSIZr204L47A0qBHmPfFl2EoApQZ6zQwhI1yQXJmrb8Iuj1T3AzsPe3gmmHci_cOXkFikbJM2tGnu18u65feLt5oKFyAgTIUHznVKvEYRoRyybdkiIzI9uQ16rB2udNe7SVsyQjKvdFuZ15WwGCuURd1PobBDSg4924jf74xr3gYQwQebcqW7tOnrth2kNuF7tOuN8M9x_9rWVIz9hxMx2jXWgxfFdkwwbMCJmtnLJn7doPFYXthVePbRMu91dmTub-2JLzCTjzGU2G0MMRwWpffCOzZlIWyE9MIHrbUHsQ-j-DjgiT7rdTqFgS7FtGiOmugqkikPFLCZ1O7aULJFj3YjmiWABkUa0cGre7gYxYq1F4ay68uUVQk00J8HiJ4wJJb7AudaIbZalDjHiz2aW9E658xZX1Xqk1xtDcokcDPQu0hf2BqYuDs3_ESoG3xEadjtLvYYZfdJpWCITBsq23kfKXIFjeZ2UlgCBUCYScvCrcHH_2hDuTj-2u9V9Rw_HnFITdbRFMwRFHdiyJi_ogZUVIZbiHRqqMfAIPdKUZxcP2Pxf9YSqyCOPLNBNnqh6Rr09I5zY1H6B4AESWuDFgc-fwOGFykLbjCio8B9jKK1SwSkFv8o6fCf0Uq82D8pNxtuZkqHZlYulHzyfBEFkTPS_8DSxJw1Zmo9Qtd_sSGX6EO3myNMW0shfadkFgomMCWXYTqD_nQqK_uIqvfS87L-jT4BISlDDmD8YdlG7ahiJSUwzbfCkV2INcjKq6pMFi56wq236BHbqHqyK2Rho_VJ8BTSMaSkrjYDc8UEVmOwcQ5fy9bw1YUeccmoIz5Kpk-J4vZsFJTt7MeNw6nGjUaJmYsffDDMgpbLK-lTysHamFDbL-IK0ZR5_JFYSqET4I8XOI_L3ZEIMgp7ae_WweFZOPGw6XT97Phdd-Wh-BOt6ruanAm7WhsChax0GPMDNUf9kU277ZMuKy0Is9gjQsk3sx-hM4YhDxaCOnb5xyv5gN-vxOhOT3LhybhUrFPs5n9SEW9BlH78hBhy5oxHh_h0CJEMbC51v2obC1EeYeJptNWRdPPHHXcxouqlrKjgQ7ed-QMWyE5g72G7RDftg6LNU9zsBcZ9J2eXPSt5s3xBQb9i4rWFdFB-JQxYCkwFoQ2NglQvLs6bC_77tXYNreZv3wXo-fsM_xk9d0WsyRw0-FWMExYpYBjiPHwobGU6s-6bzEvZ9VlXP9t6TMK8BYSVJUDjOe2O6XrodHlW0UwYkx-I8RPOfiv7Bamo3phG8v8Uu-P8Zdc7UYFS4RUryCIHdEdKeQIWlLFlP7iLnSuhsVbW2SPewtEx2TLlnLGyzgC0IF8pUrPPUshQ70xgIB4G4hHBkHEb0f6u-daFsctFNRV9CfVjHsSYINyFTz6_aBiNnigB3-FPic9ej_iVERSHiVKXAMz21QrO8a_jbzMI9nwPRlCGAU3A3keHQ0cislYOTtoNDFR-cNWofWGYEEJ7gr-Vh8b46UA_lDv2lwoBKs9VQZ6gcghHt-HqK8BEeKWXupdSeslRcBJw2qieI0xMNebrTw42_CgTu_mbXDF2pl8sHVPnUoj_RiEn11-Ky3axV5MvAJBelHqShX-YhMLYayKy37UzrH_b_2VEiX9a9Aha8ChkkCmbxtjMwCkkNYfLzk-tQz4=",
  "id": "rs_03ce77fa32a088ec016ab49718e00487d0b745f1209d305849",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.22,\"left_y\":-0.015,\"left_z\":0.13,\"left_gripper\":1,\"right_x\":0.3,\"right_y\":0,\"right_z\":0.22},\"note\":\"That close was empty; the neck is outside the leftmost reachable line. The bottle's wider body is still nearer the table interior, so I will try to recover it from above before attempting to stand it.\"}",
  "call_id": "call_WIFWGRX57UF5ILA1Y1fX5bnb",
  "id": "fc_03ce77fa32a088ec016ab4971f0e0887d0a1b0a58c1c5e9bbe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WIFWGRX57UF5ILA1Y1fX5bnb",
  "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]: [-0.4126, 0.3931, 0.3161, -0.4698, -0.3637, -0.2665, 0.9945, -0.0921, 0.8425, 0.7387, -0.5114, -0.136, -0.1295, 0.9995]\nstate[eef_state]: left_x=0.2337 left_y=-0.0298 left_z=0.132 left_yaw=0.0181 left_pitch=0.0529 left_roll=-0.0353 left_gripper=0.9945 right_x=0.2958 right_y=0.0003 right_z=0.202 right_yaw=0.0754 right_pitch=-0.0378 right_roll=-0.0076 right_gripper=0.9995\nstate[joint_eff]: [-0.0068, 0.9231, 8.9231, 1.5556, -0.3053, 0.188, -0.0171, -0.4444, -0.7726, 10.0171, 1.7558, -0.1929, 0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cf5db6468908f1219db49b54ce19b6c119226288c7c79502671cfaa18f632b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b059e57ba39ead9de11a3d6293a5033e3a1f5d35a8fe09902368f30a59424896",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f5f55b101dd7f454f890244dc3b8d1faedc37659a17693ec602c358c2368b7b",
      "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 · 3.822 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 62 changed as sent

message 70 changed as sent

message 74 changed as sent

message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.1967, 1.0523, 0.448, -0.009, 0.0982, 0.0277, 0.9963, -0.0853, 0.8551, 0.6945, -0.4511, -0.1329, -0.1104, 0.9993]\nstate[eef_state]: left_x=0.3225 left_y=0.0502 left_z=0.1101 left_yaw=0.0818 left_pitch=-0.0494 left_roll=-0.0243 left_gripper=0.9963 right_x=0.3003 right_y=0.0014 right_z=0.1906 right_yaw=0.0694 right_pitch=-0.0348 right_roll=0.0058 right_gripper=0.9993\nstate[joint_eff]: [0.2803, -3.4256, 8.5949, 1.8388, 0.1734, 0.2955, -0.0122, -0.5128, -2.3043, 7.0769, 1.917, -0.0611, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.1848, 1.6268, 0.1387, 0.9127, 0.0666, 0.0265, 0.0129, -0.086, 0.8261, 0.6289, -0.4187, -0.1352, -0.1143, 0.9995]\nstate[eef_state]: left_x=0.3176 left_y=0.0511 left_z=0.0025 left_yaw=0.0975 left_pitch=-0.0136 left_roll=-0.0038 left_gripper=0.0129 right_x=0.2946 right_y=0.0021 right_z=0.1755 right_yaw=0.0726 right_pitch=-0.0387 right_roll=0.0046 right_gripper=0.9995\nstate[joint_eff]: [0.1026, -3.959, 3.0291, 1.9707, 0.0904, 0.0806, 1.1648, -0.1436, -2.3043, 7.0769, 1.9707, -0.1392, -0.0269, -0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4126, 0.3931, 0.3161, -0.4698, -0.3637, -0.2665, 0.9945, -0.0921, 0.8425, 0.7387, -0.5114, -0.136, -0.1295, 0.9995]\nstate[eef_state]: left_x=0.2337 left_y=-0.0298 left_z=0.132 left_yaw=0.0181 left_pitch=0.0529 left_roll=-0.0353 left_gripper=0.9945 right_x=0.2958 right_y=0.0003 right_z=0.202 right_yaw=0.0754 right_pitch=-0.0378 right_roll=-0.0076 right_gripper=0.9995\nstate[joint_eff]: [-0.0068, 0.9231, 8.9231, 1.5556, -0.3053, 0.188, -0.0171, -0.4444, -0.7726, 10.0171, 1.7558, -0.1929, 0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cf5db6468908f1219db49b54ce19b6c119226288c7c79502671cfaa18f632b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b059e57ba39ead9de11a3d6293a5033e3a1f5d35a8fe09902368f30a59424896",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f5f55b101dd7f454f890244dc3b8d1faedc37659a17693ec602c358c2368b7b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJcwuHNWk15ebXfz3I3Hm6vE9vk4j3JKBgxrRHXwKCSSXPGDFfzvyD_8IwDIcfayEA6wSKf_3GZNYUb-X8lqQLP_O9Wb-xj9Xr_P6mb0jyK3juOvL8MmZ3-DT35BpHmQb7TZ6HThyiPJhfeDOtChKLK4ApgPeL-ajXDEfw7ohb4qeafAjf85H9SVuLN0nUa1nE8ga5cXc1YS30UENeO-xfbuN7B6rwRVTszjhCeH8X6FB7ZrQXyk-9Gh1ZXPfckq62F2PIDfTsH84dAain2jtf_zOGR7_j7MHuNFX7ulPNoZmQfntMzGyBExtw2hBeVOTnjayMo5-qAL7RHa7tBVb9OIfwSle7sf3VS0YLPu9tnLN3v8JwPOnAB1QJXisI0zBmTeDpmak_we_HVg3Ai6A6zdtesmrcdZcuUMCqSG2di4y_bVD95GrNo3dA1FYWY_DfpQeBtIzIw_ESfXVux27qbWqkWM88bswCirc_mamENuPZIYpUKK-jpnrdcHsGaImDhtV92l9BAVf_rmo26I4dKaX-YvX-oQFaxUc0cTJd9DbenGjkOY8NgCeUGxqACg_FXfKpTROFAa3pLa5Kkd9L5dC3PgOK_w5oIE1leZa3fKtCfJv1kFPSQZ0m4Y5v-LpYfOk5C9088feXZIG1c_LZn4w8K0XY8cpvGt-2bQQSctFwFIvhagS8sbf_atpEFQYQA7f1bBH7aW6bhf0H8ikBbeMWOsFd2xONg4bDwU7U1cksY2unfs6Qu0RJSW4Pg9gETaqiDqVcJ84_4x4UTsASqPVPz1z-nyXp87K7SQYdlju4bzLxl0hu9j8L9ClI6pIo0dJoDh5ogL3m_SP8QcdgOrvPZXfGKzsSUiOQDd6bf9DmJMVPvfy12vT0Kw3GSS_G1xChxxKxh_QaQ2m1DCMbaCBHJguI1vStkwjNdG41h7U5W6WNt5AJwBcBiHoPYZsr-hXmJIb83vPYgycEr9rJA5UVUqvR2T18D45-IaJSlyRbPWh-RQgvOq8yG5QLKTHIUhuL-OD-Xp4BWU3sllh8FXVUWzwRBqWB0KpernbBUrW3HRKCjhZhQ3hAcRJxYeAXMQwYW1rMyIln7XDH8dUtrExabeACpbrH364di4fSmqHPSuQ7R91fqahIDUR0A_9sQ8VyyupWFEWe3b311ozvJQVv8LH2EaEme8qfT_2a0WsgRkbhvmmBFtGQft4IyfQSGuoK57Bd1h0Vpg77XzVx4Rt9e8pJksQ2eWTVu7baE4YghT5aBTHHJ8Ej1CEc207Szl7MjLvkJriEjAhZHMkqJPF65AYLk1Ajl706DjrveB3R6D5P8wMrrI2Ifj5fBuqv_XdMJQHy8ItI4ADlENol_LOvjjKww-Yylh6lIQFJRXVeKTaXY1rdOCak5g2tCmLWQYmQbrufpCkee2A7uJJ0P1Drh-WtMwLkYrncbJMoH2VEF3d1YG1mIoPINwpvpAKUPSVihNMmsGGxgVbAsqsmJVTpXkT_VvV91VQS6aLMjN3wKtUlisIi2LU_GxeT6PytL_r4ehbZON76QnE0imn4Vy0kkaT4NPzs4Z852e9lJgUyY5LyKa-4oJTwHX8w90bM_OENSR6EKrF6pF2gtWNepYg3AlZVKPFPHtvx0VToWvIkIBLGXMqKTxVAdsPB47lokZ8AdfCDhnG24A5CDEg61RsJIGJgYfQEpwLwvKI8XsbTmlpk-xWpoimNAsz8n0NaTdTpWP_UIqGJGHcpQhWK7FnD7CTj5y9AOWR0t9-Gqc861KO8qMmdlx8dAFzNcVFeY_l80NV_Z3SAWVnFWJdgUCPKbxiiklBcmNHu7vOhoL1H6waupa1MfgTea8ScTkcU1iB1YK5R6VM7CRMk2mJiZvQdX3YBisJLG7boVKoLkYlw-APW8RYJGM1QGNmqA0EDYPfq1L1LyyBETUBzXFjtkWpD5p-4MffJmZcqHMF0oJviW2jkj57FLDzirtn9NwsHLdoXELqKGptPS-FdnBUMneXsX6anksllczNH2ksB2g3O7bPa3O6B3CagQ8GmA4BCAhLa2vBpiEeRiFninpGygFdjLTNtg0LnhIXQtBDnskXN7xS_Ri4SgAoR0dW2yeuxfZxqnfrb1PEaZDk8_xrTpf5vnEAB2jeOXHB8LbWigxcTOgFmSNy-M6A3nNr6FO8JyaKaHCn77IruqQm7y3Gp5lYIOLNOhznFQ4kQvQWlXU9WM4uMKZxO4IUpKLMRfd7DHFZuW3mWSCVay_dvIcSMhJUhWVY85qZ_uEJlzmrDMMJreRO2SksIer6GE0XXvke67wMNF5Eeoh9wnwKw_vabCGz_doRMRas4y-nN-6nL6_749XEqDb2XD5SkGGvmwGxFl5Gc1aCYp1nEWM30NSXmx7QQx5oUfugjWdV2v910VUOHIZ3xOTuQwuieyrX0Qhd0UtIAq_AK2rPYgZWOYNkU5RbbHdSK9rl4b0FcTN_0ljW9WE13GYaAIaWXa58dxPj8ey8HiVxYfAcPoKyvQwNP2Z6pdOMZH08Fm2Jb1nQVlZ1aA3vM-86XzKqrKLgoO3njtRgDHpceiBhw0MXE39gfpG3zLbN7IK8Xi-amp8wzkm4Qv1nU-rMyHbZvFJtXRLKTc92tgoVXkQWsGBqm3jJBSEHT55j8xs0yUKcO4Z73iEN7Q1s9umQIdpYe4ECPq_btwqJW_C7QF_5k_BHTp-bDK6HPIjISgh84Z_TdV1_HCcSKB6dBMi2SANNJRM66FfqiiPuREpZT5JAwqq5UvTr_BNlXnCuu85dMwwbeqLVK1vqJzbH1Ycj9k8N3lMbsxTU-_7iy2ijso1qDdYdymWJ8No8B6x3MaAxHWIIOzbUDNS4SPupmz-1vlioEI7A6HcI1p_Ijh9XaNQW06ndl-PjoHe-ytUCeL38N2DtsF9sWG15G25zwWpaAcubV5shE887V2aHsKYi4AecCxUl9-cgUwmV0bJGbe8iYJ1fFj5ogc5lnyDv7fflgbsIccugbGkeqsh5AUsEjNG6NHMpPNLJJecxf7tjV_oujIErevCeytEjnQc7yUmBF9A25LPmc2o9aSY_bNyrI8VCBhPFymUjoaadnra-d_wnCG5i4HjaZHMAWAUiETTdanyWrnCicNwnzowKQ0PFH-jWBJJ7CkCKpg5L3vcfSoOyxEh7kHEa44wTrXHRXKuankpZDeJgNdvZLrUBPjZF-Eqty5XrSuqrXiXKDVnmL0rmWtlQlxMAnMQFPrdBby0p7-imTdr6bneLkv6ULns9qlJtHmVIzrh4VcRVXPZecOke5j7LIWS7yXOwKL8ZNLmTOePqrnoVOQJb8_VGaLXBanwnMUmBUD_0XuvW8aE-Gf4awNNQ9qOl7nsFEYUaaGUHhwUCerk4m4yZ0M5FvQv5-1FeheSQBi9KBtT0I0tpumd__mAZkJ6PXcIurw3VuVQSm4BMPVcp1_9W2yw7w5dN6jCgxDIJGID3Aq1KUxE5jzEsZ_5Xj8jcscfz24VtSBV43j55Cs01LYyCRgzWh2hJiefEeX3gs9EhjT_Jywarmyqcpqc5sfQt5zu_kINv8fw76lrNBWePsnBhaals8pKKQkJUkWqqUK8WitbNs0wKwYqQsIrsrFDRqysc8rLuNYE8HeeZeGyHPrZP49SoV9AYObHqS7d-vE6RbQCK3VU2VDyRMDPvF_lmonuD_DVkhQ202aZ_BrcA5eb5OHIOzwVEdqO32Hn5yqKskfWpVypZ-nAmf1o08BYKRY_qvWh6AnfMpxxagMdfDCaDuj0MrkcvyB9Si0M9UoKlXETsdPLHM7wht5GgMInbgK_27JUPfBfzaz46FYzq6ct5MnU9EHXLa2FxFeTt8yH4aP9zforwrDK43iJnMmS-2alUbgdD71mSaWy3tmmeFuwf9w9kU7q8B90tsEWef2JGFiYB45YyghSz57DZ1avXCNayMfKMfApGrq6ZmMiDLH9ETXnxuQjOSUfIB0Lp961SOX8_siI7oGeKMrFmzdh4zxRDyR1N_2QrYCoNyYqkOMz97ByPivNtpsmbg9K8Ff-Z1oAhw==",
  "id": "rs_03ce77fa32a088ec016ab49722d81087d0a3ff7c4824a20e25",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtJcwhw-5-TZ1loArUaSrrFYqtgp1xiWY2mYqi8pYme93fLDlZBUzNNcKq-07zml7TLDAwNFElOyJCkhGnGYh07EZyd3ri17tVaGLxFy-g3mamw5IC4222zKVHsLqWimtfNFML8VclNvgShccMVE3qb11W42GSLr3OIxovETbNhpwPrR4crSPIb8oFaBBRy-2oXi8uE50pDYFpagve_RtG39g2OO-1R-F7TtiddjVGqiqjvGojUKDjrhx7S8bTv78voBo31hgiA6-FxBMoeZi12642N-9EOnestzegk-fShFCwwtbRQMZzZglSE-Vht0kv2lUyRaZNe5WarY1Mi6oSzMIZa1yhutB5n1u3ldqy1wfSTmfs4Y7x3FNqDSZghKUST8e4cZPqcIDXQ1l-qaEQEEZBpBUBwHY6huTfpk9MscbmMh_K9KeC0ic2zhPHRKuVGBAllZKVS9mTVyLpC77D0IHVLGZOkGGC_vKH21itzxUXm6_Bh7HkyHsMwR1ShlbtPJ5RS1mKDh1WPq_XSPa2yZHRtYW-43ZauavPKINRZ8U8-Tl1itIXtolxMjaWz_RcGeYWjJho7HWLt89-VIYtznXR98TfrvwKDqF0p2HBBxAhnlEXXdo0qtlA-pQja8v9ILzpyeJNuU1yDMl5R43daxpkG_5y6ZpxzGjA9gaRHLDSRRV7ae0mauLYahR5J7tKplLyq1ZBZBkOBRHrQtRuznZX7hliu0sH04hOgRgevcljSXS2Zje9W8phrlywbB970xrEnzp53QAnLJsCUkrEe8ZEFgiJkm1aKFoGa7x6Qh_bnuQrMU0_XqGiuH3RtzVUvuyyXHsH8XmC_TNGOBQ2AiS900iPv7w65GfpBPVDE9q0nzbhbI20oD5kg3agG3EhBDPC9clycK6W5g8JqyvGkfW46gVV8AWuYgaBxz0hMer-_BZZ6ZGGEFoeUsgZap0YGNkH-tRQFlWffM8Dpe2_lpyZRp_w7dfhNhglDlmfAdJJAwzda88lmnaIMP8Ta0eWhdACILRNJY8723hI7f5OI7x-YbxUtslRQQxCGd3-OQQkYfBXgaiYVBkDboa8YUpPFN639ElYOAXwKk68g91fei8H-h11-2TtdxC9y0AksZ2BBRjB-mUqoOOF0D1bXT1bx7xKSGtOF_UlN5D76DLIO6iaonf2730yLMjkYbwzftdUQLDW3iM7EaTLZk8h-LTxzbxOgTNcRg4wbJp-Nkb0L-HJhHZxQNEk1rGXd7L-1TVlwJBrn3q4l1SXyn9IuxYBcfwL2ICoEOHQQ2Lg7OTzwJns-m3ZzeG6eHZcah2QiDFDzRWpRf--D8YJ3t8LS_uBrLRvJuvRjk5ALj55IxWmgBN8wQ_XeTLmAZDg5ybJWjBYC3Cy-DY7ms7TwdYw5EkIi39wLW-LIMprub3hyq5CKRqdVAbCizIZA0CQqqkt1yXUWiA5W5I4eTZy54g8VHDQJz5MLx1FXuXnllunzi4JzBjeHKiL64a44sGtzR5bRfxeqcckRb10HzeWj_Oj0CooBKRTQzFo9YEOKqpWt27_-2miyEdu7q_ZRrhF0tXrv_jcHdVkFQ0ZnFUSacJZVO-EoGYzTmRNEOqqfTb8zGIWiZF3VZVTypV8FIwhQirzn6Xeiq766y0vfr11oScaEPG6JsxUz3aBi2mrXgTNoABPmvSx51Nnm-i_i7L97ox7lccuNWe8nS5icy2qpttsQ5_-OFPBl7uy9f_JmUi9bV97mzO5KF47KXI8wuxuA4rYhJ9-HiiPebreRuLO_pLayNf8yUxby_n109mo6651h3zkd9fV0UyAruaC2qGcbgIrlsMHQ4ATJtQud8xjtq4roEYW6YiUfWZ405X-h6SiJNGvvmtWwl4L32_2P-xivbUvQUuel6qdL4Ch8E-1zXeK-8eQJ-72FnoEzhVXl90Or2yQPBKrIbuSCbFUYVL9JmJFJKnGIAhiZDkPOW2MgbQ-EEomdzNH4PZYxS8-QTwdrRohMM6Pc1pTHhfwPEwD_v3BjjobE57AL_-2VZ04GVZmKSe-RzyZ2jJBbF54-2n_y1FnFjq8mjhK841wqEIUvKK8zc52Q2dhXg6Z96tWZeIcqf6qk6MPlJqPUjQ_l2uXrCm9C-K2KZLedmc-Lzsiniru4pdLAGm5hgbiZCeZHOE4OeXPWndAWMw9dWqV4BI5Rt5aktxADSHE2OuEFKBqstud6LCp5L41u7MJy3_mT1jedtD1EP9XvPoBI0me4PexiccFjdw6TtQzTLzv0kj9V8YnghiM8QivpAXn4w6V0jb9vma8tMfR7rCCDZ6L8J8AraUo4_2FPl7oSAUR099BPcxuk2A12PZ7I9PSuX1emA-ZwuEIFZo",
  "id": "rs_03ce77fa32a088ec016ab4972b969087d0beab15223ae69c7e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.294,\"left_y\":0,\"left_z\":0.22,\"right_x\":0.48,\"right_y\":0.17,\"right_z\":0.16,\"right_gripper\":1},\"note\":\"The left bottle's neck is not accessible at the outer limit, so I will leave it undisturbed for now. I will make a straight-down grasp on the right bottle's body from a higher approach.\"}",
  "call_id": "call_Eychm1QhmwtVcaXnCOOVGCMo",
  "id": "fc_03ce77fa32a088ec016ab4972f696c87d0a97f8afe54022589",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Eychm1QhmwtVcaXnCOOVGCMo",
  "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]: [-0.0612, 0.8043, 0.7177, -0.5133, -0.0921, -0.0906, 0.9959, 0.4328, 1.734, 1.1568, -0.1036, 0.2626, 0.1387, 0.9996]\nstate[eef_state]: left_x=0.29 left_y=0.0021 left_z=0.2021 left_yaw=0.0481 left_pitch=-0.0365 left_roll=-0.0132 left_gripper=0.9959 right_x=0.4608 right_y=0.1663 right_z=0.1378 right_yaw=0.1199 right_pitch=-0.0828 right_roll=-0.0351 right_gripper=0.9996\nstate[joint_eff]: [0.4034, -1.0872, 9.935, 1.707, 0.0708, 0.2027, 0.1343, -0.1299, -8.8137, 9.2239, 2.0684, 0.398, 0.2222, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd4e3231636b93edea494d5ef71301ca7cd8af688d72dc41ca219b41ea8fa509",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aab4379a57925e2660ab58aaa3721bdce7b9fb6dd1b75f43d9eea0ee69c5191b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:681339658b61c3d80016c787be90e2b5e3e84c28971c3f9d50d05b87e31f24ac",
      "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 · 3.462 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 66 changed as sent

message 74 changed as sent

message 79 changed as sent

message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.1829, 1.4967, 0.2314, 0.5831, 0.0685, 0.0414, 0.9963, -0.086, 0.836, 0.659, -0.4286, -0.1352, -0.1143, 0.9993]\nstate[eef_state]: left_x=0.3188 left_y=0.0503 left_z=0.0045 left_yaw=0.0853 left_pitch=-0.12 left_roll=-0.0027 left_gripper=0.9963 right_x=0.2977 right_y=0.0018 right_z=0.1844 right_yaw=0.0725 right_pitch=-0.0285 right_roll=0.003 right_gripper=0.9993\nstate[joint_eff]: [-0.8, -5.6821, 3.7675, 1.9316, -0.0122, -0.1441, -0.0122, 0.0615, -2.0034, 6.9675, 1.8926, -0.0806, 0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4126, 0.3931, 0.3161, -0.4698, -0.3637, -0.2665, 0.9945, -0.0921, 0.8425, 0.7387, -0.5114, -0.136, -0.1295, 0.9995]\nstate[eef_state]: left_x=0.2337 left_y=-0.0298 left_z=0.132 left_yaw=0.0181 left_pitch=0.0529 left_roll=-0.0353 left_gripper=0.9945 right_x=0.2958 right_y=0.0003 right_z=0.202 right_yaw=0.0754 right_pitch=-0.0378 right_roll=-0.0076 right_gripper=0.9995\nstate[joint_eff]: [-0.0068, 0.9231, 8.9231, 1.5556, -0.3053, 0.188, -0.0171, -0.4444, -0.7726, 10.0171, 1.7558, -0.1929, 0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0612, 0.8043, 0.7177, -0.5133, -0.0921, -0.0906, 0.9959, 0.4328, 1.734, 1.1568, -0.1036, 0.2626, 0.1387, 0.9996]\nstate[eef_state]: left_x=0.29 left_y=0.0021 left_z=0.2021 left_yaw=0.0481 left_pitch=-0.0365 left_roll=-0.0132 left_gripper=0.9959 right_x=0.4608 right_y=0.1663 right_z=0.1378 right_yaw=0.1199 right_pitch=-0.0828 right_roll=-0.0351 right_gripper=0.9996\nstate[joint_eff]: [0.4034, -1.0872, 9.935, 1.707, 0.0708, 0.2027, 0.1343, -0.1299, -8.8137, 9.2239, 2.0684, 0.398, 0.2222, -0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd4e3231636b93edea494d5ef71301ca7cd8af688d72dc41ca219b41ea8fa509",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aab4379a57925e2660ab58aaa3721bdce7b9fb6dd1b75f43d9eea0ee69c5191b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:681339658b61c3d80016c787be90e2b5e3e84c28971c3f9d50d05b87e31f24ac",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJc1v1-HpF_LDCIHVIJbUOBxs7qBPsIFrs2QbJuxFtLjuXQGSfW6fXTxo_PyGlW5k-56MMOiqLju19qBCg_miYswVYi5HQ67zHQi3nhG8eArgeH3YdsUV6MuENiTDKJN8kfsWwMtZ2qw64eJHQht19lOaaWlceMzpY43NpU98AVdRTtccYWzfO7Gep9MCYdYQkO96L4VbB4yiMG5tMBjTq5pQweG2a28rqka3Gv94Cl_0jjLjCTG30_rBJc9L3TS3ZeIqMEDVl40GchlXQYLVdFttV3ZrbvExfgvxGS-sKO9KD7Di0QBHx4LdhqCiZYm8J-qJlU9R4siRxQcedpBsYQkgQ2rFbPNouEnXVIxqqZNfNZ4zbaXUsARa4Xc9qJg__6jZIm1B4kq_ze3nT_CRn5Ue13EOhAmJ4M1tjWWoesZVzd8qq1UTxibjcR6FRQgDJBxBwGzSJH7HKXHHyWoWNTbqT_aJyFI-QWqNaAaW6B7iUW6EQ4af72BdwMS-LVF3cqnMGcZwDTaBq8ZHfo-B_JDjNEPmxQus-Cry182Ij9VdeQC_RXkPRW1KZrCfrtFfwxfRkVJOwOaMZSlf_RPcdgE8EpwW4rN1P8NtS7IUrHXcv4Hg3H8Y3_FtukUriGbulKqFAX7X0NKkpKf17Q0cnURzmmtpwiF70mHTrh59sulvcwfhm4xQqQ09myIN4MUJoeK7N2T9ASjznimtv2-gkl7qcgiRhPmuDpr3G7fPXEMJkGpJUjUkumgErc6pZIZxeLEYMjUZlpL4KDO39p76nH2pa6iPV_5-5RZJejqUwr1xljHwb0cab0tzEOY4uzdles2ulyLildmjMz-EJNWAFhKBs43wXmppzCmH5S47GJyLIWT9L-0c9KT_BzfAIu2Ym0ghC2WwN9gmk51Ib9XE_ODHmvUjRUBtaI1jOMrGG5Ca-3_7b7Bg0A1YLBB2BvRVwjjSxkBjbOYDu2hX9bwqSgLorAYSvFwoQHZji2-SJW_utQXtmwcrzRZXjiMDdUK0BnXifdkg9k8ihf5wgJAamT-SwfBCK-RfD1sQEsNYyBtZ6t-L4czfkNm1V3thks0UpETr7Ov3AwUoEvOV0BN7KW7KsvxffiEhjTsPAfYH-zZ35z0uAe2Mp3vM5uhHtm3CXsmqSJWNa6MUxlwZU7TCproMhZXixlkrS6o9UROqlTQDhtBqZZKeAblMruUnwaeT9iNzGMtTqWRuE3novQLj9d0ygPTtClHrBBFCxjTUMJqlN3iWlY3PUfseu6Hi_H3pU7A5WidIUZDfxAfEknT3bhvrdXVXO-kh_LkGezQEBhVWJoQ2paS3z9y801u6xIVDOM6",
  "id": "rs_03ce77fa32a088ec016ab49733ec7087d08dc21b42de58a7f1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.17,\"right_z\":0.035},\"note\":\"The right bottle is centred in the wrist view. I will lower vertically onto its body near the farthest comfortable low reach, avoiding lateral contact.\"}",
  "call_id": "call_bP3ORyT6OWEv5QcH4e2BvbQU",
  "id": "fc_03ce77fa32a088ec016ab4973456e487d0aa6e7f68dd6caeb7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bP3ORyT6OWEv5QcH4e2BvbQU",
  "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]: [-0.0727, 0.7849, 0.6834, -0.4858, -0.1055, -0.0814, 0.996, 0.4175, 1.9991, 1.0016, 0.3473, 0.2325, 0.1253, 0.9996]\nstate[eef_state]: left_x=0.2886 left_y=0.0012 left_z=0.1975 left_yaw=0.043 left_pitch=-0.0232 left_roll=0.0004 left_gripper=0.996 right_x=0.4773 right_y=0.1711 right_z=0.0325 right_yaw=0.1375 right_pitch=-0.0592 right_roll=-0.0191 right_gripper=0.9996\nstate[joint_eff]: [-0.3761, -1.6752, 6.9675, 1.8974, -0.149, -0.0317, 0.0073, -0.8821, -8.0342, 6.0786, 1.9805, 0.1099, 0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cb3507b41f637e55e6f3ee19faf5f7d70799a824558a2808b200527432756c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e85294f3ca932a7b9b284bfb2d5ff103096d173684d5996479502aa8583dae74",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb45c7202807ab9cca5237bccbe441dec42f2c9042ab94b098076250884eb43c",
      "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 · 8.747 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 70 changed as sent

message 79 changed as sent

message 83 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [0.1848, 1.6268, 0.1387, 0.9127, 0.0666, 0.0265, 0.0129, -0.086, 0.8261, 0.6289, -0.4187, -0.1352, -0.1143, 0.9995]\nstate[eef_state]: left_x=0.3176 left_y=0.0511 left_z=0.0025 left_yaw=0.0975 left_pitch=-0.0136 left_roll=-0.0038 left_gripper=0.0129 right_x=0.2946 right_y=0.0021 right_z=0.1755 right_yaw=0.0726 right_pitch=-0.0387 right_roll=0.0046 right_gripper=0.9995\nstate[joint_eff]: [0.1026, -3.959, 3.0291, 1.9707, 0.0904, 0.0806, 1.1648, -0.1436, -2.3043, 7.0769, 1.9707, -0.1392, -0.0269, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0612, 0.8043, 0.7177, -0.5133, -0.0921, -0.0906, 0.9959, 0.4328, 1.734, 1.1568, -0.1036, 0.2626, 0.1387, 0.9996]\nstate[eef_state]: left_x=0.29 left_y=0.0021 left_z=0.2021 left_yaw=0.0481 left_pitch=-0.0365 left_roll=-0.0132 left_gripper=0.9959 right_x=0.4608 right_y=0.1663 right_z=0.1378 right_yaw=0.1199 right_pitch=-0.0828 right_roll=-0.0351 right_gripper=0.9996\nstate[joint_eff]: [0.4034, -1.0872, 9.935, 1.707, 0.0708, 0.2027, 0.1343, -0.1299, -8.8137, 9.2239, 2.0684, 0.398, 0.2222, -0.0464]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0727, 0.7849, 0.6834, -0.4858, -0.1055, -0.0814, 0.996, 0.4175, 1.9991, 1.0016, 0.3473, 0.2325, 0.1253, 0.9996]\nstate[eef_state]: left_x=0.2886 left_y=0.0012 left_z=0.1975 left_yaw=0.043 left_pitch=-0.0232 left_roll=0.0004 left_gripper=0.996 right_x=0.4773 right_y=0.1711 right_z=0.0325 right_yaw=0.1375 right_pitch=-0.0592 right_roll=-0.0191 right_gripper=0.9996\nstate[joint_eff]: [-0.3761, -1.6752, 6.9675, 1.8974, -0.149, -0.0317, 0.0073, -0.8821, -8.0342, 6.0786, 1.9805, 0.1099, 0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cb3507b41f637e55e6f3ee19faf5f7d70799a824558a2808b200527432756c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e85294f3ca932a7b9b284bfb2d5ff103096d173684d5996479502aa8583dae74",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb45c7202807ab9cca5237bccbe441dec42f2c9042ab94b098076250884eb43c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtJc5weoJbjUNSwr3lYjKQvikJzcyMMMi-Pl7quIF169Z3l32HPPHw10roKjuhvg9YVkosUBGbOep3tzpAeFxa_VamZFNe_4vTCbaT_hkW-0zZW17zcH2iKqm9krGq6Tib_lMvAzRzCZ-9vixu5SXBIuaojGWooxTCc_i6FLj4Tb1n22U680iOssw6vHcc5QnwLcDlbpzfPmtyjfYldxvGAfcv_FhqSHfnN-RDUA18LrssFaCSJuVr3IITMp32DYQXFmq9xHnLIBL_WiwuCmVYmdOou5rpDvrVzcYQM-DvDQShvy1QZjduVznjogKZ1IUnB3nEHBqvztmXH-NCXX6yCwSs1NXfAqWw82k4TiQpnmoLTlGEWtFqCA28B2WvEKPQjkWUWuD8WtsqOdKNHolgo89a8_6B8-atSWWiP70eADjQwzMsys8ZiI8LBABxEn-jV-EiSEnL4t9vFVXD1DmEuT2Q_kZTFFC8ewqyIQvVse8FoVLupG0k91o9O-_FfCnCbxaDjtGgAy0HmfzrxiUeF1Px59-LvVcNx_wVHS2caNXyk_4c_NHJw9FqpU-b-OKgc-r5JHiqLP95aaTmv7qfnlegHjerLFyZW5I81S4ntkUS7JYjuuiBuNvRSokimaYVy6ftwRJjMACatj9mJGPqE0nh34ZWu9smc1lbD0E5k8PEtU_d_DNtpCnLM6d3cFU1VgZVMjsyiLb1ydPbSREiudW5kt0clAsnrddpz8aYxRWlRaEsoEIPu1EFgT0rcDE1Vs8uRwgbwft5WTGScL2gt99FfWVHKy7mSm6d_Rg3rqig6dWi41YceCmosGQr6YnIMbpOIDo2TWPbUg9OOKWt_0Rkn6w5iUdQpjEqk7iJ9a9M21NzXXO5zu28bllFHsj-EN1GR6umspk_gG5RzPDV9umfO5y4EIyQXm3XaUdHVhRxgAXxnWE6w631PQ2N37ODx2FL7_XLhhEkfP3lZHd8dU9oKnTpGHnOtVcYX_iAoLZUD09tw1uPPJGRB2M6o_WgyYjZor75LI-dYBhjhK37dgWDQdTovO41MtkdScWL229ShaSY28NRg7YAOsqHdCmibD4xsvWcF2sd328BOde4zxLKx9GzZLgR5F0mryZqYP3ed3GYzQkp8GyHZG2wwZBc-JYKAb_tAPyvTs0RG9JfGOTTv-uHLCtDB9j5w97QixFWA5Vr_How3HmAmTRX64f6wPmeJE390uPlT21vTEwW-L3ghCKCPU0l0KibVr0R80M61zwXTA9-ua1qQU4HaOXKkw1_HUcH9tLhvaN1hNTImDTsXwfILTDMJuQo8SaIM7_rrTC0DFOI7Ska2ASB1NY9gf1",
  "id": "rs_03ce77fa32a088ec016ab49738465887d0aca60a9c1c76eb85",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The bottle body now lies between the open jaws at table height. I will close firmly before a short vertical test lift.\"}",
  "call_id": "call_haqmIqSaZVUhxkR9HiTpe9Y0",
  "id": "fc_03ce77fa32a088ec016ab49738ceac87d0b1ce28ee6169b917",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_haqmIqSaZVUhxkR9HiTpe9Y0",
  "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]: [-0.0727, 0.7753, 0.6617, -0.4751, -0.1055, -0.0814, 0.9961, 0.4191, 1.9999, 0.963, 0.5499, 0.2306, 0.1066, 0.0134]\nstate[eef_state]: left_x=0.287 left_y=0.0013 left_z=0.1923 left_yaw=0.043 left_pitch=-0.0247 left_roll=0.0006 left_gripper=0.9961 right_x=0.4902 right_y=0.1781 right_z=0.0586 right_yaw=0.1499 right_pitch=0.0977 right_roll=0.0102 right_gripper=0.0134\nstate[joint_eff]: [-0.2256, -1.7026, 7.0359, 1.9267, -0.1392, -0.0464, -0.0073, 0.0479, -9.3607, 4.4513, 1.0379, 0.0806, 0.2222, 1.1258]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41726ace2c56cb0f49db15b775a7f1c758b37cbfa602ba46ea501dd842d90f95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:848d9dcb75a4bf24380aecbfd53f78328d488a9f8e170a510780bda2dd2318e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3eb54e6eafe999d5bbf8761f6da2c6f9a1e1036cee3cef4c6c50e45aa41c3fcd",
      "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 · 5.061 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 74 changed as sent

message 83 changed as sent

message 87 changed as sent

message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4126, 0.3931, 0.3161, -0.4698, -0.3637, -0.2665, 0.9945, -0.0921, 0.8425, 0.7387, -0.5114, -0.136, -0.1295, 0.9995]\nstate[eef_state]: left_x=0.2337 left_y=-0.0298 left_z=0.132 left_yaw=0.0181 left_pitch=0.0529 left_roll=-0.0353 left_gripper=0.9945 right_x=0.2958 right_y=0.0003 right_z=0.202 right_yaw=0.0754 right_pitch=-0.0378 right_roll=-0.0076 right_gripper=0.9995\nstate[joint_eff]: [-0.0068, 0.9231, 8.9231, 1.5556, -0.3053, 0.188, -0.0171, -0.4444, -0.7726, 10.0171, 1.7558, -0.1929, 0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0727, 0.7849, 0.6834, -0.4858, -0.1055, -0.0814, 0.996, 0.4175, 1.9991, 1.0016, 0.3473, 0.2325, 0.1253, 0.9996]\nstate[eef_state]: left_x=0.2886 left_y=0.0012 left_z=0.1975 left_yaw=0.043 left_pitch=-0.0232 left_roll=0.0004 left_gripper=0.996 right_x=0.4773 right_y=0.1711 right_z=0.0325 right_yaw=0.1375 right_pitch=-0.0592 right_roll=-0.0191 right_gripper=0.9996\nstate[joint_eff]: [-0.3761, -1.6752, 6.9675, 1.8974, -0.149, -0.0317, 0.0073, -0.8821, -8.0342, 6.0786, 1.9805, 0.1099, 0.0757, -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 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0727, 0.7753, 0.6617, -0.4751, -0.1055, -0.0814, 0.9961, 0.4191, 1.9999, 0.963, 0.5499, 0.2306, 0.1066, 0.0134]\nstate[eef_state]: left_x=0.287 left_y=0.0013 left_z=0.1923 left_yaw=0.043 left_pitch=-0.0247 left_roll=0.0006 left_gripper=0.9961 right_x=0.4902 right_y=0.1781 right_z=0.0586 right_yaw=0.1499 right_pitch=0.0977 right_roll=0.0102 right_gripper=0.0134\nstate[joint_eff]: [-0.2256, -1.7026, 7.0359, 1.9267, -0.1392, -0.0464, -0.0073, 0.0479, -9.3607, 4.4513, 1.0379, 0.0806, 0.2222, 1.1258]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41726ace2c56cb0f49db15b775a7f1c758b37cbfa602ba46ea501dd842d90f95",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:848d9dcb75a4bf24380aecbfd53f78328d488a9f8e170a510780bda2dd2318e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3eb54e6eafe999d5bbf8761f6da2c6f9a1e1036cee3cef4c6c50e45aa41c3fcd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_03ce77fa32a088ec016ab4973ca44087d0ad5f8714aa853789",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.294,\"left_y\":0,\"left_z\":0.22,\"right_x\":0.3,\"right_y\":0,\"right_z\":0.24,\"right_gripper\":1},\"note\":\"The right gripper also closed empty, and the bottles have slid rather than been securely lifted. I am withdrawing both arms to avoid pushing the left bottle farther over the edge or chasing the right bottle beyond safe low reach.\"}",
  "call_id": "call_c4k6Ailr6C1zxJjibhFYUaj3",
  "id": "fc_03ce77fa32a088ec016ab49742270887d099bcd9fbe685454e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_c4k6Ailr6C1zxJjibhFYUaj3",
  "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]: [-0.0738, 0.8047, 0.717, -0.5144, -0.1127, -0.0822, 0.9961, -0.1364, 0.9062, 0.8234, -0.5098, -0.194, -0.1642, 0.9963]\nstate[eef_state]: left_x=0.2898 left_y=0.0021 left_z=0.2016 left_yaw=0.0485 left_pitch=-0.0375 left_roll=0.0056 left_gripper=0.9961 right_x=0.3106 right_y=-0.0046 right_z=0.2236 right_yaw=0.0983 right_pitch=-0.0092 right_roll=-0.0086 right_gripper=0.9963\nstate[joint_eff]: [-0.8, -0.6632, 10.7145, 1.6679, -0.0513, -0.0659, -0.0122, -0.1436, -2.6325, 10.1675, 1.746, -0.2515, 0.1441, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08b51bec185d93b8e40372c8e023ac1015cbb0c275b8be6bb3ca88f97fd10b03",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3de4795e0821e1b68b75990c681fe9f2612e92ae2fee0f3abd2ef0ae133a745a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e15c8e71ea36400c4983506185f79596177eaf62925b50d75131392c3abb050e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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